JP2007319457A - Self-propelled vacuum cleaner and its program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled vacuum cleaner capable of reducing left-over dust despite of a large quantity of dust and highly efficiently executing cleaning with low power consumption in a short period of time. <P>SOLUTION: This self-propelled vacuum cleaner is provided with a traveling means 102 for executing an autonomous traveling, a first suction means 103, a second suction means 104 installed rearward the first suction means, a dust quantity detecting means 107 detecting the quantity of dust to be sucked by the first suction means, and a control means 108; and the control means 108 controls the operation of the first and second suction means 103 and 104 according to the quantity of the dust detected by the dust quantity detecting means 107. This constitution can improve the dust collecting property by sucking the dust with the first suction means 103 alone in a small quantity of dust, but operating the second suction means 104 therewith in a large quantity of dust so as to reduce the quantity of the left-over dust without repeatedly passing through a position with a large quantity of dust and consequently highly efficiently execute the cleaning with low power consumption in a short period of time. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a self-propelled cleaner that travels independently without human assistance and a program thereof.

  Conventionally, this type of self-propelled vacuum cleaner has a dust amount detection means for detecting dust on the cleaning surface, a travel means, a mode control means for instructing a predetermined travel pattern, and a travel instructed by the mode control means. Travel control means for controlling the direction of travel of the travel means based on the pattern, the mode control means forward and backward a predetermined distance from the point where the dust amount detection means detected dust, There is one that repeats retreat and returns to the normal traveling mode when the dust amount detection means no longer detects dust (for example, see Patent Document 1).

  As shown in FIG. 6, the main body 1 of the self-propelled cleaner includes a dust amount detecting means 2 for detecting dust on the cleaning surface and a distance measuring means 3 for measuring the distance to the front or rear of the main body 1. Traveling means 4 for traveling the main body 1 forward or backward, traveling control means 5 for determining the traveling direction of the traveling means 4, mode control means 6 for determining a traveling pattern according to detection of the dust amount detecting means 2, dust And a suction means 7 for sucking the water.

FIG. 7 shows a running pattern instructed by the mode control means 6 when dust on the cleaning surface is detected by the dust amount detection means 2, and when dust is detected at point A by the dust amount detection means 2, The main body 1 is moved forward and backward from the point A by a distance x until no dust is detected by the dust amount detection means 2 in accordance with an instruction from the mode control means 6 to carefully clean the spot where there is dust.
JP 2004-243202 A

  However, in the above-described conventional configuration, there is no leftover of garbage at the point where the dust is present by traveling back and forth until no dust is detected at the point where the dust is detected. When there are many, the number of back-and-forth operations increases in order to reduce the amount of leftover dust, and power consumption increases and cleaning takes a long time.

  The present invention solves the above-described conventional problems, and can reduce the amount of leftover dust without requiring an operation that repeatedly passes through a position where the amount of dust is large. An object is to provide a self-propelled vacuum cleaner and a program thereof that can efficiently perform cleaning with the above.

  In order to solve the above-described conventional problems, a self-propelled cleaner according to the present invention includes a traveling unit for autonomous traveling, a first suction unit for sucking dust, and a rear side of the first suction unit. A second suction means installed; a dust amount detection means for detecting the amount of dust suctioned by the first suction means; and a control means for controlling the travel means and the suction means. The operation of the first and second suction means is controlled according to the amount of dust detected by the dust amount detection means.

  As a result, when the amount of dust is small, dust is sucked only by the first suction means installed at the front, and when the amount of dust is large, the second suction means installed at the rear is also operated to improve dust collection performance. It can be improved and the amount of waste left behind can be reduced without the need to move through a large amount of dust many times. Can do.

  The self-propelled cleaner program of the present invention causes a computer to execute at least a part of the functions of the self-propelled cleaner, and the self-propelled cleaner program is operated by cooperating hardware resources such as electrical / information equipment, a computer, and a server. At least a part of the traveling vacuum cleaner can be easily realized.

  The self-propelled cleaner of the present invention and the program thereof can reduce the amount of leftover garbage without requiring an operation that repeatedly passes through a position where the amount of dust is large. Cleaning can be performed efficiently.

  The first invention includes a traveling means for autonomously traveling, a first suction means for sucking dust, a second suction means installed behind the first suction means, and the first A dust amount detecting means for detecting the amount of dust sucked by the suction means; and a control means for controlling the traveling means and the suction means, wherein the control means is configured to perform a first operation according to the amount of dust detected by the dust amount detecting means. 1. By using a self-propelled cleaner that controls the operation of the second suction means, when the amount of dust is small, dust is sucked only by the first suction means installed in the front, and the amount of dust The second suction means installed at the rear can be operated only when there is a large amount of dust to improve the dust collection performance, and it is not necessary to move through the position where the amount of dust passes many times. Because it can reduce the amount of leftovers, low power consumption in a short time It is possible to perform a rate well cleaning.

  According to a second aspect of the present invention, in particular, in the first aspect of the invention, a traveling speed variable unit that varies a traveling speed of the traveling unit is provided, and the control unit varies the traveling speed according to the amount of dust detected by the dust amount detecting unit. By changing the travel speed by means, the travel speed is reduced as the amount of dust increases, and the dust collection performance is improved so that it does not need to be moved many times through the position where the amount of dust is large. In addition, since it is possible to reduce the amount of garbage left, cleaning can be performed efficiently in a short time with low power consumption.

  According to a third aspect of the invention, in particular, in the first or second aspect of the invention, there is provided a suction force variable means for changing the suction force of the second suction means, and the control means is adapted to the amount of dust detected by the dust amount detection means. By changing the suction force of the second suction means by the suction force variable means, the suction force is increased as the amount of dust is larger, and the dust collection performance is improved. Since it is possible to reduce the remaining amount of dust without requiring an operation of passing through the position many times, low power consumption and efficient cleaning can be performed in a short time.

  In particular, according to a fourth aspect of the present invention, in any one of the first to third aspects of the invention, there is provided a low-quantity dust continuous time measuring unit that measures a continuous time in which the dust amount detected by the dust amount detection unit is a predetermined amount or less. And the control means operates only the first suction means when the time measured by the dust small continuous time measurement means is equal to or longer than a predetermined time, so that the second suction means installed behind the Since suction is not stopped due to a transient decrease in the amount, it is possible to prevent a decrease in dust collection performance.

  In a fifth aspect of the invention, in particular, in any one of the first to fourth aspects of the invention, the battery further includes a battery for supplying electric power and a battery remaining amount detecting means for detecting the remaining amount of the battery. By operating only the first suction means when the remaining battery level detected by the means is less than or equal to a predetermined amount, the second suction means is not operated according to the amount of dust, and the consumption of the battery is suppressed, thereby preventing the cleaning. Stopping on the way can be prevented.

  In particular, the sixth invention is the travel map storage means for storing a predetermined travel map, the travel position detection means for detecting the travel position, and the travel position in any one of the first to fifth inventions. A large amount of dust position learning means for learning a position where there is a large amount of dust by storing whether or not the amount of dust detected by the dust amount detection means at a traveling position detected by the detecting means exceeds a predetermined amount in each run The control means normally operates only the first suction means, and the second suction means is also operated immediately before passing through the position with a large amount of dust learned by the dust large amount position learning means. In locations where there is a lot of dust, the second suction means installed at the rear is also operated to improve the dust collection performance, so that it is necessary to perform an operation that repeatedly passes through a location with a large amount of dust. Because it can reduce the leftover trash can lower power consumption, in a short time efficiently cleaning performed.

  In particular, the seventh invention is a program for causing a computer to execute at least a part of the functions of the self-propelled cleaner in any one of the first to sixth inventions. Since it is a program, at least a part of a self-propelled cleaner can be easily realized by cooperating hardware resources such as electric / information equipment, a computer, and a server. Also, by recording the program on a recording medium or distributing the program using a communication line, the program can be easily distributed / updated and installed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
1 and 2 show a self-propelled cleaner in Embodiment 1 of the present invention.

  As shown in FIG. 1, a main body 101 of a self-propelled cleaner that performs cleaning includes a traveling unit 102 including driving wheels for autonomous traveling, a first suction unit 103 that sucks dust, and the first A second suction means 104 installed behind the suction means 103, a dust amount detection means 107 for detecting the amount of dust suctioned by the first suction means 103, a traveling means 102 and suction means 103, 104. And control means 108 for controlling. The control means 108 controls the operation of the first and second suction means 103 and 104 according to the amount of dust detected by the dust amount detection means 107. In addition, although the 1st and 2nd case is shown as a suction means, this is good also as three or more as needed.

  The main body 101 of the self-propelled cleaner includes a traveling speed variable means 105 that varies the traveling speed of the traveling means 102, and the control means 108 performs the traveling according to the amount of dust detected by the dust amount detecting means 107. The traveling speed is varied by the speed varying means 105.

  The main body 101 of the self-propelled cleaner includes a suction force varying means 106 that varies the suction force of the second suction means 104, and the control means 108 corresponds to the amount of dust detected by the dust amount detecting means 107. The suction force varying means 106 varies the suction force of the second suction means 104.

  The main body 101 of the self-propelled cleaner includes a battery 109 that supplies power to the traveling means 102 and the suction means 103 and 104, and a battery remaining amount detection means 110 that detects the remaining amount of the battery 109. When the remaining battery level detected by the remaining battery level detection unit 110 is less than a predetermined amount, only the first suction unit 103 is operated.

  Furthermore, the main body 101 of the self-propelled cleaner is configured to measure a small amount of dust for measuring a continuous time when the amount of dust detected by the dust amount detection means 107 is equal to or smaller than a predetermined amount (in this embodiment, the predetermined amount is 0). The continuous time measuring means 111 is provided, and the control means 108 operates only the first suction means 103 when the time measured by the small amount of dust continuous time measuring means 111 is a predetermined time or more.

  The operation and action of the self-propelled cleaner configured as described above will be described below with reference to the flowchart of FIG.

  First, when the main body 101 is installed at the start point, the control unit 108 starts the suction of the first suction unit 103, drives the traveling unit 102 to start the traveling, and sets the time of the dust small amount continuous time measuring unit 111. Measurement is started (STEPs 101 to 103). Here, the control means 108 controls the running speed variable means 105 so that it becomes a normal running speed.

  During traveling, when the remaining battery level detected by the remaining battery level detecting unit 110 is equal to or less than a predetermined value (in this embodiment, 20% of the maximum remaining battery level Vmax), the control unit 108 first sucks dust. When the battery remaining amount detected by the battery remaining amount detecting means 110 is larger than a predetermined value, the amount of dust is detected. The running speed and suction control of the second suction means 104 are performed according to the amount of dust detected by the means 107 (STEP 104 to STEP 107).

  The traveling speed by the control means 108 and the suction control of the second suction means 104 are such that when the amount of dust detected by the dust amount detection means 107 is equal to or greater than a predetermined value (in this embodiment, one), a small amount of dust is continuously applied. The time measured by the time measuring means 111 is cleared, the suction of the second suction means 104 is started, and the travel speed and suction force variable means 106 are adjusted by the travel speed variable means 105 according to the detected amount of dust. The suction force of the second suction means 104 is controlled (STEPs 108 to 111). Here, the traveling speed and suction force are the normal traveling speed and suction force when the detected amount of dust is 1 to 3, and the normal traveling speed and suction when the detected amount of dust is four or more. Control to be half of the force.

  When the amount of dust detected by the dust amount detection means 107 is less than a predetermined value, when the time measured by the dust small amount continuous measurement means 111 is 2 seconds or more, the suction of the second suction means 104 is stopped, Control is performed so that the normal traveling speed is obtained by the traveling speed variable means 105 while suction is performed by only one suction means 103. When the time measured by the small amount of dust continuous measurement means 111 is less than 2 seconds, the travel speed is changed by the travel speed variable means 105 and the suction force variable means 106 according to the amount of dust detected as in STEP 111, and the second suction means. 104 is controlled (STEP 112 to 114).

  In the present embodiment, the suction force of the first suction unit 103 is not varied according to the amount of dust detected by the dust amount detection unit 107, but the first suction is performed according to the detected amount of dust. The suction force of the means 103 may be varied.

  As described above, in the present embodiment, when the amount of dust is small, dust is sucked only by the first suction means 103 installed at the front, and only when the amount of dust is large, the second installed at the rear. By operating the suction means 104 to improve dust collection performance, it is possible to reduce the amount of waste left without requiring an operation that repeatedly passes through a large amount of dust. It is possible to perform cleaning efficiently in a short time.

  Also, in this embodiment, as the amount of dust is large, the traveling speed is lowered and the dust collection performance is improved, so that it is not necessary to perform an operation that repeatedly passes through a position where the amount of dust is large. In addition, since it is possible to reduce the amount of garbage left, cleaning can be performed efficiently in a short time with low power consumption.

  In the present embodiment, the suction force is increased as the amount of dust increases, and the dust collection performance is improved. In addition, since it is possible to reduce the amount of garbage left, cleaning can be performed efficiently in a short time with low power consumption.

  Further, in the present embodiment, the second suction means 104 installed at the rear does not stop the suction due to a transient decrease in the amount of dust during operation, so that it is possible to prevent a decrease in dust collection performance.

  Further, in the present embodiment, when the remaining battery level is equal to or less than the predetermined amount, only the first suction unit 103 is operated, so that the second suction unit 104 is not operated according to the amount of dust, and the battery 109 By suppressing consumption, it is possible to prevent stopping during cleaning.

(Embodiment 2)
3 to 5 show a self-propelled cleaner in Embodiment 2 of the present invention.

  Here, in FIG. 3, the main body 101 of the self-propelled cleaner includes a travel map storage unit 112 that stores a travel map on a predetermined cell in addition to the configuration of FIG. 1, and for detecting a travel distance. In addition, an encoder 113 for detecting the rotational speed of the traveling means 102, a gyro 114 for detecting the traveling direction, a rotational speed of the traveling means 102 detected by the encoder 113 and a traveling direction detected by the gyro 114 are stored in the traveling map storage means 112. The travel position detecting means 115 for detecting the travel position on the cell in the travel map on the cell, and the amount of dust detected by the dust amount detecting means 107 at each travel at the travel position detected by the travel position detecting means 115. By storing the number of times whether or not the amount of dust exceeds a predetermined amount, a dust-rich position learning means 116 for learning a position with a lot of dust is provided. Eteiru.

  Then, the control means 108 normally operates only the first suction means 103 and operates the second suction means 104 immediately before passing the position with a large amount of dust learned by the dust large amount position learning means 116. I have to.

  The operation and action of the self-propelled cleaner configured as described above will be described below with reference to the flowcharts of FIGS.

  First, when the main body 101 is installed at the start point, the control unit 108 starts the suction of the first suction unit 103, drives the traveling unit 102 to start the traveling, and sets the time of the dust small amount continuous time measuring unit 111. Measurement is started (STEP 201-203). Here, the control means 108 controls the running speed variable means 105 so that it becomes a normal running speed.

  During traveling, first, the amount of dust sucked by the first suction means 103 is detected by the dust amount detection means 107 and the traveling position is detected by the gyro 114 (STEPs 204 and 205). Here, when the amount of dust detected by the dust amount detection unit 107 is equal to or greater than a predetermined amount (in this embodiment, one), the control unit 108 measures the time measured by the dust small amount continuous time measurement unit 111. Is cleared, and the large amount of dust position learning means 116 increases the number of dust detection times at the travel position detected by the travel position detection means 115 (SETPs 206 to 208).

  Thereafter, when the remaining battery level detected by the remaining battery level detection unit 110 is equal to or less than a predetermined value (in this embodiment, 20% of the maximum remaining battery level Vmax), the control unit 108 first sucks dust. When the battery remaining amount detected by the battery remaining amount detecting means 110 is larger than a predetermined value, the dust amount detecting means is controlled. The running speed and the suction force control of the second suction means 104 are controlled according to the amount of dust detected at 107 (STEP 209 to STEP 212).

  In the travel speed and the suction force control of the second suction means 104 by the control means 108, the number of times of dust detection learned by the dust mass position learning means 116 at the next travel position detected by the travel position detection means 115 is three times. At the above time, the suction of the second suction means 104 is started, and the running speed variable means 105 controls the running speed and the suction force variable means 106 controls the suction force of the second suction means 104 according to the detected amount of dust. I do. Here, the traveling speed and suction force are the normal traveling speed and suction force when the detected amount of dust is 0 to 3, and the normal traveling speed and suction when the detected amount of dust is four or more. Control is performed so that the force is halved (STEPs 213 and 214).

  Further, the number of times of dust detection learned by the dust large amount position learning unit 116 at the next travel position is less than three times, and the amount of dust detected by the dust amount detection unit 107 is equal to or larger than a predetermined value (in this embodiment, one). ), The suction of the second suction means 104 is started, the travel speed is changed by the travel speed variable means 105, and the suction force variable means 106 is suctioned by the second suction means 104 according to the detected amount of dust. Force control is performed (STEPs 215 and 216). Here, the traveling speed and suction force are the normal traveling speed and suction force when the detected amount of dust is 1 to 3, and the normal traveling speed and suction when the detected amount of dust is four or more. Control is performed so that the force becomes 1/2.

  Further, when the number of dust detections learned by the dust large amount position learning means 116 at the next traveling position is less than 3 and the dust amount detected by the dust amount detection means 107 is less than a predetermined value, the dust small amount continuous measurement is performed. When the time measured by the means 111 is 2 seconds or more, the suction of the second suction means 104 is stopped, the suction is performed only by the first suction means 103, and the normal travel speed is obtained by the travel speed variable means 105. To control. When the time measured by the small amount of dust continuous measuring means 111 is less than 2 seconds, the running speed is changed by the running speed varying means 105 and the suction force varying means 106 according to the amount of dust detected as in STEP 215, and the second suction means. 104 is controlled (STEP 216 to 218).

  As described above, in the present embodiment, the position where the amount of dust is large is obtained by operating the second suction means 104 installed at the rear in a position where there is usually a large amount of dust to improve the dust collection performance. Since it is possible to reduce the amount of leftover dust without requiring an operation that passes through a large number of times, low power consumption and efficient cleaning can be performed in a short time.

(Embodiment 3)
Next, a self-propelled cleaner program according to Embodiment 3 of the present invention will be described.

  In the present embodiment, a program for causing a computer to execute at least part of the functions of the self-propelled cleaner shown in the first and second embodiments is used. That is, the computer is caused to function as all or part of a configuration for causing the computer to function as all or part of each means.

  Each means is implemented in the form of a program for cooperating hardware resources such as a CPU (or microcomputer), RAM, ROM, storage / recording device, electrical / information equipment with I / O, computer, server, etc. May be. If it is in the form of a program, new functions can be distributed, updated, and installed easily by recording on a recording medium such as magnetic media or optical media, or by using a communication line such as the Internet. .

  As described above, in the present embodiment, all or part of the self-propelled cleaner of the present invention can be easily realized using a general-purpose computer or a server.

  As described above, the self-propelled cleaner and the program thereof according to the present invention can reduce the amount of leftover dust without requiring an operation that repeatedly passes through a position with a large amount of dust. Since cleaning can be performed efficiently in a short period of power consumption, it can also be applied to uses such as a device linkage system via a network.

Block diagram of the self-propelled cleaner in Embodiment 1 of the present invention Flow chart showing the flow of operation of the self-propelled cleaner Block diagram of self-propelled cleaner in embodiment 2 of the present invention Flow chart showing the flow of operation of the self-propelled cleaner Flow chart showing the flow of operation of the self-propelled cleaner Block diagram of a conventional self-propelled cleaner The figure which shows the operation at the time of dust detection of the self-propelled vacuum cleaner

Explanation of symbols

DESCRIPTION OF SYMBOLS 102 Traveling means 103 1st suction means 104 2nd suction means 105 Travel speed variable means 106 Suction force variable means 107 Garbage amount detection means 108 Control means 109 Battery 110 Battery remaining amount detection means 111 Waste small amount continuous time measurement means 112 Travel Map storage means 115 Traveling position detection means 116 Large amount of dust position learning means

Claims (7)

Traveling means for performing autonomous traveling, first suction means for sucking dust, second suction means installed behind the first suction means, and dust sucked by the first suction means And a control unit for controlling the traveling unit and the suction unit. The control unit includes first and second suctions according to the amount of dust detected by the dust amount detection unit. A self-propelled vacuum cleaner that controls the operation of the means. 2. The vehicle according to claim 1, further comprising travel speed variable means for varying the travel speed of the travel means, wherein the control means varies the travel speed with the travel speed variable means according to the amount of dust detected by the dust amount detection means. Traveling vacuum cleaner. A suction force variable means for varying the suction force of the second suction means is provided, and the control means uses the suction force variable means to pull the suction force of the second suction means according to the amount of dust detected by the dust amount detection means. The self-propelled cleaner according to claim 1 or 2, wherein: A dust small amount continuous time measuring unit for measuring a continuous time when the amount of dust detected by the dust amount detecting unit is equal to or less than a predetermined amount is provided, and the control unit measures the time measured by the dust small amount continuous time measuring unit for a predetermined time or more. The self-propelled cleaner according to any one of claims 1 to 3, wherein only the first suction means is operated. A battery for supplying power and a battery remaining amount detecting means for detecting the remaining amount of the battery are provided, and the control means operates only when the battery remaining amount detected by the battery remaining amount means is equal to or less than a predetermined amount. The self-propelled cleaner according to any one of claims 1 to 4. A travel map storage unit that stores a predetermined travel map, a travel position detection unit that detects a travel position, and the amount of dust detected by the dust amount detection unit at the travel position detected by the travel position detection unit is 1 And a large amount of dust position learning means for learning whether or not a predetermined amount has been exceeded in each run, and the control means normally operates only the first suction means to operate the large amount of dust. The self-propelled cleaner according to any one of claims 1 to 5, wherein the second suction means is also operated immediately before passing through a position with a large amount of dust learned by the position learning means. The program for making a computer perform at least one part of the function in the self-propelled cleaner of any one of Claims 1-6.

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