JP2007334666A - Self-propelled vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled vacuum cleaner capable of detecting an obstacle without adding a sensor. <P>SOLUTION: Processing to be executed by a CPU built in the self-propelled vacuum cleaner comprises: a step (S410) for acquiring the traveling speed of a driving wheel; a step (S420) for acquiring the rotational speed of a main brush; a step (S440) for detecting a change in a floor surface when the traveling speed is suddenly increased (YES in a step S430); a step (S470) for detecting a change in the floor surface when the traveling speed is suddenly reduced (YES in step S450) and the rotational speed of the main brush is also suddenly reduced (YES in step S460); and a step (S480) for detecting a catch when the rotational speed of the main brush is not suddenly reduced (NO in the step S460). <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vacuum cleaner, and more particularly to a self-propelled vacuum cleaner.

  A self-propelled cleaner (hereinafter referred to as a self-propelled cleaner) is known. A self-propelled cleaner travels on a pre-programmed route and sucks in garbage. Since the vehicle runs unattended, it is important to detect obstacles that exist on the route.

  Regarding a self-propelled cleaner, for example, Japanese Patent Application Laid-Open No. 2004-194715 (Patent Document 1) can quickly detect a floor level difference and can reliably prevent the vacuum cleaner body from falling to a floor level difference. A self-propelled vacuum cleaner is disclosed.

  Further, regarding an unmanned traveling device, Japanese Patent Application Laid-Open No. 10-105240 (Patent Document 2) discloses a technology that allows a vehicle to turn while avoiding a small obstacle when the unmanned traveling vehicle turns, so that the next traveling can be continued. Disclosure.

Furthermore, Japanese Patent Laid-Open No. 8-000517 (Patent Document 3) performs appropriate and stable detection by detecting rotation stop of a rotary brush, constant rotation control of the rotary brush, detection of floor quality, detection of floor level difference, and the like. A self-propelled vacuum cleaner capable of cleaning work is disclosed.
JP 2004-194715 A JP-A-10-105240 JP-A-8-000517

  In order to detect a difference in level difference or other obstacles or a running surface, a sensor for that is often required. As a result, the number of parts increases and the structure may be complicated.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a self-propelled cleaner that can detect an obstacle without adding parts.

  In order to solve the above problems, a self-propelled cleaner according to an aspect of the present invention includes a rechargeable battery, a power source that generates power upon receiving power from the rechargeable battery, and a drive that rotates based on the power. A first rotation number detecting means for detecting the number of rotations of the wheel, the driving wheel, a suction means for sucking dust on the running surface by rotating on the running surface of the cleaner based on power, and a suction means When the rotation speed of the drive wheel and the second rotation speed detection means for detecting the rotation speed of the drive wheel rises for a preset time, the traveling surface of the cleaner changes from the first floor surface to the second floor surface. First change detecting means for detecting this. The friction coefficient of the second floor surface is lower than the friction coefficient of the first floor surface. When the rotation speed of the driving wheel decreases at a preset time and the decrease in the rotation speed of the suction means is detected, the cleaner changes the traveling surface from the second floor surface to the first floor surface. When the second change detecting means for detecting that the rotation speed of the driving wheel has decreased for a preset time and the decrease in the rotation speed of the suction means is not detected, the travel of the cleaner is hindered. Operation of the power source based on the detection result by the failure detection means, the first change detection means, the detection result by the second change detection means, and the detection result by the failure detection means. And control means for controlling.

  A self-propelled cleaner according to another aspect of the present invention includes a rechargeable battery, a power source that receives power from the rechargeable battery to generate power, first rotating means that rotates based on power, and power. A second rotation means for rotating based on the first rotation speed detection means for detecting the rotation speed of the first rotation means; a second rotation speed detection means for detecting the rotation speed of the second rotation means; And detecting means for detecting a change in the environment in which the cleaner travels based on a change in the rotation speed of the first rotation means and a change in the rotation speed of the second rotation means.

  Preferably, the first rotating means includes drive wheels that rotate based on power. The second rotating means includes suction means for sucking dust on the running surface by rotating on the running surface of the cleaner based on power.

  Preferably, the detecting means detects the change in the traveling surface of the cleaner from the first floor surface to the second floor surface based on a change in the rotational speed of the first rotating device. Including means. The friction coefficient of the first floor surface is different from the friction coefficient of the second floor surface. The detecting means further detects the change in the rotational speed of the second rotating means when the change in the rotational speed of the first rotating means is detected, and the traveling surface is moved from the second floor surface to the first floor surface. When a change in the rotation speed of the second rotation means is not detected when a change in the rotation speed of the second rotation means is detected when a change in the rotation speed of the second rotation detection means is detected. Fault detection means for detecting that the traveling of the aircraft is hindered.

  Preferably, the friction coefficient of the second floor surface is lower than the friction coefficient of the first floor surface. The first change detecting means detects that the traveling surface of the cleaner has changed from the first floor surface to the second floor surface based on detection of an increase in the rotational speed of the first rotating device. The second change detecting means detects the decrease in the rotation speed of the second rotation means when the decrease in the rotation speed of the first rotation means is detected. A change to the first floor is detected. The failure detection means detects that the traveling of the cleaner is hindered when a decrease in the rotation speed of the second rotation means is not detected when a decrease in the rotation speed of the first rotation means is detected. .

  Preferably, the cleaner further includes control means for controlling the operation of the cleaner based on a change in environment.

  Preferably, the control means controls the output of the power source.

  According to the present invention, a self-propelled cleaner capable of detecting an obstacle without adding parts is provided.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

  A self-propelled cleaner 100 according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a diagram showing the appearance of self-propelled cleaner 100. The self-propelled cleaner 100 includes a housing 102, proximity sensors 112 to 117, a camera 120, an input unit 125, LEDs (Light Emitting Diodes) 135 and 136, and a plurality of side brushes 173.

  The proximity sensors 112 to 117 detect the presence of the detection target without contacting the detection target. The proximity sensors 112 to 117 are, for example, a high-frequency oscillation type using electromagnetic induction, a magnetic type using a magnet, a capacitance type using a change in capacitance, or the like, but a non-contact type using other modes. It may be a sensor.

  The proximity sensors 112 and 113 are disposed on the front surface of the housing 102 so as to detect an obstacle located in front of the self-propelled cleaner 100 (that is, the direction in which the self-propelled cleaner 100 moves forward). . The proximity sensor 114 is disposed on the right oblique side surface of the housing 102 so as to detect an obstacle located in the front right of the self-propelled cleaner 100. Proximity sensor 115 is arranged on the left front side of housing 102 so as to detect an obstacle located on the left front side of self-propelled cleaner 100. The proximity sensor 116 is arranged on the left rear side of the housing 102 so as to detect an obstacle located on the left rear side of the self-propelled cleaner 100. Similarly, the proximity sensor 117 is disposed diagonally to the left rear of the housing 102 so as to detect an obstacle located on the right rear of the self-propelled cleaner 100.

  The camera 120 is disposed on the central axis of the housing 102 so as to photograph the front of the self-propelled cleaner 100. The camera 120 is realized by, for example, a CCD (Charge Coupled Device), a CMOS (Complementary Metal-Oxide Semiconductor), or the like.

  The input unit 125 receives an input of an operation that instructs the operation of the self-propelled cleaner 100. The input unit 125 is disposed on the upper surface of the housing 102, for example. The input unit 125 is realized by, for example, a toggle type switch or a touch type switch. The operation of the self-propelled cleaner 100 includes turning on / off the power, moving forward or backward of the self-propelled cleaner 100, starting or ending suction by the self-propelled cleaner 100, and cleaning time of the self-propelled cleaner 100. Includes instructions for setting the timer and switching the running speed according to the cleaning surface.

  Self-propelled cleaner 100 includes a rechargeable battery as will be described later, and self-propelled by rotating drive wheels based on electric power supplied from the battery. The self-propelled cleaner 100 further activates the side brush 173 and collects dust existing in a range in which the side brush 173 can be cleaned in the central direction of the self-propelled cleaner 100. The self-propelled cleaner 100 sucks dust collected at the center by the side brush 173 into the housing 102 by driving a main brush described later.

  Here, with reference to FIG. 2, the structure of the function which implement | achieves self-propelled (vacuum) cleaner 100 is demonstrated. FIG. 2 is a block diagram showing a functional configuration of self-propelled cleaner 100. Self-propelled cleaner 100 includes a first rotation unit 210, a second rotation unit 220, a first rotation number detection unit 230, a second rotation number detection unit 240, a timer unit 250, and a rotation. A number change detection unit 260, a floor surface change detection unit 270, an operation control unit 280, and a detection state output unit 290 are provided.

  The first rotating unit 210 performs a rotating operation for causing the casing 102 of the self-propelled cleaner 100 to travel. The second rotating unit 220 performs a rotating operation for the self-propelled cleaner 100 to suck in foreign objects present on the traveling surface.

  The first rotation number detection unit 230 detects the rotation number of the first rotation unit 210. Second rotation number detection unit 240 detects the rotation number of second rotation unit 220.

  The timer 250 measures the time in the self-propelled cleaner 100 and outputs a signal corresponding to the time. The rotation speed change detection unit 260 performs the first rotation based on the detection result by the first rotation number detection unit 230, the detection result by the second rotation number detection unit 240, and the measurement result by the timer unit 250. A change in the rotation speed of the unit 210 or the rotation speed of the second rotation unit 220 is detected. For example, the rotation speed change detection unit 260 calculates the change rate of the rotation speed per unit time.

  Floor surface change detection unit 270 detects that the state of the floor surface on which self-propelled cleaner 100 travels has changed based on the detection result by rotation speed change detection unit 260. For example, the floor surface change detection unit 270 detects that the running resistance of the floor surface has changed. Preferably, floor surface change detection unit 270 has changed the traveling surface of self-propelled cleaner 100 from the first floor surface to the second floor surface based on a change in the rotational speed of first rotating unit 210. Is detected. Here, the friction coefficient of the first floor surface and the friction coefficient of the second floor surface are different. For example, the first floor is a carpet and the second floor is flooring. The floor surface is not limited to these, and includes a floor surface made of tatami mat, concrete, or other materials that can be generally used for buildings.

  The floor surface change detection unit 270 further detects the change in the rotation speed of the second rotation unit 220 when the change in the rotation speed of the first rotation unit 210 is detected. Is detected to have changed from the second floor surface to the first floor surface. When the change in the rotation speed of the first rotation unit 210 is detected and the change in the rotation speed of the second rotation unit 220 is not detected, the floor surface change detection unit 270 runs the self-propelled cleaner 100. Detect that is blocked.

  More preferably, the floor surface change detection unit 270 moves the traveling surface of the self-propelled cleaner 100 from the first floor surface to the second floor surface based on detection of an increase in the rotational speed of the first rotating unit 210. Detect changes. When a decrease in the rotation speed of the first rotation unit 210 is detected and a decrease in the rotation speed of the second rotation unit 220 is detected, the floor surface change detection unit 270 detects the decrease in the rotation number of the first rotation unit 210. It is detected that the traveling surface has changed from the second floor surface to the first floor surface. When a decrease in the rotation speed of the first rotation unit 210 is detected and the decrease in the rotation speed of the second rotation unit 220 is not detected, the floor surface change detection unit 270 travels the self-propelled cleaner 100. Detect that is blocked.

  The operation control unit 280 controls the operation of the self-propelled cleaner 100 based on the detection result by the floor surface change detection unit 270. When it is detected that traveling of self-propelled cleaner 100 is hindered, operation control unit 280 outputs an instruction to a power source (for example, a motor) so as to reduce the rotation by first rotating unit 210. . Further, when it is detected that the self-propelled cleaner 100 cannot move forward due to an obstacle, the operation control unit 280 reverses the rotation direction of the first rotating unit 210 in order to move the self-propelled cleaner 100 backward. The instruction is output as follows.

  The detection state output unit 290 outputs the state detected by the self-propelled cleaner 100 based on the detection result by the floor surface change detection unit 270. For example, detection state output unit 290 is implemented as an LED that indicates the traveling state of self-propelled cleaner 100. Alternatively, the detection state output unit 290 is also realized as a sound output unit that outputs a sound defined in advance according to the floor surface detected by the floor surface change detection unit 270.

  With reference to FIG. 3, the specific structure of self-propelled cleaner 100 is further demonstrated. FIG. 3 is a block diagram showing a hardware configuration of self-propelled cleaner 100. In addition to the configuration shown in FIG. 1, self-propelled cleaner 100 includes CPU (Central Processing Unit) 300, battery 310, main brush 320, main brush rotary encoder 330, and left drive wheel motor driver 340. A left drive wheel 350, a left drive wheel rotary encoder 360, a right drive wheel 370, a right drive wheel motor driver 380, and a left drive wheel rotary encoder 390.

  CPU 300 controls the operation of self-propelled cleaner 100 based on signals input from proximity sensors 112 to 117 or input unit 125. The CPU 300 operates the self-propelled cleaner 100 by creating a signal for performing each control in other hardware.

  Specifically, CPU 300 starts self-propelled cleaner 100 based on the operation of a driving instruction to input unit 125. CPU 300 further starts a suction operation by main brush 320 based on the instruction. The CPU 300 determines whether the left driving wheel motor driver is based on a traveling instruction input via the input unit 125 or based on a predetermined time after the power source of the self-propelled cleaner 100 is turned on. By outputting signals to 340 and the right drive wheel motor driver 380, control for rotationally driving the left drive wheel 350 and the right drive wheel 370 is performed.

  The main brush 320 is driven by a motor (not shown) driven by the CPU 300 and sucks dust collected at the center of the self-propelled cleaner 100 by the side brush 173.

  The main brush rotary encoder 330 detects the number of rotations of the rotating shaft that rotates the main brush 320 and sends a value corresponding to the detection signal to the CPU 300 as the number of rotations of the main brush 320.

  The left driving wheel motor driver 340 receives power supplied from the battery 310 and rotates the left driving wheel 350 based on a command from the CPU 300. Similarly, the right drive wheel motor driver 380 receives power supplied from the battery 310 and rotates the right drive wheel 370 based on a command from the CPU 300. When the left and right drive wheels rotate, the self-propelled cleaner 100 moves forward.

  In another aspect, CPU 300 outputs a signal for reversing the rotation of the left and right drive wheels to left drive wheel motor driver 340 and right drive wheel motor driver 380. In this case, the left driving wheel 350 and the right driving wheel 370 rotate in a direction in which the self-propelled cleaner 100 is moved backward.

  With reference to FIG. 4, the control structure of self-propelled cleaner 100 will be described. FIG. 4 is a flowchart showing a procedure of processing executed by CPU 300. This process is executed during the operation of the self-propelled cleaner 100, that is, while the cleaning operation is being performed. The process is realized by the CPU 300 executing a program for performing each process. However, in other aspects, for example, it is also possible to realize a combination of circuit elements that realize each process.

  In step S410, CPU 300 of self-propelled cleaner 100 acquires the traveling speed of left driving wheel 350 and right driving wheel 370 based on signals from left driving wheel rotary encoder 360 and right driving wheel rotary encoder 390. In step S420, CPU 300 acquires the rotation speed of main brush 320 based on the signal output from main brush rotary encoder 330. In step S430, CPU 300 determines whether or not the traveling speed of self-propelled cleaner 100 has risen rapidly at a predetermined time based on the traveling speed acquired in step S410. This determination is made, for example, when CPU 300 compares the acquired traveling speed with a preset reference value. If CPU 300 determines that the traveling speed is rapidly increasing (YES in step S430), the process proceeds to step S440. If not (NO in step S430), the process proceeds to step S450.

  In step S440, CPU 300 detects a change in the floor surface on which self-propelled cleaner 100 travels. In this case, for example, it is detected that the floor surface has changed from carpet to flooring.

  In step S450, CPU 300 determines whether or not the traveling speed of self-propelled cleaner 100 has suddenly decreased below a preset reference value. If CPU 300 determines that the traveling speed is rapidly decreasing (YES in step S450), the process proceeds to step S460. If not (NO in step S450), the process ends.

  In step S460, CPU 300 determines based on the rotation speed of main brush 320 acquired in step S420, whether or not the rotation speed has suddenly decreased below a predetermined reference speed. If CPU 300 determines that the rotation speed of main brush 320 is rapidly lower than a preset reference value (YES in step S460), the process proceeds to step S470. If not (NO in step S460), the process proceeds to step S480.

  In step S470, CPU 300 detects a change in the floor surface on which self-propelled cleaner 100 is traveling. In this case, since both the traveling speed of the self-propelled cleaner 100 and the rotational speed of the main brush 320 are decreased, the floor surface on which the self-propelled cleaner 100 is traveling has a low coefficient of friction. It is detected that the floor surface (for example, flooring) has changed to a floor surface (for example, carpet) having a large friction coefficient. In step S480, CPU 300 detects that self-propelled cleaner 100 is caught by an obstacle present in the course.

  When CPU 300 detects one of the states, a predetermined operation is further executed according to the detection result. For example, when it is detected that self-propelled cleaner 100 is caught by an obstacle (step S480), CPU 300 is output in the case of the forward direction in order to retract self-propelled cleaner 100. A signal obtained by inverting the sign of the signal is sent to the left driving wheel motor driver 340 and the right driving wheel motor driver 380. Alternatively, in order to prevent power consumption by the battery 310, the level of the output signal to the left driving wheel motor driver 340 and the right driving wheel motor driver 380 is switched to the minimum value, and the self-propelled cleaner 100 is stopped. Reduce power consumption.

  Furthermore, when the self-propelled cleaner 100 includes a light emitting unit or a sound output unit (speaker or the like) for notifying the running state, for example, the result of detection so as to notify the state of the self-propelled cleaner 100. A signal corresponding to the above may be sent to the light emitting unit or the audio output unit. In this case, the user of the self-propelled cleaner 100 can confirm the state of the self-propelled cleaner 100 from a distance.

  With reference to FIGS. 5 and 6, changes in the rotation speed of main brush 320 and left driving wheel 350 or right driving wheel 370 in self-propelled cleaner 100 will be described. FIG. 5 is a diagram illustrating a change in the number of revolutions when the self-propelled cleaner 100 is switched from a state in which the self-propelled cleaner 100 is traveling on the floor of the flooring to a state in which the carpet is traveling on the carpet.

  A dotted line graph 510 represents the number of rotations of the left driving wheel 350 or the right driving wheel 370 of the self-propelled cleaner 100. A solid line graph 520 represents the number of rotations of the main brush 320. When self-propelled cleaner 100 starts from time t (0), the number of rotations of main brush 320 and the number of rotations of each drive wheel change at a constant number of times while traveling on the floor of the flooring. To do. Thereafter, when the floor surface on which self-propelled cleaner 100 travels is switched from flooring to carpet (for example, time t (1)), traveling resistance of self-propelled cleaner 100 increases. Therefore, the rotation speed of the left driving wheel 350 or the right driving wheel 370 represented by the dotted line graph 510 rapidly decreases due to the resistance of the floor surface (that is, the carpet).

  On the other hand, the rotation speed of the main brush 320 represented by the solid line 520 also decreases. However, since the left driving wheel 350 and the right driving wheel 370 support the weight of the self-propelled cleaner 100, they are pressed against the floor surface. On the other hand, the main brush 320 is provided to suck dust and other foreign matters on the floor surface, and does not receive the weight of the self-propelled cleaner 100. Therefore, the main brush 320 is not pressed against the floor surface. As a result, the drop in the rotation speed of the main brush 320 by the solid line 520 is not as great as the drop in the rotation speed of each drive wheel by the solid line graph 510. As a result, after time t (1), the rotational speed of the main brush 320 changes in a state where the rotational speed of the left driving wheel 350 and the right driving wheel 370 exceeds the rotational speed.

  FIG. 6 is a diagram illustrating a change in the number of rotations when the self-propelled cleaner 100 is caught on a chair or other obstacle. When self-propelled cleaner 100 starts operation from time t (0) and the progress is hindered by an obstacle at time t (2), the rotational speeds of left driving wheel 350 and right driving wheel 370 rapidly decrease. Here, since each drive wheel continues to be driven by the left drive wheel motor driver 340 and the right drive wheel motor driver 380, the rotation speed does not become zero, the floor surface state, the driving force, and the self-propelled cleaning It changes with the rotation speed which can be prescribed | regulated according to the weight of the machine 100 (dotted line graph 610).

  On the other hand, since the main brush 320 does not receive the weight of the self-propelled cleaner 100 as described above, the driving force of the motor is transmitted as it is and maintains a predetermined rotation speed. As a result, after time t (2), the rotational speed of the main brush 320 changes at a rotational speed that exceeds the rotational speed indicated by the dotted line 610 (solid line graph 620).

  As described above, self-propelled cleaner 100 according to the present embodiment detects a catch (i.e., obstruction of progress) due to an obstacle using an existing sensor without adding a new sensor. Can do. For example, a camera or a proximity sensor for detecting an obstacle is not necessary. Thereby, the self-propelled cleaner which can detect an obstacle without increasing the number of parts can be provided.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

  The present invention is applied to a self-propelled cleaner.

It is a figure showing the external appearance of the self-propelled cleaner 100. FIG. 2 is a block diagram illustrating a functional configuration of self-propelled cleaner 100. FIG. 2 is a block diagram showing a hardware configuration of self-propelled cleaner 100. FIG. It is a flowchart showing the procedure of the process which CPU300 performs. It is a figure showing the change of the rotation speed when the self-propelled cleaner 100 switches from the state which is drive | working the floor surface of a flooring to the state which is driving | running | working a carpet. It is a figure showing change of the number of rotations when self-propelled cleaner 100 is caught in a chair or other obstacles.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100 Self-propelled cleaner, 102 housing | casing, 112-117 proximity sensor, 120 camera, 125 input part, 135,136 LED, 173 Side brush.

Claims (7)

A self-propelled vacuum cleaner,
A rechargeable battery;
A power source that receives power from the rechargeable battery to generate power;
Drive wheels that rotate based on the power;
First rotational speed detection means for detecting the rotational speed of the drive wheel;
Suction means for sucking up dust on the running surface by rotating on the running surface of the self-propelled cleaner based on the power;
Second rotational speed detection means for detecting the rotational speed of the suction means;
First change detecting means for detecting that the traveling surface of the self-propelled cleaner has changed from the first floor surface to the second floor surface when the rotational speed of the driving wheel rises at a preset time. The friction coefficient of the second floor surface is less than the friction coefficient of the first floor surface,
When the rotational speed of the driving wheel is reduced at the preset time and the reduction of the rotational speed of the suction means is detected, the traveling surface is moved from the second floor surface to the first floor surface. Second change detecting means for detecting that the change to
When the rotation speed of the driving wheel decreases at the preset time, when the decrease in the rotation speed of the suction means is not detected, the failure to detect that the traveling of the self-propelled cleaner is hindered Detection means;
Control means for controlling the operation of the power source based on the detection result by the first change detection means, the detection result by the second change detection means, and the detection result by the failure detection means; A self-propelled vacuum cleaner with A self-propelled vacuum cleaner,
A rechargeable battery;
A power source that receives power from the rechargeable battery to generate power;
First rotating means for rotating based on the power;
Second rotating means for rotating based on the power;
First rotation speed detection means for detecting the rotation speed of the first rotation means;
Second rotation speed detection means for detecting the rotation speed of the second rotation means;
Detecting means for detecting a change in an environment in which the self-propelled cleaner travels based on a change in the rotation speed of the first rotation means and a change in the rotation speed of the second rotation means; Self-propelled vacuum cleaner. The first rotating means includes drive wheels that rotate based on the power,
The self-propelled cleaner according to claim 2, wherein the second rotating means includes suction means for sucking dust on the traveling surface by rotating on the traveling surface of the self-propelled cleaner based on the power. Traveling vacuum cleaner. The detection means detects a change in the travel surface of the self-propelled cleaner from the first floor surface to the second floor surface based on a change in the rotational speed of the first rotation device. The first floor surface friction coefficient and the second floor surface friction coefficient are different from each other,
The detection means further includes
When a change in the rotation speed of the first rotation means is detected and a change in the rotation speed of the second rotation means is detected, the traveling surface is moved from the second floor surface to the first rotation surface. Second change detecting means for detecting that the floor has changed;
When a change in the rotational speed of the first rotating means is detected and a change in the rotational speed of the second rotating means is not detected, it is detected that the traveling of the self-propelled cleaner is obstructed. The self-propelled cleaner according to claim 2, further comprising a failure detection means. The friction coefficient of the second floor surface is less than the friction coefficient of the first floor surface,
The first change detecting means detects that the running surface of the self-propelled cleaner has changed from the first floor surface to the second floor surface based on detection of an increase in the rotational speed of the first rotating device. Detect that
The second change detection means detects the decrease in the rotation speed of the second rotation means when the decrease in the rotation speed of the first rotation means is detected. Detecting a change from the floor surface of 2 to the first floor surface;
The failure detection means prevents the self-propelled cleaner from traveling when a decrease in the rotation speed of the first rotation means is detected and a decrease in the rotation speed of the second rotation means is not detected. The self-propelled cleaner according to claim 4, wherein the self-propelled cleaner is detected.   The self-propelled cleaner according to claim 2, further comprising control means for controlling the operation of the self-propelled cleaner based on the change in the environment.   The self-propelled cleaner according to claim 6, wherein the control means controls an output of the power source.

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