JP2009095361A - Self-propelled type vacuum cleaner and its controlling method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled type vacuum cleaner which can clean the top flat surface of a step even to the edge of the step at the getting-up port of a front door, or the getting down port of a staircase or the like. <P>SOLUTION: This self-propelled type vacuum cleaner includes a cylindrical-shape main body, a pair of driving wheels, a cleaning means which is installed on the rear side in the advancing direction more than the driving wheels, and a controlling means which controls the driving wheels. The self-propelled type vacuum cleaner has first detecting means 100a and 100b which detect the step on a floor surface under the main body advancing state in front of the driving wheels 80 and 90, and second detecting means 100e and 100f which detect the step under the main body retracting state behind the driving wheels. When the step is detected by the detecting means under the advancing state, after making the vacuum cleaner retract by a specified distance, the vacuum cleaner is turned at approximately 180°, and is retracted until the step is detected by the second detecting means. Then, the vacuum cleaner is moved in the orthogonal direction to the advancing direction, i.e., into an S shape while being made to advance by a specified distance, and the edge of the step is cleaned by repeating the retracting motion and the S-shaped advancing motion. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a self-propelled cleaner that autonomously travels in the home environment and cleans the floor surface, and in particular, for cleaning at the time of a step on a flat surface above a step, such as a stairway exit or an entrance. It relates to a suitable vacuum cleaner.

In recent years, a self-propelled vacuum cleaner having a moving function added to a vacuum cleaner and equipped with a microcomputer and various sensors has been developed, and a technique for automatically running and cleaning a room is already known. In a conventional self-propelled cleaner, for example, in Patent Document 1, slit light is irradiated in front of a robot, and a discontinuous portion of reflected light of a slit light source is detected by a camera to detect a front step, A technique for preventing the camera from falling is disclosed. Patent Document 2 discloses a technique for running and cleaning the inside of a room with a cylindrical robot while moving along a locus of a straight line or a spiral (a turning motion in which the radius of rotation gradually increases on a plane).
JP 05-84200 A JP 2007-133891 A

  The self-propelled vacuum cleaner for home use has a cylindrical shape as described in Patent Document 2 in many cases. The reason for this cylindrical shape is that it moves into the gap between obstacles (such as between the legs of a chair) during the process of moving while traveling, and even if there is an obstacle in the direction of travel and it cannot move forward, it will interfere if it is cylindrical. This is because it is possible to escape from the place where the vehicle entered after turning.

  Further, in order to perform the turning as described above, it is advantageous that the driving wheels for traveling are installed symmetrically at an equal distance from the cylindrical central axis in addition to the cylindrical outer shape. With this configuration, by driving the left and right drive wheels in the opposite directions at the same speed, the direction can be changed on the spot without being caught by an obstacle, and the vehicle can escape from where it entered.

  In addition, there are things that hinder low-level movement, such as steps and power cords, in the movement environment of self-propelled cleaners, and self-propelled cleaners need to have a function to move over them. . For this reason, in order to get over an obstacle with a low height, it is possible to get over without getting caught if the distance between the bottom surface of the cleaning robot and the floor surface is far. On the other hand, it is effective to reduce the gap between the suction nozzle and the floor surface in order to enhance the cleaning capability by suction. However, if the suction nozzle is in front of the cleaning robot in the traveling direction and the clearance between the suction nozzle and the floor is small, the suction nozzle may interfere with the step when moving over the obstacle or the low step, and may not move. is there.

  In consideration of such circumstances, the self-propelled cleaner is often configured to include a suction nozzle behind the traveling direction. However, in a self-propelled vacuum cleaner that employs a configuration such as a suction nozzle rear arrangement, the suction nozzle is behind the wheel only by moving in the normal forward direction. It is impossible to clean up to the level of the step with the step portion (the flat surface above the step). In the above configuration, it is conceivable to perform cleaning while traveling along the step in parallel, but depending on the positioning accuracy of traveling along the step, there is a risk that the wheel on the step side may come off at the step and derail.

  The objective of this invention is providing the self-propelled cleaner provided with the function which can clean the upper flat surface of level | step differences, such as the entrance of a front door or the exit of a staircase, to the level of a level | step difference.

In order to solve the above problems, the present invention mainly adopts the following configuration.
A cylindrical moving body, a moving means mounted on the moving body and provided with a pair of driving wheels at a distance from the central axis of the moving body, and mounted on the moving body and moving in a traveling direction from the driving wheel. A self-propelled cleaner comprising a cleaning means for cleaning a floor surface installed behind, and a control means for controlling the operation of the moving means, provided in front of the drive wheel, First detection means for detecting a step on the floor surface by advancing, and second detection means for detecting a step difference on the floor surface by retreating the movable body provided behind the drive wheel, The control means is configured to perform cleaning up to the level of the step on the upper surface of the step without causing the driving wheel to escape from the step by detecting the step by the first detection unit and the second detection unit. The driving wheel is configured to be controlled.

  Further, in the self-propelled cleaner, the control means is configured to first turn about 180 degrees after retreating a predetermined distance when the step is detected by the first detection means when the moving body moves forward. The second operation control is made to move backward until the step is detected by the second detection means, and after moving the predetermined distance in the direction perpendicular to the forward direction while moving forward by a predetermined distance after detecting the step by the backward movement. And the second operation control is repeated to clean the step.

  Further, in the self-propelled cleaner, the control means includes a distance between the walls that are the objects present in a direction perpendicular to the traveling direction of the moving body measured by the measuring means and a cleaning width of the cleaning means. Based on the above, the number of repetitions in the second operation control is calculated, and the operation is controlled by the calculated number of repetitions to clean the step existing between the walls.

  According to the present invention, the cleaning robot automatically cleans the flat surfaces above the steps, such as the entrance of the entrance and the exit of the stairs, to the level of the steps (cliffs) without removing or dropping from the steps (cliffs). can do.

  A self-propelled cleaner according to an embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is an external view of the entire configuration of a self-propelled cleaner according to an embodiment of the present invention as viewed obliquely from above. FIG. 2 is an external view of the entire configuration of the self-propelled cleaner according to the present embodiment as viewed obliquely from below. FIG. 3 is a side view showing the arrangement of main components in the self-propelled cleaner according to the present embodiment.

  1 to 3, the self-propelled cleaner 1 has a cylindrical shape and includes a bumper 5 on the front surface. The bumper 5 is configured to translate a certain distance when it comes into contact with the obstacle, and is configured to detect contact with the obstacle. The bumper 5 is provided with infrared distance sensors 10a to 10e for detecting surrounding obstacles in a non-contact manner, and a set of ultrasonic distance sensors 20 and 21 for oscillation and reception. Here, the infrared distance sensor may be used for detecting an obstacle within 30 cm, for example, and the ultrasonic distance sensor may be used for detecting an obstacle of 30 cm or more, for example.

  Further, a docking guide 25 for charging by charging with a charging stand is installed in the lower front part of the self-propelled cleaner, and a charging terminal (not shown) and a docking detection sensor (not shown) are installed inside the docking guide. ) Is installed. Further, on the upper surface of the self-propelled cleaner, there are an operation switch group 30 for selecting a cleaning mode and the like, a power switch 35, a handle 40 for carrying the self-propelled cleaner, a remote control light receiving unit 50, and a voice guidance speaker 60. A dust box 70 is provided.

  The self-propelled cleaner 1 has a right traveling wheel 80 and a left traveling wheel 90 on the center left and right of the bottom surface. The right traveling wheel 80 is configured to be driven by a right traveling motor 83 and a speed reducer 85, and the right traveling wheel 80 is configured to be pressed against the floor surface by a suspension mechanism 87 using a spring. The left traveling wheel 90 has the same configuration as the right traveling wheel. The self-propelled cleaner can drive straight, reverse, and turn by independently driving these two traveling wheels. The right travel motor 83 is provided with an encoder (not shown), and the travel distance can be grasped from the rotation angle of the travel motor detected by the encoder, the reduction ratio of the speed reducer 85 and the diameter of the travel wheel 80.

  Since the traveling wheels are configured to be pressed against the floor surface by the suspension mechanism, even if the self-propelled cleaner 1 is lifted due to climbing a step of about 10 mm, the right traveling wheel 80 and the left traveling are suspended by the suspension mechanism. Since the wheel 90 independently swings downward, the state where the traveling wheel is always in contact with the floor surface can be maintained, and the driving force is transmitted.

  The self-propelled cleaner 1 has one auxiliary wheel 95 on the front side in the traveling direction and two auxiliary wheels 95 on the rear side. With this auxiliary wheel 95, the distance between the bottom surface and the floor surface of the self-propelled cleaner can be kept constant. Furthermore, step detection sensors 100a to 100f for detecting steps are installed on the bottom surface (see FIG. 2). Further, a suction nozzle 105 is installed at the rear of the bottom surface, and a brush 110 is installed in the suction nozzle 105. Furthermore, a rotary suction mechanism 120 is installed at one end of the suction nozzle 105. When moving along a wall or the like, dust along the step (wall) can be sucked by opening the rotary suction mechanism 120.

  An air flow path from the suction nozzle 105 to the dust box 70, the filter 140, and the fan motor 130 is formed. By driving the fan motor 130, suction force is generated, dust is sucked from the suction nozzle 105, and dust cannot be passed through the filter 140 and is collected in the dust box 70. At this time, the cleaning ability can be further improved by operating the brush 110 to scoop up dust. Furthermore, the self-propelled cleaner 1 is equipped with a battery 150 for supplying power to each part at the rear of the main body.

  In the self-propelled cleaner 1, infrared distance sensors 10a to 10e capable of measuring a distance from an obstacle object are installed on the front side, the left and right diagonally front side, and the left and right side. By these infrared distance sensors 10a to 10e, it is possible to detect the distance from the self-propelled cleaner 1 to an object that exists in the direction in which each of the infrared distance sensors 10a to 10e faces. Further, a gyro sensor 155 (shown only in FIG. 4) is installed inside the self-propelled cleaner 1. The gyro sensor 155 can detect the turning angle of the self-propelled cleaner 1.

  Next, the configuration of the control system of the self-propelled cleaner 1 will be described with reference to FIG. FIG. 4 is a block diagram illustrating the configuration of the control device and the sensor group of the self-propelled cleaner 1 according to the present embodiment.

  The control device (controller) of the self-propelled cleaner includes a fan motor controller 160 that controls the fan motor 130, a main controller 170 that plans movement in the room while communicating with the fan motor controller, and processing of various sensor signals. And a lower controller 180 that performs the above. Each controller is configured to be communicable by being connected with a communication cable, and communicates commands, sensor information, controller status, and the like.

  The fan motor controller 160 controls the rotation of the fan motor 130. Further, upon receiving power supply from the battery 150, power is supplied to the main controller 170 and the lower controller 180.

  The main controller 170 includes a pressure sensor 190 that measures the pressure of the suction nozzle 105, a docking detection sensor 200 that detects docking with the charging stand, a dust box sensor 210 that detects that the dust box 70 is attached, and a self-propelled cleaning. The lift detection sensor 220 for detecting that the machine 1 has been lifted, the rotary suction drive motor 230 for opening and closing the rotary suction mechanism, the operation switch 30, the remote control light receiving unit 50, and the state of the self-propelled cleaner 1 to the user A display LED 240 for notification and a voice interface 250 for presenting voice guidance to the user from the speaker 60 are respectively connected.

  The lower controller 180 includes a gyro sensor 155 for detecting a rotation angle at the time of turning, and step detection sensors 100a to 100f for detecting a step on the floor (using an infrared sensor, for example, the step from the floor is 5 cm or more. If there is a step on the floor, the left bumper sensor 260 that detects that the bumper has touched the obstacle, the right bumper sensor 270, the left ultrasonic sensor 20 that detects a relatively far obstacle ahead, the right Ultrasonic sensor 21, infrared sensors 10a to 10e for accurately detecting obstacles at relatively short distances, right traveling motor 83, left traveling motor 280, brush motor 290 for driving brush 110 in the suction nozzle, Are connected to each other.

  Next, operation | movement of the self-propelled cleaner which concerns on this embodiment is demonstrated using FIG. FIG. 5 is a flowchart showing a procedure of movement control for cleaning a room surrounded by walls by the self-propelled cleaner according to the present embodiment.

  The self-propelled cleaner 1 goes around the room along the wall while using an infrared distance sensor that detects the side, and grasps the rough shape of the room (S1). When the level difference detection sensors 100a and 100b (see FIG. 2) installed at the front end of the traveling direction detect the level difference during the movement along the wall (S2), the movement is once stopped and the infrared distance sensor is obstructed. Is detected (S3). For example, even if the level difference detection sensors 100a and 100b detect a level difference, if the front infrared distance sensor 10c detects that the distance to the obstacle is several centimeters, the detection in step S2 is self-propelled. For example, it is determined that the vacuum cleaner is not a step where the vacuum cleaner falls (derails) but is a depression of a rail of the sash, for example, and an avoidance operation (S6) is returned to S1. If there is no reaction in the infrared distance sensor 10c, it is determined that the step is a fall (derailing) step, and a step vicinity cleaning described later is performed (S4).

  Repeat this operation while making a round of the room along the wall, clean the step every time you find a falling step (cliff) such as the entrance of the entrance, and run until you complete the round of the room. About the existing fall step (cliff), it can be cleaned up to that time. After completing a round of the room along the wall, for example, reciprocate between the walls to clean the inside of the room (the center of the room excluding the vicinity of the wall), or if a wall or obstacle is detected, it is as if the obstacle By traveling for a certain period of time as reflected in the above, the entire room is moved so as to cover the entire room (S5). The self-propelled cleaner 1 can clean the room by performing the above-described operation.

  Here, regarding the determination of distinguishing a fall step (cliff) where the self-propelled vacuum cleaner falls or derails from a groove such as a sash rail, the step detection sensors 100a and 100b and the front infrared distance sensor 10c. However, the step detection sensor may be an infrared distance sensor that can directly measure the distance, and the height of the falling step (cliff) may be directly detected and determined. In addition, a sensor other than that, for example, an ultrasonic sensor may be used for the step detection.

  In addition, when the self-propelled cleaner enters the front in a direction orthogonal to the step, the step provided on the front side is used as a position for preventing the fall to prevent the self-propelled cleaner from falling. The detection sensors 100a and 100b perform functions. Similarly, when entering from the rear side, the step detection sensors 100e and 100f provided on the rear side fulfill the function. Furthermore, when entering from the front toward the step, the step detection sensors 100c and 100d perform the step detection function when entering in an oblique direction instead of an orthogonal direction. Further, instead of the step detection sensors 100c and 100d, a suction port pressure sensor may be provided in the vicinity of the suction nozzle 105, and the step may be detected by measuring the pressure of the suction port pressure sensor. That is, when the suction port reaches a step, the pressure of the suction pressure sensor is rapidly reduced, and this decreasing tendency can be detected and detected as a step.

  Next, the operation when the self-propelled cleaner according to the present embodiment cleans the vicinity of the step will be described below with reference to FIGS. 6 and 7. FIG. 6 is a flowchart showing a procedure of movement control in which the self-propelled cleaner 1 according to the present embodiment cleans the vicinity of the step (cleaning at the time of the step). FIG. 7 is an explanatory diagram illustrating a moving mode of cleaning the vicinity of the step (cleaning at the time of the step) when the self-propelled cleaner according to the present embodiment enters the step orthogonally along the wall surface.

  In FIG. 6, the self-propelled cleaner 1 first detects that the front level difference sensors 100 a and 100 b detect a level difference, and then moves backward by a predetermined distance in the same posture, that is, the traveling wheels 80 and 90 have a level difference (cliff) 400. The vehicle moves backward to a position where it does not fall (S4_1) and turns around 180 degrees while monitoring the signal of the gyro sensor 155 (S4_2). Second, the distance to the wall surface 410 is detected by the left and right side infrared distance sensors 10a and 10e (S4_3), that is, the width of the step 400 (the distance between the right wall surface and the left wall surface in FIG. 7) is detected. Then, the number of times of moving back and forth is determined from the detected width of the step 400 and the width of the suction nozzle 105 (S4_4). At this time, since it is assumed that there is an error in the amount of movement in the horizontal direction, the number of times of reversing movement is determined so that the sweep of the suction nozzle 105 has some overlap.

  Third, while monitoring the values of the side infrared distance sensors 10a and 10e, the rear step sensors 100e and 100f move back along the wall until they detect a step (S4_5). Fourth, when the rear step sensors 100e and 100f detect the step (S4_6), the backward movement is stopped, and the traveling wheels 80 and so on, for example, follow a S-shaped locus (crank locus may be used) as shown in FIG. 90 is controlled to move away from the step so as to shift laterally by the width of the suction nozzle 105. By repeating the above-described operation for the calculated number of times of switching, cleaning up to the level of the step can be performed. After completion of the cleaning along the steps, the vehicle continues to travel along the wall surface until it advances along the wall surface 410 and goes around the room.

  Next, the cleaning in the vicinity of the step when the self-propelled cleaner according to the present embodiment enters the step along the wall surface will be described with reference to FIG. FIG. 8 is an explanatory diagram illustrating a moving manner of cleaning near the step when the self-propelled cleaner according to the present embodiment enters the step in parallel along the wall surface.

  As shown in FIG. 8, it is assumed that there is no wall 410 on one side or both sides of the step (cliff) 400. In the illustrated example of FIG. 8, cleaning at the time of a step when entering from the direction of the right side wall 410 parallel to the step 400 is shown. In this case, it is detected that there is no wall 410 on the right end side of the step 400 by the side infrared distance sensor 10a that detects the distance from the wall 410 while traveling along the right side wall 410.

  Subsequently, as shown in (1), it moves along the wall in a direction toward the step 400. At this time, the level difference 400 is detected by the front level difference sensors 100a and 100b, and as shown in (2), after retreating by a predetermined distance, the signal of the gyro sensor 155 is monitored as shown in (3). Turn about 180 degrees on the spot. Subsequently, as shown in (4), the rear step sensors 100e and 100f move backward until the step 400 is detected, and when the rear step sensors 100e and 100f detect the step 400, the backward movement is stopped, as shown in (5). The traveling wheels 80 and 90 are controlled so as to follow a simple S-shaped trajectory (which may be a crank trajectory), and at the same time as moving away from the step 400, the lateral movement is shifted by the width of the suction nozzle 105.

  By repeating the above-described operation, cleaning up to the level of the step can be performed. As shown in FIG. 8, when there is a wall (left wall) in the cleaning end direction, the end of the step can be determined by monitoring an infrared distance sensor that detects the distance to the wall. When there are no walls on both sides, it is possible to perform cleaning along the steps by reducing the amount of shift in the lateral direction and repeating forward and lateral shifts in small increments. After cleaning along the steps, continue along the walls until you move forward along the walls and go around the room.

  Here, the detection of the distance to the wall surface has been described by taking an infrared distance sensor as an example, but the distance sensor is not limited to infrared, and other types of sensors may be used as long as the distance can be measured. As can be seen from the movement control in FIGS. 7 and 8, the self-propelled cleaner according to the present embodiment performs an operation of repeating forward and backward movements by cleaning the step on the upper flat surface of the step. An example of the flat surface above the level difference is an entrance entrance, which is often laid with a mat. In order to improve the cleaning efficiency when cleaning the mat by step cleaning, a rotary brush driven by a motor is installed in addition to the suction-type cleaning means, and the self-propelled cleaning is used to efficiently scrap out the garbage with the brush. Coordinate the direction of machine movement (forward and backward) and the direction of brush rotation. That is, the traveling direction of the self-propelled cleaner is detected, and control is performed so as to switch the rotation direction of the brush by detecting the traveling direction.

  As described above, the embodiment of the present invention is mainly characterized in that it has the following configuration and exhibits functions or actions. In other words, in a household self-propelled cleaner in which the main body has a cylindrical shape and the suction nozzle for cleaning is disposed rearward in the traveling direction, it is not possible to clean up to the upper surface of the step or to clean up to the step There was a risk of falling or escaping from the step. Therefore, in the present embodiment, a first detection unit that detects a cliff in front of the moving direction of the cylindrical moving body is provided, and a second cliff that detects the cliff in the direction of movement of the cleaning unit mounted on the moving body is provided. Provided with a detecting means, and when the first detecting means detects a cliff, after reversing a predetermined distance, it turns about 180 degrees, retreats until a step is detected by the second detecting means, and then turns into an S-shape. By moving forward, it moves a predetermined distance in the lateral direction, and by repeating these backward movement and S-shaped forward movement, it is possible to clean up to the cliff. In other words, when advancing forward toward the step, the step is detected and then moved backward by a predetermined distance, turned 180 degrees, the suction nozzle is made closer to the step from the running wheel, and detected by a distance sensor provided on the left and right sides of the main body. By repeating the backward movement and the width-adjusting advance for the number of times determined using the distance to the wall surface and the suction nozzle width, it becomes possible to safely clean up to the level of the step.

It is the external view which looked at the whole structure of the self-propelled cleaner which concerns on embodiment of this invention from diagonally upward. It is the external view which looked at the whole structure of the self-propelled cleaner concerning this embodiment from the slanting lower part. It is a side view which shows arrangement | positioning of the main components in the self-propelled cleaner concerning this embodiment. It is a block diagram which shows the structure and sensor group of a control apparatus of the self-propelled cleaner 1 which concerns on this embodiment. It is a flowchart which shows the procedure of the movement control in which the self-propelled cleaner concerning this embodiment cleans the inside of the room enclosed by the wall. It is a flowchart which shows the procedure of the movement control which the self-propelled cleaner concerning this embodiment cleans the level | step difference vicinity (cleaning at the time of a level | step difference). It is explanatory drawing which illustrates the movement aspect which cleans the level | step difference vicinity (cleaning at the time of a level | step difference) in case the self-propelled cleaner concerning this embodiment approachs the level | step difference orthogonally along a wall surface. It is explanatory drawing which illustrates the movement aspect of level | step difference cleaning when the self-propelled cleaner which concerns on this embodiment approached in parallel with the level | step difference along a wall surface.

Explanation of symbols

1: Self-propelled cleaner, 5: Bumper, 10a to 10e: Infrared distance sensor, 20, 21: Ultrasonic distance sensor, 25: Docking guide, 30: Operation switch, 40: Handle, 50: Remote control receiving light receiving window , 60: voice guidance speaker, 70: dust box, 80: right traveling wheel, 83: traveling motor, 85: speed reducer, 87: suspension mechanism, 90: left traveling wheel, 95: auxiliary wheel,
105: suction nozzle, 110: brush, 120: rotary suction mechanism, 130: fan motor, 140: filter, 150: battery, 160: fan motor controller, 170: main controller, 180: lower controller, 190: pressure sensor, 200 : Docking detection sensor, 210: Dust box sensor, 220: Lift detection sensor, 230: Rotary suction drive motor, 240: LED for display, 250: Audio interface, 260: Left bumper sensor, 270: Right bumper sensor, 280: Left travel motor, 290: Brush motor

Claims (11)

A cylindrical moving body, a moving means mounted on the moving body and provided with a pair of driving wheels at a distance from the central axis of the moving body, and mounted on the moving body and moving in a traveling direction from the driving wheel. A self-propelled cleaner comprising a cleaning means for cleaning a floor surface installed behind, and a control means for controlling the operation of the moving means,
A first detection means provided in front of the drive wheel for detecting a step on the floor surface by the advancement of the moving body; and a step difference provided on the rear side of the drive body for detecting a step surface on the floor. Second detecting means for
The control means performs cleaning up to the level of the step on the upper surface of the step without removing the drive wheel from the step by detecting the step by the first detection unit and the second detection unit. The self-propelled cleaner characterized by controlling the drive wheel. In claim 1,
The first detection means and the second detection means are sensors that use infrared rays. In claim 1 or 2,
When the step is detected by the first detection unit as the moving body moves forward, the control unit performs first operation control of turning about 180 degrees after retreating a predetermined distance, and performing the second operation. The second operation control is performed in which the detection means moves backward until the step is detected, and after the step is detected by the backward movement, the second operation control is performed by moving a predetermined distance in a direction perpendicular to the forward direction while moving forward by a predetermined distance. A self-propelled cleaner, wherein the step is repeatedly cleaned. In claim 1, 2 or 3,
A self-propelled cleaner, characterized in that the moving body is provided with measuring means on both the left and right sides for measuring a distance from an object that becomes a traveling obstacle of the moving body. In claim 4,
The control unit is configured to perform the second operation based on a distance between the walls as the object and a cleaning width of the cleaning unit, which are measured by the measuring unit and perpendicular to the moving direction of the moving body. A self-propelled cleaner, wherein the number of repetitions in the control is calculated, the operation is controlled by the calculated number of repetitions, and the step existing between the walls is cleaned. In claim 3, 4 or 5,
A self-propelled cleaner characterized in that, after detecting a step in the backward movement, a predetermined distance is moved in a direction perpendicular to the forward direction while moving forward by a predetermined distance, and the locus is a substantially S-shaped locus or a crank-shaped locus. In any one of claims 1 to 6,
In addition to the suction-type cleaning means, the cleaning means is provided with a driving rotary brush,
The self-propelled cleaner is characterized in that the direction of driving rotation of the drive-rotating brush is switched according to the forward or backward traveling direction of the self-propelled cleaner. In any one of claims 1 to 6,
A suction type cleaning means is provided as the cleaning means,
A self-propelled cleaner characterized by using pressure measuring means for measuring the suction pressure of the suction type cleaning means instead of the second detection means. In claim 3,
A measuring means for detecting a traveling obstacle is provided on the front side of the moving body,
Even when the step is detected by the first detection unit when the moving body moves forward, the control unit causes the driving wheel to be derailed when the traveling obstacle is detected by the measurement unit. A self-propelled cleaner characterized by judging that there is no step in front. In claim 4,
The control means appropriately turns by detecting the absence of the wall by the measuring means by advancing along the wall as the object, and then the step by the first detecting means by advancing the moving body. Is detected, the first operation control is performed to turn about 180 degrees after the required distance has been retracted, the second detecting means is retracted until the step is detected, and the step is detected by the backward movement. A self-propelled cleaner characterized by performing second operation control for moving a predetermined distance in a direction perpendicular to the forward direction while moving forward by a predetermined distance, and cleaning the step by repeating the second operation control. A cylindrical moving body, a moving means mounted on the moving body and provided with a pair of driving wheels at a distance from the central axis of the moving body, and mounted on the moving body and moving in a traveling direction from the driving wheel. A cleaning unit that cleans the floor surface installed behind, a control unit that controls the operation of the moving unit, and a first step that is provided in front of the drive wheel and detects a step on the floor surface by the advance of the moving body. In the traveling control method of a self-propelled cleaner, comprising: a detecting means; and a second detecting means provided behind the driving wheel and detecting a step of the floor surface by retreating the moving body.
Detecting the step by the first detection means in advance of the moving body;
Turning about 180 degrees after retreating a required distance after the step detection;
Retreating until the step is detected by the second detection means after the turn;
Moving a predetermined distance in a direction perpendicular to the forward direction while moving forward a predetermined distance after detecting a step in the backward movement;
Repeating the operation of moving the predetermined distance in the right-angle direction while moving the predetermined distance forward after moving the predetermined distance, and a travel control method for a self-propelled cleaner.

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