JP2016054917A - Self-propelled vacuum cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To quickly clean a prescribed floor surface area including a position determined that dust is present.SOLUTION: A self-propelled vacuum cleaner includes: a housing; a travel control part for traveling the housing; a dust collection part for collecting dust on a floor surface; a dust detection part for detecting presence/absence of the dust on the floor surface; a dust determination part for determining whether or not a prescribed amount or more of dust is present on the floor surface on the basis of the detected presence/absence of the dust; and a control part which, when it is determined that the dust is present, causes the travel control part to move, by a travel pattern of a spot travel mode, the housing on the prescribed floor surface area including a spot initial position on which the presence of the dust is determined and causes the dust collection part to collect the dust on the prescribed floor surface area.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a self-propelled cleaner, and more particularly to a self-propelled cleaner that removes dust by changing a running pattern when dust is found.

2. Description of the Related Art In recent years, self-propelled cleaners that clean floors while self-propelling in a predetermined traveling pattern and avoiding obstacles independently are known.
For example, Patent Document 1 describes a self-propelled cleaner having an obstacle avoidance control mode that changes the moving direction of the main body when the obstacle detecting means detects an obstacle while the main body is moving. Yes.

Patent Document 2 describes a self-propelled cleaner that reduces the amount of dust left even when dust is solidified and present in a specific place in a room.
The self-propelled device of this Patent Document 2 includes dust detection means for detecting dust on the floor, travel means that normally travels in a predetermined travel pattern, travel control means that controls the travel direction of the travel means, And a distance measuring means for measuring the distance to the obstacle.
In addition, when the dust detection means detects dust on the cleaning surface, the self-propelled device travels carefully around the periphery and then changes the travel pattern so as to return to normal travel.

  Here, as the dust detection means, a light emitting part and a light receiving part are installed in the middle of the suction means for sucking dust on the surface to be cleaned, and light output from the light emitting part is blocked when dust passes therethrough. A device that detects the amount of dust by detecting this is described.

JP 2002-0778650 A Japanese Patent Laid-Open No. 2004-243202

However, it is possible to remove the dust at the place where the dust is detected many times, but in the case of a vacuum cleaner having a high suction force, it is not necessary to clean the same place many times.
In addition, since there is a high possibility that dust remains in the vicinity of the dust detection location, it may be preferable to widen the range to be carefully cleaned to some extent rather than limiting it to a specific location.

  In normal running, there are patterns that run randomly in the room and patterns that run throughout the room while repeating linear running and rotating operation, but in such a running pattern, In some cases, locally existing dust cannot be removed efficiently.

When dust is detected, it is conceivable to perform a spot operation in which cleaning is performed while turning in a spiral around the detection position and gradually increasing the radius of the circle.
However, when spot driving is performed, it is difficult to determine how much the radius of the circle should be increased. For example, if the radius of the circle is gradually increased, it will eventually collide with obstacles such as desk legs and chairs in the room.

In the event of a collision, the direction will be changed and the obstacle will be avoided and the vehicle will continue to travel.However, the collision may cause a shift in the traveling path, so it is possible to return to the position where the spot operation was started. difficult.
If it is not possible to return to the starting position of the spot operation in this way, there may be cases where waste is left behind or the vehicle will travel again on the same route, so that it is not always possible to efficiently remove dust. Not exclusively.

  Therefore, the present invention has been made in consideration of the above circumstances, and when dust is detected, spot operation is performed to remove dust intensively within a range where it does not collide with the obstacle. It is an object of the present invention to provide a self-propelled cleaner that can perform efficient cleaning by returning to a position where dust is detected and continuing the subsequent traveling even when a collision occurs.

  The present invention includes a housing, a travel control unit that travels the housing, a dust collecting unit that collects dust on the floor, a dust detection unit that detects the presence or absence of dust on the floor, and the detected dust A dust determination unit that determines whether or not a predetermined amount or more of dust is present on the floor surface based on the presence or absence of dust, and if it is determined that dust is present, the travel control unit causes the casing to be A control unit that moves a predetermined floor surface area including the spot initial position determined to be present in a travel pattern of the spot travel mode and collects dust in the predetermined floor surface area by the dust collection unit. A self-propelled vacuum cleaner characterized by the above is provided.

  In addition, an obstacle detection unit that detects obstacles around the casing is further provided, and the obstacle detection unit is configured to detect the obstacle when the casing is moved in a travel pattern in a spot travel mode. When an obstacle is detected in the surface area, the control unit stops the spot travel mode.

In addition, after the spot travel mode is stopped, the housing is returned to the spot initial position by the travel control unit.
According to this, when an obstacle is detected while traveling on a predetermined floor area including a spot initial position where it is determined that dust is present, the spot traveling mode is stopped and the housing is moved to the spot initial position. Therefore, after detecting an obstacle, it is possible to prevent useless and complicated driving to avoid the obstacle, and then resume normal driving mode quickly and efficiently. You can clean it.

The distance measuring unit further includes a distance measuring unit that measures a distance from the current position of the housing to the obstacle detected by the obstacle detecting unit, and the distance measuring unit at the initial spot position where the dust is determined to be present The distance to the detected obstacle is measured by the control unit, and the control unit detects the predetermined floor area where the casing is moved in a spot travel mode travel pattern based on the measured distance. After setting in a range that does not collide with an obstacle, the casing is moved in a traveling pattern in a spot traveling mode.
According to this, after setting the floor area where the housing is moved in the spot travel mode to a range that does not collide with the obstacle, the housing is moved in the travel pattern in the spot travel mode, so there is no obstacle. The floor area can be cleaned quickly and efficiently.

Further, when the case is moved in the spot travel mode travel pattern, when the dust determination unit determines that no dust exists, the control unit stops the spot travel mode, The housing is returned to the spot initial position.
According to this, when the predetermined floor area including the spot initial position where it is determined that dust is present is being cleaned, if it is determined that there is no dust, the spot travel mode is stopped. Therefore, it is possible to prevent wasteful traveling such as cleaning a position where there is no dust, and it is possible to quickly and efficiently remove dust from a portion where dust exists.

  Further, the predetermined floor area is a circular area centered on the spot initial position, and in the traveling pattern of the spot traveling mode, the spot initial position is a start position, and the radius of the circle of the circular area gradually increases. The housing is moved so as to draw a spiral spiral traveling locus.

  Further, when the maximum radius of the circular area is set in advance and the casing is moved in the spot travel mode, the distance between the current position of the casing and the initial spot position is set to the maximum radius. If they match, the controller stops the spot travel mode and returns the housing to the spot initial position.

  According to the present invention, the casing is moved to a predetermined floor area including the spot initial position where it is determined that dust is present, and the dust in the area is collected, so that the dust can be quickly and efficiently removed. can do.

It is a block diagram of the configuration of an embodiment of the self-propelled cleaner of the present invention. It is a schematic perspective view of the self-propelled cleaner of this invention. It is explanatory drawing of Example 1 of the spot driving mode of this invention. It is explanatory drawing of Example 2 of spot driving mode of this invention. It is explanatory drawing of Example 3 of spot driving mode of this invention. It is explanatory drawing of Example 4 of spot driving mode of this invention. It is a flowchart of 1st Example of the automatic running process of the self-propelled cleaner of this invention. It is a flowchart of 2nd Example of the automatic running process of the self-propelled cleaner of this invention. It is a flowchart of 3rd Example of the automatic running process of the self-propelled cleaner of this invention.

The best mode for carrying out the present invention will be described below with reference to the drawings. However, this does not limit the present invention.
<Configuration of self-propelled vacuum cleaner>

FIG. 1 is a block diagram showing the construction of an embodiment of the self-propelled cleaner according to the present invention.
In FIG. 1, a self-propelled cleaner (hereinafter also referred to as a vacuum cleaner or a cleaner) of the present invention mainly includes a control unit 11, a rechargeable battery 12, a failure detection unit 13, an angle detection unit 14, a dust detection unit 15, and dust. Determination unit 16, distance measurement unit 17, induction signal reception unit 18, spot maximum radius determination unit 19, charging stand connection unit 20, travel control unit 21, driving wheel 22, intake port 31, exhaust port 32, dust collection unit 33, An input unit 34 and a storage unit 41 are provided.

Further, the charging stand 100 is fixedly installed at a predetermined position such as a room for cleaning. By connecting the charging stand 100 and the self-propelled cleaner 1, the self-propelled cleaner 1 is supplied with electric power from the charging stand in contact with the charging stand 100, and the rechargeable battery of the self-propelled cleaner 1. 12 is charged.
The self-propelled cleaner 1 of the present invention cleans the floor surface by sucking air containing dust on the floor surface and exhausting the air from which dust has been removed while traveling on the floor surface of the place where it is installed. It is a cleaning robot. The self-propelled cleaner 1 of the present invention has a function of autonomously returning to the charging stand when cleaning is completed.
Also, it has multiple running patterns to clean the floor, especially when a certain amount or more of dust is detected, the entire floor of the predetermined room is cleaned while focusing around the detected position. Has the function to perform.

In FIG. 2, the schematic perspective view of one Example of the self-propelled cleaner of this invention is shown.
In FIG. 2, the self-propelled cleaner 1 of the present invention includes a disk-shaped housing 2, and a rotating brush, a side brush 10, a dust collecting unit 33, an electric blower, and a plurality of devices are provided inside and outside the housing 2. Drive wheel 22, failure detection unit 13, induction signal reception unit 18, and other components shown in FIG. 1 are provided.
In FIG. 2, the portion where the guide signal receiving unit 18 is disposed is the front portion, the portion where the rear wheel of the driven wheel (not shown) is disposed is the rear portion, and the dust detection unit 15 and the dust collecting unit 33 are disposed inside the housing. The arranged part is called an intermediate part. Self-propelled cleaner 1 usually advances toward the front of the front part.

  The housing 2 has a circular bottom plate having an air inlet 31 and a top plate 2b having a lid portion 3 that opens and closes when the dust collecting portion 33 accommodated in the housing 2 is taken in and out at the center portion, A side plate 2c having an annular shape in plan view provided along the outer peripheral portion of the bottom plate and the top plate 2b. The bottom plate is formed with a plurality of holes for projecting the lower portions of the pair of drive wheels and rear wheels from the inside of the housing 2 to the outside, and the exhaust port 32 is located near the boundary between the front portion and the middle portion of the top plate 2b. Is formed. In addition, the side plate 2c is divided into two in the front and rear directions, and the front side portion of the side plate functions as a bumper.

  The self-propelled cleaner 1 rotates in a stationary state by a pair of drive wheels 22 rotating forward in the same direction, moving forward, moving backward in the same direction, moving backward, and rotating in opposite directions. For example, when the cleaner 1 reaches the peripheral edge of the cleaning area and collides with an obstacle on the course, the driving wheels stop, and the pair of driving wheels rotate in opposite directions to change directions. Thereby, the vacuum cleaner 1 is self-propelled while avoiding an obstacle over the entire installation place or the entire desired range.

In addition, the self-propelled cleaner 1 receives the induction signal emitted from the induction signal transmission unit 102 of the charging stand and, for example, when cleaning is completed, the remaining charge of the rechargeable battery 12 is reduced, or When the set time of the set cleaning timer elapses, the vehicle automatically repeats linear traveling and rotating operation or wall-carrying traveling toward the charging base 100 until it reaches the charging base 100. Return.
However, if there is an obstacle, it moves in the direction of the charging stand 100 while avoiding it.

Hereinafter, each component shown in FIG. 1 will be described.
The control unit 11 in FIG. 1 is a part that controls the operation of each component of the cleaner 1, and is mainly realized by a microcomputer including a CPU, a ROM, a RAM, an I / O controller, a timer, and the like.
The CPU organically operates each hardware based on a control program stored in advance in a ROM or the like, and executes the cleaning function, the traveling function, and the like of the present invention.
For example, as will be described later, when the dust determination unit 16 determines that dust is present, the control unit 11 uses a predetermined floor area including a spot initial position where it is determined that dust is present as a spot. It is moved in a running pattern in the running mode, and dust in a predetermined floor area is collected by the dust collecting unit 33.

The rechargeable battery 12 is a part that supplies electric power to each functional element of the cleaner 1, and is a part that mainly supplies electric power for performing the cleaning function and travel control. For example, a rechargeable battery such as a lithium ion battery, a nickel metal hydride battery, or a Ni—Cd battery is used.
The rechargeable battery 12 is charged in a state where the vacuum cleaner 1 and the charging stand 100 are connected.
The connection between the vacuum cleaner 1 and the charging stand 100 is performed by bringing exposed charging terminals that are the connecting portions (20, 101) into contact with each other.
In addition, the battery remaining amount detection part which is not shown in figure is provided, the remaining capacity (remaining battery amount) of a rechargeable battery is detected, and it should return to the charging stand based on the detected remaining battery amount (%) You may decide to return.

  The traveling control unit 21 is a part that controls the autonomous traveling of the self-propelled cleaner 1, and mainly controls the rotation of the driving wheel 22 described above to automatically perform linear traveling and rotational operation. Run the housing. The driving wheel 22 is composed of a left wheel and a right wheel, and is driven by different driving motors, thereby allowing the self-propelled cleaner 1 to perform operations such as forward movement, backward movement, rotation, and stationary.

The present invention mainly has two types of travel modes, a normal travel mode and a spot travel mode.
The normal driving mode is a mode in which a predetermined indoor space is moved while avoiding obstacles regardless of the presence or absence of garbage and the amount of garbage. For example, a random driving pattern that repeats irregular driving, regular and vertical and horizontal Clean the entire room with a zigzag running pattern that repeats running.

In the spot travel mode, as described later, when it is determined by the dust determination unit 16 that dust is present or there is a lot of dust, a predetermined position including the position where the dust is determined to be present and the surroundings of the position is also included. This is a mode for moving the floor area.
In the spot travel mode, for example, the housing is configured to draw a spiral travel locus by gradually increasing the radius of a circle centered on the position where dust is determined to be present as a start position. Cleaning is performed in a traveling pattern (spiral traveling pattern) that moves the.
In this spiral running, a circular region within a predetermined radius centered on a position where it is determined that dust is present or there is much dust is intensively cleaned.
The position where it is determined that there is dust or that there is much dust is called the spot initial position.

Alternatively, the cleaning may be performed with a traveling pattern (rectangular traveling pattern) that moves within a predetermined rectangular area including the spot initial position, starting from the spot initial position determined that dust is present.
Examples of this spot travel pattern are shown in FIGS. 3, 4, 5, and 6 to be described later.
In addition, encoders (not shown) are provided on the left and right wheels of the drive wheels, respectively, and are self-propelled from a predetermined reference point (for example, the position of the charging stand) depending on the rotational speed, rotational direction, rotational position and rotational speed of the wheels You may measure the moving distance of a cleaner.

The obstacle detection unit 13 is a part that detects an obstacle present around the housing 2. For example, the obstacle detection unit 13 is in contact with or approaches an obstacle such as an indoor desk or chair while the self-propelled cleaner 1 is running. Detect that. As the obstacle detection unit 13, for example, a contact sensor or an obstacle sensor including a micro switch, an ultrasonic sensor, an infrared distance measuring sensor, or the like is used, and is arranged at the front part of the side plate 2 </ b> C of the housing 2.
Further, since the step is considered to be one of the obstacles, a cliff detection sensor for detecting the step may be provided as the obstacle detection unit 13.
The CPU recognizes the position where the obstacle exists based on the signal output from the obstacle detection unit 13. Based on the position information of the recognized obstacle, a direction to travel next is determined while avoiding the obstacle.
Further, as will be described later, when the obstacle detection unit 13 detects an obstacle in a predetermined floor area while moving the case in the spot travel mode, the travel control unit 21 causes the case to be moved. Return to the initial spot position.

The angle detection unit 14 is a so-called gyro sensor and detects an angle in the traveling direction of the self-propelled cleaner 1.
Based on the signal output from the gyro sensor 14, the angle from the reference direction is calculated. Thereby, the moving direction is detected.
For example, when making a left turn of 90 degrees, while checking the state of the gyro sensor, the drive motor is controlled to rotate 90 degrees to the left from the initial angular position, and the right wheel is stationary. And the left wheel are rotated in opposite directions.
In addition to this, the gyro sensor 14 is also used for confirmation of the current position, correction of movement control errors, and fine adjustment of the posture.

The dust detection unit 15 is a part that detects the presence or absence of dust on the floor, and is mainly a part that detects dust contained in the air sucked from the air inlet 31 of the self-propelled cleaner 1.
As the dust detection unit 15, for example, an optical sensor is used. The dust detection unit 15 includes a light emitting unit and a light receiving unit that are arranged in the vicinity of the air inlet 31 so as to sandwich the air inlet 31. For example, an infrared light emitting diode is used as the light emitting unit, and a phototransistor is used as the light receiving unit. When there is no dust, infrared light output from the infrared light emitting diode is detected by the phototransistor. The
On the other hand, when dust is sucked into the intake port 31, when the dust passes near the intake port, the infrared light is blocked by the dust, so that the infrared light is not received by the phototransistor.
Therefore, the passage (presence / absence) of dust can be detected based on the presence / absence of infrared light received by the phototransistor.
From the phototransistor, a signal corresponding to whether or not infrared light is received is given to the dust determination unit 16.

The dust determination unit 16 is a part that determines whether or not there is a predetermined amount or more of dust on the floor surface or the amount of dust based on the presence or absence of dust detected by the dust detection unit 15.
For example, it is possible to determine the amount of dust by counting the number of times infrared light is not received per certain time.
When the number of times of receiving no infrared light is considered as the number of detected dusts (GC), a predetermined numerical value is stored in advance as a dust judgment value (Gmax) 47, and the number of detected dusts (GC) is If it is equal to or greater than the dust judgment value (Gmax) (GC ≧ Gmax), the dust detection position is regarded as a spot to be cleaned with priority, and it is determined that there is dust.
On the other hand, if the number of detected dust (GC) is smaller than the dust determination value (Gmax), that is, if GC <Gmax, it is determined that there is no dust.
As will be described later, the determination result of the dust determination unit 16 is used to determine whether to perform spot traveling, stop spot traveling, or perform normal traveling.
For example, as will be described later, if the dust determination unit 16 determines that no dust is present when the casing is moved in the spot travel mode driving pattern, the spot driving mode is stopped and the casing is moved. Return to the initial spot position.

The distance measuring unit 17 is a part that measures the distance from the current position of the housing 2 to the obstacle detected by the obstacle detecting unit 13. For example, the distance to the obstacle is measured using an ultrasonic reception signal output from the ultrasonic sensor and reflected by the obstacle.
Further, as will be described later, the distance to the obstacle detected by the distance measuring unit 17 is measured at the initial spot position where the dust determining unit 16 determines that dust is present.
Further, based on the measured distance, a predetermined floor surface area in which the casing is moved in the spot travel mode travel pattern is set to a range that does not collide with the detected obstacle.

The induction signal receiving unit 18 is a part that is disposed in the front part of the housing 2 and receives a signal output from the induction signal transmission unit 102 of the charging stand 100. The induction signal is used for the feedback process of the self-propelled cleaner and the connection process to the charging stand, and for example, an infrared signal is used.
As will be described later, the spot maximum radius determining unit 19, in the spot travel mode, when performing spiral travel while gradually increasing the radius of the circle with the spot initial position as the center of the circle, the maximum radius of the circle of the spiral travel is It is a part that decides.
The maximum radius is calculated from the distance to the obstacle measured by the distance measuring unit 17.
For example, if the minimum distance from the housing to the obstacle is Lmin among several obstacles discovered, even if the self-propelled cleaner 1 approaches the obstacle by spiral running, the obstacle A numerical value shorter than the minimum distance Lmin to the obstacle is set as the maximum radius Rm so as not to contact the object.

The charging stand connection unit 20 is a terminal for inputting power for charging the rechargeable battery 12.
By physically contacting the charging stand connection unit 20 and the cleaner connection unit 101 of the charging stand 100, the power supplied from the power supply unit 104 of the charging stand 100 is supplied to the rechargeable battery 12 and charged.
The charging stand connecting part 20 is formed in a state of being exposed on the side surface of the main body of the cleaner 1 in order to make contact with the cleaner connecting part 101.
After the self-propelled cleaner 1 returns to the vicinity of the charging stand 100, the charging stand connecting portion 20 and the cleaner connecting portion 101 are brought into contact with each other using infrared rays received by the induction signal receiving portion 18. Perform connection processing.

The dust collecting unit 33 is a part that collects dust on the floor surface, and is a part that executes a cleaning function that collects dust and dust taken in from the air inlet 31. It mainly includes a dust collection container (not shown), a filter unit, and a cover unit that covers the dust collection container and the filter unit.
Moreover, it has an inflow path that communicates with the intake port 31 and an exhaust path that communicates with the exhaust port 32, and guides the air sucked from the intake port 31 into the dust collecting container through the inflow channel. Air is discharged to the outside from the exhaust port 32 through the discharge path.
The intake port 31 and the exhaust port 32 are portions for performing intake and exhaust of air for cleaning, respectively, and are formed at positions as described above.

The input unit 34 is a part where the user inputs an instruction for the operation of the cleaner 1, and is provided on the surface of the housing of the cleaner 1 as an operation panel or an operation button.
Alternatively, as the input unit 34, a remote control unit is provided separately from the main body of the cleaner, and when the user presses an operation button provided on the remote control unit, an infrared ray or a radio wave signal is transmitted, and the operation is performed by wireless communication. An instruction may be input.
As the input unit 34, a power switch, a start switch, a main power switch, a charge request switch, other switches (operation mode switch, timer switch), and the like are provided.
For example, when the charging request switch is pushed down during automatic traveling, it is determined that it is necessary to return to the charging stand, and the feedback process is executed.

The storage unit 41 is a part that stores information and programs necessary for realizing various functions of the self-propelled cleaner 1, and includes a semiconductor storage element such as a RAM and a ROM, a storage device such as a hard disk and an SSD, and the like. These storage media are used.
The storage unit 41 mainly stores a current position 42, an initial spot position 43, a maximum radius 44, a current radius 45, a measurement distance 46, a dust determination value 47, a distance determination value 48, and the like.

The current position 42 indicates the relative position of the self-propelled cleaner 1 from a predetermined reference point. For example, when the reference point is set as the position of the charging base 100, the position of the charging base is set to XY. As the coordinate origin (0, 0), the current position 42 is represented by XY coordinate values.
The current position 42 can be calculated using, for example, a moving distance from the charging stand to the position where the self-propelled cleaner is present and a moving direction detected by the gyro sensor 14 after leaving the charging stand. it can.
The spot initial position 43 indicates a position where the spot travel mode is started, and this is also represented by relative position coordinates from a reference point such as a charging stand.
The position where the spot travel mode is started is, for example, a position where the dust determination unit 16 determines that there is dust. The spot initial position 43 is also the center point of the spiral traveling circle.

The maximum radius 44 is the maximum radius of the circular area centered on the spot initial position in the spot traveling mode, and determines the size of the floor area where the casing is moved. In addition, in the case of spiral traveling, it means the radius from the center point of the circle at the position where the spiral traveling is terminated.
The current radius 45 means a radius from the center point of the circle at the current position of the casing when spiral running. In other words, the current radius 45 corresponds to the distance between the current position of the housing and the initial spot position. The center point of the circle corresponds to the spot initial position 43.

Assuming that the maximum radius 44 is Rm and the current radius 45 during spiral travel is Ra, the current radius Ra gradually increases as the self-propelled cleaner 1 moves, but the current radius Ra is the maximum radius Rm. If it matches, the spiral travel in the spot travel mode is stopped. When the spot travel mode is stopped, the housing may be returned to the spot initial position.
The current radius 45 gradually changes with the progress of the spiral travel, but the maximum radius 44 is a preset fixed value.
As the maximum radius 44, an appropriate numerical value may be stored as a fixed value in the storage unit 41 at the time of shipment. However, the user can change the setting of a numerical value that the user considers appropriate for his / her own room to be cleaned. May be.

Also, as will be described later, before starting the spot travel mode, it is checked whether there is an obstacle around the spot initial position. For example, if a wall is detected as an obstacle, the distance measuring unit 17, the distance Ls to the wall is measured, and based on the measured distance Ls, a predetermined floor area in which the housing is moved in the spot travel mode travel pattern is set to a range that does not collide with the detected wall. To do. If the travel pattern in the spot travel mode is spiral travel, a distance that does not collide with the wall is determined as the maximum radius Rm and stored in the storage unit 41.
For example, a numerical value that is about 1 cm smaller than the measurement distance Ls is set as the maximum radius Rm.

The measurement distance 46 is a distance measured by the distance measurement unit 17 and mainly corresponds to a distance from the self-propelled cleaner 1 to an obstacle such as a wall or a chair.
The dust determination value 47 is a threshold value for the dust determination unit 16 to determine that “there is dust”.
As the dust determination value 47, a predetermined fixed value may be set at the time of shipment, but the setting may be changed depending on the material of the floor surface.
As described above, for example, when the number of dust detected by the dust detection unit 15 is greater than or equal to the dust determination value 47, it is determined that “there is dust” and when the number of dust detection is smaller than the dust determination value 47, “None” is determined.

The distance determination value 48 is a threshold value for determining whether an obstacle is present near the current position of the housing. As described above, when the distance to the obstacle measured by the distance measuring unit 17 is smaller than the distance determination value 48 (measurement distance <distance determination value), it is determined that there is an obstacle nearby.
On the other hand, when the measurement distance ≧ the distance determination value, it is determined that the obstacle is not nearby.

The self-propelled cleaner 1 of the present invention may have other necessary configurations and functions in addition to the above configuration.
For example, a structure (ion generator) that generates ions may be provided during cleaning or in a stationary state to perform sterilization and deodorization (or deodorization).
In addition, a timer switch for setting a time for executing the cleaning process is provided, and when a timer switch is turned on (ON), counting of a preset time (for example, 60 minutes) is started, and the set time is set. The cleaning process may be executed until elapses.
After the set time elapses, the cleaning process may be stopped and automatically returned to the charging stand.

<Configuration of charging stand>
In FIG. 1, a charging stand 100 mainly includes a vacuum cleaner connection unit 101, an induction signal transmission unit 102, a control unit 103, and a power supply unit 104, and is connected to an outlet of a commercial power source 105 disposed on an indoor wall or the like. Receive AC AC power.
The power supply unit 104 is a part that receives AC power from the commercial power source 105, converts the AC power into DC power that can charge the cleaner 1, and supplies the DC power to the cleaner connection unit 101.

The induction signal transmission unit 102 is, for example, a part that transmits an infrared signal.
The control unit 103 of the charging stand 100 is a part that realizes various functions of the charging stand, and mainly performs an infrared signal transmission process and charging power supply control. The control unit 103 can be realized by a microcomputer including a CPU, a ROM, a RAM, an I / O controller, a timer, and the like.

<Description of spot travel pattern>
The following are some examples of spot travel patterns that are performed when dust is detected and it is determined that there is dust.
(Spot running pattern-Example 1)
In FIG. 3, the schematic explanatory drawing of Example 1 of a spot running pattern is shown. Here, an example of a traveling locus in the case of spiral traveling is shown.
“Start S” in FIGS. 3A and 3C indicates the spot initial position of the self-propelled cleaner, and “End E” in FIGS. 3B and 3D indicates the spot travel end position. Show. It is assumed that the spot travel end position is the same as the spot initial position.
“Start S” corresponds to a position determined by the dust determination unit 16 as having dust.
Garbage collection is continued even during spiral running.

FIG. 3A and FIG. 3B show a case where there is no obstacle near the spot initial position where spot travel is started.
The position of “Rm” in FIGS. 3A and 3B indicates a position where the radius of the circle is gradually increased by the circular motion of the spiral running, and becomes a predetermined maximum radius Rm of the circle. ing.
Spiral running starts from the spot initial position indicated by “Start S” in FIG. 3A and rotates counterclockwise while increasing the radius of the spiral circle at a predetermined increase rate. However, the rotation direction may be the same as that of the watch.
During spiral traveling, the current radius Ra is always stored and compared with the maximum radius Rm stored in the storage unit 41.
Then, in the state where the current radius Ra <the maximum radius Rm, the spiral travel is advanced as it is, and when the current radius Ra matches the maximum radius Rm, the current radius Ra is temporarily stopped at that position. That is, the spiral running whose radius is increased is stopped.
For example, assuming that the maximum radius Rm is set to 1 meter, a circular area having a radius of 1 m centering on the spot initial position is subjected to intensive cleaning.

Thereafter, as shown in FIG. 3B, the spiral travel is resumed from the position where the spiral travel is stopped so as to return to the spot initial position while gradually reducing the radius of the circular motion.
FIG. 3B shows a case in which, as in FIG. 3A, it rotates counterclockwise and returns to the spot initial position while reducing the radius.
However, it may be rotated 180 degrees at the spiral travel stop position shown in FIG. 3A, and the trajectory of the spiral travel shown in FIG.
As shown in FIG. 3 (b), after returning to the spot initial position, it is only necessary to return to the normal travel mode and travel in the room with the travel pattern set as the normal travel mode.

3 (c) and 3 (d) are examples of travel patterns when a pillar that is an obstacle is in the vicinity of the spot initial position and collides with the pillar during spiral travel. Is shown.
In FIG. 3C, when the spiral running is performed in the same manner as in FIG. 3A, the obstacle detection unit 13 detects the collision with the pillar before the current radius of the spiral matches the maximum radius Rm. Suppose that
At this time, the spiral travel is temporarily stopped at the position where the collision is detected, and the position is reversed 180 degrees at the position.
Thereafter, as shown in FIG. 3D, the initial spot position corresponding to the end position of the spiral is obtained by following the spiral trajectory shown in FIG. Return to.
In FIG. 3D, after returning to the spot initial position, the mode is switched to the normal travel mode, and the cleaning process is continued in a predetermined travel pattern.

After colliding with an obstacle pillar, it is possible to continue the spiral running by avoiding the position of that pillar, but in this case, the spiral circle shape is broken and the initial spot position There are cases where it takes time to return to, and it may be difficult to return.
For example, if you continue to increase the radius of the circle after the collision, if you try to go back in the spiral trajectory after reaching the position of the maximum radius, you will hit the pillar again and return to the initial spot position It takes time.

  Therefore, if it collides with an obstacle before the current radius of the spiral matches the maximum radius, it is considered that focused cleaning near the initial spot position where dust was detected has been completed, and the remaining rooms in the room to be cleaned In order to advance the cleaning of the area quickly, it is preferable to return to the spot initial position as soon as possible.

(Spot running pattern-Example 2)
In FIG. 4, the schematic explanatory drawing of Example 2 of a spot running pattern is shown.
Here, an example of a traveling locus in the case where spot operation is performed while the region to be cleaned preferentially is a rectangular region and the rectangular region is zigzag traveling in the horizontal direction is shown.
Assume that the position indicated by “S” in FIGS. 4A and 4B is the spot initial position, and the position indicated by “E” is the spot end position.
FIG. 4A shows a case where there is no obstacle in the rectangular area where spot traveling is performed.
A rectangular area (vertical L1, horizontal W1) indicated by a broken line is set as a predetermined spot traveling area.

In FIG. 4A, the spot initial position “S” is outside the rectangular area, but the spot initial position may be included in the rectangular area. Further, the dust detection position may be, for example, the center position within the rectangular area, and a position returned by a predetermined distance in the direction opposite to the traveling direction may be set as the spot initial position.
In the case of FIG. 4A, the spot initial position “S” is started, the vehicle travels according to the locus as shown in the figure, and the spot travel mode is terminated when the spot end position “E” is reached.
Thereafter, returning to the normal operation mode, cleaning is continued in a predetermined traveling pattern from the spot end position.

FIG. 4B shows a case where there is a pillar which is an obstacle in a rectangular area where spot traveling is performed, and the pillar collides with the pillar during the spot traveling.
In FIG. 4 (b), if it collides with a pillar during movement in the right direction, it stops once at that position, rotates 180 degrees, and returns by a predetermined distance. Alternatively, the vehicle may move backward by a predetermined distance from the stopped position.
As the predetermined distance to return, an appropriate distance cannot be determined in particular. However, for example, it is sufficient to return by a distance of about several tens of centimeters so as not to hit the pillar again.
Thereafter, the spot traveling is resumed from the returned position, and the vehicle travels while drawing a locus as shown in FIG.
Here, in consideration of the returned position, the rectangular area after resuming spot traveling may be set to a lateral width W2 smaller than the lateral width W1 of the rectangular area in FIG. 4A (W1> W2).
That is, the rectangular area to be cleaned intensively may be changed so as not to collide with the pillar again.
In FIG. 4B, for example, after the second zigzag running, the spot exiting position “E” may be defined as the spot exiting the rectangular area, and the spot running mode may be terminated here.
Further, in the same manner as shown in FIG. 3D, after colliding with the pillar, the spot initial position may be returned.

(Spot running pattern-Example 3)
In FIG. 5, the schematic explanatory drawing of Example 3 of a spot running pattern is shown.
Here, the region to be cleaned preferentially is a rectangular region, and a traveling locus in the case of performing spot driving while traveling in the rectangular region with an 8-shaped pattern is shown.
FIG. 5A shows a case where the vehicle starts running from the initial spot position “S” determined in the same manner as in FIG. Here, only a little inside of the predetermined rectangular area is cleaned.
In FIG. 5 (a), when traveling in the shape of figure 8, if it does not collide with an obstacle, as shown in FIG. 5 (b), slightly outside of the figure 8 pattern in FIG. 5 (a). The vehicle travels on a locus indicated by a broken line.
If there is no obstacle in the rectangular area, the spot travel mode is terminated at the spot end position “E” after traveling in an 8-shaped pattern as indicated by a broken line.

On the other hand, FIGS. 5C, 5 </ b> D, and 5 </ b> E show a case where there is a pillar that is an obstacle in the rectangular region.
As shown in FIG. 5 (c), it is assumed that there is a pillar on the path of the figure 8 running in the second round at the lower right position of the rectangular area.
In this case, it is assumed that, as shown in FIG.
When it is detected that the vehicle has collided with the pillar, it stops at that position and stops spot traveling. For example, a traveling locus indicated by a broken line as shown in FIG. move on.
Alternatively, when the spot end position cannot be set, the original spot initial position “S” may be returned from the position where the collision is detected.
After reaching the spot end position “E” or the spot initial position “S”, the process returns to the normal operation mode, and cleaning is continued in a predetermined traveling pattern.

If, as shown in FIG. 5 (d), an attempt to continue running the figure 8 pattern after colliding with a pillar, the figure 8 pattern is broken and the running pattern becomes complicated. There may be a case where it is late to go to the end position “E” or the initial position “S”, or it is impossible to return to the initial position.
Therefore, as shown in FIG. 5 (e), in the event of a collision with a pillar, the spot traveling mode is terminated and the normal traveling mode is quickly returned to avoid unnecessary traveling and clean the entire room. Can be finished early.

(Spot running pattern-Example 4)
In FIG. 6, the schematic explanatory drawing of Example 4 of a spot running pattern is shown.
Here, after detecting dust at the spot initial position, spiral running as shown in FIG. 3 is started. In the dust detection and determination process during the spiral traveling, when it is determined that there is no dust, the spiral traveling for increasing the radius is temporarily stopped at the position determined as the absence of dust (the position “A” in FIG. 6). Thereafter, a traveling locus in the case of performing spiral traveling with decreasing radius and returning to the original spot initial position is shown.

6 (a) and 6 (c), from the spot initial position indicated by “Start S”, after starting spiral traveling in the counterclockwise direction, the vehicle traveled to the position “A” where it was determined that there was no dust. Shows the case.
In FIG. 6B, the spiral travel is continued in the same direction from the position “A”, and the radius gradually decreases while returning to the end position “end E” corresponding to the spot initial position “start S”. Is shown.
FIG. 6D shows a case where the vehicle is temporarily stopped at the position “A”, rotated 180 degrees, traced back in the spiral travel path, and returned to the end position “End E”.
If the current radius at the position “A” determined to be free of dust is smaller than the maximum radius Rm, spot cleaning in an area outside the position “A” where dust is expected to be small will be omitted. Therefore, the focused cleaning of the area near the spot initial position considered to have a lot of dust is efficiently performed, and the spot traveling mode can be finished earlier.

<Automatic travel processing of self-propelled vacuum cleaner>
Below, the flowchart of three Examples is shown about the automatic running process of the self-propelled cleaner of this invention.
In the following flowchart, the spot travel mode is started after it is determined that there is dust. However, the spot travel mode will be described assuming that spiral travel is performed with the spot initial position as the center of a circle. However, you may make it drive | work a rectangular area | region like FIG.4 and FIG.5.

(First embodiment of automatic travel processing)
FIG. 7 shows a flowchart in the first embodiment of the automatic running process of the present invention.
In FIG. 7, it is assumed that the self-propelled cleaner 1 is activated and cleaning is currently being performed in the automatic travel pattern set in the normal travel mode, as shown in step S <b> 1.
For example, assume that the vehicle is traveling in a predetermined zigzag pattern.
In step S2, it is checked whether or not the dust detection unit 15 has detected dust.
For example, the number of dust detections per certain time is counted.
In step S3, the dust determination unit 16 determines whether it should be determined that there is dust based on the result of dust detection.

For example, it is determined whether or not the number of detected dust is larger than the dust determination value 47 stored in the storage unit 41. If the number of detected dust is equal to or greater than the dust determination value, it is determined that “there is dust”.
On the other hand, when the number of detected dust is smaller than the dust determination value, it is determined that there is no dust.
If it is determined that there is dust, the process proceeds to step S6. If it is determined that there is no dust, the process proceeds to step S4.
In step S4, the control unit 11 checks whether or not to end the normal travel mode.
The case where the normal travel mode should be terminated is, for example, a case where the remaining battery level is less than a predetermined value or a case where a predetermined cleaning time has elapsed.

If the normal mode should be terminated, the process proceeds to step S5, and if not, the process returns to step S1.
In step S5, a return process to the charging stand is executed.
In the feedback processing to the charging stand, for example, the induction signal receiving unit 18 returns to the direction in which the charging stand 100 is located while receiving the induction signal output from the charging stand 100 and running linearly or running along the wall. It is processing.
After returning to the vicinity of the charging stand 100 and bringing the cleaner connecting portion 101 and the charging stand connecting portion 20 into contact with each other, the charging is completed and the process is terminated.

In step S6, the maximum radius 44 during spiral travel in the spot travel mode is read from the storage unit 41.
Here, the maximum radius 44 is a predetermined fixed value or a numerical value set and input by a user or the like.
In step S <b> 7, the position determined as having dust is stored in the storage unit 41 as the spot initial position 43.
Here, the stored position is, for example, a relative position coordinate calculated from a predetermined reference point (for example, a charging stand) calculated using the gyro sensor 14 or the like.
In step S8, the control unit 11 starts the spot travel mode.
Here, the spiral travel as shown in FIG. 3 is started. First, the initial value of the radius of the spiral circle is set to the current radius 45 and stored in the storage unit 41.

In step S9, the control unit 11 causes the traveling control unit 21 to perform spiral traveling while gradually increasing the current radius 45 at a predetermined increase rate.
In step S10, the obstacle detection unit 13 checks whether or not it has collided with an obstacle.
If it is detected in step S11 that the vehicle has collided with an obstacle (for example, a wall), the process proceeds to step S16, and if not, the process proceeds to step S12.

In step S16, the traveling direction is reversed by 180 degrees to change the traveling direction.
That is, since the vehicle has collided with an obstacle, the vehicle is temporarily stopped, the spiral traveling that increases the radius is stopped, and preparation for returning to the original spot initial position is made.
Thereafter, the process proceeds to step S17.

In step S12, the distance measurement unit 17 measures the distance to an obstacle (for example, a wall) around the current position using a signal acquired by an ultrasonic sensor that is one of the obstacle detection units 13. .
In step S13, when the measured distance is smaller than the predetermined distance determination value 48 stored in the storage unit 41, the process proceeds to step S16. Otherwise, the process proceeds to step S14.
If the measured distance is smaller than the distance judgment value, it means that there is an obstacle nearby. If you continue the spiral running to increase the radius, there is a possibility of colliding with the obstacle. It means that there is.
Therefore, if the vehicle has not actually collided with the obstacle yet but may collide with the obstacle in the near future, the process proceeds to step S16 in order to stop the spiral travel.

In step S14, the current radius 45 at the current spiral travel position is compared with the read maximum radius 44 to check whether the current radius is equal to or greater than the maximum radius.
If the current radius is equal to or greater than the maximum radius, it is considered that the cleaning of the spiral area that was originally scheduled has been completed, and the process proceeds to step S17.
On the other hand, if the current radius is smaller than the maximum radius, the process proceeds to step S15 in order to continue the spiral travel.
In step S15, the radius of the spiral circle is increased at a predetermined increase rate, and the current radius 45 is updated and stored in the storage unit 41.
Then, it returns to step S9 and continues spiral running.

In step S <b> 17, the control unit 11 causes the spiral reverse running to run while reducing the radius of the spiral circle. As a result, the trajectory of the spiral travel that has been performed so far is traced back to the spot initial position.
In step S18, the current position 42 is checked.
The current position 42 is calculated using the gyro sensor 14 and the like as in step S7.
In step S19, the calculated current position 42 is compared with the spot initial position 42 stored in the storage unit 41, and it is checked whether or not the two substantially match.
When the positions of the two substantially coincide with each other, the spot travel mode is terminated and the process returns to Step 1.
If the current position 42 has not yet returned to the spot initial position 43, the process proceeds to step S20.
In step S20, the radius of the spiral circle is decreased at a predetermined reduction rate, and then the process returns to step S17 to continue the spiral travel while decreasing the radius.

With the above processing, when the spot travel mode is started, the spiral traveling around the position where the dust is determined to be present (spot initial position) focuses on the dust around the spot initial position. Can be removed.
Also, when colliding with an obstacle during spiral traveling or finding an obstacle nearby, stop spiral traveling and return to the original spot initial position, which is the starting position of spiral traveling, It is possible to quickly clean other areas of the room.

(Second embodiment of automatic travel processing)
FIG. 8 shows a flowchart in the second embodiment of the automatic traveling process of the present invention.
Here, unlike the first embodiment in which the maximum radius stored in advance in the storage unit 41 is read out and used, when it is determined that there is dust, the position where it is determined that there is dust before starting the spot travel mode. The distance from the (spot initial position) to the obstacle is measured, and the maximum radius of the spiral travel is determined based on the measured distance to the obstacle.
In the flowchart of FIG. 8, the same reference numerals are given to steps that perform the same processing as the steps of FIG. 7.

In FIG. 8, the processing from step S1 to S5 is the same as that in FIG. 7. If it is determined in step S3 that there is dust, the process proceeds to step S31.
In step S <b> 31, the distance measuring unit 17 measures the distance to an obstacle (for example, a wall) in the vicinity using a signal acquired from the ultrasonic sensor of the obstacle detecting unit 13.
At this time, the distance to the obstacle is measured and stored in the storage unit 41 in all directions of 360 degrees with the position determined as having dust. If there are a plurality of obstacles that are found, the minimum distance among the distances to those obstacles is stored.

In step S32, the spot maximum radius determining unit 19 uses the distance to the obstacle measured in step S31 to determine the maximum value (maximum radius 44) of the radius of the circle when spirally running, and stores it. Store in the unit 41.
In order to avoid colliding with a detected obstacle when performing spiral traveling, a numerical value shorter than the measured distance to the obstacle is set as the maximum radius 44.
The criterion for setting a numerical value as the maximum radius does not need to be limited to one criterion, and an arbitrary criterion can be adopted.
For example, the maximum radius 44 may be set to a numerical value that is uniformly shorter than the measured distance by 1 cm. Alternatively, a value that is 5% shorter than the measured distance may be set as the maximum radius 44.

After step S32, the processing from step S7 to step S20 is executed in the same manner as shown in FIG.
Thereby, before entering the spot travel mode, the maximum radius of the spiral in consideration of the distance to the obstacle is set in advance, the spiral travel of the range that does not collide with the obstacle is performed, without colliding with the obstacle, It is possible to quickly clean an area where dust exists around the spot initial position.

(Third embodiment of automatic travel processing)
FIG. 9 shows a flowchart in the third embodiment of the automatic running process of the present invention.
Here, a description will be given of a process of executing dust detection processing during spiral traveling, stopping the spiral traveling for increasing the radius at that position, and returning to the spot initial position when it is determined that there is no dust.
This flowchart corresponds to FIGS. 6C and 6D.
In FIG. 9, steps S41 and S42 are executed instead of steps S10 to S13 in FIG.
The other steps are the same as the steps in the flowchart shown in FIG.

In FIG. 9, steps S1 to S9 are the same as the processing of FIG.
However, steps S31 and S32 in FIG. 8 may be executed instead of step S6.
In step S9, after starting spiral running, in step S41, the dust detection unit 15 performs dust detection confirmation processing.
The processing content of step S41 may be the same processing as step S2.

In step S42, the dust determination unit 16 determines whether dust can be determined based on the number of detected dust.
The processing content of step S42 may be the same processing as step S3.
If it is determined in step S42 that there is dust, the process proceeds to step S14 in order to continue the spiral travel.
On the other hand, if it is determined that there is no dust, it is considered that there is no need for further cleaning, and the process proceeds to step S16 in order to stop the spiral travel.

Hereinafter, the process from step S14 to step S20 is the same process as FIG.
According to this process, as shown in FIGS. 6C and 6D, the cleaning in the spot traveling mode can be stopped at the time when it is determined that there is no dust during the spiral traveling, and more quickly. In addition, after the spiral travel is finished and the spot is returned to the initial position, cleaning can be performed in the normal travel mode.

<Summary of Embodiment>
(Embodiment 1)
When it is determined by the dust determination unit that dust is present, a predetermined floor area including the spot initial position is intensively cleaned with a travel pattern in the spot travel mode. Any one of the following may be used as the travel pattern in the spot travel mode.
(1-a) Spiral travel The floor area to be cleaned is circular, the initial spot position at the center of the circle is the start position, and a spiral travel locus in which the radius of the circle in the circular area gradually increases is drawn. Next, the casing is moved.
(1-b) Running in a rectangular area A rectangular area having a predetermined size including a spot initial position is set as a floor area to be cleaned, and the inside of the rectangular area is zigzag-runned. The zigzag running pattern may be random. Alternatively, the housing may be moved so as to draw a figure 8 in the rectangular area.
(1-c) Other Traveling The shape of the floor area is not limited to a circular shape or a rectangular shape, but may be other shapes. Moreover, as a running pattern, you may move a housing | casing by a pattern like a zigzag, for example.

(Embodiment 2)
As a method of canceling the spot travel mode, there are mainly the following three patterns.
(2-a) Collision detection When the casing is moved in the travel pattern of the spot travel mode, when the vehicle actually collides with an obstacle, the spot travel mode is stopped at the collided position.
(2-b) Judgment based on the distance to the obstacle When the obstacle is detected, the distance to the obstacle is measured, and when the measured distance becomes smaller than a predetermined distance judgment value, the position where the judgment is made Then, stop spot driving mode.
(2-c) Determination by dust detection When it is determined that there is no dust when the casing is moved in the driving pattern of the spot driving mode, the spot driving mode is stopped at the position where the determination is made. Let
(2-d) Determination by traveling position When the casing reaches a predetermined position, for example, in spiral traveling, when the current radius reaches a position that matches the maximum radius, or a predetermined floor area If it has moved to a position where the entire cleaning of the vehicle should be finished, the spot traveling mode is stopped at that position.

(Embodiment 3)
(3-a) The floor area that travels in the spot travel mode when it is determined that dust is present uses the travel pattern area that is preset in advance, or a plurality of travel patterns are stored. If so, the user may be able to set the travel pattern area to be used by using the input unit. For example, the user may set whether to perform spiral traveling or random traveling in a rectangular area.

(Embodiment 4)
(4-a) As for the size of the floor area that travels in the spot travel mode, the size set in advance is used as it is or before the actual travel in the spot travel mode is started. May be set in a range that does not collide with an obstacle. To set the range so that it does not collide with the obstacle, measure the distance to the obstacle in all directions while standing still at the initial position of the spot, and only within the range of the distance shorter than the measured distance when viewed from the spot initial position The floor area to be traveled is set so as to move.
(4-b) In the case of spiral traveling, the maximum radius of the spiral is set based on the measurement distance to the obstacle.
(4-c) When traveling in the rectangular area, the lengths of the vertical and horizontal sides of the rectangular area are set based on the measurement distance to the obstacle.

(Embodiment 5)
When the spot driving mode is stopped, one of the following measures can be taken.
(5-a) Return to the spot initial position where the spot travel mode is started, and resume the normal travel mode from the spot initial position.
(5-b) The normal travel mode is resumed from the position where the spot travel mode is stopped.

(Embodiment 6)
Any one of the following methods may be used as a dust detection method.
(6-a) A light emitting unit and a light receiving unit are provided in the vicinity of the intake port, and the presence or absence of dust is detected based on the presence or absence of light reception by the light receiving unit. Visible light may be visible light, infrared light, or the like.
(6-b) In addition, a method for detecting the presence or absence of dust by increasing or decreasing the suction force is also conceivable.

(Embodiment 7)
Any of the following methods may be used as an obstacle detection method. However, it is preferable to use both (7-a) and (7-b).
(7-a) A micro switch linked to the bumper (front side of the side plate) provided on the side of the housing is provided, and when it touches the obstacle, the micro switch is pushed down to detect collision with the obstacle. To do.
(7-b) The distance to the obstacle is measured by the ultrasonic sensor, and it is determined that the obstacle is detected when the measured distance is shorter than a predetermined distance determination value.
(7-c) In addition, a step is detected by a cliff detection sensor.

DESCRIPTION OF SYMBOLS 11 Control part, 12 Rechargeable battery, 13 Fault detection part, 14 Angle detection part, 15 Dust detection part, 16 Dust determination part, 17 Distance measurement part, 18 Guide signal reception part, 19 Spot maximum radius determination part, 20 Charge stand connection Part, 21 traveling control part, 22 driving wheel, 31 intake port, 32 exhaust port, 33 dust collecting part, 34 input part, 41 storage part, 42 current position, 43 spot initial position, 44 maximum radius, 45 current radius, 46 Measurement distance, 47 dust judgment value, 48 distance judgment value, 100 charging stand, 101 vacuum cleaner connection part, 102 induction signal transmission part, 103 control part, 104 power supply part, 105 commercial power supply

Claims (7)

A housing,
A travel control unit that travels the housing;
A dust collecting part for collecting floor garbage;
A dust detection unit for detecting the presence or absence of dust on the floor;
A dust determination unit that determines whether or not a predetermined amount or more of dust exists on the floor surface based on the presence or absence of the detected dust;
When it is determined that dust is present, the travel control unit moves the casing to a predetermined floor area including a spot initial position where dust is determined to be present in a spot travel mode travel pattern, and A self-propelled cleaner, comprising: a control unit that collects dust in the predetermined floor area by a dust collecting unit. An obstacle detection unit for detecting an obstacle present around the housing;
When the obstacle detection unit detects an obstacle in the predetermined floor area when the casing is moved in the traveling pattern of the spot traveling mode,
The self-propelled cleaner according to claim 1, wherein the control unit stops the spot travel mode.   3. The self-propelled cleaner according to claim 2, wherein after the spot traveling mode is stopped, the casing is returned to the spot initial position by the traveling control unit. A distance measuring unit that measures a distance from the current position of the housing to the obstacle detected by the obstacle detecting unit;
At the spot initial position where it is determined that the dust is present, the distance measurement unit measures the distance to the detected obstacle, and the control unit is based on the measurement distance,
A predetermined floor surface area in which the housing is moved in a traveling pattern in a spot traveling mode is set to a range that does not collide with the detected obstacle, and then the housing is moved in a traveling pattern in the spot traveling mode. The self-propelled cleaner according to claim 2 or 3.   When the case is moved in the spot travel mode travel pattern and the dust determination unit determines that no dust is present, the control unit stops the spot travel mode and The self-propelled cleaner according to any one of claims 1 to 4, wherein the body is returned to the spot initial position. The predetermined floor surface area is a circular area centered on the spot initial position,
The traveling pattern in the spot traveling mode is characterized in that the casing is moved so as to draw a spiral traveling locus in which a spot initial position is a starting position and a radius of a circle of the circular region is gradually increased. Item 6. The self-propelled cleaner according to any one of Items 1 to 5.   When the maximum radius of the circular area is set in advance and the casing is moved in the spot travel mode, the distance between the current position of the casing and the initial spot position matches the maximum radius. The self-propelled cleaner according to claim 6, wherein the control unit stops the spot travel mode and causes the housing to return to the spot initial position.