JP2017213429A - Self-propelled vacuum cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled vacuum cleaner which determines a travelling region where the self-propelled vacuum cleaner can travel by itself from positions of obstructions in the surrounding area and travels by itself by setting a travel time in which certain work efficiency can be secured regardless of the size of an area of the travelling region.SOLUTION: A self-propelled vacuum cleaner includes: a housing; a travelling part for making the housing travel; a cleaning part for cleaning a floor surface; an obstruction detecting part for detecting positions of obstructions around the housing; and a control part which controls the travelling part, the cleaning part and the obstruction detecting part and makes the cleaning part perform cleaning while making the housing travel by itself. The control part makes the obstruction detecting part detect the positions of the obstructions in the surrounding area and determines a travel time for cleaning on the basis of the positions of the obstructions.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a self-propelled cleaner provided with self-propelled means.

  In recent years, self-propelled vacuum cleaners that autonomously avoid obstacles are known. For example, Patent Document 1 describes a self-propelled cleaner having an obstacle avoidance control mode that changes the movement direction of the main body when the obstacle detection means detects an obstacle during the movement of the main body. Yes.

  In such a self-propelled cleaner, it is desirable to set the work time according to the size of the room or work area. For example, Patent Document 2 discloses a mobile work robot that moves toward a start point and ends the work when it detects a decrease in battery voltage, and measures the distance of the outer periphery of the room by a travel distance measuring means. It describes what corrects the lower limit voltage value for determining the decrease in battery voltage to an optimum value based on the measured distance of the outer periphery of the room.

JP 2002-0778650 A JP 2005-135274 A

  However, in the conventional self-propelled cleaner, the time for ending the work is determined by the remaining amount of the battery. Therefore, when the work area is large, the cleaning is finished even when there is an uncleaned area. Met. On the other hand, when the work area is small, the already cleaned area is cleaned many times. That is, the conventional self-propelled cleaner has not been cleaned according to the size of the work area.

  The present invention has been made in view of the above circumstances, and its purpose is to determine the work area of the self-propelled cleaner from the position of surrounding obstacles, and to determine the size of the work area. Accordingly, it is an object of the present invention to provide a self-propelled cleaner that can efficiently perform cleaning.

  The present invention includes a casing, a traveling section that travels the casing, a cleaning section that cleans the floor, an obstacle detection section that detects the position of an obstacle around the casing, the traveling section, A control unit that controls the cleaning unit and the obstacle detection unit to perform the cleaning while allowing the casing to self-run, and the control unit causes the obstacle detection unit to detect the position of surrounding obstacles, A self-propelled cleaner is provided that determines a running time for cleaning based on the position of the obstacle.

  According to the present invention, the control unit causes the obstacle detection unit to detect the position of a surrounding obstacle, and determines a traveling time for cleaning based on the position of the obstacle. The self-propelled type that determines the travel area where the self-propelled vacuum cleaner can self-propel from the position and sets the travel time that can ensure a certain work efficiency regardless of the area of the travel area. A vacuum cleaner can be realized.

It is a block diagram which shows schematic structure of the self-propelled cleaner of this invention, and a charging stand. (Embodiment 1) It is a perspective view which shows roughly an example of the external appearance of the self-propelled cleaner shown in FIG. (Embodiment 1) It is a flowchart of the preparation operation | movement process of the self-propelled cleaner of this invention. (Embodiment 1) It is explanatory drawing which shows the preparatory operation | movement procedure of the self-propelled cleaner of this invention. (Embodiment 1) It is a flowchart of the cleaning operation | movement process of the self-propelled cleaner of this invention. (Embodiment 2) It is explanatory drawing which shows the cleaning operation | movement procedure of the self-propelled cleaner of this invention. (Embodiment 2) It is a flowchart of the cleaning operation | movement process of the self-propelled cleaner of this invention. (Embodiment 3) It is explanatory drawing which shows the cleaning operation | movement procedure of the self-propelled cleaner of this invention. (Embodiment 3) It is explanatory drawing which shows the cleaning operation | movement procedure of the self-propelled cleaner of this invention. (Embodiment 4)

  Hereinafter, the present invention will be described in more detail with reference to the drawings. In addition, the following description is an illustration in all the points, Comprising: It should not be interpreted as limiting this invention.

(Embodiment 1)
<Configuration of self-propelled vacuum cleaner>
A self-propelled cleaner 1 according to Embodiment 1 of the present invention will be described.
Hereinafter, based on FIG.1 and FIG.2, the structure of the self-propelled cleaner 1 of this invention is demonstrated.
FIG. 1 is a block diagram showing a schematic configuration of a self-propelled cleaner 1 and a charging stand 100 according to the present invention.
FIG. 2 is a perspective view schematically showing the external appearance of the self-propelled cleaner 1 shown in FIG.

In the following embodiments, the schematic configuration and operation of the self-propelled cleaner 1 will be mainly described.
The self-propelled cleaner 1 has a casing 2 having an air inlet 35 on the bottom surface and a dust collecting portion 31 inside, a pair of driving wheels 13 for running the casing 2, and rotation, stop and rotation of the driving wheels 13. A traveling control unit 12 that controls the direction and the like is provided, and autonomously performs a cleaning operation.

  As shown in FIG. 1, the self-propelled cleaner 1 of the present invention mainly includes a control unit 11, a travel control unit 12, a drive wheel 13, a failure detection unit 14, a rechargeable battery 15, an operation input unit 17, and a voice input unit. 18, voice recognition unit 19, voice output unit 20, image acquisition unit 22, illumination unit 23, induction signal reception unit 24, charging connection unit 25, counter 27, communication unit 28, dust collection unit 31, ion generation unit 32, A ventilation control unit 33, an exhaust port 34, an intake port 35, and a storage unit 51 are provided.

Hereinafter, each component shown in FIG. 1 will be described.
A self-propelled cleaner 1 of the present invention has a three-dimensional housing 2 such as a disk shape, a cylindrical shape, or a rectangular parallelepiped shape, and various components are arranged on the surface or inside of the housing 2. .
For example, the driving wheel 13, the failure detection unit 14, the operation input unit 17, the voice input unit 18, the image acquisition unit 22, the illumination unit 23, the induction signal reception unit 24, and the charging connection unit 25 are arranged on the surface of the housing 2. The other components are provided inside the housing 2.

  Moreover, the charging stand 100 is installed in the predetermined position of the room which cleans. The charging stand 100 may be installed at any location where power supply can be received, such as near a commercial power outlet, near a wall of a room, or beside a desk. As shown in FIG. 1, the charging stand 100 includes a charging terminal unit 101 and an induction signal transmitting unit 102. By electrically contacting the charging terminal portion 101 of the charging stand 100 and the charging connection portion 25 of the self-propelled cleaner 1, the self-propelled cleaner 1 is supplied with electric power from the charging stand 100, The rechargeable battery 15 of the traveling vacuum cleaner 1 is charged. In addition, the self-propelled cleaner 1 performs a cleaning function while automatically traveling away from the charging stand 100.

  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 100 when cleaning is completed.

As shown in FIG. 2, the self-propelled cleaner 1 includes a disk-shaped housing 2, and a top plate 2 b, a side plate 2 c, a lid 3, a rotating brush, and a side brush are provided outside and inside the housing 2. 10, a plurality of driving wheels 13 driven for self-propulsion, a fault detection unit 14, an operation input unit 17, a voice input unit 18, a voice output unit 20, an image acquisition unit 22, an illumination unit 23, and a driven wheel. A front wheel and a rear wheel (not shown), an induction signal receiving unit 24, a communication unit 28 (not shown), a dust collecting unit 31 (not shown), an ion generating unit 32 (not shown), and an exhaust. An opening 34, an electric blower 36, and other components shown in FIG. 1 are provided.
In FIG. 2, the part where the failure detection unit 14 is arranged is the front part of the casing 2, the part where the lid part 3 is arranged is the middle part of the casing 2, and the opposite part across the middle part from the front part The part is called a rear part of the housing 2. Here, the front is the traveling direction FD of the self-propelled cleaner 1 indicated by the arrow in FIG. 2, and the direction opposite to the traveling direction FD of the self-propelled cleaner 1 is the rear.

  The housing 2 takes in and out a circular bottom plate having a suction port 35 (see FIG. 1) provided on the back surface (lower surface) and provided with a rotating brush, and a dust collecting portion 31 accommodated in the housing 2. A top plate 2b having a lid 3 that opens and closes at the center is provided, and a side plate 2c having a ring shape in plan view provided along the outer periphery of the bottom plate and the top plate 2b. Also, the bottom plate is formed with a plurality of holes for projecting the front wheels forward, the pair of drive wheels 13 in the middle, and the rear lower portion of the rear wheels from the inside of the housing 2 to the outside. An exhaust port 34 is formed in the vicinity of the boundary between the intermediate portion and the intermediate portion. The side plate 2c is divided into two parts in the front-rear direction, and the front part of the side plate 2c functions as a bumper.

  Furthermore, the self-propelled cleaner 1 detects the signal emitted from the induction signal transmission unit 102 of the charging stand 100 by the induction signal receiving unit 24 and recognizes the direction in which the charging stand 100 is present. For example, cleaning is completed. In this case, when the remaining charge of the rechargeable battery 15 is reduced, or when the set time of the set cleaning timer has elapsed, the vehicle travels autonomously on a route in a certain direction of the charging stand 100 and reaches the charging stand 100. Return. However, if there is an obstacle, it moves in the direction of the charging stand 100 while avoiding it.

Hereinafter, the control part of the self-propelled cleaner 1 of FIG. 1 will be described.
1 is a part that controls the operation of each component of the self-propelled 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 a detection function, a calculation function, a drive function, and the like as described later.

The drive wheel 13 is a part which is arrange | positioned at the lower part of the housing | casing 2, for example, and moves the housing | casing 2. As shown in FIG.
The travel control unit 12 is a part that controls the autonomous travel of the self-propelled cleaner 1, and is a part that mainly controls the rotation of the drive wheels 13 to cause the housing 2 to travel autonomously.
The travel control unit 12 drives or stops the pair of drive wheels 13 to cause the self-propelled cleaner 1 to perform operations such as forward movement, backward movement, rotation, and stationary. Here, the drive wheel 13 and the travel control unit 12 are an example of a travel unit according to the present invention.

The obstacle detection unit 14 is a part that detects obstacles such as desks and chairs existing around the self-propelled cleaner 1, and for example, a distance measuring sensor including an ultrasonic sensor, an infrared distance measuring sensor, or the like is used. In the front part of the main body of the housing 2. A plurality of failure detection units 14 may be provided.
The CPU related to the control unit 11 recognizes the position where the obstacle exists based on the signal output from the obstacle detection unit 14. Based on the position information of the recognized obstacle, a direction to travel next is determined while avoiding the obstacle.
In addition to the obstacle detection unit 14, the self-propelled cleaner 1 may include a contact sensor that detects that the self-propelled cleaner 1 has come into contact with an obstacle.

The rechargeable battery 15 is a part that supplies power to each functional element of the self-propelled cleaner 1, and is a part that mainly supplies power for performing a photographing function, travel control, and the like. 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 15 is charged in a state where the self-propelled cleaner 1 and the charging stand 100 are connected.
The connection between the self-propelled cleaner 1 and the charging stand 100 is performed by bringing the exposed connecting portion 25 for charging, which is a connecting portion, and the charging terminal portion 101 into electrical contact.

The operation input unit 17 is a part where the user inputs an instruction for the operation of the self-propelled cleaner 1, and the surface of the case 2 of the self-propelled cleaner 1, for example, as shown in FIG. An operation panel or an operation button is provided on the upper surface panel at the rear.
A remote control unit may be provided separately from the main body, an infrared ray or a radio wave signal may be transmitted by pressing an operation button provided on the remote control unit, and an operation instruction may be input by wireless communication.
As the operation input unit 17, for example, a power switch, a start switch, a charge request switch, and other switches (operation mode switch, timer switch) and the like are provided.

The voice input unit 18 is a part for inputting a human voice or sound (hereinafter collectively referred to as voice), and a microphone is used, for example.
The voice input from the voice input unit 18 is, for example, AD converted and stored in the storage unit 51 as input voice data 54 in a predetermined digital voice format.

  The voice recognition unit 19 is a part that recognizes an input voice. That is, it is a part for recognizing a word or sentence included in the voice from the voice (input voice data 54) input from the voice input unit 18. Moreover, you may comprise as a part which specifies the person who uttered the sound. In order to perform voice recognition, voice registration information 53 is stored in the storage unit 51 in advance. The voice registration information 53 is composed of, for example, a sample of voice data.

  The sound output unit 20 is a part that outputs sound for responding to the sound from the user, other sound for communication with the user, and the like, and a speaker is used. The audio output unit 20 is provided at a position on the side of the front surface of the housing 2 of the self-propelled cleaner 1. This is merely an example and can be provided at an arbitrary position.

The voice recognition unit 19 performs pattern matching between the input voice data 54 and the voice data stored in the voice registration information 53. If the voice data of the voice registration information 53 includes voice data having a high degree of coincidence satisfying a predetermined determination criterion, the control unit 11 self-runs so as to execute a function associated with the voice data. Each component of the vacuum cleaner 1 is controlled.
For example, when the input voice data 54 “clean” is input from the voice input unit 18, pattern matching between the input voice data 54 and a plurality of voice data stored in the voice registration information 53 is performed. A function (for example, a cleaning function) associated with the voice data determined to match the input voice data 54 is executed.

  The image acquisition unit 22 is a part that acquires an image outside the housing 2 and uses, for example, a camera. As shown in FIG. 2, for example, one image acquisition unit 22 is arranged in the housing 2 at the front part in the traveling direction when the vehicle travels normally. Two image acquisition units 22 may be provided on the front left and right sides of the housing 2 in order to measure the distance to the target.

  The image recognition unit 21 is a part that recognizes the acquired image. This is a part for recognizing and specifying a designated sign or person included in an image (acquired image data 56) acquired from an image acquisition unit 22 described later.

The image acquired from the image acquisition unit 22 is AD converted, for example, and stored in the storage unit 51 as acquired image data 56 in a predetermined digital image format.
The acquired image may be a still image or a moving image. The acquired still image is stored in the storage unit 51 as acquired image data 56.

  The illumination part 23 is a part which illuminates the surroundings of the self-propelled cleaner 1, for example, LED is utilized. For example, the illumination unit 23 is lit in conjunction with the activation of the camera that is the image acquisition unit 22 and is turned on before photographing by the camera.

The induction signal receiving unit 24 is an infrared sensor for receiving infrared rays, such as a beacon, and is disposed in the front part of the housing 2. The induction signal receiving unit 24 receives a position indicator signal (beacon) emitted from an induction signal transmission unit 102 such as an LED provided on the charging stand 100.
When an LED is used as the induction signal transmitting unit 102, the radiation range of the position marker signal can be controlled by covering a part of the LED. For example, when an LED having a radiation angle of about 30 to 40 degrees is used, it is possible to realize the spread of a position indicator signal having a desired radiation angle by covering one side thereof.

  The counter 27 is a part that counts an encode signal based on the rotation angle of the motor that drives the drive wheels 13. In addition to the encoder based on the rotation angle of the motor, if the driving wheel 13 is driven by a pulse motor, the pulses may be counted. During the rotation of the drive wheel 13, the rotation angle is proportional to the count number CN measured by the counter 27, and if there is no slip between the drive wheel 13 and the floor surface, the travel distance of the housing 2 is driven. Since there is a proportional relationship with the rotation angle of the wheel 13 itself, the travel distance of the housing 2 can be estimated from the count number CN.

The communication unit 28 is a part that communicates with an external device via a network. That is, it is a part that transmits various information to an external device other than the self-propelled cleaner 1, and a part that receives data such as an operation request from the external device.
As the network, any network such as a wide area network (WAN) such as a LAN or the Internet, or a dedicated communication line may be used.
Examples of the wireless communication standard include Bluetooth (registered trademark) and IEEE802.11a, IEEE802.11b, IEEE802.11g, and IEEE802.11n, which are wireless LAN standards.
For example, when a predetermined image transmission condition is satisfied, such as when an image capturing request is received from an external device, the communication unit 28 transmits the acquired image data 56 acquired by the image acquisition unit 22 to the external device. Examples of the external device include a PC (not shown), a portable terminal, and a server.

The dust collection unit 31 is a part that performs a cleaning function to collect indoor garbage and dust, and mainly includes a dust collection container (not shown), a filter unit, and an openable / closable cover unit that covers the dust collection container and the filter unit. Prepare.
The dust collection unit 31 has an inflow path that communicates with the intake port 35 and an exhaust path that communicates with the exhaust port 34, and air sucked from the intake port 35 passes through the inflow path into the dust collecting container. And is discharged from the exhaust port 34 to the outside through the filter portion and the discharge path. Moreover, in order to distribute | circulate air, the ventilation control part 33 which drives the electric blower 36 and the electric blower 36 is provided.
Note that the dust collecting unit 31 is not controlled by the control unit 11, and detection means (mechanical switch, light detection switch) for detecting whether the dust collecting unit 31 is housed in the housing unit of the cleaner body. Etc.) is shown as being sent to the control unit 11.

The ion generator 32 is a part that is accommodated in the housing 2 and generates ions.
Specifically, water molecules in the air are ionized by discharge, and H ⁺ (H ₂ O) m (m is an arbitrary natural number) as positive ions and O ₂ ⁻ (H ₂ O) n (n is a negative ion). Any natural number).
The ion generation part 32 has each ion discharge | release part, when producing | generating positive / negative ion in the part which faces an exhaust path.

The ions to be generated are not particularly limited, and examples thereof include ions capable of purifying air, ions having a skin beautifying effect and an effect of suppressing bacterial growth on the skin surface, and the like. For example, plasma cluster ions (registered trademark) as described above can be used. The ion generator 32 is provided as, for example, a small rectangular parallelepiped ion generator.
The generated ions may be either negative ions or positive ions. Moreover, you may include the charged fine particle water droplet obtained using an electrostatic atomization phenomenon. In particular, when negative ions are generated, a relaxing effect can be given to the user.

The air blow control unit 33 mainly drives and controls a blower fan for performing air intake from the air intake port 35.
Ions generated by the ion generation unit 32 are released into clean air that has passed through the filter unit of the dust collection unit 31, and are blown out from the exhaust port 34 together with the air.

  The exhaust port 34 is, for example, an opening that is provided at a position on the upper surface of the housing 2 and discharges air containing ions generated by driving the ion generation unit 32 to the outside. Further, the air containing ions may be emitted from the upper surface of the housing 2 to the rear and slightly upward.

  As described above, the self-propelled cleaner 1 sucks the dust on the floor surface together with the outside air through the air inlet 35, separates the dust at the dust collecting unit 31, and then exhausts the air from which the dust has been removed. Since it discharges | emits with ion from the opening | mouth 34, in addition to cleaning of a floor surface, ion can be spread to a room by exhaust_gas | exhaustion and there exists an air cleaning effect.

  The above is the self-propelled cleaner 1, and about the self-propelled ion generator which does not have a cleaning function, the inlet 35 may be provided not on the bottom plate but on the top plate 2b side. In this case, there is provided a filter unit that removes dust contained in the air in the path from the intake port 35 to the exhaust port 34 without the dust collection unit 31. When the exhaust port 34 is provided at the position shown in FIG. 2, the intake port 35 is provided at a position different from the exhaust port 34.

  According to this ion generator, an exhaust opening / closing lid is provided at the exhaust port 34 in order to prevent foreign matter, dust, etc. from entering the inside from at least the exhaust port 34 except when ions are generated. Yes. An intake opening / closing lid that opens and closes the intake port 35 is also provided in the intake port 35 as necessary.

  The above ion generator is not provided with the ion generator 32, but is provided with a filter unit that removes and purifies dust contained in the air in the path from the intake port 35 to the exhaust port 34, and a blower fan is provided. An air cleaner that purifies air by driving can also be configured. Needless to say, these are functions and devices that are included in the present invention.

The storage unit 51 is a part for storing information and programs necessary for realizing various functions of the self-propelled cleaner 1, and is used by a storage element such as a semiconductor element such as RAM or ROM, a hard disk, or a flash memory. It is done.
The storage unit 51 mainly stores traveling characteristic information 52, input voice data 54, acquired image data 56, and the like. In addition, information necessary for executing functions such as voice recognition, photographing, communication, and other functions is temporarily stored.

The travel characteristic information 52 is data relating to the travel characteristics of the housing 2, for example, data on the position coordinates of the housing 2, the travel distance, the count number CN, and the rotation angle at the time of turning.
The travel distance or rotation angle of the housing 2 is stored in the travel characteristic information 52 together with the count number CN required for travel or rotation.
In this way, the travel history of the self-propelled cleaner 1 can be stored. Here, the storage unit 51 is an example of a travel history holding unit according to the present invention.

The voice registration information 53 is information stored in advance in association with a word to be recognized, voice data of the word, and information for specifying the name of the person who issued the voice data when performing voice recognition.
One voice registration information 53 stores a registered word, voice data, and the name of the person who uttered the voice data in association with each other.
However, to specify a person, it is necessary to register the person name. However, only the recognition of words spoken by an unspecified number of people is performed, and if the person is not specified, the person name must be registered. Also good.
As the voice data, for example, digital information such as a voice analog waveform itself, waveform information, frequency information, a voice library, and registered word information is stored as one voice file.

The input voice data 54 is voice or sound data input from the voice input unit 18 and is, for example, digitized acoustic data.
The acquired image data 56 is an image acquired by the image acquisition unit 22. The image may be either a still image or a moving image.

<Specific example of preparatory operation procedure for self-propelled vacuum cleaner>
Next, based on FIG.3 and FIG.4, the specific example of the preparation operation | movement procedure of the self-propelled cleaner 1 is demonstrated.
FIG. 3 is a flowchart of the preparation operation process of the self-propelled cleaner 1 of the present invention.
FIG. 4 is an explanatory diagram showing a preparation operation procedure of the self-propelled cleaner 1 of the present invention.
4B and 4C, reference numerals common to those in FIG. 4A are omitted.

Embodiment 1 demonstrates the method of determining the cleaning area | region CA1 which the self-propelled cleaner 1 should self-propell in the preparatory operation before cleaning.
After the start of the preparation operation, the control unit 11 follows the procedure shown in the following steps.

  In step S1 of FIG. 3, the control unit 11 advances the housing 2 (step S1).

As shown in FIG. 4A, at the start of the preparatory operation, the casing 2 of the self-propelled cleaner 1 is connected to the charging stand 100 installed on the side wall SW, and the induction signal of the charging stand 100 The route RT1 indicated by the arrow is moved along the guidance signal transmitted from the transmission unit 102. In addition, the self-propelled cleaner 1 does not necessarily need to move a path | route along a guidance signal.
In FIG. 4A, a rectangular room surrounded by the sidewall SW is assumed, and an inner wall along the Y-axis direction is formed in the middle of the room. Here, a direction along the side wall SW on which the charging stand 100 is installed is defined as an X-axis direction, and a direction perpendicular to the X-axis direction is defined as a Y-axis direction.
The same applies to FIGS. 6, 8 and 9.

In subsequent step S2, the control unit 11 determines whether or not the failure detection unit 14 has detected an obstacle in front of the housing 2 (step S2).
When the obstacle detection unit 14 does not detect an obstacle in front of the housing 2 (when the determination in step S2 is No), the control unit 11 proceeds to step S3.
On the other hand, when the obstacle detection unit 14 detects an obstacle in front of the housing 2 (when the determination in step S2 is Yes), the control unit 11 proceeds to step S4.

Next, in step S3, the control unit 11 determines whether or not the housing 2 has advanced a predetermined distance (for example, 2 m) from the charging stand 100 (step S3).
When the casing 2 has advanced a predetermined distance from the charging stand 100 (when the determination in step S3 is Yes), the control unit 11 proceeds to step S4.
On the other hand, when the housing 2 has not advanced the predetermined distance from the charging stand 100 (when the determination in step S3 is No), the control unit 11 returns to step S1.

  Next, in step S4, the control unit 11 stops the housing 2 in order to detect surrounding obstacles (step S4).

  Here, the detection position is not limited to one place, and an obstacle may be detected at a plurality of positions. By detecting at a plurality of positions as described above, it is possible to accurately detect the position of the obstacle even if the detection accuracy of the obstacle detection unit 14 is low. For example, in a large room, a surrounding obstacle may be detected every time the casing 2 advances 2 m from the charging stand 100.

In subsequent step S5, the control unit 11 causes the obstacle detection unit 14 to detect the direction in front of the housing 2 and the distance from the housing 2 to the obstacle, and stores the detected information in the storage unit 51 (step S5).
At this time, as shown in FIG. 4 (A), the control unit 11 uses the direction in which the housing 2 has advanced along the path RT1 (the Y-axis positive direction) as the reference direction to control the housing 2 from the failure detection unit 14. The distance L1 to the obstacle ahead is stored in the storage unit 51.

Subsequently, in step S6, the control unit 11 changes the direction of the housing 2 by 90 ° clockwise from the reference direction (step S6).
At this time, as shown in FIG. 4B, the housing 2 is turned 90 ° clockwise (RD direction) from the reference direction (Y-axis positive direction).

Next, in step S7, the control part 11 determines whether the housing | casing 2 changed the direction of 360 degrees from the reference direction (step S7).
When the casing 2 is changed 360 ° from the reference direction (when the determination in step S7 is Yes), the control unit 11 proceeds to step S8.
On the other hand, when the case 2 has not changed the direction from the reference direction by 360 ° (when the determination in step S7 is No), the control unit 11 returns to step S5 and continues to detect the obstacle.

In FIG. 4B, when the housing 2 is oriented 90 degrees from the reference direction (X-axis positive direction), the control unit 11 detects the failure in front of the housing 2 from the direction and the failure detection unit 14. The distance L2 to the object is stored in the storage unit 51.
Similarly, when the housing 2 is oriented in a direction 180 ° from the reference direction (Y-axis negative direction), the control unit 11 determines the direction and the distance from the obstacle detection unit 14 to the obstacle in front of the housing 2. L3 is stored, and when the housing 2 is oriented 270 ° from the reference direction (X-axis negative direction), the direction and the distance L4 from the obstacle detection unit 14 to the obstacle in front of the housing 2 are stored. Stored in the unit 51.

  Table 1 below shows an example of the results thus detected.

  In Table 1 above, the detection direction is the direction viewed from the front of the housing 2 and is represented by the directions of arrows MD1 to MD4 in FIG. The rotation angle represents an angle based on the direction (the direction along the route RT1 in FIG. 4A) in which the housing 2 has left the charging stand 100 and advanced to the cleaning region. The distance to the obstacle represents the distance (m) from the obstacle detection unit 14 to the obstacle in front of the housing 2.

  As shown in Table 1, when the housing 2 faces the direction of the arrow MD1 (Y-axis positive direction, rotation angle 0 °), the distance to the obstacle is L1, and the housing 2 is of the arrow MD2. When facing the direction (X-axis positive direction, rotation angle 90 °), the distance to the obstacle is L2, and the housing 2 faces the arrow MD3 direction (Y-axis negative direction, rotation angle 180 °). At this time, the distance to the obstacle is L3, and when the casing 2 faces the direction of the arrow MD4 (X-axis negative direction, rotation angle 270 °), the distance to the obstacle is L4.

Note that the rotation angle of the direction change of the housing 2 does not need to be in units of 90 ° as shown in FIG. 4B, and may be set to an arbitrary rotation angle. For example, the direction of the housing 2 may be changed in units of 45 °. Further, it is not necessary to stop the rotation operation of the housing 2 for detection, and an obstacle is detected at a predetermined timing (for example, 10 times per second) while the rotation operation of the housing 2 is maintained. You may do it.
Alternatively, a plurality of obstacle detection units 14 may be provided on the side surface of the housing 2 to detect obstacles in a plurality of directions at a time. For example, three obstacle detection units 14 having a detection angle different by 40 ° may be provided in the front part of the housing 2, and obstacles in three directions may be detected at the same time.
Further, it is not always necessary to change the direction of the casing 2 in order to detect an obstacle. For example, the obstacle detection unit 14 is provided on the front, rear, left, and right sides of the casing 2 so You may make it detect the distance of an obstruction at once. Instead of using the obstacle detection unit 14, the image recognition unit 21 may analyze the image acquired by the image acquisition unit 22 to detect the distance and direction to the obstacle.
Further, in the case where the casing 2 performs detection by moving a predetermined distance from the charging stand 100, detection in the direction from the casing 2 toward the charging stand 100 may be omitted. Further, when the room is symmetrical and the charging stand 100 is installed at the center of the side wall, the detection may be performed only in the left or right direction of the room as viewed from the charging stand 100.

  Next, in step S8, the control part 11 estimates the area of the cleaning area | region which should be self-propelled based on the detection result of step S5-step S7 (step S8).

  Here, as a specific method for estimating the area of the cleaning region, for example, assuming a rectangular cleaning region CA1 as shown in FIG. It can be estimated as shown in Table 2.

  Next, in step S9, the control unit 11 determines the travel time of the self-propelled cleaner 1 from the start of cleaning to the start of return to the charging stand 100 based on the estimated area of the cleaning region (step S9).

As a specific method for determining the travel time, the control unit 11 determines, for example, by referring to the correspondence relationship between the estimated area (m ² ) of the cleaning area and the travel time (minutes) as shown in Table 3 below.
For example, in the case of the rectangular cleaning area CA1 as shown in FIG. 4B, the estimated area EA1 is the length in the X-axis direction × the length in the Y-axis direction, that is, EA1 = (LD + L2 + L4) × (LD + L1 + L3). ). Here, when the estimated area EA1 is about 24 (m ² ), the estimated area is between 20 and 30 (m ² ), so that the traveling time is 40 minutes from the correspondence relationship in Table 3. Recognize.

Here, the correspondence relationship in Table 3 indicates that when the self-propelled cleaner 1 is self-propelled in a room of each estimated area, for example, the self-propelled cleaner 1 covers 99% or more of the indoor area. It can be calculated from the average time required to travel.
In addition, the estimated area may be determined based on the size of a Japanese-style room such as 4 tatami mats, 6 tatami mats, and 8 tatami mats.

Finally, after determining the travel time, the control unit 11 starts a cleaning operation, and causes the housing 2 to travel by random travel during the travel time.
At this time, the self-propelled cleaner 1 self-runs in the cleaning area CA1 by random running, and returns to the charging stand 100 when the running time elapses.

  In this way, it is possible to determine a cleaning region in which the self-propelled cleaner 1 can self-propell from the position of surrounding obstacles in the preparation operation, and to estimate the optimum traveling time from the estimated area.

<Modification of Embodiment 1>
Next, a modification of the first embodiment will be described.
In the first embodiment, the rectangular cleaning area CA1 is assumed. However, in the modified example of the first embodiment, an elliptical similarity area CA1 may be assumed as illustrated in FIG. In this case, the position of the obstacle is detected by measuring a number of directions (eight directions of MD1 to MD8 in FIG. 4C) while rotating the housing 2, and the elliptical cleaning is performed based on the detected position. A region CA1 is determined. Then, the travel time is determined based on the area of the elliptical cleaning area CA1.
Thus, by assuming an elliptical cleaning area CA1, a more realistic cleaning area CA1 considering an area in which the housing 2 can self-run as compared to a rectangular cleaning area CA1. Can be determined.

<Embodiment 2>
Next, based on FIG.5 and FIG.6, the specific example of the cleaning operation | movement procedure of the self-propelled cleaner 1 which concerns on Embodiment 2 is demonstrated.
FIG. 5 is a flowchart of the cleaning operation process of the self-propelled cleaner 1 of the present invention.
FIG. 6 is an explanatory diagram showing a cleaning operation procedure of the self-propelled cleaner 1 of the present invention.
6B and 6C, reference numerals common to those in FIG. 6A are omitted.

In Embodiment 2, the operation when the self-propelled cleaner 1 goes out of the cleaning area CA1 during self-running in random running will be described.
In the second embodiment, after the cleaning operation of the self-propelled cleaner 1 is started, the control unit 11 follows the procedure shown in the following steps.

  In FIG.5 S11, the control part 11 makes the housing | casing 2 self-propelled by random running (step S11).

In subsequent step S12, the control unit 11 determines whether or not the casing 2 has moved out of the cleaning area during self-running (step S12).
The determination as to whether or not the housing 2 has gone out of the cleaning area may be made by calculating coordinates based on the charging stand 100. For example, as illustrated in FIG. 6A, assuming a rectangular cleaning area CA1 of −2 m to +2 m in the X-axis direction and +0 m to +6 m in the Y-axis direction with the charging stand 100 as a reference (origin), When the position coordinates of the self-running casing 2 are out of the range of the (X, Y) coordinates of the cleaning area CA1, it is determined that the casing 2 has moved out of the cleaning area CA1.

In step S12, when the housing | casing 2 has not come out of the cleaning area during self-propelled (when determination of step S12 is No), the control part 11 progresses to step S16.
On the other hand, when the casing 2 goes out of the cleaning area during self-running (when the determination in step S12 is Yes), the control unit 11 proceeds to step S13.

Next, in step S16, the control unit 11 determines whether or not the travel time determined in the preparation operation has elapsed (step S16).
When the traveling time has elapsed (when the determination in step S <b> 16 is Yes), the control unit 11 returns the housing 2 to the charging stand 100.
On the other hand, when the traveling time has not elapsed (when the determination in step S16 is No), the control unit 11 proceeds to step S17.

  Here, as shown to FIG. 6 (A), the case where the housing | casing 2 of the self-propelled cleaner 1 self-propells path | route RT11 in cleaning area | region CA1 is assumed. The self-propelled cleaner 1 continues self-propelled during the travel time, but travels on a route RT12 that ends random travel and returns to the charging stand 100 as soon as the travel time elapses.

Next, in step S13, the control part 11 measures the length (dLX, dLY) of the path | route where the housing | casing 2 protruded the cleaning area | region in the (X, Y) direction (step S13).
Here, as shown in FIG. 6B, it is assumed that the housing 2 runs out of the cleaning area CA1 and travels along the route RT13 and protrudes 2 m from the cleaning area CA1 in the positive direction of the X axis. At this time, the length (dLX, dLY) of the path protruding in the (X, Y) direction is (2m, 0).

  In subsequent step S14, the control unit 11 estimates the area of the new cleaning region based on the length (dLX, dLY) measured in step S13 (step S14).

  Here, as a specific method for estimating the area of the new cleaning area, for example, assuming a rectangular cleaning area CA2 as shown in FIG. 6B, the diameter of the housing 2 is set to LD (m). Can be estimated as shown in Table 4 below.

Next, in step S15, the control unit 11 corrects the travel time until the start of feedback based on the updated cleaning region (step S15).
Specifically, based on the updated size of the cleaning area, a new travel time is obtained from the correspondence relationship in Table 3.

For example, assuming a rectangular cleaning area CA2 as shown in FIG. 6B, the estimated area EA2 is the length in the X-axis direction × the length in the Y-axis direction, that is, EA1 = (LD + L2 + L4 + dLX) × (LD + L1 + L3 + dLY). Here, when the estimated area EA2 is about 36 (m ² ), the estimated area is between 30 and 40 (m ² ). Therefore, from the correspondence relationship in Table 3, the traveling time may be 50 minutes. Recognize.
Therefore, the traveling time of the self-propelled cleaner 1 is updated from the traveling time 40 minutes corresponding to the immediately preceding cleaning area CA1 to the traveling time 50 minutes corresponding to the new cleaning area CA2.

  Thus, since the self-propelled cleaner 1 according to the second embodiment updates the cleaning area every time the casing 2 enters a new area during self-propelling, based on the area of the updated cleaning area, The travel time can be corrected in real time.

Finally, in step S17, the control unit 11 refers to the remaining battery level of the self-propelled cleaner 1 to check whether the remaining battery level is sufficient (step S17).
If the remaining battery level is sufficient (if the determination in step S17 is Yes), the control unit 11 returns to step S11 and continues the cleaning operation of the self-propelled cleaner 1 continuously.
On the other hand, when the battery remaining amount is not sufficient (when the determination in step S17 is No), the control unit 11 returns the housing 2 to the charging stand 100.

Note that the larger the estimated area of the cleaning area, the more remaining battery power is required for the self-propelled cleaner 1 to return to the charging stand 100. Therefore, depending on the estimated area of the cleaning area during self-running, the battery The criteria for determining the remaining amount may be changed.
If it does in this way, the timing of the return to the charging stand 100 of the self-propelled cleaner 1 can be set appropriately according to the estimated area of the cleaning area.

Here, it is assumed that the self-propelled cleaner 1 travels along a random route RT14 in a rectangular cleaning area CA3 as shown in FIG. When the estimated area of the cleaning area CA3 is about 42 (m ² ), it can be seen from the correspondence relationship in Table 3 that the traveling time is 60 minutes.
When cleaning is performed across a plurality of cleaning areas, the size of the estimated area may be estimated in consideration of the length of the side wall SW existing between the two cleaning areas.
In addition, as shown in FIG. 6C, when the remaining battery level becomes insufficient during self-running, the self-propelled cleaner 1 immediately travels along a route RT15 that ends random running and returns to the charging stand 100. To do.
In addition, in this embodiment, when the housing | casing 2 went out of the cleaning area, self-propelled cleaner 1 demonstrated the case where an estimated area and traveling time were corrected based on the length of the path | route which protruded. Not limited to that. For example, the estimated area and the traveling time may be corrected based on the time when the vehicle has gone out of the traveling region.

<Embodiment 3>
Next, based on FIG.7 and FIG.8, the specific example of the cleaning operation | movement procedure of the self-propelled cleaner 1 which concerns on Embodiment 3 is demonstrated.
FIG. 7 is a flowchart of the cleaning operation process of the self-propelled cleaner 1 of the present invention.
FIG. 8 is an explanatory diagram showing a cleaning operation procedure of the self-propelled cleaner 1 of the present invention.
8B and 8C, reference numerals common to those in FIG. 8A are omitted.

In the third embodiment, a case will be described in which the self-propelled cleaner 1 performs a cleaning operation steadily while sequentially specifying cleaning areas.
In the third embodiment, after the cleaning operation of the self-propelled cleaner 1 is started, the control unit 11 follows the procedure shown in the following steps.

  In step S21 of FIG. 7, the control unit 11 causes the housing 2 to self-run in random running (step S21).

In continuing step S22, the control part 11 determines whether the housing | casing 2 went out of the cleaning area | region during self-propelled (step S22).
When the casing 2 goes out of the cleaning area during self-running (when the determination in step S21 is Yes), the control unit 11 proceeds to step S23.
On the other hand, when the casing 2 is not out of the cleaning area during self-running (when the determination in step S22 is No), the control unit 11 proceeds to step S26.

In step S23, the control part 11 determines whether the housing | casing 2 entered into the new cleaning area | region (step S23).
When the housing | casing 2 enters in the new cleaning area | region (when determination of step S23 is Yes), the control part 11 progresses to step S24.
On the other hand, when the housing | casing 2 is not in the new cleaning area | region (when determination of step S23 is No), the control part 11 progresses to step S25.
Here, whether or not a new cleaning area has been entered can be determined based on whether or not the current coordinates of the housing 2 are within the range of the cleaning area that has been the object of cleaning so far.

  Next, in step S24, the control unit 11 records the current coordinates and direction of the housing 2 in the storage unit 51 (step S24).

In subsequent step S25, the control unit 11 returns to the previous cleaning area (step S25).
Here, as a specific operation for returning to the immediately preceding cleaning region, the case 2 is moved forward by 180 ° after changing its direction on the spot, or the case 2 is moved backward and then turned left and right. And returning to the previous cleaning area.
By operating in this way, even if the housing 2 accidentally goes out of the cleaning area during self-running in random driving, it can be returned to the cleaning area again. Further, by referring to the position coordinates of the new cleaning area stored in step S24, thereafter, the housing 2 may not enter the new cleaning area during the self-running.

In FIG. 8A, when the self-propelled cleaner 1 goes out of the cleaning area CA1 (path RT21), the self-propelled cleaner 1 records the current coordinates and direction and points the housing 2 in the direction. It is converted to return to the cleaning area CA1 to resume self-running (route RT22).
Further, when the remaining battery level becomes insufficient during self-propelled cleaning area CA1, self-propelled cleaner 1 immediately returns to charging stand 100 (route RT23).

Next, in step S26, the control unit 11 determines whether or not the traveling time has elapsed (step S26).
When the traveling time has elapsed (when the determination in step S26 is Yes), the control unit 11 proceeds to step S28.
On the other hand, when the traveling time has not elapsed (when the determination in step S26 is No), the control unit 11 proceeds to step S27.

Next, in step S27, the control unit 11 refers to the remaining battery level of the self-propelled cleaner 1, and checks whether the remaining battery level is sufficient (step S27).
When the remaining battery level is sufficient (when the determination in step S27 is Yes), the control unit 11 returns to step S21 and continues the cleaning operation of the self-propelled cleaner 1 continuously.
On the other hand, when the battery remaining amount is not sufficient (when the determination in step S27 is No), the control unit 11 returns the housing 2 to the charging stand 100.

Next, in step S28, the control unit 11 determines whether or not a new cleaning area exists (step S28).
When a new cleaning area exists (when the determination in step S28 is Yes), the control unit 11 proceeds to step S29.
On the other hand, when a new cleaning area does not exist (when determination of step S28 is No), the control part 11 returns the housing | casing 2 to the charging stand 100. FIG.

Subsequently, in step S29, the control unit 11 refers to the remaining battery level of the self-propelled cleaner 1, and checks whether the remaining battery level is sufficient (step S29).
If the remaining battery level is sufficient (if the determination in step S29 is Yes), the control unit 11 proceeds to step S30.
On the other hand, when the battery remaining amount is not sufficient (when the determination in step S29 is No), the control unit 11 returns the housing 2 to the charging stand 100.

Finally, in step S30, the control unit 11 refers to the current position coordinates of the housing 2 and the position coordinates of the new cleaning area stored in the storage unit 51, and determines the distance to the new cleaning area and The direction is calculated and the casing 2 is moved toward a new cleaning area.
In this case, as shown in FIG. 8B, when the end of the travel time of the cleaning area CA1 approaches, the control unit 11 causes the housing 2 to travel along a route RT24 along the side wall SW. By running along the wall in this way, a new cleaning area can be reliably found.
Thereafter, the control unit 11 returns to step S1 to execute a preparatory operation in a new cleaning area.

As shown in FIG. 8 (B), after the running time has elapsed and the cleaning of the cleaning area CA1 has been completed, if there is a new cleaning area CA4, the self-propelled cleaner 1 uses the recorded coordinates and directions. Referring to the new cleaning area CA4 (route RT24).
After entering the new cleaning area CA4, the self-propelled cleaner 1 moves forward in the new cleaning area as in the case of the first embodiment and detects an obstacle in front of the housing 2, or Stop after moving a predetermined distance in the new cleaning area CA4 (after traveling on the route RT25, the housing 2 is stopped at the reference point CP2).

Thereafter, as in the case of the first embodiment, the self-propelled cleaner 1 changes the direction of the housing 2 in units of 90 °, estimates the estimated area of the new cleaning area CA4, and determines the travel time based on the estimated area. To do.
Thereafter, as shown in FIG. 8C, the self-propelled cleaner 1 self-propels in the new cleaning area CA4 by random travel (route RT26).

  In this way, it is possible to steadily perform the cleaning operation while sequentially specifying the cleaning area.

<Embodiment 4>
Finally, based on FIG. 9, the specific example of the cleaning operation | movement procedure of the self-propelled cleaner 1 which concerns on Embodiment 4 is demonstrated.
FIG. 9 is an explanatory diagram showing a cleaning operation procedure of the self-propelled cleaner 1 of the present invention.
9B, reference numerals common to those in FIG. 9A are omitted.

  In the fourth embodiment, after the self-propelled cleaner 1 starts the cleaning operation, the control unit 11 causes the self-propelled cleaner 1 to pass through the area of the induction signal BS radiated from the induction signal transmission unit 102 of the charging stand 100. Detect the number of times

In FIG. 9A, the induction signal BS is radiated from the charging stand 100 installed on the side wall SW at a constant radiation angle in the Y-axis direction (shaded portion in FIG. 9).
The self-propelled cleaner 1 self-travels in the cleaning area CA1 along a random route RT31, and counts the number of times the induction signal BS is detected each time the induction signal receiver 24 passes through the area of the induction signal BS. When the predetermined number of detections (minimum number of detections) is reached, the control unit 11 returns the self-propelled cleaner 1 to the charging stand 100.

As a method of determining the minimum number of detections, the control unit 11 determines, for example, with reference to a table showing the correspondence between the estimated size (m ² ) of the cleaning area and the minimum number of detections (times) as shown in Table 5 below. .

According to Table 5, for example, in the case of the cleaning area CA1 (estimated area of about 24 (m ² )), the minimum number of detections is 10.
On the other hand, as shown in FIG. 9 (B), when self-running in the cleaning area CA3 along a random route RT32, if the estimated area of the cleaning area CA3 is about 42 (m ² ), the minimum number of detections is 20 times. Become.

  The correspondence relationship in Table 5 is that when the charging stand 100 is installed at the center of the wall surface of the room so that the induction signal BS crosses the room of an arbitrary size and the self-propelled cleaner 1 is self-running in random running, It can be obtained by counting the average minimum number of detections required for the self-propelled cleaner 1 to travel in an area of 99% or more of the indoor area.

  In this way, by estimating the number of detections of the guidance signal BS from the estimated size of the cleaning area, it is possible to estimate the end time very easily even if the indoor floor plan is complicated.

As mentioned above,
(I) A self-propelled cleaner according to the present invention detects a position of a housing, a traveling unit that travels the housing, a cleaning unit that cleans the floor, and an obstacle around the housing. A fault detection unit; and a control unit that controls the travel unit, the cleaning unit, and the fault detection unit to perform cleaning while allowing the casing to self-run, and the control unit is arranged around the fault detection unit. The position of the obstacle is detected, and the traveling time for cleaning is determined based on the position of the obstacle.

  In the present invention, the “self-propelled cleaner” refers to a housing having an air inlet on the bottom and a dust collecting portion inside, a drive wheel for running the housing, rotation, stop and rotation direction of the drive wheel, etc. This means a vacuum cleaner that includes a control unit for controlling and autonomously performs a cleaning operation, and an example is shown by the embodiment using the above-described drawings.

Moreover, the “obstacle detection unit” is provided in a self-propelled cleaner and detects obstacles such as walls and furniture around the self-propelled cleaner. The specific mode is, for example, a position where an obstacle sensor such as an ultrasonic sensor or an infrared distance measuring sensor is mounted on the front part of the housing of the self-propelled cleaner, and is separated from a surrounding obstacle by a predetermined distance. In this case, the direction and the distance may be held by acquiring the distances to surrounding obstacles in a plurality of directions while changing the direction of the case by 360 °. Alternatively, a plurality of obstacle sensors facing different directions may be mounted on each part of the side surface of the housing of the self-propelled cleaner, and obstacles in a plurality of directions may be measured simultaneously. Alternatively, the self-propelled cleaner may be equipped with a camera and acquire and hold the direction and distance of the obstacle from an image taken by the camera. A combination of these may also be used.
Further, the obstacle is not necessarily an actual object, and may be an electronic obstacle made from a virtual wall signal, for example.

  In the present invention, the “running time during which the housing can self-run” is, for example, an area of 99% or more of the indoor area when the self-propelled vacuum cleaner is self-propelled in a room. This is the average time required for the self-propelled cleaner to travel. The specific aspect is required, for example, when the self-propelled vacuum cleaner travels in a predetermined ratio area when the self-propelled vacuum cleaner is allowed to self-propelled in a room of an arbitrary area. Data of average required time may be stored in advance in the self-propelled cleaner, and the travel time may be determined by referring to the stored data. Alternatively, the travel time may be determined by the control unit based on a predetermined algorithm.

Furthermore, the preferable aspect of this invention is demonstrated.
(Ii) In the self-propelled cleaner according to the present invention, the control unit may determine a travel region in which the housing can self-propell based on the position of the obstacle.

  In this way, it is possible to realize a self-propelled cleaner that determines a travel region in which the casing can self-propel.

In the present invention, the “running region in which the housing can self-run” is, for example, a rectangular or (elliptical) circular region surrounding the housing.
Further, the traveling area may be triangular, square, polygonal, or other shapes. When the travel area is polygonal, the travel area in which the housing can travel is a polygonal area surrounded by a line connecting the positions of a plurality of obstacles surrounding the housing.

(Iii) In the self-propelled vacuum cleaner according to the present invention, the control unit corrects the travel time when the casing that is self-propelled in the travel region goes out of the travel region. Also good.

  In this way, it is possible to realize a self-propelled cleaner that corrects the already determined travel time even when the self-propelled cleaner goes out of the travel area during self-run.

  (Iv) In the self-propelled cleaner according to the present invention, when the casing that is self-propelled in the traveling area goes out of the traveling area, the distance traveled by the casing outside the traveling area and / or The travel area and the travel time may be corrected based on time.

  In this way, even if the self-propelled vacuum cleaner is self-propelled in a complex area of the room layout, it travels by sequentially determining each traveling area and traveling time. A self-propelled cleaner that travels reliably can be realized.

(V) In the self-propelled cleaner according to the present invention, when the casing that is self-propelled in the traveling area comes out of the traveling area, the obstacle detection unit has the obstacle around the obstacle detecting section. The travel time may be corrected based on the position of the obstacle.

  In this way, it is possible to realize a self-propelled cleaner that travels in an appropriate travel time based on the positions of obstacles around the casing.

  (Vi) In the self-propelled cleaner according to the present invention, the self-propelled cleaner further includes an induction signal receiving unit that receives an induction signal emitted from the charging stand at a predetermined radiation angle, and the control unit is self-propelled of the casing. When the number of times the induction signal receiving unit receives the induction signal is equal to or greater than a predetermined reference number, the self-running of the case is terminated and the case is returned to the charging stand. There may be.

  If this is done, the self-propelled vacuum cleaner can finish the self-running of the housing at an appropriate timing even if the room layout is complicated and the shape and area of the entire travel area cannot be accurately grasped. Can be realized. In particular, in order to grasp the shape and area of the traveling area, a device such as a gyro sensor and a camera and a complicated function such as a mapping function are not necessary, so that the cost can be reduced.

Preferred embodiments of the present invention include combinations of any of the above-described plurality of embodiments.
In addition to the above-described embodiments, there can be various modifications of the present invention. These modifications should not be construed as not belonging to the scope of the present invention. The present invention should include the meaning equivalent to the scope of the claims and all modifications within the scope.

1: self-propelled cleaner, 2: housing, 2b: top plate, 2c: side plate, 3: lid, 10: side brush, 11: control unit, 12: travel control unit, 13: drive wheel, 14: Fault detection unit, 15: rechargeable battery, 17: operation input unit, 18: voice input unit, 19: voice recognition unit, 20: voice output unit, 22: image acquisition unit, 23: illumination unit, 24: guidance signal reception unit 25: Charging connection section, 27: Counter, 28: Communication section, 31: Dust collection section, 32: Ion generation section, 33: Blower control section, 34: Exhaust port, 35: Inlet port, Electric blower 36, 51 : Storage unit, 52: travel characteristic information, 53: voice registration information, 54: input voice data, 56: acquired image data, 100: charging stand, 101: charging terminal unit, 102: invitation Conducted signal transmitter, CN: Count number, FD: Direction of travel, SW: Side wall

Claims (5)

A casing, a traveling section that travels the casing, a cleaning section that cleans the floor, an obstacle detection section that detects the position of an obstacle around the casing, the traveling section, the cleaning section, and A control unit that controls the failure detection unit to perform cleaning while allowing the casing to self-run,
The said control part makes the said obstacle detection part detect the position of a surrounding obstruction, and determines the driving | running | working time which cleans based on the position of the said obstruction, The self-propelled cleaner characterized by the above-mentioned.   The self-propelled cleaner according to claim 1, wherein the control unit determines a travel region in which the housing can self-propel based on a position of the obstacle.   The self-propelled cleaner according to claim 2, wherein the control unit corrects the travel time when the casing that is self-propelled in the travel region goes out of the travel region.   The control unit, when the casing that is traveling in the traveling area goes out of the traveling area, based on a distance and / or time that the casing travels outside the traveling area. The self-propelled cleaner according to claim 3, wherein the traveling time is corrected.   The control unit causes the obstacle detection unit to detect the position of the surrounding obstacle when the casing that is self-propelled in the traveling area goes out of the traveling area, and based on the position of the obstacle. The self-propelled cleaner according to claim 3, wherein the traveling time is corrected.