JP2019198345A - Moving body and autonomous traveling type vacuum cleaner - Google Patents

Abstract

To provide a moving body or an autonomous traveling type vacuum cleaner having a pest control function.SOLUTION: A moving body includes a driving wheel for moving oneself and an obstacle detection sensor, and travels in an indoor space autonomously. The moving body has an ultrasonic generator capable of changing frequency of acoustic wave to be generated, and travels while switching ultrasonic frequencies.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a moving body and an autonomous traveling type cleaner.

  As a prior art, an autonomously traveling vacuum cleaner that cleans while moving autonomously in a room is known. Autonomous traveling type vacuum cleaner is equipped with a rechargeable battery as a power source, scrapes dust with a rotating brush, sucks it with a suction fan and cleans it, and drives two drive wheels with a control device. The individual traveling motors are controlled to move the main body forward, backward, and turn, and autonomously travel.

  Patent Document 1 discloses such a self-traveling vacuum cleaner having pest control means. A storage unit for storing the medicine is provided in the autonomous traveling type vacuum cleaner. The autonomous traveling type vacuum cleaner travels around the room in advance and recognizes the situation of the room, and determines the traveling route based on the result and the effective spraying time of the medicine. After that, the autonomously traveling vacuum cleaner sprays the medicine from the exhaust port together with the exhaust gas generated by the rotation of the fan motor while traveling according to the determined travel route, and sprays the medicine into the room.

  In addition, Patent Document 2 describes a pest repellent technique that does not use a drug. An air cleaner that sucks indoor air, cleans it, and returns it to the room with an ultrasonic generator that generates ultrasonic waves for controlling pests and pests. Is generated. Therefore, pests and pests are avoided from the range where the ultrasonic waves reach, and the pests and pests can be prevented from inhabiting.

JP 2006-130005 A JP 2003-14267 A

    However, since a drug is used in Patent Document 1, there is a possibility that the human body may be adversely affected by suction or adhesion to the skin. Moreover, in patent document 2, since an ultrasonic generator is fixed to an air cleaner and used, it is difficult to reach a place shielded by furniture or the like or a place far from the ultrasonic generator due to attenuation of the ultrasonic wave. For this reason, there is a problem that the removal effect is small in places where pests such as the back of furniture and near a far wall lurk. Moreover, when only ultrasonic waves having substantially the same frequency are used, pests and the like gradually become accustomed to the ultrasonic waves, and the repelling effect may be diminished.

The present invention made in view of the above circumstances,
A drive wheel that moves itself,
An obstacle detection sensor,
A mobile body that autonomously travels indoors,
It has an ultrasonic generator capable of changing the frequency of a sound wave to be generated, and travels while switching the frequency of the ultrasonic wave.

The perspective view which looked at the autonomous running type vacuum cleaner concerning Embodiment 1 of the present invention from the left front. FIG. 2 is a bottom view of the autonomous traveling vacuum cleaner according to the first embodiment. AA sectional drawing of FIG. The perspective view which shows the bumper internal structure which removed the bumper shade of the autonomous running type vacuum cleaner which concerns on Embodiment 1. FIG. The block diagram which shows the apparatus connected to the control apparatus of the autonomous running type vacuum cleaner which concerns on Embodiment 1, and a control apparatus. It is the flowchart which showed the process of the autonomous running type vacuum cleaner which concerns on Embodiment 1. FIG. It is an example of the driving | running | working method at the time of creating an environmental map. It is an example of the determined optimal travel route. FIG. 6 is a diagram for explaining an operation A1 according to the first embodiment. It is a figure explaining operation | movement A2 which concerns on Embodiment 1. FIG. It is the flowchart which showed the process of the autonomous running type vacuum cleaner which concerns on Embodiment 2. FIG. (A) The figure which showed the environment which the autonomous running type vacuum cleaner which concerns on Embodiment 2 drive | operates, (b) The figure which showed the autonomous running type vacuum cleaner operation after arriving in front of the door which leads outside. It is the flowchart which showed the process of the autonomous running type vacuum cleaner which concerns on Embodiment 3. FIG. It is the figure which showed the driving | running | working which the autonomous running type vacuum cleaner which concerns on Embodiment 3 absorbs a pest.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The various components of the present invention are not necessarily individually independent. For example, one component is composed of a plurality of members, a plurality of components are composed of one member, Allow some and some of the other components to overlap each other. In addition, combinations of components disclosed in the present specification are not necessarily limited to those disclosed in each embodiment, and components can be added, deleted, or replaced within a range that does not hinder the context or technology. .

<Embodiment 1>
FIG. 1 is a perspective view of an autonomously traveling vacuum cleaner according to Embodiment 1 of the present invention as viewed from the left front. The direction in which the autonomously traveling cleaner S normally travels is the front, the vertically upward direction is the upper direction, the driving wheels 3 and 4 are facing each other, the driving wheel 3 side is the right side, and the driving wheel 4 side is the left side (see FIG. 2). That is, as shown in FIG.

  FIG. 2 is a bottom view of the autonomously traveling vacuum cleaner. 3 is a cross-sectional view taken along the line AA in FIG. FIG. 4 is a perspective view showing the internal configuration of the bumper with the bumper shade 2c of the autonomously traveling vacuum cleaner removed. FIG. 5 is a configuration diagram illustrating a control device for an autonomous traveling vacuum cleaner and devices connected to the control device. The autonomously traveling cleaner S is an electric device that automatically cleans a predetermined cleaning area (for example, the floor Y of the room) while moving autonomously.

  The autonomously traveling cleaner S includes a main body case 1, a bumper 2 that covers the outside of the main body case 1, a pair of lower driving wheels 3 and 4, an auxiliary wheel 5, a rotating brush 6 and a side brush 8 that can clean the floor surface. It has.

  The drive wheels 3 and 4 are wheels for causing the autonomous traveling cleaner S to move forward, backward, and turn as the drive wheels 3 and 4 themselves rotate. The drive wheels 3 and 4 are disposed on both the left and right sides, and are driven to rotate by wheel units (not shown) including travel motors 3m and 4m (see FIG. 5) and a speed reducer, respectively.

  The rotating brush 6 is provided behind the drive wheels 3 and 4 of the autonomous traveling cleaner S. The rotary brush 6 is rotationally driven by a rotary brush motor 6m (see FIG. 5).

    The side brushes 8a and 8b are provided on the front side of the autonomous traveling cleaner S and on the outer side in the left-right direction. As shown by an arrow α1 in FIG. Rotating to sweep in the direction from the outside to the inside, the dust on the floor is collected on the central rotating brush 6 (see FIG. 2) side. The side brushes 8a and 8b are driven to rotate by side brush motors 8am and 8bm (see FIG. 5), respectively.

  As shown in FIG. 3, the autonomously traveling vacuum cleaner S includes a rechargeable battery 9, a control device 10, a display panel 17, a suction fan 11, and a dust collecting case 12 inside. The dust collection case 12 has a suction port 12 i formed above the rotary brush 6 as an inlet. The dust collection case 12 has a dust collection filter 13 attached to the outlet. The suction fan 11 is driven by a fan motor 11m (see FIG. 5).

  The rechargeable battery 9 is a secondary battery that can be reused by charging, for example, and is accommodated in the battery accommodating portion 1s1. The rechargeable battery 9 is disposed across the left-right direction of the autonomously traveling cleaner S.

  The electric power from the rechargeable battery 9 is supplied to various motors such as the control device 10, the display panel 17, and the travel motors (3m, 4m).

  The autonomously traveling cleaner S is centrally controlled by the control device 10. The control device 10 shown in FIG. 5 is configured, for example, by mounting a microcomputer and peripheral circuits on a substrate. The microcomputer reads a control program stored in a ROM (Read Only Memory), develops it in a RAM (Random Access Memory), and executes various processes by being executed by a CPU (Central Processing Unit). The peripheral circuit includes an A / D / D / A converter, driving circuits for various motors, a sensor driving circuit, a charging circuit for the rechargeable battery 9, and the like. The control device 10 includes a wireless communication module 24 for receiving a command from a remote controller or the like and a timer module 25 for managing time.

  The control device 10 operates the operation button 18 by the user, a built-in wireless communication module, and various obstacle detection means (bumper sensor 19, floor surface distance sensor 22, distance sensor 21, environment recognition sensor 23). Executes arithmetic processing according to the signal input from, and inputs / outputs signals to / from various motors.

  The floor distance measuring sensor 22 is a distance measuring sensor that uses infrared rays to measure the distance to the floor surface, and is installed at four positions (22a, 22b, 22c, 22d) in the front, rear, left, and right sides of the lower case 1s. Yes. By detecting a large level difference such as a staircase or the like by the floor surface distance measuring sensor 22, it is possible to suppress the autonomous traveling vacuum cleaner S from falling. For example, when a level difference of about 30 mm or more is detected in front by the distance measuring sensor 22 for the floor surface, the control device 10 controls the drive wheels 3 and 4 to move the autonomous traveling cleaner S backward, and then the traveling direction Is converted.

  The bumper 2 is installed to be movable in the front-rear and left-right directions according to the force acting from the outside when it collides with an obstacle such as a wall. The bumper 2 includes a hollow substantially cylindrical bumper frame 2 a that covers the outer periphery of the main body case 1, a bumper edge 2 b provided on the entire side surface of the bumper 2 at the lower end portion of the bumper 2, or the bumper 2. The bumper shade 2c is provided from the front side to the left and right side surfaces. The bumper shade 2c is made of resin or glass that transmits light.

    Such a bumper 2 is urged outward with respect to the main body case 1 by a pair of left and right bumper springs (not shown). The movement of the bumper 2 (that is, contact with an obstacle) is detected by a bumper sensor 19 (see FIG. 5) fixed to the lower case 1s. The bumper sensor 19 is, for example, a photocoupler, and the sensor light is blocked by the backward movement of the bumper 2, and a detection signal corresponding to this change is output to the control device 10. The control device 10 controls the drive wheels 3 and 4 to move the autonomous traveling cleaner S backward, and then changes the traveling direction to keep it away from the obstacle.

    The distance measuring sensor 21 is an infrared sensor for detecting the distance to the obstacle. The distance measuring sensor 21 includes a light emitting unit (not shown) that emits infrared light, and a light receiving unit (not shown) that receives reflected light that is reflected by the infrared light reflected by an obstacle. The distance to the obstacle is calculated based on the reflected light detected by the light receiving unit.

    The environment recognition sensor 23 is a sensor for creating an environment map and specifying the position of the autonomously traveling vacuum cleaner S. For example, a camera can be employed. In the present embodiment, the image sensor is provided in the horizontal direction toward the right side of the front. By installing it horizontally in front, it becomes easy to detect the place 53 to be driven out. When the autonomous traveling cleaner S travels, the control device 10 is used to create a map from changes in image characteristics acquired by the image sensor and calculate the position of the autonomous traveling cleaner S. In addition, the environment recognition sensor 23 may be a laser scanner or a marker detection sensor capable of creating an environment map and estimating its own position.

    In the bumper shade 2c, at least the vicinity of the distance measuring sensor 21 is formed of resin or glass that transmits only infrared rays, and ultraviolet rays and visible light enter the light receiving unit to erroneously recognize the distance to the obstacle. Suppress. In order to be able to photograph clearly, at least the vicinity of the environment recognition sensor 23 in the bumper shade 2c is formed of a resin or glass that transmits visible light.

    The ultrasonic generator 20 is an apparatus that switches and generates ultrasonic waves having a frequency that a pest dislikes in order to control pests. In this embodiment, the ultrasonic generator 20 can generate an ultrasonic wave by attaching an electrode to a piezoelectric element and applying an AC voltage by the control device 10. The frequency of the ultrasonic wave to be generated can be adjusted by the frequency of the applied AC voltage. The frequency range is desirably 20 kHz to 100 kHz. In the present embodiment, the ultrasonic generator 20 is driven by the control device 10, and five types of ultrasonic waves of 20 kHz, 40 kHz, 60 kHz, 80 kHz, and 100 kHz can be switched and generated. It is preferable that the control device 10 switches the frequency to be generated in a predetermined order or at random during traveling. By switching the frequency, it is possible to prevent pests from getting used to the frequency. The switching of the frequency may be changed depending on the traveling speed of the autonomous traveling cleaner S. For example, when the traveling speed is high, the frequency switching cycle can be shortened.

    The ultrasonic generator 20 has an amplifier circuit. The amplifier circuit amplifies the alternating voltage so that it can be output from the piezoelectric element at a predetermined sound pressure. When a specific location (a thin object such as a wall or furniture leg) is detected by a sensor such as the distance measuring sensor 21 or the environment recognition sensor 23, the sound of the ultrasonic wave is increased by increasing the amplification factor of the amplification circuit at that location. The pressure can be improved. In specific places where pests are likely to lurk, increase the ultrasonic irradiation time and intensity, and more effectively remove pests.

    The ultrasonic generator 20 includes ultrasonic generators 20a, 20b, 20c, and 20d. The ultrasonic generators 20a, 20b, and 20c are fixed to the bumper frame 2a between the bumper shade 2c and the bumper frame 2a. In order to transmit the ultrasonic wave, for example, a conical hole is formed in the bumper shade 2 c on the front surface of the ultrasonic generator 20. The ultrasonic generators 20a and 20c were installed at one location in front of each of the left and right side surfaces, and the installation direction was set to be the forward direction of the autonomous traveling cleaner S. The ultrasonic generator 20b was installed at one location on the front, and the installation direction was the forward direction of the autonomous traveling cleaner S. When driving out the pests, the ultrasonic generators 20a, 20b and 20c can drive the pests in the same direction as the forward direction.

    The ultrasonic generator 20d is installed on the lower side of the autonomous traveling cleaner S, specifically on the lower case 1s. In order to transmit the ultrasonic wave, a conical hole is formed in the lower case 1s of the rear surface of the ultrasonic generator 20d.

    The ultrasonic generator 20 may have a function as a known sonic distance measuring sensor. In this case, the necessity of providing the distance measuring sensor 21 can be reduced.

    FIG. 6 is a flowchart showing the processing of the autonomous traveling cleaner S according to the present embodiment.

  First, when the control device 10 acquires an operation command from the user (step S1), the ultrasonic generator 20 is driven to generate an ultrasonic wave while switching the frequency (step S2).

  Then, the traveling motors 3m and 4m are driven from the control device 10 to start autonomous traveling (step S3). The autonomously traveling vacuum cleaner S tries to move the room block by block. FIG. 7 shows an example of traveling according to the block. FIG. 6 shows a charging stand 30 for charging the rechargeable battery 9 when connected to the autonomous traveling cleaner S, an example 40 of a traveling locus, a wall 50 of the room, furniture 51 such as a sofa and a table provided in the room 50, 52, a place 53 for driving a pest is depicted. The autonomously traveling vacuum cleaner S starts from the charging stand 30 and travels through the room in a traveling manner as shown in block 40. While traveling, the infrared sensor of the distance measuring sensor 21 is used to avoid obstacles in the room.

    When traveling is started, the control device 10 drives the fan motor 11m and the rotating brush motor 6m to clean the floor. An environment map is generated using the environment recognition sensor 23 (step S4). In this way, ultrasonic waves are delivered to every corner of the room while cleaning and mapping.

    When generating a map, indoor information acquired by the environment recognition sensor 23 (camera) is analyzed. An image acquired by the camera is processed by the control device 10 to recognize the place 53 for driving out the pests. The place 53 to be expelled can be, for example, a place that leads to the outside such as a drain outlet or a door, or an insect trapping device provided indoors. When the evicting location 53 is detected (step S5: YES), the coordinates of the evicting location 53 are stored in the memory of the control device 10 (step S6), and the process proceeds to step S7. If the location 53 to be ejected is not detected, the process proceeds to step S7.

    For example, the block-like running is continued until the mapping of the room 50 is completed (to some extent) (step S7). Examples of the determination method include a method of determining presence or absence of a closed loop in the created map image by image processing. If the closed loop exists, it is determined that the map creation is completed. If there is no closed loop, it is determined that the map is not completed. If the map has not been completed, the process returns to step S4.

    When the map is completed, the control device 10 creates a travel route for driving the pests to the location 53 to be ejected using the map information, the location 53 to be purged recorded in the memory, and the self-location information of the autonomous traveling cleaner S. It is determined (step S8). Since pests tend to lurk in the vicinity of obstacles, it is desirable to adopt a route that passes as much as possible through a place with an obstacle when determining a travel route.

    FIG. 8 shows an example of the determined optimum travel route. The autonomously traveling cleaner S first creates a route that starts from the position X2 and moves to the position Y2 of the place 53 to be expelled after passing through the furniture 51 and 52 as much as possible. For this reason, it is possible to guide to the place 53 where the pests lurking in the room are gradually expelled.

    The control device 10 controls the wheels along the determined route and travels so that the autonomously traveling cleaner S avoids an obstacle (step S9). At that time, when an obstacle is detected using the distance measuring sensor 21 (step S10: YES), it is determined whether the obstacle is a wall (step S11).

    When it determines with it being a wall (step S11: YES), the process of operation | movement A1 mentioned later is performed (step S12). Thereafter, the process returns to step S9.

    If it is not determined to be a wall (step S11: NO), it is determined whether the obstacle is a leg of the furniture (step S13). If it is determined to be a leg (step S13: YES), a process of operation A2 described later is executed (step S14). Thereafter, the process returns to step S9. If it is not determined to be a leg (step S13: NO), the process returns to step S9. The detection of the obstacle may be determined from the image of the camera.

    FIG. 9 is a diagram for explaining the operation A1. When the autonomously traveling cleaner S passes near the wall 60, a plurality of distance measuring sensors 21 detect obstacles simultaneously, or the same distance measuring sensor 21 continuously detects obstacles for a certain period of time or more. When detected, it can be determined that the obstacle is a wall. At this time, the speed of the autonomously traveling cleaner S is reduced, and the vehicle travels while maintaining a constant distance from the wall as indicated by an arrow. At this time, the control device 10 controls the amplification circuit of the ultrasonic generator 20 to improve the sound pressure of the ultrasonic waves. In this way, it is possible to increase the extermination effect against pests that gather at the wall.

    FIG. 10 is a diagram for explaining the operation A2. When only one distance measuring sensor 21 detects an obstacle, or when the same distance measuring sensor 21 detects an obstacle continuously for a certain period of time, it is determined that the obstacle is a thin object such as a leg. it can. At this time, the sound pressure of the ultrasonic wave is improved, the speed of the autonomously traveling cleaner S is decreased, and the vehicle travels while keeping the distance from the furniture leg 61 constant as indicated by an arrow.

By performing the operations A1 and A2, it is possible to directly irradiate the pests lurking near the wall or around the legs of the furniture with ultrasonic waves having a higher sound pressure, and the effect of removing the pests is enhanced. In FIG. 8, the thick line 54 indicates the trajectory of the action A1, and the dotted line indicates the trajectory of the action A2. If no obstacle is detected in the process of step S10 (step S10: NO), the autonomous running cleaning is performed. It is determined whether or not the position coordinates of the machine S coincide with the position Y2 of the place 53 to be expelled (step S15). If they do not match (step S15: NO), it is determined that the autonomously traveling vacuum cleaner S does not arrive at the place 53 to be driven out. Returning to the process of step S9, the vehicle continues traveling along the determined route. If they match (step S15: YES), it is determined that the autonomous traveling cleaner S has reached the place 53 to be kicked out, and the pest control is completed and returned to the charging stand 30 (step S16). The rechargeable battery 9 is charged by the charging stand 30. Moreover, the ultrasonic generator 20 is stopped (step S17).

    The present embodiment includes a side brush 8, a guide blade 7, a rotating brush 6, a suction fan 11 and a dust collecting case 12 as a dust collecting device. By cleaning with the dust collecting device, a clean environment is created in the room. Can also be maintained, and has the effect of reducing the risk of pest invasion. If the room is not cleaned, the fan motor 11m and the rotary brush motor 6m are not driven by the control device 10 when starting running (step S3) in order to exert a pest control effect. good. Moreover, it is not necessary to provide a dust collection device.

    As described above, according to the present embodiment, the self-propelled function of the autonomously traveling vacuum cleaner S is used, and the ultrasonic waves that the insects dislike are delivered indoors, and the insects lurking under furniture etc. Can get rid of. In addition, by switching and generating ultrasonic waves with different frequencies, it is possible to prevent pests from becoming used to the frequency. Furthermore, by detecting places where pests tend to lurk (by the walls or around the legs of furniture), increasing the sound pressure of the ultrasonic waves on the spot or reducing the traveling speed of the autonomous traveling cleaner S, Irradiation time can be extended.

<Embodiment 2>
This embodiment is the same as Embodiment 1 except for the following points. In the present embodiment, an opening / closing device 70 and a communication device 71 are provided on a door that separates a room and a room (or a corridor) so that the opening / closing state of the door can be confirmed and controlled. FIG. 11 is a flowchart showing the process of the autonomous traveling cleaner S of the present embodiment. FIG. 12A is a diagram illustrating an environment in which an autonomous traveling cleaner is operated, and FIG. 12B is a diagram illustrating an autonomous traveling cleaner operation after arriving in front of a door leading to the outside.

    The wireless communication module 24 of the autonomous traveling cleaner S can communicate with a communication device 71 mounted on the doors 72 and 73. The communication device 71 can open and close the doors 72 and 73 by giving a command to the opening and closing device 70 mounted on the doors 72 and 73.

    For example, when the autonomous traveling vacuum cleaner S is generating an environmental map (step S4), the controller 10 processes an image acquired by the environment recognition sensor 23 (camera) and recognizes the doors 72 and 73 (step S5a: YES), the coordinates of the doors 72 and 73 are stored in the memory of the control device 10 (step S6). In the memory, as the types of the doors 72 and 73, the type information of the door connecting the indoors or the door connecting the indoor and the outdoor can be stored together. This type may be determined using the scenery recognized by the camera when the door is opened, or may be stored in the opening / closing device 70 or the communication device 71 by the user.

    The autonomously traveling cleaner S of the present embodiment drives a pest from the map information, the door coordinates stored in the memory, and the self-location information of the autonomously traveling cleaner S to the door 72 that leads to the outside as the additional location Y2. A travel route is determined (step S8). The control device 10 controls the wheels along the determined route so that the autonomous traveling cleaner S travels so as to avoid obstacles (step S9).

    When the autonomously traveling cleaner S arrives near the doors 72 and 73 during traveling, it is determined whether or not the door is a door that leads to the outside (step S18).

    If it is a door 73 connecting the rooms (step S18: NO), it communicates with the communication device 71 and operates the door opening / closing device 70 to open the door (step S19). When the autonomously traveling cleaner S passes through the door, the door is closed by the opening / closing device 70 (step S20), and the process returns to step S9. Therefore, it can suppress that a pest returns to the room which the autonomous running type vacuum cleaner S passed.

    If the door is open to the outside (step S18: YES), it communicates with the communication device 71 and operates the door opening / closing device 70 to open the door (step S21). Then, the time is measured by the timer 25 built in the control device 10. After a certain amount of time (for example, 30 seconds), the autonomous traveling cleaner S is swung left and right while emitting ultrasonic waves, and then the door is closed by operating the opening / closing device 70 (step S22). Thereby, a pest is suppressed from moving to a door indoor side by injecting an ultrasonic wave radially.

    As illustrated in FIG. 12B, a door 62 (broken line) in a closed state and a door 63 in an open state are illustrated. The autonomously traveling vacuum cleaner S performs a swinging operation as indicated by a broken line arrow toward the front door immediately before the door.

    Thereafter, the autonomously traveling cleaner S is returned to the charging stand 30 (step S16). The rechargeable battery 9 is charged by the charging stand 30. Moreover, the ultrasonic generator 20 is stopped (step S17).

    As described above, the environment recognition function of the autonomous traveling cleaner S is used to create the environment map and recognize the door, and the position of the autonomous traveling cleaner S is estimated. Therefore, it is possible to calculate a route for driving the pests to the door that leads to the outside, and to drive the pests according to the calculated route. By controlling the opening and closing of the door, it is possible to realize the effect that the pests do not return to the area through which the autonomously traveling cleaner S has passed and the extermination to the outdoors.

<Embodiment 3>
The configuration of this embodiment can be the same as that of Embodiment 1 or 2 except for the following points. In the present embodiment, a method is described in which a pest is driven to an indoor corner and sucked up by an autonomously traveling cleaner S.

    FIG. 13 is a flowchart showing an operation executed by the autonomous traveling cleaner S according to the present embodiment. FIG. 14 is a diagram illustrating traveling in which the autonomous traveling vacuum cleaner according to the present embodiment sucks up pests.

  When the environment map is generated (step S4), the image acquired by the environment recognition sensor 23 (camera) is processed by the control device 10 and the corner of the room is detected (step S5b: YES). It memorize | stores in the memory of the control apparatus 10 (step S6).

    When the map is completed, the control device 10 determines a travel route for driving a pest to the corner from the map information, the corner coordinates recorded in the memory, and the self-location information of the autonomous traveling cleaner S (step S8). ). As illustrated in FIG. 14, the pest advances at an angle of, for example, about 45 ° obliquely with respect to one of the walls 64 extending from the corner so that the pest does not escape to the area through which the autonomously traveling cleaner S passes. . When approaching the other wall by this progression, after moving to some extent toward the corner, this time, it runs diagonally toward the one wall 64. Repeat this to get close to the corner.

    When the autonomously traveling cleaner S arrives at the corner, the control device 10 drives the fan motor 11m and the rotating brush motor 6m. Thereby, it is possible to preferably suck out the pests driven into the corner (step S23). At this time, it is possible to suck more pests by increasing the input of the fan motor 11m than during normal driving and increasing the suction force.

    Thereafter, the autonomously traveling cleaner S is returned to the charging stand 30 (step S16). The rechargeable battery 9 is charged by the charging stand 30. Moreover, the ultrasonic generator 20 is stopped (step S17).

    This application includes the following technical ideas.

  (1) The ultrasonic generator 20 may be provided on the upper surface or the lower surface of the main body. The irradiation direction of ultrasonic waves can be expanded.

  (2) When charging with the charging stand 30, the ultrasonic generator 20 may continue to generate ultrasonic waves having different frequencies. Since it is possible to continuously irradiate ultrasonic waves within a certain area, there is an insect-repellent effect.

  (3) Connect to the Internet, acquire information (for example, temperature, humidity, and time) related to pest activity, calculate the optimal timing to give an operation command based on the acquired information, and autonomously issue an operation command May be started and run from step S2.

  (4) It is possible to select a simultaneous mode in which cleaning and pest expulsion by ultrasonic generation are performed at the same time, and a mode in which only fan motor 11m and rotary brush motor 6m are not driven are selected. In addition, when driving out, the driving time may be changed according to the season. For example, the time information may be acquired from the Internet, and may be 1 hour / time in summer and 3 hours / time in winter.

  (5) By providing a receiver that receives a specific frequency (for example, 40 kHz) corresponding to the ultrasonic generator 20, the object from the sensor in relation to the time and speed of sound required from the ultrasonic generator to the receiver. A receiver for calculating the distance to the distance may be provided, and the ultrasonic generator 20 may be used also as a distance measuring sensor. By using the sensor together, the cost can be reduced.

  (6) Data acquired when the autonomously traveling cleaner S travels may be transmitted to a mobile phone, and the user may specify the following processing using the mobile phone. For example, selection of a plurality of coordinates recorded in step S6, designation of a plurality of travel routes determined in step S8, adjustment of the frequency and sound pressure of ultrasonic waves generated by the ultrasonic generator 20 and the like. Moreover, you may perform driving | running | working control of the autonomous running type vacuum cleaner S by remote control with a mobile phone. For example, when the environment recognition sensor 23 is a camera, an image recognition function is provided so that pests can be recognized. When a pest is detected, the user can remotely drive the autonomously traveling cleaner S through a mobile phone to a place where the pest is expelled.

DESCRIPTION OF SYMBOLS 1 Main body case 2 Bumper 3, 4 Driving wheel 6 Rotating brush 8 Side brush 9 Rechargeable battery 11 Suction fan 12 Dust collection case 14 Suction part 20 Ultrasonic generator 21 Distance sensor 23 Environment recognition sensor 30 Charging stand S Autonomous traveling type cleaning Machine

Claims (6)

A drive wheel that moves itself,
An obstacle detection sensor,
A mobile body that autonomously travels indoors,
A moving body having an ultrasonic generator capable of changing a frequency of a sound wave to be generated and traveling while switching the frequency of the ultrasonic wave. Recognize the location of pests as a running indoor door, room corner, and / or drainage
The moving body according to claim 1, wherein the mobile body travels while generating ultrasonic waves toward the pest pursuit location. Has a brush that can clean the floor,
The autonomously traveling vacuum cleaner as a moving body according to claim 1 or 2, wherein when the obstacle detection sensor detects a leg, the obstacle travels around the leg.     The mobile body according to any one of claims 1 to 3, further comprising a receiver that detects an ultrasonic wave having a frequency generated by the ultrasonic generator, and is used as the obstacle detection sensor. A map including the position information of the door and information on whether or not the door is connected to the outdoors can be referred to.
The door can be opened;
The moving body according to any one of claims 1 to 4, wherein the moving body performs an operation of swinging while generating an ultrasonic wave after opening a door connected to the outdoors. You can refer to a map that includes corner location information.
Proceeding obliquely from one of the walls extending from the corner to the other, approaching the other wall when approaching the other wall, then proceeding obliquely toward the one wall and approaching the corner The moving body according to any one of claims 1 to 5, wherein

Images