JP2020049037A - Autonomous travel type vacuum cleaner - Google Patents

Autonomous travel type vacuum cleaner Download PDF

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JP2020049037A
JP2020049037A JP2018183147A JP2018183147A JP2020049037A JP 2020049037 A JP2020049037 A JP 2020049037A JP 2018183147 A JP2018183147 A JP 2018183147A JP 2018183147 A JP2018183147 A JP 2018183147A JP 2020049037 A JP2020049037 A JP 2020049037A
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vacuum cleaner
side brush
autonomous traveling
traveling vacuum
brush
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田中　大輔
Daisuke Tanaka
大輔 田中
長谷川　亮
Akira Hasegawa
亮 長谷川
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Hitachi Global Life Solutions Inc
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Hitachi Global Life Solutions Inc
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Abstract

To provide an autonomous travel type vacuum cleaner that determines whether a side brush has any faults using a floor surface ranging sensor.SOLUTION: An autonomous travel type vacuum cleaner includes: a side brush; a floor surface ranging sensor for detecting a range that includes at least part of a region through which the side brush passes; and a control unit. The control unit executes an operation confirmation step of measuring a cycle t that the side brush passes through the detection range of the floor surface ranging sensor, and executes a step of determining whether the side brush has any faults from the result of the operation confirmation step.SELECTED DRAWING: Figure 1

Description

本発明は、自律走行型電気掃除機に関する。   The present invention relates to an autonomous traveling vacuum cleaner.

光学式センサを用いて、周囲の障害物等を検出して、障害物等を回避するように自律的に駆動可能な自律走行型電気掃除機として、累積運転時間および距離からサイドブラシの交換目安を通知する（００６５）ものが知られている。   As an autonomous traveling vacuum cleaner that can autonomously drive so as to avoid obstacles, etc. by detecting surrounding obstacles, etc. using optical sensors, it is a guide to replace side brushes based on accumulated operation time and distance. (0065) is known.

特開２００５−２９６５１１号公報JP 2005-296511 A

特許文献１はサイドブラシのリアルタイムの状態を監視して異常を検知するものではない。   Patent Document 1 does not monitor the real-time state of the side brush to detect an abnormality.

上記事情に鑑みてなされた本発明の自律走行型電気掃除機は、サイドブラシと、該サイドブラシが通過する領域の少なくとも一部を検知範囲に含む床面測距センサと、制御部と、を有する自律走行型電気掃除機であって、前記制御部は、前記サイドブラシが前記床面測距センサの検知範囲を通過する周期ｔを計測する動作確認工程を実行し、該動作確認工程の結果からサイドブラシの異常判定を実行することを特徴とする。   The autonomous traveling vacuum cleaner of the present invention made in view of the above circumstances includes a side brush, a floor ranging sensor including at least a part of an area through which the side brush passes in a detection range, and a control unit. The controller is an autonomous traveling vacuum cleaner, wherein the control unit executes an operation checking step of measuring a cycle t during which the side brush passes through a detection range of the floor surface distance measuring sensor, and a result of the operation checking step , The abnormality determination of the side brush is performed.

実施形態１に係る自律走行型電気掃除機の斜視図である。FIG. 2 is a perspective view of the autonomous traveling vacuum cleaner according to the first embodiment. 実施形態１に係る自律走行型電気掃除機の底面図である。FIG. 2 is a bottom view of the autonomous traveling vacuum cleaner according to the first embodiment. 実施形態１に係る自律走行型電気掃除機の制御部を含むブロック図である。FIG. 2 is a block diagram including a control unit of the autonomous traveling vacuum cleaner according to the first embodiment. 実施形態１に係る自律走行型電気掃除機の内部詳細図である。FIG. 2 is an internal detailed view of the autonomous traveling vacuum cleaner according to the first embodiment.

本発明の実施形態について、添付の図面を参照しながら詳細に説明する。本発明の各種の構成要素は、必ずしも一の部材で構成される必要はなく、例えば、一の構成要素が複数の部材で構成されること、複数の構成要素が一の部材で構成されること、或る構成要素の一部と他の構成要素の一部とが互いに重複すること、を許容する。   Embodiments of the present invention will be described in detail with reference to the accompanying drawings. Various components of the present invention do not necessarily need to be configured by one member, for example, that one component is configured by a plurality of members, and that a plurality of components is configured by a single member , Allow a part of one component and a part of another component to overlap with each other.

なお、自律走行型電気掃除機１（図１参照）が進行する向きのうち、自律走行型電気掃除機１が通常進行する方向を前方、重力方向と反対の方向を上方、駆動輪１１６が対向する方向を左方及び右方とする。すなわち図１等に示す様に前後、上下、左右を定義する。本実施形態では、自律走行型電気掃除機１の前方側にサイドブラシ１５が取付けられている。   In the direction in which the autonomous traveling vacuum cleaner 1 (see FIG. 1) travels, the direction in which the autonomous traveling vacuum cleaner 1 normally travels is forward, the direction opposite to the gravitational direction is upward, and the drive wheel 116 is opposed. The directions to perform are left and right. That is, front and rear, up and down, left and right are defined as shown in FIG. In the present embodiment, a side brush 15 is attached to the front side of the autonomous traveling vacuum cleaner 1.

＜実施形態１＞
図１は本実施形態に係る自律走行型電気掃除機１の斜視図、図２は底面図である。
自律走行型電気掃除機１は、掃除領域（例えば、室内）を自律的に移動しながら床面を掃除する掃除機である。自律走行型電気掃除機１は、上壁（及び一部の側壁）である上ケース１１１、底壁（及び一部の側壁）である下ケース１１２、及び前部に設置されるバンパ１８、を含んで構成される本体１１を備える。下ケース１１２は、自律走行型電気掃除機１の動作時に床面に対向する。下ケース１１２には、前方にサイドブラシ１５が左右それぞれに設けられている。サイドブラシ１５は、上下方向を軸として回転可能であり、刷毛部１５４のそれぞれは、根元弾性部１５３を介して回転軸であるサイドブラシホルダ１５１に取付けられている。各サイドブラシ１５は、刷毛部１５４を３つ有しているが、刷毛部１５４の個数は１つ以上であれば特に制限されない。 <First embodiment>
FIG. 1 is a perspective view of an autonomous traveling vacuum cleaner 1 according to the present embodiment, and FIG. 2 is a bottom view.
The autonomous traveling vacuum cleaner 1 is a vacuum cleaner that cleans a floor surface while moving autonomously in a cleaning area (for example, indoors). The autonomous traveling vacuum cleaner 1 includes an upper case 111 serving as an upper wall (and some side walls), a lower case 112 serving as a bottom wall (and some side walls), and a bumper 18 installed in a front part. The main body 11 includes and includes. The lower case 112 faces the floor when the autonomous traveling vacuum cleaner 1 operates. In the lower case 112, side brushes 15 are provided on the left and right sides in front. The side brush 15 is rotatable about the vertical direction, and each of the brush portions 154 is attached to a side brush holder 151 serving as a rotation shaft via a base elastic portion 153. Each side brush 15 has three brush portions 154, but the number of the brush portions 154 is not particularly limited as long as it is one or more.

根元弾性部１５３又は刷毛部１５４が回転によって通過する領域の少なくとも一部を検知範囲に含む床面測距センサ２１１が設けられている。本実施形態では、下ケース１１２に床面測距センサ２１１が取り付けられており、自律走行型電気掃除機１が床面に載置されて駆動しているときに、床面が床面測距センサ２１１よりも下方にあるかを検知する。この検知は、床面が閾値距離以内にあるか否かを検知するものであってもよいし、床面までの距離を定量的に計測可能なものであってもよいが、後者が好ましい。本明細書では、何れの場合も「測距」と称する。   A floor surface distance measuring sensor 211 including at least a part of a region where the base elastic portion 153 or the brush portion 154 passes by rotation is included in a detection range. In the present embodiment, the floor distance measuring sensor 211 is attached to the lower case 112, and when the autonomous traveling vacuum cleaner 1 is mounted on the floor and driven, the floor is measured with the floor distance. It is detected whether it is below the sensor 211. This detection may be for detecting whether or not the floor is within a threshold distance, or may be for quantitatively measuring the distance to the floor, but the latter is preferable. In this specification, each case is referred to as “ranging”.

床面測距センサ２１１としては公知の光学式センサを種々用いることができるが、例えば、赤外線を射出する発光部と、赤外線を検知可能な受光部とを有するものを採用できる。赤外線が床面などに当たって反射すると受光部が赤外線を検知し、これを以て床面が存在すると判定できる。   Various known optical sensors can be used as the floor surface distance measurement sensor 211. For example, a sensor having a light emitting unit that emits infrared light and a light receiving unit that can detect infrared light can be adopted. When the infrared rays hit the floor or the like and are reflected, the light receiving section detects the infrared rays, and from this, it can be determined that the floor exists.

なお、自律走行型電気掃除機１の上後方側には、ダストケース４が設けられている。本実施形態の自律走行型電気掃除機１は、制御装置２の演算処理によって自律的に駆動輪１１６を駆動させて清掃する。   A dust case 4 is provided on the upper and rear sides of the autonomous traveling vacuum cleaner 1. The autonomous traveling vacuum cleaner 1 according to the present embodiment autonomously drives and cleans the driving wheels 116 by the arithmetic processing of the control device 2 to perform cleaning.

［床面測距センサ２１１のセンシングタイミングの調整］
図３は、本実施形態の制御部３００を含むブロック図である。自律走行型電気掃除機１は、次の動作確認工程、動作調整工程、及び通知工程を含む種々の制御を実行する制御部３００を有している。制御部３００は、駆動輪１１６に駆動力を与える駆動モータ１１７、床面測距センサ２１１、及びサイドブラシ１５に回転力を与えるサイドブラシモータ１１７を制御できる。また、制御部３００は、駆動モータ１１７の回転数やサイドブラシモータ１５２の回転数を検知できると好ましい。さらに制御部３００は、床面測距センサ２１１の測距状態を取得できる。制御部３００は、自律走行型電気掃除機１の制御を統括している。 [Adjustment of Sensing Timing of Floor Surface Distance Sensor 211]
FIG. 3 is a block diagram including the control unit 300 of the present embodiment. The autonomous traveling vacuum cleaner 1 has a control unit 300 that executes various controls including the following operation confirmation step, operation adjustment step, and notification step. The control unit 300 can control the drive motor 117 that applies a driving force to the driving wheels 116, the floor distance measuring sensor 211, and the side brush motor 117 that applies a rotating force to the side brush 15. Further, it is preferable that the control unit 300 can detect the number of rotations of the drive motor 117 and the number of rotations of the side brush motor 152. Further, the control unit 300 can acquire the distance measurement state of the floor surface distance measurement sensor 211. The control unit 300 controls the control of the autonomous traveling vacuum cleaner 1.

（動作確認工程）
まず、自律走行型電気掃除機１の運転を開始させ、例えば通常運転に影響がない工程において、サイドブラシ１５を回転させる。「通常運転に影響がない工程」とは、例えば充電台から離間しない状態で掃除とは別途行う工程としても良いし、通常運転とは異なる動作確認工程を行わせる使用者の命令をリモコンや本体のボタンから発せられるようにしても良い。また、続く動作調整工程では、床面測距センサ２１１に対する床面の関係性が維持されることが好ましいため、駆動輪１１６（駆動モータ）は停止させておくことが望ましい。駆動輪１１６の停止は、少なくとも動作調整工程が終了するまで継続することが望ましい。
次に、サイドブラシ１５を回転させながら、床面用測距センサ２１１からの出力信号を計測する。サイドブラシ１５の掃引領域の一部又は全部に床面用測距センサ２１１の検知範囲が含まれている。 (Operation check process)
First, the operation of the autonomous traveling vacuum cleaner 1 is started, and the side brush 15 is rotated, for example, in a process that does not affect normal operation. The "process that does not affect the normal operation" may be, for example, a process that is performed separately from the cleaning without separating from the charging stand, or a user's instruction to perform an operation check process different from the normal operation by a remote control or the main body. Button may be emitted. In the subsequent operation adjustment step, it is preferable that the relationship between the floor surface and the floor surface distance measurement sensor 211 is maintained, and therefore, it is desirable that the drive wheels 116 (drive motor) be stopped. It is desirable that the stop of the drive wheel 116 be continued at least until the operation adjustment step ends.
Next, while the side brush 15 is being rotated, an output signal from the floor distance measuring sensor 211 is measured. A part or all of the sweep area of the side brush 15 includes the detection range of the floor distance measuring sensor 211.

出力信号の計測は、連続信号とみなせる程度の短い周期で行うのが望ましく、少なくとも互いに隣接する刷毛部１５４が床面測距センサ２１１の検知範囲を横切る周期よりも早く行う。これを達成するために、連続信号とみなせる程度の短い周期で行うことが望ましいが、その他には例えば、サイドブラシ１５の刷毛部１５４の本数の情報及びサイドブラシ１５を回転させるモータの速度情報を取得する取得部を設けても良い。刷毛部１５４の本数の情報は、予め記憶させておいても良いし、例えばサイドブラシ１５が複数種類存在する型式の場合は、サイドブラシ１５の種類を区別可能に構成したり刷毛部１５４の本数を使用者が入力できるように構成したりすることで取得させることができる。   The measurement of the output signal is desirably performed in a short cycle that can be regarded as a continuous signal, and is performed at least earlier than a cycle in which at least the brush portions 154 adjacent to each other cross the detection range of the floor distance measuring sensor 211. In order to achieve this, it is desirable to perform the operation in a short cycle that can be regarded as a continuous signal. In addition, for example, information on the number of the brush portions 154 of the side brush 15 and speed information of the motor for rotating the side brush 15 are An acquisition unit for acquiring may be provided. The information on the number of the brush portions 154 may be stored in advance. For example, in the case of a model having a plurality of types of the side brushes 15, the type of the side brushes 15 may be configured to be distinguishable, or the number of the brush portions 154 may be determined. Is configured so that the user can input it.

このような構成では、サイドブラシ１５の刷毛部１５４が床面用測距センサ２１１の検知範囲を通過しているか否かに応じて、床面用測距センサ２１１の検知状態（出力信号）が変動する。この変動は刷毛部１５４の通過する周期によって或る程度定期的に変動する。このような信号を時間情報と関連付けて取得するために、マイコンの内部で時間計測を開始させる。   In such a configuration, the detection state (output signal) of the floor-surface distance measuring sensor 211 depends on whether the brush portion 154 of the side brush 15 passes through the detection range of the floor-surface distance measuring sensor 211. fluctuate. This fluctuation fluctuates to some extent periodically depending on the period of passage of the brush portion 154. In order to acquire such a signal in association with time information, time measurement is started inside the microcomputer.

なお、省エネの観点から、通常運転時に出力信号を取得する周期は、確認工程で出力信号を取得する周期より長い方が好ましい。
この動作確認工程では、測距するタイミングの一部において、サイドブラシ１５が検知範囲を横切るタイミングに一致してもよい。短い周期で出力信号の計測を行うことにより、サイドブラシ１５の回転に起因して変動する床面測距センサ２１１の検出信号値の時間変化が得られる。一定時間、計測値の取得を行うと、サイドブラシ１５の回転特性（刷毛部１５４が通過する周期、回転の速さなど）が分かる。 In addition, from the viewpoint of energy saving, it is preferable that the cycle of acquiring the output signal during the normal operation is longer than the cycle of acquiring the output signal in the confirmation step.
In this operation check step, a part of the distance measurement timing may coincide with the timing at which the side brush 15 crosses the detection range. By measuring the output signal in a short cycle, a temporal change in the detection signal value of the floor distance measuring sensor 211 that fluctuates due to the rotation of the side brush 15 can be obtained. When the measurement value is acquired for a certain period of time, the rotation characteristics of the side brush 15 (such as the period at which the brush portion 154 passes, the speed of rotation, etc.) can be known.

（動作調整工程）
この回転特性から、回転方向で隣接する刷毛部１５４がそれぞれ床面測距センサ２１１を横切る周期ｔがわかる。すなわち、或る刷毛部１５４が通過した時刻から次の刷毛部１５４が通過した時刻までの時間ｔが分かる。取得した検出信号値の波形等から時間ｔを推定する。また、周期だけでなく波形の形状から幅の推定も可能となる。 (Operation adjustment process)
From this rotation characteristic, the period t at which the brush portions 154 adjacent in the rotation direction cross the floor distance measuring sensor 211 can be determined. That is, the time t from the time when a certain brush part 154 passes to the time when the next brush part 154 passes can be known. The time t is estimated from the waveform of the acquired detection signal value and the like. In addition, the width can be estimated from the shape of the waveform as well as the period.

自律走行型電気掃除機１は、取得した時間ｔと正常な時間ｔ0とを比較することで、正常な周期で回転しているかを推定することができる。これにより、サイドブラシ１５の動作の判断が可能である。床面測距センサ２１１の計測間隔は、短いほどブラシの異常判定が行いやすくなる。このような一連の工程を設けることにより、例えば、刷毛部１５４の形状が変わった場合、または刷毛部１５４の本数が３本から６本になるなど変更された場合においても、刷毛部１５４が床面測距センサ２１１を遮断する間隔からサイドブラシの異常判定が可能となる。 By comparing the acquired time t with the normal time t 0 , the autonomous traveling vacuum cleaner 1 can estimate whether the autonomous vacuum cleaner 1 is rotating at a normal cycle. Thus, the operation of the side brush 15 can be determined. The shorter the measurement interval of the floor distance measuring sensor 211 is, the easier it is to determine the abnormality of the brush. By providing such a series of steps, for example, even when the shape of the brush portion 154 is changed, or when the number of the brush portions 154 is changed from three to six, the brush portion 154 is placed on the floor. The abnormality of the side brush can be determined from the interval at which the surface ranging sensor 211 is shut off.

また、上記の工程を用いることで、サイドブラシ１５の回転動作は通常通りでも、刷毛部１５４の破損があった場合において、取得したデータのある部分では、正常な時間ｔ0と同じだが、破損個所では異なる波形が現れる。これにより、サイドブラシの破損も検出することが可能となる。 Further, by using the above-described process, even if the rotation operation of the side brush 15 is normal, when the brush part 154 is damaged, in a part of the acquired data, the same as the normal time t 0 , Different waveforms appear at the points. This makes it possible to detect breakage of the side brush.

なお、正常な時間ｔ0を製品（自律走行型電気掃除機１）の出荷前に予め一度行っておき、床面測距センサ２１１の特性を考慮して、個別に調整状態にしても良いし、自律走行型電気掃除機１の出荷後最初に運転するときに自動で行うようにしても良いし、使用者の命令に応じて計測又は再計測するようにしても良いし、自律走行型電気掃除機１の有する通信機能部１９よりネットワークを介して、適宜サーバ上から取得できるようにしてもよい。 Note that the normal time t 0 may be set once before shipment of the product (autonomous traveling vacuum cleaner 1), and may be individually adjusted in consideration of the characteristics of the floor surface distance measuring sensor 211. The automatic operation may be performed automatically when the autonomous traveling vacuum cleaner 1 is operated for the first time after shipment, or may be measured or remeasured in accordance with a user's command. The communication function unit 19 of the vacuum cleaner 1 may be configured to obtain the information from a server as needed via a network.

また、前記の正常値との比較においては、制御部３００で異常判定を行わずに、取得したデータを通信機能部１９よりネットワークを介してサーバへ送信して、サーバで比較を行い、「正常」「異常」の判定をサーバより受信してもよい。   In the comparison with the normal value, the acquired data is transmitted to the server from the communication function unit 19 via the network without performing the abnormality determination in the control unit 300, and the comparison is performed by the server. The determination of “abnormal” may be received from the server.

［床面の種類への対応］
サイドブラシ１５の回転速度は、床面の素材による摩擦にも依存する。例えば絨毯上で駆動された場合等、サイドブラシ１５に掛かる負荷が比較的大きくなる。この場合所定の回転数が得られない、または定回転にならない等が懸念されるが、別に、駆動輪１１６の駆動時電流の変化や回転ブラシ１４の駆動時電流の変化から床面がフローリングから絨毯もしくは絨毯からフローリングへと変化したことを検知しているにも関わらず、サイドブラシ１５を駆動するモータの電流が変化しない場合などは、床面の素材による影響以外の要因、例えば髪の毛などの絡みつきなどが考えられる。その場合に、何らかの方法にて通知を行うことでサイドブラシの異常を速やかに利用者へ通知することが可能となる。なお、例えば出荷前に上記の工程を行う場合、フローリング又は畳の床面について工程を行うと好ましい。 [Support for floor types]
The rotation speed of the side brush 15 also depends on the friction of the floor material. For example, when driven on a carpet, the load applied to the side brush 15 becomes relatively large. In this case, there is a concern that a predetermined number of revolutions cannot be obtained or constant rotation cannot be obtained. If the current of the motor that drives the side brush 15 does not change despite detecting that the carpet or the carpet has changed to flooring, factors other than the influence of the floor material, such as hair Entanglement is possible. In this case, it is possible to promptly notify the user of the abnormality of the side brush by performing the notification by any method. In addition, for example, when performing the above process before shipping, it is preferable to perform the process on the floor of the flooring or tatami.

［利用者への通知方法］
上記で検出した異常を利用者へ適切に通知する機能が必要となる。例えば、自律走行型電気掃除機１の有するお知らせ機能として、ブザーや音声報知、画面表示で利用者へ通知しても良いし、自律走行型電気掃除機１の有する通信機能部１９を介してネットワークを経由することで、利用者へ該当箇所のメンテナンスを促す通知を利用者の携帯端末に送る等、遠隔にて行ってもよい。 [How to notify users]
A function for appropriately notifying the user of the abnormality detected above is required. For example, as the notification function of the autonomous traveling vacuum cleaner 1, the user may be notified by a buzzer, an audio notification, a screen display, or a network via the communication function unit 19 of the autonomous traveling vacuum cleaner 1. Alternatively, the notification may be sent to the user's portable terminal remotely, for example, by sending a notification urging the user to perform maintenance of the corresponding location.

１ 自律走行型電気掃除機
１１ 本体
１１１ 上ケース
１１２ 下ケース
１１２１ サイドブラシ取付部
１１３ 吸口部
１１６ 駆動輪
１１７ 駆動モータ
１３ 掻取りブラシ
１４ 回転ブラシ
１５ サイドブラシ
１５１ サイドブラシホルダ
１５２ サイドブラシモータ
１５３ 根元弾性部
１５４ 刷毛部
１７ 補助輪
１８ バンパ
１９ 通信機能部
２１１ 床面用測距センサ
３００ 制御部
４ ダストケース DESCRIPTION OF SYMBOLS 1 Autonomous traveling vacuum cleaner 11 Main body 111 Upper case 112 Lower case 1121 Side brush attachment part 113 Inlet part 116 Driving wheel 117 Drive motor 13 Scraping brush 14 Rotary brush 15 Side brush 151 Side brush holder 152 Side brush motor 153 Root elasticity Unit 154 brush unit 17 auxiliary wheel 18 bumper 19 communication function unit 211 distance measuring sensor 300 for floor surface control unit 4 dust case

Claims (6)

サイドブラシと、該サイドブラシが通過する領域の少なくとも一部を検知範囲に含む床面測距センサと、制御部と、を有する自律走行型電気掃除機であって、
前記制御部は、前記サイドブラシが前記床面測距センサの検知範囲を通過する周期ｔを計測する動作確認工程を実行し、該動作確認工程の結果からサイドブラシの異常判定を実行することを特徴とする自律走行型電気掃除機。 A side brush, a floor surface distance measurement sensor including at least a part of a region through which the side brush passes in a detection range, and a control unit, the autonomous traveling vacuum cleaner having:
The control unit may execute an operation checking step of measuring a cycle t in which the side brush passes through a detection range of the floor surface distance measurement sensor, and execute an abnormality determination of the side brush based on a result of the operation checking step. Characteristic autonomous traveling vacuum cleaner. 当該自律走行型電気掃除機を移動させる駆動モータを有し、前記床面測距センサの測距タイミングの調整を、前記駆動モータを停止させた状態で行うことを特徴とする請求項１に記載の自律走行型電気掃除機。   2. The apparatus according to claim 1, further comprising a drive motor for moving the autonomous traveling vacuum cleaner, wherein adjustment of a distance measurement timing of the floor surface distance measurement sensor is performed while the drive motor is stopped. Autonomous traveling vacuum cleaner. 前記周期ｔを計測又は再計測する工程を行わせる命令を使用者から受付可能なことを特徴とする請求項１又は２に記載の自律走行型電気掃除機。   The autonomous traveling vacuum cleaner according to claim 1, wherein a command for performing a step of measuring or re-measuring the cycle t can be received from a user. 前記サイドブラシの種類又は前記刷毛部の本数に係る情報を取得可能なことを特徴とする請求項１乃至３何れか一項に記載の自律走行型電気掃除機。   The autonomous traveling vacuum cleaner according to any one of claims 1 to 3, wherein information on a type of the side brush or the number of the brush portions can be obtained. 前記周期ｔを計測又は再計測する工程では、前記床面測距センサの出力信号の計測を、通常運転時の周期よりも短い周期で行うことを特徴とする請求項１乃至４何れか一項に記載の自律走行型電気掃除機。   5. The step of measuring or re-measuring the cycle t, wherein the measurement of the output signal of the floor distance measuring sensor is performed in a cycle shorter than a cycle during normal operation. 6. An autonomous traveling vacuum cleaner according to claim 1. 前記サイドブラシ以外の構成を利用して床面の種類の変動を検知可能であり、
前記変動を検知したにも拘らず前記サイドブラシを駆動するモータ電流値の変動が小さい場合、前記サイドブラシの異常を報知することを特徴とする請求項１乃至５何れか一項に記載の自律走行型電気掃除機。 Using a configuration other than the side brush, it is possible to detect a change in the type of floor surface,
The autonomous apparatus according to any one of claims 1 to 5, wherein when a change in a motor current value for driving the side brush is small despite detecting the change, an abnormality of the side brush is notified. A traveling vacuum cleaner.
JP2018183147A 2018-09-28 2018-09-28 Autonomous travel type vacuum cleaner Pending JP2020049037A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112294195A (en) * 2020-10-28 2021-02-02 珠海格力电器股份有限公司 Sweeper side brush detection method and device and sweeper
CN114947626A (en) * 2022-07-08 2022-08-30 深圳市优必选科技股份有限公司 Side brush state determination method and device, sweeper and computer readable storage medium

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112294195A (en) * 2020-10-28 2021-02-02 珠海格力电器股份有限公司 Sweeper side brush detection method and device and sweeper
CN114947626A (en) * 2022-07-08 2022-08-30 深圳市优必选科技股份有限公司 Side brush state determination method and device, sweeper and computer readable storage medium
CN114947626B (en) * 2022-07-08 2023-08-18 深圳市优必选科技股份有限公司 Side brush state determining method and device, sweeper and computer readable storage medium

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