JP3166250B2 - Cleaning robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning robot equipped with a power supply and cleaning a floor while moving independently.

[0002]

2. Description of the Related Art Conventionally, a self-moving cleaning robot has been moved in such a manner that blocks are sequentially passed using a block map in order to completely clean a floor, which is a given cleaning area.

[0003]

In the method using a map, it is necessary to measure the actual movement of the cleaning robot with a sensor and accurately represent the movement on the map. However, in practice, it is difficult to perform accurate measurement because a measurement error occurs in the sensor or an unmeasurable slip occurs. For this reason, when a wide cleaning area is moved using a map, the accumulated amount of errors increases, and the positional relationship between the map and the actual robot differs. For this reason, movement in a wide place was not possible by this method. In addition, as the cleaning area expands, a large storage means is required for the map, which limits the area.

An object of the present invention is to provide a cleaning robot capable of moving a wide cleaning area by a simple operation without using a block map, without using a block map. .

[0005] In addition, it is a second object of the present invention to provide a cleaning robot which can move more accurately by using the wall surface when the cleaning region has a wall surface. .

It is a third object of the present invention to provide a cleaning robot which can move more accurately when the two wall surfaces are opposed to each other.

[0007]

A first means of the present invention for achieving the first object is a traveling steering means for moving a robot main body, a traveling distance detecting means for detecting a traveling distance, and a direction of the robot main body. Direction detection means for detecting, judgment processing means for outputting a traveling signal to traveling steering means in response to the outputs of the traveling distance detection means and the direction detection means, cleaning means for cleaning the floor surface, and supplying power to the entire robot body. Power supply, traveling distance setting means, and frequency setting means for setting the number of turns, wherein the determination processing means is a straight traveling means for traveling straight using a direction detecting means and traveling steering means, and a direction detecting means. Turning means for making a U-turn using the traveling steering means, counting means for counting the number of turns, a running distance set in the running distance setting means during straight traveling, and an output of the running distance detecting means. First discriminating means for comparing and discriminating and outputting a signal to the turning means, and second discriminating means for comparing and discriminating the outputs of the turning number setting means and the counting means during turning and outputting signals to the straight-ahead means and the cleaning means; And a cleaning robot having the following.

A second means of the present invention for achieving the second object is a traveling steering means for moving the robot body, a traveling distance detecting means for detecting the traveling distance, and a direction detecting means for detecting the direction of the robot body. Obstacle detection means for detecting an obstacle in front of the robot main body, determination processing means for receiving the outputs of the traveling distance detection means and the direction detection means and the output of the obstacle detection means and outputting a traveling signal to traveling steering means. Cleaning means for cleaning the floor surface, a power supply for supplying power to the entire robot body, travel distance setting means, and frequency setting means for setting the number of turns. Straight ahead means for moving straight ahead using steering means,
Turning means for making a U-turn using the direction detecting means and the traveling steering means, counting means for counting the number of turns, and comparing and discriminating the outputs of the running distance setting means and the running distance detecting means during straight-ahead movement; First determining means for outputting,
Third determining means for determining the presence or absence of the output of the obstacle detecting means during the straight traveling and outputting to the turning means, and comparing and determining the output of the number setting means and counting means during the turning and outputting to the straightening means and the cleaning means; The cleaning robot includes a second determination unit, and alternately switches between use and non-use of the first determination unit based on an output of the counting unit.

A third means of the present invention for achieving the third object is a traveling steering means for moving the robot main body, a traveling distance detecting means for detecting the traveling distance, and a direction detecting means for detecting the direction of the robot main body. Obstacle detecting means for detecting an obstacle in front of the robot body; determining processing means for outputting a traveling signal to traveling steering means in response to the outputs of the traveling distance detecting means, the direction detecting means and the output of the obstacle detecting means. Cleaning means for cleaning the floor surface, a power supply for supplying power to the entire robot body, travel distance setting means, frequency setting means for setting the number of times of rotation of the robot body, and a wall serving as a reference for moving the robot body Switching means for switching between one side and both sides, the judgment processing means comprising: a straight traveling means for performing a straight traveling movement using a direction detecting means and a traveling steering means; Turning means for turning the robot body by a U-turn using the traveling steering means; counting means for counting the number of turns; and comparing and discriminating the outputs of the running distance setting means and the running distance detecting means during straight traveling. First discriminating means for outputting a turning signal to the turning means, third discriminating means for judging the presence or absence of the output of the obstacle detecting means during straight traveling and outputting a straight signal to the turning means, and setting the number of times during turning. Means for comparing and discriminating the outputs of the means and the counting means and outputting a signal to the straight-ahead means and the cleaning means; and discriminating between the output of the second discriminating means and the output of the switching means and the first discrimination means. The cleaning robot includes a fourth determination unit that outputs a signal to the unit, and uses the first determination unit alternately by using or not using the output of the counting unit.

[0010]

The first means of the present invention operates as follows. The cleaning surface is automatically cleaned while the reciprocating movement is repeated by using the rectilinear means for linearly moving and the turning means for turning U-turn alternately. In this case, it is possible to clean a wide cleaning area without using a block map by restricting the traveling distance during the straight traveling by using the traveling distance setting means and by limiting the number of turns of the robot body by the number of times setting means. It is assumed that.

Further, the second means of the present invention works effectively especially when the cleaning area has one wall surface.
That is, the robot body is moved in a direction perpendicular to the wall surface by using the wall surface, and when the traveling distance setting unit detects that the robot body reaches a predetermined distance from the wall surface, the turning unit is operated to turn the robot body, and Move to In this case, this step is repeated by the number set by the number setting means,
This enables cleaning of a wide cleaning area without using a block map.

In other words, by executing control based on the wall surface, even if slippage or the like that cannot be detected during movement occurs, it can be corrected on the wall surface, which is an absolute position, and more accurate movement can be performed.

The third means of the present invention is effective particularly when two wall surfaces are opposed to each other in the cleaning area. In other words, when the setting of the switching means for switching between one side and both sides as the reference wall for moving the robot body is set to two sides, one of the wall surfaces is used to move in the vertical direction to the wall surface and travel. When the distance setting means detects that the robot has reached a certain distance from the wall, the turning means is operated to turn the robot body and move the robot body until it reaches the other wall again. This step is repeated by the number of times set by the number setting means, so that a wide cleaning area can be cleaned without using a block map.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the first means of a cleaning robot according to the present invention will be described below with reference to FIG. Reference numeral 1 denotes a power supply constituted by a battery for supplying power to each part of the robot body. 2 is a fan motor that cleans floors and other cleaning surfaces.
This is a cleaning means constituted by a floor nozzle or the like. Numeral 3 denotes a traveling steering means composed of a motor, wheels and the like, and moves the robot body while turning the rudder. Reference numeral 4 denotes a direction detecting means constituted by a gyro or the like for detecting the moving direction of the robot body.
Numeral 5 is a travel distance detecting means constituted by a rotary encoder or the like attached to the motor, and detects a travel distance traveled by the robot body. Numeral 6 is a travel distance setting means for designating a straight traveling distance in the cleaning area, and numeral 7 is a frequency setting means for designating the number of U-turn turns in the reciprocating movement to restrict the lateral movement in the traveling area. Reference numeral 8 denotes a judgment processing unit that receives information from each of the above units and drives the cleaning unit 2 and the traveling steering unit 3.

In this embodiment, the judgment processing means 8 has the following means. Numeral 9 denotes a straight traveling means for receiving the signal of the direction detecting means 4 and controlling the traveling steering means 3 to move the robot body straight. 10 also controls the traveling steering means 3 in response to the signal of the direction detecting means 4 and
It is a turning means for turning by 80 degrees U-turn. 11 recognizes that the vehicle is traveling straight ahead by receiving the output of the traveling means 9;
Further, it is a first discriminating means for comparing and discriminating the signals of the traveling distance detecting means 5 and the traveling distance setting means 6 and outputting the timing of the U-turn turning to the turning means 10. Numeral 12 is a counting means for counting the number of U-turn turns from the output of the turning means 10.
Reference numeral 13 denotes a second determination unit that compares and determines the output of the counting unit 12 and the output of the number-of-times setting unit 7 and outputs a signal to the straight traveling unit 9 and the cleaning unit 2.

The operation of this embodiment will be described below with reference to FIG. Reference numeral 18 denotes the robot body described above, 1
Reference numeral 9 denotes a running locus of the robot body 18. The robot body 18 is waiting at the current point a. First, it is assumed that the user starts by setting the set value of the traveling distance setting means 6 to A and the value of the number-of-times setting means 7 to 10 times. The cleaning means 2 and the traveling steering means 3 operate upon receiving a command from the judgment processing means 8. That is, the straight traveling means 9 operates in accordance with the signal of the direction detecting means 4, and controls the traveling steering means 3 to travel straight. At the same time, the first discriminating means 11 receives the operation signal of the straight traveling means 9 and receives the traveling distance detecting means 5 and the traveling distance setting means 6.
Starts comparison and discrimination of the signals. When reaching the point b and the set value of the traveling distance setting means 6 and the detection value of the traveling distance detecting means 5 match, the first determination means 11 outputs a turning signal to the turning means 10. That is, the movement control is switched from the straight traveling means 9 to the turning means 10. Here, the turning means 10 controls the traveling steering means 3 according to the signal of the direction detecting means 4 to make the main body make a U-turn to reach the point c. At this time, the counting means 12 counts the number of turns as one by the end output from the turning means 10. The second discriminating means 13 compares the output of the counting means 12 with the number of turns 10 set by the number-of-times setting means 7, and returns control to the straight-ahead means 9 if the counted value does not match the set value. Works. Hereinafter, when the straight traveling means 9 and the turning means 10 operate alternately and reach the point m where the ten turns have been completed, the second determining means 13 outputs a cleaning end signal to the cleaning means 2. At the same time, an end signal is also output to the straight traveling means 9 to stop driving the traveling steering means 3.

Next, an embodiment of the second means of the present invention will be described with reference to FIG. The configuration of the present embodiment is different from the configuration of FIG. 1 in that an obstacle detection unit 14 including an ultrasonic ranging sensor for detecting a wall or an obstacle in front of the vehicle when traveling straight ahead, and an output of the straight ahead unit 9. Then, it is determined that the vehicle is traveling straight ahead, the signal of the obstacle detecting means 14 is determined, and a third determining means 15 which outputs the signal to the turning means 10 is added. That is, the output of the counting means 12 that counts the number of turns is used to alternately switch the use and non-use of the first determination means 11 every U-turn. With this configuration, when traveling in the direction away from the wall, the travel distance is restricted, and when traveling toward the wall, the travel distance is removed and the travel is reliably performed until the vehicle reaches the wall. I have.

The operation of the present embodiment will be described below with reference to FIG. Reference numeral 20 denotes a wall surface existing in the cleaning area, which is used as a reference for movement. Reference numeral 21 denotes a first half of a cleaning progress direction, which is a bare floor made of a P tile, a tree, or the like, which is less likely to slip when moving. Reference numeral 23 denotes a cleaning surface in the latter half of the cleaning direction, which is a carpet that slides in the direction of arrow 22. As in the embodiment of the first means of the present invention,
At the point a, the user sets the set value of the traveling distance setting means 6 to A and the value of the number-of-times setting means 7 to 10 times. Wall 2
Starting from the point a on the 0 side, the vehicle advances by a certain distance A, turns at b, and returns to the control of the straight-ahead means 9 at c. At this time, the counting means 12 prohibits the operation of the first determining means 11 according to the number of turns. That is, when traveling straight in the direction of the wall surface 20, the limitation on the traveling distance is removed. When it reaches d, the obstacle detection means 14 outputs the existence of the wall surface 20 as an obstacle.
The third discriminating means 15 receiving this signal turns the turning means 10
Return control to Hereinafter, similarly, the straight-moving means 9 and the turning means 10 are alternately operated, and the operation is stopped at the time point m when the ten turns are completed. In this case, the cleaning area is the carpet 23
This embodiment is effectively acting on the latter half of the movement. That is, in the embodiment of the first means of the present invention, since the reciprocating movement is performed at a fixed distance, the movement locus as shown by the broken line 24 is affected by the slippage of the carpet. That is, the cleaning end point is n, and the triangular portion 25 indicated by oblique lines is left unfinished. In this regard, in the present embodiment, the wall 20 is used as a movement reference, so that such a situation can be avoided.

Next, an embodiment of the third means of the present invention will be described with reference to FIG. The configuration of the present embodiment is obtained by adding the following elements to the configuration of FIG. That is, reference numeral 16 denotes switching means for setting whether to use only one wall surface or two wall surfaces serving as movement references. Reference numeral 17 denotes an output of the second discriminating means 13 for notifying that cleaning using only one wall has been completed and an output of the switching means 16, and outputs a signal to the straight traveling means 9 and the first discriminating means 11. Fourth determination means. That is, the fourth determining means 17
After the movement with reference to one wall surface is completed,
If two surfaces are specified, the travel distance limit of the first determination means 11 is removed, and the robot body 18 is made to move straight to the next opposing wall surface.

The operation of this embodiment will be described below with reference to FIG. Reference numerals 20 and 26 denote wall surfaces which face the cleaning area, and reference numeral 27 denotes an obstacle present at the center. As in the embodiment of the first means of the present invention, at the start point a, the user sets the set value of the traveling distance setting means 6 to A and the value of the number setting means 7 to 10 times. It is assumed that the cleaning operation is started in this way, and the straight traveling means 9 and the turning means 10 operate alternately to reach the point e. At the point e, since the straight traveling means 9 is operating and is moving in the direction away from the wall surface 20, both the first discriminating means 11 and the third discriminating means 15 are effective. In this case, the third discriminating means 15 operates first, and the control is transferred to the turning means 10 so that the robot body 18
Performs a U-turn turn. Hereinafter, the cleaning end point m is similarly reached. Here, if the setting of the switching means 16 specifies the two wall surfaces, the fourth determining means 17 operates the straight traveling means 9 and removes the restriction by the traveling distance by the first determining means 11 to face the other. The robot body 18 is moved to the wall surface 26. Hereinafter, similarly, starting from the point aa, the cleaning ends at the point mm.

As described above, according to the present embodiment, not only the movement based on the wall surface but also the cleaning can be performed while avoiding the central obstacle 27 without using a map.

[0022]

The first means of the present invention is a traveling steering means for moving the robot body, a traveling distance detecting means for detecting the traveling distance, a direction detecting means for detecting the direction of the robot body, and the traveling distance detecting means. A determination processing unit that outputs a traveling signal to the traveling steering unit in response to the output of the unit and the direction detection unit, a cleaning unit that cleans a floor surface, a power supply that supplies power to the entire robot body, a traveling distance setting unit, Number-of-turn setting means for setting the number of turns; wherein the determination processing means includes a straight-line moving means for moving straight ahead using a direction detecting means and a traveling steering means;
A turning means for making a turn, a counting means for counting the number of turns, and a signal for outputting a signal to the turning means by comparing and discriminating the output of the running distance detecting means with the running distance set in the running distance setting means during straight traveling. As a cleaning robot having one discriminating means and a second discriminating means for comparing and discriminating the outputs of the number-of-turns setting means and the counting means at the time of turning, and outputting a signal to the straight-ahead means and the cleaning means, A large cleaning area can be moved without using a block map.

The second means of the present invention is a traveling steering means for moving the robot body, a traveling distance detecting means for detecting a traveling distance, a direction detecting means for detecting a direction of the robot body, and an obstacle in front of the robot body. Detection processing means for detecting the output of the traveling distance detection means, the direction detection means and the output of the obstacle detection means and outputting a traveling signal to the traveling steering means, and cleaning for cleaning the floor surface. Means,
A power supply for supplying power to the entire robot body, a travel distance setting means and a number setting means for setting the number of turns,
The determination processing means includes: a straight traveling means for performing a straight movement using a direction detecting means and a traveling steering means; a turning means for making a U-turn using the direction detecting means and the traveling steering means; and a counting means for counting the number of turns. A first determining means for comparing and determining the output of the traveling distance setting means and the output of the traveling distance detecting means during straight traveling and outputting to the turning means; and A third discriminating means for outputting, and a second discriminating means for comparing and discriminating the outputs of the number-of-times setting means and the counting means at the time of turning and outputting to the straight-ahead means and the cleaning means; As a cleaning robot that alternately switches between use and non-use of the discriminating means, even if slippage or the like that cannot be detected during movement is corrected at the absolute position of the wall surface, more accurate movement is realized.

Further, a third means of the present invention is a traveling steering means for moving the robot main body, a traveling distance detecting means for detecting the traveling distance, a direction detecting means for detecting the direction of the robot main body, an obstacle in front of the robot main body. Obstacle detection means for detecting an object, determination processing means for outputting a traveling signal to traveling steering means in response to the outputs of the traveling distance detection means and the direction detection means and the output of the obstacle detection means, and cleaning the floor surface Cleaning means, a power supply for supplying power to the entire robot body, travel distance setting means and a number setting means for setting the number of times of turning of the robot body, and a reference wall for moving the robot body on one side or on both sides Switching means for switching whether or not there is a vehicle, wherein the determination processing means uses a straight traveling means for moving straight ahead using the direction detecting means and the traveling steering means, and uses the direction detecting means and the traveling steering means. A turning means for U-turn the robot body Te, counting means for counting the number of turning,
First determining means for comparing and determining the outputs of the traveling distance setting means and the traveling distance detecting means during a straight-ahead movement and outputting a turning signal to the turning means; and determining the presence or absence of the output of the obstacle detecting means during a straight-ahead moving movement A third discriminating means for outputting a straight-ahead signal to the turning means; a second discriminating means for comparing and discriminating the outputs of the number-of-times setting means and the counting means at the time of turning and outputting a signal to the straight-moving means and the cleaning means; The first discriminating means and the fourth discriminating means for discriminating the output of the switching means and outputting a signal to the straight ahead means, and the use of the first discriminating means by the output of the counting means. As a cleaning robot that alternately switches between non-uses, it works particularly effectively when there are two opposing wall surfaces that are the reference for movement. More accurate At the same time to achieve a dynamic, and makes it possible also avoiding obstacles in the middle between the walls.

[Brief description of the drawings]

FIG. 1 is a block diagram of a cleaning robot showing an embodiment of a first means of the present invention.

FIG. 2 is a block diagram of a cleaning robot showing an embodiment of the second means.

FIG. 3 is a block diagram of a cleaning robot showing an embodiment of the third means.

FIG. 4 is an operation diagram of a cleaning robot according to the first means.

FIG. 5 is an operation diagram of a cleaning robot according to the second means.

FIG. 6 is an operation diagram of a cleaning robot according to the third means.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Power supply 2 Cleaning means 3 Traveling steering means 4 Direction detection means 5 Travel distance detection means 6 Travel distance setting means 7 Number setting means 8 Judgment processing means 9 Straight ahead means 10 Turning means 11 First discriminating means 12 Counting means 13 Second Discriminating means 14 Obstacle detecting means 15 Third discriminating means 16 Switching means 17 Fourth discriminating means 18 Robot body

──────────────────────────────────────────────────の Continuing on the front page (72) Osamu Eguchi, Inventor 1006, Kadoma, Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. No. (72) Inventor Yoshifumi Takagi 1006 Kazuma, Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (58) Field surveyed (Int.Cl. ⁷ , DB name) A47L 9/28

Claims (3)

(57) [Claims] 1. A travel steering unit for moving a robot body, a travel distance detection unit for detecting a travel distance, a direction detection unit for detecting a direction of the robot body, and an output of the travel distance detection unit and a direction detection unit. Judgment processing means for receiving and outputting a traveling signal to traveling steering means, cleaning means for cleaning the floor surface, power supply for supplying power to the entire robot body, traveling distance setting means, and number setting for setting the number of turns Means, wherein the determination processing means comprises: a straight traveling means for performing a straight traveling movement using a direction detecting means and a traveling steering means; a turning means for making a U-turn using the direction detecting means and the traveling steering means; Counting means for counting, first discrimination means for comparing and discriminating the traveling distance set by the traveling distance setting means during straight traveling and the output of the traveling distance detection means, and outputting a signal to the turning means; A cleaning robot having a second discriminating means for comparing and discriminating the outputs of the number-of-turns setting means and the counting means at the time of turning, and outputting a signal to the straight traveling means and the cleaning means. 2. A travel steering device for moving a robot body, a travel distance detection device for detecting a travel distance, a direction detection device for detecting a direction of the robot body, and an obstacle detection device for detecting an obstacle in front of the robot body. Determination processing means for receiving the outputs of the traveling distance detection means, the direction detection means, and the output of the obstacle detection means, and outputting a traveling signal to the traveling steering means; a cleaning means for cleaning the floor; A power supply for supplying power, a mileage setting unit and a number setting unit for setting the number of turns, wherein the determination processing unit includes:
Straight-traveling means for moving straight ahead using the direction detecting means and the traveling steering means; turning means for making a U-turn using the direction detecting means and traveling steering means; counting means for counting the number of turns; First determining means for comparing and determining the output of the setting means and the traveling distance detecting means and outputting the output to the turning means; and third determining for determining whether or not there is an output of the obstacle detecting means and outputting to the turning means during the straight traveling. Means, a second determining means for comparing and determining the output of the number setting means and the counting means at the time of turning, and outputting to the straight-ahead means and the cleaning means,
A cleaning robot that alternately switches between use and non-use of the first determination unit according to the output of the counting unit. 3. A travel steering device for moving a robot body, a travel distance detection device for detecting a travel distance, a direction detection device for detecting a direction of the robot body, and an obstacle detection device for detecting an obstacle in front of the robot body. Determination processing means for receiving the outputs of the traveling distance detection means, the direction detection means, and the output of the obstacle detection means, and outputting a traveling signal to the traveling steering means; a cleaning means for cleaning the floor; A power supply for supplying power, a traveling distance setting means, a number setting means for setting the number of turns of the robot body, and a switching means for switching whether the wall surface as a reference for moving the robot body is one side or both sides. The judgment processing means comprises: a straight traveling means for moving straight ahead using the direction detecting means and the traveling steering means; and a U-turn of the main body using the direction detecting means and the traveling steering means. Turning means, counting means for counting the number of turns, and first discriminating means for comparing and discriminating the outputs of the running distance setting means and the running distance detecting means during straight traveling and outputting a turning signal to the turning means. And third determining means for determining the presence or absence of the output of the obstacle detecting means during straight-ahead movement and outputting a straight-ahead signal to the turning means; and A second determination unit that outputs a signal to the cleaning unit, a fourth determination unit that determines the output of the second determination unit and the output of the switching unit, and outputs a signal to the first determination unit and the straight ahead unit. A cleaning robot having a switching means for alternately using and not using a first determining means according to an output of a counting means.