JP3344079B2 - Self-propelled vacuum cleaner - Google Patents

Self-propelled vacuum cleaner

Info

Publication number
JP3344079B2
JP3344079B2 JP12019394A JP12019394A JP3344079B2 JP 3344079 B2 JP3344079 B2 JP 3344079B2 JP 12019394 A JP12019394 A JP 12019394A JP 12019394 A JP12019394 A JP 12019394A JP 3344079 B2 JP3344079 B2 JP 3344079B2
Authority
JP
Japan
Prior art keywords
brush
distance
obstacle
traveling
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP12019394A
Other languages
Japanese (ja)
Other versions
JPH07322977A (en
Inventor
崇文 石橋
晶弘 木村
保道 小林
秀隆 藪内
光康 小川
俊明 藤原
修 江口
弘文 乾
祥史 高木
義貴 黒木
Original Assignee
松下電器産業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 松下電器産業株式会社 filed Critical 松下電器産業株式会社
Priority to JP12019394A priority Critical patent/JP3344079B2/en
Publication of JPH07322977A publication Critical patent/JPH07322977A/en
Application granted granted Critical
Publication of JP3344079B2 publication Critical patent/JP3344079B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION
【0001】[0001]
【産業上の利用分野】本発明は清掃機能と移動機能とを
備えた自走式掃除機に関するものである。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vacuum cleaner having a cleaning function and a moving function.
【0002】[0002]
【従来の技術】近年、掃除機に移動機能を付加して清掃
時の操作性の向上を図った掃除機が開発されている。特
に最近では、これにマイクロコンピュータと各種センサ
類を搭載した、いわゆる自立誘導型の自走式掃除機の開
発も行なわれている。
2. Description of the Related Art In recent years, vacuum cleaners have been developed in which a moving function is added to the vacuum cleaner to improve operability during cleaning. Particularly recently, a so-called self-guided self-propelled cleaner having a microcomputer and various sensors mounted thereon has been developed.
【0003】この種の自走式掃除機は、清掃機能として
本体底部に吸い込みノズルやブラシ等を備え、移動機能
としてモータで駆動される走行輪や操舵輪等を有し、光
学式誘導手段やジャイロを用いた慣性航法手段等を利用
して本体の誘導制御を行い、内部に蓄電池などの電源を
備えているのが通常である。
This type of self-propelled cleaner has a suction nozzle, a brush, and the like at the bottom of the main body as a cleaning function, has traveling wheels and steering wheels driven by a motor as a movement function, and has optical guiding means, Usually, guidance control of the main body is performed using inertial navigation means or the like using a gyro, and a power source such as a storage battery is usually provided inside.
【0004】以下に従来の自走式掃除機について説明す
る。図8および図9において、2は自走式掃除機本体
(以下本体という)であり、1は床面の塵埃をかき集め
るサイドブラシであり、3は床面の塵埃をかき上げて吸
い込む回転ブラシであり、4は塵埃を吸引するための真
空圧を発生させるファンモータであり、これらで清掃手
段10を構成している。5は本体2を走行、操舵する走
行操舵手段であり、6は障害物を検知する障害物検知手
段であり、7は方位センサであり、8は走行位置を認識
する位置認識手段であり、9は位置認識手段8、障害物
検知手段6からの信号により走行操舵手段5を制御し、
また清掃手段10を制御する判断処理部である。
A conventional self-propelled vacuum cleaner will be described below. 8 and 9, reference numeral 2 denotes a self-propelled cleaner main body (hereinafter, referred to as a main body), 1 is a side brush that collects dust on the floor, and 3 is a rotary brush that lifts and sucks dust on the floor. In addition, reference numeral 4 denotes a fan motor for generating a vacuum pressure for sucking dust, and these constitute a cleaning means 10. Reference numeral 5 denotes traveling steering means for traveling and steering the main body 2, reference numeral 6 denotes obstacle detection means for detecting obstacles, reference numeral 7 denotes an azimuth sensor, reference numeral 8 denotes position recognition means for recognizing a traveling position, and reference numeral 9 Controls the traveling steering means 5 based on signals from the position recognition means 8 and the obstacle detection means 6,
Further, it is a determination processing unit that controls the cleaning unit 10.
【0005】この種の自走式掃除機では、走行操舵手段
5により清掃区域の内側を障害物検知手段6が障害物を
検知するまで直進し、検知した地点でジャイロ等の方位
センサ7の出力を基に180度ターンを行い再度直進す
る。以後この様な往復動作を繰り返し、位置認識手段8
により清掃区域内の現在位置を認識しながら、ファンモ
ータ4、回転ブラシ3、サイドブラシ1の清掃手段10
にて清掃する構成としている。また、設定距離または障
害物を検知するまで前進した後、後退するという動作を
1往復毎にジャイロ等の方位センサ7の出力を基に所定
の角度を振って行い、以後この様な前後動作を繰り返し
て清掃を行う構成も工夫されている。
In this type of self-propelled cleaner, the traveling steering means 5 travels straight inside the cleaning area until the obstacle detection means 6 detects an obstacle, and outputs the output of a direction sensor 7 such as a gyro at the detected point. Make a 180 degree turn based on and go straight again. Thereafter, such a reciprocating operation is repeated, and the position
The cleaning means 10 of the fan motor 4, the rotating brush 3, and the side brush 1 is recognized while recognizing the current position in the cleaning area.
It is configured to be cleaned at. Further, after moving forward until a set distance or obstacle is detected, an operation of retreating is performed by swinging a predetermined angle based on the output of the azimuth sensor 7 such as a gyro for each reciprocation. A configuration in which cleaning is performed repeatedly is also devised.
【0006】[0006]
【発明が解決しようとする課題】しかしながら、上記の
従来の構成では、サイドブラシ1、回転ブラシ3は本体
2が清掃動作中は、集塵性をよくするため高出力で常に
動作させており、壁際の清掃時にサイドブラシ1による
壁面の傷付きが生じたり、清掃方向の反転時等の走行速
度の低減による絨毯の単位面積当たりの回転ブラシ3の
接触時間の長さによって絨毯の特定部分に傷付きが生じ
るという問題点を有していた。
However, in the above-described conventional configuration, the side brush 1 and the rotating brush 3 are always operated at a high output during the cleaning operation of the main body 2 in order to improve dust collection. The side brush 1 may damage the wall surface when cleaning the wall, or a specific portion of the carpet may be damaged due to the length of contact time of the rotating brush 3 per unit area of the carpet due to a decrease in running speed when the cleaning direction is reversed. There is a problem that sticking occurs.
【0007】本発明は、上記従来の問題点を解決するも
ので、壁際以外ではサイドブラシを高出力にて動作させ
て、壁際では回転数を低く、また、回転ブラシにおいて
は清掃方向の反転時に回転数を低くすることにより、
壁、絨毯等に傷を付ける事無く集塵性を落とさずに清掃
する事ができる自走式掃除機を提供する事を目的とす
る。
The present invention solves the above-mentioned conventional problems, in which the side brush is operated at a high output except at the side of the wall, the number of rotations is low at the side of the wall, and when the cleaning direction is reversed in the rotating brush. By lowering the rotation speed,
It is an object of the present invention to provide a self-propelled vacuum cleaner that can clean a wall, a carpet, and the like without damaging a dust collecting property without damaging the carpet or the like.
【0008】[0008]
【課題を解決するための手段】この目的を達成するため
本発明の自走式掃除機は、第1の手段として、本体を移
動させる走行操舵手段と、床面の塵埃をかき集めるブ
シと、前記ブラシを駆動する駆動手段と、進行方向並び
に左右方向の障害物の有無と障害物との距離を検出する
障害物検知手段とを備え、前記障害物検知手段からの信
号に応じて前記駆動手段を制御する構成としている。
Means for Solving the Problems] self-propelled cleaner of the present invention to achieve this object, a first means, a travel steering means for moving the body, scraped dust of the floor Lube la < comprising a br /> Shi, a drive motion means before you drive the Kivu brush, and obstacle detection means for detecting a distance between the presence and the obstacle in the traveling direction and the lateral direction of the obstacle, before Symbol obstacle and a configuration for controlling the drive means in response to a signal from the detection means.
【0009】第2の手段として、本体を移動させる走行
操舵手段と、床面の塵埃をかき集める複数のブラシと、
記ブラシを個別に駆動する複数の駆動手段と、進行方
向並びに左右方向の障害物の有無と障害物との距離を検
出する障害物検知手段とを備え、前記障害物検知手段か
らの信号に応じて前記複数の駆動手段を個別に制御す
成としている。
[0009] As a second means, the travel steering means for moving the body, and a plurality of brushes which scrape the dust on the floor,
Before comprising a plurality of drive motion means for driving individually the Kivu brush, and obstacle detection means for detecting a distance between the presence and the obstacle in the traveling direction and the lateral direction of the obstacle, from the previous SL obstacle detecting means that controls individually the plurality of drive means in response to the signal
It has been with the configuration.
【0010】第3の手段として、本体を移動させる走行
操舵手段と、床面の塵埃をかき揚げる回転ブラシと、前
記回転ブラシを駆動する駆動手段と、進行方向並びに左
右方向の障害物の有無と障害物との距離を検出する障害
物検知手段とを備え、前記障害物検知手段からの信号に
応じて前記駆動手段を制御する構成としている。
[0010] As third means, a travel steering means for moving the body, the floor and rotating brush Kakiageru dust, said a drive motion means that drive the rotating brush, the traveling direction and the lateral direction of obstacle and a obstacle detection means for detecting a distance between the presence and the obstacle, the signal from the previous SL obstacle detecting means
Correspondingly have a configuration that controls the drive means.
【0011】第4の手段として、本体を移動させる走行
操舵手段と、床面の塵埃をかき揚げる回転ブラシと、前
記回転ブラシを駆動する駆動手段と、前記本体が清掃を
行う領域の縦、横の距離を入力する清掃領域入力手段
、走行距離をカウントする走行距離カウント部を備
、前記走行距離カウント部からの信号に応じて前記駆
動手段を制御する構成としている。
[0011] As fourth means, the vertical area where the travel steering means for moving the body, and rotating brush Kakiageru dust floor, a drive motion means you drive the rotary brush, said body cleaning includes a cleaning area inputting means for inputting the horizontal distance, the travel distance count unit that counts the run line distance, the drive in response to a signal from the previous SL travel distance count unit
It has a configuration that controls the movement means.
【0012】[0012]
【作用】第1の手段によれば、障害物検知手段からの信
号により本体の前方、側方の近傍に障害物が存在しない
と判断すれば駆動手段によりブラシを高速で動作させ
る。障害物が存在すると判断すればブラシの回転数を低
速で動作させ、壁際、障害物の近傍を清掃するときも壁
等に傷を付ける事無く、集塵性を落とさずに清掃する事
ができる。
According to the first means, impaired forward signal to the I Ri this body from harm object detection unit, a by rib brush to the moving means driving if it is determined that no obstacle exists in the vicinity of the side Operate at high speed. Is operated at a low speed the rotational speed of the brush when it is judged that the obstacle is present, the wall, without damaging the wall or the like even when cleaning the vicinity of the obstacle, is able to clean without degrading the dust collecting property it can.
【0013】第2の手段によれば、障害物検知手段から
の信号により本体の前方側方の近傍に障害物が存在しな
いと判断すれば複数の駆動手段により複数のブラシを高
速で動作させる。本体の側方近傍に障害物が存在すると
判断すれば障害物の存在する側方に位置するブラシのみ
の回転数を低速で動作させ、前方の近傍に障害物が存在
すると判断すれば本体両側方のブラシの回転数を低速で
動作させて壁際、障害物の近傍を清掃するときも壁等に
傷を付ける事無く、より高い集塵性を保持しながら清掃
する事ができる。
[0013] According to the second means, a plurality of a plurality of drive motion means if it is determined that the obstacle in the vicinity of the front side of the body Ri by the signal from obstacles detection means is absent brush To operate at high speed. When it is judged that the rotational speed of only the position to Lube brush laterally to present an obstacle if it is determined that an obstacle on the side near the body there is operated at a low speed, the front side obstacle in the vicinity of the present the rotational speed of the body on both sides of the brush is operated at a low speed the wall, without damaging the wall or the like even when cleaning the vicinity of the obstacle, it is possible to clean while maintaining a higher dust collecting properties.
【0014】第3の手段によれば、障害物検知手段から
の信号により本体の前方の近傍に障害物が存在しないと
判断すれば駆動手段により回転ブラシを高速で動作させ
る。障害物が存在すると判断すれば回転ブラシの回転数
を低速で動作させ、絨毯等に傷を付ける事無く、集塵性
を落とさずに清掃する事ができる。
[0014] According to the third means, to operate the rotating brush at a high speed by the motion means driving if it is determined that the obstacle in the vicinity of the front by Ri the body signal from harm object detection means impaired absent. If it is determined that there is an obstacle, the rotating speed of the rotating brush is operated at a low speed, and the carpet can be cleaned without damaging the carpet or the like without deteriorating the dust collecting property.
【0015】第4の手段によれば、清掃領域入力手段よ
り入力した情報を基に、清掃動作中は回転ブラシを高速
にて動作させる。清掃領域入力手段より入力した縦の直
進距離だけ往路を直進すると進行方向を反転して復路を
直進して戻ってくるという動作を清掃領域入力手段より
入力した横の距離だけ繰り返すが、それぞれの直進にお
いて走行距離カウント部が直進開始時から現在までの走
行距離を積算しており、この積算値が設定値より小さい
ときと、清掃領域入力手段より入力した縦の直進距離と
積算値の差が設定値より小さいときのみ回転ブラシを低
速で動作させる事により、絨毯等に傷を付ける事無く、
集塵性を落とさずに清掃する事ができる。
According to the fourth means, based on information inputted from the cleaning area inputting means, Kiyoshi掃動Sakuchu operates the rotary brush at a high speed. When the vehicle travels straight on the forward path by the vertical traveling distance input from the cleaning area input means, the operation of reversing the traveling direction, going straight on the return path, and returning is repeated by the horizontal distance input from the cleaning area input means, but each straight line The mileage counting unit calculates the mileage from the start of straight running to the present, and when this integrated value is smaller than the set value, the difference between the vertical straight running distance input from the cleaning area input means and the integrated value is set. By operating the rotating brush at low speed only when it is smaller than the value, without damaging the carpet etc.
It can be cleaned without deteriorating dust collection.
【0016】[0016]
【実施例】(実施例1) 以下、本発明の第1の実施例について図面を参照して説
明する。尚、従来と同一の部分については同一符号を付
し、説明を省略する。
(Embodiment 1) Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. The same parts as those in the related art are denoted by the same reference numerals, and description thereof will be omitted.
【0017】図1に示すように、本体2の前の方に左右
に対にして配置しているサイドブラシ12は清掃手段2
0の一部を構成し、走行操舵手段5、サイドブラシ12
を含む清掃手段20の動作を制御する判断処理部19の
信号により、サイドブラシ駆動手段18でサイドブラシ
12を同時に駆動する構成としている。
As shown in FIG. 1, the side brushes 12 arranged in a left and right pair in front of the main body 2 are provided with cleaning means 2.
0, the traveling steering means 5, the side brush 12
The side brush driving means 18 drives the side brushes 12 at the same time in response to a signal from the judgment processing section 19 which controls the operation of the cleaning means 20 including
【0018】以上のように構成された自走式掃除機につ
いて以下その動作を説明する。本体2が図2に示すよう
に清掃路Aを走行しているとき、つまり走行操舵手段5
により清掃区域の内側を障害物検知手段6が障害物を検
知するまで前進し、検知した地点で方位センサ7の出力
を基に180度ターンを行い再度前進するという動作を
繰り返しているとき、方位センサ7の角度情報と走行操
舵手段5からの走行距離情報により位置認識手段8は現
在の走行位置の情報を判断処理部19に出力する。判断
処理部19は、位置認識手段8からの入力信号と障害物
検知手段6からの障害物までの距離の信号により、走行
操舵手段5と清掃手段20を制御する。また、判断処理
部19では障害物検知手段6から前方と側方の壁22ま
での距離信号とあらかじめ設定しておいた本体2と壁2
2までの距離Dの大小の比較を常に行っており、距離信
号が距離Dより大きいときには本体2から壁22までの
距離が、サイドブラシ12が接触しない距離と判断して
サイドブラシ12を高速にて動作させるようサイドブラ
シ駆動手段18に信号を出力し、サイドブラシ駆動手段
18はサイドブラシ12を高速で動作させる。反対に、
距離信号が距離Dより小さいときには、本体2から壁2
2までの距離が、サイドブラシ12が接触する可能性の
ある距離と判断してサイドブラシ12を低速にて動作さ
せるようサイドブラシ駆動手段18に信号を出力し、サ
イドブラシ駆動手段18はサイドブラシ12を低速で動
作させる。
The operation of the self-propelled vacuum cleaner constructed as described above will be described below. When the main body 2 is traveling on the cleaning path A as shown in FIG.
When the vehicle repeatedly moves forward inside the cleaning area until the obstacle detection means 6 detects an obstacle, makes a 180-degree turn based on the output of the direction sensor 7 at the point where the obstacle detection means 6 moves, and then advances again, Based on the angle information of the sensor 7 and the traveling distance information from the traveling steering means 5, the position recognizing means 8 outputs information on the current traveling position to the judgment processing section 19. The determination processing unit 19 controls the traveling steering unit 5 and the cleaning unit 20 based on an input signal from the position recognition unit 8 and a signal indicating the distance to the obstacle from the obstacle detection unit 6. In the judgment processing unit 19, a distance signal from the obstacle detecting means 6 to the front and side walls 22 and the body 2 and the wall 2 set in advance are set.
The distance D is constantly compared with the distance D. When the distance signal is greater than the distance D, the distance from the main body 2 to the wall 22 is determined to be a distance at which the side brush 12 does not contact, and the side brush 12 is moved at high speed. A signal is output to the side brush driving means 18 so as to operate the side brush 12, and the side brush driving means 18 operates the side brush 12 at a high speed. Conversely,
When the distance signal is smaller than the distance D, the body 2
The distance to the side brush 12 is determined to be a distance to which the side brush 12 may come into contact, and a signal is output to the side brush driving means 18 to operate the side brush 12 at a low speed. 12 at low speed.
【0019】清掃路Bにおいては、壁22沿いの動作で
あり、図2に示すように距離信号は距離Dより小さいの
で、上記のようにサイドブラシ12を低速で動作させ
る。
In the cleaning path B, the operation is along the wall 22. Since the distance signal is smaller than the distance D as shown in FIG. 2, the side brush 12 is operated at a low speed as described above.
【0020】以上のように本実施例によれば、清掃手段
20の一構成部として本体2の前の方に左右に対にして
配置したサイドブラシ12と、前記サイドブラシ12を
同時に駆動するサイドブラシ駆動手段18と、本体2を
走行、操舵する走行操舵手段5と、方位センサ7と、前
記方位センサ7の角度情報と前記走行操舵手段5からの
走行距離情報により現在の走行位置を認識する位置認識
手段8と、距離Dのしきい値を設定し、障害物検知手段
6からの信号により前記サイドブラシ12の回転数を制
御し、位置認識手段8からの信号により、走行操舵手段
5、清掃手段20の動作を制御する判断処理部19を設
ける事により、壁22際でのみサイドブラシ12の回転
数を低速にして、壁22際の近傍を清掃するときもサイ
ドブラシ12の壁22への影響を最小にして、集塵性を
落とさずに清掃する事ができる。
As described above, according to the present embodiment, the side brushes 12 arranged as a part of the cleaning means 20 in front of the main body 2 in a left and right pair, and the side brushes for driving the side brushes 12 simultaneously. The current driving position is recognized based on the brush driving means 18, the traveling steering means 5 for traveling and steering the main body 2, the direction sensor 7, the angle information of the direction sensor 7, and the traveling distance information from the traveling steering means 5. The position recognition means 8 and a threshold value of the distance D are set, the number of rotations of the side brush 12 is controlled by a signal from the obstacle detection means 6, and the traveling steering means 5 is controlled by a signal from the position recognition means 8. By providing the determination processing unit 19 for controlling the operation of the cleaning means 20, the rotation speed of the side brush 12 is reduced only at the side of the wall 22 so that the wall of the side brush 12 can be cleaned even when cleaning the vicinity of the wall 22. The impact on the 2 in the minimum, can be cleaned without lowering the dust collecting property.
【0021】(実施例2) 以下、本発明の第2の実施例について図面を参照して説
明する。
Embodiment 2 Hereinafter, a second embodiment of the present invention will be described with reference to the drawings.
【0022】図3に示すように、本実施例の特徴とする
ところは、前述実施例1の構成に本体2の前の方に左右
に対になって配置している左側の第1のサイドブラシ3
1と、右側の第2のサイドブラシ32とで清掃手段40
の一部を構成し、走行操舵手段5、第1のサイドブラシ
31、第2のサイドブラシ32を含む清掃手段40の動
作を制御する判断処理部39の信号により、第1のサイ
ドブラシ31を駆動する第1のサイドブラシ駆動手段3
7と、第2のサイドブラシ32を駆動する第2のサイド
ブラシ駆動手段38を備えた構成とした点である。
As shown in FIG. 3, the present embodiment is characterized in that the left side first side arranged in the left and right pairs in front of the main body 2 in the configuration of the first embodiment. Brush 3
1 and the cleaning means 40 by the right second side brush 32
The first side brush 31 is controlled by a signal from a judgment processing unit 39 that controls the operation of the cleaning unit 40 including the traveling steering unit 5, the first side brush 31, and the second side brush 32. First side brush driving means 3 to be driven
7 and a configuration including second side brush driving means 38 for driving the second side brush 32.
【0023】以上のように構成された自走式掃除機につ
いて以下その動作を説明する。本体2が、図2に示すよ
うに清掃路Aを走行しているとき、つまり走行操舵手段
5により清掃区域の内側を障害物検知手段6が障害物を
検知するまで前進し、検知した地点で方位センサ7の出
力を基に180度ターンを行い再度前進するという動作
を繰り返しているとき、方位センサ7の角度情報と走行
操舵手段5からの走行距離情報により位置認識手段8は
現在の走行位置の情報を判断処理部39に出力する。判
断処理部39は、位置認識手段8からの入力信号と障害
物検知手段6からの障害物までの距離の信号により、走
行操舵手段5と清掃手段40を制御する。また、判断処
理部39では障害物検知手段6から前方と壁22までの
距離信号とあらかじめ設定しておいた本体2と前方の壁
22までの距離D、側方までの距離信号とあらかじめ設
定しておいた本体2と側方の壁22までの距離D’の大
小の比較を常に行っており、前方の距離信号が距離Dよ
り大きく側方の距離信号が距離D’より大きいときには
本体2から壁22までの距離が、第1のサイドブラシ3
1、第2のサイドブラシ32が接触しない距離と判断し
て第1のサイドブラシ31、第2のサイドブラシ32を
共に高速にて動作させるよう第1のサイドブラシ駆動手
段37、第2のサイドブラシ駆動手段38に信号を出力
し、第1のサイドブラシ駆動手段37、第2のサイドブ
ラシ駆動手段38は第1のサイドブラシ31、第2のサ
イドブラシ32を高速で動作させる。障害物検知手段6
から入力される前方の距離信号が距離Dより小さいとき
には、側方の壁22までの距離信号と距離D’との大小
に関わらず、本体2から前方の壁22までの距離が第1
のサイドブラシ31、第2のサイドブラシ32が共に接
触する可能性のある距離と判断して第1のサイドブラシ
31、第2のサイドブラシ32を低速にて動作させるよ
う第1のサイドブラシ駆動手段37、第2のサイドブラ
シ駆動手段38に信号を出力し、第1のサイドブラシ駆
動手段37、第2のサイドブラシ駆動手段38はそれぞ
れ第1のサイドブラシ31、第2のサイドブラシ32を
低速で動作させる。
The operation of the self-propelled vacuum cleaner constructed as described above will be described below. When the main body 2 is traveling on the cleaning path A as shown in FIG. 2, that is, the traveling steering means 5 advances the inside of the cleaning area until the obstacle detecting means 6 detects an obstacle, and at a point where the obstacle is detected. When the operation of making a 180-degree turn based on the output of the direction sensor 7 and moving forward again is repeated, the position recognizing means 8 determines the current traveling position based on the angle information of the direction sensor 7 and the traveling distance information from the traveling steering means 5. Is output to the determination processing unit 39. The determination processing unit 39 controls the traveling steering unit 5 and the cleaning unit 40 based on an input signal from the position recognition unit 8 and a signal indicating the distance to the obstacle from the obstacle detection unit 6. In the judgment processing unit 39, a distance signal from the obstacle detecting means 6 to the front and the wall 22 and a preset distance D between the main body 2 and the front wall 22 and a distance signal to the side are preset. The distance D 'between the main body 2 and the side wall 22 is always compared. When the distance signal in front is larger than the distance D and the distance signal in the side is larger than the distance D', the distance from the main body 2 is changed. The distance to the wall 22 is the first side brush 3
First, the first side brush driving means 37 and the second side brush are determined so as to operate both the first side brush 31 and the second side brush 32 at a high speed by judging that the distance does not contact the second side brush 32. A signal is output to the brush driving means 38, and the first side brush driving means 37 and the second side brush driving means 38 operate the first side brush 31 and the second side brush 32 at high speed. Obstacle detection means 6
Is smaller than the distance D, regardless of the magnitude of the distance signal to the side wall 22 and the distance D ′, the distance from the main body 2 to the front wall 22 is the first distance signal.
The first side brush drive is performed such that the first side brush 31 and the second side brush 32 are operated at a low speed by judging that there is a possibility that the side brush 31 and the second side brush 32 may come into contact with each other. A signal is output to the means 37 and the second side brush driving means 38, and the first side brush driving means 37 and the second side brush driving means 38 respectively control the first side brush 31 and the second side brush 32. Operate at low speed.
【0024】また、清掃路Bの1往復目の往路や、図2
中のZ点のような障害物検知手段6から入力される前方
の距離信号が距離Dより大きいときでも、側方(左方)
の壁22までの距離信号が距離D’よりも小さいときに
は、判断処理部39は左側の第1のサイドブラシ31が
壁22に接触する可能性があると判断して第1のサイド
ブラシ31のみ低速で動作させるように第1のサイドブ
ラシ駆動手段37に信号を出力し、第1のサイドブラシ
31のみ低速で動作させる。
Further, the first reciprocation of the cleaning path B and the forward path of FIG.
Even when the forward distance signal input from the obstacle detecting means 6 such as the middle Z point is larger than the distance D, the distance is lateral (leftward).
When the distance signal to the wall 22 is smaller than the distance D ', the determination processing unit 39 determines that the first left side brush 31 may come into contact with the wall 22 and only the first side brush 31 A signal is output to the first side brush driving means 37 so as to operate at a low speed, and only the first side brush 31 is operated at a low speed.
【0025】以上のように本実施例によれば、清掃手段
40の一構成部として本体2の前の方に左右に対にして
配置した第1のサイドブラシ31、第2のサイドブラシ
32と、前記第1のサイドブラシ31、第2のサイドブ
ラシ32を各々駆動する第1のサイドブラシ駆動手段3
7、第2のサイドブラシ駆動手段38と、本体2を走
行、操舵する走行操舵手段5と、方位センサ7と、前記
方位センサ7の角度情報と前記走行操舵手段5からの走
行距離情報により現在の走行位置を認識する位置認識手
段8と、距離D、D’のしきい値を設定し、障害物検知
手段6からの信号により前記第1のサイドブラシ31、
第2のサイドブラシ32の回転数を制御し、位置認識手
段8からの信号により、走行操舵手段5、清掃手段40
の動作を制御する判断処理部39を設ける事により、壁
22際でのみ第1,第2のサイドブラシ31,32の回
転数を低速にし、また側方に壁が存在するときには壁が
存在する方のサイドブラシのみの回転数を低速にし、壁
22際の近傍を清掃するときも第1のサイドブラシ3
1、第2のサイドブラシ32の壁22への影響を最小に
して、集塵性を落とさずに清掃する事ができる。
As described above, according to the present embodiment, the first side brush 31 and the second side brush 32 which are arranged as a part of the cleaning means 40 in front of the main body 2 in the left and right pairs. A first side brush driving means 3 for driving the first side brush 31 and the second side brush 32, respectively;
7, the second side brush driving means 38, the traveling steering means 5 for traveling and steering the main body 2, the direction sensor 7, the angle information of the direction sensor 7 and the traveling distance information from the traveling steering means 5, The position recognition means 8 for recognizing the traveling position of the vehicle and the threshold values of the distances D and D 'are set, and the first side brush 31,
The number of rotations of the second side brush 32 is controlled, and the traveling steering unit 5 and the cleaning unit 40 are controlled by a signal from the position recognition unit 8.
Is provided, the rotation speed of the first and second side brushes 31 and 32 is reduced only at the side of the wall 22, and the wall exists when the side wall exists. When the rotation speed of only one side brush is reduced, the first side brush 3 is also used for cleaning the vicinity of the wall 22.
First, the effect of the second side brush 32 on the wall 22 can be minimized, and cleaning can be performed without deteriorating dust collection.
【0026】(実施例3) 以下、本発明の第3の実施例について図4、図5を参照
して説明する。
Embodiment 3 Hereinafter, a third embodiment of the present invention will be described with reference to FIGS.
【0027】図4に示すように、本実施例の特徴とする
ところは、前述実施例1の構成に床面の塵埃をかき揚げ
て吸引する回転ブラシ42で清掃手段50の一部を構成
し、走行操舵手段5、回転ブラシ42を含む清掃手段5
0の動作を制御する判断処理部49の信号により、回転
ブラシ42を駆動する回転ブラシ駆動手段48を備えた
構成とした点である。
As shown in FIG. 4, a feature of the present embodiment is that a part of the cleaning means 50 is constituted by a rotary brush 42 for scooping and sucking dust on the floor surface in the structure of the first embodiment, Traveling steering means 5, cleaning means 5 including rotating brush 42
The configuration is such that a rotary brush driving unit 48 that drives the rotary brush 42 in response to a signal from a determination processing unit 49 that controls the operation of No. 0 is provided.
【0028】以上のように構成された自走式掃除機につ
いて以下その動作を説明する。本体2が、図5に示すよ
うに壁51に対して矢印aの方向を方位センサ7の基準
方向にして角度θを振り、前進と後退を繰り返しながら
壁51から距離Lまでの清掃領域を清掃しながら走行し
ているとする。この時、方位センサ7の角度情報と走行
操舵手段5からの走行距離情報により位置認識手段8は
現在の走行位置の情報を判断処理部49に出力する。判
断処理部49は、前進中は障害物検知手段6からの信号
により壁51を検知すると進行方向を後退に切り換え、
後退中は位置認識手段8からの信号により、壁51から
距離L後退すると前進に切り換えるように走行操舵手段
5に信号を出力し前後動作を行う。図中のCは清掃幅を
示す。壁51を検知して進行方向を切り換えるとき、本
体2の走行速度の絶対値は零に収束し、進行方向が反転
すると、再び増加してゆく。この進行方向が反転すると
き、床面の単位面積当たりの回転ブラシ42の接触時間
が長くなり、つまり壁51付近の床面のみ回転ブラシ4
2の接触時間が長くなる。
The operation of the self-propelled cleaner constructed as described above will be described below. As shown in FIG. 5, the main body 2 swings the angle θ with respect to the wall 51 using the direction of the arrow a as the reference direction of the azimuth sensor 7, and cleans the cleaning area up to the distance L from the wall 51 while repeating forward and backward movements. Let's say you are running while At this time, the position recognizing unit 8 outputs information on the current traveling position to the judgment processing unit 49 based on the angle information of the direction sensor 7 and the traveling distance information from the traveling steering unit 5. The determination processing unit 49 switches the traveling direction to retreat when the wall 51 is detected by the signal from the obstacle detection unit 6 during the forward movement,
While the vehicle is moving backward, a signal is output to the traveling steering device 5 so as to switch to forward when the vehicle travels a distance L away from the wall 51 by a signal from the position recognition device 8 to perform a forward / backward operation. C in the figure indicates the cleaning width. When the traveling direction is switched by detecting the wall 51, the absolute value of the traveling speed of the main body 2 converges to zero and increases again when the traveling direction is reversed. When this traveling direction is reversed, the contact time of the rotating brush 42 per unit area of the floor surface becomes longer, that is, the rotating brush 4 is applied only to the floor surface near the wall 51.
2, the contact time becomes longer.
【0029】判断処理部49ではまた、障害物検知手段
6から入力される前方と壁51までの距離信号と、あら
かじめ設定しておいた本体2と壁51までの距離Dの大
小の比較を常に行っており、距離信号が距離Dより大き
いときには本体2が進行方向を反転しない距離と判断し
て回転ブラシ42を高速にて動作させるよう回転ブラシ
駆動手段48に信号を出力し、回転ブラシ駆動手段48
は回転ブラシ42を高速で動作させる。反対に、距離信
号が距離Dより小さいときには本体2が進行方向の反転
動作に入る前だと判断して回転ブラシ42を低速にて動
作させるよう回転ブラシ駆動手段48に信号を出力し、
回転ブラシ駆動手段48は回転ブラシ42を低速で動作
させる。
The judgment processing section 49 always compares the distance signal between the front and the wall 51 inputted from the obstacle detecting means 6 with the preset distance D between the main body 2 and the wall 51. If the distance signal is larger than the distance D, the main body 2 determines that the traveling direction is not reversed and outputs a signal to the rotating brush driving means 48 to operate the rotating brush 42 at high speed. 48
Drives the rotating brush 42 at high speed. Conversely, when the distance signal is smaller than the distance D, it is determined that the main body 2 has not yet entered the reversing operation of the traveling direction, and a signal is output to the rotating brush driving means 48 so as to operate the rotating brush 42 at a low speed.
The rotating brush driving means 48 operates the rotating brush 42 at a low speed.
【0030】以上のように本実施例によれば、清掃手段
50の一構成部として回転して床面の塵埃をかき揚げる
回転ブラシ42と、前記回転ブラシ42を駆動する回転
ブラシ駆動手段48と、本体2を走行、操舵する走行操
舵手段5と、方位センサ7と、前記方位センサ7の角度
情報と前記走行操舵手段5からの走行距離情報により現
在の走行位置を認識する位置認識手段8と、距離Dのし
きい値を設定し、障害物検知手段6からの信号により前
記回転ブラシ42の回転数を制御し、位置認識手段8か
らの信号により、走行操舵手段5、清掃手段50の動作
を制御する判断処理部49を設ける事により、壁51際
でのみ回転ブラシ42の回転数を低速にして、壁51際
の近傍を清掃するときも回転ブラシ42の床面への影響
を最小にして、集塵性を損なう事無く清掃する事ができ
る。
As described above, according to the present embodiment, the rotating brush 42 that rotates as a component of the cleaning means 50 to scoop up dust on the floor surface, and the rotating brush driving means 48 that drives the rotating brush 42 include: A traveling steering unit 5 for traveling and steering the main body 2, a direction sensor 7, a position recognition unit 8 for recognizing a current traveling position based on angle information of the direction sensor 7 and traveling distance information from the traveling steering unit 5. , A threshold value of the distance D, the number of rotations of the rotary brush 42 is controlled by a signal from the obstacle detecting means 6, and the operation of the traveling steering means 5 and the cleaning means 50 is controlled by a signal from the position recognizing means 8. Is provided, the rotation speed of the rotating brush 42 is reduced only at the side of the wall 51 to minimize the influence of the rotating brush 42 on the floor surface even when cleaning the vicinity of the wall 51. T It can be without cleaning that impair the sex.
【0031】なお、本実施例では、前方の壁51に関し
て説明したが、後方の壁に関しても同様であることは言
うまでもない。
In the present embodiment, the front wall 51 has been described, but it goes without saying that the same applies to the rear wall.
【0032】(実施例4) 以下、本発明の第4の実施例について図面を参照して説
明する。
Embodiment 4 Hereinafter, a fourth embodiment of the present invention will be described with reference to the drawings.
【0033】図6に示すように、本実施例の特徴とする
ところは、前述実施例3の構成に位置認識手段8から出
力される走行距離の信号により、直進距離を計数する走
行距離カウント部66と走行操舵手段8からの信号によ
り、走行操舵手段5、回転ブラシ42を含む清掃手段5
0の動作を制御する判断処理部69からの信号により回
転ブラシ42を駆動する回転ブラシ駆動手段68を備え
た構成とした点である。
As shown in FIG. 6, this embodiment is characterized in that a traveling distance counting unit for counting the straight traveling distance based on the traveling distance signal output from the position recognizing means 8 in the configuration of the third embodiment. 66 and a signal from the traveling steering means 8, the traveling steering means 5 and the cleaning means 5 including the rotating brush 42.
0 is a configuration provided with a rotating brush driving means 68 for driving the rotating brush 42 in response to a signal from a determination processing unit 69 for controlling the operation of the rotating brush 42.
【0034】以上のように構成された自走式掃除機につ
いて以下その動作を説明する。本体2が図7に示すよう
に矢印aの方向を方位センサ7の基準方向にして角度θ
を振り、前進と後退を繰り返しながら、走行開始地点Y
から動作するよう設定された距離Lまでの清掃領域を清
掃しながら走行している。この時、方位センサ7の角度
情報と走行操舵手段5からの走行距離情報により位置認
識手段8は現在の走行位置の情報を判断処理部69に出
力し、判断処理部69は、距離Lを前進すると進行方向
を後退に切り換え、距離Lを後退すると前進に切り換え
るように走行操舵手段5に信号を出力し前後動作を行
う。進行方向を切り換えるとき、本体2の走行速度の絶
対値は零に収束し、進行方向が反転すると、再び増加し
てゆく。この進行方向が反転するとき、床面の単位面積
当たりの回転ブラシ42の接触時間が長くなり、つまり
壁付近の床面のみ回転ブラシ62の接触時間が長くな
る。
The operation of the self-propelled cleaner constructed as described above will be described below. The main body 2 uses the direction of arrow a as the reference direction of the direction sensor 7 as shown in FIG.
, While repeating forward and backward movement,
Traveling while cleaning the cleaning area up to a distance L set to operate. At this time, the position recognizing means 8 outputs the information of the current traveling position to the judgment processing section 69 based on the angle information of the direction sensor 7 and the traveling distance information from the traveling steering means 5, and the judgment processing section 69 advances the distance L forward. Then, a signal is output to the traveling steering means 5 so as to switch the traveling direction to the backward movement, and to switch to the forward movement when the distance L is moved backward, thereby performing the forward and backward operations. When the traveling direction is switched, the absolute value of the traveling speed of the main body 2 converges to zero, and increases again when the traveling direction is reversed. When the traveling direction is reversed, the contact time of the rotating brush 42 per unit area of the floor surface becomes longer, that is, the contact time of the rotating brush 62 becomes longer only on the floor surface near the wall.
【0035】走行距離カウント部66は位置認識手段8
からの走行距離信号を入力しており、一直進毎に直進開
始時から現在までの走行距離を計数して積算値を判断処
置部69に出力している。判断処理部69ではまた、走
行距離カウント部66より入力される一直進での走行距
離積算値信号と、あらかじめ設定しておいた本体2の停
止位置からの一定の距離を距離Dとした時の距離(L−
D)との大小の比較を常に行っており、走行距離積算値
信号が距離(L−D)より小さいときには本体2が進行
方向を反転しない距離と判断して回転ブラシ42を高速
にて動作させるよう回転ブラシ駆動手段68に信号を出
力し、回転ブラシ駆動手段68は回転ブラシ42を高速
で動作させる。反対に、走行積算値信号が距離(L−
D)より大きいときには本体2が進行方向の反転動作に
入る前だと判断して回転ブラシ42を低速にて動作させ
るよう回転ブラシ駆動手段68に信号を出力し、回転ブ
ラシ駆動手段68は回転ブラシ42を低速で動作させ
る。
The traveling distance counting section 66 is provided with the position recognizing means 8.
The traveling distance signal from the vehicle is input, and the traveling distance from the start of the straight traveling to the present is counted every straight traveling, and the integrated value is output to the judgment processing unit 69. The judgment processing unit 69 also calculates the integrated signal of the traveling distance in one straight line input from the traveling distance counting unit 66 and a predetermined distance from the stop position of the main body 2 as the distance D. Distance (L-
D) is always compared, and when the traveling distance integrated value signal is smaller than the distance (LD), it is determined that the main body 2 does not reverse the traveling direction, and the rotating brush 42 is operated at high speed. A signal is output to the rotating brush driving means 68 so that the rotating brush driving means 68 operates the rotating brush 42 at high speed. Conversely, the running integrated value signal indicates the distance (L-
D), it is determined that the main body 2 has not yet entered the reversing operation of the traveling direction, and a signal is output to the rotating brush driving means 68 to operate the rotating brush 42 at a low speed. 42 is operated at a low speed.
【0036】以上のように本実施例によれば、清掃手段
50の一構成部として回転して床面の塵埃をかき揚げる
回転ブラシ42と、前記回転ブラシ42を駆動する回転
ブラシ駆動手段68と、本体2を走行、操舵する走行操
舵手段5と、方位センサ7と、前記方位センサ7の角度
情報と前記走行操舵手段5からの走行距離情報により現
在の走行位置を認識する位置認識手段8と、前記位置認
識手段8からの信号により一直進での走行距離を計数す
る走行距離カウント部66と、距離Dのしきい値を設定
し、走行距離カウント部66からの信号により前記回転
ブラシ42の回転数を制御し、位置認識手段8からの信
号により、走行操舵手段5、清掃手段50の動作を制御
する判断処理部69を設ける事により、進行方向反転の
走行速度低下時には回転ブラシ42の回転数を低速にし
て、回転ブラシ42の床面の特定の部分への影響を最小
にして、かつ集塵性を損なう事無く清掃する事ができ
る。
As described above, according to the present embodiment, the rotating brush 42 which rotates as a component of the cleaning means 50 to scoop out dust on the floor surface, and the rotating brush driving means 68 which drives the rotating brush 42 include: A traveling steering unit 5 for traveling and steering the main body 2, a direction sensor 7, a position recognition unit 8 for recognizing a current traveling position based on angle information of the direction sensor 7 and traveling distance information from the traveling steering unit 5. A travel distance counting unit 66 that counts the travel distance in a straight line based on a signal from the position recognition unit 8, a threshold value of the distance D is set, and a signal from the travel distance count unit 66 controls the rotation brush 42. By providing a judgment processing unit 69 for controlling the number of rotations and controlling the operation of the traveling steering unit 5 and the cleaning unit 50 based on a signal from the position recognition unit 8, when the traveling speed of the traveling direction reversal decreases, The rotational speed of the rotary brush 42 in the low speed, the impact on a particular portion of the floor surface of the rotary brush 42 with a minimum, and can be no cleaning impairing the dust collection properties.
【0037】尚、本実施例1〜4において、障害物検知
手段6が検知する対象物を壁としたが全ての障害物を対
象としても良い事は言うまでもない。また、低速で動作
させるという表現をしようしているが、低速には停止の
状態も含まれる。
In the first to fourth embodiments, the object detected by the obstacle detecting means 6 is a wall, but it is needless to say that all obstacles may be used. In addition, the term “operating at a low speed” is used, but the term “low speed” includes a stopped state.
【0038】[0038]
【発明の効果】以上の説明からも明らかなように本発明
は、第1の手段として、本体を移動させる走行操舵手段
、床面の塵埃をかき集めるブラシと、前記ブラシを駆
動する駆動手段と、進行方向並びに左右方向の障害物の
有無と障害物との距離を検出する障害物検知手段とを
、前記障害物検知手段からの信号に応じて前記駆動手
段を制御する事により、障害物が存在すると判断すれ
ラシの回転数を低速で動作させ、壁際、障害物の近傍
を清掃するときも壁等に傷を付ける事無く、集塵性を落
とさずに清掃する事ができる。
The present invention, as is clear from the above description, as the first means, the drive and the travel steering means for moving the body, and lube Lassi scraped dust of the floor, the front Kivu brush a drive motion means you, Bei <br/> example the obstacle detecting means for detecting a distance between the presence and the obstacle in the traveling direction and the lateral direction of the obstacle, according to a signal from the previous SL obstacle detecting means The driving hand
By controlling the stage, if it is determined that obstacles exist
The rotational speed of the brush is operated at a low speed, the wall, without damaging the wall or the like even when cleaning the vicinity of the obstacle, Ru can be cleaned without reducing the dust collecting properties.
【0039】第2の手段として、本体を移動させる走行
操舵手段と、床面の塵埃をかき集める複数のブラシと、
記ブラシを個別に駆動する複数の駆動手段と、進行方
向並びに左右方向の障害物の有無と障害物との距離を検
出する障害物検知手段とを備え、前記障害物検知手段か
らの信号に応じて前記複数の駆動手段を個別に制御す
により、壁際、障害物の近傍を清掃するときも壁等に
傷を付ける事無く、第1の手段よりも高い集塵性を保持
して清掃する事ができる。
[0039] As second means, a travel steering means for moving the body, and a plurality of brushes which scrape the dust on the floor,
Before comprising a plurality of drive motion means for driving individually the Kivu brush, and obstacle detection means for detecting a distance between the presence and the obstacle in the traveling direction and the lateral direction of the obstacle, from the previous SL obstacle detecting means that controls individually the plurality of drive means in response to the signal
Things, the near wall, without damaging the wall or the like even when cleaning the vicinity of the obstacle, Ru can be cleaned with retention of high dust collecting property than the first means.
【0040】第3の手段として、本体を移動させる走行
操舵手段と、床面の塵埃をかき揚げる回転ブラシと、前
記回転ブラシを駆動する駆動手段と、進行方向並びに左
右方向の障害物の有無と障害物との距離を検出する障害
物検知手段とを備え、前記障害物検知手段からの信号に
応じて前記駆動手段を制御する事により、障害物の回避
動作時、進行方向の反転時に回転ブラシの特定部分での
動作集中によって絨毯等に傷を付ける事無く、集塵性を
落とさずに清掃する事ができる。
[0040] As third means, a travel steering means for moving the body, the floor and rotating brush Kakiageru dust, said a drive motion means that drive the rotating brush, the traveling direction and the lateral direction of obstacle and a obstacle detection means for detecting a distance between the presence and the obstacle, the signal from the previous SL obstacle detecting means
By that controls the drive means according to, during avoidance operation of the obstacle, without damaging the carpet or the like by the operation concentration at a particular portion of the rotary brush when the traveling direction reversal, without reducing the dust collecting property Can be cleaned.
【0041】第4の手段として、本体を移動させる走行
操舵手段と、床面の塵埃をかき揚げる回転ブラシと、前
記回転ブラシを駆動する駆動手段と、前記本体が清掃を
行う領域の縦、横の距離を入力する清掃領域入力手段
、走行距離をカウントする走行距離カウント部を備
、前記走行距離カウント部からの信号に応じて前記駆
動手段を制御する事により、壁、障害物の有無に関わら
ず進行方向の反転時には、回転ブラシの特定部分での動
作集中によって絨毯等に傷を付ける事無く、集塵性を落
とさずに清掃する事ができる。
[0041] As fourth means, the vertical area where the travel steering means for moving the body, and rotating brush Kakiageru dust floor, a drive motion means you drive the rotary brush, said body cleaning includes a cleaning area inputting means for inputting the horizontal distance, the travel distance count unit that counts the run line distance, the drive in response to a signal from the previous SL travel distance count unit
By that controls the motion means, wall, the when reversing the traveling direction regardless of the presence or absence of an obstacle, without damaging the carpet or the like by the operation concentration at a particular portion of the rotary brush, without reducing the dust collecting property Can be cleaned.
【図面の簡単な説明】[Brief description of the drawings]
【図1】本発明の第1の実施例のブロック図FIG. 1 is a block diagram of a first embodiment of the present invention.
【図2】本発明の第1、第2の実施例における清掃経路
FIG. 2 is a cleaning path diagram according to the first and second embodiments of the present invention.
【図3】本発明の第2の実施例のブロック図FIG. 3 is a block diagram of a second embodiment of the present invention.
【図4】本発明の第3の実施例のブロック図FIG. 4 is a block diagram of a third embodiment of the present invention.
【図5】本発明の第3の実施例における清掃経路図FIG. 5 is a cleaning path diagram according to a third embodiment of the present invention.
【図6】本発明の第4の実施例のブロック図FIG. 6 is a block diagram of a fourth embodiment of the present invention.
【図7】本発明の第4の実施例における清掃経路図FIG. 7 is a cleaning path diagram according to a fourth embodiment of the present invention.
【図8】従来の電気掃除機の概略構成図FIG. 8 is a schematic configuration diagram of a conventional vacuum cleaner.
【図9】従来の電気掃除機のブロック図FIG. 9 is a block diagram of a conventional vacuum cleaner.
【符号の説明】[Explanation of symbols]
2 本体 5 走行操舵手段 6 障害物検知手段 7 方位センサ 8 位置認識手段 12 サイドブラシ 18 サイドブラシ駆動手段 19、39、49、69 判断処理部 20、40、50 清掃手段 31 第1のサイドブラシ 32 第2のサイドブラシ 37 第1のサイドブラシ駆動手段 38 第2のサイドブラシ駆動手段 48、68 回転ブラシ駆動手段 66 走行距離カウント部 2 body 5 traveling steering means 6 obstacle detection means 7 azimuth sensor 8 position recognition means 12 side brush 18 side brush driving means 19, 39, 49, 69 judgment processing unit 20, 40, 50 cleaning means 31 first side brush 32 Second side brush 37 First side brush driving means 38 Second side brush driving means 48, 68 Rotating brush driving means 66 Traveling distance counting unit
───────────────────────────────────────────────────── フロントページの続き (72)発明者 藪内 秀隆 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 小川 光康 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 藤原 俊明 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 江口 修 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 乾 弘文 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 高木 祥史 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 黒木 義貴 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (56)参考文献 特開 平6−125861(JP,A) 特開 平5−46246(JP,A) 特開 平6−22884(JP,A) (58)調査した分野(Int.Cl.7,DB名) A47L 9/00 102 A47L 9/28 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Hidetaka Yabuuchi 1006 Kazuma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. (72) Mitsuyasu Ogawa 1006 Kazama Kadoma Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd. In-company (72) Inventor Toshiaki Fujiwara 1006 Kadoma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. (72) Inventor Osamu Eguchi 1006 Odaka Kadoma, Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Person Hirofumi Inui 1006 Kazuma Kadoma, Kadoma City, Osaka Prefecture (72) Inside the Matsushita Electric Industrial Co., Ltd. (72) Inventor Yoshifumi Takagi 1006 Kazuma Odoma, Kadoma City, Osaka Prefecture Inside the Matsushita Electric Industrial Co., Ltd. (72) Yoshiki Kuroki Kadoma Osaka 1006 Kadoma, Matsudai, Matsushita Electric Industrial Co., Ltd. (56) References JP-A-6-125861 (JP, A) JP-A-5-46246 (JP A) Patent flat 6-22884 (JP, A) (58 ) investigated the field (Int.Cl. 7, DB name) A47L 9/00 102 A47L 9/28

Claims (4)

    (57)【特許請求の範囲】(57) [Claims]
  1. 【請求項1】 本体を移動させる走行操舵手段と、床
    の塵埃をかき集めるブラシと、前記ブラシを駆動する駆
    動手段と、進行方向並びに左右方向の障害物の有無と障
    害物との距離を検出する障害物検知手段とを備え、前
    障害物検知手段からの信号に応じて前記駆動手段を制御
    する自走式掃除機。
    1. A and the travel steering means for moving the body, and lube Lassi scraped dust of the floor, the drive <br/> motion means before you drive the Kivu brush, the traveling direction and the lateral direction of obstacle and a obstacle detection means for detecting a distance between the presence and obstacle, controls the drive means in response to a signal from the previous SL obstacle detecting means
    Self-propelled vacuum cleaner that.
  2. 【請求項2】 本体を移動させる走行操舵手段と、床
    の塵埃をかき集める複数のブラシと、前記ブラシを個別
    に駆動する複数の駆動手段と、進行方向並びに左右方向
    の障害物の有無と障害物との距離を検出する障害物検知
    手段とを備え、前記障害物検知手段からの信号に応じて
    前記複数の駆動手段を個別に制御する自走式掃除機。
    Wherein the travel steering means for moving the body, and a plurality of brushes which scrape the dust on the floor, and a plurality of drive motion means for individually driving the front Kivu brush, the traveling direction and the lateral direction of obstacle and a obstacle detection means for detecting a distance between the presence and obstacles, depending on the signal from the previous SL obstacle detecting means
    Self Hashishiki cleaner that controls individually the plurality of driving means.
  3. 【請求項3】 本体を移動させる走行操舵手段と、床
    の塵埃をかき揚げる回転ブラシと、前記回転ブラシを駆
    動する駆動手段と、進行方向並びに左右方向の障害物の
    有無と障害物との距離を検出する障害物検知手段とを
    、前記障害物検知手段からの信号に応じて前記駆動手
    を制御する自走式掃除機。
    3. A travel steering means for moving the body, and rotating brush Kakiageru dust floor, a drive motion means you drive the rotary brush, whether the obstacle in the traveling direction and the lateral direction of obstacle Bei <br/> example the obstacle detecting means for detecting a distance between said driving hands in response to a signal from the previous SL obstacle detecting means
    Self-Hashishiki vacuum cleaner that controls the stage.
  4. 【請求項4】 本体を移動させる走行操舵手段と、床
    の塵埃をかき揚げる回転ブラシと、前記回転ブラシを駆
    動する駆動手段と、前記本体が清掃を行う領域の縦、横
    の距離を入力する清掃領域入力手段と、走行距離をカウ
    ントする走行距離カウント部を備え、前記走行距離カウ
    ント部からの信号に応じて前記駆動手段を制御する自
    式掃除機。
    4. A travel steering means for moving the body, and rotating brush Kakiageru dust on the floor, the drive and motion means that drive the rotating brush, the vertical area where the body makes a clean, horizontal distance comprising a cleaning area inputting means for inputting a travel distance count unit that counts the run line distance, self Hashishiki cleaner that controls the driving means in response to a signal from the previous SL running distance count unit.
JP12019394A 1994-06-01 1994-06-01 Self-propelled vacuum cleaner Expired - Fee Related JP3344079B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP12019394A JP3344079B2 (en) 1994-06-01 1994-06-01 Self-propelled vacuum cleaner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP12019394A JP3344079B2 (en) 1994-06-01 1994-06-01 Self-propelled vacuum cleaner

Publications (2)

Publication Number Publication Date
JPH07322977A JPH07322977A (en) 1995-12-12
JP3344079B2 true JP3344079B2 (en) 2002-11-11

Family

ID=14780217

Family Applications (1)

Application Number Title Priority Date Filing Date
JP12019394A Expired - Fee Related JP3344079B2 (en) 1994-06-01 1994-06-01 Self-propelled vacuum cleaner

Country Status (1)

Country Link
JP (1) JP3344079B2 (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5281249A (en) * 1993-06-01 1994-01-25 Corning Incorporated Reshaping a glass lens blank suspended on a flow of gas
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
JP4838978B2 (en) * 2002-12-16 2011-12-14 アイロボット コーポレイション Autonomous floor cleaning robot
JP4201747B2 (en) 2004-07-29 2008-12-24 三洋電機株式会社 Self-propelled vacuum cleaner
KR100633444B1 (en) * 2005-02-24 2006-10-13 삼성광주전자 주식회사 Robot cleaner and method of control thereof
JP4677888B2 (en) * 2005-11-24 2011-04-27 パナソニック電工株式会社 Autonomous mobile vacuum cleaner
JP5400966B2 (en) 2011-04-28 2014-01-29 株式会社東芝 Electric vacuum cleaner
JP5758188B2 (en) 2011-04-28 2015-08-05 株式会社東芝 Electric vacuum cleaner
JP6453539B2 (en) 2014-01-09 2019-01-16 東芝ライフスタイル株式会社 Self-propelled equipment
CN106963292A (en) * 2017-05-17 2017-07-21 深圳市富辉鸿电子科技有限公司 A kind of intellective dust collector that control is swept with side

Also Published As

Publication number Publication date
JPH07322977A (en) 1995-12-12

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