JP3751042B2 - Self-propelled vacuum cleaner - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a self-propelled cleaner that has a cleaning function and a moving function and performs automatic cleaning.
[0002]
[Prior art]
In recent years, vacuum cleaners have been developed in which a moving function is added to a vacuum cleaner to improve operability during cleaning. In recent years, a so-called self-propelled self-propelled cleaner, which is equipped with a microcomputer and various sensors, has been developed recently.
[0003]
This type of self-propelled vacuum cleaner has a suction nozzle, brush, etc. at the bottom of the main body as a cleaning function, and has traveling wheels, steering wheels, etc. driven by a motor as a moving function, and uses optical guidance means and a gyro. It is usual to perform guidance control of the main body using the inertial navigation means and the like, and to have a power source such as a storage battery inside.
[0004]
In this type of self-propelled cleaner, it goes straight inside the cleaning area until an obstacle is detected, reverses the moving direction based on the output of a gyro etc. at the detected point, and goes straight again. Thereafter, such reciprocation is repeated for cleaning.
[0005]
In the self-propelled cleaner operating in this way, as shown in FIG. 7, as an obstacle detection method, a contact type obstacle detection means 30 is provided so as to react reliably for safety, and the obstacle is in contact with the obstacle. In this case, a signal is output from the judgment processing unit 31 so that the traveling steering means 32 is stopped or avoided.
[0006]
[Problems to be solved by the invention]
In such a self-propelled cleaner, in the case other than the unmanned running mode, the user performs a determination process as detecting an obstacle even when the user touches the main body while moving the main body, Since it is an abnormal process, it has a problem that it is not easy to use manually. Further, since it is a contact type detection means, the detection means may fail during contact, but there is no determination means for the abnormality, and it is difficult for the user to confirm it.
[0007]
The same applies to the detection of the step, and the detection in modes other than the unattended travel mode is unusable.
[0008]
An object of the present invention is to solve such problems and to provide a self-propelled cleaner that is easy to use.
[0009]
[Means for Solving the Problems]
The first means of the present invention for achieving the object is an obstacle detection means for detecting an obstacle disposed around the main body, and the main body is moved according to the output of the obstacle detection means. A travel steering means, a recognition means for recognizing the travel mode of the main body , and when the obstacle detection input continues when the vehicle is not in the unmanned travel mode and the direction of the obstacle is avoided by the obstacle detection, A slip abnormality determination processing unit that determines whether or not an abnormality of the obstacle detection means is caused by a slip of the main body from a change in a value of a direction sensor provided in the main body, and sends an output signal to the traveling steering means to stop the main body ; The obstacle detection means makes the obstacle detection effective only when the recognition means recognizes the unmanned travel mode .
[0010]
[Action]
The first means of the present invention operates as follows. That is, when the obstacle detection means arranged around the main body detects an obstacle, the determination processing unit is notified by a signal that the obstacle has been detected. In addition, the recognition means for recognizing whether or not the unmanned traveling mode for unattended cleaning of the cleaner body also outputs a signal to the determination processing unit. The judgment processing unit validates the obstacle detection by the obstacle detection means only in the unmanned running mode from these signals, and controls the running steering means. In addition , when the obstacle detection input continues when the direction is changed from the obstacle to the avoidance direction by the obstacle detection, the slip abnormality determination processing unit slips from the change of the value of the direction sensor provided in the body. If it is slipping, it is informed that it is slipping. Otherwise, it is determined that the obstacle detecting means is abnormal and notified, and an output signal is sent to the traveling steering means to stop the main body.
[0011]
【Example】
Since the basic structure and operation are the same as those of the conventional one, description thereof will be omitted and only different parts will be described.
[0012]
Hereinafter, an embodiment of the first means of the present invention will be described with reference to FIG. In the figure, reference numeral 1 denotes a touch sensitive obstacle detection means. An obstacle mode determination processing unit 2 determines an operation based on an obstacle detection signal and an unmanned travel mode determination. Reference numeral 3 denotes unmanned running mode recognition means for sending a signal to the obstacle mode determination processing unit 2. Reference numeral 4 denotes a traveling steering means that drives the main body and receives a signal to move forward, backward, stop, and change direction.
[0013]
The operation of this embodiment will be described below. When the obstacle detection means 1 that senses contact around the main body detects an obstacle, it notifies the obstacle mode determination processing unit 2 that the obstacle has been detected by a signal. Further, the unmanned travel mode recognition means 3 for recognizing whether or not the unmanned travel mode is for unattended cleaning of the cleaner body also outputs a signal to the obstacle mode determination processing unit 2. The obstacle mode determination processing unit 2 validates the obstacle detection by the obstacle detection means 1 only in the unmanned running mode from these signals, sends an output signal to the traveling steering means 4 and stops the main body.
[0014]
Next, an embodiment of the second means of the present invention will be described with reference to FIG. In the figure, reference numeral 5 denotes a touch sensitive obstacle detecting means. Reference numeral 6 denotes an obstacle detection prohibition output means, which outputs a prohibition signal to the obstacle detection means 5 when it is not in the unattended travel mode. Reference numeral 7 denotes unmanned travel mode recognition means for sending a signal to the obstacle detection prohibition output means 6 as to whether or not the unmanned travel mode is set. An obstacle detection prohibition abnormality determination processing unit 8 determines whether or not the obstacle detection is in a prohibited state when a detection signal is received from the obstacle detection means 5, and determines that it is abnormal if it is in a prohibited state. A traveling steering means 9 drives the main body and receives a signal to move forward, backward, stop, and change direction.
[0015]
The operation of this embodiment will be described below. When the obstacle detection prohibition output means 6 is not in the unattended travel mode, the obstacle detection prohibition output means 6 sends a signal for prohibiting the obstacle detection to the touch sensitive obstacle detection means 5. At this time, if there is an obstacle detection input from the obstacle detection means 5 even when the obstacle detection prohibition output is output instead of the unmanned traveling mode, the obstacle detection prohibition abnormality determination processing unit 8 detects the obstacle detection. It is determined that there is an abnormality related to the prohibition of the vehicle, and a notification is made, and an output signal is sent to the traveling steering means 9 to stop the main body.
[0016]
Next, an embodiment of the third means of the present invention will be described with reference to FIG. In the figure, 10 is a contact-sensitive front obstacle detection means provided at the front part around the main body, and 12 is a contact-sensitive rear obstacle detection means provided at the rear part around the main body. 11 detects whether an obstacle is detected by the front obstacle detection means 10 or the rear obstacle detection means 12, and outputs a signal so that the main body travels in the direction opposite to the detection direction.
[0017]
Reference numeral 13 denotes traveling steering means that drives the main body and receives signals to move forward, backward, stop, and change direction. 14 is an obstacle detection input abnormality determination processing unit that sends a signal from the obstacle detection direction determination means 11 to the traveling steering means 13 and continues to detect obstacles even if the main body is operated to avoid the obstacles. The obstacle detection input abnormality determination processing unit 14 determines that an abnormality has occurred in the front obstacle detection means 10 or the rear obstacle detection means 12, and sends an output signal to the traveling steering means 13 to stop the main body.
[0018]
Next, an embodiment of the fourth means of the present invention will be described with reference to FIG. In the figure, reference numeral 15 denotes a contact-sensitive front obstacle detecting means provided in the front part around the main body, and 17 denotes a contact-sensitive rear obstacle detecting means provided in the rear part around the main body. When an obstacle is detected, 16 determines whether the front obstacle detection means 15 or the rear obstacle detection means 17 detects the obstacle, and outputs a signal so that the main body travels in the direction opposite to the detection direction. Reference numeral 19 denotes a traveling steering means that drives the main body and receives a signal to move forward, backward, stop, and change direction.
[0019]
Reference numeral 20 denotes an orientation sensor for controlling the main body, and 18 denotes a slip abnormality determination processing unit which sends a signal from the obstacle detection direction determination means 16 to the traveling steering means 19 to operate the main body so as to avoid the obstacle. When the obstacle detection input continues, the slip abnormality determination processing unit 18 determines whether or not the main body is slipping from the change in the value of the direction sensor 20, and if it is slipping, notifies the slip, and so on. If not, the front obstacle detection means 15 or the rear obstacle detection means 17 is determined to be abnormal, and an output signal is sent to the traveling steering means 19 to stop the main body.
[0020]
Next, an embodiment of the fifth means of the present invention will be described with reference to FIG. In the figure, 21 is a step detecting means that reacts to a step greater than a certain value. A step mode determination processing unit 22 determines an operation based on a step detection signal and determination of the unmanned travel mode. Reference numeral 23 denotes an unmanned travel mode recognition unit which sends a signal to the step mode determination processing unit 22. Reference numeral 24 denotes a traveling steering means for driving the main body, receiving a signal, and moving forward, backward, stop, and change direction.
[0021]
The operation of this embodiment will be described below. When the level difference detecting means 21 provided at the lower part of the main body detects a level difference greater than a certain value, it notifies the mode judgment processing unit 22 that the level difference has been detected with a signal. Further, the unmanned travel mode recognition means 23 for recognizing whether or not the unmanned travel mode is for unattended cleaning of the vacuum cleaner body also outputs a signal to the step mode determination processing unit 22. The step mode determination processing unit 22 validates the step detection by the step detection means 21 only in the unmanned travel mode from these signals, sends an output signal to the travel steering means 24, and stops the main body.
[0022]
Next, an embodiment of the sixth means of the present invention will be described with reference to FIG. In the figure, reference numeral 26 denotes a step detecting means that reacts to a step greater than a certain value. Reference numeral 25 denotes a step detection prohibition output means, which outputs a prohibition signal to the step detection means 26 when not in the unattended travel mode. Reference numeral 27 denotes unmanned travel mode recognition means for sending a signal to the step detection prohibition output means 25 as to whether or not the unmanned travel mode is set. A step detection prohibition abnormality determination processing unit 28 determines whether or not the step detection is in a prohibited state when a detection signal is received from the step detection means 26, and determines that it is abnormal if it is in a prohibited state. Reference numeral 29 denotes a traveling steering means that drives the main body and receives a signal to perform forward, backward, stop, and direction change.
[0023]
The step detection prohibition output means 25 sends a signal for prohibiting the step detection to the step detection means 26 when it is not in the unmanned travel mode. At this time, when there is a step detection input from the step detection means 26 even when the step detection prohibition output is not performed in the unattended travel mode, the step detection prohibition abnormality determination processing unit 28 has an abnormality related to the step detection means 26. Is determined and notified, and an output signal is sent to the traveling steering means 29 to stop the main body.
[0024]
【The invention's effect】
As described above , according to the first means of the present invention, since the obstacle detection is not performed except when cleaning by unmanned traveling , even if the user touches the body with his / her foot etc. Usability is improved because no abnormal processing is performed. In addition, when slip occurs at the time of contact, the user is immediately notified and the main body is stopped, so that overload to the main body at the time of abnormality is reduced, and safety and usability are improved.
[Brief description of the drawings]
FIG. 1 is a block diagram of a self-propelled cleaner according to a first embodiment of the present invention. FIG. 2 is a block diagram of a self-propelled cleaner according to a second embodiment of the present invention. FIG. 4 is a block diagram of a self-propelled cleaner showing a third embodiment of the present invention. FIG. 4 is a block diagram of a self-propelled cleaner showing a fourth embodiment of the present invention. FIG. 5 is a fifth embodiment of the present invention. FIG. 6 is a block diagram of a self-propelled cleaner showing a sixth embodiment of the present invention. FIG. 7 is a block diagram of a conventional self-propelled cleaner. Explanation】
DESCRIPTION OF SYMBOLS 1 Obstacle detection means 2 Obstacle mode judgment processing part 3 Unattended travel mode detection means 4 Travel steering means 5 Obstacle detection means 6 Obstacle detection prohibition output means 7 Unattended travel mode detection means 8 Obstacle detection prohibition abnormality judgment processing part 9 Traveling steering means 10 Front obstacle detection means 11 Obstacle detection direction judgment means 12 Rear obstacle detection means 13 Travel steering means 14 Obstacle detection input abnormality judgment means 15 Front obstacle detection means 16 Obstacle detection direction judgment means 17 Rear obstacle Object detection means 18 Slip abnormality determination processing section 19 Travel steering means 20 Direction sensor 21 Step detection means 22 Step mode determination processing section 23 Unmanned travel mode detection means 24 Travel steering means 25 Step detection prohibition output means 26 Step detection means 27 Unmanned travel mode Detection means 28 Step detection prohibition abnormality determination processing section 29 Travel steering means

Claims (1)

Obstacle detection means arranged around the main body for detecting obstacles, traveling steering means for moving the main body according to the output of the obstacle detection means, and recognition means for recognizing the travel mode of the main body When the obstacle detection input continues when the direction is changed to the avoidance direction from the obstacle due to the obstacle detection, the change in the value of the direction sensor provided in the main body causes an abnormality in the obstacle detection means or the slip of the main body. or informed to determine what, a slip abnormality determination processing unit stopping body sends an output signal to the travel steering means, the obstacle by the obstacle detecting unit only when recognizing the unmanned mode by said recognizing means Self-propelled vacuum cleaner with effective detection .

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