JP6378986B2 - Self-propelled electronic device and its return method - Google Patents

Description

  The present invention relates to a self-propelled electronic device and a return method thereof, and more particularly to a self-propelled electronic device that autonomously returns to an external docking station and docks at a predetermined docking position and a return method thereof.

A self-propelled electronic device having a function of returning to a docking station such as a charging stand detects a signal transmitted from a docking station installed on the floor, recognizes the direction in which the docking station exists, and autonomously Travel around the obstacles and return to the docking station.
In order to perform docking without damaging the docking station or the self-propelled electronic device itself, accurate guidance to the docking station is important. In particular, the docking station often has a function as a charging stand for charging a rechargeable battery built in a self-propelled electronic device. When charging is performed by bringing the terminal on the charging base and the terminal on the self-propelled electronic device into contact with each other, it is necessary to perform docking with the positions of both terminals accurately matched. In recent years, there is a method of performing non-contact charging using electromagnetic induction or the like, but in that case as well, it is extremely important for efficient charging to be docked accurately at a predetermined position. There is a need for a method for accurately guiding a self-propelled electronic device to a docking station.

  As a related technique, the following docking method for docking an autonomous robot with a base station has been proposed. The base station has a first signal emitter and a second signal emitter to at least partially overlap signals transmitted by the first signal emitter and the second signal emitter. The autonomous robot detects the signal duplication, follows the path defined by the signal duplication, and docks with the base station (see, for example, Patent Document 1). More specifically, in Patent Document 1, the first feedback signal (for example, a reference numeral 62 in FIGS. 4A, 4B, and 4C of Patent Document 1 in the range of a radiation angle of 5 to 60 ° from the signal emitter on the right side toward the base station. Is emitted). A second feedback signal (indicated by reference numeral 64 in the figure) is radiated from the signal emitter on the left side toward the base station at the same radiation angle. And the area | region where both overlapped partially is formed in the front of a base station. The autonomous robot detects the return signal with an omnidirectional detector.

The following mobile robots have been proposed. A plurality of optical sensors for detecting a light beam produced by a light source provided in the charging device and a light source direction detecting means are provided, and the presence of the charging device is recognized by detecting the light beam by any one of the optical sensors. The light source direction means detects the direction of the light source, moves in the direction of the power supply device, and receives charging power when it reaches a predetermined position (see, for example, Patent Document 2). However, the specific configuration of the light source direction detection means is not shown.
Furthermore, a robot cleaner having the following configuration has been proposed. An oscillating plate, an infrared receiving unit that is attached to the oscillating plate and oscillates to receive an infrared signal generated from the power supply unit, and the robot cleaner is connected to the power supply unit based on the received infrared signal. And a microcomputer that controls the movement (Patent Document 3).

Special table 2007-520012 gazette Japanese Patent Laid-Open No. 04-210704 JP 2004-275716 A

  In the technique of Patent Document 1, the autonomous robot can easily determine the position relative to the base station by determining whether the first and second emitter signals from the base station have been received and which signal has been received. There is an advantage that it can be judged. That is, if the overlapping signal is received, it is in the vicinity of the front of the base station, and if only the first or second signal is received, either the left or right from the front of the base station, while the first and second emitter signals overlap. Need to be detected. For example, assume that the first and second signal emitters each emit an infrared beam and that each signal conforms to a predetermined format for remote control signals (eg, known as the Home Appliances Association format). In that case, in the region where both the first and second emitter signals reach, the infrared beam of the first emitter signal becomes disturbance noise for the second emitter signal. Also, the infrared beam of the second emitter signal becomes disturbance noise for the first emitter signal. Therefore, it is not possible to detect signal duplication well.

  For example, the radiation of the first and second signals may be switched over time so that both signals are not emitted simultaneously. In this way, it is possible to avoid that one signal becomes disturbance noise of the other signal in the area where both signals reach, but the two signal frames are emitted alternately, so that the signal period is a single signal. Will be more than twice as compared to the case of radiating. For example, in the above-mentioned home appliance association format, the period when two signals are emitted alternately exceeds 200 milliseconds. It cannot be said that the cycle is short enough to guide the self-propelled electronic device quickly.

On the other hand, although the structure which detects the direction of a light source like patent document 2 is also considered, in order to detect the direction of a light source, the structure which receives an infrared signal, rocking | fluctuating as described in patent document 3, for example is employ | adopted. Then, there exists a possibility that an apparatus may become complicated and expensive.
The present invention has been made in view of the above circumstances, and provides a self-propelled electronic device that can easily determine the position with respect to the docking station and can quickly return to the docking station, and a method for returning to the docking station. To do.

  The present invention relates to a plurality of induction sensors for detecting an induction signal for docking radiated from an external docking station, a power unit for moving to the docking station, and docking to a predetermined docking position of the docking station A driving control unit for controlling the power unit, and the docking station radiates a left guidance signal to an area on the left side of the front of the docking position, and radiates a right guidance signal to an area on the right side, A non-signal region where neither the left guidance signal nor the right guidance signal reaches is formed between a region where the left guidance signal is radiated and a region where the right guidance signal is radiated, and the plurality of guidance sensors The left guidance sensor that detects the guidance signal coming from the left side of the front front and the guidance signal coming from the right side of the front front At least a right guidance sensor for detecting the driving control unit, the driving control unit is configured to approach the docking station in a state where the left guidance sensor detects the left guidance signal and the right guidance sensor detects the right guidance signal, And when the left guidance sensor no longer detects the left guidance signal, the course is changed to the left, and when the right guidance sensor no longer detects the right guidance signal, the course is changed to the right. Provide electronic equipment.

  Further, from a different point of view, the present invention radiates a left guidance signal to an area leftward of the front of the docking position, radiates a right guidance signal to a rightward area, and radiates the left guidance signal and the right guidance. The non-signal area where neither the left induction signal nor the right induction signal reaches between the area where the signal is emitted is formed. The left induction sensor detects the left induction sensor and the right induction sensor detects the induction signal coming from the right side of the front front, and the computer detects the left induction signal and the right induction sensor detects the right induction sensor. When the guidance signal is detected and the docking station is approached, and the left guidance sensor no longer detects the left guidance signal, the path is shifted to the left. When the right guidance sensor no longer detects the right guidance signal, the path is changed to the right and controlled to dock to a predetermined docking position of the docking station. It provides a way to return to the docking station.

  According to the present invention, the docking station radiates a left guidance signal to an area leftward of the front of the docking position and radiates a right guidance signal to a rightward area, and the left guidance signal and the right guidance between them. A no-signal area where none of the signals reach is formed, and the traveling control unit causes the left guidance sensor to detect the left guidance signal and the right guidance sensor to approach the docking station in a state where the right guidance signal is detected. And when the left guidance sensor no longer detects the left guidance signal, the course is changed to the left, and when the right guidance sensor no longer detects the right guidance signal, the course is changed to the right. A self-propelled electronic device that can easily determine the position with respect to the docking station and can return quickly can be realized.

It is a schematic block diagram of a self-propelled electronic device according to an embodiment of the present invention. (Embodiment 1) It is a schematic perspective view of the self-propelled electronic device which is one embodiment of this invention. (Embodiment 1) It is a bottom view which shows roughly the bottom face of the self-propelled cleaner shown in FIG. It is a general | schematic perspective view of the charging stand which is one aspect | mode of the docking station which concerns on this invention. When the charging stand of FIG. 4 is viewed from above, the left arrival signal radiated from the left transmission unit, the signal arrival region of the right guidance signal radiated from the right transmission unit, and the non-signal region therebetween are schematically illustrated. It is explanatory drawing shown. It is explanatory drawing which shows the structural example of the induction | guidance | derivation signal transmission part with which the charging stand of FIG. 4 is provided. It is a block diagram which shows the aspect different from FIG. 1 of the self-propelled electronic device of this invention. (Embodiment 2) It is a schematic perspective view which shows the aspect different from FIG. 1 of the self-propelled electronic device of this invention. (Embodiment 2) It is explanatory drawing which shows the process at the time of the traveling control part concerning this invention performing docking control as a state transition table. (State transition table 1 of Embodiment 1) It is explanatory drawing which shows the process at the time of the traveling control part concerning this invention performing docking control as a state transition table. (State transition table 2 of Embodiment 1) It is explanatory drawing which shows a detail about a part of state transition table of FIG. (Condition 1) It is explanatory drawing which shows a detail about a part of state transition table of FIG. (Condition 2) It is explanatory drawing which shows a detail about a part of state transition table of FIG. (Condition 3) It is explanatory drawing which shows an example of the path | route which the self-propelled electronic device of this invention follows in the case of docking. (First stage) It is explanatory drawing which shows an example of the path | route which the self-propelled electronic device of this invention follows in the case of docking. (Second stage) It is explanatory drawing which shows an example of the path | route which the self-propelled electronic device of this invention follows in the case of docking. (3rd stage) It is explanatory drawing which shows an example of the path | route which the self-propelled electronic device of this invention follows in the case of docking. (Fourth stage) It is explanatory drawing which shows an example of the path | route which the self-propelled electronic device of this invention follows in the case of docking. (5th stage) It is explanatory drawing which shows an example of the path | route which the self-propelled electronic device of this invention follows in the case of docking. (6th stage) It is explanatory drawing which shows an example of the path | route which the self-propelled electronic device of this invention follows in the case of docking. (7th stage) It is explanatory drawing which shows an example of the path | route which the self-propelled electronic device of this invention follows in the case of docking. (Eighth stage) It is explanatory drawing which shows an example of the path | route which the self-propelled electronic device of this invention follows in the case of docking. (9th stage) FIG. 10 is an explanatory diagram schematically showing positions of left and right guidance sensors and receivable directions in the second embodiment. It is explanatory drawing corresponding to FIG. 20A of the self-propelled cleaner in Embodiment 1. FIG. It is explanatory drawing which shows the process at the time of the traveling control part concerning this invention performing docking control as a state transition table. (State transition table 1 of Embodiment 2) It is explanatory drawing which shows the process at the time of the traveling control part concerning this invention performing docking control as a state transition table. (State transition table 2 of Embodiment 2) It is explanatory drawing which shows a detail about a part of state transition table of FIG. (Condition 1) It is explanatory drawing which shows a detail about a part of state transition table of FIG. (Condition 2) It is explanatory drawing which shows a detail about a part of state transition table of FIG. (Condition 3)

Embodiments of the present invention will be described below with reference to the drawings. In addition, this invention is not limited by description of the following examples.
In the following embodiments, the configuration and operation of a “self-propelled cleaner” which is one form of the self-propelled electronic device of the present invention will be described.

  However, the self-propelled electronic device of the present invention is not limited to the self-propelled cleaner. An air purifier for self-running air that exhausts air that has been suctioned and exhausted, a self-running ion generator for generating ions, a device that presents necessary information to the user, or a user desires Includes robots that can satisfy the requirements, etc.

≪Configuration of self-propelled vacuum cleaner≫
FIG. 1 is a block diagram showing a schematic configuration of an embodiment of a self-propelled cleaner as an aspect of an electronic apparatus according to the present invention. As shown in FIG. 1, the self-propelled cleaner 1 according to the embodiment of the present invention mainly includes a rotating brush 9, a side brush 10, a control unit 11, a rechargeable battery 12, a charging connection unit 13, and a failure detection unit 14. The dust collecting unit 15 is provided. Furthermore, a gyro sensor 20, a power unit 21, a right driving wheel 22R, a left driving wheel 22L, an induction signal receiving unit 24, an intake port 31, and an exhaust port 32 are provided. Furthermore, an input unit 51, a storage unit 61, an electric blower 115, and a brush motor 119 are provided.

While the self-propelled cleaner 1 is self-propelled on the floor surface where it is installed, the self-propelled cleaner 1 sucks in air containing dust on the floor surface (travel surface) and exhausts the air from which the dust has been removed. clean. The self-propelled cleaner 1 has a function of autonomously avoiding obstacles detected by the obstacle detection unit 14 and autonomously returning to a charging station (not shown) when cleaning is completed.
FIG. 2 is an external perspective view of an example of the self-propelled cleaner according to the present invention.
FIG. 3 is a bottom view schematically showing the bottom surface of the self-propelled cleaner shown in FIG. 2.

As shown in FIG. 2, a self-propelled cleaner 1 that is a self-propelled cleaner according to the present invention includes a disk-shaped housing 2.
The housing 2 includes a bottom plate 2a, a top plate 2b having a lid 3 that can be opened and closed to put in and out a dust collecting container accommodated in the housing 2, and an outer periphery of the bottom plate 2a and the top plate 2b. And a side plate 2c having an annular shape in plan view provided along the section. An exhaust port 32 is formed near the boundary between the front portion and the middle portion of the top plate 2b. The side plate 2c is divided into two parts, front and rear, the side plate front part functions as a bumper, and a collision sensor 14C for detecting a collision of the side plate front part is provided inside (not shown in FIG. 2). . Further, a front ultrasonic sensor 14F and a central guidance sensor 24M are arranged in the front, and a left ultrasonic sensor 14L and a left guidance sensor 24L are arranged on the left side. Although hidden in FIG. 2, the right ultrasonic sensor 14R and the right guidance sensor 24R are arranged on the right side. The omnidirectional sensor 24 a of the guidance signal receiving unit 24 is provided at a position that can be viewed from the outside of the surface of the housing 2. The charging connection portion 13 is provided on the bottom plate 2a of the housing 2 and at a front position (see FIG. 3).

  As shown in FIG. 3, the bottom plate 2a is formed with a plurality of holes that expose the front wheel 27, the right driving wheel 22R, the left driving wheel 22L, and the rear wheel 26 from the inside of the housing 2 and project outside. Yes. Furthermore, the inlet 31 is opened, and the rotating brush 9 is disposed behind it. Side brushes 10 are arranged on the left and right sides of the intake port 31, the front wheel floor surface detection sensor 18 is in front of the front wheel 27, the left wheel floor surface detection sensor 19L is in front of the left driving wheel 22L, and the right wheel is in front of the right driving wheel 22R. Wheel floor surface detection sensors 19R are respectively disposed.

  The self-propelled cleaner 1 advances forward with the right drive wheel 22R and the left drive wheel 22L rotating forward in the same direction, and travels forward where the front ultrasonic sensor 14F is disposed. In addition, the left and right drive wheels rotate backward in the same direction and move backward, rotate by rotating in opposite directions or at different speeds, and turn. This includes the case where only one drive wheel stops. For example, when the self-propelled cleaner 1 reaches the periphery of the cleaning area by the sensors of the failure detection unit 14, the left and right drive wheels are decelerated and then stopped. Thereafter, the left and right drive wheels are rotated in opposite directions, turned 90 °, advanced by a distance substantially equal to the size of the intake port 31, and then turned 90 ° further in the direction opposite to the original course.

Also, when an obstacle is detected on the path, the self-propelled cleaner 1 turns to avoid the obstacle after decelerating or stopping, and if the obstacle is no longer detected, the original path is extended. Turn around to get on and continue running. Further, when the front wheel floor surface detection sensor 18, the left wheel floor surface detection sensor 19L or the right wheel floor surface detection sensor 19R does not detect the floor surface, the vehicle temporarily stops and moves backward and / or turns so as not to fall from the stairs or the like. . In this way, the self-propelled cleaner 1 self-propels while avoiding obstacles over the entire installation location or the entire desired range.
Here, the front means the forward direction of the self-propelled cleaner 1 (upward along the paper surface in FIG. 3), and the rear means the backward direction of the self-propelled cleaner 1 (the paper surface in FIG. 3). Along the bottom).

  Further, the self-propelled cleaner 1 detects the signals emitted from the left transmission unit 203L and the right transmission unit 203R of the induction signal transmission unit 203 of the charging stand 201 by the induction signal reception unit 24. The guidance signal receiving unit 24 includes a left guidance sensor 24L, a central guidance sensor 24M, a right guidance sensor 24R, and an omnidirectional sensor 24a. And the direction with the charging stand 201 and the position with respect to the charging stand 201 are recognized. When the cleaning is completed, when the remaining charge of the rechargeable battery 12 is low, or when a predetermined cleaning operation period has elapsed, the vehicle travels autonomously along a route in a certain direction of the charging stand 201. And it returns to the charging stand 201. However, if there is an obstacle, it moves in the direction of the charging stand 201 while avoiding it.

Hereinafter, each component shown in FIG. 1 will be described.
The control unit 11 of FIG. 1 is a part that controls the operation of each component of the self-propelled cleaner 1, and is mainly realized by a microcomputer including a CPU, a RAM, an I / O controller, a timer, and the like. The control unit 11 includes a function of a travel control unit 11 a that controls the travel of the self-propelled cleaner 1.
The CPU executes processing based on a control program stored in advance in a storage unit 61, which will be described later, and developed in the RAM, and organically operates each hardware to execute the cleaning function, the traveling function, and the like of the present invention.

The rechargeable battery 12 is a part that supplies power to each functional element of the self-propelled cleaner 1, and is a part that mainly supplies power for performing a cleaning function and travel control. For example, a rechargeable battery such as a lithium ion battery, a nickel metal hydride battery, or a Ni—Cd battery is used.
The rechargeable battery 12 is charged by contacting the charging connection portion 13 of the self-propelled cleaner 1 and the charging terminal portion 202 of the charging stand 201 with the self-propelled cleaner 1 docked to the charging stand 201. Do.

The obstacle detection unit 14, particularly the left, front, and right sensors 14L, 14F, and 14R, touched or approached obstacles such as indoor walls, desks, and chairs while the self-propelled cleaner 1 was running. This is the part that detects this. Furthermore, the left ultrasonic sensor 14L and the right ultrasonic sensor 14R are used for the self-propelled cleaner 1 to travel along a wall surface or an obstacle while detecting the wall surface or an obstacle. The obstacle detection unit 14 detects proximity to the obstacle using an ultrasonic sensor. Instead of the ultrasonic sensor or together with the ultrasonic sensor, other types of non-contact sensors such as an infrared distance measuring sensor may be used.
The collision sensor 14 </ b> C is disposed, for example, inside the side plate 2 c of the housing 2 in order to detect that the self-propelled cleaner 1 has come into contact with an obstacle during traveling. The CPU knows that the side plate 2c has collided with an obstacle based on the output signal from the collision sensor 14C.

The front wheel floor surface detection sensor 18, the left wheel floor surface detection sensor 19L, and the right wheel floor surface detection sensor 19R detect large steps such as descending stairs.
The CPU recognizes a position where an obstacle or a step exists based on the signal output from the obstacle detection unit 14. Based on the recognized obstacle and step position information, the next direction to travel is determined while avoiding the obstacle and step. The left wheel floor surface detection sensor 19L and the right wheel floor surface detection sensor 19R detect the descending stairs when the front wheel floor surface detection sensor 18 fails to detect a step or fails, and the self-propelled cleaner 1 Prevent falling to the downstairs.

The gyro sensor 20 detects a change in the direction of the self-propelled cleaner 1 and provides it to the traveling control unit 11a.
The power unit 21 is a part that realizes traveling by a drive motor that rotates and stops the left and right drive wheels of the self-propelled cleaner 1. In this embodiment, by configuring the drive motor so that the left and right drive wheels can be independently rotated in both forward and reverse directions, the traveling state of the self-propelled cleaner 1 such as forward, backward, turning, acceleration / deceleration and the like can be achieved. Realized.

  The induction signal receiving unit 24 is a plurality of infrared sensors for receiving induction signals using infrared rays. The left guidance sensor 24L is disposed above the left ultrasonic sensor 14L and receives a guidance signal from the front of the left hand. The central guidance sensor 24M is disposed above the front ultrasonic sensor 14F and receives a guidance signal from the front. The right guidance sensor 24R is disposed above the right ultrasonic sensor 14R and receives a guidance signal from the front of the right hand. The directions in which the left guidance sensor 24L, the central guidance sensor 24M, and the right guidance sensor 24R can receive the guidance signal have a certain range of extent in the horizontal plane, but the directions that can be received are partially overlapped with other guidance sensors. There is no duplication.

  The omnidirectional sensor 24a is disposed in the front part of the housing 2 and receives induction signals coming from all directions. The induction signal is emitted from the induction signal transmission unit 203 of the charging stand 201. The induction signal transmission unit 203 includes a left transmission unit 203L and a right transmission unit 203R. In this embodiment, the left transmission unit 203L and the right transmission unit 203R each emit an induction signal that conforms to the home appliance association format defined as the format of the infrared remote control signal. The left transmission unit 203L and the right transmission unit 203R repeatedly emit the induction signals having different contents at the same time.

  Note that an embodiment in which the induction signal receiving unit 24 does not include the central induction sensor 24M but includes only the left induction sensor 24L, the right induction sensor 24R, and the omnidirectional sensor 24a is also included in the scope of the present invention (FIGS. 7). Although this aspect can be said to be a basic configuration in the present invention, in this specification, an aspect having the central induction sensor 24M will be described first. This is because the basic configuration without the central guidance sensor 24M can be easily understood as a modified example.

The intake port 31 and the exhaust port 32 are portions that perform intake and exhaust of air for cleaning, respectively.
The dust collection part 15 is a part which performs the cleaning function which collects indoor garbage and dust, and is mainly provided with the dust collection container which is not shown in figure, the filter part, and the cover part which covers a dust collection container and a filter part. Further, the dust collecting container has an inflow port that leads to an inflow path that communicates with the intake port 31, and an exhaust port that communicates with an exhaust path that communicates with the exhaust port 32. An electric blower 115 is disposed in the discharge path. The electric blower 115 sucks air from the intake port 31, guides the air into the dust collecting container via the inflow passage, and discharges the air after dust collection from the exhaust port 32 to the outside via the discharge passage. Is generated.

  A rotary brush 9 that rotates about an axis parallel to the bottom surface is provided behind the intake port 31, and a side brush 10 that rotates about a vertical rotation axis is provided on both the left and right sides of the intake port 31. ing. The rotating brush 9 is formed by implanting a brush spirally on the outer peripheral surface of a roller that is a rotating shaft. The side brush 10 is formed by providing a brush bundle radially at the lower end of the rotating shaft. The rotating shaft of the rotating brush 9 and the rotating shaft of the pair of side brushes 10 are pivotally attached to a part of the bottom plate 2a of the housing 2, and a brush motor 119 provided in the vicinity thereof, a pulley, a belt, etc. It is connected via a power transmission mechanism that includes it. This is an example, and a dedicated drive motor that rotates the side brush 10 may be provided.

  The dust collection mechanism according to the present invention includes the dust collection unit 15, the rotary brush 9, the side brush 10, the brush motor 119, and the electric blower 115 described above. The dust suction mechanism takes in dust on the running surface such as the floor into the intake port 31 by the rotation of the rotary brush 9, and sucks air from the intake port 31 in accordance with the dust into the dust collection container of the dust collection unit 15. Take in dust. The sucked air is exhausted from the exhaust port 32 through a filter disposed in the dust collecting container.

The input unit 51 is a part where the user inputs an instruction to operate the self-propelled cleaner 1, and is provided on the surface of the housing 2 of the self-propelled cleaner 1 as an operation panel or an operation button.
Further, a remote control unit is provided separately from the operation panel and operation buttons provided in the above-described cleaner body, and this remote control unit also corresponds to the input unit 51. When an operation button provided on the remote control unit is pressed, an infrared ray or a radio wave signal is transmitted from the remote control unit, and an operation instruction is input by wireless communication.

  The input unit 51 includes a main power switch 52M, a power switch 52S, and a start switch 53. The main power switch 52M is a switch that turns on / off the power supply from the rechargeable battery 12 to the control unit 11 and the like. The power switch 52 </ b> S is a switch for turning on / off the power of the self-propelled cleaner 1. The start switch 53 is a switch for starting the cleaning work. As the input unit 51, other switches (for example, a charge request switch, an operation mode switch, a timer switch) are further provided. When the remote controller serving as the input unit 51 receives an instruction from the user, the control unit 11 responds to the instruction, for example, controls the power unit 21 to travel in the direction instructed by the user or stop traveling.

  The storage unit 61 is a part that stores information necessary for realizing various functions of the self-propelled cleaner 1 and a control program, and is used by a non-volatile semiconductor storage element such as a flash memory or a storage medium such as a hard disk. It is done.

  The storage unit 61 includes, for example, battery information 62 indicating a state such as a remaining capacity of the rechargeable battery 12, history of a travel route of the self-propelled cleaner 1, position information 63 indicating a current position and direction, and a self-propelled cleaner. Operation mode information 71 indicating one operation mode is stored. The operation mode information 71 stores an operation mode 72, a standby mode 73, and a sleep mode 74. The operation mode 72 is data indicating that a cleaning operation is being performed. The standby mode 73 is data indicating that the state of the self-propelled cleaner is a standby mode in which cleaning can be started in response to the start switch 53. The sleep mode 74 is data indicating that the sleep mode is in the power saving state.

FIG. 4 is a schematic perspective view of a charging stand which is an aspect of the docking station according to the present invention.
As shown in FIG. 4, the charging stand 201 includes a charging terminal portion 202 exposed on the upper surface side of a portion extending along the floor surface in an L shape. When the charging terminal portion 202 of the charging stand 201 and the charging connection portion 13 on the bottom plate 2 a of the self-propelled cleaner 1 are in electrical contact, the self-propelled cleaner 1 supplies power from the charging stand 201. In response, the rechargeable battery 12 of the self-propelled cleaner 1 is charged.

The charging stand 201 includes a left transmission unit 203L and a right transmission unit 203R as the induction signal transmission unit 203 on a side surface of a portion extending in a direction perpendicular to the floor surface, and each includes a signal generation circuit that generates an induction signal. It consists of LEDs that emit the generated signal. The induction signal transmission unit 203 outputs a signal for guiding the self-propelled cleaner 1 to a predetermined position.
The left transmission unit 203L radiates a left guidance signal to an area on the left side of the front in a state of facing the front of the charging base 201. In contrast to this, the right transmission unit 203R radiates a right guidance signal to a region on the right side of the front in a state of facing the front of the charging base 201. A non-signal area where no induction signal reaches is formed between the left induction signal and the right induction signal, that is, in front of the charging stand 201.
FIG. 5A shows the signal arrival areas of the left guidance signal 205L radiated from the left transmission unit 203L and the right guidance signal 205R radiated from the right transmission unit 203R when the charging stand 201 is viewed from above, and between them. It is explanatory drawing which shows typically the no-signal area | region 207 formed in FIG.
The width of the no-signal area 207 is configured to be narrower than the interval between the left guidance sensor 24L and the right guidance sensor 24R.
FIG. 5B is a horizontal sectional view showing an example of the structure of the induction signal transmission unit 203 provided in the charging stand 201. In FIG. 5B, the left transmission unit 203L and the right transmission unit 203R are LED elements that emit light in the infrared band. In front of them, cylindrical opaque light regulating members 204L and 204R for guiding infrared light are respectively arranged (gray portion in FIG. 5B). The light regulating members 204L and 204R have a cylindrical outer periphery, and a hollow portion formed of a planar inner wall and a semicircular arc inner wall is formed on the inner side thereof, and is made of a material such as ABS resin. The left transmission unit 203L is disposed so as to be in contact with the planar inner wall on one end side of the light regulating member 204L. The planar inner wall is vertically arranged on the different side of the right transmission unit 203R. The light emitted from the left transmitting portion 203L, traveling along the planar inner wall, and emitted from the other end side of the light regulating member 204L forms a boundary between the left guide signal 205L and the no-signal region 207 in FIG. 5A. . A circular opening is formed on the side wall of the charging base 201 so as to allow light emitted from the other end of the light regulating member 204L to pass therethrough. Infrared light radiated from the left transmission section 203L and emitted from the opening spreads outward as shown in FIG. 5A to form a reach area of the left guidance signal 205L.
The same applies to the right transmitter 203R and the light restricting member 204R arranged symmetrically.

(First embodiment-aspect having a central induction sensor)
≪Control of docking with charging stand of self-propelled vacuum cleaner≫
Next, docking control when the self-propelled cleaner 1 returns to the charging stand 201 will be described.
FIGS. 8 and 9 are state transition tables showing processing executed by the traveling control unit 11a in order to dock the self-propelled cleaner 1 to the charging stand 201. FIG. Each row arranged in the vertical direction of the state transition table indicates the state of travel control of the self-propelled cleaner 1. For example, the state S100 is a state in which a guidance signal is searched. State S101 is a state in which the direction of the self-propelled cleaner 1 is changed to face the charging stand. Hereinafter, at the time of docking, any one of a total of 12 states S102 to S110 and S200 is taken.
On the other hand, each column arranged in the horizontal direction of the state transition table indicates an event that occurs. E01 is a case where the collision sensor 14C detects a collision signal. E02 is a case where a termination condition (a condition other than E01, E03, and E04) determined in advance for each of the processes being executed is satisfied. E03 is a case where the ultrasonic sensor detects any obstacle including the charging stand 201 and the wall. E04 is the case where the induction signal receiving unit 24 detects the induction signal.

The description of the column where the row and the column intersect indicates the content of the process executed by the traveling control unit 11a when the event of the column occurs in the state of the row. For ease of understanding, FIGS. 8 and 9 describe only processing related to feedback. That is, even when the collision sensor 14C is returning, the path is changed when the collision sensor 14C detects a collision, and when the ultrasonic sensor detects an obstacle, the obstacle is avoided, but the basic control description is omitted. ing.
The order of priority for determining whether or not an event has occurred is higher in the left column of the state transition table than in the right column. That is, the traveling control unit 11a determines in priority order of the events E01 to E04 when a plurality of events occur simultaneously.
“If” in the state transition table indicates that processing after “then” is executed when the condition in parentheses is satisfied. “Else” indicates that the processing below “else” is executed when the above-described “if” condition is not satisfied. In some cases, the conditions corresponding to “else” are indicated in parentheses. “Elseif” indicates that, when the above-described “if” or “elseif” condition is not satisfied, processing after “then” is executed if the condition in parentheses following “elseif” is satisfied.

10A, 10B, and 10C show processing corresponding to the detection state of each induction sensor in the processing of S105 and E04 in the state transition table of FIG. 8 (processing when an induction signal is detected while approaching the charging stand). It is explanatory drawing shown. 10A shows the details of condition 1, FIG. 10B shows the details of condition 2, and FIG.
By following the contents of the processes shown in FIGS. 8 to 10C, the process executed by the traveling control unit 11a for docking can be known.

≪Specific example of docking control≫
An example of processing executed by the traveling control unit 11a for docking will be described below.
FIGS. 11-19 is explanatory drawing which shows an example of the path | route which self-propelled (vacuum) cleaner 1 tracks at the time of docking. An example of docking control will be described with reference to FIGS.
When the cleaning operation is completed or the remaining capacity of the rechargeable battery 12 falls below a predetermined threshold during the cleaning operation, the control unit 11 determines the return to the charging stand 201.
In this case, when the return to the charging stand 201 is determined by the control unit 11, the self-propelled cleaner 1 is assumed to be in the position and orientation shown in FIG. 11 with respect to the charging stand 201. At that time, the distance from the wall is assumed to be 15 cm or more.

In the state of FIG. 11, it is assumed that the central guidance sensor 24M receives the right guidance signal 205R. The travel control unit 11a executes the processes of S200 and E04 in FIG. In the processing described in FIG. 8, the “if” condition is not satisfied from the above condition, and the next “elseif” condition is satisfied. Therefore, the state transitions to S102 and the traveling control unit 11a stops the self-propelled cleaner 1 on the spot.
In the state S102 after the transition (waiting for distance confirmation with the charging stand), the traveling control unit 11a measures the distance to the charging stand 201 ahead using the front ultrasonic sensor 14F. In this case, the obtained distance measurement value is 70 cm or more. Therefore, the “else” condition is satisfied in the processing of states S102 and E03 in FIG. Thus, the state transitions to S105, and the traveling control unit 11a advances the self-propelled cleaner 1 to a maximum of 20 cm (see arrow M1 in FIG. 12) and approaches the charging stand 201.

In the state S105 after the transition (while approaching the charging stand), the traveling control unit 11a controls the traveling direction of the self-propelled cleaner 1 while monitoring the guidance signal receiving unit 24. In FIG. 12, it is assumed that the left guidance sensor 24L receives the right guidance signal 205R. The state is the item No. in the table of FIG. 10C referred to by condition 3 in the processing of states S105 and E04 of FIG. It corresponds to 6. Therefore, the state transitions to S107, and the traveling control unit 11a turns the self-propelled cleaner 1 to the left by 90 degrees at the maximum position (see R1 in FIG. 13).
The traveling control unit 11a sequentially monitors the guidance signal receiving unit 24 while turning in the state S107 after the transition (during traveling direction correction). Eventually, the left guidance sensor 24L deviates from the direction in which the right guidance signal 205R can be received. The travel control unit further turns 5 ° from that point (processing of S107, E04), and then stops the self-propelled cleaner 1 from turning.

After the left guiding sensor 24L stops receiving the right guiding signal 205R and further turning by 5 ° and stopping, the traveling control unit 11a moves forward by a maximum of 20 cm to further bring the self-propelled cleaner 1 closer to the charging stand 201. (S107, processing of E02, see arrow M2 in FIG. 14). The state transitions to S105.
In state S <b> 105 (while approaching the charging stand), the traveling control unit 11 a controls the traveling direction of the self-propelled cleaner 1 while monitoring the induction signal receiving unit 24. At this time, since the left guidance sensor 24L has not received the right guidance signal 205R, the traveling control unit 11a determines the item No. of FIG. 10A referred to in the condition 1 of S105 and E04. 10, the self-propelled cleaner 1 is moved forward a little to the left. Soon, the central guidance sensor 24M reaches the no-signal area 207 (see arrow M3 in FIG. 15) or deviates from an angle at which the central guidance sensor 24M can receive the right guidance signal 205R before that (refer to condition 1 of S105 and E04). (See item No. 9 in FIG. 10A). If the vehicle continues straight ahead, the right guidance signal 205R eventually reaches the no-signal area 207 (see arrow M4 in FIG. 16). This is because the item No. of FIG. 10A referred to under condition 1 of S105 and E04. It corresponds to 14.

  Therefore, it corresponds to the condition 2, and the traveling control unit 11a continues traveling control based on the last received effective guidance signal (see FIG. 10B). Here, item No. in FIG. 6 corresponds to the last valid induction signal received. According to the conditions, the traveling control unit 11a rotates the self-propelled cleaner 1 clockwise.

While the driving control unit 11a samples the guidance signal seven times in succession, the right guidance sensor 24R cannot enter the region of the right guidance signal 205R, and if a valid guidance signal cannot be detected, the state transitions to S106. . Then, the traveling control unit 11a continues the search until any of the induction sensors receives the induction signal while rotating the direction of the self-propelled cleaner 1 by 360 ° (see R2 in FIG. 17).
When the right guidance sensor 24R eventually enters the area of the right guidance signal 205R in the state S106 (see FIG. 17), the state transitions to S105, and the traveling control unit 11a stops the self-propelled cleaner 1, The battery is moved forward by a maximum of 20 cm to approach the charging stand 201 (processing of S106 and E04).
At this time, the self-propelled cleaner 1 is located almost in front of the charging stand 201.
While approaching the charging stand in the state S105 (see arrow M5 in FIG. 18), the traveling control unit 11a controls the traveling direction of the self-propelled cleaner 1 while monitoring the induction signal receiving unit 24.

Item No. in FIG. 10A referred to in condition 1 of states S105 and E04. As illustrated in 4 to 10, the traveling control unit 11 a controls traveling so that the central guidance sensor 24 </ b> M approaches the charging base 201 along the no-signal area 207.
Specifically, when the self-propelled cleaner 1 is slightly shifted to the left side and the central guidance sensor 24M detects the left guidance signal 205L, it is turned slightly to the right at that position and returned to the front (item in FIG. 10A). No. 6). The same applies to the case of shifting to the right (see item No. 8 in FIG. 10A). In other words, when the center guidance sensor 24M detects the left guidance signal 205L, the course is changed to the right, and when the right guidance signal 205R is detected, the course is changed to the left.

  Further, when the self-propelled cleaner 1 is shifted to the left side and the right guidance sensor 24R does not receive the right guidance signal 205R, the self-propelled cleaner 1 is moved forward a little to the right and returned to the front (item No. in FIG. 10A). .4). The same applies to the case of shifting to the right side (see item No. 10 in FIG. 10A). In other words, when the left guidance sensor 24L no longer detects the left guidance signal 205L, the course is changed to the left, and when the right guidance sensor 24R no longer detects the right guidance signal 205R, the course is changed to the right.

  When the left guidance sensor 24L receives the left guidance signal 205L, the right guidance sensor 24R receives the right guidance signal 205R, and the central guidance sensor 24M does not receive any guidance signal, the self-propelled cleaner 1 goes straight. (See item No. 7 in FIG. 10A). In other words, the left guidance sensor 24L detects the left guidance signal 205L, the right guidance sensor 24R detects the right guidance signal 205R, and the central guidance sensor 24M detects neither the left guidance signal 205L nor the right guidance signal 205R. In the state, it is brought close to the charging stand 201 of the docking station.

When the traveling control unit 11a determines that the self-propelled cleaner has approached the charging stand to a predetermined distance, the state transitions to S109, and the traveling control unit 11a advances the self-propelled cleaner 1 by a maximum of 10 cm. It is docked on the charging stand 201 (processing of S105, E02).
In state S109, when the self-propelled cleaner 1 reaches the docking position and the bottom plate 2a contacts the switch 209 of the charging stand 201 and the switch 209 is turned on, the charging terminal portion 202 of the charging stand 201 and the self-propelled cleaner 1 charging connection portion 13 is in a position where it is in electrical contact. Power is supplied to the rechargeable battery 12 from the charging stand 201 through the charging connection portion 13 with the switch 209 being turned on as a trigger. The control unit 11 recognizes that power supply to the rechargeable battery 12 has started. In response to this, the traveling control unit 11a stops the traveling of the self-propelled cleaner 1 (processing of S109 and E01). This completes docking.

Although a specific example has been described above, in other cases, the traveling control executed by the traveling control unit 11a for docking can be known by following FIGS. 8 to 10C.
For example, when starting the return to the charging base 201, unlike any of the above cases, if any of the induction sensors has not received the sensor, the vehicle travels while searching for an induction signal or a wall (“else” of E03 in state S200). ”) Eventually, when a wall is found at a position less than 15 cm, the vehicle travels along the wall while maintaining a certain distance (10 cm) from the obstacle. In this case, it is assumed that the vehicle runs along the wall with the wall on the left hand side. When traveling while looking at the wall on the right hand side, the following description may be reversed.
When the self-propelled cleaner 1 travels along the wall in the vicinity of the charging stand 201, the left guidance sensor 24L detects the left guidance signal 205L from the charging stand 201.

When the left guidance sensor 24L receives the left guidance signal 205L, the state transitions to S103 and further advances after setting a timer (processing corresponding to “if” in S200 and E03).
In state S103, the traveling control unit 10a monitors the guidance signal.
When the self-propelled cleaner 1 crosses the front of the charging stand 201, the left guidance sensor 24L detects the right guidance signal 205R after passing through the no-signal area 207. At this time, the state transits to S100, and the traveling control unit 11a rotates the self-propelled cleaner 1 to the left (processing corresponding to “if” in S103 and E04).

  The processing from state S200, E03 to state S103, E04 described above is summarized as follows. The traveling control unit 11a looks at the wall on the left hand side and travels while maintaining a predetermined distance from the wall based on the detection of the obstacle detection unit 14, after the left guidance sensor 24L detects the left guidance signal 205L. When the left guidance sensor 24L detects the right guidance signal 205R, the traveling is stopped.

In the state S100, the direction is changed to the left, and when the central guidance sensor 24M eventually reaches the direction in which the right guidance signal 205R can be received, the state transitions to S102, the traveling control unit 11a stops traveling, and the front ultrasonic wave The distance from the charging stand 201 is measured by the sensor 14F (processing corresponding to “if” in S100 and E03).
If it is determined in state S102 that the distance to the charging base is 70 cm or less, the state transitions to S104, and the traveling control unit 11a changes the direction to 170 ° to the right or left to move the self-propelled cleaner 1 away from the charging base ( This corresponds to the “if” condition of the processing of S102 and E03).

In the state S104, the central guidance sensor 24M, the left guidance sensor 24L, and the right guidance sensor 24R do not detect any obstacles within a distance of 4.5 cm (while the condition of “if” of E03 in S104 does not apply), the charging stand The direction is reversed to move away from 201. When the reversal is completed (end of the first process), the travel control unit 11a travels in a direction in which the self-propelled cleaner 1 moves away from the charging stand 201 from the position up to 70 cm. If the central guidance sensor 24M, the left guidance sensor 24L, and the right guidance sensor 24R do not detect an obstacle within a distance of 4.5 cm and the self-propelled cleaner 1 moves away from the charging stand 201 to the distance (second time) ), The state transitions to S106, and the self-propelled cleaner 1 is rotated to 570 °. (Processing of S104 and E02).
In state S106, the traveling control unit 11a waits for any guidance sensor to receive a valid guidance signal during rotation. When a valid guidance signal is received, the state transitions to S105, and the traveling control unit 11a moves forward to a maximum of 20 cm to bring the self-propelled cleaner 1 closer to the charging stand 201. (Processing of S105 and E04)
The process during the approach to the charging stand 201 in the state S105 is as already described.
The processing from the state S100, E03 to the state S105, E04 is summarized as follows. The traveling control unit 11a changes the direction until the central guidance sensor 24M receives the left guidance signal 205L or the right guidance signal 205R, and causes the self-propelled cleaner 1 to approach the charging stand 201 that is a docking station.

(Embodiment 2)
This embodiment is a mode obtained by removing the central induction sensor 24M from the first embodiment. In the first embodiment, since there is the central guidance sensor 24M, the receivable directions of the left guidance sensor 24L and the right guidance sensor 24R are considerably lateral (see, for example, FIG. 11). In this embodiment, the receivable directions of the left guidance sensor 24L and the right guidance sensor 24R are arranged forward so as to complement the lack of the central guidance sensor 24M in the first embodiment. As a result, the spread in the left-right direction becomes narrow, while the guidance signal from the front can be determined on condition that the left guidance sensor 24L and the right guidance sensor 24R detect the guidance signal at the same time.

FIG. 20A is an explanatory diagram schematically showing the positions and receivable directions of the left guidance sensor 24L and the right guidance sensor 24R in this embodiment. FIG. 20B is an explanatory diagram corresponding to FIG. 20A of the self-propelled cleaner in the first embodiment.
The state transition table in this embodiment is shown in FIG. 21 and FIG. Underlined portions are different from those in FIGS. 8 and 9. In addition, FIGS. 23A, 23B, and 23C are explanatory diagrams corresponding to FIGS. 10A, 10B, and 10C, respectively. The gray-out portion of the character indicates a condition missing from FIGS. 10A, 10B, and 10C of the first embodiment because there is no central guidance sensor 24M in this embodiment.

For example, when the direction of the self-propelled cleaner 1 is directed toward the charging stand 201 in the state S100 of FIG. 21, when the following conditions are satisfied, the self-propelled cleaner 1 is substantially directed toward the charging stand 201. to decide. That is, both the left guidance sensor 24L and the right guidance sensor 24R receive the left guidance signal 205L or the right guidance signal 205R, or the left guidance sensor 24L receives the left guidance signal 205L and the right guidance sensor 24R receives the right guidance signal 205R. It is time to receive.
Here, the reason why the left guidance sensor 24L receives the left guidance signal 205L and the right guidance sensor 24R receives the right guidance signal 205R is when the self-propelled cleaner 1 is located in front of the charging stand 201. . In addition, when the induction signal transmission unit 203 is too close to the self-propelled cleaner 1, both the left induction sensor 24L and the right induction sensor 24R cannot detect the same induction signal, but the front of the charging stand as described above. If it is near, the left guidance sensor 24L receives the left guidance signal 205L and the right guidance sensor 24R receives the right guidance signal 205R.

Further, for example, in the processing of states S200 and E04, for example, when the left guidance sensor 24L detects the left guidance signal 205L, the right guidance sensor 24R changes its direction little by little from the unreceived state. At that time, when the right guidance sensor 24R detects the left guidance signal 205L and the left guidance sensor 24L changes to an unreceived state, the travel control is performed so that the middle of the angle before and after the change is directed toward the charging base 201. The unit 11a may make the determination.
As shown in FIG. 23A, when approaching the charging stand 201 near the front of the charging stand 201, the left guiding sensor 24L detects the left guiding signal 205L and the right guiding sensor 24R moves to the right even without the central guiding sensor 24M. It is possible to approach while changing the direction so as to maintain the state of detecting the guidance signal 205R.

Specifically, when the self-propelled cleaner 1 is shifted to the left side, the right guidance sensor 24R enters the no-signal area 207 and does not receive the right guidance signal 205R. The traveling control unit 11a advances the self-propelled cleaner 1 rightward slightly (see item No. 4 in FIG. 23A). When it is shifted to the right, it is moved forward a little to the left (see item No. 10 in FIG. 23A). When the left guidance sensor 24L detects the left guidance signal 205L and the right guidance sensor 24R detects the right guidance signal 205R, the self-propelled cleaner 1 goes straight (see item No. 7 in FIG. 23A).
Compared to the first embodiment, item no. Although there is no fine adjustment in the direction corresponding to 6 and 8, item no. 4, 7, and 10 allow the charging base 201 to be approached from the front along the no-signal area 207.

(Other variations)
In the above-described embodiment, the induction signal is an infrared signal. However, the essence of the present invention is not limited to this, and light other than the infrared band or electromagnetic waves may be used. However, since it is preferable that the non-signal region 207 has a substantially constant width, one having a strong straight traveling property is extremely preferable. (Embodiment 3)
Further, the guidance signal is not limited to a signal conforming to a so-called home appliances association format, and may be another standard format such as an NEC format or a unique format. (Embodiment 4)

As mentioned above,
(I) A self-propelled electronic device according to the present invention includes a plurality of induction sensors for detecting an induction signal for docking radiated from an external docking station, a power unit for moving to the docking station, and the docking station A traveling control unit that controls the power unit so as to be docked at a predetermined docking position, and the docking station emits a left guidance signal to a region leftward of the front of the docking position, A non-signal area where the left induction signal and the right induction signal do not reach between the area where the right induction signal is emitted to the area and the area where the left induction signal is emitted and the area where the right induction signal is emitted The plurality of induction sensors are formed such that a left induction sensor that detects an induction signal coming from the left side of the front front and a front front At least a right guidance sensor that detects a guidance signal coming from the right side, and the travel control unit is configured so that the left guidance sensor detects the left guidance signal and the right guidance sensor detects the right guidance signal. When approaching the docking station and the left guidance sensor no longer detects the left guidance signal, the course is changed to the left, and when the right guidance sensor no longer detects the right guidance signal, the course is changed. It is characterized by changing to the right.

Furthermore, the preferable aspect of this invention is demonstrated.
(Ii) It further includes a central guidance sensor disposed between the left guidance sensor and the right guidance sensor, and the travel control unit is configured such that the central guidance sensor detects both the left guidance signal and the right guidance signal. When not approaching the docking station, and when the central guidance sensor detects the left guidance signal, the course is changed to the right, and when the right guidance signal is detected, the course is changed to the left. Also good.
In this way, the position of the self-propelled electronic device depends on whether the central guidance sensor detects neither the left guidance signal nor the right guidance signal, whether the left guidance signal is being detected, or whether the right guidance signal is being detected. It is possible to correct the course by determining whether is in front of the docking station, leftward or rightward.

(Iii) When the left guidance sensor detects the left guidance signal and the right guidance sensor detects the right guidance signal, the traveling control unit determines a course when the central guidance sensor detects the left guidance signal. When the left guidance sensor stops detecting the left guidance signal while the central guidance sensor detects the left guidance signal, the course is further changed to the left, and the left guidance sensor When the central guidance sensor detects the right guidance signal in a state where the left guidance signal is detected and the right guidance sensor detects the right guidance signal, the course is changed to the left, and the central guidance sensor changes the right guidance. When the right guidance sensor stops detecting the right guidance signal in a state where a signal is detected, the course may be further changed to the right.
In this way, when the center guidance sensor detects the left guidance signal or the right guidance signal, fine adjustment is made so that the course returns to the front, and the left guidance sensor or the right guidance sensor changes the left guidance signal or the right guidance signal. When no longer detected, the course can be corrected by loosely adjusting the course to return to the front.

(Iv) It further includes a failure detection unit that can detect the distance from the wall in a non-contact manner, and the travel control unit looks at the wall on the left hand side and sets a predetermined distance from the wall based on the detection of the failure detection unit. When driving while keeping the left guidance sensor detects the left guidance signal, the left guidance sensor stops running when the right guidance signal is detected, and the central guidance sensor receives the left guidance signal or the right guidance signal. Then, the direction may be changed until the docking station is moved forward to approach the docking station.
In this way, when the left hand is on the wall side, when the guidance signal coming from the wall side changes from the left guidance signal to the right guidance signal, it is judged that it has crossed the front of the docking station and the direction of the self-propelled cleaner Can be changed to approach the docking station.
On the contrary, when the right hand is on the wall side, the direction of the self-propelled vacuum cleaner is changed by judging that it has crossed the front of the docking station when the guidance signal coming from the wall side changes from the right guidance signal to the left guidance signal. be able to.

(V) Also, from a different point of view, the return method to the docking station according to the present invention emits a left guidance signal to the left side area from the front of the docking position and radiates a right guidance signal to the right side area. The induction signal from an external docking station in which a non-signal area in which neither the left induction signal nor the right induction signal reaches is formed between an area where a signal is emitted and an area where the right induction signal is emitted Is detected using a left guidance sensor that detects a guidance signal coming from the left side of the front front and a right guidance sensor that detects a guidance signal coming from the right side of the front front, and the computer uses the left guidance sensor to detect the left guidance signal. And the right guidance sensor approaches the docking station in a state where the right guidance signal is detected, and the left guidance sensor When the guidance signal is no longer detected, the route is changed to the left. When the right guidance sensor no longer detects the right guidance signal, the route is changed to the right to change to the predetermined docking position of the docking station. It is controlled to be docked.
Preferred embodiments of the present invention include combinations of any of the plurality of embodiments described above.
In addition to the embodiments described above, there can be various modifications of the present invention. These modifications should not be construed as not belonging to the scope of the present invention. The present invention should include the meaning equivalent to the scope of the claims and all modifications within the scope.

DESCRIPTION OF SYMBOLS 1: Self-propelled cleaner, 2: Housing | casing, 2a: Bottom plate, 2b: Top plate, 2c: Side plate, 3: Cover part, 9: Rotating brush, 10: Side brush, 11: Control part, 11a: Travel control Part: 12: rechargeable battery; 13: connection part for charging; 14: failure detection part; 14C: collision sensor; 14F: front ultrasonic sensor; 14L: left ultrasonic sensor; 14R: right ultrasonic sensor; Dust collection unit, 18: front wheel floor surface detection sensor, 19L: left wheel floor surface detection sensor, 19R: right wheel floor surface detection sensor, 20: gyro sensor, 21: power unit, 22L: left driving wheel, 22R: right driving wheel 24L: Inductive signal receiver, 24L: Left induction sensor, 24M: Center induction sensor, 24R: Right induction sensor, 24a: Omni-directional sensor, 26: Rear wheel, 27: Front wheel, 31: Intake port, 32: Exhaust port, 51: Input unit, 52M: Main power switch, 52S: Power switch, 53: Start switch, 61: Storage unit, 62: Battery information, 63: Position information, 71: Operation mode information, 72: Operation mode, 73: Standby mode, 74: Sleep mode, 115: Electric blower, 119: Brush motor, 201: Charging stand, 202: Charging terminal section, 203: Induction signal transmission section, 203L : Left transmission unit, 203R: Right transmission unit, 204L, 204R: Light restriction member 205L: Left guidance signal, 205R: Right guidance signal, 207: No signal area, 209: Switch

Claims (5)

A plurality of inductive sensors for detecting inductive signals for docking emitted from an external docking station;
A power unit for moving to the docking station;
A travel control unit that controls the power unit to dock to a predetermined docking position of the docking station;
The docking station radiates a left guidance signal to an area on the left side of the front of the docking position, radiates a right guidance signal to an area on the right side, and radiates an area where the left guidance signal is radiated and the right guidance signal. A non-signal region where neither the left guidance signal nor the right guidance signal reaches is formed between
The plurality of induction sensors include a left induction sensor that detects an induction signal coming from the left side of the front front, a right induction sensor that detects an induction signal coming from the right side of the front front, and the left induction sensor and the right induction sensor. Comprising at least a central inductive sensor disposed between,
The driving control unit is configured such that the left guidance sensor detects the left guidance signal, the right guidance sensor detects the right guidance signal, and the central guidance sensor detects neither the left guidance signal nor the right guidance signal. And when the central guidance sensor detects the left guidance signal, the course is changed to the right, and when the right guidance signal is detected, the course is changed to the left. machine. The traveling control unit moves the road to the right when the central guidance sensor detects the left guidance signal while the left guidance sensor detects the left guidance signal and the right guidance sensor detects the right guidance signal. Change, when the left guidance sensor no longer detects the left guidance signal in the state where the central guidance sensor detects the left guidance signal, further change the course to the left,
When the central guidance sensor detects the right guidance signal while the left guidance sensor detects the left guidance signal and the right guidance sensor detects the right guidance signal, the route is changed to the left, and the central guidance is changed. The self-propelled electronic device according to claim 1, wherein when the right guidance sensor stops detecting the right guidance signal while the sensor detects the right guidance signal, the course is further changed to the right. It further includes a failure detection unit that can detect the distance from the wall in a non-contact manner,
When the traveling control unit is traveling while maintaining a predetermined distance from the wall based on the detection of the obstacle detection unit looking at the wall on the left hand side, the left guidance sensor detects a left guidance signal; When the left guidance sensor detects the right guidance signal, the vehicle stops traveling, changes the direction until the central guidance sensor receives the left guidance signal or the right guidance signal, and moves forward to approach the docking station. The self-propelled electronic device according to claim 1 or 2. A plurality of inductive sensors for detecting inductive signals for docking emitted from an external docking station;
A power unit for moving to the docking station;
A travel control unit that controls the power unit to dock to a predetermined docking position of the docking station;
The docking station radiates a left guidance signal to an area on the left side of the front of the docking position, radiates a right guidance signal to an area on the right side, and radiates an area where the left guidance signal is radiated and the right guidance signal. A non-signal region where neither the left guidance signal nor the right guidance signal reaches is formed between
The plurality of induction sensors include at least a left induction sensor that detects an induction signal coming from the left side of the front front and a right induction sensor that detects an induction signal coming from the right side of the front front,
The travel control unit causes the left guidance sensor to detect the left guidance signal, the right guidance sensor to approach the docking station in a state where the right guidance signal is detected, and the right guidance sensor to detect the right guidance signal. When the left guidance sensor stops detecting the left guidance signal, the course is changed to the left, and the left guidance sensor detects the left guidance signal, but the right guidance sensor A self-propelled electronic device that changes its course to the right when the right guidance signal is no longer detected. A left guidance signal is radiated to an area on the left side of the front of the docking position, a right guidance signal is radiated to an area on the right side, and the area between the area where the left guidance signal is emitted and the area where the right guidance signal is emitted. A left guidance sensor for detecting a guidance signal coming from the left side of the front front of the guidance signal from an external docking station in which a no-signal area where neither the left guidance signal nor the right guidance signal reaches is formed, Detect using a right induction sensor that detects an induction signal coming from the right side, and a central induction sensor disposed between the left induction sensor and the right induction sensor,
The docking is performed when the left guidance sensor detects the left guidance signal, the right guidance sensor detects the right guidance signal, and the central guidance sensor detects neither the left guidance signal nor the right guidance signal. When the center guidance sensor detects the left guidance signal, the route is changed to the right side, and when the right guidance signal is detected, the route is changed to the left side, and the docking station is predetermined. A method for returning a self-propelled electronic device to a docking station to control docking to a specified docking position.