JPH01106204A - Self-traveling cleaner - Google Patents

Abstract

PURPOSE:To automatically traveling a cleaner by providing the cleaner with a distance measuring means for measuring a distance from the cleaner body up to a peripheral substance to recognize the shape of a current cleaning area and to decide the direction of the body. CONSTITUTION:The self-traveling cleaner is constituted of the cleaner body 101 having a traveling means 102 and a steering means 103 to travel, the measuring means 104 for measuring a distance up to its peripheral substance on a prescribed plane, a deciding means 105 for deciding the direction of the body 101, a storage means 106 for storing the decided result, and a control means 107 which are included in the body 101. Microcomputers based on CPUs, etc., are used for the means 105, 106, 107. Thus, a distance from the body to the peripheral substance is measured and an area using a line connecting the distances as a wall face is recognized by the deciding means 105. Then, the direction of the body 101 from the area is decided and a traveling course is calculated to attain automatic traveling.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application This invention relates to a self-propelled vacuum cleaner that cleans flat surfaces such as floors and roads by itself.

(B) Conventional technology Self-propelled vacuum cleaners that have been proposed in the past include those that have guide wires laid on the floor to guide the vacuum cleaner to a predetermined path using electromagnetic induction, and those that have reflective tape pasted on them. Let's look at one that uses an optical detection method to guide the user to a predetermined path.

In addition, the vacuum cleaner is run once by human power, the running state is stored in a memory element inside the vacuum cleaner itself or an external memory element, and then the vacuum cleaner is run automatically.
Special Publication No. 55-32369, Special Publication No. 61-3484
There are some such as those shown in Japanese Patent Application Laid-open No. 149724/1983.

(c) Problems to be Solved by the Invention However, in the case where a vacuum cleaner is guided to a predetermined path by an electromagnetic induction method or an optical detection method, guiding wires or reflective tape are arranged in the area to be cleaned. Moreover, there is a problem in that the places where the vacuum cleaner can be used are limited.

In addition, in the case of a vacuum cleaner that is operated manually and the running state is memorized in the vacuum cleaner, a person must operate the vacuum cleaner at least once to have the vacuum cleaner memorize the running route. There is a problem.

This invention has been made in consideration of the above circumstances, and includes providing a vacuum cleaner with a measuring means for measuring the distance to surrounding objects, thereby allowing the vacuum cleaner itself to measure the current cleaning area. The purpose of the present invention is to provide a self-propelled vacuum cleaner that recognizes the shape of a vehicle, determines its position and orientation within the region, and automatically travels.

(d) Means to solve the problem FIG. 1 is a block diagram showing the configuration of the present invention.

In this figure, lot is the traveling means 102 and the steering means +
03 is the main body of the vacuum cleaner that runs, 104 is the main body lot
Measuring means 105 is provided to measure the distance on a predetermined plane from the main body 101 to surrounding objects, and 105 recognizes an area whose wall is a line connecting the distances obtained by the measuring means 104 continuously, and also measures the area. 106 is a storage means for storing the determination result of the determination means 105. 107 is a storage means for storing the determination result of the determination means 105. This is a control means for controlling the

Note that the measuring means 104 may be an optical measuring device that includes a light emitting section using a light emitting element such as a semiconductor laser, and a light receiving section consisting of a light irradiation position detecting element such as a COD linear image sensor. Although preferred, an ultrasonic range finder, an infrared range finder, a TV camera, etc. may also be used.

Further, the determination means 105, the storage means 106, the control means 10
7, a microcomputer consisting of a CPU, ROM, and RA to 1°110 ports is normally used.

The traveling means 102 includes wheels, caterpillars, etc. driven by a traveling motor, and the steering means 1
As 03, ordinary devices for changing the direction of those wheels, caterpillars, etc. are used.

(e) The action measuring means measures the distance on a predetermined plane from the vacuum cleaner body to surrounding objects, and the discriminating means recognizes the area whose wall surface is a line connecting that distance continuously. The position of the cleaner body within the area and the orientation of the cleaner body relative to the area are determined.

Therefore, through such recognition and discrimination, the vacuum cleaner itself can discriminate between walls and obstacles, calculate a travel route, and automatically travel.

(f) Examples Hereinafter, the present invention will be described in detail based on examples shown in the drawings. Note that this invention is not limited to this.

FIG. 2 is a side view showing an embodiment of the self-propelled vacuum cleaner according to the present invention, and FIG. 3 is a partially cutaway side view showing the back side of FIG.

In these figures, l is a self-propelled vacuum cleaner body, which is covered with an exterior case 4 consisting of an upper case 2 and a base skirt part 3, and the base skirt part 3 has a plurality of built-in collision sensors 5a. A bumper 5 is provided. Furthermore, a rotatable distance measuring section 6, which will be described later, is arranged in the upper part of the upper case 2.

Reference numeral 7 denotes a board of the self-propelled vacuum cleaner main body l, on which a pair of dust suction mechanisms 8a and sb are disposed before and after the board.

These dust suction mechanisms 8a and 8b pass through the dust suction parts 9a and 9b, which each have a built-in dust suction fan motor and dust collection filter, the floor suction tools 11a and llb, and the base 7 to form the dust suction part 9a.
, 9b and a floor suction tool 11a.

11b, flexible hoses 10a are connected to the flexible hoses 10a and 11b, respectively.

tob, floor suction device lifting motors 12a, 12b attached to the lower surface of the base 7, and floor suction device 11a.

It is composed of wires 13a and 13b which are wound up by motors j2a and 12b for raising and lowering the suction tool for the floor. 15
is a rechargeable battery for power supply placed on the base 7.

16a, 16b, 16c, and 16d are wheel units installed at the front and rear left and right positions of the base 7, and the wheels 17
a-17d, traveling motors 18a to 18 connected to the wheels;
d, wheel support shafts 19a-19d, wheel support shaft housing 20
Consists of a to 20d, wheel support shaft 19 a 4.19
It is rotatable around d.

Steering pulleys 21a to 21 are provided on the wheel support shafts 19a to 19d.
The output pulley 21e and the steering pulley 21 are fixed to the output shaft of the steering motor 22, respectively.
Since the steering timing belt 23 is passed between the wheels a to 21d, it is possible to change the direction of the four wheel units 16a to 16d by rotating the steering motor (traveling motor 18a, 18b, wheel support shaft 19
a, 19b, wheel support shaft housings 20a, 20b.

The steering pulleys 21a and 21b are not shown).

FIG. 4 is a plan view showing the distance measuring section 6 with the outer cover removed.

As shown in the figure, the distance measuring section 6 includes a light source section 25 consisting of a semiconductor laser and a collimator lens, a collective lens, and a light irradiation position detection element such as a COD linear image sensor, mounted on a rotary table 24. The light receiving parts 26a to 26c are arranged based on the principle of triangulation, and these and their circuit parts (not shown) can rotate around a rotation axis 27 that coincides with the central axis of the self-propelled vacuum cleaner body 1. It is. By rotating the distance measuring section 6 with a rotation motor (not shown), it is possible to measure the distance to the object in the entire circumferential direction of the self-propelled vacuum cleaner main body l.

In order to increase the measurement resolution, three light receiving sections 26a to 26c are installed: a short distance light receiving section 26a, a middle distance light receiving section 26b, and a long distance light receiving section 26c, but they can be set arbitrarily depending on the required measurement range or measurement accuracy. It is possible to do so.

Note that an ultrasonic distance measuring device, a TV camera, or the like may be used as the distance measuring section 6.

FIG. 5 is a circuit block diagram showing the configuration of the self-propelled vacuum cleaner shown in FIG. 2.

As shown in this figure, a central processing circuit 28 consisting of a CPU
is connected to the collision sensor 5a via the interface circuit 3o.
and the distance measurement data from the distance measurement circuit 31 of the distance measurement unit 6 are read together with the angle with respect to the self-propelled vacuum cleaner main body 1, and the travel motors 18a to 18d, the dust suction motors 9a and 9b, and the floor suction tool are read. Lifting motors 12a, 12b,
The steering motor 22 and the rotation motor 32 of the distance measuring section 6 are controlled.

In addition, these measurement data and control data are stored in a memory circuit 29 consisting of a RAM, and are stored in a central processing circuit '28.
It is configured to be referenced and processed as necessary.

The operation of such a configuration will be explained below using FIGS. 6 and 7.

Figure 6 is a Rarrow chart diagram showing the operation of a self-propelled vacuum cleaner.
FIG. 7 is an operation explanatory diagram based on FIG. 6.

In FIG. 6, when cleaning is started at an arbitrary position, for example, position A shown in FIG. 7, the central processing circuit 28
First, the range finder rotation motor 32 is driven via the interface circuit 30 to rotate the range finder 6, and the range finder circuit 3 rotates the range finder 6 at intervals of, for example, 1 degree around the entire circumference of the cleaner body 1.
1 measurement data is read and stored in the storage circuit 29.

This measurement data is, in other words, distance data in all directions between the cleaner body l and an external object, such as a wall or an obstacle.

Regarding this distance data, from now on, distance measurement will be continued until the entire cleaning area has been cleaned and moved to a predetermined position (position B in Fig. 8, but it can be set arbitrarily).
The distance measurement data stored in the storage circuit 29 is updated.

From this distance measurement data, as will be described later, the shape of the cleaning area, such as a room, in which the cleaner body 1 is currently placed is recognized. Then, the position of the cleaner body 1 within the cleaning area and the direction in which the cleaner body 1 faces with respect to the cleaning area are determined (step 201).

If the position of the vacuum cleaner main body l is not at the cleaning start position (step 2.02), the front and rear floor suction tool lifting motors 12a and 12b are driven, and the floor suction tool 11a and l
lb away from the floor, the steering motor 22 is driven, and the running wheels 16a to 16d are directed in the direction of a cleaning start position B, which is set in advance at a corner of the cleaning area depending on the shape of the cleaning area. (See Figure 8), Traveling motor!
Drive 8a=18d to move to vacuum cleaner starting position B (
Step 203).

When the cleaning start position B is reached, the traveling motors 18a-1
8d, drive the steering motor 22, and direct the running wheels 16a=16d in the direction shown by arrow C in FIG.
The direction of arrow C in the figure is assumed to be the front direction of the vacuum cleaner main body 1).

Next, the floor suction device lifting motors 12a, 12b are driven to ground the front and rear floor suction devices 11a, llb to the floor surface, and the front and rear dust suction fan motors 9a, 9b are operated.

Thereafter, the running motors 18a and 18d are driven to advance the cleaner body l (step 204).

The central processing circuit 28 constantly calculates the travel distance of the cleaner main body l based on the distance signal from the distance measuring circuit 31 of the distance measuring section 6.

The running distance from the cleaning start position B is the front and rear floor suction tools 1.
When the distance ML between 1a and llb (see Figure 8) is exceeded, that is, when moving forward, the rear floor suction tool 11b is at the cleaning start position B and the front floor suction tool 11a is at the cleaning start position B. When the vehicle reaches the position, the rear dust suction fan motor 9a is stopped, and the rear floor suction tool lifting motor 12b is rotated to move the rear floor suction tool zb away from the floor (eighth
(as shown in the figure).

In this state, it runs while cleaning up to the opposite wall.

If any abnormality occurs in the vacuum cleaner main body l during the process (step 205), it is determined whether it can be moved from that position (step 206), and if it is, it is moved to the cleaning starting position B. Step 207), if it is impossible to move, it stops there and turns off the power itself to complete the cleaning.

Then, if no abnormality occurs (S i :f), the cleaning run continues while detecting obstacles, and if an obstacle is detected (step 206), an avoidance operation is performed to avoid the obstacle. Avoiding objects (step 207),
Resume cleaning run.

In addition, if no obstacle is detected but the cleaner collides with some object (step 208), the vacuum cleaner body 1 is stopped (step 209), and if a restart key (not shown) is pressed. (Step 210), the cleaning run is restarted.

If the cleaner does not collide with anything, the cleaner continues to move until it reaches the opposite wall while calculating the position of the cleaner main body l (step 211), and when it approaches the opposite wall (step 212), the cleaner Motors 18a-18d
(step 213), and further stops the front dust suction fan motor 9a and rotates the front floor suction device lifting motor 9a to move the front floor suction device 11a away from the floor (Fig. 8). (Denoted as Apparatus E).

If the cleaning has not been completed, that is, if there is an uncleaned area (step 214L), the steering motor 22 is driven to move the traveling wheels 90° in the direction shown by arrow F in FIG.
After rotating 6a=16d, the traveling motors 18a to 1
8d, moves by the length Q (see Fig. 8) of the floor suction tool 11a=11b (step 2I5), and stops (
(shown as device G in FIG. 8).

Then, the steering motor 22 is driven again to direct the running wheels 15a=16d in the direction shown by the arrow H in FIG. Rotate the front and rear floor suction tools 11a.
, Ilb is grounded on the floor, and after operating the front and rear dust suction fan motors 9a and 9b, the traveling motors 18a to 18d are
to move the vacuum cleaner main body l backward.

In this case as well, when the front and rear floor suction tools 11a and 11b have traveled the distance between them (as indicated by position ■ in Figure 8), the vacuum cleaner main body l advances in the opposite direction to the forward movement. The dust suction fan motor 9a located on the rear side in the direction of travel is stopped, and the floor suction tool lifting motor 12a, also located on the rear side in the direction of travel, is driven to move the floor suction tool 11a away from the floor surface. Carry out a cleaning run until the end.

Thereafter, the same process is repeated, and when the entire cleaning area is cleaned (as shown by device J in FIG. 8), the traveling motors 18a to 18d
Then, the dust suction motors ja and 9b are stopped, and the floor suction tool lifting motors 12a and 12b are driven to remove the floor suction tool 11a.
, llb away from the floor.

Thereafter, the steering motor 22 is moved so that the running wheels 16a=16d are directed in the direction of the cleaning start position (indicated by device B in FIG. 8).
and drive the traveling motors 18a to 18d to move to the cleaning start position B (step 216). After notifying the completion of cleaning using a light emitting element or a sounding element, etc., the cleaner turns off the power to the vacuum cleaner main body L by itself. to finish cleaning.

Figures 8 to 10 are explanatory diagrams showing an example of recognition of the shape of a cleaning area and determination of the position and orientation of the vacuum cleaner body in the cleaning area, and Figures 11 to 13 are illustrations showing other examples as well. It is a diagram.

Of these figures, Figures 8 and 11 are diagrams showing the actual shape of the room when the cleaning area is a room surrounded by walls, and the black circles in the figures indicate the position of the vacuum cleaner body l. It shows.

9 and 12 show the data measured by the distance measuring unit 6 as polar coordinate values around the vacuum cleaner body 1 in the circumferential direction of those rooms. Measured clockwise with the upper direction of the room shown as 0 degrees.

1O and 13, the polar coordinate values measured by the distance measuring unit 6 are differentiated by angle, and the coordinates where the rate of change of the polar coordinate value with respect to the angle is maximum are detected as corner points, and the position of each corner is determined. It shows what is plotted on the XY plane coordinates.

This plotting of the xY plane coordinates is performed in the RAM of the storage circuit 29 by the central processing circuit 28 consisting of the CPU, and the area to be cleaned is recognized so that the straight line connecting the corner points forms the wall surface. Further, the position of the vacuum cleaner main body 1 within the area and the orientation of the vacuum cleaner main body 1 with respect to the area are determined from the distance from the wall surface and the angle with respect to the wall surface.

The determination result is stored in the storage circuit 29 and is used as basic data for calculating the start and end points of cleaning and the travel route, and for determining obstacles and walls.

In this way, the vacuum cleaner body is equipped with a distance measuring unit that measures the distance to surrounding objects, thereby recognizing the shape of the current cleaning area and adjusting the distance of the vacuum cleaner body within that area. By determining the position and direction of the vacuum cleaner in relation to the area, it becomes possible to distinguish between walls and obstacles and calculate the travel route, increasing efficiency without instructing the travel route from the outside. This makes it possible to achieve good automatic driving.

Another embodiment of the self-propelled vacuum cleaner according to the present invention is one in which the shapes of a plurality of cleaning areas are stored in advance in the memory circuit of the vacuum cleaner body, and the shapes of the cleaning areas are stored in the central processing circuit of the vacuum cleaner body. When the shape of is recognized, a cleaning area corresponding to the recognized cleaning area is selected from among the multiple cleaning areas stored in advance, and the position of the vacuum cleaner body is determined within the selected cleaning area. , and the orientation of the cleaner body with respect to the selected area.

In this way, the accuracy in determining the position and orientation of the cleaner body is improved, and the processing speed is also increased.

In addition, in order to store multiple cleaning areas in such a case, an external storage device using an external storage medium such as a magnetic tape, a magnetic disk, or a card with a built-in memory element is installed in the vacuum cleaner body, and one storage area is stored in the external storage medium. A plurality of cleaning areas in a building may be stored and exchanged for each building.

Furthermore, regarding the storage of a plurality of cleaning areas, it is also possible to store travel routes instead of cleaning areas, and to automatically travel the cleaner body based on the travel routes.

(G) Effects of the Invention According to this invention, the vacuum cleaner body is provided with a measuring means for measuring the distance from the vacuum cleaner body to surrounding objects, thereby recognizing the shape of the cleaning area currently placed. , the position of the vacuum cleaner body within that area and the orientation of the vacuum cleaner body with respect to that area are determined, so by these recognition and discrimination, it is possible to distinguish between walls and obstacles and calculate the travel route. It becomes possible to drive automatically,
There is no need to manually instruct the driving route.

In addition, there is no need to change external storage elements such as magnetic tapes that store cleaning areas or travel routes to match the cleaning area, which improves operability and eliminates human errors such as incorrect cleaning area data. It can also be prevented.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing the configuration of the present invention, Fig. 2 is a side view showing an embodiment of the self-propelled vacuum cleaner according to the invention, and Fig. 3 is a cutaway side view showing the back side of Fig. 2. , Fig. 4 is a plan view showing the distance measuring unit with the outer cover removed, Fig. 5 is a circuit block diagram showing the configuration of the self-propelled vacuum cleaner 9 shown in Fig. 2, and Fig. 6 is a plan view showing the self-propelled vacuum cleaner 9 shown in Fig. 2. A flowchart diagram showing the operation of the vacuum cleaner, FIG. 7 is an operation explanatory diagram based on FIG. 6, and FIGS. 8 to 10.
The figure is an explanatory diagram showing an example of recognition of the shape of the cleaning area and determination of the position and orientation of the vacuum cleaner body in the cleaning area, and Figures 11 to 13 are other examples similar to Figures 8 to 10. FIG. ! ... Self-propelled vacuum cleaner body, 2 ... Upper case, 3 ... Base skirt, 4 ...
Exterior case, 5...Bumper, 5a...
Collision sensor, 6... Distance measuring unit, 7... Self-propelled vacuum cleaner main body board, 8a, 8b... Dust suction mechanism, 9a, 9b...・Dust suction part, 10a, 10b・
...Flexible hose, 11a, llb...
Floor suction tool, 12a, 12b... Floor suction tool lifting motor, 13a, '13b... Wire, 1
5...Rechargeable battery, 16a-16d...
・Wheel unit, 17a=17d...Wheel, 18c, 18d...Travel motor, -19c,
19d...Wheel support shaft, 20c, 20d...
...Wheel support shaft housing, 20c, 20d...
Steering pulley, 21e...Output pulley, 22
... Steering motor, 23 ... Steering timing belt, 24 ... Turntable, 25 ...
...Light source section, 26a to 26c... Light receiving section, 2
7...Rotation axis, A-J...Position, L...Distance between front and rear floor suction tools, Q...
...Length of floor suction device. j,,l l,French-3 Sub-Fig. 1 Fig. 2 Fig. 4 ↑ Fig. 7 Fig. 9 □ Angle (°) Fig. 10 Fig. 11 Fig. 12 Fig. 13 ゝ・-＋−１ , ++ ++J Procedural Amendment January 8, 1986 Mr. Kunio Ogawa, Commissioner of the Patent Office
C1, Indication of the case 1986 Patent Application No. 264709 2, Name of the invention Self-propelled vacuum cleaner 3, Person making the amendment Relationship to the case Patent applicant address Moriguchi type Keihan Hondori 2nd lower 18th street name
(188) Sanyo Electric Co., Ltd. Representative Satoshi Iue 4, Agent 530 Address 6, Quarter One Building, 5-13 Nishitenma, Kita-ku, Osaka Subject of amendment (1) Detailed description of the invention in the specification Column (2) Figures 5 and 6 of the drawings 7, Contents of correction (1) ■ [Dust suction motor 9] on page 8, line 19 of the specification
a, 9bJ are connected to the front dust suction fan motor 91a and the rear dust suction fan motor 911+J. Line 5, page 11, line 18, page 12, line 4, page 13, line 12, page 13, line 15
line, page 13, line 18, page 13, lines 19-20
line, page 14, lines 1-2, page 14, line 11,
"Figure 8" in the 18th line of the 14th page and the 3rd line of the 15th page is corrected to "Figure 7". ■Page 11 of the same book! Line 1, page 14, line 6, and page 14, line 19 [9a. 9bJ is corrected by 4 degrees to r91a and 91bJ. ■ Correct “9a” in the second line of page 12 of the same book to “9IbJ.” ■ Correct “Step 206” in line 10 of page 12 of the same book as “9IbJ.”
Step 306" is corrected. ■“Step 207” on page 12 of the same book, lines 11-12
” is corrected to “step 307”. ■Correct "9a" in lines 9 to IO of page 13 of the same book and line 13 of page 14 to r91aJ. (2) Figures 5 and 6 of the drawings will be corrected as shown in the attached sheet.

Claims (1)

[Claims] 1. A vacuum cleaner main body that travels and has a running means and a steering means, a measuring means provided on the main body and measuring the distance on a predetermined plane from the main body to surrounding objects, and a distance obtained by the measuring means Discrimination means for recognizing a region whose wall surface is a line connecting continuous distances, and determining the position of the main body within the region and the orientation of the main body with respect to the region; and storage means for storing the discrimination results. , a self-propelled vacuum cleaner comprising a control means for causing the main body to travel based on the determination result.