JPH01234904A - Automatic traveling cleaner - Google Patents

Abstract

PURPOSE:To simplify the constitution of the title device by allowing a load position detecting means to detect load applied to a sheet-like laid substance, an object to be cleaned, to detect an obstacle. CONSTITUTION:A sheet part side control circuit built in one corner part 9 of a laid sheet 1 has a constant voltage circuit 14 for supplying power with a fixed voltage, a detecting means 15 to be the load position detecting means for detecting the position of an obstacle on the sheet 1, a microcomputer 16, and a transmission part 17 for supplying a signal outputted from the microcomputer 16 to an auto-traveling type cleaner. The microcomputer 16 stores a load position detected by the detecting part 15, regards the position of the static load detected by the detecting part 15 as the position of the obstacle, regards the position of a moving load as that of the auto-traveling cleaner, and specifies the traveling direction of the cleaner so as to evade the obstacle. Consequently the constitution of the auto-traveling cleaner can be simplified.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatically traveling cleaning device that uses a self-propelled vacuum cleaner to clean sheet-like materials such as carpets in hotels or households.

[Conventional technology]

This type of self-propelled cleaning device is a self-propelled vacuum cleaner that runs along a guide such as a railway installed under the floor of a building.
Devices that perform cleaning have previously been proposed, and some have already been put into practical use. However, such an automatically traveling cleaning device does not have a degree of freedom to appropriately change the traveling direction with respect to obstacles. Therefore, is it suitable for use in hotel lobbies, corridor rings, or other locations where there are few obstacles and the self-propelled vacuum cleaner only needs to travel along a fixed path?Or is it suitable for use in locations where there are few obstacles and the self-propelled vacuum cleaner only needs to travel along a fixed route? It is unsuitable for use in places where there are scattered areas.

On the other hand, a self-propelled cleaning device capable of cleaning such places includes a self-propelled vacuum cleaner equipped with a plurality of ultrasonic sensors that detect the position of obstacles. It is known that cleaning is performed by determining the running direction based on a detection signal.

[Problem to be solved by the invention]

However, in the above-mentioned self-propelled cleaning device, the self-propelled vacuum cleaner is run based on the detection signal of the ultrasonic sensor installed in the self-propelled vacuum cleaner, so it is difficult to control the running direction of the self-propelled vacuum cleaner. is difficult, and the configuration of the control system is complicated. Further, since the above-mentioned ultrasonic sensor is also expensive, the cost of the device is high. Furthermore, in systems that control the running of a self-propelled vacuum cleaner using detection signals from ultrasonic sensors, the self-propelled vacuum cleaner detects an obstacle only when it approaches the obstacle, and sets the running direction each time. As such, self-propelled vacuum cleaners have problems such as difficulty in running them efficiently, and the current situation is that they have not yet been put into practical use.

[Means to solve the problem]

In order to solve the above-mentioned problem, the automatic traveling cleaning device according to the invention of claim 1 includes a traveling means for traveling, a traveling driving means for driving the traveling means, and a traveling direction changing means for changing the traveling direction. , and a self-propelled cleaning device that has a cleaning means for cleaning sheet-like materials and a self-propelled vacuum cleaner that cleans while traveling on the sheet-like materials. A load position detection means for detecting the applied position; a storage means for storing the load position detected by the load position detection means; and a storage means for storing the position of the stationary load detected by the load position detection means. The position of the moving load is regarded as the position of the object, and the position of the moving load is regarded as the position of the self-propelled vacuum cleaner, and traveling direction specification information is created that specifies the traveling direction of the self-propelled vacuum cleaner to avoid obstacles. a traveling direction designating information creating means; a transmitting means for transmitting traveling direction designating information issued by the traveling direction designating information creating means to the self-propelled vacuum cleaner; receiving means for receiving the transmitted signal;
The self-propelled vacuum cleaner is provided with a running direction changing means control means for controlling the above-mentioned running direction changing means based on the running direction designation information obtained through the receiving means.

In order to solve the above-mentioned problem, the automatic traveling cleaning device according to the invention of claim 2 includes a traveling means for traveling, a traveling driving means for driving the traveling means, and a traveling direction changing means for changing the traveling direction. and a self-propelled vacuum cleaner that has a cleaning means for cleaning a sheet-like laying material and cleans while traveling on the sheet-like laying material. A load position detection means for detecting the applied position; a storage means for storing the load position detected by the load position detection means; and a storage means for storing the position of the stationary load detected by the load position detection means. The position of the moving load is regarded as the position of the object, and the position of the moving load is regarded as the position of the self-propelled vacuum cleaner, and traveling direction specification information is created that specifies the traveling direction of the self-propelled vacuum cleaner to avoid obstacles. A traveling direction specifying information generating means, and a means for generating a traveling speed deceleration signal as speed information instructing the traveling self-propelled vacuum cleaner to slow down its traveling speed when the traveling self-propelled vacuum cleaner approaches an obstacle. , speed information generating means for generating a running speed acceleration signal as speed information instructing the self-propelled vacuum cleaner to return the running speed to the speed before deceleration when the self-propelled vacuum cleaner moves away from an obstacle; Transmitting means for transmitting the traveling direction designation information issued by the traveling drive means control means and the speed information issued by the speed information generating means to the self-propelled vacuum cleaner; , a receiving means for receiving the signal sent from the transmitting means, and a traveling direction changing means provided in the self-propelled vacuum cleaner to control the traveling direction changing means based on the traveling direction designation information obtained through the receiving means. Based on the speed information obtained through the means control means and the receiving means provided in the self-propelled vacuum cleaner, when the speed 117 report is a traveling speed deceleration signal, the traveling speed of the self-propelled vacuum cleaner is slowed down. Travel drive means control means for controlling the travel drive means so that the travel speed of the self-propelled vacuum cleaner returns to the original speed before deceleration when the speed information is a travel speed acceleration signal. This configuration has the following features.

In order to solve the above problem, the automatic traveling cleaning device according to the invention of claim 3 includes a traveling means for traveling, a traveling driving means for driving the traveling means, and a traveling direction changing means for changing the traveling direction. and a self-propelled vacuum cleaner that has a cleaning means for cleaning the sheet-like laying material and cleans the sheet-like laying material while traveling on the sheet-like laying material. A load position detection means for detecting a position where a load is applied; an obstacle position input means having a manually operated input section and capable of inputting the position of an obstacle on a sheet-like laying object; storage means for storing the load position detected by the load position and the position of the obstacle input by the obstacle position input means; The position of the moving load is regarded as the position of the self-propelled vacuum cleaner, and the position of the stationary load is regarded as an obstacle and the obstacle input using the obstacle position input means. a traveling direction designation information creation means for creating travel direction designation information for designating a travel direction of the self-propelled vacuum cleaner to avoid objects; and a transmission device for transmitting the travel direction designation information to the self-propelled vacuum cleaner. and is installed in a self-propelled vacuum cleaner,
a receiving means for receiving the signal sent from the transmitting means; and a traveling direction changing means provided in the self-propelled vacuum cleaner and controlling the traveling direction changing means based on the traveling direction designation information obtained through the receiving means. The configuration includes a control means.

[For production]

According to the configuration of the invention as claimed in claim 1, the load position detection means detects the position on the sheet-like laying object where the load is applied, and the storage means stores the load position detected by the load position detection means. be done. As the load position detection means, one having a structure in which a pressure-sensitive conductive layer is interposed between two upper and lower films on which electrode groups orthogonal to each other are printed can be used. Such a load position detection means may be installed inside the sheet-like laying object such as a carpet to be cleaned, or it may be separate from the sheet-like laying object, and may be separate from the sheet-like laying object. It may also be installed between it and the floor.

On the other hand, the traveling direction specifying information creation means regards the position of the stationary load detected by the load position detection means as the position of the obstacle, and also determines the position of the moving load as the position of the self-propelled vacuum cleaner. , and creates travel direction designation information that designates a travel direction of the self-propelled vacuum cleaner that avoids obstacles.

This traveling direction designation information is then transmitted to the self-propelled cleaner by the transmitting means. As a transmission medium by the transmitting means, weak radio waves, ultrasonic waves, infrared rays, power lines, etc. can be used.

The traveling direction designation information sent from the transmitting means is received by a receiving means provided in the self-propelled cleaner, and is inputted to the traveling direction changing means control means through this receiving means. The running direction changing means control means controls the running direction changing means based on the running direction designation information. Note that the traveling means of the self-propelled vacuum cleaner can be configured with wheels, for example.
The wheels may be four wheels or three wheels. As a power source for a self-propelled vacuum cleaner, a secondary battery, a secondary battery, or an AC power source can be used. In addition, when using an AC power source, it is preferable to provide an outlet in the load position detection means.

By such an operation, the self-propelled vacuum cleaner can avoid obstacles on the sheet-like laying material while traveling. In other words, the self-propelled vacuum cleaner can be operated accurately in response to changes in the position of obstacles such as furniture without equipping the self-propelled vacuum cleaner with position detection sensors and obstacle sensors for each direction. Can be done. Furthermore, the self-propelled vacuum cleaner itself has a very simple configuration. Furthermore, the storage means stores the route that the self-propelled vacuum cleaner has traveled, and by creating travel direction designation information that avoids the route that has already been traveled, it is possible to avoid cleaning the same area twice. A self-propelled vacuum cleaner can be run to clean all areas that require cleaning.

According to the structure of the invention as claimed in claim 2, the load position detection means detects the position on the sheet-like laying object where the load is applied, and the storage means stores the load position detected by the load position detection means. be done. Then, the traveling direction designation information creation means regards the position of the stationary load detected by the load position detection means as the position of the obstacle, and determines the position of the moving load as the position of the self-propelled vacuum cleaner. , and creates travel direction designation information that designates a travel direction of the self-propelled vacuum cleaner that avoids obstacles. In addition, when the self-propelled vacuum cleaner approaches an obstacle, the speed information generating means issues a travel speed deceleration signal instructing the self-propelled vacuum cleaner to slow down its travel speed, and When the machine moves away from an obstacle, it issues a travel speed acceleration signal that instructs the self-propelled vacuum cleaner to return to the speed before deceleration. The traveling direction designating information issued by the traveling direction designating information generating means and each speed information issued by the speed information generating means are transmitted to the self-propelled cleaner by the transmitting means.

Each information transmitted from the transmitting means is sent to the travel drive means control means through the receiving means. The running direction changing means control means controls the running direction changing means based on the running direction designation information. The travel drive means control means controls the travel drive means to slow down the travel speed of the self-propelled vacuum cleaner based on the obtained speed information when the speed information is a travel speed deceleration signal. When it is a traveling speed acceleration signal, the traveling drive means is controlled so that the traveling speed of the self-propelled cleaner returns to the original speed before deceleration. The running speed of such a self-propelled vacuum cleaner can be controlled by changing the speed stepwise or continuously.

By controlling the self-propelled vacuum cleaner as described above, even if the self-propelled vacuum cleaner collides with an obstacle, inconveniences such as damage to the obstacle or the self-propelled vacuum cleaner falling can be avoided even if the self-propelled vacuum cleaner collides with an obstacle. can do.

In other words, the obstacles placed on the sheet-like laying material are:
The shape of the load surface does not match the shape of the obstacle, such as those whose top side protrudes laterally from the bottom surface, which is the load position, or objects that are supported by several load surfaces, such as desks. There is. Therefore, if the load position of such an obstacle is regarded as the obstacle's position and the self-propelled vacuum cleaner is controlled to avoid colliding with the obstacle, the self-propelled vacuum cleaner will be able to avoid the obstacle. There is a risk of collision with an obstacle. And when the self-propelled vacuum cleaner collides with an obstacle,
Not only does the self-propelled vacuum cleaner fall over and become unable to run,
This may cause inconveniences such as scratches on the obstacles.

On the other hand, when the self-propelled vacuum cleaner approaches an obstacle, the self-propelled vacuum cleaner, like this self-propelled cleaning device, reduces the running speed of the self-propelled vacuum cleaner to be slower than the normal running speed, thereby reducing the distance between the obstacle and the obstacle. Obstacle avoidance control of a self-propelled vacuum cleaner can be easily performed at any location, and even if the self-propelled vacuum cleaner collides with an obstacle, damage can be minimized. .

In addition, even if the self-propelled vacuum cleaner collides with an obstacle and shifts its running direction or position, the position of the self-propelled vacuum cleaner is stored in the storage means, so the running direction cannot be changed. It is possible to automatically restore the position and the original state.

According to the configuration of the invention as claimed in claim 3, the load position detection means detects the position on the sheet-like laying object where the load is applied, and the storage means stores the load position detected by the load position detection means and the obstacle. The position of the obstacle inputted by the object position input means is stored. Then, the traveling direction designation information creation means regards the position of the stationary load detected by the load position detection means as the position of the obstacle, and determines the position of the moving load as the position of the self-propelled vacuum cleaner. considered as
Create travel direction designation information that specifies the travel direction of the self-propelled vacuum cleaner so as to avoid obstacles based on the position of a stationary load and obstacles input using the obstacle position input means. do. The driving direction designation information sent from the transmitting means is
The information is received by a receiving means provided in the self-propelled vacuum cleaner and is inputted to the traveling direction changing means control means through this receiving means. , controls the traveling direction changing means.

Through such an operation, the self-propelled vacuum cleaner can respond to changes in the position of obstacles such as furniture on the sheet-like flooring, and to obstacles that have a protrusion on the top that projects in the lateral direction. It is possible to travel while accurately avoiding obstacles.

In other words, if the load position is regarded as the position of an obstacle and the self-propelled vacuum cleaner is controlled so as to avoid colliding with the obstacle, the upper part is laterally larger than the bottom surface, which is the load position. The self-propelled vacuum cleaner may not be able to deal with obstacles that protrude into the ground, and there is a risk that the self-propelled vacuum cleaner will collide with the obstacles.

As a configuration to deal with the above-mentioned disadvantages, it is possible to install a tactile sensor in the self-propelled vacuum cleaner, but such a configuration would increase the cost and also cause the self-propelled vacuum cleaner itself to have protrusions. Therefore, it is not appropriate.

Therefore, as mentioned above, by creating a configuration in which the position of the obstacle that matches the actual shape can be input in advance or during the cleaning operation using the obstacle position input means, it is possible to handle obstacles with various protrusion shapes. This allows the self-propelled vacuum cleaner to travel appropriately without colliding with obstacles.

In addition, the obstacle itself is usually placed at a fixed position on a sheet-like laying object, and in this case, the travel specification of the self-propelled vacuum cleaner set through the obstacle position input means By setting this to the initial set state for the next operation, there is no need for setting work each time, and the operation becomes very easy.

[Embodiment according to the invention of claim 1] An embodiment of the present invention will be described below with reference to FIGS. 1 to 12.

The automatic traveling cleaning device according to the present invention includes a seat section 18 shown in FIG. 2, and this seat section 18 has a laying sheet 1 as a sheet-like laying object also shown in FIG.

This laying sheet 1 has a lower covering layer 2 at the bottom, and on this lower covering layer 2 is an X electrode layer 4 in which a large number of X electrodes 3 are arranged in parallel in the Y-axis direction. It is provided. A pressure-sensitive conductive layer 5 whose resistance value changes when pressed is provided on this X electrode layer 4, and this pressure-sensitive conductive layer 5
An X electrode layer 7 in which a large number of X electrodes 6 are arranged in parallel in the X-axis direction is provided on the X-axis. An upper covering layer 8 is provided on this Y-axis electrode N7. The X electrodes 3 . . . , the pressure-sensitive conductive layer 5 and the X electrodes 6 . . . constitute a detection section 15 described later as a load position detection means.

The above-mentioned X electrodes 3... are for detecting the position of the load surface of the obstacle on the laying sheet 1 in the X-axis direction, and the X electrodes 6... are for detecting the position in the Y-axis direction, These X
The electrodes 3... and the X electrodes 6... are provided in large numbers so that a sufficient number of electrodes correspond to each side of the load surface in order to properly grasp the shape of the load surface. . Therefore, it has a high detection function for the shape of the load surface. Moreover, these X electrodes 3... and X electrodes 6...
As shown in the figure, it is connected to a microcoscipiputer (hereinafter referred to as microcomputer) 16, which will be described later. That is, the X electrodes 3... are the output terminals 0. of the microcomputer 16. -07, and the X electrodes 6... are connected to input terminals 11-7. In addition, each Y electrode 6 has a pull-down resistor 10...
is connected.

As shown in FIG. 5, an image is formed between the image electrodes 3 and 6 at the point where the X electrode 3 and the X electrode 6 intersect (hereinafter referred to as the intersection point) due to the action of the pressure-sensitive conductive layer 5. A pressure reducing resistor 11 is formed to connect the electrodes 3 and 6. As shown in the graph of FIG.
It changes depending on the magnitude of the load applied to the That is, if an obstacle with a load of W kg and a base area of 5 ea is placed on part A shown in FIG. 2, the picture electrodes 3 and 6 under the obstacle
The load w, kg applied to the intersection of is the area of the intersection of 5cI11
Then, w,=WXs/S. Therefore, from the same graph, the resistance value of the pressure reducing resistor 11 at the above-mentioned intersection point is a very small value of R and Ω, and the picture electrodes 3 and 6 are in a conductive state. On the other hand, the above-mentioned load is not applied to the intersection of the picture electrodes 3 and 6 in areas other than the A part of the laying sheet 1,
A small load wzkg that is part of the own weight of the laying sea 1-1
is added. Therefore, the resistance value of the pressure reducing resistor 11 at the intersection becomes a large value of Ω in R2, and the picture electrode 3
・There is almost no conduction between 6 and 6.

On the other hand, at one corner 9 of the laying sheet 1, a first
A seat section side control circuit 12 shown in the figure is provided inside. The sheet side control circuit 12 includes a constant voltage circuit 14 that is connected to a commercial power supply through a power plug 13 and supplies constant voltage power, and the aforementioned detection section 15 that detects the position of an obstacle on the laying sheet 1. , a microcomputer 16, a running signal, a cleaning start signal, a cleaning end signal output from the microcomputer 16,
It has a transmitting section 17 as a transmitting means for supplying a traveling direction change signal as traveling direction designation information to the self-propelled cleaner.

The microcomputer 16 described above has a storage means for storing the position of the load detected by the detection unit 15, and the position of the stationary load detected by the detection unit 15 as the position of an obstacle, and also includes a storage means for storing the position of the load detected by the detection unit 15. A running direction designation information creation means that regards the position of a load as the position of a self-propelled vacuum cleaner 19 (described later) and creates a travel direction change signal that designates a travel direction of the self-propelled vacuum cleaner 19 to avoid obstacles. It has a function as follows, and performs the control operations shown in the flowchart of FIG.

The self-propelled cleaning device also includes a self-propelled cleaner 19 shown in FIG. 7, and the self-propelled cleaner 19 includes a cleaner body 21. As shown in FIG. 8, on the lower surface side of the body 22 of the vacuum cleaner body 21, there are a driven shaft 23, front wheels 24 attached to the driven shaft 23, a drive shaft 25, and a rear wheel attached to the drive shaft 25. 26.26 was established,
These driven shaft 23, front wheels 24, 24, drive shaft 25, and rear wheels 26, 26 constitute traveling means. The front wheels 24, 24 are provided with a direction changing motor consisting of a stamping motor for changing the traveling direction of the self-propelled vacuum cleaner 19 via arms 27, 27, a drive rod 28, and a rack and pinion mechanism (not shown). It is connected to 29. The arms 27, 27, driving iron 28, rank/binion mechanism, and direction changing motor 29 constitute traveling direction changing means. A driving wheel motor 30 is connected to the drive shaft 25 as a traveling drive means for rotating the drive shaft 25 and causing the self-propelled cleaning device 19 to travel.

Furthermore, a suction port 31 for sucking in dust is formed on the lower surface of the body 22. A dust container 32 and an exhaust port 33 are formed inside the body 22 and communicate with the suction port 31 described above. A fan 34a is installed near the exhaust port 33.
By rotating the dust is sucked in from the suction port 31,
A cleaning motor 34 is provided to obtain a cleaning function of accommodating the sucked dust into the dust container 32 and simultaneously discharging the sucked air from the exhaust port 33. A cleaning means is constituted by the suction port 31, the dust container 32, the exhaust port 33, the cleaning motor 34, and the fan 34a.

Further, as shown in FIG. 10, the self-propelled vacuum cleaner 19 includes a receiver 20 that receives the signal sent from the transmitter 17 through an antenna 20a, and a self-propelled vacuum cleaner side control circuit 35. It has Self-propelled vacuum cleaner side control circuit
35 is a battery 36 as a power source, a constant voltage circuit 37 that supplies constant voltage power to each part, a microcomputer 38, a relay 39 that turns the driving wheel motor 30 on and off, and a microcomputer 38.
The driver 4 drives the relay 39 based on the control signal of
0, a relay 41 that turns on the cleaning motor 34, a driver 42 that drives the relay 41 based on a control signal from the microcomputer 38, and a driver 4 that moves the direction change motor 29 based on the control signal from the microcomputer 38;
It has 3.

The microcomputer 38 described above decodes the running direction change signal input from the receiving unit 20 and other signals, and controls a running direction changing means for controlling a direction changing motor 29 as a running direction changing means based on the running direction changing signal. In addition to functioning as a means, the control operation shown in the flowchart of FIG. 12 is performed.

In the above configuration, the operation of the automatic traveling cleaning device is
This will be explained below based on the flowcharts in FIGS. 1 and 12. 11 shows the operation of the seat section side control circuit 12, and FIG. 12 shows the operation of the self-propelled vacuum cleaner side control circuit 35.

When the automatic traveling cleaning device is started, the microcomputer 16 of the seat section 18 first detects the load position at which the load is applied on the laid sheet 1 (Sl). Then, the load position is recognized as an obstacle and stored (S2).

In the operations S1 and S2 above, the microcomputer 16 operates at output terminals 0.・Scan the output signal in the order of 0t -0, ...0ゎ, and each time,
The input voltage Vl obtained by the voltage dividing resistance value of the pressure reducing resistor 11 and the pull-down resistor 10 at each intersection with the electrodes 6, . . . is read through the input terminals 1-I.

Input voltage ■ input to each of these input terminals l, ~17,
is the output voltage of the microcomputer 16. , the resistance value of the pressure reducing resistor 11 is Rc, and the resistance value of the pull-down resistor 10 is RI, then V+ = Vo XRo / (Re + Re )
(V). Here, since Vo and Rtl are constant, Rc can be uniquely known by measuring vl. Then, the microcomputer 16 sets the input voltage ■1 corresponding to the reference resistance value R4 of the pressure reducing resistor 11 in FIG. As in the above-mentioned part A, in the range where R1<RF, the input terminal 1 becomes higher than the reference voltage V, so it is determined that an obstacle is present. Similarly, since RF<R2 holds true for the portions other than the above-mentioned portion A, the input voltage 1 becomes lower than the reference voltage VF, and it is determined that there is no obstacle.

Next, the microcomputer 16 that has detected the position of the obstacle as described above transmits a running signal to the self-propelled cleaner 19 via the transmitter 17 (S3).

This running signal is received by the receiving unit 20 through the antenna 20a of the self-propelled cleaner 19, and is sent to the microcomputer 38. Upon receiving the running signal in this manner (S14), the microcomputer 38 issues a control signal to the driver 40, and the driver 40 operates based on this control signal, thereby activating the relay 39 and turning on the driving wheel motor 30. (S15
), whereby the self-propelled cleaner 19 starts running.

At this time, the microcomputer 16 of the seat part 18 detects whether or not the load position has moved (S4), and if the load position has moved, it recognizes this moving load position as the position of the self-propelled vacuum cleaner 19. , is stored (S5). In this way, the microcomputer 16 constantly detects the load position on the laying sheet 1, so it can distinguish between a moving load position and other stationary load positions.

Through the previous operations, the microcomputer 16 has recognized the position of the obstacle on the laying sea) 1 and the self-propelled vacuum cleaner 19.
Then, a cleaning start signal is sent to the self-propelled vacuum cleaner 19 (
S6).

When the microcomputer 38 of the self-propelled vacuum cleaner 19 receives this cleaning start signal (316), the microcomputer 38 issues a control signal to the driver 42, and when the driver 42 operates based on this control signal, the relay 41 is activated. , cleaning motor 3
4 is turned ON (S17). Thereby, the self-propelled cleaner 19 starts cleaning.

At this time, since the moving area of the self-propelled vacuum cleaner 19 on the laying sheet 1 matches the cleaned area, the microcomputer 16 of the seat section 18 recognizes the moving position of the self-propelled vacuum cleaner 19 as the cleaned area. , is stored (S7).

In addition, the microcomputer 16 constantly detects the previously memorized position of the obstacle and the position of the moving self-propelled vacuum cleaner 19, and detects whether the self-propelled vacuum cleaner 19 approaches the obstacle. (S8) When the self-propelled vacuum cleaner 19 approaches an obstacle, the self-propelled vacuum cleaner 1
A running direction change signal is transmitted to the terminal 9 (S9). Furthermore, when the self-propelled vacuum cleaner 19 approaches the end of the laid sheet l (SIO), a travel direction change signal is transmitted to guide the self-propelled vacuum cleaner 19 to the uncleaned area (311).

Upon receiving the above running direction change signal (S18), the microcomputer 38 issues a control signal based on the running direction change signal to the driver 43, and is driven by the driver 43, which operates based on this control signal, and the direction change motor 29 is activated. Do (S
19). As a result, the direction change motor 29 operates based on the direction of the travel direction change signal, and the self-propelled cleaner 19 avoids obstacles or moves to an uncleaned area.

As described above, the cleaning work by the self-propelled vacuum cleaner 19 progresses until the microcomputer 16 of the sheet section 18 detects that all the cleaning areas on the laying sheet 1 have been cleaned. Repeat the operations up to S11 (
312), and when the microcomputer 16 detects that all of the cleaning areas have been cleaned, it issues a cleaning completion signal (Sl3).

When the microcomputer 38 of the self-propelled vacuum cleaner 19 receives this cleaning end signal (S20), the microcomputer 38 controls the cleaning motor 34.
OFFFL (S21>, and drive wheel motor 30 OFF
F (S22), thereby completing the series of cleaning operations.

[Embodiment according to the invention of claim 2] An embodiment of the present invention is shown in FIGS. 1 to 9 and 13.
This will be explained below based on FIGS. 15 to 15. It should be noted that devices having the same functions as those shown in the drawings of the above-described embodiments are denoted by the same reference numerals, and their explanations will be omitted.

The automatic traveling cleaning device according to the present invention is equipped with a seat section 51 shown in FIG. It has a seat section side control circuit 52 equipped with a microcomputer 53. Then, the microcomputer 53 and the laying sheet 1
A connection structure with the X electrode 3... and the X electrode 6...
The characteristics are as shown in FIGS. 4 to 6.

The microcomputer 53 described above regards the position of a stationary load detected by the detection unit 15 as the position of an obstacle, and also regards the position of a moving load as the position of a self-propelled vacuum cleaner 54, which will be described later. , a self-propelled vacuum cleaner 54 that avoids obstacles.
A traveling direction designation information creation means for creating a traveling direction change signal as traveling direction designation information that designates the traveling direction of the self-propelled vacuum cleaner 54 when the traveling self-propelled vacuum cleaner 54 approaches an obstacle. While issuing a traveling speed deceleration signal as speed information instructing to slow down the traveling speed, when the self-propelled vacuum cleaner 54 moves away from an obstacle, the traveling speed of the self-propelled vacuum cleaner 54 is changed to the speed before deceleration. It has the functions of a speed information generating means that emits a running speed acceleration signal as speed information instructing the driver to return to the vehicle speed, and a storage means that stores the load position detected by the detection unit 15. The control operation shown is performed.

The self-propelled cleaning device also includes a self-propelled vacuum cleaner 54 shown in FIGS. 7 to 9.
4 has a self-propelled vacuum cleaner side control circuit 55 shown in FIG. Self-propelled vacuum cleaner side? The 111 circuit 55 includes a microcomputer 56, a speed control circuit 57 that controls the rotational speed of the driving wheel motor 30 based on a speed control signal from the microcomputer 56, and other devices. And microcomputer 56
and the speed control circuit 57, based on the speed information obtained through the receiving section 20, control the traveling driving means so that the traveling speed of the self-propelled vacuum cleaner 54 is slowed down when this speed information is a traveling speed deceleration signal. Traveling drive means control means that controls the driving wheel motor 30 so that when the speed information is a traveling speed acceleration signal, the traveling speed of the self-propelled vacuum cleaner 54 returns to the original speed before deceleration. is configured. In addition, the microcomputer 56
It also has a function as a running direction changing means control means for controlling the direction changing motor 29 based on the running direction changing signal obtained through the running direction changing signal, and performs the control operation shown in the flowchart of FIG.

In the above configuration, the operation of the automatic traveling cleaning device is
This will be explained below based on the flowcharts in FIGS. 4 and 15. 14 shows the operation of the seat section side control circuit 52, and FIG. 15 shows the operation of the self-propelled vacuum cleaner side control circuit 55.

When the automatic traveling cleaning device is started, the microcomputer 53 of the seat section 51 first detects the load position on the laying sheet 1 (S31), and then recognizes the load position as an obstacle and stores it (S32). The microcomputer 53 that has detected the position of the obstacle transmits a running signal to the self-propelled cleaner 54 via the transmitter 17 (S33).

When the microcomputer 56 of the self-propelled cleaner Ia 54 receives the travel signal (S45), the microcomputer 56 issues a control signal to the driver 40, which activates the relay 39 and turns on the driving wheel motor 30 (846). Thereby, the self-propelled cleaner 54 starts running.

At this time, the microcomputer 53 of the seat portion 51 detects whether or not the load position has moved (S34), and if the load position has moved, it recognizes this moving load position as the position of the self-propelled vacuum cleaner 54. , is stored (S35). When the microcomputer 53 recognizes the position of the obstacle on the laying sheet 1 and the self-propelled cleaner 54 as described above, it sends a cleaning start signal to the self-propelled cleaner 54 (S36).

When the microcomputer 56 of the self-propelled vacuum cleaner 54 receives this cleaning start signal (S47), the microcomputer 56 issues a control signal to the driver 42, and the relay 41 is activated to turn on the cleaning motor 34 (848). Thereby, the self-propelled cleaner 54 starts cleaning.

At this time, the microcomputer 53 of the seat section 1 recognizes the movement position of the self-propelled cleaner 54 as a cleaned area and records it (S37).

In addition, the microcomputer 53 constantly detects the previously memorized position of the obstacle and the position of the moving self-propelled vacuum cleaner 54, and detects whether the self-propelled vacuum cleaner 54 approaches the obstacle. (538) When the self-propelled vacuum cleaner 54 approaches an obstacle, it issues a traveling speed deceleration signal to the self-propelled vacuum cleaner 54 (S39) and issues a traveling direction change signal to avoid the obstacle (S40). ).

Upon receiving the above running direction change signal (S49), the microcomputer 56 of the self-propelled vacuum cleaner 54 issues a control signal to the driver 43 based on the running direction change signal, and the driver 43 operates based on this control signal. , direction change motor 2
9 is activated (S50). Thereby, the direction change motor 29 operates based on the instruction of the traveling direction change signal, and the self-propelled cleaner 54 avoids the obstacle.

Further, upon receiving the traveling speed deceleration signal (351), the microcomputer 56 sends a deceleration control signal as a speed control signal to the speed control circuit 57, and the speed control circuit 57 that receives the signal decelerates the rotational speed of the driving wheel motor 30. (S52), the self-propelled cleaner 54 reduces its running speed.

After that, the microcomputer 53 of the seat part 51 controls the self-propelled vacuum cleaner 5.
4 has moved away from the obstacle (S41), it sends a traveling speed acceleration signal to the self-propelled vacuum cleaner 54 (342).
.

Upon receiving the traveling speed acceleration signal (S53), the microcomputer 56 of the self-propelled vacuum cleaner 54 sends an acceleration control signal as a speed control signal to the speed control circuit 57. The rotation speed is accelerated (S54). As a result, the traveling speed of the self-propelled cleaner 54 returns to the original speed before deceleration.

As the cleaning work progresses as described above, the seat portion 5
When the microcomputer 53 of No. 1 detects that all the cleaning areas on the laying sheet 1 have become cleaned areas (S43)
, sends a cleaning end signal to the self-propelled vacuum cleaner 54 (S13
).

Upon receiving this cleaning end signal (S55), the microcomputer 56 of the self-propelled vacuum cleaner 54 switches the cleaning motor 34 to 0FFL (
S56) and turns off the driving wheel motor 30 (S57)
). This completes the series of cleaning operations.

[Embodiment of the Invention of Claim 3] An embodiment of the present invention will be described below with reference to FIGS. 2 to 10, 12, and 16 to 20. It should be noted that devices having the same functions as those shown in the drawings of the above-mentioned embodiments are denoted by the same reference numerals, and their explanations will be omitted.

The automatic traveling cleaning device according to the present invention is equipped with a seat part 61 shown in FIG. 2, and this seat part 61 includes a laying sheet 1 as a sheet-like laying object also shown in FIG. 3, and a laying sheet 1 as shown in FIG. The seat part side control circuit 62 includes a microcomputer 63 and a protrusion size setting switch 64. The connection structure and characteristics between the microcomputer 63 and the X electrodes 3 and Y electrodes 6 of the laying sheet 1 are shown in Figures 4 to 6.
As shown in the figure.

The above-mentioned microcomputer 63 regards the position of the stationary load detected by the detection unit 15 as the position of the obstacle, and also regards the position of the moving load as the position of the self-propelled vacuum cleaner 19. A running direction designation information creation means that creates a travel speed acceleration signal as travel direction designation information that designates the travel direction of the self-propelled vacuum cleaner 19 to avoid objects, and a detection unit 15
It has a function as a storage means for storing the load position detected by the sensor and the position of the obstacle input by the protrusion size setting switch 64, which will be described later, and performs the control operation shown in the flowchart of FIG. It has become.

The protrusion size setting switch 64 is connected to the microcomputer 63, and has numerical input keys 65 from 0 to 9, a setting key 66, and a change key 67, as shown in FIG. . Each key 6 as an input section is manually operated before or after the self-propelled vacuum cleaner 19 starts running.
5... By pressing 66 and 67, lay sheet 1
The dimensions of the obstacle above are input into the microcomputer 63, and the microcomputer 63 can store the dimensions.

For example, as shown in FIGS. 18 and 19, the protrusion 68 is placed on the laying sheet 1, and the protrusion 68b of the protrusion 68 serving as an obstacle is 15 cm (8 cm) from the base 68c. Dimensions) When protruding, the protrusion 6
When inputting the position of the protrusion 68 including 8b, first the setting key 66 is pressed, and then the numerical input keys 65 of 1 and 5 are pressed in sequence.

On the other hand, if the previously set value is to be changed to, for example, 20 cm, the change key 67 is first pressed, and then the value entry keys 65 for 2 and 0 are pressed in sequence.

Moreover, this automatic traveling cleaning device is equipped with a self-propelled vacuum cleaner 19 shown in FIGS. 7 to 9, and this self-propelled vacuum cleaner 1
9 has a self-propelled vacuum cleaner side control circuit 35 shown in FIG. Microcomputer 38 of self-propelled vacuum cleaner side control circuit 35
As mentioned above, has a function as a running direction changing means control means for controlling the above-mentioned running direction changing means based on the running direction changing signal obtained through the receiving section 20, and the flowchart shown in FIG. The control operation shown is performed.

In the above configuration, the operation of the automatic traveling cleaning device is controlled by the second
This will be explained below based on the flowcharts in FIGS. 0 and 12. 20 shows the operation of the seat section side control circuit 62, and FIG. 12 shows the operation of the self-propelled vacuum cleaner side control circuit 35.

When the self-propelled cleaning device is started, the microcomputer 63 of the seat portion 61 first detects the load position (561), recognizes the load position as an obstacle and memorizes it (562), and causes the self-propelled vacuum cleaner 19 to travel. A signal is transmitted (S63).

The microcomputer 38 of the self-propelled vacuum cleaner 19 that received this running signal
(S14) Turns the driving wheel motor 30 ON.

(S15), the self-propelled vacuum cleaner 19 starts running.

The microcomputer 63 of the seat part 61 detects whether the load position has moved (564), and if the load position has moved, it recognizes this moving load position as the position of the self-propelled vacuum cleaner 19 and stores it (S65). ). Next, if the operator has performed an input operation on the protrusion size setting switch 64, the input signal is read (S66). After storing this input signal, the microcomputer 63 sends a cleaning start signal to the self-propelled cleaner 19 (S67).

The microcomputer 38 of the self-propelled vacuum cleaner 19 that receives this cleaning start signal (S16) turns on the cleaning motor 34 (S17).
). Thereby, the self-propelled cleaner 19 starts cleaning.

At this time, the microcomputer 63 of the seat portion 61 recognizes the movement position of the self-propelled cleaner 19 as a cleaned area and stores it (368). At this time, if the operator performs an input operation on the protrusion size setting switch 64, the input signal is read (S69),
Based on the input signal read in step 9, the portion of the protrusion 68 including the protrusion 68b is also recognized as an obstacle and stored (S70).

After that, as mentioned above, the microcomputer 63 of the seat section 61
The self-propelled vacuum cleaner 19 constantly detects whether the self-propelled vacuum cleaner 19 approaches an obstacle (371), and if the self-propelled vacuum cleaner 19 approaches an obstacle, the self-propelled vacuum cleaner 19 A driving direction change signal is transmitted (S72). Furthermore, when the self-propelled vacuum cleaner 19 approaches the end of the laying sheet 1 (S7
3) A traveling direction change signal is sent to guide the self-propelled cleaner 19 to the uncleaned area (S74).

The microcomputer 38 that received the driving direction change signal (818)
The direction change motor 29 is controlled according to the running direction change signal (319). Thereby, the self-propelled cleaner 19 avoids obstacles or moves to an uncleaned area.

After that, when all the cleaning areas become cleaned areas (S7
5) The microcomputer 63 of the seat part 61 is a self-propelled vacuum cleaner 19
A cleaning end signal is sent to (S76).

The microcomputer 38 of the self-propelled vacuum cleaner 19 that received this cleaning end signal (S20) switches the cleaning motor 34 to 0FFL (S2
1) and turn off the driving wheel motor 30 (S22),
This completes the series of cleaning operations.

Here, by providing a command to read the protrusion size setting switch 64 in the cleaning work routine as shown in S69, even if the self-propelled vacuum cleaner 19 is in the middle of cleaning work, it can be manually operated. By operating the protrusion size setting switch 64, the recognized size of the protrusion 68 can be changed.

Further, the dimensions of the protrusion 68 once stored in the microcomputer 63 can be changed by the operator using the protrusion dimension setting switch 68 as described above.
Since the set dimensions are retained unless changed by operating 4, these set dimensions can be used as the initial set dimensions for the next cleaning operation.

(Effects of the Invention) As described above, the automatic traveling cleaning device according to the invention of claim 1 has a traveling means for traveling, a traveling drive means for driving the traveling means, and a traveling direction changing device that changes the traveling direction. and a self-propelled vacuum cleaner that cleans the sheet-like underlay while traveling on the sheet-like underlay, wherein the self-propelled cleaning device has a cleaning means for cleaning the sheet-like underlay, and the load on the sheet-like underlay is load position detection means for detecting the position at which the load is applied; storage means for storing the load position detected by the load position detection means; and storage means for storing the position of the stationary load detected by the load position detection means. Create traveling direction specification information that specifies the traveling direction of the self-propelled vacuum cleaner to avoid the obstacle by regarding it as the position of the obstacle and the position of the moving load as the position of the self-propelled vacuum cleaner. a transmitting means for transmitting the traveling direction specifying information issued by the traveling direction specifying information generating means to the self-propelled vacuum cleaner; a receiving means for receiving the transmitted signal; and a traveling direction changing means control means provided in the self-propelled vacuum cleaner for controlling the traveling direction changing means based on the traveling direction specifying information obtained through the receiving means. The configuration is equipped with the following.

That is, in this automatic traveling cleaning device, obstacles are detected by detecting the load applied to the sheet-like laying object, which is the object to be cleaned, using the load position detection means. Therefore, the location of obstacles can be easily and accurately known, and
The configuration of the self-propelled vacuum cleaner can be simplified, and costs can be reduced. Furthermore, since it is possible to recognize obstacles in all areas to be cleaned at the start of cleaning, it is possible to set the travel course for the self-propelled vacuum cleaner and to make it run more efficiently. play.

As described above, the automatic traveling cleaning device according to the invention of claim 2 includes a traveling means for traveling, a traveling driving means for driving the traveling means, a traveling direction changing means for changing the traveling direction, and a sheet-shaped In an automatic traveling cleaning device equipped with a self-propelled vacuum cleaner that has a cleaning means for cleaning the laying material and cleans while traveling on the sheet-like laying material, detecting the position on the sheet-like laying material where a load is applied. a load position detection means for detecting the load position; a storage means for storing the load position detected by the load position detection means; and a storage means for storing the position of the stationary load detected by the load position detection means as the position of the obstacle. At the same time, the position of the moving load is regarded as the position of the self-propelled vacuum cleaner, and travel direction specification information is created that specifies the travel direction of the self-propelled vacuum cleaner to avoid obstacles. When the self-propelled vacuum cleaner approaches an obstacle, the self-propelled vacuum cleaner generates a travel speed deceleration signal as speed information that instructs the self-propelled vacuum cleaner to slow down its travel speed. a speed information generating means for generating a running speed acceleration signal as speed information for instructing the self-propelled vacuum cleaner to return the running speed to the speed before deceleration when the vacuum cleaner moves away from an obstacle; and the above-mentioned running drive. A transmitting means for transmitting running direction designation information issued by the means control means and speed information issued by the speed information generating means to the self-propelled vacuum cleaner; a receiving means for receiving the transmitted signal; and a traveling direction changing means control means provided in the self-propelled vacuum cleaner for controlling the traveling direction changing means based on the traveling direction specifying information obtained through the receiving means. , based on the speed information provided in the self-propelled vacuum cleaner and obtained through the receiving means, when this speed information is a traveling speed deceleration signal, the traveling drive means is set so that the traveling speed of the self-propelled vacuum cleaner is slow ( and a travel drive means control means for controlling the travel drive means so that the travel speed of the self-propelled vacuum cleaner returns to the original speed before deceleration when the speed information is a travel speed acceleration signal. This is a configuration where there is

Therefore, like the automatic traveling cleaning device according to the invention of claim 1, the position of the obstacle can be easily and accurately known, the configuration is simple, the cost can be reduced, and the You can run a self-propelled vacuum cleaner.

Furthermore, when the self-propelled vacuum cleaner approaches an obstacle, the traveling speed of the self-propelled vacuum cleaner becomes slower than the normal traveling speed, and when it leaves the obstacle, the traveling speed returns to the original traveling speed before deceleration. Therefore, obstacle avoidance control of the self-propelled vacuum cleaner can be easily performed. In addition, even if the self-propelled vacuum cleaner collides with an obstacle, it will prevent the self-propelled vacuum cleaner from falling or damage the obstacle, reducing the damage. It has the effect of being able to stop the noise to a minimum.

As described above, the automatic traveling cleaning device according to the invention of claim 3 includes a traveling means for traveling, a traveling driving means for driving the traveling means, a traveling direction changing means for changing the traveling direction, and a sheet-shaped In an automatic traveling cleaning device equipped with a self-propelled vacuum cleaner that has a cleaning means for cleaning the laying material and cleans while traveling on the sheet-like laying material, detecting the position on the sheet-like laying material where a load is applied. an obstacle position input means having a manually operated input section and capable of inputting the position of an obstacle on the sheet-like laying material; and a load position detected by the load position detection means described above. , and storage means for storing the position of the obstacle inputted by the obstacle position input means, and the position of the stationary load detected by the load position detection means is regarded as the position of the obstacle, The position of the moving load is regarded as the position of the self-propelled vacuum cleaner, and the position of the stationary load is regarded as an obstacle, and the obstacle input by the obstacle position input means is avoided. a traveling direction specifying information creating means for creating traveling direction specifying information specifying the traveling direction of the self-propelled vacuum cleaner; a transmitting means for transmitting the above-mentioned traveling direction specifying information to the self-propelled vacuum cleaner; A receiving means provided on the machine receives the signal sent from the transmitting means, and a means provided on the self-propelled vacuum cleaner controls the traveling direction changing means based on the traveling direction designation information obtained through the receiving means. This configuration includes a running direction changing means control means.

Therefore, like the automatic traveling cleaning device according to the invention of claim 1, the position of the obstacle can be easily and accurately known, the configuration is simple, the cost can be reduced, and the You can run a self-propelled vacuum cleaner.

In addition, by inputting the position of the obstacle separately using the obstacle position input means, it is possible to deal with obstacles with various protrusion shapes, and the self-propelled vacuum cleaner can be properly adjusted without colliding with the obstacle. It can be run on.

In addition, - degree, the travel specification contents of the self-propelled vacuum cleaner that have been set,
If the initial set state is used for the next operation,
This eliminates the need for setting operations each time, resulting in improved operation.

[Brief explanation of the drawing]

FIG. 1 shows an embodiment of the invention according to claims 1 and 2, and FIG. This shows an embodiment of the invention according to Items 1 to 3,
FIG. 2 is an explanatory diagram showing the configuration of the laying sheet, FIG. 3 is a longitudinal cross-sectional view showing the configuration of the laying sheet, FIG. 4 is a circuit diagram showing the connection state of the X electrodes to the microcomputer, and FIG. The figure is a circuit diagram showing the pressure reducing resistance formed at the intersection of the X electrode and the FIG. 8 is a schematic front view of the vacuum cleaner, FIG. 8 is a bottom view of the self-propelled vacuum cleaner, FIG. 9 is an explanatory diagram schematically showing the internal structure of the self-propelled vacuum cleaner, and FIG. 10 is Claim 1. FIG. 11 shows an embodiment of the invention according to claim 2, and is a circuit diagram showing the configuration of a self-propelled vacuum cleaner side control circuit. FIG. 12 is a flowchart showing the operation of the seat section side control circuit, and FIG. 12 shows an embodiment of the invention according to claims 1 and 3. Flowcharts showing the operation of the control circuit, FIGS. 13 to 15, show an embodiment of the invention according to claim 2, and FIG. 13 shows the configuration of the self-propelled vacuum cleaner side control circuit. 14 is a flowchart showing the operation of the seat section side control circuit, and FIG. 15 is a flowchart showing the operation of the self-propelled vacuum cleaner side control circuit,
16 to 20 show an embodiment of the invention according to claim 3, in which FIG. 16 is a block diagram showing the configuration of the seat side control circuit, and FIG. 17 is a block diagram showing the dimensions of the protrusion. A front view showing the setting switch, FIG. 18 is an explanatory plan view showing the relationship between the base (load surface) of an obstacle and a protrusion on the laying sheet, FIG. 19 is a front view of the same, and FIG. 20 is a seat part. 3 is a flowchart showing the operation of the side control circuit. 1 is a laying sheet (sheet-like laying material), 3 is an X electrode, 5 is a pressure-sensitive conductive layer, 6 is an X electrode, 10 is a pull-down resistor, 11
is a pressure reducing resistor, 12, 52, and 62 are seat side control circuits,
15 is a detection unit (load position detection means), 16 is a microcomputer (travel direction designation information creation means, storage means),
17 is a transmitting section (transmitting means), 18, 51, and 61 are seat sections, 19 and 54 are self-propelled vacuum cleaners, 20 is a receiving section (receiving means), 21 is a main body of the vacuum cleaner, 23 is a driven wheel (traveling) means)
, 24 is the front wheel (travel means), 25 is the drive shaft (travel means)
, 26 is a rear wheel (running means), 29 is a direction change motor (running direction changing means), and 3o is a driving wheel motor (running drive means).
, 34 is a cleaning motor (cleaning means), 35 and 55 are self-propelled vacuum cleaner side control circuits, 38 is a microcomputer (running direction changing means control means), 39 and 41 are relays, and 4o.
42 and 43 are drivers, 53 is a microcomputer (
56 is a microcomputer (travel direction changing means control means, travel drive means control means), 57 is a speed control circuit (travel drive means control means), 63 is a Microcomputer (running direction designation information creation means, storage means), 64 is a protrusion size setting switch (obstruction position input means), 65
is the numerical value input key, 166 is the setting key, 67 is the change key, 6
8 is a protrusion, and 68a is a protrusion. 4 Figure 16 (53X63) Figure 5 Figure 6 Sun Gyeong□ Figure 7 Figure 8 Figure 9 Figure 16 Figure 17 Figure 18 Figure 19

Claims (1)

[Claims] 1. A traveling means for traveling, a traveling driving means for driving the traveling means, a traveling direction changing means for changing the traveling direction,
and an automatic traveling cleaning device equipped with a self-propelled vacuum cleaner that has a cleaning means for cleaning a sheet-like laying material and cleans while traveling on the sheet-like laying material, in which a load is applied on the sheet-like laying material. load position detection means for detecting the position; storage means for storing the load position detected by the load position detection means; The position of the moving load is regarded as the position of the self-propelled vacuum cleaner, and travel direction specification information is created that specifies the direction of travel of the self-propelled vacuum cleaner that avoids obstacles. a direction specifying information generating means; a transmitting means for transmitting the traveling direction specifying information issued by the traveling direction specifying information generating means to the self-propelled vacuum cleaner; and a traveling direction changing means control means provided in the self-propelled vacuum cleaner and controlling the traveling direction changing means based on the traveling direction specifying information obtained through the receiving means. An automatic traveling cleaning device characterized by: 2. A traveling means for traveling, a traveling driving means for driving this traveling means, a traveling direction changing means for changing the traveling direction,
and an automatic traveling cleaning device equipped with a self-propelled vacuum cleaner that has a cleaning means for cleaning a sheet-like laying material and cleans while traveling on the sheet-like laying material, in which a load is applied on the sheet-like laying material. load position detection means for detecting the position; storage means for storing the load position detected by the load position detection means; The position of the moving load is regarded as the position of the self-propelled vacuum cleaner, and travel direction specification information is created that specifies the direction of travel of the self-propelled vacuum cleaner that avoids obstacles. a direction specifying information generating means; when the traveling self-propelled vacuum cleaner approaches an obstacle, it emits a traveling speed deceleration signal as speed information instructing the self-propelled vacuum cleaner to slow down its traveling speed; When the self-propelled vacuum cleaner moves away from an obstacle, a speed information generating means generates a traveling speed acceleration signal as speed information instructing the self-propelled vacuum cleaner to return the traveling speed to the speed before deceleration; a transmitting means for transmitting running direction designation information issued by the running drive means control means and speed information issued by the speed information generating means to the self-propelled vacuum cleaner; a receiving means that receives a signal sent from the transmitting means; and a traveling direction changing means that is provided in the self-propelled vacuum cleaner and that controls the traveling direction changing means based on the traveling direction designation information obtained through the receiving means. and a control means provided in the self-propelled vacuum cleaner, based on the speed information obtained through the receiving means, when the speed information is a travel speed deceleration signal, the self-propelled vacuum cleaner travels so that the travel speed becomes slow. a traveling drive means control means for controlling the traveling means so that, when the speed information is a traveling speed acceleration signal, the traveling speed of the self-propelled vacuum cleaner returns to the original speed before deceleration; An automatic traveling cleaning device characterized by: 3. A traveling means for traveling, a traveling driving means for driving this traveling means, a traveling direction changing means for changing the traveling direction,
and an automatic traveling cleaning device equipped with a self-propelled vacuum cleaner that has a cleaning means for cleaning a sheet-like laying material and cleans while traveling on the sheet-like laying material, in which a load is applied on the sheet-like laying material. load position detection means for detecting the position; obstacle position input means having a manually operated input section and capable of inputting the position of the obstacle on the sheet-like laying material; storage means for storing the load position inputted by the load position input means and the position of the obstacle inputted by the obstacle position input means; and a storage means for storing the position of the stationary load detected by the load position detection means as the position of the obstacle. At the same time, the position of the moving load is regarded as the position of the self-propelled vacuum cleaner, and the position of the stationary load is regarded as an obstacle and the obstacle inputted by the obstacle position input means. A travel direction designation information creation means for creating travel direction designation information that designates a travel direction of the self-propelled vacuum cleaner to avoid the travel direction; a transmission means for transmitting the travel direction designation information to the self-propelled vacuum cleaner; A receiving means provided on the self-propelled vacuum cleaner to receive the signal sent from the transmitting means; and a receiving means provided on the self-propelled vacuum cleaner and based on the traveling direction designation information obtained through the receiving means, the above-mentioned traveling direction change is performed. 1. An automatic traveling cleaning device comprising: a traveling direction changing means controlling means for controlling the means.