JPH02241421A - Self-running cleaner - Google Patents

Abstract

PURPOSE:To enable automatic return of a cleaner body from the cleaning end point to the start point by providing a start point inducing means for inducing the cleaner body to the start point on the basis of the data of a memory part for storing the moving locus of the body. CONSTITUTION:A cleaner detects an obstruction by means of distance measuring sensors 3a, 3b and a bumper 3c of an obstruction detecting means during its running, controls the drive of a steering motor 5b to change the running direction, repeats advance, stop and retreat by the drive control of a running motor 5a to avoid the obstruction, and moves while cleaning a floor surface. In this case, a position recognition means 8 recognizes the moving locus of a body 12 from the rotating speed detected by a running encoder 8a and the direction detected by a direction detection sensor 8c, and this is stored in a memory part 4. When cleaning is terminated, a cleaning induction means 1 detects this and sends an output signal to a start point inducing means 2. The start point inducing means 2 recognizes the position of the body by the data of the obstruction detecting means 3 and the position recognizing means 8 and sends an output signal to a steering and driving means 5, which then controls the running direction of the cleaner to induce it to the started point.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a self-propelled vacuum cleaner that is equipped with a cleaning function and a moving function and that performs cleaning automatically.

2. Description of the Related Art Conventionally, vacuum cleaners have been developed in which a moving function is added to the vacuum cleaner to improve operability during cleaning. Particularly recently, so-called self-propelled self-propelled vacuum cleaners, which are equipped with microcomputers and various sensors, have been developed.

This type of self-propelled vacuum cleaner is equipped with a suction nozzle, brush, etc. at the bottom of the main body for the cleaning function, and has running wheels and steering wheels driven by a motor for the movement function, and uses optical guidance means and a gyro. The main body is guided and controlled using inertial navigation means, etc., and is equipped with an obstacle detection means for detecting obstacles during driving and a position recognition means for recognizing the position. While moving along the surrounding walls, the cleaning area is recognized by position recognition means, and the cleaning area is moved to fill in the cleaning area to clean the entire cleaning area. In some cases, the area to be cleaned can be indicated using a remote control device.
Usually, it is equipped with an internal power source such as a storage battery.

Problems to be Solved by the Invention However, with conventional self-propelled vacuum cleaners, after cleaning is completed,
When a self-propelled vacuum cleaner is stopped in the middle of cleaning work after starting cleaning, there is a problem in that manual work is required to return the self-propelled vacuum cleaner to the point where it was started. Furthermore, in cases where the cleaning area is not surrounded by a wall or the like, when cleaning the same area every time, it is necessary to indicate the area to be cleaned using a remote control device each time, which is extremely troublesome. There was a problem.

The present invention solves such conventional problems, and when the self-propelled vacuum cleaner is stopped in the middle of cleaning after cleaning is finished or after cleaning has started, the self-propelled vacuum cleaner can be used instead of manual operation. The first object of the present invention is to provide a self-propelled vacuum cleaner in which the vacuum cleaner body can return to a starting point by self-guided guidance.

The second purpose is that when cleaning a cleaning area that is not surrounded by walls or the like more than once, instead of teaching the area to be cleaned using the remote control device each time, it is possible to teach the cleaning area by - degrees and the teaching will not be repeated from the second time onwards. The idea is to get a self-propelled vacuum cleaner that you don't need.

Means for Solving the Problems J A first means for achieving the above first objective is a cleaning device, a self-propelled vacuum cleaner body having a steering and driving means, and An obstacle detection means for detecting obstacles, a memory section for storing the trajectory of the self-propelled vacuum cleaner body, a power source, and a position recognition device that detects the travel distance and direction of the body to determine the position of the body. Means and A?
(Obstacle detection means; cleaning guidance means that processes the data from the Kii section and sends an output signal to the steering and driving means; The self-propelled vacuum cleaner is equipped with a starting point guiding means for guiding the self-propelled cleaner.

In addition to the configuration of the first means, a second means for achieving the second purpose includes a circuit for detecting that the self-propelled vacuum cleaner has gone around the area based on information in the storage unit. A self-propelled vacuum cleaner is provided with a detection section, an area storage section that stores the area detected by the rotation detection section, and a teaching section that is used when manually teaching the area to be cleaned.

Function The self-propelled vacuum cleaner according to the first means functions as follows. While recognizing the position of the main body based on the data from the obstacle detection means and the data from the position recognition means, the cleaning guiding means sends an exit signal to the steering and driving means, and the self-propelled vacuum cleaner cleans while controlling the running direction. After the cleaning is completed or from the place where the self-propelled vacuum cleaner has stopped, the starting point guiding means
Based on the data of the face memory and the data of the obstacle detection means,
By sending an output signal to the steering and driving means, the self-propelled vacuum cleaner can be returned to the starting point by independent guidance rather than by manual operation.

According to the second means, the rotation detection section detects that the cleaning area taught by the user by the teaching section is a closed loop, and the area detected by the rotation detection section is stored in the area storage section; Thereafter, the cleaning guidance means recognizes the position of the main body using the data from the obstacle detection means and the position recognition means, and sends an output signal to the steering/driving means to control the running direction of the self-propelled vacuum cleaner while cleaning. By doing so, it is possible to obtain a self-propelled vacuum cleaner that does not require teaching from the second time onwards, if it is taught - degrees.

EXAMPLE Hereinafter, an example of the present invention will be described based on the accompanying drawings. FIG. 1 is an overall block diagram of a self-propelled vacuum cleaner according to an embodiment of the first means. 2 to 4 show the overall configuration of the self-propelled vacuum cleaner. Inside the main body 12 of the self-propelled vacuum cleaner, the following items are provided in addition to the cleaning device 6 consisting of an electric blower 6a, a dust collection chamber 6b, and a filter 6c provided inside the dust collection chamber 6b. Reference numeral 613 is a hose mounting base, and as shown in FIG. 4, the suction hose 14 can be detachably attached to the upper part of the main body 12. 5C and 5d are running wheels, which are driven by the running motor 5a via a reduction gear (not shown). 5e and 5f are slave shafts rotatably attached to the rear of the main body 12. The travel drive unit 5g is driven by a steering motor 5b via a steering shaft 5h and a steering speed reducer 51 attached thereto, thereby rotating left and right to change the travel direction. 5a-51 above
This constitutes a traveling means and a steering means. 8a
A travel encoder 8b is a rotary encoder that detects the rotation speed of the travel motor 5a, and a steering encoder 8b is also a rotary encoder that detects the rotation speed of the steering motor 5b. 8c is a direction detection sensor that detects the direction of the main body 12, and in this embodiment, a rate gyro is used. The position recognition means 8 is configured to recognize the position by detecting the traveling distance and traveling direction of the main body 12 from the rotational speed detected by the traveling encoder 8a and the direction of the main body 12 detected by the direction detection sensor 8C. are doing. Denoted at 3a and 3b are distance measuring sensors consisting of ultrasonic sensors provided around the main body 12, which measure the distance to an obstacle. 3c is a bumper attached to the outer periphery of the main body 12, which is equipped with a contact sensor inside to detect contact with an obstacle. The distance measuring sensors 3a and 3b and the contact sensor 3c constitute an obstacle detection means 3. 7 is a power source consisting of two storage batteries and the like. Reference numeral 15 denotes an operation section, which includes an operation switch 16 and an indicator 17 such as an indicator lamp or a buzzer. Also 4
is a storage unit that stores the locus that the self-propelled vacuum cleaner main body 1 has moved.

When using the self-propelled vacuum cleaner configured as described above to clean a room surrounded by walls on all sides, the suction hose 14
Place the removed main body 1 along the wall and press the operation switch 16.
operate. When the operation switch 16 is operated, the electric blower 6a is activated, the traveling motor 5a is driven, and the main body 12 starts traveling. While driving, the distance sensor 3a, 3b and bumper 30 detect obstacles, drive the steering motor 5b to change the running direction, and drive the drive motor 5a to move forward, stop, or retreat. Repeat this while avoiding obstacles and moving along the walls around the room while cleaning the floor. At this time, the movement trajectory is recognized by the position recognition means 8 described above, and this is stored in the storage section 4. Once it completes a lap around the room, it automatically cleans the entire cleaning area by running around the room, avoiding obstacles. When the cleaning is completed, the cleaning guiding means 1 detects this and sends an output signal to the starting point guiding means 2. The starting point guidance means 2 includes an obstacle detection means 3
While recognizing the position of the main body based on the data of the data and the data of the position recognition means 8, the self-propelled vacuum cleaner is started while sending an output signal to the steering and driving means 5 and controlling the running direction of the self-propelled vacuum cleaner. guide you to the specified location. In this way, the self-propelled vacuum cleaner main body 12 is returned to the starting point by self-guided guidance.

In addition, when the user operates the operating section 15 to stop the self-propelled vacuum cleaner during cleaning, and then similarly operates the operating section 15 to instruct the self-propelled vacuum cleaner body 12 to return to the point where it was started. I'll sit down and explain. In this case as well, the cleaning guiding means 1 detects this as described above, and the starting point guiding means 2
send the output signal to. The starting point guidance means 2 recognizes the position of the main body based on the data from the obstacle detection means 3 and the data from the position recognition means 8, and sends an output signal to the steering and driving means. The starting point guiding means 2 guides the self-propelled vacuum cleaner body 12 to the point where the self-propelled vacuum cleaner is started while controlling the traveling direction of the self-propelled vacuum cleaner. In this way, the self-propelled vacuum cleaner main body 12 can be returned to the starting point by self-guided guidance.

Next, an embodiment of the second means will be described.

lla shown in FIG. 2 is a hose direction detection sensor that detects the direction in which the suction hose 14 is led out from the main body 12, and in this embodiment, a potentiometer is used. Also,
llb is a hose tension detection sensor that detects when the suction hose 14 is pulled, and detects displacement of the hose mounting base 13 using a switch. The hose direction detection sensor lla and the hose tension detection sensor llb constitute the teaching section 11 shown in FIG. 5. FIG. 5 is an overall block diagram of an embodiment of the second means of the present invention. Reference numeral 9 denotes a lap detection unit that detects that the self-propelled vacuum cleaner main body 12 has gone around the cleaning area based on the information in the storage unit 4, and 10 is an area memory that stores the area detected by the rotation detection unit 9. Department.

The operation of the self-propelled vacuum cleaner configured as above will be explained below. To install, open the base cover 18 and connect the suction hose 14.
is attached to the main body 12, started by the operation switch 16, and when the suction hose 14 is pulled, the hose tension detection sensor Ilb is activated. This drives the travel motor 5a, causing the main body 12 to travel a fixed distance. At the same time, the direction of the suction hose 14 is determined by the hose direction detection sensor 1'.
la is detected, and the steering motor 5b is driven and controlled so that the running direction always matches the direction in which the suction hose 14 is led out. Further, when there is an obstacle in front of the vehicle in the running direction, the distance measuring sensors 3a and 3b or the bumper 30 detect this and stop the vehicle. Therefore, if the suction hose 14 is used, the main body 12 always follows the user;
can be guided in the direction desired by the user. To teach the cleaning area when automatically cleaning a room that is not surrounded by walls or any other place, connect the suction hose 14 to the main body 12.
The self-propelled vacuum cleaner main body 12 is switched to the teaching mode in which the self-propelled cleaner main body 12 follows the user as described above. In this mode, the locus of movement of the main body 12 in the direction of the suction hose 14 is recognized by the position recognition means 8 and stored in the storage section 4 (.Then, when the teaching is finished, the suction hose 14 is removed from the main body 12. , operate the operation switch 16 to restart the movement.If the taught movement trajectory is a closed loop, the lap detection unit 9 detects this, determines the taught area as the cleaning area, and stores it in the area storage unit 10. At the same time, an output signal is sent to the cleaning guiding means 1, and after that, the cleaning guiding means 1 recognizes the position of the main body using the data of the obstacle detecting means 3 and the position recognition means 8, and sends an output signal to the steering and driving means to automatically operate the main body. While controlling the running direction of the vacuum cleaner, it moves throughout the cleaning area while avoiding obstacles to clean the entire cleaning area.Also, if the taught movement trajectory is not a closed loop, that is, half of the room If you teach the boundary line to clean just the area, after restarting, it will move along the wall, and when the movement trajectory becomes a closed loop, it will judge that movement trajectory as the cleaning area, and do the same as above. Clean the entire cleaning area.When cleaning a room or arbitrary place that is not surrounded by walls and requires the above-mentioned teaching more than once, from the second time onwards, the cleaning guide means 1 , recognizing this as an area to be cleaned this time,
As mentioned above, while recognizing the position of the main body using the data from the obstacle detection means 3 and the position recognition means 8, an output signal is sent to the steering/driving means to control the running direction of the self-propelled vacuum cleaner while performing this cleaning. Clean the entire cleaning area by running around the area while avoiding obstacles.

The above description has been made regarding the case where the previously stored cleaning area is re-cleaned, but in order to clean an area different from the memorized cleaning area, it is only necessary to re-input the cleaning area instruction. In addition, the above-mentioned cleaning guide means 1, starting point guide means 2,
In this embodiment, the circulation detection section 9 is composed of a microcomputer.

Effects of the Invention As described above, according to the present invention, a self-propelled vacuum cleaner can be started to perform cleaning, and can be started from any arbitrary point, such as the point where cleaning has finished or if it is stopped midway through cleaning. , it is possible to return to the starting point by self-guided guidance rather than manual operation.

According to the second means, when cleaning is performed in a place where instructions are required to perform the cleaning more than once, such as a room not surrounded by walls or an arbitrary place, the instruction is given twice or more. If this is done, a self-propelled vacuum cleaner that does not require any teaching can be obtained by automatically moving the previously taught area without requiring any teaching from the second time onwards.

[Brief explanation of drawings]

Fig. 1 is an overall block diagram of a self-propelled vacuum cleaner showing an embodiment of the first means of the present invention, Fig. 2 is a longitudinal sectional view of the self-propelled vacuum cleaner, and Fig. 3 is a longitudinal cross-sectional view of the self-propelled vacuum cleaner. FIG. 4 is an external view of the self-propelled vacuum cleaner, and FIG. 5 is an overall block diagram of the self-propelled vacuum cleaner as an embodiment of the second means. ■...Cleaning guide means, 2...Starting point guide means, 3
... Obstacle detection means, 4. Storage unit, 5. Steering and driving means, 6. Cleaning device, 7. Power source, 8..
・Position recognition means, 9... Circulation detection section, 10... Zone marking tM section, 11... Teaching section, 12... Main body. Name of agent: Patent attorney Shigetaka Awano et al.

Claims (2)

[Claims] (1) A cleaning device, a self-propelled vacuum cleaner body having a steering and driving means, an obstacle detection means provided on the main body to detect obstacles in the front and left and right directions, and A storage unit for storing the trajectory, a power supply, a position recognition means for detecting the traveling distance and direction of the main body to recognize the position of the main body, an output of the obstacle detection means, and processing the data in the storage unit. A self-propelled cleaner comprising: a cleaning guide means for sending an output signal to the steering and driving means; and a starting point guide means for guiding the self-propelled vacuum cleaner to a starting point based on data in the storage section. Machine. (2) A lap detection unit that detects that the self-propelled vacuum cleaner has gone around the area based on information in the storage unit; an area storage unit that stores the area detected by the lap detection unit; Claim 1 further comprising a teaching section used for manual teaching.
Self-propelled vacuum cleaner as described.