JPH02249520A - Self-travel control method for self-traveling cleaner - Google Patents

Abstract

PURPOSE:To effectively clean a corner part around an obstacle by allowing a self-traveling cleaner to turn into a part in the vicinity of an obstacle with which the cleaner make contact at a certain angle, until it make contact completely with the obstacle. CONSTITUTION:During straightforward running, when a front right contact sensor 5 in a self-traveling cleaner 1 makes contact with an obstacle such as a wall surface 4 or the like, a control circuit 8 stops a right running motor 9 while a left running motor 10 is normally rotated so as to allow the cleaner to turn into the left side so that the front surface of the cleaner 1 makes contact completely to the obstacle. With this arrangement, when a front left contact sensor 6 detects a contact with the obstacle such as the wall surface 4 or the like, the control circuit 8 cuts off electrical paths for both left and right motors 9, 10 so as to stop the latter. Thereafter, the cleaner is moved back and is reset, and accordingly, it shifts into a next straightforward mode.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a self-propelling control method for a self-propelled vacuum cleaner, particularly a self-propelling control method that improves the cleaning performance of corners with obstacles such as walls and furniture. Regarding the method.

[Background Art] In recent years, so-called home automation (HA) has rapidly progressed, and various electrical appliances in the home are being automated. Vacuum cleaners are no exception, and research and development are actively being conducted on self-propelled vacuum cleaners that are equipped with a CPU and various sensors, drive wheels by a motor, and clean floors while self-propelled.

A conventional self-propelled vacuum cleaner is known, for example, as described in Japanese Unexamined Patent Publication No. 181727/1983.

This type of conventional self-propelled vacuum cleaner (1) has a front end contact sensor (2) and a rear end contact sensor (3), as shown in FIG.
When the front end contact sensor (2) comes into contact with a wall (4) or the like while traveling straight, the vehicle stops, moves backward, turns, and resumes traveling straight. Therefore, at least the diagonally shaded area close to an obstacle such as a wall surface may remain uncleaned, and at worst, there is a possibility that the area surrounded by the dotted line may not be cleaned either.

[Problems to be Solved by the Invention] Conventional self-propelled vacuum cleaner control methods have the configuration described above, so when traveling at a certain angle toward an obstacle such as a wall, one of the front ends When the ends come into contact, the device stops and changes direction, so there is a problem that at least the triangular portion between the wall surface and other obstacles and the angle of incidence cannot be cleaned by suction.

The present invention was made to solve the above problems, and an object of the present invention is to provide a self-propelled vacuum cleaner that improves the cleaning performance of corners with obstacles such as walls.

[Means for Solving the Problems] A method for controlling a self-propelled vacuum cleaner according to the present invention is such that a self-propelled vacuum cleaner having one set of contact sensors on the left and right sides at the front end of the main body of the vacuum cleaner moves against an obstacle. After traveling straight at an angle, when either the right contact sensor or the left contact sensor detects that it has contacted an obstacle, the running wheels on one side are stopped and the running wheels on the other side are moved forward, and then, When the contact sensor on the other side detects contact with an obstacle, the self-propelled vehicle is controlled to stop both traveling wheels, make a backward turn, and then proceed to the next straight traveling motion.

[Function] According to the present invention, when the self-propelled vacuum cleaner comes into contact with an obstacle at an angle, the self-propelled vacuum cleaner moves around while cleaning until the front surface almost entirely contacts the obstacle. Corners can be cleaned efficiently.

[Embodiment] Hereinafter, a preferred embodiment of the self-propelling control method for a self-propelled vacuum cleaner according to the present invention will be described with reference to the drawings.

FIG. 1 is an operational flow diagram of the self-propelled vacuum cleaner control method according to the present embodiment, FIG. 2 is a block diagram, and FIG. 3 is a plan view for explaining the behavior of the self-propelled vacuum cleaner.

In the block diagram of Fig. 2, the control circuit (8) has a plurality of relays and a second counter, and runs the drive current from the power supply circuit based on the signal from the right front contact sensor (5) or the left front contact sensor (6). The motor is supplied to the right motor (9) for driving or the left motor (10) for driving, and is driven to rotate forward or reverse for a predetermined period of time.

Further, the control circuit (8) supplies the drive current from the power supply circuit (7) to the blower motor (11), sucks in dust from a suction nozzle (not shown), and cleans the floor while moving on its own. can.

Both the right motor for travel (9) and the left motor for travel (10) are driven in normal rotation, and while the self-propelled vacuum cleaner is traveling forward, the front contact sensor (5) and the left front contact sensor (6) are If no obstacle is detected, the vehicle continues to travel forward (steps (18), (20), and (22)).

When the right front contact sensor (5) of the self-propelled vacuum cleaner (1) comes into contact with an obstacle such as a wall (4) while moving forward, as shown in Fig. 3, the control circuit (8) activates the right motor for traveling. Step (24)) to stop the motor (9), then step (26)) to drive the left running motor (10) in the forward direction; ) moves so that its entire front surface is in contact with the obstacle. When the left front contact sensor (6) detects contact with an obstacle such as a wall (4), the control circuit (8) controls at least the left running motor (10) or both left and right motors (9).
, (10) are opened and stopped. If the left front contact sensor (6) does not detect contact within the predetermined time,
The second counter of the control circuit (8) determines that the time has expired, so in step (32)), the electric circuits of both the left and right motors (9) and (10) are opened and the state shifts to a stopped state (step (34)).
, it is possible to prevent continued rotation around obstacles such as columnar members.

After that, it moves backwards, turns, resets, and moves on to the next straight forward run.

Similarly, if the left front contact sensor (6) comes into contact with an obstacle during straight forward travel, the $IJ control circuit (8) stops the left travel motor (10) (step (28)), and Drive the motor (9) forward to rotate to the right, and then
When the time has elapsed or contact is detected by the right front contact sensor (5), both motors are stopped, reversed, turned, and reset, and the vehicle shifts to straight forward travel.

Thus, according to the present invention, even if one of the front ends comes into contact with an obstacle such as a wall (4) while traveling straight at a certain angle, '! As best shown in Figure 3, it moves around while cleaning in the opposite direction from the point of contact.
Corners close to obstacles can also be cleaned well.

[Effects of the Invention] As explained above, in the present invention, when a self-propelled vacuum cleaner comes into contact with an obstacle such as a wall or furniture at a certain angle, the self-propelled vacuum cleaner sweeps around to the opposite side of the front end of the contact. So,
It is possible to provide a self-propelled vacuum cleaner that can effectively clean corners near obstacles.

[Brief explanation of drawings]

FIG. 1 is a flowchart illustrating the operation of the self-propelled vacuum cleaner self-propelled control method according to the present invention, and FIG. 2 is a block diagram of the self-propelled vacuum cleaner self-propelled control method according to the present invention. FIG. 4 is a plan explanatory diagram illustrating the operation of a self-propelled vacuum cleaner according to the method of FIG. In the figure, (1) is a self-propelled vacuum cleaner, (2) is a front end contact sensor, (3) is a rear end contact sensor, (4) is a wall surface, (
5) is the right front contact sensor, (6) is the left front contact sensor, (7
) is a power supply circuit, (8) is a control circuit, (9) is a right running motor, (10) is a left running motor, and (11) is a blower motor. In addition, in the figures, the same reference numerals indicate the same or equivalent parts. Agent Patent Attorney Masuo Oiwa (2 others) 7' Lock Diagram Diagram 2 Mika Ifsuno 7 Kano Chart Diagram 1 5, Name I Jiji Shichi Sosa 6: Left Approximate" Kishichi Shichibu Diagram FIG. 5: Detailed description of the invention column and drawings of the specification to be amended. 6. Contents of amendment iχ 采f Any procedural amendment (voluntary) August 3, 2011 1. Indication of the case 2. Name of the invention Patent application No. 3 Self-propelled control method for a self-propelled vacuum cleaner 3. Relationship with the case of the person making the amendment Patent applicant Address 2-3 Marunouchi-chome, Chiyoda-ku, Tokyo Name (60,1) Mitsubishi Electric Corporation Representative Moriya Shiki 4 Agent address Marunouchi, Chiyoda-ku, Tokyo Part 2-3 Kabo (phantom diagram)

Claims (1)

[Claims] After a self-propelled vacuum cleaner, which has one set of contact sensors on the left and right sides of the front end of the vacuum cleaner body, moves straight at an angle to an obstacle,
When either the right contact sensor or the left contact sensor detects contact with an obstacle, the running wheels on one side are stopped and the running wheels on the other side are moved forward, and then the contact sensor on the other side is detected to be in contact with an obstacle. A self-propelling control method for a self-propelled vacuum cleaner, characterized in that when contact with an object is detected, both traveling wheels are stopped, the wheels are turned backward, and the next straight traveling is started.