JPH03242710A - Running control system for cleaning robot - Google Patents

Abstract

PURPOSE:To reduce litter left unsucked in a short cleaning time by adding a litter sensor and a speed changing function and running a robot at low speed only in a place of much litter. CONSTITUTION:A memory card where dimension information of a room to be cleaned is stored is set, and in such a state, the robot starts to run and clean from the position where it is first placed. At this time, the cleaning robot runs and cleans while measuring distances to walls or objects in the front and the side of the robot by ultrasonic sensors 19 and 11 attached to the front face and the end face and always detecting the extent and the direction of movement by an encoder 4. If it is detected by a litter sensor 63 that the quantity of dust passing in a hose 62 exceeds a certain value at a point A when the robot passes an area of much dust during running and cleaning, the running speed is reduced and the robot runs and cleans at low speed, and the speed is returned to the original speed at a point B. Thus, dust left unsucked is reduced in a short cleaning time.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a travel control system for a cleaning robot.

(B) Conventional technology Conventional cleaning robots perform suction cleaning with a vacuum cleaner while meandering around a predetermined area as shown in Figure 5, but at a constant speed regardless of the amount of debris that has fallen. Since a cleaning run is performed, if there is an amount of dirt that cannot be vacuumed up in the - number of passes, the dirt may be left behind. still,
The area within the dotted line is an area where a large amount of trash has fallen. In order to reduce the amount left behind, it is possible to increase the suction power of the vacuum cleaner or to slow down the running speed.

(c) Problems to be Solved by the Invention In the above conventional example, when the suction power of the vacuum cleaner is increased,
There are problems in that the suction port sticks to the floor surface, placing a large load on the drive wheels, damaging the motor, and impairing running accuracy. Another drawback is that when the traveling speed is slowed down, the cleaning time becomes longer. From the above points, it is not possible to simply increase the suction power of the vacuum cleaner or slow down the running speed in order to reduce the amount of dirt left behind.

(d) Means for solving the problem The present invention has been made in view of the above points, and includes:
A dust sensor is installed near the vacuum cleaner's suction port to detect the amount of dust sucked in, and if the amount of dust passing through the sensor is large, the robot's running speed is slowed down, and if there is little, the robot runs faster.

(e) Function: By adding a dust sensor and a variable speed function to the cleaning robot, the cleaning robot slows down and carefully cleans areas with a lot of dust, and cleans other areas at a constant speed.

(f) Embodiment FIG. 1 shows a perspective view of the external appearance of a cleaning robot (1) for explaining an embodiment of the present invention. In the figure, (3) is a driving wheel, and (10) is a forward ultrasonic sensor that detects the distance to an obstacle or wall in front. (11) (2) The horizontal ultrasonic sensors installed on both the left and right sides of this cleaning robot (1) detect the distance to horizontal obstacles and walls. (14
) is a pampers inch, which is used to detect and stop the collision when the cleaning robot (1) collides with an obstacle that cannot be accurately detected by the forward ultrasonic sensor (10) while running. (20) is an AC coco winding mechanism, (21
) is an AC cord that supplies a commercial ACt source into the cleaning robot (1). (30) is a memory card that stores dimension information of the room to be cleaned. (40) is a start switch, and (41) is a stop switch. (51)) is used when a worker moves the cleaning robot (1) between rooms to be cleaned using the handle.
).

FIG. 2 is a schematic configuration diagram of an embodiment of the present invention. Explanation of the numbers used in FIG. 1 will be omitted. (2) is a motor with two left and right
There are two types, each of which is driven independently. (4) is for detecting the rotational speed of the two motors (2) with an encoder. (5) is rotatable with casters and has two driving wheels (3)
It also supports the cleaning robot (1). (12)
is a rear ultrasonic sensor that detects the distance to rear obstacles and walls. (60) is a vacuum cleaner, (61) is the suction port of the vacuum cleaner, (62) is a hose, and (63) is a dust sensor. The amount of dust is detected from the rate at which infrared rays are blocked by the dust. (70) is a control unit that controls the running and cleaning work of the cleaning robot (1).

FIG. 3 is a flow chart of the control operation of the present invention, and the operation will be explained using this diagram. First, memo card (3+)
), the robot starts cleaning from the location where it was originally placed. At this time, the cleaning robot (1)
Ultrasonic sensors (10) (11) attached to the front and sides
) to measure the distance to walls and objects in front of and beside the robot, and the encoder (4) constantly detects the distance and direction of movement while cleaning. During the cleaning run, as shown in Figure 4, when you crawl through an area with a lot of garbage (inside the dotted line), the garbage sensor (63) is activated at point A.
When it detects that the amount of garbage inside the hose (62) exceeds a certain value, it reduces the running speed and cleans at a low speed, and when it is no longer detected at point B, it returns to the original speed. Go on a cleaning run. Then, when there is a wall or object in front of it and the distance to it becomes a certain value, or when it reaches the stop target coordinate value, it stops. Decide on the direction in which to move forward, and if you can no longer proceed to the next step, end the work, and if you want to proceed to the next step, change the direction by rotating motion in the determined direction, move on to the next forward motion, and then repeat. After completing the work, calculate the return route to the return point and travel τ to the return point.

(G) Effects of the Invention In the control system of the cleaning robot of the present invention, by moving at a low speed only in areas where a lot of dirt has fallen, it is possible to reduce the amount of dirt left behind in a short cleaning time.

[Brief explanation of drawings]

FIG. 1 is an external perspective view of a cleaning robot used in the present invention, and FIG. 2 is a ti
s diagram and Fig. 3 are flowcharts for explaining the operation, Fig. 4 is a schematic diagram showing speed change points within the work area, and Fig. 5 is a diagram showing the speed change points within the work area of a conventional cleaning robot. It is a schematic diagram showing a running state. (2)... Drive motor, 3... Drive wheel, (4)... Encoder, (5)... Caster,
(10) (11) (12)...Ultrasonic sensor, (14
)...Bumper, (60)...Vacuum cleaner, (61)...
・Vacuum cleaner suction port, (62)...Hose, (63)...
- Dust sensor, (70)...control unit.

Claims (1)

[Claims] In a cleaning robot that performs cleaning work while traveling within a predetermined area, a garbage sensor installed in the vacuum cleaner detects the amount of garbage in order to reduce the amount of garbage left behind. A cleaning robot travel control system that is characterized by varying speed.