JPH08224194A - Self-running cleaner - Google Patents

Abstract

PURPOSE: To allow a cleaner to be serviceable accurately for an extended period by providing a set of magnetic switches at the left and right in the lower portion of the cleaner, which correct attitude of the cleaner body in such a way that both switches can simultaneously issue signals of detecting the magnetic tape. CONSTITUTION: A self-running cleaner moves back to a cleaning start point A, when it detects a wall 15 by the aid of a ultrasonic sensor, and continues cleaning while gradually changing the direction by the aid of a gyro-sensor. In an area 18 where movement of the cleaner is not hindered by the wall 15, it detects a magnetic tape 19 attached beforehand to the floor by the aid of a magnetic switch 11L or R to move in the same manner as it does in the presence of the wall 15, on receiving a signal from one of these magnetic switches 11L and R by a judgment processing means to judge as if there were the wall 15. The cleaner is equipped with two magnetic switches 11L and R at the left and right, which are slanted as the judgment processing means body 1 changes in direction after the gyro-sensor is used for an extended period. One of the magnetic switches 11L and R, on detecting the magnetic tape 19, shakes direction of the judgment processing means body 1 to control attitude of the cleaner in such a way that both magnetic switches can detect the magnetic tape simultaneously. The cleaner is serviceable for a long period, because initial correction of gyro-sensor direction is effected when the magnetic tape 19 is detected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is a self-propelled type in which a battery is used as a power source, an ultrasonic sensor detects an obstacle, a gyro sensor controls a moving direction, and a cleaning operation is performed while moving with a wall as a reference. The present invention relates to a self-propelled vacuum cleaner in which a cleaning movable range is expanded by using a magnetic switch together.

[0002]

2. Description of the Related Art Conventionally, a self-propelled vacuum cleaner that moves without a path uses a gyro sensor to control the moving direction of the main body, and uses an ultrasonic sensor or photoelectric switch to detect obstacles such as walls and change direction. However, the cleaning was carried out sequentially while moving the target floor surface.

[0003]

However, if the door or the like is open or is not surrounded by a wall, it will be out of the area to be cleaned, and the desired cleaning cannot be performed. There was always the danger of falling from the stairs in the place, and there was a problem that it could not be used in places without walls. Further, since the gyro sensor used for controlling the moving direction of the main body causes an angular error over time, its use for a long time is also limited, and the cleaning moving range is also limited.

In order to solve this problem, a self-propelled vacuum cleaner in which a magnetic tape is attached to the cleaning area to enable cleaning even in a cleaning area without a wall, and the present invention mainly aims to improve the moving function. Has an aim.

A first object of the present invention is to realize accurate cleaning movement for a long time by controlling the posture of the main body.

A second object is to limit the cleaning movement range not only in the front but also in the rear so as to operate more safely.

A third purpose is to stop the main body at a predetermined place at the end of cleaning. The fourth purpose is to protect the magnetic switch from an impact applied when the magnetic switch hits a convex portion on the floor or when the main body derails.

[0008]

[Means for Solving the Problems] A first means for achieving the first object is a battery which is a power source, and steering and driving means having left and right independent drive wheels which are provided at the lower portion of the main body.
A caster, a cleaning means composed of a floor nozzle provided at the front lower part of the main body, a dust box and a fan motor, a gyro sensor for detecting the direction of the main body, and a plurality of super units for detecting obstacles such as walls provided around the main body. A sound wave sensor, a pair of magnetic switches provided on the lower left and right of the main body to detect a magnetic tape, and both the signal from the ultrasonic sensor and the signal from this magnetic switch are received as movement restriction signals when an obstacle is detected. It comprises a judgment processing means A for controlling the posture of the main body so as to move forward and backward while moving forward and backward from an obstacle to a designated distance and to output a signal from both of a pair of magnetic switches. is there.

A second means for achieving the second object is to provide a battery as a power source, a steering / driving means having left and right independent drive wheels at the bottom of the main body, a caster, and a front portion of the bottom of the main body. A cleaning means composed of a floor nozzle and a fan motor, a gyro sensor for detecting the direction of the main body, a plurality of ultrasonic sensors for detecting obstacles such as walls provided around the main body, and a magnetic tape provided under the main body. The magnetic switch for detecting and discriminating between N pole and S pole, and the signal from the ultrasonic sensor and the signal from this magnetic switch are both used as movement limit signals when an obstacle is detected, and the magnetic tape of N pole is detected. Occasionally, it is judged as an obstacle on the outward path, and when a magnetic tape of the S pole is detected, it is judged as an obstacle on the return path, and a judgment process of moving laterally while moving forward and backward up to a specified distance from the obstacle. Which is constituted by the stage B.

A third solution for achieving the third object is, in addition to the second solution, when the magnetic switch continuously detects an N-pole magnetic tape and an S-pole magnetic tape. A judgment processing means C for stopping cleaning and movement at a place and ending the cleaning operation is provided.

A fourth solution means for achieving the fourth object is, in addition to the first, second and third solution means, a magnetic switch provided at a lower portion of the main body is urged downward and slid upward. It is provided with a support means configured to be movable.

[0012]

According to the first solution, the magnetic tape is detected by the pair of magnetic switches provided on the left and right sides of the lower part of the main body so that the magnetic tape can be judged in the same manner as an obstacle, and a signal can be output from both of the pair of magnetic switches. By using the to control the posture of the main body, accurate cleaning movement can be realized for a long time.

According to the second solution, when a magnetic switch for discriminating between the N pole and the S pole is used to detect the magnetic tape of the N pole, it is determined to be an obstacle on the outward path and when the magnetic tape of the S pole is detected. By determining that the obstacle is on the return path, the cleaning movement range is limited not only in the front but also in the rear, and the safer operation is performed.

According to the third solving means, when the magnetic switch continuously detects the N-pole magnetic tape and the S-pole magnetic tape, the cleaning and movement are stopped at that location to end the cleaning operation. When the cleaning is completed, the main body is stopped at a predetermined place.

According to the fourth solution means, by providing the support means for urging the magnetic switch downward and slidable upward, when the magnetic switch hits a convex portion on the floor or the main body is dismounted. This protects the magnetic switch from the shock applied when it is applied.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a self-propelled cleaner according to the present invention will be described below with reference to the drawings.

The construction of a self-propelled cleaner according to an embodiment of the first solving means will be described with reference to FIGS. 1 and 2. In the figure, a trolley 2 made of aluminum for the main body 1 of the self-propelled vacuum cleaner.
Left and right independent traveling motors 3L, 3 for moving
A steering / driving means 4 composed of R and casters 5 are provided, and further, a floor nozzle 6 provided at the lower front of the main body 1, a dust box 7 provided at the upper part of the main body 1, and a fan motor 8
And constitute the cleaning means 9. In addition, a plurality of ultrasonic sensors 10 for detecting obstacles around walls and doors.
And the magnetic switches 11L and 11R on the lower left and right sides of the carriage 2.
The gyro sensor 1 for detecting the direction is provided inside the main body 1.
2, a determination processing means A13 for controlling the self-sustained movement, and a battery 14 as a power source are provided.

FIG. 3 is a block diagram showing the system of the self-propelled cleaner. As shown in the figure, a plurality of ultrasonic sensors 1
0, gyro sensor 12, magnetic switches 11L and 11R
Is output to the determination processing means A13. A configuration in which these inputs are received from the determination processing means A13 and output to the left traveling motor 3L and the right traveling motor 3R that are the steering and driving means 4, and the floor nozzle 6 and the fan motor 8 that are part of the cleaning means 9. The battery 14 supplies power to the entire system.

Next, the operation of the self-propelled cleaner will be described with reference to FIG. The figure shows an operation in which the main body 1 of the self-propelled cleaner cleans the passage 16 using the wall 15 as a guide. When the cleaning is started from the place A, it moves forward to the front wall 15, and when the ultrasonic sensor 10 detects the wall 15, it returns to the place A where the cleaning is started. Using the wall 15 as a guide, the space between the place A where the main body 1 is set and the wall 15 is recognized as the cleaning range 17 and moves back and forth, and the gyro sensor 12 gradually changes the direction so that the floor nozzles 6 overlap each other and the cleaning is sequentially performed. To go.

At the location B, since the wall 15 is interrupted, the wall 15 cannot be detected and the wall 15 goes out of the original cleaning range 17, and the cleaning intended by the user cannot be performed. Therefore, in the area 18 without the wall 15, the magnetic switches 11L and 11R detect the magnetic tape 19 pasted on the floor in advance, and when the judgment processing means A13 receives the output of either of the magnetic switches 11L and 11R, there is a wall. Therefore, the cleaning can be continued in the same manner as when the wall 15 is used as a guide.

On the other hand, when the gyro sensor 12 is used for a long period of time, the direction of the main body 1 changes and tilting occurs. Since the self-propelled vacuum cleaner according to the present invention has two magnetic switches 11L and 11R mounted on the left and right as in the case of performing at the location C, it is determined when the magnetic tape 19 is detected by either of the magnetic switches 11L and 11R. The processing means A13 shakes the direction of the main body 1 to control the attitude so that both the magnetic switches 11L and 11R detect the magnetic tape 19, and the gyro sensor 1
Initially correct the direction of 2 when detecting the magnetic tape 19,
It can be used for a long time. Depending on the performance of the gyro sensor 12, the correction may be performed every time or every several times as in the present embodiment.

Next, an embodiment of the second solving means will be described with reference to FIG. As in the above embodiment, the outputs of the plurality of ultrasonic sensors 10 and the gyro sensor 12 are determined by the judgment processing means B20.
Has been entered in. Separate outputs of N and S are output from the magnetic switch 11R and input to the judgment processing means B20. Upon receiving these inputs from the judgment processing means B20,
It outputs to the left traveling motor 3L and the right traveling motor 3R which are the steering and driving means 4, and the floor nozzle 6 and the fan motor 8 which are a part of the cleaning means 9, and the battery 14
Supplies power to the entire system.

The operation of the self-propelled cleaner will be described with reference to FIG. The figure shows an operation in which the main body 1 of the self-propelled cleaner cleans the passage 16 by using the wall 15 as a guide. When the cleaning is started from the place D, it moves forward to the front wall 15, and when the ultrasonic sensor 10 detects the wall 15, it returns to the place D where the cleaning is started.

Using the wall 15 as a guide, the space between the place D where the main body 1 is set and the wall 15 is recognized as the cleaning range 17 and moves back and forth, and the gyro sensor 12 changes the direction little by little so that the floor nozzles 6 overlap. Clean up one after another.

Even if the door 21 on the wall 15 is accidentally opened when the user comes to the place E, since the magnetic tape 22 of the N pole is attached in advance on the floor surface in front of the door 21, the magnetic switch 11R has the N pole. This magnetic switch 11 detects the magnetic tape 22 of
The judgment processing means B20 receives the N output of R, judges that there is a wall on the outward path, and continues cleaning as in the case where the door 21 is closed. Next, when the user comes to the place F, the magnetic switch 11R detects the magnetic tape 24 of the south pole in front of the stairs 23 at the rear, and the S output of the magnetic switch 11R is determined by the processing means B20.
Judges that there is a wall on the return path and moves in reverse before the stairs 23, so cleaning continues without falling from the stairs 23.

Next, an embodiment of the third solving means will be described with reference to FIG. Similar to the above embodiment, the outputs of the plurality of ultrasonic sensors 10 and the gyro sensor 12 are determined by the judgment processing means C25.
Has been entered in. Separate outputs of N and S are output from the magnetic switch 11R and input to the determination processing means C25.

Upon receiving these inputs from the judgment processing means C25, the left traveling motor 3L and the right traveling motor 3R which are the steering and driving means 4, and the floor nozzle 6 and the fan motor 8 which are part of the cleaning means 9 are received. The battery 14 is configured to output power, and the battery 14 supplies power to the entire system.

The operation of the self-propelled vacuum cleaner of this construction will be described with reference to FIG. The figure shows an operation in which the main body 1 of the self-propelled cleaner cleans the passage 16 by using the wall 15 as a guide.

In FIG. 8A, when it is desired to finish the cleaning on the front wall 15 side, if the N-pole magnetic tape 22 and the S-pole magnetic tape 24 are pasted on the floor on the wall 15 side in advance, the location In G, the judgment processing means C25 sends N from the magnetic switch 11R.
The output and the S output are continuously received, the cleaning is completed, and the operation is stopped at the place G. Similarly, in FIG. 8B, when it is desired to finish the cleaning on the side opposite to the front wall 15, the magnetic tape 22 of the N pole and the magnetic tape 24 of the S pole are pasted on the floor to be stopped, and the location H Then, the judgment processing means C25 causes the magnetic switch 11
The N output and the S output from R are continuously received, the cleaning is completed, and the operation is stopped at the place H.

Next, an embodiment of the fourth solving means will be described with reference to FIG. Magnetic switch 1 under trolley 2 at the bottom of main unit 1
A guide frame 26 that slidably holds 1R is provided, and a coil spring 27 biases the magnetic switch 11R downward.

The operation of the above configuration is as follows. When the magnetic switch 11R hits the main body 1 after passing through the convex portion on the floor surface, or when the wheel derails at the concave portion on the floor surface, the magnetic switch 1
When the 1R hits the floor surface, this sliding mechanism allows the magnetic switch 11R to escape upward to prevent the magnetic switch 11R from being broken. In general, a magnetic switch has a sensitivity of about 5 gauss or more, which is low in order to make it less susceptible to the influence of the earth's magnetism, etc., and therefore it must be provided close to a magnetic tape.

[0032]

According to the first solution according to the present invention,
A pair of magnetic switches provided on the lower left and right sides of the main unit detect the magnetic tape and judge it like an obstacle, and control the posture of the main unit using the magnetic tape so that signals can be output from both the pair of magnetic switches. It realizes timely cleaning movement.

According to the second solving means, when the magnetic switch for discriminating between the N pole and the S pole is used, when the magnetic tape of the N pole is detected, it is judged as an obstacle on the outward path and when the magnetic tape of the S pole is detected. By determining that the obstacle is on the return path, the cleaning movement range is limited not only in the front but also in the rear, and the safer operation is performed.

According to the third solving means, when the magnetic switch continuously detects the magnetic tape of the N pole and the magnetic tape of the S pole, the cleaning and the movement are stopped at that location to terminate the cleaning operation. When the cleaning is completed, the main body is stopped at a predetermined place.

According to the fourth solution, when the magnetic switch hits a convex portion on the floor or the main body is detached from the wheel by providing the supporting means for urging the magnetic switch downward and slidable upward. This protects the magnetic switch from the shock applied when it is applied.

[Brief description of drawings]

FIG. 1 is a side sectional view of a self-propelled cleaner according to an embodiment of a first solution means of the present invention.

FIG. 2 is a plan view of the self-propelled vacuum cleaner.

FIG. 3 is a block diagram showing a system configuration of the self-propelled cleaner.

FIG. 4 is an operation explanatory view of the self-propelled vacuum cleaner.

FIG. 5 is a block diagram showing a system configuration of a self-propelled vacuum cleaner in an embodiment of a second solving means of the present invention.

FIG. 6 is an operation explanatory diagram of the self-propelled vacuum cleaner.

FIG. 7 is a block diagram showing a system configuration of a self-propelled vacuum cleaner in an embodiment of a third solving means of the present invention.

FIG. 8 is an operation explanatory view of the self-propelled vacuum cleaner.

FIG. 9 is a sectional view of a magnetic switch of a self-propelled cleaner according to an embodiment of a fourth solution means of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 4 Steering / driving means 5 Casters 9 Cleaning means 10 Ultrasonic sensors 11L, 11R Magnetic switches 12 Gyrosensors 13 Judgment processing means A 14 Battery 20 Judgment processing means B 25 Judgment processing means C

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsuyasu Ogawa 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Toshiaki Fujiwara, 1006 Kadoma, Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Osamu Eguchi 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Hirofumi Inui, 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor, Yoshifumi Takagi Osaka 1006, Kadoma, Kadoma City, Fuchu Matsushita Electric Industrial Co., Ltd. (72) Takafumi Ishibashi 1006 Kadoma, Kadoma City, Osaka Prefecture Matsuda Electric Industrial Co., Ltd. (72) Yoshiki Kuroki 1006 Kadoma, Kadoma City, Osaka Matsushita (72) Inventor Hiroyuki Senoo, 1006, Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. The Corporation

Claims (4)

[Claims] 1. A cleaning system comprising a battery as a power source, a steering / driving unit having left and right independent drive wheels provided at a lower portion of a main body, a caster, a floor nozzle provided at a lower front portion of the main body, a dust box, and a fan motor. Means, a gyro sensor for detecting the direction of the main body, a plurality of ultrasonic sensors for detecting obstacles such as walls provided around the main body, a pair of magnetic switches for detecting magnetic tape provided on the lower left and right of the main body, While receiving both the signal from the sound wave sensor and the signal from this magnetic switch as a movement restriction signal when an obstacle is detected, it moves laterally while moving forward and backward between the obstacle and the specified distance. A self-propelled cleaner provided with a judgment processing means A for controlling the attitude of the main body so that signals are output from both of the pair of magnetic switches. 2. A cleaning device including a battery as a power source, a steering and driving means having left and right independent drive wheels provided at a lower portion of the main body, a caster, a floor nozzle provided at the front lower portion of the main body, a dust box, and a fan motor. Means, a gyro sensor for detecting the direction of the main body, a plurality of ultrasonic sensors provided around the main body for detecting obstacles such as walls, a magnetic tape provided under the main body for detecting a magnetic tape and discriminating between N and S poles. Both the signal from the switch and the ultrasonic sensor and the signal from the magnetic switch are used as movement limit signals when an obstacle is detected, and when an N-pole magnetic tape is detected, it is determined to be an obstacle on the outward path and the S-pole. When the magnetic tape is detected, it is judged that the obstacle is on the return path, and the judgment processing means B moves laterally while moving forward and backward up to a specified distance from the obstacle.
Self-propelled vacuum cleaner equipped with. 3. A judgment processing means C for stopping cleaning and moving at that position when the magnetic pole of the N pole and the magnetic tape of the S pole are continuously detected by the magnetic switch and ending the cleaning operation. The self-propelled vacuum cleaner described in 1 or 2. 4. The self-propelled cleaner according to claim 1, further comprising support means for urging a magnetic switch provided at a lower portion of the main body so as to be slidable upward.