JPH08228979A - Self-traveling cleaner - Google Patents

Abstract

PURPOSE: To move cleaning even at any place where there is no wall, and to enable cleaning from the opposite direction as well by providing a magnetic switch, with which a magnetic tape is detected, at the lower part of a main body and receiving a signal from an ultrasonic sensor and a signal from the magnetic switch as a move limiting signal at the time of detecting any obstacle. CONSTITUTION: A magnetic switch 11 is provided at the lower part of a truck and a magnetic detection storage means 15 is provided to store the polarity of the magnetic tape detected by the magnetic switch 11. Then, a judgement processing means 13 is provided to control a steering and driving means 4 and a cleaning means 9 by receiving the signal from an ultrasonic sensor 10, the signal from the magnetic detection storage means 15 and the signal from the magnetic switch 11 as the move limiting signal at the time of detecting any obstacle so that the cleaner can be laterally moved while moving back and forth for a designated distance from the obstacle.

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 it will not be possible to perform the intended cleaning. There was always the danger of falling down the stairs in the area, and there was a limit to where the cleaning could be done without walls.

In order to solve the above problems, the present invention also uses a magnetic switch for detecting a magnetic tape attached to a floor surface where there is no wall, which enables cleaning movement even in a place where there is no wall. The first purpose is to enable cleaning not only from one direction of the area but also from the opposite direction.

A second object of the present invention is to instruct the main body where to end the reversal and cleaning with a simple construction so as to surely end the cleaning at an arbitrary place.

A third object is to make the stop position of the main body constant after detecting the magnetic tape no matter which cleaning area is started, regardless of the installation position of the main body of the magnetic switch in the longitudinal direction. It is in.

A fourth object is to improve the accuracy of the cleaning end by judging the judgment of the end instruction by the magnetic tape from the time of the cleaning operation.

A fifth object is to obtain the same effect as the above with a small amount of magnetic tape.

Further, even if the magnetic tape is detected, stopped and turned over, and even if the obstacle is not detected and the magnetic tape is not returned to the location of the magnetic tape, it is necessary to prevent the magnetic tape from protruding from the cleaning area. It has six purposes.

[0010]

A first technical means for achieving the first object is a battery which is a power source, a steering / driving means having left and right independent drive wheels provided at a lower portion of the main body, a caster, and a main body. A cleaning means composed of a floor nozzle and a fan motor provided in the lower front, 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 lower part of the main body. A magnetic switch for detecting the magnetic tapes of the N pole and the S pole, a magnetic detection storage means for storing the polarity of the magnetic tape detected by the magnetic switch, a signal from the ultrasonic sensor and a signal from the magnetic detection storage means. And a determination processing unit that receives a signal from the magnetic switch as a movement restriction signal when an obstacle is detected and moves laterally while moving forward and backward up to a specified distance from the obstacle. One in which the.

The second technical means for achieving the second object is:
In addition to the first technical means, after first detecting the magnetic tape with the magnetic switch, the magnetic pole interval determination means and the magnetic detection for determining whether the next detected magnetic tape of different polarity is within a preset range. A storage means and a judgment processing means for receiving a signal from the magnetic pole interval judgment means as an instruction signal for the operation of the main body are provided.

The third technical means for achieving the third object is:
In addition to the first technical means, the signal from the magnetic switch and the judgment processing means to instruct the judgment processing means when to execute the main body operation after detecting the magnetic tape in response to the operation state of the main body whether it is the forward path or the return path. The operation execution instructing means and the judgment processing means for deciding the main body operation based on the signal from the magnetic pole interval judgment means at the time of executing the operation according to the instruction from the operation execution instructing means.

A fourth technical means for achieving the third object is
In addition to the first technical means, a judgment processing means for deciding a main body operation based on a signal from an operation number counter for counting the number of reciprocating operations and a magnetic pole interval judgment means is provided.

A fifth technical means for achieving the fourth object is
The determination processing means is provided for switching the processing depending on the polarity of the magnetic tape depending on the combination of magnetic tapes of different polarities detected on the outward path immediately after the main body is started.

A fifth technical means is composed of a battery as a power source, a steering / driving means of left and right independent drive wheels provided at the lower portion of the main body, a caster, a floor nozzle provided at the front lower portion of the main body, and a fan motor. Cleaning 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, and a magnetic switch for detecting a plurality of magnetic tapes provided under the main body. , Select the signal from the ultrasonic sensor and the signal of the magnetic switch according to the moving direction of the main body and receive it as a movement restriction signal of the main body and move laterally while moving forward and backward between the obstacle and the specified distance The determination processing means is provided.

The seventh technical means for achieving the sixth object is
A battery that is a power source, a steering and driving means with left and right independent drive wheels provided in the lower part of the main body, a caster, a cleaning means composed of a floor nozzle and a fan motor provided in front of the lower part of the main body, and the main body direction is detected. A gyro sensor, a plurality of ultrasonic sensors provided around the main body to detect obstacles such as walls, a magnetic switch provided at the lower part of the main body to detect magnetic tapes of N pole and S pole, and this magnetic switch uses a magnetic tape. After detection, the relative position storage means for storing the distance traveled by the main body, the signal from the ultrasonic sensor, the signal from the relative position storage means, and the signal from the magnetic switch are movement restriction signals when an obstacle is detected. As a result, a judgment processing means for moving in the lateral direction while moving forward and backward from the obstacle to a designated distance is provided.

[0017]

According to the first technical means of the present invention, the polarity of the magnetic tape detected by the magnetic switch provided at the lower portion of the main body is stored in the magnetic detection storage means to judge the change in the detected polarity, and the polarity is detected. It is possible to judge whether it is inside or outside the cleaning area by changing the method (N pole to S pole or S pole to N pole), which enables cleaning movement even without a wall, and the reverse of the area. The same is possible from the direction.

According to the second technical means, the distance between the magnetic switches detected by the magnetic switch is judged by the magnetic pole interval judging means, and the reversal to the main body and the cleaning end instruction are recognized and the cleaning is surely performed at the intended place. Can be terminated.

According to the third technical means, the operation execution instructing means determines the timing for determining whether the main body goes straight or is stopped by the slowdown, based on the signal from the magnetic switch and the operation information from the determination processing means. Instruct the means. By changing the timing of this operation execution instruction for the forward path and the return path, regardless of where the magnetic switch is installed in the length direction of the magnetic switch, the main unit will stop after the magnetic tape is detected no matter which cleaning area you start cleaning. The position can be fixed.

According to the fourth technical means, the operation number counting means counts the reciprocating movements of the main body, and the judgment processing means determines the main body operation by the timing of the cleaning operation and the signal from the magnetic pole interval judgment means. It is what you do.

According to the fifth technical means, the amount of magnetic tape required to be constructed can be changed by switching the processing depending on the polarity of the magnetic tape by the judgment processing means by the combination of the magnetic tapes of different polarities detected on the outward path immediately after the main body is started. It is to suppress.

According to the sixth technical means, a plurality of magnetic switches are provided and these magnetic switches are selectively used for the forward path and the backward path, thereby suppressing the amount of magnetic tape required for construction.

According to the seventh technical means, after detecting the magnetic tape, the relative position with respect to the magnetic tape is calculated from the distance moved by the main body and stored in the relative position storage means, and the magnetic tape construction is carried out based on this information. Even if the magnetic tape is detected, the obstacle is not detected and the magnetic tape is not returned to the position of the magnetic tape immediately after the magnetic tape is detected, stopped, and turned over by judging whether or not it is within the area. , The operation of the main body is controlled so that it does not overflow from the cleaning area.

[0024]

【Example】

(Embodiment 1) Hereinafter, a self-propelled cleaner as an embodiment of the first technical means of the present invention will be described with reference to FIGS. 1, 2 and 3. FIG. 1 is a vertical cross-sectional view of a self-propelled vacuum cleaner according to this embodiment, FIG. 2 is a partially cutaway plan view of the same, and FIG. 3 is a block diagram of its control device. In the figure, reference numeral 1 is a main body of a self-propelled cleaner (hereinafter simply referred to as main body), 4a and 4c are drive wheels provided on the left and right sides of the main body 1, respectively, and drive motors 4b and 4d are provided with reduction gears (not shown). The left and right are independently driven via the above. The drive wheels 4a and 4c have wheel encoders (not shown) such as rotary encoders connected to the drive motors 4b and 4d, respectively, and detect the rotational speeds of the drive motors 4b and 4d. Reference numeral 3 is a subordinate wheel (caster) rotatably attached to the main body 1. Above, drive wheels 4a-4
c, the drive motors 4b and 4d, the speed reducer, and the wheel encoder constitute a steering and drive means for moving the main body 1.
A battery 14 supplies electric power to the entire main body 1.

Reference numeral 10 designates a plurality of ultrasonic sensors for detecting obstacles around the wall or door or for detecting the distance thereof.
A gyro sensor 12 measures the direction of the main body 1.
Reference numeral 9 is a cleaning means including a floor nozzle 9d, a dust box 9b provided on the upper part of the main body 1, a filter 9c, and a fan motor 9a.
Is provided. Reference numeral 15 is a magnetic detection storage means for storing the polarities of the magnetic tapes 24 and 25 detected by the magnetic switch 11, and 13 is a signal from the ultrasonic sensor 10, a signal from the magnetic detection storage means 15 and a magnetic switch 11. The steering and driving means 4 and the cleaning means 9 are controlled so as to move in the lateral direction while moving forward and backward from the obstacle up to a designated distance by receiving the signal as a movement restriction signal when the obstacle is detected. It is a judgment processing means to perform.

The operation of the first technical means of the present invention configured as above will be described with reference to FIG. The self-propelled cleaner of the present invention advances to the front wall 21 when cleaning is started from the location A, and returns to the location A where cleaning is started when the ultrasonic sensor 10 detects the wall 21. The space between the place A where the main body 1 is set and the wall 21 is recognized as a cleaning range with respect to the wall 21 and moves forward and backward, and the gyro sensor 12 changes the direction little by little to proceed with the cleaning.

In addition to such a basic operation, the door 22 is accidentally opened like the places B and C, the ultrasonic sensor 1
When the main body 1 passes the location B in the cleaning area where the obstacle 23 which is difficult to detect due to the blind spot of 0 exists, the N-pole magnetic tape 24 is first detected by the magnetic switch 11, and this is detected magnetically. It is stored by the storage unit 15. After that, when the magnetic pole 11 is detected by the magnetic switch 11, the determination processing means 13 causes the magnetic detection storage means 1 to operate.
Based on the polarities of the magnetic tape stored in step 5 and the polarities detected by the magnetic switch 11, it is determined whether the main body 1 is inside or outside the cleaning area. In this case, the magnetic pole is N
Since it has changed from S to S, it is judged that it has gone out of the area, and the main body is stopped and the main body is retracted (in the direction of location C). At this time, the stored contents of the magnetic detection storage means 15 are cleared.

When the S-pole magnetic tape 25 is detected again after the start of the backward movement and then the N-pole magnetic tape 24 is detected, the determination processing means 13 causes the polarity of the magnetic tape stored in the magnetic detection storage means 15 (this S pole) and the polarity detected by the magnetic switch 11 (N pole), the magnetic pole has changed from S to N, so it is determined that the magnetic tape is inside the area, and the magnetic tape detection information is ignored. 15
Also clear the memory contents of. After that, when the main body 1 passes through the location C, the main body 1 is determined from the polarities of the magnetic tapes 24 and 25 stored by the magnetic detection storage means 15 and the polarity detected by the magnetic switch 11 as in the location B on the outward path. It is judged that it has gone out of the cleaning area, it stops without colliding with the obstacle 23, the stored contents of the magnetic detection storage means 15 are cleared, and the vehicle advances again. When passing through the location C again, the magnetic pole changed from S to N as in the previous time, so it is determined that the inside of the area is determined, and the detection information is cleared to continue the forward movement.

(Embodiment 2) FIG. 5 shows a block diagram of a control device for a self-propelled cleaner according to an embodiment of the second technical means.

In the figure, reference numeral 16 denotes a magnetic switch 11 which first detects an N-pole or S-pole magnetic tape, and then determines whether or not the detected magnetic tapes of different polarities are within a preset range. It is a magnetic pole interval determination means for performing. Further, the judgment processing means 13 receives the signals from the magnetic detection storage means 15 and the magnetic pole interval judgment means 16 as an instruction signal for the main body operation.

The operation of the self-propelled vacuum cleaner of this construction will be described with reference to FIG. In FIG. 6, the operation when the main body 1 passes through the place E is the same as that of the embodiment of the first technical means, and therefore its explanation is omitted.

When the main body 1 passes through the place F as shown in the figure,
When the N-pole magnetic tape 24 is first detected, it is stored in the magnetic detection storage means 15, and thereafter, the magnetic pole interval determination means 16 causes the magnetic tape 2 having different polarities within a preset range.
5 is detected by the magnetic switch 11. Within the setting range, attach the S pole magnetic tape 25 to the magnetic switch 1
If it is detected in step 1, the judgment processing means 13 judges as an instruction to end the cleaning and stops the main body 1 to end the cleaning operation. In this manner, the operation of the main body 1 is judged by the distance between the magnetic tapes of different polarities that have been detected, so that the main body is surely operated.

For example, the inversion instruction and the cleaning end instruction are set to be less than 10 cm and 11 cm to less than 30 cm, respectively.
After detecting one of the other magnetic tapes, it is determined that there is no magnetic tape if there is no magnetic tape of different polarity even after running for 30 cm, or if it has the same polarity even within the above range.

(Embodiment 3) FIG. 7 shows a block diagram of a control device for a self-propelled cleaner according to an embodiment of the third technical means. In the figure, reference numeral 17 indicates the signal from the magnetic switch 11 and the operation state of the main body from the judgment processing means 13 indicating whether it is the forward path or the return path, and then instructs the judgment processing means 13 when to execute the main body operation after detecting the magnetic tape. It is an operation execution instructing means. The determination processing means 13 determines the main body operation based on the signal from the magnetic pole interval determination means 16 at the time of performing the operation according to the instruction from the operation execution instruction means 17.

The operation of the self-propelled vacuum cleaner of this construction will be described with reference to FIG. In FIG. 8, the solid line indicates the stop position of the main body when the magnetic tape is detected when starting from the forward direction (from left to right in the figure) of the cleaning area, and when starting from the reverse direction (from right to left in the figure). The stop position of the main body is indicated by a dotted line.

As shown in FIG. 8, for a set of magnetic tapes, it stopped on the forward path (forward side) from the forward direction of the cleaning area, but on the return path (reverse side) from the reverse direction of the cleaning area. It will be stopped and the relationship is reversed. In order to make the stop position of the main body 1 the same in the forward direction and in the reverse direction, it is necessary to change the traveling distances (distances da and db, respectively) after the magnetic tapes 24 and 25 are detected and before they are stopped for the forward and return paths. There is. Therefore, in the present invention, after detecting the magnetic tapes 24 and 25, the next main body operation is determined, and the time when the next main body operation (stop and reverse or straight forward) is executed is determined by the magnetic switch 1.
In response to the detection signal from 1 and the judgment processing means 13, the operation execution instruction means forward path 17 is executed in response to the operation state of the main body, which is the forward path or the backward path.

For example, in this embodiment, the determination processing means 13 determines the determination of the stop instruction due to the change from N to S on the outward path.
Is determined during the movement of 30 cm from the time when the N pole is detected by, and after the movement of 30 cm, the action execution instructing means 17 immediately gives an instruction to execute the determined action (in this case, slow down).
And the main body 1 slows down and stops. The distance required for this slowdown is 30 cm, and 60 cm (30 cm + 30 c from the first detection of the north pole to the stop)
m) On the other hand, on the return path, the determination of the stop instruction due to the change from N to S is made during the movement of 30 cm from the time when the N pole is similarly detected by the determination processing means 13, and then after 37 cm of free running, The operation execution instructing means 17 gives a slow down instruction, and the main body 1 slows down and stops.

That is, as a whole, the robot moves 97 cm (30 cm + 37 cm + 30 cm) from the first detection of the N pole to the stop.

The distance difference of 37 cm between the forward and return paths is shown in FIG.
As shown in the example of the installation location of the magnetic switch 11 shown in FIG.
Difference in length from the front end and the rear end (68cm-31cm = 3
7 cm). If the location where the magnetic switch is installed is the center in the longitudinal direction of the main body, it is not necessary to change the moving distance after detecting the above-mentioned magnetic tapes 24 and 25 between the forward path and the return path. It is not easy to place it in the center because it is installed and there is not much freedom in its installation location.

Therefore, the difference between the stop positions of the main body 1 coming from the installation location is eliminated by the operation execution instructing means forward path 17 by instructing the judgment processing means 13 to instruct the stop operation of the main body in each of the forward path and the return path. .

If the motion determined by the judgment processing means 13 is straight ahead, the motion execution instruction means forward path 17 does not instruct the judgment processing means 13.

(Embodiment 4) FIG. 10 is a block diagram of a control device for a self-propelled cleaner according to an embodiment of the fourth technical means. In the figure, 18 is an operation number counting means for counting the reciprocating operation of the main body 1. Further, the judgment processing means 13 judges whether the cleaning end instruction by the magnetic tape is valid or invalid, based on the number of operations measured by the operation number counting means 18.

The operation of the self-propelled vacuum cleaner of this construction will be described with reference to FIG. As shown in FIG. 11, if the magnetic tapes 24 and 25 for instructing the end of the backward cleaning are detected in the forward direction, the magnetic tapes 24 and 25 will be completed immediately after the cleaning is started, and the intended area cannot be cleaned. Therefore, the number of reciprocating operations of the main body 1 is counted by the operation number counting means 18, and thereby the magnetic tapes 24 and 25 instructing the end of cleaning are detected at an early time (for example, within five times after the start of cleaning) as shown in FIG. In this case, the operation number counting means 1 in the judgment processing means 13 should be ignored.
It judges based on the number of times of measurement of 8.

(Embodiment 5) FIG. 12 is a block diagram of a control device for a self-propelled cleaner according to an embodiment of the fifth technical means. In the figure, reference numeral 20 is a cleaning direction storage means for storing the combination result of magnetic tapes of different polarities detected in the outward path immediately after the main body is started. The judgment processing means 13 switches the processing depending on the polarity of the magnetic tape according to the contents stored in the cleaning direction storage means 20.

The operation of the self-propelled cleaner of this construction will be described with reference to FIG. In FIG. 13, the set A of the magnetic tapes 24 and 25 of different polarities detected in the first outward path is stored in the cleaning direction storage means 21, and the determination processing means 13 distinguishes the forward direction and the reverse direction based on the stored contents. To do. For example, in FIG.
As shown in, when a set A of magnetic poles S to N of different polarities is detected immediately after cleaning is started, the main body 1 is stopped when the magnetic pole 24 of the magnetic pole 24 is detected on the outward path and the magnetic pole 25 of the S pole is detected on the return path. Then, the judgment processing means 13 judges that the cleaning is completed with the pair of different polarities detected the second time.
(The locus of the main body is shown by a solid line in FIG. 13.) If the group detected immediately after the start of cleaning is the N to S pole (magnetic tape group B), the S pole magnetic tape 25,
On the return path, when the N-pole magnetic tape 24 is detected, the main body is stopped and turned over, and cleaning is completed by the second set of different polarities. (In the same way, the locus of the main body is shown by the dotted line.) As a result, the magnetic tape that needs to be installed need only be of one pole, and the amount of magnetic tape installed can be reduced.

(Sixth Embodiment) FIG. 14 is a block diagram of a control device for a self-propelled cleaner according to a sixth embodiment of the technical means.

In the figure, magnetic switches 11 are provided in front of and behind the main body, and at least two or more magnetic switches are arranged. A magnetic switch 11a arranged in front of the main body 1 and a magnetic switch arranged in the rear of the main body 1 are arranged. 11b.

The operation of the self-propelled vacuum cleaner of this construction will be described with reference to FIG. In the figure, when the main body 1 detects the magnetic tape 24 by the magnetic switch 11a while going straight like a place G, the main body 1 stops and reverses on the spot. At this time, in the stopped state, the magnetic switch 11b does not detect the magnetic tape 24, and the magnetic tape 24 is between the magnetic switch 11a and the magnetic switch 11b. Further, at the place H, when the main body 1 detects the magnetic tape 25 with the magnetic switch 11b, the main body 1
Stops and flips on the spot. At this time, in the stopped state, the magnetic switch 11a does not detect the magnetic tape 25, and the magnetic tape 25 does not detect the magnetic switch 11a and the magnetic switch 1.
It is between 1b.

Further, when the magnetic tape set of different polarity is detected by the magnetic switch at the front or the rear like the place I, the cleaning is completed. In this way, by using two or more magnetic switches on the front and rear so that the magnetic tape is always between the magnetic switches, the moving distance to the stop after detecting the magnetic tape is set, so The amount of magnetic tape applied can be reduced.

(Embodiment 7) FIG. 16 is a block diagram of a control device for a self-propelled cleaner according to an embodiment of the seventh technical means.

In the figure, 19 is a moving distance storing means for storing the distance moved by the main body 1 after detecting the magnetic tape, and the judgment processing means 13 is within the magnetic tape construction area based on this information. Or not. The other means are the same as those of the first technical means.

The operation of the self-propelled cleaner of this construction will be described with reference to FIG. When the main body 1 detects the magnetic tape set A having different polarities as shown in FIG. 17, the moving distance storing means 19 stores the subsequent moving distance of the main body 1 to the stop (stop point P point). That is, the relative position of the main body 1 with respect to the magnetic tapes 24 and 25 is calculated and stored.

After reversing, the main body 1 is re-attached to the magnetic tape 2 again.
This process is repeated until the positions 4 and 25 are returned. That is, after detecting the magnetic tape set, the relative position from the magnetic tape is calculated and stored by subtracting the moved distance by reversing from the moving distance up to the stop until the main body 1 passes the magnetic tape again. Then, as in the point Q, the magnetic tape is detected, the obstacle is detected immediately after the magnetic tape is stopped and turned over, and the magnetic tape 24, 25 is detected.
If it does not return to the position of, the moving distance storage means 19 stores the distance a of the main body 1 from the magnetic tapes 24 and 25, and accordingly, the judgment processing means 13 indicates that the main body 1 is in the magnetic tape zone. In the reversal after the obstacle is detected, the vehicle moves forward to the first stop position (point P), stops (point R), and then reverses (reverses) again. By continuing such processing until the main body 1 returns to the position of the magnetic tape, the operation of the main body 1 is controlled so as not to stick out from the cleaning area.

[0054]

According to the first technical means of the present invention,
By storing the polarity of the magnetic tape detected by the magnetic switch provided at the lower part of the main body in the magnetic detection storage means, the change in the detected polarity is judged, and the method of changing the polarity (from N pole to S pole or from S pole) It is also possible to perform cleaning from the opposite direction of the area by determining whether it is inside or outside the cleaning area depending on whether it is the N pole or not.

According to the second technical means, the magnetic switch interval detected by the magnetic switch is judged by the magnetic pole interval judgment means, whereby the reversal to the main body and the cleaning end instruction are recognized, and the cleaning is surely performed at the intended place. It can be finished.

According to the third technical means, the operation execution instructing means determines the timing for determining whether the main body should go straight or be stopped by the slowdown from the signal from the magnetic switch and the operation information from the determination processing means. By instructing the means, it is not necessary to dispose the magnetic switch in the center of the main body, and the degree of freedom in design can be improved.

According to the fourth technical means, the operation frequency counting means counts the reciprocating movements of the main body, and the judgment processing means detects the signal from the magnetic pole interval judgment means to detect the set of magnetic tapes of the end tape. By determining whether or not it is for the direction and for the reverse direction, it is possible to prevent the stop immediately after the start of the reverse cleaning.

According to the fifth technical means, the required processing amount of magnetic tape can be reduced by switching the processing depending on the polarity of the magnetic tape by the judgment processing means by the combination of the magnetic tapes of different polarities detected on the outward path immediately after the main body is started. It is to suppress.

According to the sixth technical means, a plurality of magnetic switches are provided, and these magnetic switches are selectively used for the forward path and the backward path, so that the amount of magnetic tape required for construction can be suppressed.

According to the seventh technical means, after detecting the magnetic tape, the distance moved by the main body is stored in the relative position storage means, and whether or not it is within the magnetic tape construction area based on this information,
By determining whether the magnetic tape is detected or not, it is possible to prevent the ultrasonic sensor from detecting an obstacle and inverting and exiting the area after detecting the magnetic tape and before reversing and detecting the magnetic tape again. It is a thing.

[Brief description of drawings]

FIG. 1 is a vertical sectional view of a self-propelled vacuum cleaner showing a first embodiment of the present invention.

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

FIG. 3 is a block diagram of a control device of the self-propelled vacuum cleaner.

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

FIG. 5 is a block diagram of a control device for a self-propelled vacuum cleaner showing a second embodiment of the present invention.

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

FIG. 7 is a block diagram of a control device for a self-propelled vacuum cleaner showing a third embodiment of the present invention.

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

FIG. 9 is a plan view of the self-propelled cleaner seen from below.

FIG. 10 is a block diagram of a control device for a self-propelled vacuum cleaner showing a fourth embodiment of the present invention.

FIG. 11 is an operation explanatory diagram of the self-propelled vacuum cleaner.

FIG. 12 is a block diagram of a control device for a self-propelled vacuum cleaner showing a fifth embodiment of the present invention.

FIG. 13 is an operation explanatory diagram of the self-propelled vacuum cleaner.

FIG. 14 is a block diagram of a control device for a self-propelled vacuum cleaner showing a sixth embodiment of the present invention.

FIG. 15 is an operation explanatory view of the self-propelled vacuum cleaner.

FIG. 16 is a block diagram of a control device for a self-propelled vacuum cleaner showing a seventh embodiment of the present invention.

FIG. 17 is an operation explanatory view of the self-propelled vacuum cleaner.

[Explanation of symbols]

 1 main body 3 driven wheel (caster) 4 steering / driving means 9 cleaning means 10 ultrasonic sensor 11 magnetic switch 12 gyro sensor 13 determination processing means 14 battery 15 magnetic detection storage means 16 magnetic pole interval determination means 17 operation execution instruction means 18 operation count Means 19 Moving distance storage means (relative position storage means)

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hidetaka Yabuuchi 1006 Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Mitsuyasu Ogawa, 1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Toshiaki Fujiwara 1006, Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Hirofumi Inui, 1006, Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. 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 Denki Sangyo Co., Ltd. (72) Inventor Hiroyuki Senoo 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Work within the Corporation

Claims (7)

[Claims] 1. A battery as a power source, a steering / driving means having left and right independent drive wheels provided at a lower portion of the main body, a caster, a cleaning means having a floor nozzle and a fan motor provided at a lower front portion of the main body, A gyro sensor that detects the moving direction of the main body, a plurality of ultrasonic sensors that are provided around the main body to detect obstacles such as walls, and a magnetic switch that is provided at the bottom of the main body and that detects magnetic tapes of N and S poles. Magnetic detection storage means for storing the polarity of the magnetic tape detected by the magnetic switch, a signal from the ultrasonic sensor, a signal from the magnetic detection storage means, and a signal from the magnetic switch when an obstacle is detected. A self-propelled cleaner having a determination processing means that receives a movement restriction signal and moves laterally while moving forward and backward from an obstacle to a designated distance. 2. A magnetic pole interval determination means and a magnetic detection storage means for determining whether or not the magnetic tapes of different polarities detected next after the magnetic tape is first detected by the magnetic switch are within a preset range. The self-propelled cleaner according to claim 1, further comprising a judgment processing means for receiving a signal from the magnetic pole interval judgment means as an instruction signal for operation of the main body. 3. An operation execution for instructing the judgment processing means when to execute the main body operation after detecting the magnetic tape in response to the signal from the magnetic switch and the operation state of the main body, which is the forward path or the return path, from the judgment processing means. The self-propelled vacuum cleaner according to claim 1, further comprising: an instruction unit and a determination processing unit that performs a main body operation based on a signal from the magnetic pole interval determination unit at an operation execution time according to an instruction from the operation execution instruction unit. 4. The self-propelled cleaner according to claim 1, further comprising: an operation number counting means for counting the number of reciprocating operations; and a determination processing means for determining a main body operation based on a signal from the magnetic pole interval determination means. 5. The self-propelled vacuum cleaner according to claim 1, further comprising a judgment processing means for switching the processing depending on the polarity of the magnetic tape depending on the combination of magnetic tapes of different polarities detected on the outward path immediately after the main body is started. 6. A battery as a power source, a steering / driving means having left and right independent drive wheels provided at a lower portion of the main body, a caster, a cleaning means including a floor nozzle and a fan motor provided at the front lower portion of the main body, 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 switch for detecting a plurality of magnetic tapes provided at the bottom of the main body, and the ultrasonic sensor And a signal from a magnetic switch according to the moving direction of the main body, which is received as a movement restriction signal of the main body and moves laterally while moving forward and backward from an obstacle to a specified distance. A self-propelled vacuum cleaner provided. 7. A battery which is a power source, a steering and driving means having left and right independent drive wheels provided in a lower portion of the main body, a caster, a cleaning means including a floor nozzle provided in the front lower portion of the main body, and a fan motor. 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 switch for detecting magnetic tapes of N pole and S pole provided at the bottom of the main body, and a magnetic switch After the switch detects the magnetic tape, the relative position storage means for calculating and storing the relative position with respect to the magnetic tape from the distance moved by the main body, the signal from the ultrasonic sensor, the signal from the relative position storage means and the magnetic field. Equipped with a judgment processing means that receives a signal from the switch as a movement restriction signal when an obstacle is detected and moves laterally while moving forward and backward up to a specified distance from the obstacle Self-propelled vacuum cleaner.