TWI680736B - Self-propelled sweeping machine - Google Patents

Abstract

Provide an autonomous walking type with improved cleaning efficiency Sweeper.

A self-propelled sweeping machine, equipped with The left driving wheel and the right driving wheel, which are placed on the bottom surface side of the body and can rotate at mutually different speeds, and a control section which controls the angular velocity of each driving wheel, and performs one of the following. (1) The magnitude of the angular velocity of the right or left driving wheel when rotating counterclockwise or clockwise is larger than that when moving straight ahead. (2) The magnitude of the respective angular velocities of the right or left drive wheels when the shaft rotates counterclockwise or clockwise is larger than that when the straight line is advanced.

Description

Self-propelled sweeping machine

The invention relates to an autonomous walking type cleaning machine.

Self-propelled walking cleaners capable of autonomously moving and cleaning are well known. The self-propelled sweeping machine controls the individual independent traveling motors that drive the two driving wheels, and can move the main body forward, backward, pivot (in situ rotation) and rotate.

In order to move the body forward, the two wheels are rotated in the forward direction at the same time. When they are moved backward, the two wheels are rotated in the backward direction at the same time. During the rotation, the angular speeds of the two drive wheels are set to different values.

Patent Document 1 describes that during the movement along the straight path, the movement speed is decelerated to a certain speed, and the rotation speed is controlled while maintaining the decelerated movement speed while controlling the angular velocity. (0058 etc.)

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Application Publication No. 2013-12200

Assigning a long time to a direction change operation such as rotation or axis rotation will cause the suction fan or brush to operate when the moving speed is low. Driving the suction fan when the moving speed is low is similar to cleaning the area more carefully, but performing such a cleaning operation in a place other than the extremely dirty area will cause excess Power consumption. In order to effectively perform cleaning, it is desirable to be able to suppress such power consumption.

In view of the above situation, the present invention is an autonomous walking type cleaning machine, which is provided with a left driving wheel and a right driving wheel which are arranged on the bottom surface side of the body and can rotate at mutually different speeds, and The angular velocity of each driving wheel is a control part for controlling. The aforementioned control part performs one, two, three or four of the following (1) to (4).

(1) The angular velocity of the right driving wheel when the main body rotates counterclockwise is greater than the angular velocity of the right driving wheel when the main body moves straight.

(2) The angular velocity of the left driving wheel when the clockwise rotation of the main body is set to be larger than the angular velocity of the left driving wheel when the main body moves straight.

(3) The right drive when turning the counterclockwise axis of the body The angular velocity of the moving wheel is set to be larger than the angular velocity of the right driving wheel when the main body moves straight ahead.

(4) The angular velocity of the front left driving wheel when the clockwise rotation of the main body is set to be greater than the angular velocity of the left driving wheel when the main body moves straight.

According to the present invention, it is possible to provide an autonomous walking type cleaning machine with improved cleaning efficiency.

2, 3‧‧‧ drive wheels (wheels)

5‧‧‧Turn the brush

8‧‧‧Range sensor for front (obstacle detection means)

9‧‧‧rechargeable battery

11‧‧‧Attract fans

12‧‧‧ dust box

14‧‧‧Suction

15‧‧‧ bumper sensor (obstacle detection method)

16‧‧‧Range sensor for ground (obstacle detection method)

S‧‧‧ Self-propelled sweeping machine

Sh‧‧‧Body part (non-rotating part, car body)

[FIG. 1] It is a perspective view which looked at the left-hand front of the autonomous walk type cleaning machine of Embodiment 1.

[FIG. 2] It is the bottom view of the autonomous walking type cleaning machine of Embodiment 1. [FIG.

[FIG. 3] It is the A-A sectional view of FIG.

[Fig. 4] Fig. 4 is a perspective view showing the internal structure after removing the casing of the autonomous traveling type cleaning machine according to the first embodiment.

[Fig. 5] It is a walking trajectory during cleaning of the autonomous walking type cleaning machine of the first embodiment.

[Fig. 6] is a diagram showing the detailed operation of the in-situ rotation of the first embodiment.

7 is a diagram showing the change in the speed of the right wheel when it is turned in place in the first embodiment.

[Fig. 8] A diagram showing the turning operation of the first embodiment.

[Fig. 9] A diagram showing the detailed operation of the turning in the first embodiment.

[Fig. 10] A diagram showing changes in the speed of the right wheel during the rotation of the first embodiment.

[Fig. 11] It is a walking trajectory during cleaning of the autonomous walking type cleaning machine of the second embodiment.

FIG. 12 is a diagram showing the details of walking along the wall in the second embodiment.

[Fig. 13] A diagram showing changes in the speed of the left wheel during rotation in the second embodiment.

[Fig. 14] is a diagram showing zigzag walking.

Hereinafter, the embodiment of the present invention will be described in detail with reference to the drawings as appropriate. For the same constituent elements, the same component symbols are added, and the same description is not repeated.

"Embodiment 1"

FIG. 1 is a perspective view of the autonomous walking type cleaning machine according to Embodiment 1 of the present invention as viewed from the left front. In addition, the side where the side brush 7 is provided in the direction in which the autonomous walking type cleaning machine S advances (the direction in which the autonomous walking type cleaning machine S normally advances) is the front, and the vertical upper side is taken as the upper side, and the drive The drive wheel 2 side in the direction facing the wheels 2 and 3 is the right side, and the drive wheel 3 side is the left side. That is, it is The front-rear, up-down, left-right directions are generally defined as shown in FIG. 1 and the like. The diameters of the driving wheels 2 and 3 are slightly the same as each other.

Fig. 2 is a bottom view of an autonomous walking type cleaning machine. The autonomous walking type cleaning machine S is a household electrical appliance that performs automatic cleaning while autonomously moving for a specific cleaning area (for example, the floor Y of the room). The self-propelled sweeping machine S is provided with a casing 1 (1u, 1s) which becomes an outer contour, and a pair of lower driving wheels 2, 3, and an auxiliary wheel 4. In addition, the autonomous walking type cleaning machine S is equipped with a rotating brush 5, a guide brush 6 and a side brush 7 in the lower part, and a distance measuring sensor 8 for obstacles as a means for detecting obstacles around it .

The driving wheels 2 and 3 are wheels for advancing, retreating, and rotating the self-propelled cleaning machine S by rotating the driving wheels 2 and 3 themselves. The driving wheels 2 and 3 are arranged on the left and right sides of the diameter, and are driven to rotate by wheel units 20 and 30 composed of a traveling motor and a speed reducer, respectively. The auxiliary wheel 4 is a passive wheel and a freely rotating caster. The driving wheels 2 and 3 are provided on the center side in the front-rear direction and the outer side in the left-right direction of the self-propelled cleaner S, and the auxiliary wheels 4 are provided on the front side in the front-rear direction and the center side in the left-right direction.

The side brush 7 is provided on the front side of the autonomous walker S and the outer side in the left-right direction, and cleans the area from the outer side in the left-right direction toward the inner side of the area on the front outer side of the autonomous walker S To rotate, and collect the dust on the ground to the side of the rotating brush 5 in the center. The rotating brush 5 is installed behind the drive wheels 2 and 3 of the self-propelled cleaning machine S.

Fig. 3 is a sectional view taken along the line A-A of Fig. 1, and Fig. 4 is a perspective view showing the internal structure after removing the casing of the autonomous walking type cleaning machine. In addition, FIG. 4 shows a state in which the dust box 12 is removed.

The rechargeable battery 9 is, for example, a secondary battery that can be reused by charging, and is stored in the battery storage portion 1s6. The rechargeable battery 9 is arranged so as to cover the left and right ends of the autonomous walking type cleaning machine S.

The electric power from the rechargeable battery 9 is supplied to various obstacle detection means 8, 15, 16, the control device 10, the driving wheels 2, 3, the motors of the various brushes 5, 7 and the suction fan 11, etc. The self-propelled sweeping machine S is controlled by the control device 10 as a whole. If the suction fan 11 is driven and the brush motor 5m is rotated (refer to FIG. 4), the dust such as the ground is swept in by rotating the brush 5 (refer to FIG. 3). The dust that has been swept in is introduced into the dust box 12 through the suction port 4 and the suction port 12i. The air from which the dust has been removed by the dust collection filter 13 is discharged through the exhaust port 1s5 (refer to FIG. 2).

The autonomous walking type cleaning machine S is autonomously moved by the driving wheels 2, 3 and the auxiliary wheels 4 (refer to FIG. 2), and can perform forward, backward, left-right rotation, and shaft rotation. In addition, the self-propelled cleaning machine S collects the dust collected by the side brush 7 and the guide brush 6 and adheres to the dust around the rotating brush 5 through the suction port 14 by the suction force of the suction fan 11 The suction port 12i of the dust collecting box 12 is sucked into the dust collecting box 12 and stays in the dust collecting box 12 through the dust collecting filter 13 of the outlet.

The bumper 1b (refer to FIG. 1 and FIG. 2) is provided in such a manner that it can move in the front-rear direction in response to the force applied from the outside when colliding with an obstacle such as a wall. The bumper 1b is pushed outward by a pair of left and right bumper springs (not shown).

If the force when a collision with an obstacle is made through the bumper 1b acts on the bumper spring, the bumper spring is deformed in a way that it falls down toward the inside when viewed from a plane, and the bumper is Pushing 1b toward the outside allows the bumper 1b to retreat. If the bumper 1b moves away from the obstacle and the aforementioned force disappears, the bumper 1b returns to its original position by the pushing force of the bumper spring. In addition, the bumper 1b retreats (that is, the contact with the obstacle) is detected by the bumper sensor 15 (refer to FIG. 4) described later, and the detection result is input to 10 control devices.

The autonomous walking sweeper S is used as an obstacle detection means, and is provided with a bumper sensor 15 shown in FIG. 4, a distance measuring sensor 8 for the front, and a distance measuring sensor 16 for the ground . The bumper sensor 15 is a sensor that detects the bumper 1b (refer to FIG. 1) and the obstacle by the backward movement of the bumper 1b, for example, an optical coupler. When the obstacle comes into contact with the bumper 1b, the sensor light system is blocked due to the backward movement of the bumper 1b. The signal corresponding to this change is output to the control device 10.

The distance measuring sensor 8 for the front is a distance measuring sensor that uses infrared rays to measure the distance to an obstacle. Bumper 1b The proximity of the distance measuring sensor 8 is formed by resin or glass that transmits infrared rays. The distance measuring sensor 8 for the front is used to sense the reflected light of infrared rays from an obstacle, and to measure the distance based on the intensity of the reflected light. When the intensity of the reflected light is strong, it is judged to be near, and when the intensity is weak, it is judged to be far. That is, the distance to the obstacle is not to judge by the value of 0 or 1, but to be able to carry out the distance to the obstacle in a plural number (analogically) Determined range sensor.

The front distance measuring sensor 8 of this type is provided with a total of 5 of the main body front surface 8a, the left side surface 8b, the right side surface 8c, the left front surface 8d between the front and left sides, and the right front surface 8e between the front and right sides Pcs. In this embodiment, although five are set as distance measuring sensors that can measure the "distance" in plural stages, it is also possible to use only one of the left side 8b and the right side 8c. One is set as a distance measuring sensor.

The distance measuring sensor 16 for the ground shown in FIG. 2 is a distance measuring sensor for measuring the distance to the ground using infrared rays, and is provided at the front, back, left, and right sides of the lower case 1s Places (16a, 16b, 16c, 16d). By detecting a large step difference such as stairs with the distance measuring sensor 16 for the ground, it is possible to prevent the autonomous walking type cleaning machine S from falling. For example, when a step difference of more than 30 mm is detected in front by the distance measuring sensor 16 for the ground, the control device 10 (refer to FIG. 3) controls the drive wheels 2 and 3 and makes the main body part Sh retreats, and switches the self-propelled sweeper S forward direction.

The control device 10 shown in FIG. 3 is, for example, a microcomputer (Microcomputer) and peripheral circuits are mounted on the substrate. The microcomputer reads out the control program stored in the ROM (Read Only Memory) and expands it in the RAM (Random Access Memory), and implements various processes by executing the CPU (Central Processing Unit). The peripheral circuits are equipped with A/D, D/A converters, drive circuits for various motors, sensor circuits, charging circuits for rechargeable batteries 9, and the like.

The control device 10 executes the calculation process in response to the operation of the operation key bu caused by the user and the signals input from various obstacle detection means (sensors 8, 15, 16), and interacts with various motors , Attract fan 11 and so on for signal input and output.

Next, with respect to the travel control, an autonomous traveling type cleaning machine S traveling in a room 50 surrounded by a rectangular wall 51 will be exemplified, and will be described using FIG. 5. The broken line 52 in FIG. 5 represents the walking trajectory of the autonomous walking type cleaning machine S.

The self-propelled sweeper S walks in the room 50. The room 50 is surrounded by a rectangular wall 51 when viewed from above. In the room 50, the legs 55a to 55d of the table 55 are placed at the lower left side in FIG. If the autonomous walking type cleaning machine S detects an obstacle by the front distance measuring sensor 8 or the bumper sensor 15, it can change the advancing direction and perform reflective walking. Suppose that the autonomous walking type cleaning machine S starts from P1 in the figure and approaches the point P2 which is close to the wall 51b which is an obstacle. At this time, the self-propelled cleaning machine S, for example, rotates there by turning it counterclockwise (axis rotation), and then changes the forward direction, and then Keep going. That is, the walking path is reflected as if it is reflected at the wall 51b.

The self-propelled sweeping machine S after the direction change is assumed to repeat the action of changing the forward direction when approaching the wall 51 (the angle of the axis rotation can be randomly changed), and is close to the point near the table foot 55a P3 or point P4 near the table foot 55c. If it is determined that there is a thin (small) obstacle like the feet 55a to 55d of the table in front or on the side of the self-propelled sweeping machine S, it should be wound to the place that is very close to the obstacle Mode to rotate the body, or to rotate the body more than one turn in order to clean the place that is very close to the obstacle. After that, the front of the obstacle is further cleaned.

Here, the method of judging as a thin (small) obstacle is to detect that only one of the distance measuring sensors 8 in front of the main body Sh has been arranged in plural in front of it The distance sensor 8 approached the obstacle and proceeded. Alternatively, one or both of the left and right bumper sensors 15 may have detected an obstacle based on the condition that none of the front distance measuring sensors 8 has detected it. And proceed. The distance measuring sensor 8 for the front is spaced apart and arranged in plural in front of the main body Sh, and can detect obstacles in different directions, respectively. In the case of an obstacle with a wide width like the wall 51, if the main body Sh is approached, a plurality of, especially two adjacent distance measuring sensors 8 will detect the obstacle.

By making the respective detection ranges of the distance measuring sensor 8 for the front almost It is set in advance in a way that does not overlap with each other. In the case of a thin obstacle like the foot 55 of the chair, it is easy to become that only one range sensor will detect the obstacle. On the other hand, It is difficult for two or more ranging sensors to simultaneously detect obstacles. In addition, when the position of the thin obstacle is in the middle of the two ranging sensors, it may be directly connected to the bumper when no obstacle is detected by any one of the ranging sensors. The sensor 15 is in contact. Therefore, if only one of the distance measuring sensors 8 detects an approach or an obstacle is detected by the bumper sensor 15, it is judged as a thin obstacle Is ideal.

In addition, when a larger number of ranging sensors are arranged than in this embodiment and the detection range of each ranging sensor is repeated over a wide range, it can be determined that a fine obstacle has been detected The number of object detection sensors is increased, for example, set to two.

The turning distance (angle) when approaching a thin obstacle can be changed randomly, and the turning distance can also be changed based on the detection frequency of the thin obstacle. In addition, these two types can also be combined. For example, when there are many thin obstacles in the vicinity, for example, when there are multiple chairs under the table, the autonomous sweeping machine S detects the thin obstacles immediately The possibility of reaching other small obstacles is high. In this way, when a thin obstacle is found again within a specific time after the thin obstacle is found, for example, within 1, 2, 3, or 4 seconds, if the turning distance is set to be short, then Will become difficult to interleave with such obstacles Clean the center of the area. Therefore, in order to reliably clean the garbage around the legs of the chair, it is desirable to increase the slewing distance and clean up intensively when a small obstacle is detected at a high frequency. More specifically, it is desirable if the rotation angle is 180° or more or more than 180°. In addition, instead of "within a specific time after the discovery of a fine obstacle," the system can be set to "within a specific time after the completion of the rotation immediately after the discovery of the small obstacle, or after the shaft rotation." ". In this embodiment, after the axis is turned around a thin obstacle, the "rotation action" in which a curve or arc is drawn is executed. If the turning motion is completed, the body Sh moves straight forward.

In Fig. 6, the detailed action of pivoting is shown. In FIG. 6, only the housing-forming body Sh and the driving wheel 2 on the right and the driving wheel 3 on the left are shown in the self-propelled cleaning machine S. Assume that the body Sh pivots from the state depicted by the solid line to the state depicted by the dotted line in the drive wheels 2 and 3. The front end position of the main body Sh in the forward direction (front) before the shaft rotation is designated as the component symbol P11, and the front end position of the forward direction (front) after the shaft rotation is designated as the component symbol P12. Fig. 6 shows the case of pivoting in a counterclockwise direction. This can be done by turning the right wheel 2 towards the front direction and the left wheel 3 towards the rear direction at slightly the same angular speed. By setting the angular speed of the wheel when the shaft turns to be faster than the angular speed of the wheel when going straight, the shaft speed is increased, and it is rotated in a short time.

Fig. 7 shows the drive for the counterclockwise rotation The change of the angular velocity of the moving wheel (on the right) is shown as a graph. The moving speed when moving straight forward is set to 300 mm/s. At this time, both the left and right wheels 2 and 3 are rotating forward at about 510 deg/s (L1). When the shaft turns (turns in place), the right-hand wheel 2 faces forward and becomes about 630 deg/s (L2), which is a higher speed than the linear speed L1 when it goes straight. Although not shown in FIG. 7, the left wheel 3 also sets the absolute value of the angular velocity to be greater than L1. Specifically, the angular velocity of the left wheel 3 is set to about 630 deg/s, that is, the angular velocity in the opposite direction to the right wheel 2 and slightly the same. In this embodiment, the absolute values of the angular velocities of the wheels 2 and 3 are both set to be 1.2 times or more relative to the angular velocities when traveling straight. In addition, in the same way, when the axis rotates in the clockwise direction, the angular velocity of the left wheel 3 is set to be higher than the angular velocity of the straight line, and the absolute value of the angular velocity of the right wheel 2 is set to the straight line. The angular velocity of time is higher.

In addition, as the movement of the body Sh, the movement speed of the front end position P11 before the shaft rotation is also faster than when it is linearly advanced, and it becomes about 550 mm/s during the shaft rotation.

In this way, by setting the wheel speed at the time of pivoting to be equal to or greater than the angular speed of the wheel during straight travel, or to exceed the angular speed, it is possible to shorten the time required when the forward path is changed. In addition, as shown in FIG. 7, the angular velocity during straight forward and shaft rotation may not be constant. This is due to the influence caused by the friction of the ground. In this embodiment, it changes in the range of L1a~L1b when it goes straight, and it changes in the range of L2a~L2b when it turns. However, the relationship between the above angular velocities is as long as the maximum value of the angular velocity when the shaft is rotated under the condition that the body Sh is driven on a slightly uniformly formed flat ground surface and the minimum value of the angular velocity when going straight The room can be established. In this embodiment, L2b is set higher than L1a.

Next, the angular velocity of the wheels 2 and 3 during the turning operation will be described using FIGS. 8 and 9. FIG. 8 is a diagram showing the turning movement around the obstacle 61 which is wider and shorter than the width of the main body Sh in a counterclockwise direction. In the figure, arrow A shows the trajectory of the shaft rotation at the front end position of the body Sh, and arrow B shows the trajectory of the turning movement at the front end position of the body Sh.

First, if the body Sh approaches the obstacle 61 or comes in contact with it, the body Sh uses the distance sensor 8 and/or the bumper sensor 15 to detect where the body Sh exists. There are obstacles 61. In this example, there is an obstacle 61 on the left side of the body Sh. The body Sh is pivoted in a direction opposite to the side where the obstacle 61 seen from the front end position (in this example, the counterclockwise direction side) exists. That is, the axis is rotated clockwise (arrow A). At this time, the body Sh monitors the distance sensor 8 while continuing to pivot until the position of the obstacle 61 is slightly lateral to the center of the figure viewed above the body Sh. With this, the obstacle 61 can be bypassed by the subsequent turning motion.

After the shaft is turned, the point outside the outer circumference of the body Sh is taken as the center of rotation, and it is turned in the direction opposite to the direction of the shaft turning, that is, in the counterclockwise direction (arrow B). In this so-called turn, It refers to the movement produced by rotating the two wheels 2 and 3 in the same direction at mutually different speeds. The counterclockwise rotation can be performed by rotating the right wheel 2 at a higher speed than the left wheel 3, and the clockwise rotation can be performed by making the left wheel 3 higher than the right wheel 2 The speed of rotation to carry out. The body Sh that rotates is moved so as to draw a curve or a slightly circular arc when viewed from above.

FIG. 9 is a diagram showing an autonomous walking type cleaning machine S that performs a counterclockwise rotation operation around an obstacle 61. FIG. This figure shows the forward position (forward) front end position P21 of the main body Sh at a certain moment during turning and the forward end direction (forward) front end position P22 of the main body Sh at the end of the turning operation. When turning counterclockwise, the left and right wheels 2, 3 rotate toward the front. The wheel 2 on the right rotates at a faster angular speed than the wheel 3 on the left.

The distance sensor 8 on the side of the body Sh is used to grasp the distance to the obstacle, and determine the turning radius (turning radius) R when turning, and then control the left and right wheels 2 based on the turning radius , The angular velocity of 3 rotates on one side. The radius of gyration R is set so that the gap between the obstacle 61 and the outer periphery of the body Sh becomes 10 mm or less or 5 mm or less.

By setting the angular velocity of the wheels on the outside of the turning direction (in the counterclockwise direction, the right wheel 2) to be faster than the angular velocity of the wheels on the outside of the turning direction when going straight ahead, it is possible to shorten the need for turning time.

Specifically, the speed at the front end position of the body Sh at the time of turning The degree is set to be higher than or faster than the speed at the front end position of the body Sh when traveling straight. In the present embodiment, the speed at the front end position of the body Sh when rotating straight is 300 mm/s, and the speed at the front end position of the body Sh when turning is set to 320 mm/s higher than this. The distance from the center of rotation O (in this example, set to obstacle 61) to the outer wheel (right wheel 2) in the direction of rotation is the distance from the center of rotation O to the front end position P21 of the body Sh Hereinafter, the moving speed of the right wheel 2 is, for example, 310 mm/s.

FIG. 10 is a diagram showing the change of the angular velocity of the right wheel 2 during the counterclockwise turning operation. The magnitude of the angular velocity of the right wheel 2 during counterclockwise rotation is set to about 540 deg/s (L4) (wheel diameter 68 mm). This is faster than about 510deg/s (L1) of the angular velocity of the right wheel 2 when traveling straight. In addition, the angular velocity of the wheel 2 during straight forward and rotation may become a variable value depending on the state of the ground or the like. In this example, the angular velocity during straight travel varies up and down within the range of L1a to L1b, while during rotation, it varies up and down within the range of L4a to L4b. The above-mentioned angular velocity relationship only needs to be established between the maximum value of the angular velocity when turning and the minimum value of the angular velocity when going straight. In this example, as long as the L4b system is higher than L1a.

Here, if the speed of the main body Sh at the time of turning in situ and at the time of turning is set to be faster than that at the time of linear travel and contact with the obstacle, there is a possibility that the obstacle may be given a large impact. Therefore, it is desirable to use the front surface of the main body Sh when the shaft rotates and/or rotates At the same time, it covers the distance measuring sensor 8 provided on the side to detect the obstacle near the body Sh. With this, if the body Sh approaches the obstacle during the in-situ rotation and rotation, the body Sh can be stopped or decelerated.

As the pivoting operation in the present embodiment, although the example in which the left and right wheels 2 and 3 rotate in opposite directions is described, it is also possible to turn one of the wheels in one direction by one side Turn one side to stop the other side's wheels to perform the shaft rotation. Moreover, as the turning operation in this embodiment, although the example in which both the left and right wheels 2 and 3 are turned in the same direction has been described, it is also possible to turn one of the wheels toward Turn one direction to turn the other wheel in the opposite direction to turn.

In addition, as the action during the rotation, it is possible to change the radius of rotation while changing the radius of the obstacle according to the detection result of the distance to the obstacle obtained by the distance measuring sensor 8 provided on the side of the body Sh turn around.

"Embodiment 2"

The configuration of this embodiment can be the same as that of Embodiment 1 except for the following points. FIG. 11 is a diagram showing an example where the body Sh is walking along the wall 51 moving along the wall 51. FIG. 12 is an enlarged view of an important part of FIG. 11.

To walk by the wall, the distance sensor 8 provided on the side of the main body is used to walk in a state of being about 10 mm away from the wall 51. The speed of the main body Sh when walking on the wall is set to be higher than or higher than the speed of the straight travel in the reflective walking of the first embodiment.

When walking by the wall, the body Sh is ideally straight forward parallel to the wall 51 like the dotted line C in FIG. 12, however, due to the accuracy of the distance sensor 8, etc. may also become As one of the solid arrows D generally approaches the wall 51 and snakes away. The movement of approaching the wall 51 and moving away from it is achieved because the angular velocities of the left and right wheels 2 and 3 are different. In order to bring the body Sh closer to the left wall 51 of the body Sh, the angular velocity of the right wheel 2 is set to be faster than the angular velocity of the left wheel 3. In order to move the body Sh away from the wall 51, the angular velocity of the left wheel 3 is set to be faster than the angular velocity of the right wheel 2.

Fig. 13 is a diagram showing changes in the angular velocity of the left wheel 3 when walking on a wall. For example, if the body Sh is approaching the wall 51 during reflective walking, it moves to the side of the wall after pivoting and facing a direction slightly parallel to the wall 51. For example, when the body Sh travels straight forward with a reflection of 300 mm/s in the same way as the first embodiment, the left and right wheels 2 and 3 both turn forward and rotate at approximately 510 deg/s (L1) . If it moves all the way to the wall 51, the rotation of the left and right wheels 2 and 3 is stopped and turned in place, and the body Sh is oriented slightly parallel to the wall 51. From this state, come to the wall and walk.

When walking on the wall, when the body Sh is about 10 mm away from the wall 51 as the target value, the left and right wheels 2 and 3 are both facing forward at about 510 deg/s (V1 in FIG. 13 ) To turn. When it is slightly close to the wall (when it is 5mm or more and less than 10mm away from the wall), the angular speed of the right wheel 2 is more than when it goes straight Turn slowly at 495 deg/s, and rotate the angular speed of the left wheel 3 at 525 deg/s (V2 in FIG. 13) which is faster than when going straight, and slowly move away from the wall 51. The angular velocities of the left and right wheels 2 and 3 are set in such a way that the angular velocity of one of them is slightly reduced by A% and the angular velocity of the other is slightly increased by A% compared to the angular velocity of straight travel. A, for example, the lower limit can be set to 1, and the upper limit can be set to 5 or 9. With this, the radius of gyration becomes very large, and it is possible to suppress the situation where the wall 51 is moved away or approached too quickly. In addition, by increasing the angular velocity of one of the wheels by about A% and slowing the other by the same percentage of A%, it is possible to set the speed of the front end position of the body Sh to be slightly the same as when going straight .

Also, when moving away from the wall slightly, the angular velocity of the right wheel 2 is increased by A%, and the angular velocity of the left wheel 3 is decreased by A% (V3 in FIG. 13).

In addition, when the wall 51 is further approached (when the distance from the wall is less than 5 mm), the angular velocity of the right wheel 2 is reduced by a value of B% which is a larger value than A. Slow, and increase the angular velocity of the left wheel 3 by B% (V4 in Figure 13). B, for example, the lower limit can be set to 10, and the upper limit can be set to 15 or 20. With this, since the radius of gyration can be made large, the collision can be suppressed by quickly moving away from the wall 51.

In this way, by setting the angular velocity of one of the wheels to be higher than that when going straight in a snake walking by the wall, you can move at the same speed as when going straight by walking in the wall . borrow Thereby, it is possible to suppress a situation in which the power consumption caused by rotating the brush or the like is more than necessary. In addition, although the body Sh of the autonomous walking type cleaning machine of each embodiment has been described as a slightly circular shape, it may be a slightly polygonal shape such as a slightly triangular shape, a slightly quadrangular shape, or a slightly elliptical shape.

In addition, although the embodiments are described as performing reflective walking, it is also possible to perform zigzag walking in a zigzag manner in a standard manner as in FIG. 14. The speed of straight forward movement can be the straight forward speed of reflective walking or the straight forward speed of sawtooth walking.

Claims (6)

An autonomous walking type cleaning machine is provided with: a main body, and a left driving wheel and a right driving wheel which are provided on the bottom surface side of the main body and can rotate and drive at mutually different speeds, and A control unit that controls the angular velocity of the wheel and the right drive wheel. The autonomous walking type cleaning machine is characterized in that the control unit performs one, two, or three of the following (1) to (4). Or 4: (1) Set the angular velocity of the right driving wheel when the body rotates counterclockwise to be larger than the angular velocity of the right driving wheel when the body moves straight forward; (2) Set the angular velocity of the left driving wheel when the clockwise rotation of the main body is larger than the angular velocity of the left driving wheel when the main body moves straight forward; (3) Change the main body The angular velocity of the right driving wheel during a counter-clockwise pivot turn is set to be greater than the angular velocity of the right driving wheel when the main body moves straight forward; (4) The angular velocity of the left driving wheel when pivoting clockwise is set to be larger than the angular velocity of the left driving wheel when the body is moving straight. The self-propelled sweeping machine as described in item 1 of the patent application scope, wherein the control unit performs the aforementioned (1), (2), All of (3) and (4). The self-propelled sweeping machine as described in item 1 or item 2 of the scope of patent application, wherein, if the control part is within a certain time after the discovery of a fine obstacle, or after the discovery is completed, The rotation immediately after the obstacle or within a certain time after the shaft turns, and when a new obstacle is newly discovered, the rotation is set to a rotation angle of 180° or more. The self-propelled sweeping machine as described in item 3 of the patent application scope, wherein the specific time is 4 seconds or less. The self-propelled sweeping machine as described in item 1 or 2 of the patent application scope, which is a wall walk that advances slightly parallel to the wall, and when walking on the wall, it refers to the aforementioned when walking in a straight line. The respective angular velocities of the left driving wheel and the aforementioned right driving wheel are used to decrease the angular velocity of one of the driving wheels slightly by A% and increase the angular velocity of the other driving wheel by slightly A%. The self-propelled sweeping machine as described in item 5 of the patent application scope, wherein the aforementioned A is 1 or more and 20 or less.

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