JP3531265B2 - Self-propelled vacuum cleaner - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vacuum cleaner having a cleaning function and a moving function and automatically cleaning.

[0002]

2. Description of the Related Art In recent years, a vacuum cleaner has been developed in which a moving function is added to the vacuum cleaner to improve operability during cleaning. Particularly in recent years, so-called self-supporting induction type self-propelled vacuum cleaners in which a microcomputer and various sensors are mounted have been developed.

This type of self-propelled cleaner has a suction nozzle, a brush and the like at the bottom of the main body as a cleaning function, a power source such as a storage battery inside the main body as a moving function, and a traveling wheel and a steering wheel driven by a motor. Etc., the speed of the main body is controlled using a wheel encoder or the like, and the guidance control of the main body is normally performed using an optical navigation means or an inertial navigation means using a gyro. In addition, it detects obstacles in the traveling direction and walls of the cleaning area using sensors such as ultrasonic waves and infrared rays, and if detected, turns on the spot and switches the traveling direction to the opposite direction, and at the same time the detection direction of the sensor The cleaning area was switched over to continue cleaning, and this was repeated to clean the cleaning area.

[0004]

In such a self-propelled cleaner, when the self-propelled cleaner detects an obstacle and makes a turn, if a moving object passes around it, the self-propelled cleaner Since the vacuum cleaner moves while detecting obstacles in the traveling direction, there is a risk that the obstacle detection after the turn is delayed and the self-propelled cleaner and the moving body collide.

The present invention solves these problems and detects the presence or absence of an obstacle before a turn. If an obstacle is detected, it waits without turning and confirms that there is no obstacle. The purpose of the present invention is to provide a self-propelled vacuum cleaner that does not collide with a moving object by turning.

[0006]

[Means for Solving the Problems] A first means of the present invention for attaining the above object is a traveling means for moving a cleaner body, traveling control means for controlling the traveling means, and cleaning during traveling. Front obstacle detection means for detecting the front obstacle of the machine body, rear obstacle detection means for detecting the rear obstacle of the cleaner body, and obstacle detection for switching between the front obstacle detection means and the rear obstacle detection means The front / rear switching means, the stop determination unit for determining that the main body has stopped, the turn determination processing unit for determining execution of a turn when it is determined that the stop determination unit has stopped, and the turn determination processing unit for turning the turn. Waiting
Equipped with a timer to measure the standby time when
The front obstacle detecting means or the rear obstacle detecting means
An obstacle is detected by the turn judgment processing unit.
The maximum waiting time
If the front obstacle detection means or the
Even if the rear obstacle detecting means detects the obstacle,
It is the one that executes the

A second means of the present invention is a turn judgment setting means for setting a judgment time for making a turn judgment and a maximum waiting time for waiting, and a user for outputting the judgment time and the maximum waiting time. It is provided with an input / output means capable of inputting a set time according to the situation.

A third means of the present invention comprises speed control means for instructing the traveling control means to accelerate at a slower speed than usual when accelerating after the turn when an obstacle is detected at the time of judging the turn. Is.

[0009]

The first means of the present invention operates as follows. That is, when the main body moves forward, the obstacle is detected by the front obstacle detecting means, and when the main body comes close to a certain distance from the obstacle or moves forward to a target position and stops, the turn determination processing unit causes the rear obstacle to be detected. Switch to the obstacle detection by the detection means to detect an obstacle behind, and if there is no obstacle, immediately switch the traveling direction to the rear and move it backward, if there is an obstacle, wait as it is, move backward if there is no obstacle I will let you.

When the main body moves backward and detects an obstacle or moves backward to a target position and stops, the turn determination processing unit switches to obstacle detection by the front obstacle detection means to detect the obstacle. Move forward after judging that there is nothing. Repeat this to clean.

Further , when the main body detects an obstacle at the time of stop and the turn determination processing section is waiting, when the timer reaches the preset maximum waiting time, the turn is detected even if the obstacle is detected. , And start straight ahead again while detecting obstacles.

The second means of the present invention operates as follows. That is, the judgment time and the maximum waiting time are set by using the turn judgment setting means that allows the user to arbitrarily set the judgment time and the maximum waiting time when executing the turn judgment through the input / output means. The main body makes a turn decision as to whether or not to execute a turn based on the set time.

The third means of the present invention operates as follows. That is, when the obstacle is detected and waits when the turn is judged when the main body is stopped, or there is no obstacle, or when the maximum waiting time elapses and the turn is started and straight ahead,
The speed control means sends a signal to the travel control means so that the acceleration of the main body is accelerated at a slower speed than usual.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the first means of the present invention will be described below with reference to FIG.

Reference numeral 1 is a traveling means for moving the cleaner body, and 2 is a traveling control means for controlling the traveling means 1. Three
Is a front obstacle detecting means for detecting a front obstacle of the cleaner body while traveling, 4 is a rear obstacle detecting means for detecting a rear obstacle of the cleaner body, and 5 is a front obstacle detecting means 3 and a rear side. It is an obstacle detection front / rear switching means for switching between the obstacle detection means 4. Reference numeral 6 is a stop determination unit that determines that the main body has stopped, and reference numeral 7 is a turn determination processing unit that determines execution of a turn when the stop determination unit 6 determines that the main body has stopped.

The operation of this embodiment will be described below. When the main body moves forward, the front obstacle detection means 3 detects an obstacle,
It approaches a certain distance from the main body to the obstacle or advances to the target position and stops. When it is confirmed by the stop determination unit 6 that the vehicle has stopped, the turn determination processing unit 7 switches the obstacle detection to the rear obstacle detection unit 4 by the obstacle detection front / rear switching unit 5, and if there is no rear obstacle, the direction of travel is immediately changed. Switch to the rear and move backward, if there is an obstacle, wait as it is, and if there is no obstacle, move backward. Similarly, when an obstacle is detected when the main body moves backward or when the main body moves backward to the target position and stops, the turn determination processing unit 7 causes the obstacle detection front / rear switching unit 5 to obstruct the front obstacle detection unit 3. Switch to object detection and make sure there are no obstacles before moving forward. Repeat this to clean. As a result, before the turn is executed, the existence of obstacles is confirmed in the traveling direction after the turn, and the vehicle travels, so that a collision can be prevented.

Similarly, an embodiment of the first means of the present invention will be described with reference to FIG. In the figure, 8 is a timer for measuring the turn determination time.

The operation of this embodiment will be described below. When the main body confirmed by the stop determination unit 6 is stopped, the front obstacle detection unit 3 or the rear obstacle detection unit 4 detects an obstacle, and when the turn determination processing unit 7 is waiting for a turn, the timer is started after waiting. When the maximum waiting time set in advance is reached, even if the front obstacle detecting means 3 or the rear obstacle detecting means 4 detects an obstacle, the turn is executed and the reversing operation is performed to detect the obstacle again. While going straight on. As a result, an obstacle is detected, so that it remains in a standby state during the cleaning, which prevents the cleaning time from being significantly extended. Further, even if the obstacle is erroneously detected by moving the main body, the correct data can be confirmed, and the standby state can be prevented from being held due to the erroneous detection.

Next, an embodiment of the second means of the present invention will be described with reference to FIG. In the figure, reference numeral 9 is a turn judgment setting means for setting a judgment time for making a turn judgment and a maximum waiting time for waiting, and 10 is for outputting the judgment time and the maximum waiting time, so that the user can change the situation depending on the situation. It is an input / output means that can input a set time.

The operation of this embodiment will be described below. A turn judgment setting means for inputting a setting input mode before cleaning by the user through the input / output means 10 and optionally setting a judgment time and a maximum waiting time when executing the turn judgment through the input / output means 10. 9 is used to set the judgment time and the maximum waiting time. When the main body is stopped, the turn determination means 7 determines the presence or absence of an obstacle by the front obstacle detection means 3 or the rear obstacle detection means 4 based on the set determination time, and the obstacle is detected until the set maximum waiting time. If you wait. As a result, the user can set the judgment time according to the situation of the cleaning area, so that quick judgment or reliable judgment can be set depending on the number of people passing by and the size of the area.

Next, an embodiment of the third means of the present invention will be described with reference to FIG. In the figure, reference numeral 11 is a speed control means for instructing the traveling control means 2 to accelerate at a slower speed than usual when accelerating after the turn when an obstacle is detected.

The operation of this embodiment will be described below. When the main body is stopped, which is confirmed by the stop determination unit 6, the turn determination processing unit 7 detects an obstacle by the front obstacle detection unit 3 or the rear obstacle detection unit 4 and waits for the turn after the obstacle disappears, or the maximum wait time is reached. When a turn is executed after a lapse of time and straight ahead is started, the speed control means 11 sends a signal to the traveling control means 2 so as to accelerate the main body at an acceleration slower than usual. The traveling means 1 according to the signal
Accelerates at a slower acceleration than usual and returns to the normal state.
As a result, the possibility that the surrounding moving body and the self-propelled cleaner will contact each other can be reduced, and a collision can be prevented.

[0023]

As described above, according to the first means of the present invention, the presence or absence of an obstacle is checked with respect to the traveling direction after the turn before the turn is executed, and it is determined that there is no obstacle. Since it travels as a vehicle, collisions can be prevented.

Further, the maximum waiting time is provided during Turn-down determination, remain in the middle in the standby state of the cleaning to the obstacle is detected, it is possible to prevent the cleaning time is greatly extended. Further, even if the obstacle is erroneously detected by moving the main body, the correct data can be confirmed, and the standby state can be prevented from being held due to the erroneous detection.

Further, according to the second means of the present invention, the judgment time and the maximum waiting time can be set, so that the setting can be made in accordance with the situation of the cleaning area depending on the number of people passing by and the size of the area.

According to the third means of the present invention, the acceleration after the obstacle detection is performed at a slower acceleration than usual when determining the turn. As a result, the possibility that the moving body and the self-propelled cleaner contact each other can be reduced, and a collision can be prevented.

[Brief description of drawings]

FIG. 1 is a block diagram of a self-propelled vacuum cleaner showing a first embodiment of the present invention.

FIG. 2 is a block diagram of a self-propelled vacuum cleaner showing a second embodiment of the present invention.

FIG. 3 is a block diagram of a self-propelled vacuum cleaner showing a third embodiment of the present invention.

FIG. 4 is a block diagram of a self-propelled vacuum cleaner showing a fourth embodiment of the present invention.

[Explanation of symbols]

1 traveling means 2 Travel control means 3 Forward obstacle detection means 4 Rear obstacle detection means 5 Obstacle detection before / after switching means 6 Stop judgment section 7 turn judgment processing section 8 timer 10 Input / output means 11 Speed control means

─────────────────────────────────────────────────── ─── Continuation of front page (72) 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. Company (72) Inventor Toshiaki Fujiwara 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor Osamu Eguchi 1006 Kadoma, Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd. (72) Invention Person Hirofumi Inui 1006, Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor, Yoshifumi Takagi, 1006 Kadoma, Kadoma City, Osaka Prefecture Matsuda Electric Industrial Co., Ltd. (72) Takafumi Ishibashi Kadoma, Osaka Prefecture Matsuda Electric Industry Co., Ltd. 1006 Kadoma, Ichi (72) Inventor Yoshitaka Kuroki 1006 Kadoma, Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. In-company (56) Reference JP-A-4-167106 (JP, A) JP-A-1-106205 (JP, A) JP-A-4-96719 (JP, A) (58) Fields investigated (Int.Cl . ⁷ , DB name) A47L 9/00 102 A47L 9/28

Claims (3)

(57) [Claims] 1. A travel means for moving the cleaner body, a travel control means for controlling the travel means, a front obstacle detection means for detecting a front obstacle of the cleaner body during traveling, and a cleaner body Rear obstacle detection means for detecting rear obstacles, obstacle detection front / back switching means for switching between front obstacle detection means and rear obstacle detection means, a stop determination portion for determining that the main body has stopped, and the stop A turn determination processing unit that determines execution of a turn when the determination unit determines that it has stopped, and the turn determination processing unit waits for the turn.
In the case where the front side is equipped with a timer for measuring the standby time
By the obstacle detecting means or the rear obstacle detecting means
An obstacle is detected, and the turn determination processing unit waits for a turn
While waiting, the waiting time has reached the maximum waiting time
In this case, the front obstacle detecting means or the rear obstacle
Perform a turn even if the object detection means detects the obstacle
A self-propelled vacuum cleaner. 2. A turn judgment setting means for setting a judgment time when making a turn judgment and a maximum waiting time for waiting, and a turn judgment setting means for outputting the judgment time and the maximum waiting time to set the setting time according to the situation. self-propelled cleaner comprising a input means for inputting claim 1 Symbol placement. 3. The cleaner body when the turn is started
Travel control so that acceleration is slower than usual
Claim 1 or with a speed control means for sending a signal to the means
2 Symbol placement of the self-propelled vacuum cleaner.