JP3752699B2 - Self-propelled vacuum cleaner - Google Patents

Description

[0001]
[Industrial application fields]
  The present invention relates to a self-propelled cleaner having a cleaning function and a moving function.
[0002]
[Prior art]
  FIG. 7 shows a schematic configuration of a conventional self-propelled cleaner. In FIG. 7, 1 is a main body of a self-propelled cleaner, 2 is a direction sensor, 3 is an obstacle detection means for measuring the presence / absence of an obstacle and the distance to the obstacle, and 4 is a main body 1. Steering means 5 for steering the main body 1, and driving means 5 for driving the main body 1. The steering means 4 and the driving means 5 constitute a traveling steering means.
[0003]
  6 is a dust collection chamber for collecting dust, and 7 is a dust collection bag installed in the dust collection chamber 6. Reference numeral 8 denotes a fan motor that generates vacuum pressure for sucking dust, and reference numeral 9 denotes a floor nozzle that is a suction port for sucking dust on the floor surface, and these constitute a cleaning means.
[0004]
  11 is a carpet eye detecting means for detecting the direction and strength of the carpet eye, and an enlarged view is shown in FIG. In FIG. 8, the roller 17 is grounded to the floor surface F and is supported by the lever 13 via the roller shaft 15 so as to be freely rotatable. The lever 13 is supported by the support shaft 12 via a lever shaft 14 so as to freely rotate. The lever 13 and the support shaft 12 are connected by an elastic body 16 made of a spring or the like, and the roller 17 is urged against the floor surface F with an appropriate load by the force.
[0005]
  The support shaft 12 is rotatably attached to a mounting base 18 fixed to the main body 1, and the rotation center line thereof is perpendicular to the floor surface F (line d). A rotation detector 19 fixed to the mount 18 detects the rotation angle of the support shaft 12 with respect to the main body 1.
[0006]
  The operation of the conventional self-propelled cleaner configured as described above will be described. First of all, what the carpet is is the nature of the fur that occurs because the flocking of the carpet is not perpendicular to the base fabric, but slightly oblique. Now, the influence of the carpet when traveling straight on the carpet will be described with reference to FIG. When the main body is driven straight on a flat floor without a carpet, there is no carpet, so there is no influence of the carpet, and the movement trajectory of the main body 1 is a straight line a that goes straight in the direction desired by the robot driver. Become.
[0007]
  On the other hand, as shown in FIG. 9, when the main body 1 is driven straight on a carpet whose carpet line direction (the direction in which the fur falls down) is, for example, from left to right, the traveling main body 1 changes the direction of the desired straight line a. In spite of being facing, it translates gradually to the right gradually by the influence of the carpet.
[0008]
  As a result, the movement locus becomes a straight line b shifted from the straight line a to the right by an angle θ. When reciprocating in a state where the deviation of this angle θ occurs, there is a gap between the linear trajectories, leaving behind cleaning, or conversely, the distance between the trajectories becomes narrower, and the same area is passed several times to reduce the cleaning area. The efficiency is reduced. (If the angle θ is large, it may go to the opposite side to the intended cleaning direction.)
  The carpet eye detecting means 11 detects this angle θ, and the roller 17 of the carpet eye detecting means 11 that can freely change the direction with respect to the main body 1 itself is hardly affected by the carpet eyes. (The inventors have confirmed that when the contact surface of the roller 17 has a small area, the surface is smooth, and the coefficient of friction is small, it is difficult to be influenced by the carpet pattern.) When the rotation detector 19 of the carpet eye detection means 11 detects the angle θ by rolling in the direction and corrects it by an amount deviating from a desired direction due to the influence of the carpet eyes, and the main body 1 moves straight like a straight line c, A desired straight line a can be obtained as the movement locus.
[0009]
[Problems to be solved by the invention]
  In such a conventional self-propelled cleaner, the carpet eye information detected by the carpet eye detection means and the correction of the movement trajectory have a one-to-one correspondence. There is a problem that the correction amount varies, and the cleaning area is not constant due to the carpet.
[0010]
  The present invention is intended to solve the above-described problems, and is adjusted so that the carpet can be appropriately corrected in accordance with the condition of the floor surface including conditions such as the type of carpet and the manufacturer at the actual cleaning site. An object of the present invention is to clean a desired cleaning area without excess or deficiency.
[0011]
[Means for Solving the Problems]
  In order to achieve the above object, as the first means, there is travel steering means for moving and steering the main body, and carpet eye detection means for detecting the direction and strength of the carpet eyes while the main body is traveling, and the carpet Input value from eye detection meansMultiplied by a factor corresponding to the floor conditionAn adjusting means for correcting, a correction amount calculating means for calculating a correction angle in the advancing direction based on an output of the adjusting means, and a target angle control for controlling a target angle in the advancing direction of the main body by inputting the output of the correction amount calculating means A determination processing unit comprising means, andcoefficientAnd coefficient input means for inputting and setting.
[0012]
  Further, as the second means, there are travel steering means for moving and steering the main body, and carpet eye detection means for detecting the direction and strength of the carpet eyes while the main body is running, and the output of the carpet eye detection means Direction of travelonceCorrection amount calculation means for calculating the correction amount, and input values from the correction amount calculation meansOn the floor Multiply the coefficient corresponding to the surface condition to calculate the final correction amount.A determination processing unit comprising: a correction amount adjusting unit that performs the above operation, and a target angle control unit that inputs an output of the correction amount adjusting unit and controls a target angle in a traveling direction of the main bodycoefficientAnd coefficient input means for inputting and setting.
[0013]
  Further, as third means, coefficient storage means for storing coefficient information, coefficient input means for operating coefficient input / setting, and outputting the input coefficient information to the coefficient storage means, and the coefficient storage means Input and coefficient inputmeansThe coefficient input means determines the coefficient that is input most frequently and outputs it to the coefficient storage means, and the coefficient input means,A configuration is provided for recalling stored coefficients.
[0014]
  Further, as a fourth means, a coefficient storage means for storing coefficient information, a coefficient input means for operating input / setting of coefficients and outputting the input coefficient information to the coefficient storage means, and the coefficient storage means And a coefficient rank determining means for determining the rank of the coefficient that is input a large number of times and outputting a plurality of coefficients to the coefficient storage means together with the rank, based on the input from the coefficient input means and the coefficient input means. At the input section,A configuration is provided for recalling stored coefficients.
[0015]
  Further, as fifth means, coefficient storage means for storing coefficient information, coefficient input means for inputting coefficients and outputting the input coefficient information to the coefficient storage means, and input from the coefficient storage means Coefficient rank judging means for judging the rank of a coefficient that is input many times by the input from the coefficient input means and outputting a plurality of coefficients to the coefficient storage means together with the rank; the coefficient input means and the coefficient rank Coefficient setting means for setting the coefficient by input from the judging means is provided.
[0016]
[Action]
  According to the first means of the present invention, the adjustment coefficient for the carpet information (shift angle) first input from the carpet detection means by the coefficient input means is input, and the input from the carpet detection means by the adjustment means. In addition, the coefficient input from the coefficient input means is multiplied and output to the correction amount calculation means. Based on the input carpet information (after adjustment), the correction amount calculation means calculates a correction amount for the target angle to cancel the influence of the movement trajectory of the main body due to the carpet, and outputs the correction amount to the target angle control means. .
[0017]
  The target angle control means calculates the target angle taking into consideration the effect of the carpet by the correction amount input from the correction amount calculation means in the target direction in which the main body is intended to move. A command is output to the traveling steering means for moving in the direction, and the main body is moved in the target angle direction.
[0018]
  According to the second means of the present invention, the coefficient input means first inputs an adjustment coefficient for the carpet eye information (deviation angle) input from the carpet eye detection means, and the correction amount calculation means inputs from the carpet eye detection means. Based on the carpet information (before adjustment), a primary correction amount for the target angle is calculated and output to the correction amount adjusting means. The correction amount adjusting unit multiplies the primary correction amount by the coefficient input by the coefficient input unit to calculate the final correction amount and outputs it to the target angle control unit.
[0019]
  The target angle control means calculates the target angle taking into account the influence of the carpet by the final correction amount input from the correction amount adjustment means in the target direction in which the main body is intended to move. A command is output to the traveling steering means for moving in the target angle direction, and the main body is moved in the target angle direction.
[0020]
  According to the third means of the present invention, the coefficient storage means stores the coefficient information inputted from the past coefficient input means, and at the same time, the coefficient inputted most often is stored. When a new coefficient is input, the coefficient information in the coefficient storage means is updated. At the same time, the coefficient determination means inputs the coefficient input from the coefficient input means and the coefficient information from the coefficient storage means up to the present time. The most input coefficient is determined and stored in the coefficient storage means. A desired coefficient can be input by inputting a coefficient by the coefficient input means, and the most frequently used coefficient can be easily set by operating the coefficient storage means to call the most frequently used coefficient. it can.
[0021]
  According to the fourth means of the present invention, the coefficient storage means stores the coefficient information input from the past coefficient input means, and at the same time, ranks the coefficients in the descending order of the number of input times, and stores a plurality of coefficients. It is remembered. When a new coefficient is input from the coefficient input means, the coefficient information in the coefficient storage means is updated, and at the same time, the coefficient rank determination means includes the coefficient input from the coefficient input means and the current coefficient information from the coefficient storage means. Is input, the rank of the coefficients input up to now is determined, and the plurality of ranked coefficients are stored in the coefficient storage means. A desired coefficient can be input by inputting a coefficient by the coefficient input means, and a frequently used coefficient can be easily selected from a plurality by operating the coefficient storage means to call a frequently used coefficient. Can be set.
[0022]
  According to the fifth means of the present invention, the coefficient storage means stores the coefficient information input from the past coefficient input means and a plurality of coefficients ranked in descending order of the number of times of input. A high coefficient is output to the coefficient setting means. When a new coefficient is input from the coefficient input means, the coefficient information in the coefficient storage means is updated, and at the same time, the coefficient rank determination means includes the coefficient input from the coefficient input means and the current coefficient information from the coefficient storage means. Is input, the rank of the coefficients input up to now is determined, and the plurality of ranked coefficients are stored in the coefficient storage means. The coefficient setting means monitors the input from the coefficient input means and the input from the coefficient storage means. If there is an input from the coefficient input means, the input coefficient is set. If there is no input, it is input from the coefficient storage means. Set the most frequently used coefficient. Thus, a desired coefficient can be input by inputting the coefficient by the coefficient input means, and a coefficient having the highest use frequency can be set as an initial value without inputting the coefficient.
[0023]
【Example】
  Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.
[0024]
  In FIG. 1, 21 is a carpet eye detection unit that detects the strength and direction of the carpet, and 22 is an azimuth sensor that outputs angle information to the determination processing unit 26. An obstacle detection unit 23 measures the presence / absence of the obstacle and the distance to the obstacle and outputs the measured distance to the determination processing unit 26. Reference numeral 24 denotes traveling steering means for traveling and steering the self-propelled cleaner, and reference numeral 25 denotes cleaning means for performing cleaning.
[0025]
  A determination processing unit 26 controls the traveling steering unit 24 and the cleaning unit 25 based on signals from the carpet detection unit 21, the direction sensor 22, and the obstacle detection unit 23. Reference numeral 30 denotes target angle control means for controlling the target direction of movement of the main body (20 in FIG. 2), 28 is adjustment means for adjusting the input from the carpet eye detection means 21, and 29 is adjustment from the adjustment means 28. The correction amount calculation means 29 converts the subsequent carpet information into a correction amount for the target angle, and these are provided in the determination processing unit 26. Reference numeral 27 denotes coefficient input means for inputting an adjustment amount input from the carpet eye detection means 21 in the adjustment means 28. In FIG. 2, 20 is a main body, and 71 is a carpet eye detection means.
[0026]
  The operation of the above configuration is as follows.
[0027]
  In FIG. 2, when the main body 20 is going straight in the target direction a, if the movement trajectory shifts in the direction b due to the carpet, the shift angle θ0 with respect to the target direction is detected and the shift is originally detected. Correction is made by an angle θ3 corresponding to the angle θ0 to obtain a target direction c that takes into account the influence of the carpet.
[0028]
  However, in reality, θ0 cannot be detected due to the state of the carpet, and only θ1 shown in FIG. 2 is detected. In order to correct θ3 in a situation where only θ1 is detected, first, a desired coefficient k is input by the coefficient input means 27.
[0029]
  The deviation angle θ1 with respect to the carpet with respect to the target direction actually detected by the carpet eye detection means 21 is input to the adjustment means 28 at a certain period t. The adjustment means 28 in the determination processing unit 26 uses the coefficient input means 27. Is converted to θ 2 (= k × θ 1) by the coefficient k input by, and output to the correction amount calculation means 29. (Thus, the detection angle of the carpet eye detection means 21 is reflected in the correction as being θ2).
[0030]
  Then, the correction amount calculation means 29 calculates the correction amount θ3 of the target angle by the carpet every period T (>> t) based on θ2 input every period t in order to suppress the variation in correction due to instantaneous data. Output to the angle control means 30. The target angle control means 30 sets θ + θ3 obtained by adding a correction amount θ3 to the original target movement angle θ (when not affected by the carpet) as a target angle on the carpet.
[0031]
  The judgment processing unit 26 outputs a signal to the traveling steering means 24 so that the main body moves in this direction, controls the cleaning means 25, and receives an obstacle near the main body by the input from the obstacle detection means 23 and the direction sensor 22. As long as there is no object, the main body is moved in the target angle direction c taking into account the carpet, and as a result, a trajectory in the direction a is obtained and the desired trajectory is moved for cleaning.
[0032]
  Next, a second embodiment of the present invention will be described with reference to FIG.
[0033]
  In FIG. 3, 31 is a carpet eye detection unit that detects the strength and direction of the carpet, and 32 is an azimuth sensor that outputs angle information to the determination processing unit 36. An obstacle detection unit 33 measures the presence / absence of the obstacle and the distance to the obstacle and outputs the measured distance to the determination processing unit 36.
[0034]
  Reference numeral 34 denotes traveling steering means for traveling and steering the self-propelled cleaner, and reference numeral 35 denotes cleaning means for performing cleaning. A determination processing unit 36 controls the traveling steering unit 34 and the cleaning unit 35 by signals from the carpet detection unit 31, the direction sensor 32, and the obstacle detection unit 33.
[0035]
  Reference numeral 40 denotes target angle control means for controlling the target direction of movement of the main body (not shown), and reference numeral 38 denotes correction amount calculation means 38 for converting detected angle information from the carpet eye detection means 31 into a correction amount for the target angle. Yes, 39 is a correction amount adjusting means for adjusting to a correction amount corresponding to the carpet according to the input from the correction amount calculating means 38 and the input from the coefficient input means 37, and these are provided in the judgment processing section 36. Yes. 37 is a coefficient input means for inputting the adjustment amount of the correction amount from the correction amount calculation means 38 in the correction amount adjustment means 39.
[0036]
  The operation of the above configuration is as follows.
[0037]
  First, a desired coefficient k is input by the coefficient input means 37. The deviation angle θ1 with respect to the carpet with respect to the target direction actually detected by the carpet eye detection unit 31 is input to the correction amount calculation unit 38 at a certain period t. The correction amount calculation unit 38 in the determination processing unit 36 Then, based on θ1 input every cycle t in order to suppress correction variation due to instantaneous data, a correction amount θ2 of the target angle is calculated based on the actual detected angle every cycle T (>> t), and correction amount adjusting means Output to 39.
[0038]
  Then, the correction amount adjusting unit 39 converts the coefficient k input by the coefficient input unit 37 into θ3 (= k × θ2), and outputs it to the target angle control unit 40 (therefore, the carpet detection unit 31). Even if the detected angle is θ1, the correction amount θ3 corresponding to the actual carpet is obtained). In the target angle control means 40, θ + θ3 obtained by adding a correction amount θ3 to the original movement target angle θ (when not affected by the carpet) is set as a target angle on the carpet.
[0039]
  The judgment processing unit 36 outputs a signal to the traveling steering means 34 so that the main body moves in this direction, controls the cleaning means 35, and receives an obstacle near the main body by the input from the obstacle detection means 33 and the direction sensor 32. Unless there is an object, the main body is moved in the target angle direction to perform cleaning.
[0040]
  Next, a third embodiment of the present invention will be described with reference to FIG.
[0041]
  In FIG. 4, reference numeral 41 denotes a carpet eye detection unit that detects the strength and direction of the carpet, and 42 denotes an azimuth sensor that outputs angle information to the determination processing unit 46. 43 is an obstacle detection means that measures the presence / absence of an obstacle and the distance to the obstacle and outputs the measured distance to the determination processing unit 46. 44 is traveling steering means for traveling and steering the self-propelled cleaner, and 45 is cleaning means for cleaning.
[0042]
  A determination processing unit 46 controls the traveling steering unit 44 and the cleaning unit 45 based on signals from the carpet detection unit 41, the direction sensor 42, the obstacle detection unit 43, the coefficient input unit 47, and the coefficient storage unit 49. Yes. Reference numeral 47 denotes coefficient input means for inputting an adjustment amount for adjusting the correction amount of the movement trajectory of the main body (not shown) based on the detection information of the carpet eye detection means 41. Reference numeral 48 denotes a coefficient input up to the present time by the coefficient input means 47. The coefficient determination means 49 determines the coefficient having the highest number of times, and 49 is a coefficient storage means for storing the coefficient input by the coefficient input means 47 and the determination result by the coefficient determination means 48.
[0043]
  The operation of the above configuration is as follows.
[0044]
  The judgment processing unit 46 calculates the correction amount for correcting the angle at which the main body (not shown) is made to flow in the target direction by the carpet according to the carpet information input from the carpet detection means 41, and considers the influence of the carpet. The angle in the target direction is set and output to the traveling steering means 44 to move the main body in the target direction, and is input from the coefficient input means 47 or the coefficient storage means 49 when calculating the correction amount. By the coefficient, even if the detection amount of the carpet detection means 41 is excessive or insufficient, it can be adjusted to a correction amount according to the actual carpet status. In the coefficient storage means 49, the input coefficient and the number of times the coefficient has been input in the past are stored in the coefficient information storage area as a pair, and at the same time, the coefficient having the highest number of times is stored in the most coefficient storage area. ing.
[0045]
  When a coefficient K is input by the coefficient input means 47, the input coefficient K is output to the determination processing unit 46 and simultaneously input to the coefficient storage means 49, and the coefficient storage means 49 stores it in the coefficient information storage area. The data of the coefficient K and the number of times N that are paired with the input coefficient information and the current input K is updated, and the information of the coefficient information storage area is output to the coefficient determination means 49.
[0046]
  The coefficient input unit 47 outputs a signal input to the coefficient storage unit 49 to the determination processing unit 46 and simultaneously outputs a signal to the coefficient determination unit 48. The coefficient determination unit 48 receives the signal and the coefficient storage unit 49 from the signal. Nm is the largest number of coefficients that have been entered so far.axThe coefficient Kmax is output to the coefficient storage means 49, and the coefficient storage means 49 stores it in the most frequent coefficient storage area.
[0047]
  Further, when the coefficient input unit 47 is operated so as to set the coefficient having the highest use count, the coefficient input unit 47 determines the coefficient having the most use count stored in the coefficient storage unit 49 in the coefficient storage unit 49. The coefficient storage means 49 inputs the signal and outputs the coefficient Kmax. At the same time, the coefficient storage means 49 updates Nmax stored in the coefficient information storage area as Nmax + 1.
[0048]
  In the coefficient judging means 48, if a plurality of the most frequently occurring items appear, the latest most frequently used one is output to the coefficient storing means 49 as the most frequently used coefficient. Thereby, the coefficient with the highest use frequency can be set in one operation.
[0049]
  A fourth embodiment of the present invention will be described with reference to FIG.
[0050]
  In FIG. 5, 51 is a carpet detection unit that detects the strength and direction of the carpet, and 52 is an azimuth sensor that outputs angle information to the determination processing unit 56. An obstacle detection unit 53 measures the presence / absence of the obstacle and the distance to the obstacle and outputs the measured distance to the determination processing unit 56.
[0051]
  54 is traveling steering means for traveling and steering the self-propelled cleaner, and 55 is cleaning means for cleaning. 56 is a judgment processing unit which controls the traveling steering means 54 and the cleaning means 45 by signals from the carpet detection means 51, the direction sensor 52, the obstacle detection means 53, the coefficient input means 57, and the coefficient storage means 59. Yes. 57 is a coefficient input means for inputting an adjustment amount for adjusting the correction amount of the movement locus of the main body (not shown) based on the detection information of the carpet eye detection means 51, and 58 is a coefficient input up to now by the coefficient input means 57. Is a coefficient storage unit for storing the coefficient input by the coefficient input unit 57 and the determination result of the coefficient rank determination unit 58.
[0052]
  The operation of the above configuration is as follows.
[0053]
  The determination processing unit 56 calculates the correction amount for correcting the angle at which the main body (not shown) is made to flow in the target direction by the carpet according to the carpet information input from the carpet detection means 51, and considers the influence of the carpet. The angle in the target direction is set and output to the traveling steering means 54 to move the main body in the target direction, and is input from the coefficient input means 57 or the coefficient storage means 59 when calculating the correction amount. By the coefficient, even if the detection amount of the carpet detection means 51 is excessive or insufficient, it can be adjusted to a correction amount according to the actual carpet condition.
[0054]
  In the coefficient storage means 59, the input coefficient and the number of times the coefficient has been input in the past are stored in the coefficient information storage area as a pair, and at the same time, the three coefficients K1, K2, from the most frequent are stored. K3 is ranked and stored in the high-order coefficient storage area.
[0055]
  When a coefficient K is input by the coefficient input means 57, the input coefficient K is output to the determination processing unit 56 and simultaneously input to the coefficient storage means 59. The coefficient storage means 59 stores it in the coefficient information storage area. The data of the coefficient K and the number of times N which are paired with the input coefficient information and the currently input K is updated, and the information of the coefficient information storage area is output to the coefficient rank determination means 59. The coefficient input unit 57 outputs the coefficient input to the coefficient storage unit 59 to the determination processing unit 56 and simultaneously outputs a signal to the coefficient determination unit 48. The coefficient rank determination unit 58 outputs the signal and the coefficient storage unit 59. The coefficient information from is input and the top three most frequently input coefficients are determined so far, and the coefficients K1 (N1), K2 (N2), K3 (N3) (N is Coefficient storage means 59 outputs to the coefficient storage means 59 the number of times input up to the present, which is N1, N2, and N3 from the top, and stores them in the high-order coefficient storage area.
[0056]
  When the coefficient input unit 57 is operated so as to set the coefficient having the highest frequency of use, the coefficient having the second highest frequency, or the coefficient having the third highest frequency, the coefficient input unit 57 causes the coefficient storage unit 59 to be set. The coefficient storage means 49 inputs the signal and outputs the coefficient by the operation by outputting an instruction to output the coefficient K1, K2, or K3 stored in the high-order coefficient storage area to the determination processing unit 56.
[0057]
  At the same time, in the coefficient storage means 59, N1, N2, or N3 stored in the coefficient information storage area is N1 + 1 if N1 is called, and N2 + 1 or N3 + 1 if N2 is called. Update as.
[0058]
  In the coefficient determination means 58, if a plurality of ranks up to the third rank appear, the latest three highest ranks are output to the coefficient storage means 59 as the first to third coefficients. Thus, the three most frequently used coefficients in one operation can be selected and set according to the cleaning place and the condition of the carpet.
[0059]
  Next, a fifth embodiment of the present invention will be described with reference to FIG.
[0060]
  In FIG. 6, reference numeral 61 denotes a carpet eye detecting unit that detects the strength and direction of the carpet eye, and 62 denotes an orientation sensor that outputs angle information to the determination processing unit 66. Reference numeral 63 denotes obstacle detection means, which measures the presence / absence of an obstacle and the distance to the obstacle and outputs the measured distance to the determination processing unit 66. 64 is a traveling steering means for traveling and steering the self-propelled cleaner, and 65 is a cleaning means for cleaning. Reference numeral 66 denotes a determination processing unit that controls the traveling steering means 64 and the cleaning means 65 based on signals from the carpet detection means 61, the direction sensor 62, the obstacle detection means 63, and the coefficient setting means 70.
[0061]
  67 is a coefficient input means for inputting an adjustment amount for adjusting the correction amount of the movement locus of the main body (not shown) based on the detection information of the carpet eye detection means 61, and 68 is a coefficient input up to the present time by the coefficient input means 67. Is a coefficient rank judging means for judging the rank of the number of input times, 69 is a coefficient storage means for storing the coefficient inputted by the coefficient input means 67 and the judgment result in the coefficient rank judging means 68, and 70 is a coefficient input. Coefficient setting means for setting coefficients based on inputs from the means 67 and the coefficient storage means 69 and outputting them to the determination processing section 65.
[0062]
  The operation of the above configuration is as follows.
[0063]
  The judgment processing unit 66 calculates the correction amount for correcting the angle at which the main body (not shown) is made to flow in the target direction by the carpet according to the carpet information input from the carpet detection means 61, and considers the influence of the carpet. The angle of the target direction entered is set and output to the traveling steering means 64 to move the main body in the target direction, and when calculating the correction amount, the carpet detection is performed by the coefficient input from the coefficient setting means 70. Even if the detection amount of the means 61 is excessive or insufficient, the correction amount can be adjusted according to the actual carpet condition.
[0064]
  In the coefficient storage means 69, the input coefficient and the number of times the coefficient has been input in the past are stored in the coefficient information storage area as a pair, and at the same time, the three coefficients K1, K2, from the most frequent are stored. K3 is ranked and stored in the high-order coefficient storage area. When a coefficient K is input by the coefficient input means 67, the input coefficient K is output to the coefficient setting means 70 and simultaneously input to the coefficient storage means 69. The coefficient storage means 69 stores it in the coefficient information storage area. The data of the coefficient K and the number of times N that are paired with the input coefficient information and the currently input K is updated, and the information in the coefficient information storage area is output to the coefficient rank determination means 69.
[0065]
  The coefficient rank determination means 68 inputs coefficient information from the coefficient storage means 69 to determine the top three most frequently input coefficients so far, and determines the coefficients K1 (N1) and K2 (N2), K3 (N3) (N is the number of times of input up to now, N1, N2, and N3 from the top) are output to the coefficient storage means 69, and the coefficient storage means 69 stores it in a high-order coefficient storage Store in the area.
[0066]
  The coefficient setting means 70 looks at the input from the coefficient input means 67 and the input from the coefficient storage means 69. If there is an input of a coefficient from the coefficient input means 67, it is set as a coefficient for adjustment and a judgment process is performed. The coefficient K1 stored in the high-order storage area of the coefficient storage means 69 is set as a coefficient for adjustment if there is no input of the coefficient by the coefficient input means 67 from the initial setting for the main body operation. And output to the determination processing unit 66. As a result, when the coefficient is not set, the coefficient most frequently used is automatically set.
[0067]
  In the above embodiment, the coefficient is directly input by the coefficient input means. However, instead of the coefficient, a value corresponding to a plurality of coefficients is input, and the determination processing unit converts the value into a coefficient. You can also
[0068]
【The invention's effect】
  As is clear from the above embodiments, according to the first means and the second means of the present invention, the correction amount for correcting the angle at which the main body is caused to flow with respect to the target direction by the carpet eyes is determined based on the carpet information. Since it can be adjusted, even if there is an excess or deficiency in the detection amount of the carpet, it is possible to correct the carpet according to the situation on various carpets and obtain a desired movement trajectory. Therefore, it is possible to clean the target cleaning area without causing a leftover cleaning.
[0069]
  Further, the third means stores the adjustment degree of the input correction amount together with the number of times, and judges and stores the adjustment degree with the highest number of times so that the one with the highest number of times can be set with one operation. Therefore, anyone can easily set the optimum adjustment amount of the correction amount when cleaning in the same situation.
[0070]
  In addition, the fourth means stores the adjustment degree of the input correction amount together with the number of times, and ranks a plurality of adjustment degrees with a large number of times.TheJudgment, memorization, and several types of frequently used items can be recalled, so when cleaning in several different situations, select the adjustment level of the optimal correction amount for the spot and set it easily. I can do things.
[0071]
  Further, the fifth means stores the adjustment degree of the input correction amount together with the number of times, and ranks a plurality of adjustment degrees having a large number of times.TheWhen the adjustment level is not entered, the most frequently used adjustment level is set.Therefore, in the most frequently used situation, it is not necessary to input the adjustment level. It is possible to set the optimum adjustment amount of the correction amount.
[Brief description of the drawings]
FIG. 1 is a block diagram of a self-propelled cleaner according to a first embodiment of the present invention.
FIG. 2 is a diagram showing a movement locus of the self-propelled cleaner body.
FIG. 3 is a block diagram of a self-propelled cleaner showing a second embodiment of the present invention.
FIG. 4 is a block diagram of a self-propelled cleaner showing a third embodiment of the present invention.
FIG. 5 is a block diagram of a self-propelled cleaner showing a fourth embodiment of the present invention.
FIG. 6 is a block diagram of a self-propelled cleaner showing a fifth embodiment of the present invention.
FIG. 7 is a sectional view showing a schematic configuration of a conventional self-propelled cleaner.
FIG. 8 is a side view showing a schematic configuration of carpet eye detection means of the vacuum cleaner.
FIG. 9 is a diagram showing the principle of straight-running on the carpet of the self-propelled cleaner and the detection of carpet eyes.
[Explanation of symbols]
  20 body
  21 Carpet eye detection means
  22 Direction sensor
  23 Obstacle detection means
  24 Traveling steering means
  25 Cleaning means
  26 Judgment processing unit
  27 Coefficient input means
  28 Adjustment means
  29 Correction amount calculation means
  30 Target angle control means
  31 Carpet eye detection means
  32 Direction sensor
  33 Obstacle detection means
  34 Traveling steering means
  35 Cleaning means
  36 Judgment processing part
  37 Coefficient input means
  38 Correction amount calculation means
  39 Correction amount adjustment means
  40 Target angle control means
  47 Coefficient input means
  48 Coefficient judgment means
  49 Coefficient storage means
  57 Coefficient input means
  58 Coefficient ranking judgment means
  59 Coefficient storage means
  67 Coefficient input means
  68 Coefficient rank judgment means
  69 Coefficient storage means
  70 Coefficient setting means
  71 Carpet eye detection means

Claims (5)

Travel steering means for moving and steering the main body, and carpet eye detection means for detecting the direction and strength of the carpet eyes while the main body is running, and the input value from the carpet eye detection means to the state of the floor surface Adjustment means for multiplying by a corresponding coefficient, correction amount calculation means for calculating a correction angle in the advancing direction by the output of the adjustment means, and target angle in the advancing direction of the main body by inputting the output of the correction amount calculation means A self-propelled cleaner comprising: a judgment processing unit comprising target angle control means for controlling the coefficient; and coefficient input means for inputting and setting the coefficient. A traveling steering means for moving and steering the main body, and a carpet eye detecting means for detecting the direction and strength of the carpet while the main body is traveling, and calculating a primary correction amount in the traveling direction based on the output of the carpet eye detecting means. Correction amount calculation means, a correction amount adjustment means for calculating a final correction amount by multiplying an input value from the correction amount calculation means by a coefficient corresponding to the state of the floor surface, and an output of the correction amount adjustment means. a determination processing unit consisting of a target angle control means for controlling the target angle of travel direction of the body to enter, enter the coefficients, the self-propelled cleaner comprising a coefficient input means for setting. Coefficient storage means for storing coefficient information, coefficient input means for operating input / setting of coefficients and outputting the input coefficient information also to the coefficient storage means, input of the coefficient storage means, and coefficient input means the inputs to determine the largest coefficient of times input has a coefficient judging means for outputting to said coefficient storing means at the coefficient input means, and characterized in that a configuration in which invoke the stored coefficients The self-propelled cleaner according to claim 1 or 2. Coefficient storage means for storing coefficient information, coefficient input means for operating input / setting of coefficients, and outputting the input coefficient information to the coefficient storage means, input from the coefficient storage means, and the coefficient input means the input of having a coefficient ranking determining means for outputting to said coefficient storage means a plurality of coefficients with rank to determine more coefficients ranking of the number of times to be inputted, by the coefficient input unit, the stored coefficients The self-propelled cleaner according to any one of claims 1 to 3, characterized in that a configuration is provided that can call up the machine.   Coefficient storage means for storing coefficient information, coefficient input means for inputting coefficients and outputting the input coefficient information to the coefficient storage means, input from the coefficient storage means, and input from the coefficient input means A coefficient rank judging means for judging the rank of a coefficient having a large number of input times and outputting a plurality of coefficients to the coefficient storing means together with the rank; The self-propelled cleaner according to any one of claims 1 to 4, further comprising coefficient setting means for setting.

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