JP3787852B2 - Self-propelled vacuum cleaner - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a self-propelled cleaner that uses a battery as a power source, detects an obstacle with an ultrasonic sensor, controls a moving direction with a gyro sensor, and performs a cleaning operation while moving on the basis of a wall or the like. The present invention relates to a self-propelled vacuum cleaner that has been used in combination to expand the movable range for cleaning.
[0002]
[Prior art]
Conventionally, a self-propelled cleaner that moves without a path controls the moving direction of the main body using a gyro sensor, detects an obstacle such as a wall using an ultrasonic sensor or a photoelectric switch, changes the direction, and the target floor surface Cleaning was performed sequentially while moving.
[0003]
[Problems to be solved by the invention]
However, if the door is open or not surrounded by a wall, it will protrude from the area that should be cleaned, and you may not be able to clean it as expected, or you may fall off the stairs located outside the original cleaning area. There is a problem that it is always present and cannot be used where there is no wall. In addition, since the gyro sensor used for controlling the moving direction of the main body causes an angular error with time, its use for a long time is restricted, and the cleaning moving range is also limited.
[0004]
In order to solve this problem, a self-propelled cleaner that can be cleaned even in a cleaning area without a wall by attaching a magnetic tape to the cleaning area, and the present invention mainly aims to improve the moving function. .
[0005]
The first object of the present invention is to realize an accurate cleaning movement for a long time by controlling the posture of the main body.
[0006]
The second object is to limit the cleaning movement range not only in the front but also in the rear and operate more safely.
[0007]
The third purpose is to stop the main body at a predetermined place at the end of cleaning.
[0008]
[Means for Solving the Problems]
A first solution for achieving the first and third objects is a cleaning comprising a battery as a power source, steering and driving means having left and right independent drive wheels, a floor nozzle, a dust box and a fan motor. Means, a sensor provided around the main body for detecting an obstacle such as a wall, and a magnetic switch provided at the lower part of the main body for detecting a magnetic tape. The obstacle is detected by a signal from the sensor and a signal from the magnetic switch. together so as to forward and backward movement as a movement limiting signal when, that so as to stop the movement and cleaning in place when continuously detecting the magnetic tape of the magnetic tape and the S pole of the N pole in the magnetic switch It is.
[0009]
The second solution means for achieving the second object is a battery as a power source, a steering and drive means of left and right independent drive wheel configuration, a cleaning means comprising a floor nozzle, a dust box and a fan motor, A sensor provided around the main body for detecting an obstacle such as a wall, and a magnetic switch provided at the lower part of the main body for detecting the magnetic tape and discriminating between the N pole and the S pole, the signal from the sensor and the signal from the magnetic switch When an N-pole magnetic tape is detected as a movement limit signal when an obstacle is detected by the above, it is determined as an obstacle on the forward path, and when an S-pole magnetic tape is detected, it is determined as an obstacle on the return path and moves forward and backward. It is what I did.
[0010]
[Action]
According to the first solution, the magnetic tape is detected by a magnetic switch provided at the lower part of the main body, and it is judged in the same manner as an obstacle to control the posture of the main body, thereby realizing an accurate cleaning movement for a long time. .
[0011]
When the magnetic switch detects the N-pole magnetic tape and the S-pole magnetic tape in succession, the cleaning and movement are stopped at that location, and the cleaning operation is terminated, so that the main body is placed at a predetermined location at the end of the cleaning. It is to stop.
[0012]
According to the second solution, the magnetic switch for discriminating between the N pole and the S pole is used. When the N pole magnetic tape is detected, it is determined as an obstacle on the forward path, and when the S pole magnetic tape is detected, the return path is determined. By determining the obstacle as above, the cleaning movement range is limited not only in the front but also in the rear, so that it can be operated more safely.
[0013]
【Example】
Hereinafter, an embodiment of a self-propelled cleaner according to the present invention will be described with reference to the drawings.
The configuration of the self-propelled cleaner according to the first embodiment will be described with reference to FIGS. 1 and 2. In the figure, a steering / driving means 4 composed of left and right independent traveling motors 3L, 3R for moving, a caster 5 and a lower part of a carriage 2 composed of aluminum of a main body 1 of a self-propelled cleaner. Further, a floor nozzle 6 provided in front of the lower part of the main body 1, a dust box 7 provided in the upper part of the main body 1, and a fan motor 8 constitute a cleaning means 9. In addition, a plurality of ultrasonic sensors 10 for detecting surrounding obstacles such as walls and doors, and magnetic switches 11L and 11R are provided on the lower left and right of the carriage 2, and a gyro for detecting the direction is provided inside the main body 1. The sensor 12, judgment processing means A13 for controlling the independent movement, and a battery 14 as a power source are provided.
[0014]
FIG. 3 is a block diagram showing a self-propelled cleaner system. As shown in the figure, the outputs of the plurality of ultrasonic sensors 10, the gyro sensor 12, and the magnetic switches 11L and 11R are input to the determination processing means A13. A configuration that receives these inputs from the determination processing means A13 and outputs them to the left traveling motor 3L and the right traveling motor 3R that are the steering and driving means 4, and the floor nozzle 6 and the fan motor 8 that are part of the cleaning means 9. The battery 14 supplies power to the entire system.
[0015]
Next, the operation of the self-propelled cleaner will be described with reference to FIG. The figure shows an operation in which the main body 1 of the self-propelled cleaner cleans the passage 16 using the wall 15 as a guide. When cleaning is started from the place A, the process advances to the front wall 15, and when the wall 15 is detected by the ultrasonic sensor 10, the process returns to the place A where cleaning is started. The wall 15 is guided as a cleaning range 17 from the place A where the main body 1 is set to the wall 15 as a guide, and moves forward and backward. To go.
[0016]
When it reaches the place B, the wall 15 is interrupted, so that the wall 15 cannot be detected, and it goes out of the original cleaning range 17, so that the cleaning intended by the user cannot be performed. Therefore, in the area 18 where there is no wall 15, the magnetic switches 11L and 11R detect the magnetic tape 19 that has been previously stuck on the floor, and when the judgment processing means A13 receives the output of either of the magnetic switches 11L and 11R, there is a wall. The cleaning can be continued in the same manner as when the wall 15 is used as a guide.
[0017]
On the other hand, when the gyro sensor 12 is used for a long time, the direction of the main body 1 changes and tilt occurs. As implemented at location C, the self-propelled cleaner according to the present invention has two magnetic switches 11L and 11R mounted on the left and right, so that it is determined when one of the magnetic switches 11L and 11R detects the magnetic tape 19. The processing means A13 controls the posture so that both the magnetic switches 11L and 11R detect the magnetic tape 19 by swinging the direction of the main body 1, and the direction of the gyro sensor 12 is initially corrected when the magnetic tape 19 is detected. The use of time is possible. Depending on the performance of the gyro sensor 12, the correction may be performed every time or several times as in the present embodiment.
[0018]
Next, a second embodiment will be described with reference to FIG. As in the above embodiment, the outputs of the plurality of ultrasonic sensors 10 and the gyro sensor 12 are input to the determination processing means B20. Separate outputs of N and S are output from the magnetic switch 11R and input to the determination processing means B20. A configuration that receives these inputs from the determination processing means B20 and outputs them to the left traveling motor 3L and the right traveling motor 3R that are the steering and driving means 4, and the floor nozzle 6 and the fan motor 8 that are part of the cleaning means 9. The battery 14 supplies power to the entire system.
[0019]
The operation of the self-propelled cleaner will be described with reference to FIG. The figure shows an operation in which the main body 1 of the self-propelled cleaner cleans the passage 16 with the wall 15 as a guide. When cleaning is started from the place D, it moves forward to the front wall 15, and when the wall 15 is detected by the ultrasonic sensor 10, it returns to the place D where cleaning is started.
[0020]
The wall 15 is used as a guide and the space between the wall D and the place D where the main body 1 is set is recognized as the cleaning range 17 and moves back and forth, and the gyro sensor 12 changes the direction little by little so that the floor nozzle 6 overlaps gradually. Go ahead.
[0021]
Even if the door 21 on the wall 15 is accidentally opened when coming to the place E, the magnetic switch 11R is an N-pole magnetic tape because the N-pole magnetic tape 22 is already pasted on the floor surface in front of the door 21. 22 is detected, and the judgment processing means B20 judges that the N output of the magnetic switch 11R is on the receiving path, and cleaning is continued in the same manner as when the door 21 is closed. Next, at location F, the magnetic switch 11R detects the S-pole magnetic tape 24 in front of the rear staircase 23, and the judgment processing means B20 receives the S output of the magnetic switch 11R and judges that there is a wall on the return path. Then, since it is reversed and moved before the stairs 23, the cleaning is continued without falling from the stairs 23.
[0022]
Next, a third embodiment will be described with reference to FIG. As in the above embodiment, the outputs of the plurality of ultrasonic sensors 10 and the gyro sensor 12 are input to the determination processing means C25. Separate outputs of N and S are output from the magnetic switch 11R and input to the determination processing means C25.
[0023]
A configuration that receives these inputs from the determination processing means C25 and outputs them to the left traveling motor 3L and the right traveling motor 3R that are the steering and driving means 4, and the floor nozzle 6 and the fan motor 8 that are part of the cleaning means 9. The battery 14 supplies power to the entire system.
[0024]
The effect | action of the self-propelled cleaner of this structure is demonstrated using FIG. The figure shows an operation in which the main body 1 of the self-propelled cleaner cleans the passage 16 with the wall 15 as a guide.
[0025]
In FIG. 8A, when it is desired to finish the cleaning on the front wall 15 side, if the N-pole magnetic tape 22 and the S-pole magnetic tape 23 are pasted on the floor on the wall 15 side in advance, it is determined by the location G. The processing means C25 continuously receives N output and S output from the magnetic switch 11R, finishes cleaning, and stops at the place G. Similarly, in FIG. 8B, when it is desired to finish cleaning on the side opposite to the front wall 15, if the N-pole magnetic tape 22 and the S-pole magnetic tape 23 are previously stuck on the floor to be stopped, the place H The determination processing means C25 continuously receives N output and S output from the magnetic switch 11R, finishes cleaning, and stops at the place H.
[0026]
Next, a fourth embodiment will be described with reference to FIG. A guide frame 26 that slidably holds the magnetic switch 11R is provided below the carriage 2 at the bottom of the main body 1, and the magnetic switch 11R is urged downward by a coil spring 27.
[0027]
The operation of the above configuration is as follows. When the main body 1 passes through the convex part of the floor surface and hits the magnetic switch 11R, or when the wheel comes off at the concave part of the floor surface and the magnetic switch 11R hits the floor surface, this sliding mechanism makes the magnetic switch 11R is released upward to prevent the magnetic switch 11R from being broken. In general, a magnetic switch is less susceptible to the influence of geomagnetism or the like, and has a sensitivity of about 5 gauss or more, so it must be provided close to a magnetic tape.
[0028]
【The invention's effect】
By the present invention lever, which realizes accurate cleaning movement prolonged by judge similarly to detect obstacles magnetic tape in a magnetic switch provided in the lower body to control the attitude of the body.
[0029]
Further , a magnetic switch for discriminating between the N pole and the S pole is used. When an N pole magnetic tape is detected, it is determined as an obstacle on the forward path, and when an S pole magnetic tape is detected, it is determined as an obstacle on the return path. Thus, the cleaning movement range is limited not only in the front but also in the rear, so that it can be operated more safely.
[0030]
When the magnetic switch detects the N-pole magnetic tape and the S-pole magnetic tape in succession, the cleaning and movement are stopped at that location, and the cleaning operation is terminated, so that the main body is placed at a predetermined location at the end of the cleaning. It is to stop.
[Brief description of the drawings]
FIG. 1 is a side sectional view of a self-propelled cleaner according to a first embodiment of the present invention. FIG. 2 is a plan view of the self-propelled cleaner. FIG. 3 shows a system configuration of the self-propelled cleaner. Block diagram [FIG. 4] Operation explanatory diagram of the self-propelled cleaner [FIG. 5] Block diagram showing a system configuration of the self-propelled cleaner in the second embodiment of the present invention [FIG. 6] The self-propelled cleaner operation explanatory diagram of the machine 7 operation explanatory diagram of a third block diagram showing the system configuration of the self-propelled cleaner in the embodiment of Figure 8 the self-propelled cleaner of the present invention [9] the present invention Sectional view of the magnetic switch of the self-propelled cleaner in the fourth embodiment
DESCRIPTION OF SYMBOLS 1 Main body 4 Steering / drive means 5 Caster 9 Cleaning means 10 Ultrasonic sensor 11L, 11R Magnetic switch 12 Gyro sensor 13 Judgment processing means A
14 Battery 20 Judgment processing means B
25 Judgment processing means C

Claims (2)

A battery that is a power source, a steering and driving means having left and right independent drive wheels, a cleaning means that includes a floor nozzle, a dust box, and a fan motor, a sensor that is provided around the body and detects obstacles such as walls, and the body and a magnetic switch which detects a magnetic tape is provided at the bottom, as well as to be forward and backward movement as a movement restriction signal when an obstacle is detected by the signal with a signal from the magnetic switch from the sensor, in the magnetic switch A self-propelled cleaner that stops cleaning and movement at the location when N pole magnetic tape and S pole magnetic tape are detected in succession .   A battery that is a power source, a steering and driving means having left and right independent driving wheels, a cleaning means comprising a floor nozzle, a dust box, and a fan motor, a sensor provided around the body for detecting obstacles such as walls, and the body A magnetic switch for detecting a magnetic tape and discriminating between an N-pole and an S-pole provided at a lower portion, and an N-pole magnetic tape as a movement restriction signal when an obstacle is detected by a signal from the sensor and a signal from the magnetic switch A self-propelled cleaner that determines that it is an obstacle on the forward path when it detects, and moves forward and backward by determining that it is an obstacle on the return path when it detects an S pole magnetic tape.

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