JP6948775B2 - Autonomous driving vacuum cleaner - Google Patents

Description

The present invention relates to an autonomous driving type vacuum cleaner.

An autonomous driving type vacuum cleaner that cleans a room while moving autonomously is known. The autonomous traveling type vacuum cleaner is equipped with a rechargeable battery as a power source, and the control device controls the traveling motor that drives the wheel unit to perform autonomous traveling, while using a motor-driven rotating brush to scrape dust. , Suction with a suction fan for cleaning.

Patent Document 1 describes a combination of traveling along the boundary and traveling along the boundary while detecting the boundary and obstacles by a sensor that detects the boundary of the planned traveling area.

Japanese Unexamined Patent Publication No. 11-212642

However, it is not easy to effectively clean the area around an obstacle such as a chair leg in running along the edge or running randomly.

The present invention made in view of the above circumstances includes a main body, a driving unit for driving the main body, a brush, and an obstacle detecting means capable of detecting an obstacle, and the obstacle detecting means is described above. The front distance measuring sensor is provided with a plurality of types of sensors including a front distance measuring sensor for detecting an obstacle in front of the main body, and the front distance measuring sensor is provided at a plurality of places in the main body. The main body is provided with a plurality of sensors, and the drive unit uses the legs of a desk, chair, or table detected by the obstacle detecting means as the first obstacle, and 270 ° around the outer periphery of the first obstacle. A desk, chair, or desk or chair detected by the obstacle detecting means after turning with a turning radius larger than the turning radius of the first turning step and the first turning step to turn away from the first obstacle. A second turning step in which a chair different from the first obstacle of the table is used as a second obstacle and the outer circumference of the second obstacle is turned at a turning angle larger than that of the first turning step. After advancing toward the concentrated area where dust is concentrated, the third turning step, which is a spiral motion gradually approaching the concentrated area, is executed by performing a turning motion that gradually reduces the turning radius. Among the front distance measuring sensors provided at a plurality of places of the main body, the wall is being executed during the wall-side traveling step of cleaning the wall side by traveling along the wall using the front distance measuring sensor. It is characterized in that the sensitivity of the front distance measuring sensor located on the opposite side is desensitized or the output of the front distance measuring sensor located on the opposite side of the wall is ignored .

The perspective view of the autonomous driving type vacuum cleaner of Example 1 as seen from the left front. The bottom view of the autonomous driving type vacuum cleaner of Example 1. A cross-sectional view taken along the line AA of FIG. The perspective view which shows the internal structure which removed the case of the autonomous driving type vacuum cleaner of Example 1. FIG. External perspective view of the charging stand of Example 1 looking down from above the front Flowchart of running control according to the first embodiment A flowchart showing the steps performed by the wall-side circuit traveling step of the first embodiment. (A) to (f): A diagram showing details of the initial traveling step S110 of the first embodiment. The figure which shows the detail of the wall approaching running step of Example 1. Flowchart of the main traveling step of the first embodiment The figure which shows an example of the traveling locus of the autonomous traveling type vacuum cleaner by the main traveling step of Example 1. The figure which shows the mode that the autonomous driving type vacuum cleaner of Example 1 turns around a thin obstacle. The figure which examinees the relationship between the turning radius r1 of Example 1, the gap dimension L of a chair leg, and the left-right dimension D of a main body. A flowchart showing the details of the wall-side running step of the first embodiment. The figure for demonstrating which of the right-justified running mode and the left-justified running mode of Example 1 is preferable to have a higher frequency. The figure which clarifies the difference between the running near a wall and the running far from a wall of the first embodiment. A flowchart showing the details of the return traveling step of the first embodiment. The figure which shows the detection range of the wide range receiver and the detection range of a narrow range receiver of Example 1. The figure which shows an example of the traveling locus in the return traveling step of Example 1. The figure which shows the traveling locus in the centralized cleaning mode of Example 2. The figure which shows the autonomous driving type vacuum cleaner which performs the wall running near the wall and the wall far running continuously of the third embodiment. The figure which shows the running locus when performing the wall-side running step or the reflection running of Example 4.

Hereinafter, examples of the present invention will be described in detail with reference to the drawings as appropriate. Similar components are designated by the same reference numerals, and the same description will not be repeated.

FIG. 1 is a perspective view of the autonomous traveling type vacuum cleaner of the first embodiment as viewed from the left front, and FIG. 2 is a bottom view of the autonomous traveling type vacuum cleaner. The direction in which the autonomous traveling type vacuum cleaner S normally travels is forward, the vertically upward direction is upward, the drive wheels 2 and 3 are facing each other, the drive wheel 2 side is on the left, and the drive wheel 3 side is on the right. do. That is, as shown in FIG. 1 and the like, the front-back, up-down, and left-right directions are defined.

The autonomous traveling type vacuum cleaner S is an electric device that automatically cleans a predetermined cleaning area (for example, the floor surface Y of a room) while autonomously moving. The autonomous traveling type vacuum cleaner S includes a case 1 (1u, 1s) forming an outer shell, a pair of lower drive wheels 2, 3 (see FIG. 2), and training wheels 4. Further, the autonomous traveling type vacuum cleaner S is provided with a rotating brush 5 at the lower rear, a guide brush 6 at the lower center, and a side brush 7 at the lower front, and a front distance measuring sensor 8 as an obstacle detecting means on the inside of the side surface. It has.

The drive wheels 2 and 3 are wheels capable of moving the autonomous traveling type vacuum cleaner S forward, backward, and turning by rotating the drive wheels 2 and 3 themselves. The drive wheels 2 and 3 are arranged on both the left and right sides in terms of diameter, and are rotationally driven by wheel units 20 and 30 composed of a traveling motor and a speed reducer, respectively. The training wheels 4 are driven wheels and casters that rotate freely. The drive wheels 2 and 3 are provided on the center side in the front-rear direction and the outside in the left-right direction of the autonomous traveling type vacuum 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. There is.

The side brush 7 is provided on the front side of the autonomous traveling type vacuum cleaner S and outside in the left-right direction, and is a brush having a rotation axis in the vertical direction. The front outer region of the vacuum cleaner S is rotated so as to be swept from the outer side to the inner side in the left-right direction, and dust on the floor surface is collected on the central rotating brush 5 side. The two guide brushes 6 are provided on the inner side in the left-right direction with respect to the drive wheels 2 and 3, respectively, and are fixed to guide the dust collected by the side brush 7 so as not to escape from the width of the rotary brush 5 to the outside. It is a brush.

The rotary brush 5 is a brush whose rotation axis is in the horizontal direction, and is provided behind the drive wheels 2 and 3 of the autonomous traveling type vacuum cleaner S. The positions of the left and right end portions of the rotary brush 5 in the left-right direction can be inside the drive wheels 2 and 3, or inside the guide brush 6, respectively.

FIG. 3 is a cross-sectional view taken along the line AA of FIG. 1, and FIG. 4 is a perspective view showing an internal configuration of the autonomous traveling type vacuum cleaner S with the case removed. Note that FIG. 4 shows a state in which the dust collecting case 12 is removed.

As shown in FIG. 3, the autonomous traveling type vacuum cleaner S includes a rechargeable battery 9, a control device 10, a suction fan 11, and a dust collecting case 12 inside. The dust collecting case 12 has a suction port 12i formed above the rotating brush 5 as an inlet. A dust collecting filter 13 is attached to the outlet of the dust collecting case 12.

The rechargeable battery 9 is, for example, a secondary battery that can be reused by charging, and is housed in the battery accommodating portion 1s6. The rechargeable battery 9 is arranged over the left and right ends of the autonomous traveling type vacuum cleaner S.

The electric power from the rechargeable battery 9 is supplied to various obstacle detecting means 8, 15, 16, the control device 10, the motors of the driving wheels 2, 3 and the various brushes 5, 7, the suction fan 11, and the like. The autonomous traveling type vacuum cleaner S is collectively controlled by the control device 10.

As shown in FIG. 4, the suction fan 11 is arranged near the center of the lower case 1s. When the suction fan 11 and the rotary brush motor 5 m are driven, dust such as the floor surface is scraped by the rotary brush 5. The scraped dust is guided into the dust collecting case 12 through the suction port 14 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.

(Outline of operation of autonomous driving type vacuum cleaner S)
Here, the rough operation of the autonomous driving type vacuum cleaner S will be described. The autonomous traveling type vacuum cleaner S is autonomously moved by the driving wheels 2 and 3 and the training wheels 4 (see FIG. 2), and can move forward, backward, turn left and right, turn super-credit, and the like. Then, the autonomous traveling type vacuum cleaner S collects dust with the side brush 7 and the guide brush 6 and collects the dust adhering around the rotating brush 5 through the suction port 14 by the suction force of the suction fan 11. It is sucked into the dust collecting case 12 from the suction port 12i at the inlet of the case 12, and is retained in the dust collecting case 12 by the dust collecting filter 13 at the outlet.

When dust collects in the dust collecting case 12, the dust collecting case 12 is appropriately taken out from the main body Sh by the user, the dust collecting filter 13 is removed, and the dust is discarded.

The bumper 1b is installed so as to be movable in the front-rear direction according to a force acting from the outside when it collides with an obstacle such as a wall. The bumper 1b is urged outward by a pair of left and right bumper springs (not shown).

When the acting force when colliding with an obstacle via the bumper 1b acts on the bumper spring, the bumper spring is deformed so as to fall inward in a plan view, and the bumper 1b is retreated while urging the bumper 1b outward. Tolerate. When the bumper 1b separates from the obstacle and loses the above-mentioned acting force, the bumper 1b returns to its original position by the urging force of the bumper spring. The retreat of the bumper 1b (that is, contact with an obstacle) is detected by the bumper sensor 15 (see FIG. 4) described later, and the detection result is input to the control device 10.

The dust collecting case 12 shown in FIG. 3 is a container that collects dust sucked from the floor surface Y through the suction port 14 formed in the suction portion 1s4. The dust collecting case 12 has substantially the same horizontal dimension as the rotating brush 5.

The main body of the dust collecting case 12 for accommodating the collected dust has a shape whose lower surface corresponds to the shape of the upper part of the suction portion 1s4, and has a suction port 12i having substantially the same opening shape facing the suction port 14. The suction port 12i may be provided with a dust sensor (not shown) for detecting dust passing through the suction port 14. The dust sensor can detect the amount of dust passing through the suction port 14, change the suction force of the suction fan 11, and change the rotation speed of the drive wheels 2 and 3 accordingly.

(Relationship between the dust sensor and the mouthpiece 1s4)
When the autonomous traveling type vacuum cleaner S travels forward and the suction port 1s4 reaches the dusty area, dust is sucked into the suction port 14, and the dust sensor detects the dust. It takes a certain amount of time from when the front end of the mouthpiece 1s4 reaches the dust until the dust sensor detects the dust and changes the suction force of the suction fan 11, and this is defined as t. Further, the front-rear dimension of the suction portion 1s4, that is, the front-rear dimension of the opening portion of the member (rotary brush storage portion) to which the rotary brush 5 is attached to the floor surface is L (see FIG. 2 and the like). In the autonomous traveling type vacuum cleaner S of the present embodiment, the forward speed is set to be substantially constant, and this is defined as v. The autonomous traveling type vacuum cleaner S is set so that v is L / t or less or less than L / t. As a result, when the dust-rich area is reached, the dust sensor detects dust before the suction unit 1s4 passes the rear end of this area, and the suction force of the suction fan 11 can be increased. In order to obtain such v, it is preferable to mount a floor surface sensor that detects the material of the floor surface and adjust the rotation speeds of the drive wheels 2 and 3. However, the speed when the floor surface is assumed to be flooring may be set so as to satisfy the above relational expression. Further, the information may be stored or the information can be obtained from an external device so that the speed can be set according to the floor surface so that the user can specify the floor surface setting.
Further, t may be the rising time of the suction force of the suction fan 11.

(Obstacle detection means 8, 15, 16)
As obstacle detecting means, a bumper sensor 15 shown in FIG. 4, a front distance measuring sensor 8 and a floor surface measuring sensor 16 are provided. The bumper sensor 15 is a sensor that detects that the bumper 1b has come into contact with an obstacle by retracting the bumper 1b, for example, a photocoupler. When an obstacle comes into contact with the bumper 1b, the sensor light is blocked by the retracting of the bumper 1b. A detection signal corresponding to this change is output to the control device 10. The bumper sensor 15 is provided on the left front side and the right front side, respectively, and can distinguish whether there is an obstacle on the right side, the left side, or the front side of the bumper 1b.

The front distance measuring sensor 8 is, for example, a distance measuring sensor that measures the distance to an obstacle using infrared rays, and is installed inside 5 to 15 mm from the surface of the bumper 1b. The front distance measuring sensor 8 can detect the distance to an obstacle in front of the autonomous traveling type vacuum cleaner S quantitatively or by dividing it into two or more stages. The vicinity of the distance measuring sensor 8 of the bumper 1b is made of resin or glass that transmits infrared rays. The front distance measuring sensor 8 senses the reflected light of infrared rays from an obstacle, and measures the distance by the intensity of the reflected light. If the intensity of the reflected light is strong, it is judged to be near, and if it is weak, it is judged to be far. That is, the distance from the obstacle is not determined by the binary value of 0, 1, but is a distance measuring sensor that can determine the distance from the obstacle in a plurality of stages (analog).

A total of five front distance measuring sensors 8 are provided: the front surface 8a of the main body, the left side surface 8b, the right side surface 8c, the left front surface 8d between the front surface and the left side surface, and the right front surface 8e between the front surface and the right side surface. In this embodiment, all five sensors are distance measuring sensors that can measure the "distance" in a plurality of stages, and can measure the distance to the obstacle in front of the main body Sh in addition to the distance to the obstacle on the side of the main body Sh. As a sensor capable of quantitatively measuring only the left side surface 8b and the right side surface 8c, it is also possible to measure only the distance to the obstacle on the side of the main body Sh.

Visible light, ultraviolet rays, and a laser may be used as the front distance measuring sensor 8. Further, instead of the type of distance measuring sensor that measures the intensity of infrared rays, the type that measures the distance by detecting the light receiving position of the reflected light or the type that measures the distance from the time when the reflected light returns may be used.

The floor distance measurement sensor 16 shown in FIG. 2 is a distance measurement sensor using infrared rays for measuring the distance to the floor surface, and is located at four locations (16a, 16b, 16c, 16d) on the lower surface of the lower case 1s. It is installed in. By detecting a large step such as a staircase by the distance measuring sensor 16 for the floor surface, it is possible to suppress the fall of the autonomous traveling type vacuum cleaner S. For example, when the floor distance measuring sensor 16 detects a step of about 30 mm or more in front, the control device 10 (see FIG. 3) controls the drive wheels 2 and 3 to retract the main body Sh and autonomously travel. The traveling direction of the type vacuum cleaner S is changed.

The control device 10 shown in FIG. 3 is configured by mounting, for example, a microcomputer and peripheral circuits on a substrate. The microcomputer reads the control program stored in the ROM (Read Only Memory), expands it into the RAM (Random Access Memory), and executes it by the CPU (Central Processing Unit) to realize various processes. The peripheral circuit includes an A / D / D / A converter, drive circuits for various motors, a sensor circuit, a charging circuit for the rechargeable battery 9, and the like.

The control device 10 executes arithmetic processing according to the operation of the operation button bu by the user and the signals input from the various obstacle detecting means (sensors 8, 15 and 16), and performs various motors, suction fan 11 and the like. And input / output signals.

The training wheels 4 shown in FIG. 2 are provided at the center in the front left-right direction of the lower case 1s. The training wheels 4 are wheels for smoothly moving the autonomous traveling type vacuum cleaner S by keeping the main body portion Sh at a predetermined height together with the drive wheels 2 and 3. The training wheels 4 are pivotally supported by the lower case 1s so that they rotate driven by the frictional force generated with the floor surface Y as the main body portion Sh moves, and further rotate 360 ° in the horizontal direction.

(Charging stand 91)
FIG. 5 is an external perspective view of the charging stand 91 as viewed from above the front. The charging stand 91 is composed of a backrest portion 92 extending substantially perpendicular to the floor surface and a base portion 93 extending to the front side parallel to the floor surface. The height of the backrest portion 92 is slightly higher than the height of the autonomous traveling type electric vacuum cleaner S, and the upper part of the backrest portion 92 includes an infrared LED (not shown) for transmitting a feedback signal, a light emitting circuit for emitting the infrared LED, and a light emitting circuit for emitting the infrared LED. It has an electronic board including a charging circuit for supplying electric power to the rechargeable battery 9 of the autonomous traveling type electric vacuum cleaner 1. Power is supplied to this electronic board from a power cord 99 that is connected to a power cord connection unit 94 on the side surface of the charging stand 91 and electrically connected to a commercial power source.

Further, the base portion 93 includes a power supply terminal 95 for charging the rechargeable battery 9 of the autonomous driving type vacuum cleaner S. The power feeding terminal 95 has two poles, a positive electrode and a negative electrode, and is divided into left and right around the substantially center of the left and right width of the base portion 93, and is provided on the convexly raised top of the base portion 93.

When the autonomous traveling type vacuum cleaner S returns to the charging stand 91, the power supply terminal 95 comes into contact with the power receiving terminal 21 (see FIG. 2) provided on the bottom surface of the lower case 1s, thereby supplying power to the rechargeable battery 9. be able to.

(Running control)
FIG. 6 is a flowchart of running control. The autonomous driving type vacuum cleaner S departs from the charging stand 91 and tries to orbit around the wall in the wall-side orbiting step S100. The main traveling step S200 for changing or traveling around an obstacle, the wall-side traveling step S300 for traveling near some walls, and the returning traveling step S400 for returning to the charging stand 91 are executed. .. The main traveling step S200 and the wall-side traveling step S300 can be alternately and repeatedly executed several times depending on the remaining amount of the rechargeable battery 9 and the elapsed time from the start of cleaning (return traveling start determination step S2).

When the user instructs the user to start cleaning, for example, the autonomous traveling type vacuum cleaner S determines whether to execute the wall-side circuit traveling step S100 or the main traveling step S200. Specifically, if a cleaning start instruction is received when the connection to the charging stand 91 is detected, the wall-side circuit traveling step S100 is executed, and if not, the main traveling step S200 is executed (step S1). ).
Since the charging stand 91 is usually installed near the wall, an effective cleaning mode immediately after activation can be selected by making a determination in step S1. If a cleaning start instruction is received when the connection to the charging stand 91 is not detected, the process proceeds to the beginning of the main traveling step S200 and the forward traveling is performed (step S210). Normally, when receiving a cleaning start instruction from a place other than the charging stand 91, the user often issues a cleaning start instruction with the front side of the autonomous traveling type vacuum cleaner S facing the dusty area. Therefore, by advancing the first process of the main traveling step S200, it is possible to smoothly clean the area where there is a lot of dust.
Each step will be described in detail below.

<Wall-side circuit running step S100>
FIG. 7 is a flowchart showing a step performed by the wall-side circuit traveling step S100. The wall-side circuit traveling step S100 is executing the initial traveling step S110 starting from the charging stand 91, the wall-aligned traveling step S120 for traveling with the predetermined side of the autonomous traveling vacuum cleaner S close to the wall, and the wall-aligned traveling step S120. The check step S101 for checking whether or not the autonomous traveling type vacuum cleaner S has rotated 360 ° or more in total is executed. The rotation angles in the check step S101 are accumulated by distinguishing the rotation directions by positive and negative. When a rotation of 360 ° or more is detected in the check step S101, the transition to the main traveling step S200 is performed, and the wall-approaching traveling step S120 is continued while the rotation is not detected. Hereinafter, it will be described that the rear surface side of the charging stand 91 is the wall W.

<< Initial running step S110 >>
8 (a) to 8 (f) are views showing the details of the initial traveling step S110.
At the start of the initial traveling step S110, the autonomous traveling type vacuum cleaner S is electrically connected to the charging stand 91 (FIG. 8A). When the initial traveling step S110 is executed, the autonomous traveling type vacuum cleaner S first retracts and separates from the charging stand 91. The retreat distance at this time is larger than 1/2 of the front-rear dimension of the autonomous traveling type vacuum cleaner S (FIG. 8 (b)).

Next, the autonomous traveling type vacuum cleaner S makes a super-credit turn (in-situ rotation) so that the power cord connection portion 94 side to which the power cord 99 is connected is in front of the autonomous traveling type vacuum cleaner S (FIG. 8 (FIG. 8). c)). In the present embodiment, the left side of the autonomous driving type vacuum cleaner S is located on the charging stand 91 side. The rotation angle of the super-credit turning can be 45 ° or more and 100 ° or less, for example, about 90 °.

Incidentally, the turning direction of ultrasonic stationary turn has a front distance measurement sensor 8 on the front side, for example, the front distance measuring sensor 8a, 8d, or randomly if 8e detects an obstacle, measuring a front near side distance sensor 8, for example, when the front distance measuring sensor 8b or 8c detects an obstacle, it can be on the opposite side of the detected side. That is, if the left front distance measuring sensor 8b detects, in top view the right (clockwise), if the right side of the front distance measuring sensor 8c is detected, to the top view the left (counterclockwise) Can be done.

Next, the autonomous traveling type vacuum cleaner S moves forward and escapes from the front of the charging stand 91 (FIG. 8 (d)). This forward distance is preferably longer than the dimension when the power cord 99 of the charging stand 91 is extended in a straight line.

Next, the autonomous traveling type vacuum cleaner S makes a super-credit turn of less than 90 °, preferably 5 ° or more and 30 ° or less so that the front faces the wall W side (FIG. 8 (e)). Further, the autonomous traveling type vacuum cleaner S moves forward and approaches the wall W at a point farther than the dimension when the power cord 99 is extended in a straight line (FIG. 8 (f)). That is, avoiding the power cord 99 and approaching the wall W at a point farther than this. It should be noted that a turn may be used instead of the super-credit turn.

By executing the initial traveling step S110 in this way, the transition to the wall-based traveling step S120 can be smoothly performed. Further, by starting the running in the direction toward the power cord 99 side during the execution of the initial running step S110, it is possible to prevent the power cord 99 from being approached and entangled. That is, the starting position of the initial traveling step S110 is the position of the power cord 99 because the positional relationship between the autonomous traveling type vacuum cleaner S and the charging stand 91 is clearer than in other scenes (for example, the return traveling step S400). It is easy to estimate and drive to avoid this.

<< Wall-mounted running step S120 >>
FIG. 9 is a diagram showing details of the wall-mounted traveling step S120.
The autonomous traveling type electric vacuum cleaner S in which the wall-aligned traveling step S120 is being executed has a rotation angle (in the present embodiment, viewed from above) opposite to the predetermined side (left side in the present embodiment) that is approached to the wall side. The wall-aligned traveling step until the clockwise (clockwise) rotation angle) becomes 360 ° or more or more, or until a predetermined time elapses, or until the wall-aligned traveling step S120 passes near the starting point. Continue S120. The point can be determined by using, for example, the amount of rotation of the wheel, a gyro sensor, or a camera.

For example, as illustrated in FIG. 9A, the case where the shape of the room is surrounded by a simple quadrangular wall W and there is no other furniture or the like will be described. By executing the initial traveling step S110, the autonomous traveling type vacuum cleaner S first travels with the left side approaching the wall W by using the front distance measuring sensor 8 provided on the left side surface 8b and the left front surface 8d. To control. When the forward ranging sensor 8 detects the front wall W while continuing to move forward, it turns clockwise by approximately 90 ° in a top view to change the course, and then moves forward. Similarly, when the wall W is repeatedly detected by the front distance measuring sensor 8 and the super-credit turning is repeated and the rotation angle reaches 360 ° clockwise, it is estimated that the autonomous driving type vacuum cleaner S goes around the room. Then, the wall-mounted traveling step S120 is completed (step S130), and the process proceeds to the main traveling step S200.

Next, as illustrated in FIG. 9B, the shape of the wall W is not limited to a quadrangle, and the case of a general room in which furniture F1 to F5 are arranged will be described. By executing the initial traveling step S110, the autonomous traveling type vacuum cleaner S first travels with the left side approaching the wall W by using the front distance measuring sensor 8 provided on the left side surface 8b and the left front surface 8d. To control. When it continues to move forward and detects that the front distance measuring sensor 8 provided on the left side surface 8b or the left front surface 8d has left the wall W, it turns counterclockwise (counterclockwise) by approximately 90 °. Then change course and then move forward. In this way, the rotation angle to the same side as the predetermined side (counterclockwise rotation angle in this embodiment) is calculated as a negative value. That is, it is calculated assuming that it is rotated by −90 °. After that, as illustrated in FIG. 9B, the autonomous traveling type vacuum cleaner S travels with the wall W and furniture F1 and F2 moved to the left side, and the rotation angles are 0 °, 90 °, and 0. It changes from °, 90 °, 180 °, 90 °, 180 °. At this time, the autonomous traveling type vacuum cleaner S is traveling between the furniture F3 and F4, but while traveling with the furniture F3 on the left side, the autonomous traveling type vacuum cleaner S autonomously travels to the furniture F4 with some beat. It is assumed that the right side of the type vacuum cleaner S collides and the bumper sensor 15 detects the furniture F4. In this case, the autonomous traveling type vacuum cleaner S makes a super-credit turn so that the detected furniture F4 portion is on the left side. Specifically, the rotation angle becomes 0 ° by turning 180 ° in a counterclockwise direction. By making a super-credit turn to the same side as the predetermined side in this way, the end condition of the wall approaching traveling step S120 is satisfied immediately after detecting an obstacle on the side opposite to the predetermined side. Is suppressed.

During the wall approaching traveling step S120, the detection of obstacles by the forward distance measuring sensor 8 on the side opposite to the predetermined side may be ignored.

Then, the autonomous traveling type vacuum cleaner S travels in a state of being close to the furniture F4 on the left side, and the rotation angles are −90 °, −180 °, -270 °, and -360 °. In this way, when the rotation angle in the direction opposite to the predetermined direction becomes large and the absolute value exceeds the threshold value, the autonomous traveling type vacuum cleaner S is placed on something other than the wall W, for example, on the center side of the room. It is presumed that the vehicle is traveling around the installed furniture F, and the vehicle travels in a direction away from the obstacle currently approaching (“leaving” in the figure). In this embodiment, the threshold value is set to -360 °. At the time of "disengagement", it is preferable that the rotation angle is + 360 °.

The autonomous traveling type vacuum cleaner S separated from the furniture F4 in this way travels so that the obstacle found after the separation moves to the left side. Then, when the rotation angle becomes 360 ° or more or exceeds 360 °, or when a predetermined time elapses, the wall approaching traveling step S120 is ended.

<Main running step S200>
FIG. 10 is a flowchart of the main traveling step S200, and FIG. 11 is a diagram showing an example of the traveling locus 52 of the autonomous traveling type vacuum cleaner S according to the main traveling step S200.
The autonomous traveling type vacuum cleaner S is traveling in the room 50. The room 50 is surrounded by walls W1-W4 in a rectangular shape in a top view. In the room 50, the legs 55a-55d of the desk 55 are placed as illustrated on the lower left side in FIG.

When the autonomous traveling type vacuum cleaner S starts the main traveling step S200, it determines a natural number X as a trigger for ending the main traveling step S200. The timing of determining the natural number X is not limited to this, but the value can be randomly determined from, for example, 4 to 7.

<< Judgment of obstacle type >>
The autonomous traveling type vacuum cleaner S can determine the type of obstacle depending on how many front distance measuring sensors 8 detect obstacles substantially at the same time. In the autonomous traveling type vacuum cleaner S, a plurality of front distance measuring sensors 8 are arranged on the front side of the main body Sh at intervals, and obstacles in different directions can be detected.

Therefore, regarding the natural number a, among the plurality of front distance measuring sensors 8 arranged in front of the main body Sh, only a or less (for example, a = 1) front distance measuring sensors 8 are close to the obstacle. When it is detected, it is determined that the detected obstacle is as thin as the leg 55 of the chair. Further, when the front distance measuring sensor 8 does not detect an obstacle and one or both of the left and right bumper sensors 15 detect an obstacle, it is also determined to be a thin obstacle.

On the other hand, when more than a number of front distance measuring sensors 8, for example, two or more front distance measuring sensors 8 detect an obstacle, it is determined that the detected obstacle is a wide obstacle such as a wall 51. In this case, for example, two adjacent front distance measuring sensors 8 detect an obstacle.

The detection ranges of the front distance measuring sensors 8 are set so as to hardly overlap with each other, and in the case of a thin obstacle such as a chair leg 55, a or less or 0 front distance measuring sensors 8 are used. Is easy to detect obstacles, while it is unlikely that more than a front ranging sensors 8 will detect obstacles at the same time. Further, when a thin obstacle is located between the two front distance measuring sensors 8, none of the front distance measuring sensors 8 detects the obstacle depending on the setting of the detection range of each of the front distance measuring sensors 8. Sometimes. In this case, the autonomous traveling type vacuum cleaner S continues to move forward, and an obstacle comes into contact with the bumper sensor 15. Therefore, when a or less, for example, 1 or 0 front distance measuring sensors 8 detect the proximity of an obstacle, or when the bumper sensor 15 detects an obstacle, it can be determined as a thin obstacle. .. When the forward distance measuring sensor 8 detects an obstacle, the autonomous driving type vacuum cleaner S of the present embodiment performs avoidance actions such as super-credit turning and turning. Further, as a result of the obstacle being positioned within the range where the front distance measuring sensor 8 cannot detect the obstacle, even if the bumper sensor 15 detects the obstacle, the avoidance action is performed.

As described above, when a larger number of distance measuring sensors (front distance measuring sensor 8 or the like) are arranged than in this embodiment and the detection ranges of the distance measuring sensors are overlapped in a wide range, a thin obstacle is detected. You may increase the number of detection sensors that determine that the sensor has been used, and set a to 2 or more, for example.

<< Reflective running >>
When the autonomous traveling type vacuum cleaner S detects an obstacle by the forward distance measuring sensor 8 or the bumper sensor 15, it changes the traveling direction and performs "reflex traveling" in which the vehicle travels in a direction away from the detected obstacle estimation point. Can be done. It is assumed that the autonomous traveling type vacuum cleaner S starts the main traveling step S200 from P1 in the drawing and moves forward (step S210), and approaches the point P2 close to the wall W2 which is an obstacle. At this time, in the autonomous traveling type vacuum cleaner S, for example, the front distance measuring sensor 8 detects the region of the point P2 in the wall W2 (step S220). Then, it is determined whether or not this detection is the Xth time (step S201), and if it is less than the Xth time, the traveling direction is changed by rotating on the spot, for example, counterclockwise when viewed from above. After the change, move forward (execute step S230 or step S240 and return to step S210). That is, by advancing after the super-credit turn, the traveling locus is shown as if it is reflected by the wall W2 (reflection traveling). If it is the Xth time (step S201, YES), the main traveling step S200 can be completed (step S250). In steps S230 and S240, "turning" can also be performed, but the details of turning will be described later.

<< Turning >>
The turning travel can mean, for example, a substantially circular motion or a substantially arc motion centered on a point other than the center of gravity of the autonomous traveling type vacuum cleaner S. For example, in the case of a substantially circular motion, the turning radius can be made substantially constant and the turning angle can be made approximately 360 °, and in the case of a substantially circular motion, the turning radius can be made substantially constant and the turning angle can be made less than 360 °.

The turning radius does not necessarily have to be constant, and when the turning radius is changed while turning, the traveling locus of the autonomous traveling type vacuum cleaner S becomes curved. In addition, for example, the turning running with the turning radius r1 may be performed at a certain angle, and then the turning running with the turning radius r2 may be performed at a certain angle.

The lower limit of the turning angle of the turning motion is not particularly limited, and may be 90 ° or more, 180 ° or more, 270 ° or more, or 360 ° or more. The upper limit of the turning angle is not particularly limited, but if the same area is frequently cleaned, the cleaning area cannot be effectively expanded. Therefore, 720 ° or less, 540 ° or less, 450 ° or less, or 360 ° or less is preferable. Details of other turning runs will be described later.

<< Example of cleaning >>
Now, it is assumed that the autonomous traveling type vacuum cleaner S that has changed direction cleans the room illustrated in FIG. When approaching the walls W1-W4, the reflection running that changes the direction of travel (the angle of the super-credit turning may be changed at random) is repeated, and the point P3 near the desk leg 55a and the point near the desk leg 55c are repeated. Suppose you are approaching P4.

When the autonomous driving type vacuum cleaner S determines that a thin (small) obstacle (for convenience, the first obstacle) such as the legs 55a-55d of the desk exists in the front or side (step S202, YES), the "turning run" of turning the main body is executed more frequently than when it is determined that the obstacle is not a thin obstacle (step S230). At that time, the turning angle is not particularly limited, and it is sufficient to go around the first obstacle, but it can be 180 ° or more, preferably 270 ° or more in order to collectively clean the places very close to the first obstacle. Further, the turning radius r1 can be set to a "small turning run" that is smaller than the "large turning run" executed in step S240. In the small turning run, the autonomous traveling type vacuum cleaner S is turned so as to go around a place relatively close to the detected obstacle point.

In the present embodiment, after the small turning run is executed, the vehicle turns with a turning radius r2 larger than the turning radius r1. The details will be described later. In addition, the reflection running is performed with a lower frequency than when it is judged that the obstacle is not a thin obstacle. The turning running and the reflective running are performed alternately.

On the other hand, when it is determined that the obstacle is not a thin obstacle (step S202, NO), the reflection running is performed more frequently than when it is determined to be a thin obstacle, and the frequency is lower than when it is determined to be a thin obstacle. Perform "turning" with. The mode of this turning run may be different from the mode in the case of step S230 as described in the present embodiment, but may be the same. The reflex running and the turning running are performed alternately.

<< Turning running when it is estimated that a small object is nearby >>
By the way, when it is estimated that the person has approached a thin obstacle (step S230), the turning angle may be randomly determined, or the frequency of detecting a thin obstacle may be determined and the turning angle may be changed based on this. .. Moreover, you may combine these two kinds. For example, to explain the case of determining the detection frequency of a thin obstacle, when there are many thin obstacles in the vicinity, for example, when there are a plurality of chairs such as under a dining table, the autonomous driving vacuum cleaner S has a small obstacle. Shortly after discovering, it is likely to detect another small obstacle. In this way, when a thin obstacle is found again within a predetermined time after finding a thin obstacle, for example, within 1, 2, 3, or 4 seconds, if the turning angle is reduced to less than 180 °, such a situation occurs. It becomes difficult to clean the central side of the intricate area of obstacles. Therefore, in order to thoroughly clean the dust around the legs 55 of the chair, if a thin obstacle is detected frequently, the turning angle should be larger than the turning angle with respect to the obstacle found immediately before, and cleaning is intensively performed. It is better to let it. In addition, instead of "within a predetermined time after finding a thin obstacle", "within a predetermined time after finishing a turn immediately after finding a thin obstacle or a super-credit turn" may be used. In this embodiment, the turning operation is executed after making a super-credit turning in the vicinity of a narrow obstacle. When the turning operation is completed, the main body Sh goes straight.

FIG. 12 is a diagram showing a mode in which the autonomous traveling type vacuum cleaner S turns around a narrow obstacle. For example, a case where the turning traveling is performed in step S230 will be described. First, as shown in FIG. 12A, the autonomous traveling type vacuum cleaner S has a number or less (hereinafter, a = 1) of the front distance measuring sensor 8 on the left side of the main body Sh or the bumper sensor on the left side of the main body Sh. As a result of 15 detecting the leg 55d of the chair, it is determined that a thin obstacle is on the left front (step S202, YES).

Then, the autonomous traveling type vacuum cleaner S first changes the direction so that the side immediately in front of the main body is separated from the direction (left side) of the detected obstacle (first obstacle). For example, it makes a super-credit turn clockwise in the top view. After that, as illustrated in FIG. 12B, the vehicle travels in an arc shape with the left side and the center of the main body Sh (swivel operation, first turning step). Here, with a turning radius r1 substantially equal to the left-right dimension of the main body Sh, turning traveling with the center detected as an obstacle is performed by about 270 °, but the lower limit is not particularly limited. For example, it may be 170 ° or more, or 180 ° or more, 200 ° or more, or 270 ° or more.

Here, the step S230 may be completed and the transition to the forward step S210 may be performed, but the next separation step may be continuously performed.

Next, as illustrated in FIG. 12 (c), a radius r2 larger than the radius r1 can be taken, and the turning operation can be continuously performed. As a result, it is possible to separate from the first obstacle (separation step). The separation step may be straight, but if the radius is r2, it is easy to find the second obstacle described later. That is, by performing a turning run with a turning radius r2 larger than this after turning with a turning radius r1, the leg 55c (second obstacle) of another chair adjacent to the leg 55d of the chair is approached. It is possible to perform a turning operation. As a result, one front distance measuring sensor 8 or bumper sensor 15 detects the leg 55c of the chair. After that, as illustrated in FIG. 12 (d), the turning operation described with reference to FIGS. 12 (b) and 12 (c) can be performed on the second obstacle (second turning step). .. The turning angle at this time is preferably larger than the turning angle with respect to the leg 55d of the chair found immediately before. In the present embodiment, the turning angle is 360 °, which is larger than the turning angle of 270 ° with respect to the chair leg 55d.

This makes it possible to effectively clean the area around the legs 55 of two or more or three or more chairs and the area on the center side of the chair. Normally, the number of legs of a chair or table is four, so if the turning motion around a thin obstacle is repeated three or four times, for example, it can be controlled to perform reflex running or move forward. .. At this time, the turning angle around the third and / or fourth obstacle is preferably 200 ° or more and 450 ° or less.

When the separation step is performed, the turning angle in the separation step is preferably less than 360 ° in order to improve the cleaning efficiency even when no obstacle is found. Further, it is preferable that the second turning step is performed on an obstacle reached within, for example, 5 seconds or an obstacle at a distance of 220 cm or less after the first turning step. As furniture, a table or the like with a large distance between legs can be covered within this range. The second turning step may be performed on any obstacle found after the first turning step, but if this is done, the frequency of reflection running may become too small.

<< Radius r1 of turning or small turning running >>
FIG. 13 is a diagram for examining the relationship between the turning radius r1, the gap dimension L of the chair legs, and the left-right dimension D of the main body Sh. In the autonomous traveling type vacuum cleaner S of this embodiment, the turning radius r1 is determined within a range in which the vacuum cleaner S can pass between the legs of the two chairs. Specifically, (turning radius r1) + (half D / 2 of the left-right dimension of the main body Sh) is set to be less than the gap dimension L of the legs of the chair. That is, the relational expression r1 <LD / 2 is satisfied. According to the investigation by the present inventor, if L = 350 mm is set, the turning radius that can pass between the legs of the chair can be set for a large proportion of chairs. Therefore, it is preferable that the autonomous traveling type vacuum cleaner S that has detected a thin obstacle turns with a turning radius that satisfies the relational expression r1 <350 mm-D / 2. In particular, such a turning radius r1 is preferably selected when performing a small turning running. The turning radius r1 may be set as the lower limit, and in particular, when it is estimated that a small object is detected, the turning running with the turning radius r1 may always be performed, or other aspects may be used.

<< Turning or turning radius r2 >>
For example, when it is estimated that a wall or a large obstacle is nearby (step S240), the turning radius can be larger than the turning radius r1. This makes it easier to effectively turn around large obstacles and expand the cleaning area.

<< End of main running step S200 >>
When the Xth obstacle is detected and the main traveling step S200 is completed in step S250, the autonomous traveling type vacuum cleaner S has a low remaining amount of the rechargeable battery or has a predetermined time elapsed from the start of cleaning. Is confirmed (step S2). When the remaining amount of the rechargeable battery is relatively large and only a relatively short time has passed from the start of cleaning (steps S2 and NO), the autonomous traveling type vacuum cleaner S shifts to the wall-side traveling step S300. Since the determination in step S250 is performed in a state where the autonomous traveling type vacuum cleaner S has detected an obstacle, when shifting to the wall-side traveling step S300, the autonomous traveling type vacuum cleaner S has a thin obstacle, a wall, or the like. It is located nearby. Even when a small obstacle is detected, it is possible to shift to the wall-side traveling step S300. This is because when a thin obstacle is a leg of a chair or the like, it becomes easy to escape from the vicinity of the chair.

<Wall-side running step S300>
FIG. 14 is a flowchart showing the details of the wall-side traveling step S300. The autonomous traveling type vacuum cleaner S that has started the wall-side traveling step S300 determines whether the main body Sh is located near the wall (step S301). Specifically, it is determined whether or not two or more (more than a) front distance measuring sensors 8 have detected an obstacle. When one or less (a or less) forward distance measuring sensors 8 or bumper sensors 15 detect an obstacle (steps S301, NO), the autonomous driving type vacuum cleaner S makes a reflective run and removes the obstacle again. When it is detected, the process returns to step S301.

When two or more front distance measuring sensors 8 detect a wall (step S301, YES), the autonomous driving vacuum cleaner S uses the front distance measuring sensors 8 to measure the distance to the wall while measuring the distance to the wall. Drive along this wall. At this time, it is determined whether the vehicle travels near the wall that travels relatively close to the wall or travels far from the wall that travels relatively far from the wall (step S320).

In this embodiment, the near-wall running is a mode in which the main body Sh is separated from the wall by approximately 10 mm or more, and the long-distance running in the wall is a mode in which the main body Sh is separated from the wall. The width is approximately half to the full width of the rotating brush, that is, 0.4 to 1.2 times the lateral width of the rotating brush 5, 60 mm or more and 150 mm or less in this embodiment, so that the main body Sh is separated from the wall. It is a mode to drive to. As in the present embodiment, the autonomous traveling type vacuum cleaner S that detects the wall in a non-contact manner and executes reflection traveling or the like by using the front distance measuring sensor 8 compares the cleaning near the wall to other parts. It may be difficult to do. Therefore, the cleaning efficiency is improved by traveling near the wall. Further, in the reflection running, the cleaning efficiency at a position slightly away from the wall tends to be lower than that on the central side of the room, and further, the autonomous running type electric motor in which the rotating brush 5 is located on the rear side as in this embodiment. The vacuum cleaner S may be difficult to clean at a position slightly away from the wall. For this reason, the cleaning efficiency is improved by traveling far from the wall.

In this embodiment, as a result of the study of the inventor, in step S320, the frequency of occurrence of near-wall travel is higher than the frequency of occurrence of long-distance travel in the wall in order to further improve the cleaning efficiency.

Next, the autonomous traveling type vacuum cleaner S determines whether to perform right-aligned traveling in which the right side of the main body Sh is brought closer to the wall or left-aligned traveling in which the left side of the main body Sh is brought closer to the wall (step). S330). In this embodiment, in the wall-side circuit traveling step S100, the mode in which the main body Sh is brought closer to the wall and the same side as the traveling side is brought closer to the wall is performed more frequently than the other mode. That is, in this embodiment, as illustrated in FIG. 8, the left-aligned traveling mode in which the left side of the main body Sh is brought close to the wall is executed in the wall-side circuit traveling step S100, so that the left-aligned traveling mode is high in step S330. I try to make it appear frequently.

FIG. 15 is a diagram for explaining which of the right-aligned traveling mode and the left-aligned traveling mode is preferable to have a higher frequency. The autonomous traveling type vacuum cleaner S, which has left-aligned traveling in the wall-side circuit traveling step S100, is trying to travel in the room clockwise in the top view (dotted line arrow in the figure). Therefore, also in the wall-side traveling step S300, it is preferable to execute the left-aligned traveling mode with high frequency so that cleaning proceeds in the same rotational direction. However, if the execution probability of the left-aligned driving mode is set to 100%, it may be difficult to escape when entering the bottleneck. Therefore, although it is relatively infrequent, it is preferable to execute the right-aligned traveling mode as well.

For the same reason, of the left-aligned traveling mode and the right-aligned traveling mode, the number of walls to be cleaned at one time in the wall-side lap traveling step S100 in the mode in which the same side as the main body Sh approaches the wall and travels toward the wall is larger. It is preferable to adjust the determined number of walls so that the number of walls to be cleaned at one time in the other mode is larger than the number of walls to be cleaned at one time.

FIG. 16 is a diagram which clearly shows the difference between the running near the wall and the running far from the wall. In the figure, the dotted line arrow indicates the traveling locus of the autonomous traveling type vacuum cleaner S in reflection traveling, the solid line arrow indicates the traveling locus of traveling near the wall, and the broken line arrow indicates the traveling locus of traveling far from the wall. This will be described with reference to FIG. The autonomous traveling type vacuum cleaner S, which finishes the main traveling step S200 near the wall W and shifts to the wall traveling step S300, executes right-aligned near-wall traveling along the two walls as an example (steps S320, S330, S340). The completion of one wall can be determined by detecting an obstacle by the front distance measuring sensor 8 on the front side in addition to the front distance measuring sensor 8 on the right side. The autonomous traveling type vacuum cleaner S that has completed cleaning of the two walls ends the wall-side traveling step S300, and confirms the remaining amount of the rechargeable battery and the elapsed time from the start of cleaning (step S2). When the remaining amount of the rechargeable battery is relatively large and the elapsed time from the start of cleaning is relatively short (steps S2 and NO), the autonomous traveling type vacuum cleaner S shifts to the main traveling step S200. After that, when the main traveling step S200 is completed and the process proceeds to the wall-side traveling step S300 as described above, the right-aligned wall distance traveling is executed along the two walls (steps S320, S330, S340).

When the remaining amount of the rechargeable battery becomes low or a predetermined time elapses from the start of cleaning (steps S2, YES), the autonomous traveling type vacuum cleaner S shifts to the return traveling step S400.

During the execution of the wall-side traveling step S300, the detection sensitivity of the front ranging sensor 8 (on the right side in the above example) on the opposite side of the wall can be set to zero or blunted. For example, when the autonomous driving type vacuum cleaner S approaches an area where a wall or an obstacle exists on three sides, when the front distance measuring sensor 8 on the opposite side of the wall reacts, it turns back without entering this area. There is a risk that cleaning will not be possible sufficiently. Therefore, during the execution of the wall-side traveling step S300, such an area can be effectively cleaned by desensitizing the front distance measuring sensor 8 on the opposite side of the wall or ignoring the detection. become.

<Return running step S400>
FIG. 17 is a flowchart showing the details of the return traveling step S400, FIG. 18 is a diagram showing a detection range 300 of the wide range receiver 30 and a detection range 310 of the narrow range receiver 31, and FIG. 19 is an example of a traveling locus in the returning traveling step S400. It is a figure which shows. In FIG. 19, the dotted line arrow indicates the locus during the reflection running, the broken line arrow indicates the locus during the running near the wall, and the solid line arrow indicates the locus when the charging stand is connected.

The autonomous traveling type vacuum cleaner S that has started the return traveling step S400 travels so that the wide range receiver 30 or the narrow range receiver 31 detects the signal emitted by the infrared LED of the charging stand 91. First, the autonomous traveling type vacuum cleaner S confirms whether or not the infrared LED signal is detected (step S401). This confirmation is always performed during the execution of the return traveling step S400, and as soon as the infrared LED signal is detected, the processes of steps S401 and YES are performed to execute the feedback control for connecting to the charging stand. This feedback control can be performed by various known methods.

When the charging stand is not detected (step S401, NO), first, the autonomous traveling type vacuum cleaner S makes a turn or a super-credit turn, preferably 360 ° (step S410).

Next, the reflection run is performed. This reflection running may be the same mode as described in the main running step S200, or may be a mode in which the movement shifts to the wall running (step S430) with a smaller number of reflections. Further, the position where the obstacle is detected and the super-credit turning is performed is preferably a position farther from the wall W as compared with the main traveling step S200. For example, a super-credit turn may be performed at a position as far away from the wall W as the long-distance running on the wall.

Next, the vehicle runs near the wall (step S430). This wall-side running can be performed in the same manner as described in the wall-side running step S300, but the frequency of the wall-side running mode is set to more than 50%, or the wall-side running mode is compared with the wall-side running step S300. It is preferable that the frequency of the above is higher than that in the near-wall traveling mode. For example, the wall distance traveling mode can be performed with a 100% probability. Since the charging stand is often installed near the wall W, it becomes easier to detect the charging stand by increasing the frequency of the wall distance traveling mode. Further, it is preferable that the reflection position in the reflection travel is separated from the wall W as compared with the main travel step S200.

Further, it is preferable that the number of walls to be cleaned at one time differs between the right-aligned traveling mode and the left-aligned traveling mode. Specifically, the number of walls in the traveling mode on the side approaching the charging stand from the side opposite to the power cord 99 is increased. In this embodiment, since the power cord 99 is located counterclockwise from the charging stand in the top view of the room, the number of walls in the clockwise left-aligned driving mode is large, for example, 2 to 5 walls and right-aligned. The number of walls in the traveling mode can be reduced to, for example, one wall.

If the charging stand cannot be detected even after finishing the wall-side running, the process proceeds to the reflection running (step S420) again.

The configuration of this embodiment can be the same as that of the first embodiment except for the following points.
FIG. 20 is a diagram showing a traveling locus in the centralized cleaning mode. The autonomous traveling type vacuum cleaner S can execute the centralized cleaning mode during the cleaning operation described in the first embodiment or as an operation independent of the cleaning operation described in the first embodiment. For example, it may be executed during execution of the main traveling step S200 or the like, or may be executed according to an operation command of the user.

Here, as shown in FIG. 20A, the user mounts the autonomous driving vacuum cleaner S so that the front of the autonomous driving vacuum cleaner S faces the area D where the dust is concentrated. The situation will be described as an example. In this state, when the user inputs a centralized cleaning mode command by pressing, for example, a command button provided on the main body Sh, the autonomous traveling type vacuum cleaner S executes the centralized cleaning mode.

First, the autonomous traveling type vacuum cleaner S advances forward by, for example, 1 m. After that, after making a super-credit turn clockwise or counterclockwise to change the direction, a turning motion (spiral motion on a plane) in which the turning radius is gradually reduced is performed. However, the turning center does not have to be constant. At this time, if a locus is drawn by paying attention to the center of the top view of the main body Sh, each time the rotation is made, the width is approximately half to the entire width of the rotating brush, that is, 0.4 times the left and right width of the rotating brush 5. The locus is set to transition inward only by the length L2 of ~ 1.2 times.

After the turn is completed, the autonomous traveling type vacuum cleaner S advances again, for example, 1 m, as illustrated in FIG. 20 (b). After that, after making a super-credit turn in the opposite direction to the previous one and changing the direction, a turning motion is performed in which the radius is gradually reduced.

By executing such a centralized cleaning mode, the heavily soiled area D can be effectively cleaned. When the centralized cleaning mode is executed in response to the operation command of the user, the user can mount the autonomous driving type vacuum cleaner S toward the area D by setting the direction of first progress to the front. You can make a good and intuitive mode. By moving forward and cleaning a part of the dust in the area D and then performing a turning motion to reduce the turning radius, it is not necessary to install an autonomous driving type vacuum cleaner in the area D (install it in front of it). In addition, it is possible to reduce the risk of dust being scattered during the start-up operation immediately after startup.

The configuration of this embodiment can be the same as that of Example 1 or 2 except for the following points.
This will be described with reference to FIG. The autonomous traveling type vacuum cleaner S of the present embodiment can continuously travel near the wall and travel far from the wall. Specifically, for example, when the wall-distance running and the right-aligned running are executed, immediately after that, the running mode according to the other option of step S320 and step S330 is executed. That is, the running near the wall and the left-aligned running are executed.

In this way, the cleaning efficiency near the wall can be improved.

The configuration of this embodiment can be the same as that of any of Examples 1 to 3 except for the following points.
FIG. 22 is a diagram showing a traveling locus when the wall-side traveling step S300 or the reflection traveling is executed. When the front distance measuring sensor 8 on the right side detects an obstacle while the front distance measuring sensor 8 on the right side detects an obstacle, the autonomous traveling type vacuum cleaner S is an autonomous traveling type vacuum cleaner. It can be estimated that there is a "corner" where the front wall and the side wall meet on the right front side of S. At this time, the autonomous traveling type vacuum cleaner S changes the course to the right front so as to approach the corner diagonally. That is, the course is changed in the direction detected by the front distance measuring sensor 8 (in this embodiment, since the front distance measuring sensor 8 on the right side and the front side is detecting, the right front direction). As a result, the cleaning efficiency of the corners can be improved.

It is preferable that such traveling is performed during the execution of the above-mentioned near-wall traveling mode. Further, as a mode for changing the course, various known modes such as turning and super-credit turning can be adopted.

The above-mentioned "frequency" can be considered, for example, about the steps performed when one cleaning is performed. For example, the frequency can be determined based on the cleaning contents performed from one START to END in the flowchart illustrated in FIG.

[Other technical ideas]
The present application includes the following technical ideas. The appendix mn (m and n are natural numbers) listed as a technical idea can be arbitrarily combined with some or all of its components within a range that does not interfere with the context.
(Appendix 1-1)
An autonomous driving vacuum cleaner that has a power receiving terminal that can be electrically connected to a charging stand that has a power cord connection and two drive wheels that face each other and can receive operation commands.
At least when the operation start command is received when it is electrically connected to the charging stand, the charging stand separation step that proceeds away from the charging stand and the charging stand separation step.
An autonomous traveling type vacuum cleaner characterized in that the cord-side progress step that progresses to the side where the power cord connection portion is provided is executed in this order.

According to Appendix 1-1, it is possible to provide an autonomous driving type vacuum cleaner that suppresses contact with the power cord of the charging stand.

(Appendix 1-2)
After starting the cord-side traveling step, when observing in the direction perpendicular to the traveling direction in the charging stand separation step and in the direction parallel to the cleaning surface, the autonomous traveling type vacuum cleaner is the power cord connecting portion. An autonomous traveling type vacuum cleaner characterized in that it travels so as to overlap the charging stand at a position separated by a distance of more than the length of a power cord that can be connected to.

(Appendix 2-1)
Using the distance measurement sensor, the wall-mounted running step, in which the predetermined side of the main body is moved toward the wall,
Reflective driving that uses the distance measurement sensor or bumper sensor to change the course in the direction away from the detected obstacle or wall.
An autonomous driving type vacuum cleaner that executes a wall-side traveling step that travels near a wall by using the distance measuring sensor.
In the wall-aligned traveling step, when the angle at which the main body is turned in the direction opposite to the predetermined side by the super-credit turning reaches at least 360 °, the wall-approaching traveling step is completed.
In the wall-side traveling step, autonomous driving type electric cleaning is performed more frequently when the predetermined side is brought closer to the wall and when the side opposite to the predetermined side is brought closer to the wall. Machine.

According to Appendix 2-1 it is easy to rotate around the cleaning area in a single cleaning, so that it is possible to provide an autonomous traveling type vacuum cleaner with improved cleaning efficiency.

(Appendix 2-2)
In the wall-side traveling step, the average value of the number of walls traveled when traveling with the predetermined side close to the wall is the number of walls traveled when traveling with the side opposite to the predetermined side close to the wall. The autonomous traveling type vacuum cleaner according to Appendix 2-1 characterized in that it is larger than the average value.

(Appendix 3-1)
An autonomous driving vacuum cleaner with drive wheels and brushes.
An autonomous driving type vacuum cleaner characterized by performing a turning motion that gradually reduces the turning radius after moving forward.

According to Appendix 3-1 it is possible to provide an autonomous traveling type vacuum cleaner capable of intensively cleaning an area while suppressing the scattering of dust.

(Appendix 3-2)
The autonomous traveling type electric motor according to Appendix 3-1 is characterized in that, in the turning motion, the turning radius becomes smaller by 0.4 times or more and 1.2 times or less the left-right width of the brush for each turn. Vacuum cleaner.

(Appendix 4-1)
It is an autonomous driving type vacuum cleaner that uses a distance measuring sensor to perform a wall-to-wall running step that cleans the wall.
Wherein as a distance measurement sensor, having a front distance measuring sensor and a distance sensor for laterally provided on each front and the side of the autonomous vacuum cleaner,
While the side distance measuring sensor is detecting an obstacle, if the front distance measuring sensor detects an obstacle, the autonomous running type electric vacuum cleaner, characterized in that to set the course to the side nearer ..

According to Appendix 4-1 it is possible to provide an autonomous traveling type vacuum cleaner with improved cleaning efficiency of corners.

(Appendix 4-2)
An autonomous driving vacuum cleaner that uses a distance measuring sensor to diagonally approach the corner where the front wall and side walls meet during the wall-to-wall running step of cleaning the wall.

(Appendix 5)
A rotating brush attached to the main body, a rotating brush storage portion that stores the rotating brush and has an opening, a drive wheel that moves the main body forward, a dust sensor that detects dust that has passed through the opening, and the like. An autonomous traveling type vacuum cleaner having a suction fan capable of changing the suction force according to a signal of a dust sensor.
Assuming that the moving speed v of the main body, the time from when the dust sensor detects dust to when the output of the suction fan starts to increase is t, and the front-rear dimension L of the rotating brush storage portion, the relational expression v≤L An autonomous traveling type vacuum cleaner characterized in that / t holds.

(Appendix 6-1)
An autonomous driving vacuum cleaner that uses a distance measuring sensor to perform a wall-side driving step that cleans the wall.
As a wall-mounted run that runs along the wall
An autonomous traveling type vacuum cleaner characterized in that it executes a near-wall traveling step and a far-wall traveling step that travels farther from the wall than the near-wall traveling step.

According to Appendix 6-1 it is possible to provide an autonomous traveling type vacuum cleaner with improved cleaning efficiency in the vicinity of a wall.

(Appendix 6-2)
The appendix 6-1 is characterized in that the wall long-distance traveling step travels at a position away from the wall by 0.4 times or more and 1.2 times or less the width of the brush as compared with the wall-near traveling step. Described autonomous driving vacuum cleaner.

(Appendix 6-3)
The autonomous driving type vacuum cleaner according to Appendix 6-1 or 6-2, wherein the distance measuring sensor is used to perform reflex driving that changes the course in a direction away from an obstacle or a wall detected.

(Appendix 6-4)
The autonomous traveling type vacuum cleaner according to any one of Supplementary Provisions 6-1 to 6-3, wherein the near-wall traveling step is executed more frequently than the far-wall traveling step.

(Appendix 6-5)
The autonomous traveling type vacuum cleaner according to any one of Supplementary Provisions 6-1 to 6-4, wherein the wall far traveling step and the wall near traveling step are continuously executed.

(Appendix 6-6)
Any one of Appendix 6-1 to 6-5, wherein the return traveling step of returning to the charging stand is executed, and in the returning traveling step, the wall far travel is executed more frequently than the wall near travel. The autonomous driving type vacuum cleaner described in the section.

(Appendix 7)
Has multiple ranging sensors
An autonomous traveling type vacuum cleaner that uses a part of the distance measuring sensor to execute a wall-aligned traveling step in which a predetermined side of the main body is brought close to a wall to travel.
An autonomous traveling type vacuum cleaner characterized in that the sensitivity of a distance measuring sensor provided on a side opposite to the predetermined side is desensitized or the output of the distance measuring sensor is ignored during the execution of the wall-mounted traveling step.

According to Appendix 7, it is possible to provide an autonomous traveling type vacuum cleaner that can easily enter between furniture and the like in a wall-mounted traveling step to perform cleaning.

(Appendix 8-1)
With the distance measurement sensor or bumper sensor provided on the main body,
An autonomous driving vacuum cleaner having two drive wheels facing each other.
The first turning step around the first obstacle,
A separation step away from the first obstacle,
It is characterized in that the second turning step is executed in this order around the second obstacle by 180 ° or more, 270 ° or more, or 360 ° or more, or the turning angle or more in the first turning step. Autonomous driving type vacuum cleaner.

According to Appendix 8-1, it is possible to provide an autonomous traveling type vacuum cleaner capable of effectively cleaning the surroundings of two obstacles located relatively close to each other.

(Appendix 8-2)
The turning radius r1 in the first turning step satisfies the relational expression r1 <35 cm-D / 2 with the dimension D in the direction in which the drive wheels face each other in the main body. The autonomous driving type vacuum cleaner according to 1.

(Appendix 8-3)
The second turning step is performed around the second obstacle arranged at a position reached within 5 seconds after turning around the first obstacle. The autonomous driving type vacuum cleaner according to 8-2.

(Appendix 8-4)
The autonomous traveling type electric cleaning according to any one of Appendix 8-1 to 8-3, wherein the separation step executes turning with a turning radius r2 larger than the turning radius r1 of the first turning step. Machine.

(Appendix 8-5)
The autonomous traveling type vacuum cleaner according to any one of Appendix 8-1 to 8-4, wherein the first turning step rotates around the first obstacle by 270 ° or more.

(Appendix 8-6)
A combination of the first turning step, the separating step, and the second step revolves around three or four obstacles.
The autonomous driving type vacuum cleaner according to any one of Appendix 8-1 to 8-5, wherein the turning angle around the third or fourth obstacle is 200 ° or more and 450 ° or less.

(Appendix 9)
An autonomous driving vacuum cleaner that detects an obstacle or wall using a plurality of distance measuring sensors or bumper sensors and turns around the detected obstacle or wall.
An autonomous traveling type vacuum cleaner characterized in that the number of distance measuring sensors or the number of bumper sensors that detect an obstacle or a wall at one time has a positive phase with the turning radius of the turning.

2, 3 Drive wheels 5 Rotating brush 8 Front range sensor 9 Rechargeable battery 11 Suction fan 12 Dust collection case 14 Suction port 15 Bumper sensor 16 Floor range sensor 30 Wide range receiver 31 Narrow range receiver 91 Charging stand S Autonomous driving Type vacuum cleaner Sh body

Claims (5)

With the main body
A drive unit that drives the main body and
With a brush
It has an obstacle detection means that can detect obstacles,
The obstacle detecting means is
It is equipped with a plurality of types of sensors including a front distance measuring sensor for detecting an obstacle in front of the main body.
By providing the front distance measuring sensors at a plurality of locations on the main body, the front distance measuring sensors are provided on the main body at a plurality of locations.
The drive unit
A first turning step in which the legs of a desk, chair, or table detected by the obstacle detecting means are used as the first obstacle, and the legs of the desk, chair, or table are turned around the outer circumference of the first obstacle by 270 ° or more.
With the first obstacle of the desk, chair, or table detected by the obstacle detecting means after turning with a turning radius larger than the turning radius of the first turning step and away from the first obstacle. Has a second turning step in which another leg is used as a second obstacle and the outer circumference of the second obstacle is turned at a turning angle larger than that of the first turning step.
After advancing toward the concentrated area where dust is concentrated, a third turning step, which is a spiral motion gradually approaching the concentrated area, is executed by performing a turning motion that gradually reduces the turning radius.
Among the front distance measuring sensors provided at a plurality of places of the main body, the wall is being executed during the wall-side traveling step of cleaning the wall by traveling along the wall using the front distance measuring sensor. An autonomous traveling type vacuum cleaner characterized by desensitizing the front distance measuring sensor located on the opposite side of the wall or ignoring the output of the front distance measuring sensor located on the opposite side of the wall. .. It has a lateral ranging sensor for detecting obstacles on the side of the main body.
If any of the front ranging sensors detects an obstacle while the lateral ranging sensor detects an obstacle, the side of the lateral ranging sensor that has detected the obstacle. The autonomous driving type vacuum cleaner according to claim 1 , wherein the course is set so as to approach. The driver, after traveling away from the charging stand, according to claim 1 from proceeding to the power supply cord connected to the charger is provided a side, characterized in that it shifts to the wall side traveling step Autonomous driving type vacuum cleaner described in. The second turning step is performed around the second obstacle located within 220 cm from the first obstacle or within 5 seconds after going around the first obstacle. The autonomous driving type vacuum cleaner according to claim 1, wherein the vacuum cleaner is characterized by being used. It has a distance measuring sensor or bumper sensor provided in the main body, and has
Depending on the thickness of the obstacle in front or side to be detected, the frequency of turning or reflecting will differ.
The autonomous driving type vacuum cleaner according to claim 1, wherein when the obstacle is thin, the frequency of turning is higher than when the obstacle is thick.

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