WO2018003265A1

WO2018003265A1 - Self-propelled cleaning device, control method for self-propelled cleaning device, and program

Info

Publication number: WO2018003265A1
Application number: PCT/JP2017/016510
Authority: WO
Inventors: 吉村　康男; 黒山　和宏; 幸司今村; 吉川　嘉茂
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2016-06-28
Filing date: 2017-04-26
Publication date: 2018-01-04
Also published as: CN108348120A; CN108348120B; JPWO2018003265A1

Abstract

A self-propelled cleaning device (1) comprises: a remaining battery power detection unit (17) that detects the remaining battery power of a rechargeable battery (16); a reception strength measurement unit (12) that measures the reception strength of a wireless signal received from a charging device (2); a prescribed value setting unit (13) that sets a prescribed reception strength level; and a traveling area determination unit (14) that, in accordance with the remaining battery power, the reception strength, and the prescribed reception strength level, determines at least one of a cleaning area and a traveling area for the self-propelled cleaning device. If the remaining battery power is greater than or equal to a first prescribed value, the traveling area determination unit determines at least one of the cleaning area and the traveling area while prioritizing an area in which the reception strength is lower than the prescribed reception strength level over an area in which the reception strength is high. Thus, while the remaining battery power is greater than or equal to the prescribed value, the self-propelled cleaning device can be made to travel while prioritizing an area that is distant from the charging device.

Description

Self-propelled cleaning device, control method of self-propelled cleaning device, and program

The present disclosure relates to a self-propelled cleaning device that performs self-propelled cleaning, a control method for the self-propelled cleaning device, and a program.

A cleaning robot, which is an example of a self-propelled cleaning device, includes a cleaning mechanism, a moving mechanism such as wheels, and a rechargeable battery for driving, and autonomously cleans the floor in the house. The capacity of the rechargeable battery is finite. For this reason, when the battery remaining amount of a rechargeable battery becomes below a predetermined value, a cleaning robot returns to a charging device in order to charge.

At that time, the cleaning robot receives a signal such as an infrared signal or a radio signal transmitted from the charging device, and determines the relative distance from the charging device and the direction of the charging device from the intensity of the received signal and the arrival direction of the signal. The cleaning robot returns to the charging device based on the determination result.

The radio signal has a longer reach than the infrared signal. For example, Patent Document 1 describes that when the signal strength received by the self-propelled cleaning device is smaller than a predetermined value, the self-propelled cleaning device proceeds in a direction in which the received strength increases.

In the self-propelled cleaning device in Patent Document 1, when the remaining battery level of the rechargeable battery is equal to or lower than a predetermined value, the received strength is lower when the received signal strength (hereinafter also referred to as reception strength) is smaller than the predetermined value. The battery gets closer to the charging device by moving in a stronger direction.

In addition, the conventional self-propelled cleaning device travels freely in the space regardless of the reception strength when the remaining battery level of the rechargeable battery exceeds a predetermined value, and avoids the obstacle when an obstacle is detected. Change direction and proceed.

Therefore, the conventional self-propelled cleaning device can travel even when the remaining battery level is low in the region where the received signal strength is greater than the predetermined value, but the remaining battery level in the region where the signal strength is less than the predetermined value. Cannot drive after the number of

In addition, the conventional self-propelled cleaning device performs cleaning from an area close to the charging stand toward an area far from the charging stand and returns to the area close to the charging stand at the end of cleaning. In the conventional self-propelled cleaning device, when the space for cleaning is wider than the area where the signal intensity received from the charging stand is smaller than the predetermined value, the area where the signal intensity is smaller than the predetermined value may not be sufficiently cleaned. There is sex.

Japanese Patent Laid-Open No. 2015-221148

The self-propelled cleaning device of the present disclosure is a self-propelled cleaning device that includes a rechargeable battery and is charged with power supplied from a charging device installed at a predetermined position. A self-propelled cleaning device according to the present disclosure includes a remaining battery level detection unit that detects a remaining battery level of a rechargeable battery, a reception strength measurement unit that measures a reception strength of a radio signal received from the charging device, and a predetermined reception strength level. A predetermined value setting unit that sets the remaining battery level, the reception strength, and a traveling region determination unit that determines at least one of the cleaning region and the traveling region of the self-propelled cleaning device according to the predetermined reception strength level. ing. When the remaining battery level is equal to or higher than the first predetermined value, the traveling area determination unit prioritizes an area where the reception intensity is lower than the predetermined reception intensity level over an area where the reception intensity is higher than the predetermined reception intensity level. And at least one of the cleaning area and the traveling area.

Moreover, the self-propelled cleaning device according to another aspect of the present disclosure includes a remaining battery level detection unit that detects a remaining battery level of a rechargeable battery, and a reception strength measurement unit that measures a reception strength of a radio signal received from the charging device. , A predetermined value setting unit for setting a predetermined reception intensity level, and traveling that determines at least one of a cleaning area and a traveling area of the self-propelled cleaning device according to the remaining battery level, the reception intensity, and the predetermined reception intensity level An area determination unit, and a completion determination unit that determines whether or not cleaning has been completed and whether or not the self-propelled cleaning device has returned to the charging device. The predetermined value setting unit changes the predetermined reception intensity level according to the determination result of the completion determination unit.

According to this, it is possible to provide a self-propelled cleaning device that performs cleaning over a wide area and reliably returns to the charging device when cleaning is completed.

FIG. 1 is a schematic diagram for explaining the relationship between region 1, region 2, and boundaries in the first embodiment. FIG. 2 is a diagram for explaining the relationship between the reception intensity, the remaining battery level, and the cleaning area. FIG. 3 is a configuration block diagram of the self-propelled cleaning device and the charging device of the first embodiment. FIG. 4 is a flowchart of the schematic operation of the self-propelled cleaning device of the first embodiment. FIG. 5 is a diagram for explaining the relationship between the boundary reception intensity level and the remaining battery level of the rechargeable battery. FIG. 6 is another diagram for explaining the relationship between the reception intensity, the remaining battery level, and the cleaning area. FIG. 7 is a schematic diagram for explaining the relationship between the region 1, the region 2, and the boundary in the second embodiment. FIG. 8 is a diagram for explaining optimization of the reception intensity level. FIG. 9 is another diagram for explaining the optimization of the reception intensity level. FIG. 10 is a block diagram showing the configuration of the self-propelled cleaning device according to the second embodiment. FIG. 11 is a flowchart of the schematic operation of the self-propelled cleaning device of the second embodiment.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In addition, this indication is not limited by this embodiment.

(Embodiment 1)
FIG. 1 is a diagram for explaining the relationship between region 1, region 2, and boundaries in the first embodiment.

The self-propelled cleaning device 1 executes a cleaning function while self-propelled by using the rechargeable battery 16 (see FIG. 3) as a power source. In addition, power is supplied from the charging device 2 and the rechargeable battery 16 is charged. Self-propelled cleaning device 1 is a cleaning robot, for example.

The charging device 2 transmits a radio signal such as an infrared signal or a radio signal. Self-propelled cleaning device 1 receives the signal transmitted from charging device 2 and measures the received intensity. Self-propelled cleaning device 1 compares the reception intensity of the signal received from charging device 2 with a preset reception intensity level.

Hereinafter, for the sake of easy understanding, it is assumed that the reception intensity level set in advance is the same as the reception intensity level at the boundary between the area 1 and the area 2. A preset reception strength level is referred to as a boundary reception strength level.

The boundary shown in FIG. 1 is a virtual boundary that divides at least one of the free-running area and the cleaning area of the self-running cleaning apparatus 1 based on the boundary reception intensity level. That is, the area 1 is an area where the reception intensity received by the self-propelled cleaning device 1 is less than the boundary reception intensity level. Region 2 is a region where the reception intensity received by self-propelled cleaning device 1 is equal to or higher than the boundary reception intensity level. Region 2 is a region closer to charging device 2 than region 1. When there is no obstacle around the charging device 2, the region 2 is a substantially circular region centered on the charging device 2. Region 1 is a region farther from charging device 2 than region 2. When there is no obstacle or the like around the charging device 2, the region 2 is a substantially annular region located outside the region 2 with the charging device 2 as the center.

Note that the boundary may be any of (1) included in region 1, (2) included in region 2, and (3) not included in either region 1 or region 2.

In addition, the structure by which the transmission side and reception side of a radio signal were reversed may be sufficient. That is, the self-propelled cleaning device 1 transmits a radio signal, and the charging device 2 receives the signal and measures the reception intensity. And the structure which the self-propelled cleaning apparatus 1 acquires reception intensity | strength may be sufficient by transmitting the measured received intensity from the charging device 2 to the self-propelled cleaning apparatus 1.

FIG. 2 is a diagram for explaining the relationship between the reception intensity, the remaining battery level, and the cleaning area. The vertical axis represents the radio signal reception intensity measured by the self-propelled cleaning device 1. The stronger the reception intensity, the closer the charging device 2 and the self-propelled cleaning device 1 are. The horizontal axis shows the cleaning time. Note that a time zone A shown in FIG. 2 is a time zone in which the outside of the boundary (region 1) is preferentially cleaned over the inside of the boundary (region 2). The time zone B is a time zone in which the inner side of the boundary (region 2) is cleaned with priority over the outer side of the boundary (region 1). The cleaning time C indicates the timing when the remaining battery level becomes less than a predetermined value. In D, self-propelled cleaning device 1 has moved from the outside (region 1) to the inside (region 2) of the boundary.

Self-propelled cleaning device 1 starts from charging device 2 and cleans away from charging device 2. As the self-propelled cleaning device 1 leaves the charging device 2, the reception intensity decreases. The self-propelled cleaning device 1 performs cleaning with priority on the outer region of the boundary (region 1 in FIG. 1) when initially separated from the charging device 2.

And, for example, when the remaining battery level of the rechargeable battery becomes less than a predetermined value, or when the cleaning is completed, the self-propelled cleaning device 1 moves to the inner region (region 2 in FIG. 1) of the boundary. After moving to the region 2, the self-propelled cleaning device 1 cleans the region 2, and finally returns to the charging device 2 to recharge.

When the self-propelled cleaning device 1 returns to the charging device 2, the self-propelled cleaning device 1 rotates or moves in a direction in which the reception strength increases based on the reception strength. As a result, the self-propelled cleaning device 1 approaches the charging device 2. The charging device 2 may transmit an infrared signal, and the self-propelled cleaning device 1 may capture not only the radio wave signal but also the infrared signal and return to the charging device 2.

The configuration and operation of the self-propelled cleaning device 1 will be described in detail below.

FIG. 3 is a configuration diagram of the self-propelled cleaning device and the charging device according to the first embodiment. The self-propelled cleaning device 1 receives a signal transmitted from the rechargeable battery 16 that is a power source of the self-propelled cleaning device 1, a remaining battery level detection unit 17 that detects the remaining battery level of the rechargeable battery 16, and the charging device 2. 11, a reception intensity measurement unit 12 that measures the reception intensity of the signal received by the reception unit 11, a predetermined value setting unit 13 that sets a predetermined reception intensity level, a remaining battery level, and a reception intensity measurement unit 12. According to the received intensity and the boundary received intensity level set by the predetermined value setting unit 13, the traveling region determining unit 14 that outputs a control signal for determining at least one of the cleaning region and the traveling region, and the control signal Is input, and the drive part 15 which operates the self-propelled cleaning apparatus 1 is provided.

The reception intensity measurement unit 12 measures the reception intensity of the signal from the charging device 2 received by the reception unit 11 of the self-propelled cleaning device 1. The reception intensity measurement unit 12 may use a plurality of antennas (not shown) in order to increase the measurement accuracy of the reception intensity, or may measure the reception intensity by rotating the antenna. Further, the reception strength measuring unit 12 may measure the reception strength using statistical processing such as a time average or median of the reception strength.

The boundary reception intensity level set by the predetermined value setting unit 13 may be a preset value or may be optimized according to the space.

There are various methods for setting the boundary reception strength level as described below.

As a first example, a manufacturer sets a predetermined value, which is the minimum reception intensity necessary for stably receiving a radio signal, as a boundary reception intensity level.

As a second example, a user operates an input interface (not shown) provided in the predetermined value setting unit 13 to delimit a predetermined value (for example, a reception intensity corresponding to a distance of 10 meters from the charging device 2 to the boundary). Set as reception strength level.

As a third example, a plurality of predetermined values (for example, three reception intensities corresponding to the distance from the charging device 2 to the boundary corresponding to short distance, medium distance, and long distance) are prepared, and the user operates the input interface. A desired predetermined value is set as the boundary reception intensity level from among a plurality of predetermined values.

As a fourth example, when the user places the self-propelled cleaning device 1 at a position that the user wants to clean, the user operates the input interface provided in the predetermined value setting unit 13, and the reception intensity measuring unit 12 is operated at that position. The measured reception strength is set as the boundary reception strength level.

As a fifth example, in a configuration in which the self-propelled cleaning device 1 returns to the charging device 2 using both radio signals and infrared signals, the boundary reception intensity level is determined by the self-propelled cleaning device 1 supplementing the infrared signals and the charging device 2. Is set to the minimum reception strength required to return to In general, radio wave signals tend to have a larger receivable area from the charging device 2 due to reflection, diffraction, and scattering phenomena compared to infrared signals. On the other hand, the infrared signal tends to be superior in the determination of the relative distance to the charging device 2 and the direction of the charging device 2 compared to the radio signal. Therefore, in the region 1, the self-propelled cleaning device 1 is charged from the strength of the radio signal received from the charging device 2 by the radio wave reception unit and the arrival direction of the radio signal mainly by the radio signal reception strength rather than the infrared signal reception strength. The relative distance to the device 2 and the direction of the charging device 2 are determined. Then, based on this determination result, the self-propelled cleaning device 1 approaches the charging device 2. In the region 2, the self-propelled cleaning device 1 is charged from the intensity of the infrared signal received from the charging device 2 by the infrared receiving unit and the direction of arrival of the infrared signal mainly by the received intensity of the infrared signal rather than the received intensity of the radio signal. The relative distance to the device 2 and the direction of the charging device 2 are determined. Then, based on this determination result, the self-propelled cleaning device 1 approaches the charging device 2. As described above, the self-running cleaning device 1 captures radio signals in the region 1 (region far from the charging device 2), cleans and travels, and captures infrared signals in the region 2 (region near the charging device 2). Then, it is cleaned and traveled, and finally returns to the charging device 2.

In addition, in order to increase the battery remaining amount of the rechargeable battery 16, the self-propelled cleaning device 1 turns off the power of the infrared signal receiving circuit in the receiving unit 11 and receives only the radio signal in the area 1. Also good. Then, the self-propelled cleaning device 1 tries to capture the infrared signal by turning on the power of the receiving circuit for the infrared signal when the radio signal cannot be captured, and when the infrared signal can be captured, the strength of the infrared signal and Cleaning and running are performed by determining the relative distance to the charging device 2 and the direction of the charging device 2 from the arrival direction of the signal.

In order to increase the remaining battery capacity of the rechargeable battery 16, the self-propelled cleaning device 1 may be configured to receive only infrared signals by turning off the radio signal receiving circuit in the receiving unit 11 in the area 2. Good. Then, the self-propelled cleaning device 1 tries to capture the radio signal by turning on the power of the radio signal receiving circuit when the infrared signal cannot be captured, and when the radio signal can be captured, Cleaning and running are performed by determining the relative distance to the charging device 2 and the direction of the charging device 2 from the arrival direction of the signal.

The optimization of the boundary reception strength level will be described in the second embodiment. By setting the boundary reception intensity level, a virtual boundary that defines at least one of the cleaning region and the traveling region of the self-propelled cleaning device 1 is defined.

The battery remaining amount detection unit 17, the reception intensity measurement unit 12, the predetermined value setting unit 13, and the travel area determination unit 14 are configured by one or a plurality of microprocessors. The drive unit 15 is realized by a motor, an actuator, or the like. The rechargeable battery 16 is exemplified by a lithium ion battery.

The charging device 2 includes a transmission unit 21 that transmits a wireless signal to the self-running cleaning device 1, a charging unit 23 that charges the rechargeable battery 16 of the self-running cleaning device 1, and a charging device 2 that includes the transmission unit 21 and the charging unit 23. The charging device control unit 22 is controlled.

The charging unit 23 is connected to the self-propelled cleaning device 1 and charges the rechargeable battery 16. Alternatively, the charging unit 23 is selected from an electromagnetic induction method using electromagnetic induction, an electromagnetic field resonance method using an electromagnetic field resonance phenomenon, a radio wave method of converting electric power into an electromagnetic wave and transmitting / receiving via an antenna, and the like. The rechargeable battery 16 may be charged by non-contact power transmission.

The charging device control unit 22 is composed of a microprocessor.

FIG. 4 is a flowchart of a control method performed by the self-propelled cleaning device of the first embodiment.

In step S101, the remaining battery level of the rechargeable battery 16 is detected by the remaining battery level detection unit 17. Then, the remaining battery level detection unit 17 determines whether or not the remaining battery level is equal to or greater than a predetermined value. This predetermined value may be set in advance. For example, this predetermined value may be set according to the electric power required to return to the charging device 2 from the boundary. Alternatively, the predetermined value may be a variable value as described in the second embodiment.

In step S101, when the remaining battery level of the rechargeable battery 16 is equal to or greater than the predetermined value (Yes in step S101), the travel area determination unit 14 determines that the reception intensity measured by the outer area of the boundary, that is, the reception intensity measurement unit 12 is. The area smaller than the boundary reception intensity level is determined as at least one of the cleaning area and the traveling area in preference to the area where the reception intensity is higher than the boundary reception intensity level. Then, the travel region determination unit 14 outputs a control signal that causes the self-propelled cleaning device 1 to self-run or clean at least one of the determined cleaning region and travel region to the drive unit 15 (step S103). Here, “prioritize” means that the self-propelled cleaning device 1 cleans only the outer region of the boundary, or the ratio of cleaning the outer region of the boundary is larger than the ratio of cleaning the inner region.

When it is determined by the above control method that the remaining amount of the rechargeable battery 16 is relatively large, the self-propelled cleaning device 1 performs at least one of self-propelled and cleaning in an area relatively far from the charging device 2.

On the other hand, when the battery remaining amount of the rechargeable battery 16 is less than the predetermined value in step S101 (No in step S101), the process proceeds to step S102. In step S102, the reception strength measurement unit 12 determines whether or not the reception strength measured by the reception strength measurement unit 12 is equal to or higher than the boundary reception strength level.

If the remaining battery level of the rechargeable battery 16 is less than the predetermined value in step S101, and if the reception intensity is equal to or higher than the boundary reception intensity level in step S102 (Yes in step S102), the travel area determination unit 14 A control signal is output to the drive unit 15 so that the self-running cleaning device 1 performs at least one of self-running and cleaning in an inner region, that is, a region in which the received strength measured by the received strength measuring unit 12 is larger than the boundary received strength level. (Step S104).

At this time, depending on the remaining battery level of the rechargeable battery 16, the self-propelled cleaning device 1 may self-propel to aim at the charging device 2 and immediately return to the charging device 2 to complete the cleaning. The self-propelled cleaning device 1 may perform cleaning while moving, or may move without cleaning in order to reduce the consumption of the rechargeable battery 16.

As described above, when the remaining battery level of the rechargeable battery 16 is relatively small, the self-propelled cleaning device 1 performs at least one of self-propelled and cleaning in a region relatively close to the charging device 2 and finally becomes the charging device 2. Return and complete the cleaning.

If the remaining battery level of the rechargeable battery 16 is less than the predetermined value in step S101 and if the reception intensity is less than the boundary reception intensity level in step S102 (No in step S102), the self-running cleaning device 1 Move from the outer region of the boundary to the inner region. In other words, the travel area determination unit 14 drives the control signal so that the self-propelled cleaning device 1 rotates or self-runs toward an area where the reception intensity measured by the reception intensity measurement unit 12 is greater than the boundary reception intensity level. 15 (step S105).

At this time, the self-propelled cleaning device 1 may perform the cleaning while moving, or may move without performing the cleaning in order to reduce the consumption of the rechargeable battery 16.

As described above, the self-propelled cleaning device 1 moves to a region relatively close to the charging device 2 when the remaining amount of the rechargeable battery 16 is relatively small. Finally, the self-propelled cleaning device 1 returns to the charging device 2 to complete the cleaning. Note that self-propelled cleaning device 1 may be configured to end the repetition of steps S101 to S105 when a predetermined end condition (for example, when self-propelled cleaning device 1 returns to charging device 2) is satisfied. Good. In that case, the self-propelled cleaning device 1 starts step S101 when the charging device 2 leaves the charging device 2 and starts cleaning or traveling.

It should be noted that hysteresis may be provided for the boundary reception strength level. For example, the boundary reception intensity level when the self-propelled cleaning device 1 moves away from the charging device 2 is -70 dBm, and the boundary reception intensity level when the self-propelled cleaning device 1 approaches the charging device 2 is -80 dBm. According to this, it is possible to create an overlapping region of 10 dBm in the region determined in step S102 when the self-propelled cleaning device 1 moves away and when it approaches, and the cleaning region in steps S103 to S105. Thereby, the area | region (cleaning omission area | region) where the cleaning which arises by the dispersion | variation in the receiving intensity measured by the receiving intensity measurement part 12 is not performed can be reduced.

Although the predetermined reception intensity level set by the predetermined value setting unit 13 has been described as the same as the reception intensity level at the boundary between the area 1 and the area 2, the present disclosure is not limited to this. The determination area in step S102 and the cleaning area in steps S103 to 105 may be made different by setting the predetermined reception intensity level to a reception intensity level different from the boundary between area 1 and area 2.

In addition, although the description has been made assuming that there is one boundary in FIGS. 1 and 2, a plurality of boundaries may be provided.

For example, as shown in FIG. 5, the boundary reception intensity level may be varied according to the remaining battery level of the rechargeable battery 16. As a result, the relationship between the reception intensity, the boundary reception intensity level, and the cleaning area in FIG. 2 is as shown in FIG. In FIG. 6, the remaining battery level and the boundary reception intensity level of the rechargeable battery 16 are provided in two stages. The cleaning time T1 indicates the timing when the remaining battery level becomes less than the predetermined value 1. The cleaning time T2 indicates the timing when the remaining battery level becomes less than the predetermined value 2.

That is, when the remaining battery level is 1 or more (time zone E), the area outside the boundary defined by the boundary reception strength level 1 is preferentially cleaned. When the remaining battery level is less than the predetermined value 1 and greater than or equal to the predetermined value 2 (time zone F), the region inside the boundary defined by the boundary reception strength level 1 and the boundary defined by the boundary reception strength level 2 The outer area is cleaned. When the remaining battery level is less than the predetermined value 2 (time zone G), the inner area of the boundary defined by the boundary reception intensity level 2 is cleaned. The predetermined value 2 is smaller than the predetermined value 1, and the boundary reception strength level 2 is larger than the boundary reception strength level 1.

This makes it possible to gradually narrow at least one of the cleaning area and the traveling area as the remaining battery level decreases.

As described above, the self-propelled cleaning device 1 of the first embodiment includes the rechargeable battery 16 and receives power supply from the charging device 2 installed at a predetermined position. The self-propelled cleaning device 1 includes a remaining battery level detection unit 17 that detects the remaining battery level of the rechargeable battery 16, a reception strength measurement unit 12 that measures the reception strength of a radio signal received from the charging device 2, and a predetermined reception strength. A predetermined value setting unit 13 that sets a level, and a travel region determination unit 14 that determines at least one of a cleaning region and a travel region of the self-propelled cleaning device 1 according to the remaining battery level, the reception strength, and the predetermined reception strength level. And. When the remaining battery level is equal to or higher than the first predetermined value, the traveling area determination unit 14 gives priority to an area where the reception intensity is lower than the predetermined reception intensity level over an area where the reception intensity is higher than the predetermined reception intensity level. Thus, it is determined as at least one of the cleaning region and the traveling region.

Moreover, the control method of the self-propelled cleaning device 1 according to the first embodiment is a control method of the self-propelled cleaning device 1 that is provided with the rechargeable battery 16 and receives power supply from the charging device 2 installed at a predetermined position. . The control method detects the remaining battery level of the rechargeable battery 16, measures the reception strength of the radio signal received from the charging device 2, sets a predetermined reception strength level, sets the remaining battery level, the received strength, and the predetermined The at least one of the cleaning region and the traveling region of the self-propelled cleaning device 1 is determined according to the reception strength level of the self-propelled cleaning device 1, and when the remaining battery level is equal to or higher than the first predetermined value, The low area is determined as at least one of the cleaning area and the traveling area in preference to the area where the reception intensity is higher than the predetermined reception intensity level.

According to this, the self-propelled cleaning device 1 travels and cleans by giving priority to the area outside the boundary when the remaining battery level is equal to or greater than a predetermined value. Further, when the remaining battery level is less than the predetermined value, the self-propelled cleaning device 1 moves from the outer region of the boundary to the inner region of the boundary for cleaning. And self-propelled cleaning device 1 finally returns to charging device 2, completes cleaning, and charges.

(Embodiment 2)
The self-propelled cleaning device 101 of the second embodiment is different from the self-propelled cleaning device 1 of the first embodiment in the points described below, and is substantially different from the self-propelled cleaning device 1 of the first embodiment in other points. The same configuration is provided. In the description of the self-propelled cleaning device 101 of the second embodiment, the same reference numerals are given to the same components as those of the self-propelled cleaning device 1 of the first embodiment, and a part or all of the description of the configuration is omitted. .

FIG. 7 is a diagram for explaining the relationship between the region 1, the region 2, and the boundary in the second embodiment.

As in the first embodiment, the self-propelled cleaning device 101 performs the cleaning function while self-propelled using the rechargeable battery 16 as a power source. Further, the rechargeable battery 16 is charged from the charging device 2. Self-propelled cleaning device 101 is, for example, a cleaning robot.

The charging device 2 transmits a radio signal such as an infrared signal or a radio signal. Self-propelled cleaning device 101 receives the signal transmitted from charging device 2 and measures the received intensity. Self-propelled cleaning apparatus 101 compares the reception intensity of the signal received from charging apparatus 2 with the boundary reception intensity level.

7 is a virtual boundary that divides at least one of the self-propelled area and the cleaning area of the self-propelled cleaning device 1 based on the boundary reception intensity level. That is, the area 1 is an area where the reception intensity received by the self-propelled cleaning device 101 is less than the boundary reception intensity level. Region 2 is a region where the reception intensity received by self-propelled cleaning apparatus 101 is equal to or higher than the boundary reception intensity level.

In Embodiment 1, the boundary reception strength level is a preset value. In the second embodiment, the boundary reception intensity level is adjusted, and the boundary is optimized according to the space in which the self-propelled cleaning device travels.

FIG. 8 is a diagram for explaining the optimization of the boundary reception intensity level.

The vertical axis indicates the reception intensity measured by the self-propelled cleaning device 101. The horizontal axis shows the cleaning time. A solid line “a” indicates a case where the boundary is widened after successful return to the charging device 2, and a solid line “b” indicates a case where the boundary is narrowed because the feedback to the charging device 2 fails.

If the cleaning start location is the charging device 2, the reception intensity decreases as the self-propelled cleaning device 101 moves away from the charging device 2. When the cleaning is completed and the self-propelled cleaning device 101 returns to the charging device 2, the reception intensity is almost the same as that at the start of cleaning (solid line a). However, if the rechargeable battery runs out during cleaning and the self-propelled cleaning device 101 cannot return to the charging device 2, the final reception intensity is weaker than at the start of cleaning (solid line b).

The reception intensity level at the boundary is lowered when the self-propelled cleaning device 101 completes cleaning and returns to the charging device 2. Thereby, at least one of the cleaning region and the traveling region of the self-propelled cleaning device 101 is expanded. On the other hand, if the self-propelled cleaning device 101 cannot return to the charging device 2 even after the cleaning is completed, the reception intensity level at the boundary is increased. Thereby, at least one of the cleaning region and the traveling region of the self-propelled cleaning device 101 is narrowed. As described above, the boundary reception strength level is optimized.

FIG. 9 is another diagram for explaining the optimization of the reception intensity level.

The horizontal axis indicates the received intensity measured by the self-propelled cleaning device 101. That is, it corresponds to the distance from the charging device 2. A vertical axis | shaft shows the return success probability (0 or more and 1 or less) to the charging device of the self-propelled cleaning device 1.

If the boundary reception intensity level is large, the distance between the charging device 2 and the self-propelled cleaning device 101 becomes close, and the probability of successful return to the charging device 2 increases. If the boundary reception intensity level is small, the distance between the charging device 2 and the self-propelled cleaning device 101 is long, and the probability of successful return to the charging device 2 is low.

Here, if the boundary reception intensity level is too large, at least one of self-running and cleaning can be performed only in an area close to the charging device 2. Therefore, the boundary reception intensity level is optimally set according to the traveling space of the self-propelled cleaning device 101, so that at least one of self-propelled and cleaning is performed in a region as far as possible from the charging device 2, and the cleaning is completed. It can be returned to the charging device 2 later for charging.

It should be noted that there are several methods for determining whether or not the cleaning is completed, other than the method of using the reception strength, and details will be described later.

FIG. 10 is a configuration block diagram of the self-propelled cleaning device of the second embodiment.

The self-propelled cleaning device 101 is similar to the first embodiment, from the rechargeable battery 16 that is a power source of the self-propelled cleaning device 101, the remaining battery level detection unit 17 that detects the remaining battery level of the rechargeable battery 16, and the charging device 2. Receiving unit 11 for receiving the transmitted signal, receiving strength measuring unit 12 for measuring the receiving strength received by the receiving unit 11, predetermined value setting unit 103 for setting the boundary receiving strength level, remaining battery level and receiving strength A traveling region determination unit 14 that outputs a control signal for determining at least one of the cleaning region and the traveling region in accordance with the reception strength measured by the measurement unit 12 and the boundary reception strength level set by the predetermined value setting unit 103. The drive part 15 which operates the self-propelled cleaning device 1 when the control signal is input is provided.

In addition, the self-propelled cleaning device 101 according to the present embodiment further includes a completion determination unit 19, a bag path determination unit 18, and a sensor unit 20. Details of these will be described below.

The boundary reception intensity level set by the predetermined value setting unit 103 varies depending on the determination results of the completion determination unit 19 and the bag path determination unit 18 and is optimized.

The completion determination unit 19 determines at least one of whether the self-propelled cleaning device 101 has completed cleaning and returned to the charging device 2. Specifically, the completion determination unit 19 may make the above determination based on the reception intensity as shown in FIG. Further, the completion determination unit 19 may make the above determination according to the state of the rechargeable battery 16.

That is, since charging is performed when the self-propelled cleaning device 101 returns to the charging device 2, it is determined that the state of charge is detected from the change in the remaining battery level by the remaining battery level detection unit 17 and returned to the charging device 2. Is done. If the self-propelled cleaning device 101 cannot return to the charging device 2, the remaining battery level detection unit 17 stops when the remaining battery level is close to 0 and the drive unit 15 cannot be driven and the remaining battery level is low. Detecting that Then, it is determined that the self-propelled cleaning device 101 has not returned to the charging device 2.

Although not shown, a self-propelled cleaning device 101 is provided with a mechanism unit that is connected to the charging device 2, and the feedback succeeds based on the connection status with the charging device 2 by the energization connection detection unit provided in the mechanism unit. It may be determined whether or not.

The self-propelled cleaning device 18 is self-propelled when at least one of the self-propelled cleaning device 101 could not complete cleaning (cleaning not completed) and could not return to the charging device 2 (not returned to the charging device 2). It is determined whether or not the cleaning device 101 has entered a bag path. This is because (1) the self-propelled cleaning device 101 and the charging device 2 are too far away from each other and the cleaning is incomplete and the charging device 2 has not returned to the charging device 2; This is for distinguishing between the case where the cleaning device 101 has entered the bag path and the cleaning is not complete and the case where the cleaning device 101 has not returned to the charging device 2. Here, the dead path means a region where the self-propelled cleaning device 101 cannot autonomously return to the charging device 2 due to an obstacle or the like existing between the self-propelled cleaning device 101 and the charging device 2.

Specifically, the bag path determination unit 18 performs the above determination based on sensor information from the sensor unit 20. The sensor unit is, for example, a sensor that detects an obstacle, a wall, a step, or the like. When the sensor unit detects an obstacle or the like more than a predetermined number of times at a predetermined time or a predetermined distance, the bag path determination unit 18 determines that the self-propelled cleaning device 101 has entered the bag path. Further, when the drive unit 15 changes the course direction for a predetermined number of times or a predetermined distance, the bag path determination unit 18 determines that the self-propelled cleaning device 101 has entered the bag path.

The battery remaining amount detection unit 17, the reception intensity measurement unit 12, the predetermined value setting unit 103, the travel region determination unit 14, the completion determination unit 19, and the bag path determination unit 18 are configured by one or a plurality of microprocessors. The The drive unit 15 is realized by a motor or an actuator. The obstacle detection sensor is realized by a contact sensor, an infrared sensor, a sound wave sensor, an ultrasonic sensor, a radio wave sensor, or the like.

The charging device 2 has the same configuration and function as described with reference to FIG. 3 in the first embodiment, and detailed description thereof is omitted.

FIG. 11 is a flowchart of the outline operation of the bag path determination performed by the self-propelled cleaning device of the second embodiment.

In step S201, the completion determination unit 19 determines at least one of whether the self-propelled cleaning device 101 has completed cleaning and whether the self-propelled cleaning device 101 has returned to the charging device 2.

As a result, when it is determined that the cleaning has been completed and / or it has been returned to the charging device 2 (Yes in Step S201), the predetermined value setting unit 103 decreases the boundary reception intensity level, At least one of the travel areas is expanded (step S203).

If it is determined in step S201 that the cleaning has not been completed and at least one of the feedback devices 2 has not been returned (No in step S201), in step S202, the bag path determination unit 18 performs self-running cleaning. It is determined whether or not the device 101 has entered a narrow path.

When it is determined in step S201 that the cleaning has not been completed and at least one of which has not returned to the charging device 2 and it is determined in step S202 that the self-propelled cleaning device 101 has not entered the bag path (No in step S202). The predetermined value setting unit 103 increases the boundary reception intensity level and narrows at least one of the cleaning area and the traveling area (step S204).

When it is determined in step S201 that the cleaning has not been completed and at least one of which has not been returned to the charging device 2 and it has been determined in step S202 that the bag has entered the narrow path (Yes in step S202), the predetermined value setting unit 103 is set to The reception intensity level is not changed (step S205). This is because the self-propelled cleaning device 101 is not a distance element from the charging device 2 and has entered a bag path, so that it is considered that the cleaning has not been completed and the charging device 2 has not returned to the charging device 2. is there. When self-propelled cleaning device 101 satisfies a predetermined end condition (for example, when self-propelled cleaning device 101 returns to charging device 2 and executes step S203 to charge rechargeable battery 16), It may be configured to end the repetition of step S201 to step S205. In that case, the self-running cleaning apparatus 101 starts step S201 when the charging apparatus 2 leaves the charging apparatus 2 and starts cleaning or running.

As described above, the self-propelled cleaning device 101 according to the second embodiment includes the rechargeable battery 16 and receives power supply from the charging device 2 installed at a predetermined position. The self-propelled cleaning device 101 includes a remaining battery level detection unit 17 that detects the remaining battery level of the rechargeable battery 16, a reception strength measurement unit 12 that measures reception strength of a radio signal received from the charging device 2, and a predetermined reception strength. A predetermined value setting unit 103 that sets a level, and a travel region determination unit that determines at least one of the cleaning region and the travel region of the self-propelled cleaning device 101 according to the remaining battery level, the reception strength, and the predetermined reception strength level 14, and a completion determination unit 19 that determines at least one of whether or not cleaning is completed and whether or not the self-propelled cleaning device 101 has returned to the charging device 2. The predetermined value setting unit 103 changes the predetermined reception intensity level according to the determination result of the completion determination unit 19.

Moreover, the control method of the self-propelled cleaning device 101 according to the second embodiment is a control method of the self-propelled cleaning device 101 that includes the rechargeable battery 16 and receives power supply from the charging device 2 installed at a predetermined position. . The control method detects the remaining battery level of the rechargeable battery 16, measures the reception strength of a radio signal received from the charging device 2, sets an initial value of a predetermined reception strength level, sets the remaining battery level, received strength, In accordance with a predetermined reception intensity level, at least one of the cleaning region and the traveling region of the self-propelled cleaning device 101 is determined, whether or not the cleaning is completed, and the self-propelled cleaning device 101 returns to the charging device 2. At least one of whether or not it is determined is determined, and a predetermined reception strength level is changed.

According to this, at least one of the cleaning area and the traveling area is optimized depending on whether or not the cleaning is completed.

10 and the steps S202 and S205 in FIG. 11 are not essential to the second embodiment, and a configuration and operation without these may be employed.

<Modification>
Below, the modification of Embodiment 2 is demonstrated.

In Embodiment 2, the sensor unit 20 may further include a dust detection sensor, and the completion determination unit 19 may determine whether or not the self-propelled cleaning device 101 has completed cleaning based on the detection result of the dust detection sensor.

When the self-propelled cleaning device 101 approaches the charging device 2, if the amount of dust detected by the sensor unit 20 is greater than or equal to a predetermined value, it is determined that an area with insufficient cleaning remains (uncleaned). Is done.

When it is determined that an area that is not sufficiently cleaned remains, the predetermined value setting unit 103 increases the boundary reception strength level. This narrows the cleaning area and increases the density for cleaning.

As described above, when the space in which the self-propelled cleaning device 101 travels is too large, optimization is performed to narrow the space.

In the present modification, the determination regarding the narrow path (step S202) is the same as in the second embodiment, and thus the description thereof is omitted.

Furthermore, another modification will be described. In the second embodiment, the distance from the charging device 2 is grasped with respect to an area where the cleaning is insufficient, based on the reception intensity by the reception intensity measurement unit 12.

In the case where the region is switched according to the remaining battery level of the rechargeable battery 16 described in the first embodiment with reference to FIG. 2, when there is an insufficiently cleaned region in the region outside the boundary, the predetermined value setting unit 103 is The cleaning area may be expanded by lowering the boundary reception intensity level. Further, when there is an insufficiently cleaned area in the inner area of the boundary, the predetermined value setting unit 103 may narrow the cleaning area by increasing the boundary reception intensity level.

When there is an insufficiently cleaned region in the outer region of the boundary, the probability that the self-propelled cleaning device 101 can return to the charging device 2 decreases if the boundary is widened. The user may select whether to operate the self-propelled cleaning device 101 with an emphasis on cleaning or with an emphasis on returning to the charging device 2.

Further, when there is an insufficiently cleaned region in the region outside the boundary, when the region is switched according to the remaining battery level of the rechargeable battery 16 described with reference to FIG. The unit 17 may change the predetermined value of the remaining battery level determined in step S101 of FIG. 4 to a low value. That is, you may change so that the cleaning time of an outer area | region may be lengthened.

On the other hand, when there is an insufficiently cleaned region in the inner region of the boundary, the remaining battery level detection unit 17 may change the predetermined value of the remaining battery level determined in step S101 of FIG. 4 to a higher value. That is, you may change so that the cleaning time of an inner area | region may be lengthened.

As described above, according to the another modified example, the completion determination unit determines that the cleaning is not completed when an insufficiently cleaned region exists in the region outside the boundary, and the predetermined value setting unit determines the predetermined reception intensity level. Lower.

According to this, it is possible to widen the cleaning area when there is an insufficiently cleaned area in the area outside the boundary.

Further, the completion determination unit determines that the cleaning is incomplete when there is an insufficiently cleaned region in the inner region of the boundary and at least one of when the self-propelled cleaning device cannot return to the charging device, The predetermined value setting unit increases a predetermined reception intensity level.

According to this, when there is an insufficiently cleaned region in the inner region of the boundary, or when the self-propelled cleaning device cannot return to the charging device, the cleaning region or the traveling region can be narrowed.

Further, a part of the configuration of the self-propelled cleaning device of the first or second embodiment may be realized by a computer and a computer program. That is, a part or all of the functional blocks in the present disclosure may be configured to include an arithmetic processing unit and a storage unit that stores a control program. Examples of the arithmetic processing unit include an MPU and a CPU. A memory is exemplified as the storage unit. The control program recorded in the storage unit is executed by the arithmetic processing unit.

In addition, although this Embodiment demonstrated as an example the case where a signal was transmitted from the charging device 2 and a boundary was set with the reception intensity | strength in the self-propelled

cleaning apparatuses

1 and 101 of the signal, it is not restricted to this. The device that transmits the signal may be separate from the charging device or in a separate location.

As described above, the self-propelled cleaning device 1 according to the first aspect includes the rechargeable battery 16, and the rechargeable battery 16 is charged by receiving power from the charging device 2 installed at a predetermined position. The self-propelled cleaning device 1 includes a remaining battery level detection unit 17 that detects the remaining battery level of the rechargeable battery 16, a reception strength measurement unit 12 that measures the reception strength of a radio signal received from the charging device 2, and a predetermined reception strength. A predetermined value setting unit 13 that sets a level, and a travel region determination unit 14 that determines at least one of a cleaning region and a travel region of the self-propelled cleaning device 1 according to the remaining battery level, the reception strength, and the predetermined reception strength level. And. When the remaining battery level is equal to or higher than the first predetermined value, the traveling area determination unit 14 gives priority to an area where the reception intensity is lower than the predetermined reception intensity level over an area where the reception intensity is higher than the predetermined reception intensity level. Thus, it is determined as at least one of the cleaning region and the traveling region.

According to this, when the remaining battery level is equal to or greater than the predetermined value, the self-propelled cleaning device 1 can be driven by giving priority to the area away from the charging device 2.

In the second mode, the traveling area determination unit 14 determines that the reception strength is a predetermined reception level when the remaining battery level is less than the first predetermined value and the reception strength is less than a predetermined reception strength level. Self-propelled cleaning device 1 is self-propelled or rotated so that it may become an intensity level or more.

In the third aspect, the travel area determination unit 14 determines that the remaining battery level is less than the first predetermined value and the reception strength is equal to or higher than the predetermined reception strength level. A region having a high reception intensity is determined as at least one of a cleaning region and a traveling region.

The self-propelled cleaning device 101 according to the fourth aspect includes the rechargeable battery 16, and the rechargeable battery 16 is charged by receiving power from the charging device 2 installed at a predetermined position. The self-propelled cleaning device 101 includes a remaining battery level detection unit 17 that detects the remaining battery level of the rechargeable battery 16, a reception strength measurement unit 12 that measures reception strength of a radio signal received from the charging device 2, and a predetermined reception strength. A predetermined value setting unit 103 that sets a level, and a travel region determination unit that determines at least one of the cleaning region and the travel region of the self-propelled cleaning device 101 according to the remaining battery level, the reception strength, and the predetermined reception strength level 14, and a completion determination unit 19 that determines at least one of whether or not cleaning is completed and whether or not the self-propelled cleaning device 101 has returned to the charging device 2. The predetermined value setting unit 103 changes the predetermined reception intensity level according to the determination result of the completion determination unit 19.

According to this, it is possible to optimize by widening or narrowing at least one of the cleaning area and the traveling area.

In the fifth aspect, when the completion determination unit 19 determines that the cleaning is completed and at least one of the self-propelled cleaning device 1 returns to the charging device 2, the predetermined value setting unit 103 decreases the predetermined reception intensity level. To do.

The sixth aspect further includes a bag path determination unit 18 that determines whether or not the self-propelled cleaning device 101 has entered the path. When the completion determination unit 19 determines that the cleaning has not been completed and at least one of which has not returned to the charging device 2, the bag path determination unit 18 determines that the self-propelled cleaning device 101 has entered the bag path. The intensity level is not changed. When the narrow path determination unit 18 determines that the self-propelled cleaning device 101 is not in the narrow path, the predetermined value setting unit 103 increases the predetermined reception intensity level.

7th aspect WHEREIN: The completion determination part 19 determines with cleaning incomplete, when the area | region where cleaning is insufficient in the area | region where receiving intensity is lower than a predetermined receiving intensity level. Then, the predetermined value setting unit 103 decreases the predetermined reception intensity level.

According to this, the cleaning area can be expanded when there is an area where the cleaning is insufficient in the area relatively far from the charging device 2.

In the eighth aspect, the completion determination unit 19 has not been able to return the self-propelled cleaning device 101 to the charging device 2 when there is an insufficiently cleaned region in the region where the reception strength is higher than the predetermined reception strength level. In this case, it is determined that the cleaning is not completed. Then, the predetermined value setting unit 103 increases the predetermined reception intensity level.

According to this, when there is an insufficiently cleaned region in a region relatively close to the charging device 2, or when the self-propelled cleaning device 101 cannot return to the charging device 2, at least one of the cleaning region and the traveling region. Can be narrowed.

9th aspect is the control method of the self-propelled cleaning apparatus 1 which is equipped with the rechargeable battery 16 and receives the supply of electric power from the charging apparatus 2 installed at a predetermined position, and the rechargeable battery 16 is charged. The control method detects the remaining battery level of the rechargeable battery 16, measures the reception strength of the radio signal received from the charging device 2, sets a predetermined reception strength level, sets the remaining battery level, the received strength, and the predetermined The at least one of the cleaning region and the traveling region of the self-propelled cleaning device 1 is determined according to the reception strength level of the self-propelled cleaning device 1, and when the remaining battery level is equal to or higher than the first predetermined value, The low area is determined as at least one of the cleaning area and the traveling area in preference to the area where the reception intensity is higher than the predetermined reception intensity level.

10th aspect is the control method of the self-propelled cleaning apparatus 101 which is provided with the rechargeable battery 16 and receives the supply of electric power from the charging apparatus 2 installed at a predetermined position, and the rechargeable battery 16 is charged. The control method detects the remaining battery level of the rechargeable battery 16, measures the reception strength of a radio signal received from the charging device 2, sets an initial value of a predetermined reception strength level, sets the remaining battery level, received strength, In accordance with a predetermined reception intensity level, at least one of the cleaning region and the traveling region of the self-propelled cleaning device 101 is determined, whether or not the cleaning is completed, and the self-propelled cleaning device 101 returns to the charging device 2. At least one of whether or not it is determined is determined, and a predetermined reception strength level is changed.

The eleventh aspect is a program that causes a computer to execute the control method for the self-propelled cleaning device according to the ninth or tenth aspect.

As described above, the self-propelled cleaning device, the control method of the self-propelled cleaning device, and the program thereof according to the present disclosure perform at least one of self-propelled and cleaning with a boundary provided realistically or virtually.

This disclosure can be used regardless of the location and usage of home, office, factory, facility, store, building, etc. Further, the present disclosure can be used not only for cleaning but also for a self-propelled device that searches and records a certain space. In addition to a self-propelled device that travels in a house or the like, it may be a moving body that moves in the air, underwater, underground, space, or the like.

DESCRIPTION OF SYMBOLS 1,101 Self-propelled cleaning apparatus 2 Charging apparatus 11 Reception part 12 Reception intensity measurement part 13,103 Predetermined value setting part 14 Traveling area determination part 15 Drive part 16 Rechargeable battery 17 Battery remaining charge detection part 18 Bag alley determination part 19 Completion determination part 20 sensor unit 21 transmitting unit 22 charging device control unit 23 charging unit

Claims

A self-propelled cleaning device comprising a rechargeable battery, wherein the rechargeable battery is charged by receiving power from a charging device installed at a predetermined position;
A battery level detection unit for detecting the battery level of the rechargeable battery;
A reception intensity measuring unit for measuring the reception intensity of a radio signal received from the charging device;
A predetermined value setting unit for setting a predetermined reception strength level;
A traveling region determination unit that determines at least one of a cleaning region and a traveling region of the self-propelled cleaning device according to the remaining battery level, the reception strength, and the predetermined reception strength level;
With
The travel area determination unit
If the remaining battery level is greater than or equal to the first predetermined value,
Self-running cleaning in which an area where the reception intensity is lower than the predetermined reception intensity level is prioritized over an area where the reception intensity is higher than the predetermined reception intensity level and is determined as at least one of the cleaning area and the running area apparatus.
The travel area determination unit
When the remaining battery level is less than the first predetermined value and the reception strength is less than the predetermined reception strength level,
The self-propelled cleaning device according to claim 1, wherein the self-propelled cleaning device is self-propelled or rotated so that the reception intensity is equal to or higher than the predetermined reception intensity level.
The travel area determination unit
When the remaining battery level is less than the first predetermined value and the reception strength is equal to or higher than the predetermined reception strength level,
The self-propelled cleaning device according to claim 1, wherein an area where the reception intensity is higher than the predetermined reception intensity level is determined as at least one of the cleaning area and the traveling area.
A self-propelled cleaning device comprising a rechargeable battery, wherein the rechargeable battery is charged by receiving power from a charging device installed at a predetermined position;
A battery level detection unit for detecting the battery level of the rechargeable battery;
A reception intensity measuring unit for measuring the reception intensity of a radio signal received from the charging device;
A predetermined value setting unit for setting a predetermined reception strength level;
A traveling region determination unit that determines at least one of a cleaning region and a traveling region of the self-propelled cleaning device according to the remaining battery level, the reception intensity, and the predetermined reception intensity level;
A completion determination unit that determines whether or not cleaning is completed, and at least one of whether or not the self-propelled cleaning device has returned to the charging device;
With
The predetermined value setting unit is a self-running cleaning device that changes the predetermined reception intensity level according to a determination result of the completion determination unit.
When the completion determining unit determines at least one of completion of cleaning and returning of the self-propelled cleaning device to the charging device,
The self-propelled cleaning device according to claim 4, wherein the predetermined value setting unit decreases the predetermined reception intensity level.
Further comprising a bag path determination unit that determines whether or not the self-propelled cleaning device has entered a path;
When the completion determination unit determines that the cleaning is incomplete, and at least one of not returning to the charging device,
When the bag path determination unit determines that the self-propelled cleaning device has entered the path, the predetermined reception intensity level is not changed,
The self-propelled cleaning device according to claim 5, wherein the predetermined value setting unit increases the predetermined reception intensity level when the bag narrow path determining unit determines that the self-propelled cleaning device is not in the bag narrow path.
The completion determination unit determines that the cleaning is not completed when there is an insufficient cleaning area in an area where the reception intensity is lower than the predetermined reception intensity level.
The self-propelled cleaning device according to claim 4, wherein the predetermined value setting unit decreases the predetermined reception intensity level.
The completion determination unit performs cleaning when there is an insufficiently cleaned area in an area where the reception intensity is higher than the predetermined reception intensity level, or when the self-propelled cleaning apparatus cannot return to the charging apparatus. Judged as incomplete,
The self-propelled cleaning device according to claim 4, wherein the predetermined value setting unit increases the predetermined reception intensity level.
A control method of a self-propelled cleaning device that includes a rechargeable battery and receives power supply from a charging device installed at a predetermined position,
Detect the remaining battery level of the rechargeable battery,
Measure the reception strength of the radio signal received from the charging device,
Set a predetermined reception strength level,
According to the remaining battery level, the reception intensity, and the predetermined reception intensity level, determine at least one of a cleaning area and a traveling area of the self-propelled cleaning device,
When the remaining battery level is equal to or higher than a first predetermined value, the region where the reception strength is lower than the predetermined reception strength level has priority over the region where the reception strength is higher than the predetermined reception strength level. Determining at least one of the cleaning area and the traveling area;
Control method of self-propelled cleaning device.
A control method of a self-propelled cleaning device that includes a rechargeable battery and receives power supply from a charging device installed at a predetermined position,
Detect the remaining battery level of the rechargeable battery,
Measure the reception strength of the radio signal received from the charging device,
Set an initial value for a given reception strength level,
According to the remaining battery level, the reception intensity, and the predetermined reception intensity level, determine at least one of a cleaning area and a traveling area of the self-propelled cleaning device,
Determining at least one of whether or not cleaning has been completed and whether or not the self-propelled cleaning device has returned to the charging device, and changing the predetermined reception intensity level;
Control method of self-propelled cleaning device.
A program for causing a computer to execute the control method of the self-propelled cleaning device according to claim 9.
A program for causing a computer to execute the control method of the self-propelled cleaning device according to claim 10.