JP2016220823A - Self-propelled cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reliably prevent a self-propelled cleaner from entering an entry prohibition area preset on a floor surface.SOLUTION: A self-propelled cleaner comprises: a case; a plurality of drive wheels; a travel control unit that makes the case travel by controlling the rotation of the drive wheels; a dust collection unit that collects dust on a floor surface; a floor surface detection unit that detects the state of the floor surface by emitting a predetermined light beam to the floor surface; and an entry prohibition determination unit that determines the boundary of an entry prohibition area by detecting the presence of an entry prohibition display member formed on the floor surface on the basis of information that indicates the state of the floor surface detected by the floor surface detection unit.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a self-propelled cleaner, and more particularly, to a self-propelled cleaner that travels while cleaning a predetermined movement range except an entry prohibition region.

Conventionally, a self-propelled cleaner that travels autonomously and cleans the floor surface has been used.
The conventional self-propelled cleaner uses an ultrasonic sensor to detect obstacles such as furniture and changes the direction of movement. It uses a floor detection sensor consisting of a pair of infrared light-emitting elements and light-receiving elements. Then, there are those that detect the level difference of the floor surface and change the moving direction, and those that detect the magnetic tape previously stuck on the floor with a magnetic switch and control the moving direction (for example, Patent Document 1).

  In addition, as a technique for detecting the position of the moving body, detecting the shift in the moving direction, and running control, a checkered pattern applied to the floor surface is detected as a position of the moving body by a plurality of pattern detection sensors including a light emitting element and a light receiving element. Detecting the deviation of the posture (Patent Document 2), detecting the color of the line and the mark provided on the traveling road surface by receiving the reflected light from the floor surface, guiding the moving vehicle along the line, A device that controls the operation of a moving vehicle based on the detected mark color (Patent Document 3) has been proposed.

  Further, in order to prevent the mobile body from entering the predetermined entry prohibition area, in a space indicating the boundary of the area, infrared light is transmitted to form a so-called virtual fence, and the mobile body having the infrared light receiving element is A device that changes the moving direction so as not to enter the entry prohibition area when the infrared ray is received is also used.

JP-A-8-224194 Japanese Patent Laid-Open No. 10-291180 JP-A-63-39006

However, in the case of using a virtual fence, if there is an object that blocks transmitted infrared rays, the infrared rays may not be received, and the moving body may enter the entry prohibition area.
In addition, in the case of using a floor detection sensor, the presence or absence of a floor and a step on the floor are detected based on the intensity of the reflected light. It may be a partial area of the surface, and a flat entry prohibition area cannot be detected simply by detecting a step. Furthermore, when sticking a magnetic tape on the floor surface of the area which does not want to enter, it is necessary to provide a magnetic switch in the cleaner body, and the structure of the body becomes complicated.

  Therefore, the present invention has been made in consideration of the above circumstances, and is set in advance even in a space where objects such as furniture are arranged or on a floor surface without a step. It is an object of the present invention to provide a self-propelled cleaner capable of cleaning a predetermined area without entering an entry prohibition area.

  The present invention includes a housing, a plurality of driving wheels, a traveling control unit that controls the rotation of the driving wheels to travel the housing, a dust collecting unit that collects dust on the floor, and a predetermined light beam. A floor detection unit that emits light to the floor and detects the state of the floor, and an entry prohibition display member formed on the floor based on information indicating the state of the floor detected by the floor detection unit The self-propelled cleaner is provided with an entry prohibition determination unit that detects the boundary of the entry prohibition area by detecting the presence of the

  The entry prohibition determination unit may determine a boundary of the entry prohibition area based on a detection pattern of the entry prohibition display member.

In addition, when the entry prohibition determination unit detects the presence of the entry prohibition display member, the traveling control unit stops the casing and changes the traveling direction to a direction different from the direction of proceeding to the entry prohibition region. Thereafter, the housing is caused to travel.
According to this, when the presence of the entry prohibition display member is detected, the case is moved after changing the traveling direction to a direction different from the direction of proceeding to the entry prohibition area, so the self-propelled cleaner is prohibited from entering. It is possible to reliably prevent entry into the area.

In addition, the floor surface detection unit is provided on a bottom surface of the housing facing the floor surface and in a front portion with respect to a forward direction of the housing.
According to this, since the floor surface detection part is provided in the front part with respect to the advancing direction of the casing, the self-propelled cleaner is prohibited from entering before the majority of the casing enters the entry prohibition area. It is possible to detect that the vehicle has traveled to the boundary.

Further, the floor surface detection unit is an infrared sensor including a light emitting unit that emits infrared rays in the direction of the floor surface and a light receiving unit that receives infrared rays reflected by the floor surface.
In addition, when the floor surface detection unit includes one or a plurality of the infrared sensors and includes two infrared sensors, the two infrared sensors are juxtaposed in a direction perpendicular to the forward direction of the housing. Features.
According to this, when two infrared sensors are provided, the direction of entering the entry prohibition display member is recognized by juxtaposing the two infrared sensors in a direction perpendicular to the forward direction of the housing. It is possible to prevent erroneous detection of the entry prohibition area, and to reliably change the traveling direction in a direction different from the direction of proceeding to the entry prohibition area.

  In addition, when the floor surface detection unit includes one or a plurality of the infrared sensors and includes two infrared sensors, the two infrared sensors are juxtaposed in a direction perpendicular to the forward direction of the housing. Features.

  In addition, the entry prohibition display member detected by the entry prohibition determination unit includes a detection pattern in which a plurality of black and white elongated rectangular patterns are alternately arranged.

  Further, the entry prohibition display member is a tape showing a boundary of an entry prohibition region formed of a pattern in which a light absorption surface that absorbs the light beam and a light reflection surface that reflects the light beam are combined. .

  According to this invention, since the entry prohibition display member formed on the floor surface is detected and the boundary of the entry prohibition area is determined, even when traveling in a space where objects such as furniture are arranged, or the entry prohibition area is Even when it exists on the floor surface without a level | step difference, it can prevent reliably that a self-propelled cleaner enters into an entry prohibition area.

It is a block diagram of the configuration of an embodiment of the self-propelled cleaner of the present invention. It is a schematic explanatory drawing of one Example of the bottom view and side view of the self-propelled cleaner of this invention. It is explanatory drawing of the floor surface state detected by a floor surface detection part. It is explanatory drawing of one Example of the method of detecting the approach to an approach prohibition area | region. In this invention, it is explanatory drawing of one Example of the pattern of the prohibition tape formed on a floor surface. It is explanatory drawing of one Example of the light emission pattern of the emitted light of a floor surface detection part, and the light reception pattern of incident light. It is explanatory drawing of one Example of the course change of the self-propelled cleaner after having detected that it was going to enter the approach prohibition area | region. It is explanatory drawing of one Example of the pattern of the prohibition tape of this invention.

Hereinafter, the present invention will be described based on the embodiments shown in the drawings.
However, this does not limit the present invention.

<Configuration of self-propelled vacuum cleaner>
FIG. 1 is a block diagram showing the construction of an embodiment of the self-propelled cleaner according to the present invention.
In FIG. 1, a self-propelled cleaner (hereinafter also referred to as a vacuum cleaner) of the present invention mainly includes a control unit 11, a rechargeable battery 12, an input unit 13, an intake port 14, an exhaust port 15, a dust collecting unit 16, and a suction unit. Wind generation unit 17, obstacle detection unit 18, travel control unit 21, drive wheel 22, brush drive unit 23, main brush 24, side brush 25, floor surface detection unit 31, entry prohibition determination unit 32, storage unit 41, guidance signal A receiving unit 51 and a charging stand connection unit 52 are provided.

In order to charge the self-propelled cleaner 1, the charging stand 100 is fixedly installed at a predetermined position such as a room for cleaning. By connecting the charging stand 100 and the self-propelled cleaner 1, the self-propelled cleaner 1 is supplied with electric power from the charging stand in contact with the charging stand 100, and the rechargeable battery of the self-propelled cleaner 1. 12 is charged.
The self-propelled cleaner 1 of this invention sucks in air containing dust on the floor surface and exhausts the air from which dust has been removed while self-propelled on the floor of a predetermined area. It is a cleaning robot that cleans. The self-propelled cleaner 1 of the present invention has a function of autonomously returning to the charging stand when cleaning is completed.
In addition, when the presence of a predetermined pattern of the entry prohibition display member (hereinafter also referred to as a prohibition tape) formed on the floor surface is detected by the floor surface detection unit 31, the travel is temporarily stopped, the direction is changed, It has a function of running so as not to enter the entry prohibition area defined by the prohibition tape and cleaning the floor of a predetermined room.

In FIG. 2, one Example of the bottom view and side view of a self-propelled cleaner is shown.
FIG. 2A is a bottom view of the self-propelled cleaner, and is a view of the bottom surface viewed from the floor side.
In FIG. 2 (a), the self-propelled cleaner of the present invention has a circular casing, and an intake port 14, a main brush 24, two side brushes 25 (25a, 25b), Two drive wheels 22 (22a, 22b), a freely rotating rear wheel 26, and two floor surface detectors 31 (31a, 31b) are provided.
Here, the upward direction of the drawing is the traveling direction in which the cleaner advances. Further, inside and outside the casing, there are a control unit 11, a rechargeable battery 12, a dust collection unit 16, a suction air generation unit 17, a failure detection unit 18, a travel control unit 21, a drive wheel 22, a brush drive unit 23, FIG. The other components shown in are provided.

  The self-propelled cleaner 1 rotates in a stationary state by a pair of drive wheels 22 rotating forward in the same direction, moving forward, moving backward in the same direction, moving backward, and rotating in opposite directions. For example, when the cleaner 1 reaches the periphery of the cleaning area, collides with an obstacle on the course, or detects a prohibited tape pattern, the driving wheel is stopped and the pair of driving wheels are rotated in opposite directions. And change the direction. Thereby, the vacuum cleaner 1 is self-propelled while avoiding an obstacle over the entire installation place or the entire desired range.

In addition, the self-propelled cleaner 1 receives the induction signal emitted from the induction signal transmission unit 102 of the charging stand and, for example, when cleaning is completed, the remaining charge of the rechargeable battery 12 is reduced, or When the set time of the set cleaning timer elapses, the vehicle automatically repeats linear traveling and rotating operation or wall-carrying traveling toward the charging base 100 until it reaches the charging base 100. Return.
However, if there is an obstacle, it moves in the direction of the charging stand 100 while avoiding it.

Hereinafter, each component shown in FIG. 1 will be described.
The control unit 11 in FIG. 1 is a part that controls the operation of each component of the cleaner 1, and is mainly realized by a microcomputer including a CPU, a ROM, a RAM, an I / O controller, a timer, and the like.
The CPU organically operates each hardware based on a control program stored in advance in a ROM or the like, and executes a cleaning function, a traveling function, an entry prohibition determination function, and the like according to the present invention.
For example, as will be described later, when the cleaner 1 tries to enter the entry prohibited region beyond the boundary of the entry prohibited region determined by the entry prohibition determination unit 32, the control unit 11 stops the case and enters After changing the traveling direction in a direction different from the direction of proceeding to the prohibited area, the dust collecting unit 33 is allowed to collect dust in the floor area other than the prohibited area by moving the housing.

The rechargeable battery 12 is a part that supplies electric power to each functional element of the cleaner 1, and is a part that mainly supplies electric power for performing the cleaning function and travel control. For example, a rechargeable battery such as a lithium ion battery, a nickel metal hydride battery, or a Ni—Cd battery is used.
The rechargeable battery 12 is charged in a state where the vacuum cleaner 1 and the charging stand 100 are connected.
The vacuum cleaner 1 and the charging stand 100 are connected by bringing exposed charging terminals that are the connecting portions (52, 101) into contact with each other.
In addition, the battery remaining amount detection part which is not shown in figure is provided, the remaining capacity (remaining battery amount) of a rechargeable battery is detected, and it should return to the charging stand based on the detected remaining battery amount (%) You may decide to return.

The input unit 13 is a portion where the user inputs an instruction for the operation of the cleaner 1, and is provided on the surface of the housing of the cleaner 1 as an operation panel or an operation button.
Alternatively, as the input unit 13, a remote control unit is provided separately from the main body of the vacuum cleaner, and when the user presses an operation button provided on the remote control unit, an infrared ray or a radio wave signal is transmitted, and the operation is performed by wireless communication. An instruction may be input.
As the input unit 13, a power switch, a start switch, a main power switch, a charge request switch, other switches (operation mode switch, timer switch), and the like are provided.

The dust collecting unit 16 is a part that collects dust on the floor surface, and is a part that executes a cleaning function that collects dust and dust taken in from the air inlet 14. It mainly includes a dust collection container (not shown), a filter unit, and a cover unit that covers the dust collection container and the filter unit.
In addition, it has an inflow path that communicates with the intake port 14 and an exhaust path that communicates with the exhaust port 15, and guides the air sucked from the intake port 14 into the dust collecting container through the inflow channel. Air is discharged to the outside from the exhaust port 15 through the discharge path.
The intake port 14 and the exhaust port 15 are portions that perform intake and exhaust of air for cleaning, respectively.
The suction air generating unit 17 is a part that generates an air flow for sucking dust on the floor surface from the air inlet 14, and mainly includes a blower that sucks air in the direction of the dust collecting unit 16.

The obstacle detection unit 18 is a part that detects an obstacle existing around the housing of the cleaner 1. For example, the obstacle detector 18 contacts an obstacle such as an indoor desk or chair while the self-propelled cleaner 1 is running. Or it detects that it is approaching. As the obstacle detection unit 18, for example, a contact sensor or an obstacle sensor including a micro switch, an ultrasonic sensor, an infrared distance measuring sensor, or the like is used, and is arranged at the front part of the side surface of the casing of the cleaner 1.
The CPU recognizes the position where the obstacle exists based on the signal output from the obstacle detection unit 18. Based on the position information of the recognized obstacle, a direction to travel next is determined while avoiding the obstacle.

  The traveling control unit 21 is a part that controls the autonomous traveling of the self-propelled cleaner 1, and mainly controls the rotation of the driving wheel 22 described above to automatically perform linear traveling and rotational operation. Run the housing. The driving wheel 22 is composed of a left wheel and a right wheel, and is driven by different driving motors, thereby allowing the self-propelled cleaner 1 to perform operations such as forward movement, backward movement, rotation, and stationary.

The rear wheel 26 shown in FIG. 2A is not driven and rotates freely in any direction of 360 degrees when the cleaner moves.
Further, as shown in FIG. 2A, the main brush 24 is disposed in the vicinity of the intake port 14 and has a width approximately equal to the width of the intake port.
The side brush 25 is composed of a pair of right side brush 25a and left side brush 25b, and as shown in FIG. 2A, the side brush 25 is disposed at a position where a part thereof protrudes from the housing.

  The brush drive unit 23 is a part that rotationally drives the side brush 25 and the main brush 24. The brush drive unit 23 includes a motor, a belt, a pool, and the like, and includes a power transmission mechanism that transmits the rotation of the motor to the side brush 25 and the main brush 24. The rotation of the motor is transmitted to the main brush 24 to rotate the main brush 24, and the rotation of the main brush 24 is further transmitted to the side brush 25 to rotate the side brush 25.

The floor surface detection unit 31 is a part that emits a predetermined light beam to the floor surface to detect the state of the floor surface, and mainly detects a predetermined pattern of an entry prohibition display member (prohibition tape) formed on the floor surface. In addition, the presence or absence of a floor surface on which the cleaner 1 travels and the level difference of the floor surface are detected.
Further, the floor surface detection unit 31 outputs information indicating the detected state of the floor surface. Based on this information, the control unit 11 and the entry prohibition determination unit 32 determine the state of the floor surface on which the cleaner is currently traveling. For example, the entry prohibition determination unit 32 described later detects the presence of an entry prohibition display member (prohibition tape) formed on the floor surface from the information output by the floor surface detection unit 31, and sets the boundary of the entry prohibition region. judge. The prohibited tape is formed at the boundary between a normal floor surface area to be cleaned and an entry prohibited area.
As shown in FIG. 2, the floor surface detection unit 31 faces the floor surface in order to detect the prohibited tape as soon as possible without most of the vacuum cleaner housing entering the entry prohibited area. It is a bottom surface of the housing, and is provided in the front portion with respect to the advancing direction of the housing.

In addition, as the floor surface detection unit 31, an infrared sensor including a light emitting unit 33 that emits infrared rays in the floor surface direction and a light receiving unit 34 that enters infrared rays reflected on the floor surface is used. When the light beam (emitted light) emitted from the light emitting unit 33 toward the floor surface is reflected on the floor surface, the reflected light enters the light receiving unit 34 and detects the intensity of the light beam (incident light) incident on the light receiving unit 34. To do.
Although it is preferable to use infrared rays as the emitted light, visible light, ultrasonic waves, or the like may be used.
For example, a light emitting diode (LED) is used for the light emitting unit 33, and a photodetector is used for the light receiving unit 34.
Each time light enters the light receiving unit 34, a signal corresponding to the incident intensity is output. The output signal is digitally processed by the control unit 11 to obtain a detection signal having a pulse waveform, and information indicating the state of the floor surface is obtained from the waveform pattern of the detection signal.

Further, the floor surface detection unit 31 includes one or a plurality of infrared sensors, and as shown in FIG. 2A, when two infrared sensors (31a, 31b) are provided, the two infrared sensors are connected to the housing. What is necessary is just to arrange | position in the direction perpendicular | vertical with respect to the advancing direction of a body | separation by predetermined distance.
When two infrared sensors are provided, the presence of the prohibited tape is detected first by either one of the infrared sensors when the casing enters from the slanting direction with respect to the prohibited tape indicating the boundary of the entry prohibited area. Therefore, the approach direction can be recognized. Furthermore, by recognizing the entry direction, the case can be changed in a direction so as not to enter the entry prohibited area.
In addition, since the presence of the prohibited tape is detected by the two infrared sensors, erroneous detection can be prevented and detection accuracy can be increased.
When only one infrared sensor is provided, it is provided at the front part of the housing, but may be provided at the center of the two infrared sensors (31a, 31b) in FIG.
When the presence of the prohibition tape is detected by one infrared sensor, in order not to enter the entry prohibition area, for example, it may be rotated 180 degrees at the position where the prohibition tape is detected and returned to the traveling direction.

The entry prohibition determination unit 32 detects the presence of an entry prohibition display member (prohibition tape) formed on the floor surface based on the intensity of the light beam detected by the floor surface detection unit 31 or the presence / absence of detection of the light beam, This is a part for determining whether or not the detected position of the floor surface is the boundary of the entry prohibition area.
The entry prohibition area is an area that you do not want to enter the vacuum cleaner. For example, the entry prohibition area is a floor surface with a step or an area with dangerous goods. In this invention, it means an area surrounded by a prohibition tape. Shall.
When it is determined that it is the boundary of the entry prohibited area, the traveling control unit 21 immediately stops the casing at the position where the prohibited tape is detected. Also, assuming that the vehicle is traveling forward, after the forward traveling is stopped, the vehicle is rotated by a predetermined angle at the stopped position, and the traveling direction is changed to a direction different from the direction of proceeding to the entry prohibition region. Thereafter, traveling is started in the changed traveling direction.

For example, when infrared rays are emitted a plurality of times at regular intervals on a surface of the same height and the same material as the normal floor surface on which the cleaner 1 travels, if the reflected light is received by the light receiving unit 34, it is relatively strong. Since the intensity signal is detected a plurality of times at regular intervals similar to the emitted light, it is determined that a normal floor surface exists.
On the other hand, when infrared rays are emitted a plurality of times at regular intervals on the surface of an area where an entry prohibition display member (prohibition tape), which will be described later, is formed, the emitted light is absorbed by the prohibition tape and a portion that is hardly reflected occurs.
That is, a portion where incident light having a predetermined intensity is not detected occurs in the light receiving unit 34. Incident light having a predetermined intensity is not detected at a constant interval that is the same as the infrared emission interval, and the detection signal output from the light receiving unit 34 is a predetermined prohibited region signal pattern as shown in FIG. If so, it is determined that a prohibited tape pattern indicating the boundary of the progress prohibited area has been detected.
Further, when the state in which the intensity of the detection signal is at a level considerably lower than the detection level of the normal floor surface continues for a predetermined period or longer, it can be determined that the floor surface with a step is detected.

  When the two left and right floor surface detectors (31a, 31b) are provided at the positions shown in FIG. 2 (a), the two floor surface detectors (31a, 31b) For example, a floor surface detection unit (infrared sensor) for detecting a step may be provided in the vicinity of the two side brushes 25 in front of the drive wheels. Good.

  The induction signal receiving unit 51 is a part that is disposed in the front part of the housing of the vacuum cleaner and receives a signal output from the induction signal transmission unit 102 of the charging stand 100. The induction signal is used for the feedback process of the self-propelled cleaner and the connection process to the charging stand, and for example, an infrared signal is used.

The charging stand connection unit 52 is a terminal for inputting power for charging the rechargeable battery 12.
By physically contacting the charging stand connecting portion 52 and the cleaner connecting portion 101 of the charging stand 100, the power supplied from the power supply portion 104 of the charging stand 100 is supplied to the rechargeable battery 12 and charged.
The charging stand connecting portion 52 is formed in a state exposed on the side surface of the main body of the cleaner 1 in order to make contact with the cleaner connecting portion 101.
After the self-propelled cleaner 1 returns to the vicinity of the charging stand 100, the charging stand connecting portion 52 and the cleaner connecting portion 101 are brought into contact with each other using infrared rays received by the induction signal receiving portion 51. Perform connection processing.

The storage unit 41 is a part that stores information and programs necessary for realizing various functions of the self-propelled cleaner 1, and includes a semiconductor storage element such as a RAM and a ROM, a storage device such as a hard disk and an SSD, and the like. These storage media are used.
The storage unit 41 mainly stores a detection signal pattern 42, a floor surface signal pattern 43, a prohibited area signal pattern 44, a step signal pattern 45, and the like.

The detection signal pattern 42 is a light receiving pattern that indicates a temporal change in the intensity of the detection signal output from the light receiving unit 34.
FIG. 6 shows an explanatory diagram of an embodiment of a light emission pattern of emitted light and a light receiving pattern of incident light.
FIG. 6A shows an example of temporal change in the intensity of infrared rays emitted from the light emitting unit 33. That is, assuming that the intensity of infrared light emitted from the light emitting unit 33 is constant and that infrared light is emitted continuously at a predetermined time interval (for example, 2 msec), the light emission pattern is a pattern that changes in pulses. It becomes.

FIG. 6B shows an example of a light receiving pattern when normal floor surface detection is performed when the emitted light hits the floor surface and is reflected, and the reflected light is incident on the light receiving unit 34. . Here, although the intensity of the incident light is smaller than that of the emitted light, the light receiving pattern is a pulse-like pattern that changes in substantially the same cycle as the light emitting pattern. The light reception pattern of the incident reflected light is binarized using a predetermined threshold level and detected as a digital signal having a value of 0 or 1.
That is, when the vacuum cleaner is cleaning a normal floor surface, a pulse pattern with a constant intensity is continuously detected at a constant cycle, and a binarized light reception pattern as shown in FIG. The detection signal pattern 42 is temporarily stored.

FIG. 6C shows an example of a light receiving pattern of incident light when a prohibited tape formed on the floor surface is detected. Here, at the position where the prohibition tape is formed, there is a place where the reflection of light occurs and a place where the reflection does not occur, and therefore, an irregular light receiving pattern having a portion where no pulse is detected.
FIG. 6D shows an example of a light receiving pattern of incident light when a step on the floor surface is detected. When the step is detected, only incident light having an intensity below a certain threshold value is detected, so that no pulse is detected.

FIG. 5 shows an explanatory view of an embodiment of an entry prohibition display member (prohibition tape) used in the present invention.
The entry prohibition display member (prohibition tape) is a tape that indicates the boundary of an entry prohibition area formed of a pattern in which a light absorption surface that absorbs light rays and a light reflection surface that reflects light rays are combined.
FIG. 5A shows an example of the prohibited tape pattern. The prohibition tape 36 is formed on the floor surface in a pattern as shown in FIG. 5A. As shown in FIG. 5B, the prohibition tape 36 enters the self-propelled cleaner 1 out of the floor surface of a predetermined room or the like. It is formed so as to surround the floor area (the entry prohibition area 39) that is not desired.

The prohibition tape 36 is a pressure-sensitive adhesive tape having a thickness of about 0.2 mm using a material such as PET, poron, metal film, or rubber and coated with an adhesive material on one surface. This is a striped (horizontal striped) tape in which rectangular patterns are arranged.
When the emitted light hits the black portion of the prohibition tape 36, the reflection of the light is remarkably reduced or not reflected. An antireflection film for preventing light reflection may be applied to the surface of the black portion. In the white portion, the reflected light with sufficient intensity is obtained similarly to the floor surface. Instead of white, a transparent portion may be formed so that reflected light similar to that of a normal floor surface can be obtained.
Hereinafter, the black pattern portion is also referred to as a light absorbing surface, and the white pattern portion is also referred to as a light reflecting surface.

The prohibited tape pattern of FIG. 5A includes two black rectangular patterns that are elongated in the horizontal direction of the paper, three white rectangular patterns, and a plurality of tapes formed on the entry prohibited area side of the rectangular pattern. And a rectangular pattern in which vertically long black and white are alternately arranged. In the drawing, a white rectangular pattern is defined between colored black rectangular patterns.
The self-propelled cleaner 1 is supposed to run on the floor surface above the prohibited tape pattern of FIG. 5 (a), and when entering the elongated rectangular pattern of the prohibited tape from above the paper surface, FIG. Since a light receiving pattern as shown in (c) is detected, the direction is changed upward and the traveling direction is changed.

In FIG. 5 (a), the white and black rectangular patterns that are elongated in the horizontal direction are for detecting the entrance of the cleaner that has traveled from above, avoiding false detection of similar patterns and spots. Therefore, it is preferable that there are at least two of each.
The vertically long rectangular pattern in FIG. 5A is formed when the robot cleaner enters the tape at a shallow angle (for example, an angle of 45 degrees or less). A white and black pattern having the same thickness as the pattern is preferable.

  The width and size of the forbidden tape pattern cannot be uniquely set because appropriate values differ depending on the traveling speed V of the cleaner and the emission period (oscillation clock frequency C) of the emitted light. In order to reliably detect the presence of prohibited tape, when traveling on each rectangular pattern of prohibited tape, infrared rays should be emitted at intervals such that multiple irradiations of infrared rays are performed on the rectangular pattern. Is preferred.

For example, when the traveling speed of the vacuum cleaner V = 0.3 (m / s) and the oscillation clock frequency C = 500 (Hz), the distance L that the cleaner travels per clock is L = V / C = 0. .6 (mm).
Here, for example, assuming that the width (W) of the elongated white rectangular pattern is 5 mm, the number of emitted lights (number of clocks) N every time it passes through the width of 5 mm is N = W / L. = 5 (mm) /0.6 (mm) = 8.333. In this case, in order to pass over a white rectangular pattern having a width of 5 mm, infrared rays are emitted at least eight times. Since the portion of the white rectangular pattern is a light reflecting surface, all of the infrared light emitted from the light reflecting surface is incident on the light receiving unit 34, and eight or more times of infrared light reception are detected.
On the other hand, since the black rectangular pattern portion is a light absorbing surface, infrared rays emitted to the black portion a plurality of times are not reflected and are not received by the light receiving unit 34. As described above, by allowing infrared rays to be emitted a plurality of times in one rectangular pattern, the pattern of the prohibited tape can be reliably detected.

In addition, when the vacuum cleaner enters from the tanning direction with respect to the white and black rectangular patterns elongated in the horizontal direction, the distance passing through the widths of these rectangular patterns becomes long. For example, when a vacuum cleaner enters a white rectangular pattern with a traveling speed of 0.3 (m / s) and an inclination of 45 degrees, the passing distance is √2 times that of a case of entering vertically. Become.
That is, the number N of clocks output when passing through the white pattern is 8.333 × √2, about 12 times.
The number of clocks N also varies depending on the traveling speed V of the cleaner. For example, when V = 0.1 (m / s), the number of clocks output when passing through the white pattern is 8 .333 / (0.1 / 0.3) = 24.999. The traveling speed of the cleaner can be acquired based on information from an encoder incorporated in the drive wheel.

As a numerical example of the prohibited tape pattern shown in FIG. 5A, the widths (mm) from symbol a to h shown in FIG.
a = 5 mm, b = 10 mm, c = 5 mm, d = 10 mm, e = 5 mm, f = 35 mm, g = 5 mm, h = 10 mm
However, the above numerical example is an example, and is not limited to these numerical values.

In FIG. 1, a floor signal pattern 43, a prohibited area signal pattern 44, and a step signal pattern 45 are signal patterns stored in advance in the storage unit 41, and the floor where the entry prohibition determination unit 32 is currently advancing. It is a signal pattern used when determining in which state the surface is.
For example, the floor surface signal pattern 43 is a signal pattern of incident light received when the floor surface detection unit 31 detects a normal floor surface, and corresponds to a light reception pattern as shown in FIG. Information to be stored is stored in the storage unit 41 in advance.

The detection signal pattern 42 of the incident light currently received by the floor surface detection unit 31 is compared with the floor surface signal pattern 43 stored in the storage unit 41, and when both patterns substantially match, the vehicle is currently traveling. The place is determined to be a normal floor surface.
The prohibited area signal pattern 44 and the step signal pattern 45 are also stored in the storage unit 41 in advance. For example, information corresponding to the light receiving patterns as shown in FIGS. 6C and 6D is stored. Is done.

When the current detection signal pattern 42 is compared with the prohibited area signal pattern 44 stored in the storage unit 41 and the two patterns substantially match, the self-propelled cleaner 1 enters the boundary of the entry prohibited area. It is determined that Similarly, when the currently detected detection signal pattern 42 substantially coincides with the step signal pattern 45 stored in the storage unit 41, it is determined that the floor surface where the step is generated is approached.
As described above, when it is determined that the vehicle has entered the entry prohibition region and when a floor surface with a step is detected, the forward travel is stopped at the detection position, and the direction is changed to a predetermined direction.

FIG. 3 is an explanatory diagram of three floor surface states detected by the floor surface detection unit 31.
First, if the floor surface is a floor surface 35 that normally travels and the floor surface has a surface that sufficiently reflects infrared rays, the emitted light emitted from the light emitting unit 33 hits the floor surface 35 and is reflected, The reflected light is incident on the light receiving unit 34 without causing a large loss.
As shown in FIG. 6A, if the emitted light is emitted in pulses at regular intervals, the incident light is detected by the light receiving unit 34 at the same regular intervals as shown in FIG. 6B.

In addition, when the vacuum cleaner has traveled to the floor surface where the prohibition tape 36 is formed, the emitted light emitted from the light emitting portion 33 hits the black portion of the prohibition tape 36 that absorbs light and hardly generates reflected light. In this case, since the emitted light is absorbed by the light absorbing surface, a portion not received by the light receiving unit 34 is generated.
That is, a blank timing in which light is not received occurs, and when outgoing light of the outgoing pattern shown in FIG. 6A is emitted, unlike FIG. 6B, for example, as shown in FIG. In addition, a light receiving pattern having a timing at which light is not received is detected.
When such a light receiving pattern is detected, it is understood that the boundary of the entry prohibited area has been reached.

  Further, when the vacuum cleaner has advanced in the vicinity of the floor surface on which the step 37 is generated, the emitted light emitted from the light emitting unit 33 strikes the step lower surface 38 at a position lower than the normal floor surface 35. become. In this case, since the distance from when the emitted light is emitted until it hits the step lower surface 38 is longer than the distance to the floor surface 35, the intensity of the incident light that is reflected by the step lower surface 38 and incident on the light receiving unit 34 is Usually, it is smaller than the intensity of incident light reflected on the floor surface.

A predetermined threshold level is set in advance with respect to the intensity of the incident light received, and when the level of incident light received upon the step bottom surface 38 is smaller than the threshold level, the output signal is If digitization processing is performed so that the level difference is zero, when a step is detected, a light reception pattern in which the received light intensity becomes zero after the level difference is detected is detected as shown in FIG.
As described above, the state of the floor surface can be determined by determining which pattern of the signal pattern stored in advance matches the light receiving pattern of the incident light incident on the light receiving unit 34.

The self-propelled cleaner 1 of the present invention may have other necessary configurations and functions in addition to the above configuration.
For example, a structure (ion generator) that generates ions may be provided during cleaning or in a stationary state to perform sterilization and deodorization (or deodorization).
In addition, a timer switch for setting a time for executing the cleaning process is provided, and when a timer switch is turned on (ON), counting of a preset time (for example, 60 minutes) is started, and the set time is set. The cleaning process may be executed until elapses.
After the set time elapses, the cleaning process may be stopped and automatically returned to the charging stand.

<Configuration of charging stand>
In FIG. 1, a charging stand 100 mainly includes a vacuum cleaner connection unit 101, an induction signal transmission unit 102, a control unit 103, and a power supply unit 104, and is connected to an outlet of a commercial power source 105 disposed on an indoor wall or the like. Receive AC AC power.
The power supply unit 104 is a part that receives AC power from the commercial power source 105, converts the AC power into DC power that can charge the cleaner 1, and supplies the DC power to the cleaner connection unit 101.

The induction signal transmission unit 102 is, for example, a part that transmits an infrared signal.
The control unit 103 of the charging stand 100 is a part that realizes various functions of the charging stand, and mainly performs an infrared signal transmission process and charging power supply control. The control unit 103 can be realized by a microcomputer including a CPU, a ROM, a RAM, an I / O controller, a timer, and the like.

<Example of entry detection to the entry prohibited area>
FIG. 4 shows an explanatory diagram of an embodiment of a method for detecting an entry when a self-propelled cleaner attempts to enter an entry prohibited area.
Fig.4 (a) has shown the case where the cleaner 1 is drive | working the position of a normal floor surface. In this case, the infrared light emitted from the light emitting unit 33 is normally reflected by the floor surface 35 and reflected, and incident light having almost the same intensity as the intensity of the emitted light is detected by the light receiving unit 34.
That is, since a light receiving pattern as shown in FIG. 6B is detected, it is determined that the currently running floor is a normal floor.

FIG. 4B shows a case where the vehicle travels further to the left and the light emitted from the light emitting unit 33 hits the light absorption surface of the prohibition tape 36. In this case, since the emitted light is absorbed by the light absorbing surface of the prohibiting tape and is hardly reflected, the incident light is not received by the light receiving unit 34.
Assuming that the emitted light is emitted in a plurality of times (for example, 10 times or more) with respect to the light absorption surface of the prohibition tape while the cleaner is traveling in the left direction, During this time, there is a state in which incident light is not detected by the light receiving unit 34.
That is, the light receiving pattern by the plurality of incident lights that has been detected in the case of the normal floor surface is not detected.

FIG. 4 (c) shows a case where the vacuum cleaner further proceeds leftward, and the emitted light is emitted to the light reflecting surface of the prohibited tape 36 where there is no light absorbing surface and sufficient reflected light is generated. Is shown.
In this case, similar to the normal floor surface, the light receiving unit 34 detects incident light having a sufficient intensity.
That is, the light reflecting surface where the reflected light is sufficiently generated in the prohibited tape is irradiated with a plurality of times of emitted light, so that a pulse-like light receiving pattern similar to the light emission pattern is generated during the plurality of times of emission. Will be detected.

FIG.4 (d) has shown the case where the cleaner further advances leftward from the state of FIG.4 (c). In this case, as in FIG. 4B, if the light absorption surface of the prohibition tape 36 is irradiated with the emitted light, the light is not reflected, so that the incident light is not detected.
In this way, when traveling to the floor surface on which the prohibition tape is formed, the light receiving pattern as shown in FIG. 6C, which includes a light receiving pattern portion similar to the light emitting pattern of the emitted light and a portion where incident light is not detected. Is detected.
As described above, if the detection signal pattern 42 actually detected in this way substantially matches the predetermined prohibited area signal pattern 44, it is determined that the cleaner 1 is at the boundary of the prohibited area.

<Course changes after entering the prohibited area>
FIG. 7 shows an explanatory diagram of an embodiment of the course change of the cleaner when it is detected that the vehicle has entered the entry prohibition area.
Here, it is assumed that the prohibition tape pattern as shown in FIG. 5A is formed on the floor surface, and the lower area of the prohibition tape in FIG. 7 is the entry prohibition area.
FIG. 7A shows a case where the vacuum cleaner 1 traveling on a normal floor surface enters the uppermost rectangular pattern portion of the prohibited tape pattern from the left side slightly upward.

In this case, of the two floor surface detection units (31a, 31b), the left floor surface detection unit 31b on the left side detects the prohibited tape pattern first. If the process proceeds as it is, the right floor detector 31a also detects the prohibited tape pattern with a slight delay.
Therefore, when only the left floor surface detection unit 31b detects the prohibited tape pattern, or when the left floor surface detection unit 31b detects the prohibited tape pattern and the right floor surface detection unit 31a detects the prohibited tape pattern, First, the progress is stopped at the detected position.

Thereafter, the two drive wheels 22 are rotated in opposite directions, and are rotated counterclockwise counterclockwise by a predetermined angle (for example, 90 degrees) while the casing is stationary. Further, the two drive wheels 22 are rotated in the same direction so as to advance in the forward direction of the housing. Thereby, the vacuum cleaner 1 advances in the right lick upward direction in the figure so as to leave the entry prohibition area.
The angle at which the housing is rotated is not limited to 90 degrees, and may be any angle that advances in a direction away from the entry prohibition area.

FIG.7 (b) has shown the case where the cleaner 1 approached from the right lick upward direction with respect to the part of the uppermost rectangular pattern of a prohibition tape pattern. In this case, of the two floor surface detection units (31a, 31b), the right floor surface detection unit 31a detects the prohibited tape pattern first.
Accordingly, when only the right floor surface detection unit 31a detects the prohibited tape pattern, or when the right floor surface detection unit 31a detects the prohibited tape pattern and the left floor surface detection unit 31b detects the prohibited tape pattern, Progress is stopped at the detected position.

Thereafter, at the stop position, the casing is rotated clockwise by a predetermined angle (for example, 90 degrees) in the same direction as the watch.
Further, the drive wheel 22 is rotated in the same direction, and the casing is advanced in the forward direction. Thereby, the vacuum cleaner 1 advances in the left lick upward direction in the figure and moves away from the entry prohibition area.

FIG.7 (c) has shown the case where the cleaner 1 approached from the substantially perpendicular | vertical direction with respect to the uppermost rectangular pattern part of a prohibition tape pattern. In this case, the two floor surface detection units (31a, 31b) detect the prohibited tape pattern almost simultaneously.
Accordingly, when the prohibited tape pattern is detected by the two floor surface detection units 31 within substantially the same period, the detection is stopped at the detection position, for example, rotated 180 degrees. Thereafter, if the vehicle advances in the forward direction, the vehicle moves away from the entry prohibition area. In this case, the rotation angle does not have to be 180 degrees, and may be rotated right or left at an arbitrary angle from 90 degrees to 180 degrees.

<Summary of Embodiment>
(Embodiment 1)
In this invention, the floor surface detection unit 31 is provided on the bottom surface of the housing of the cleaner at a position facing the floor surface. As shown in FIG. Thus, it is preferable to provide one or two at the front portion of the housing.
However, the floor surface detection part 31 is not restricted to this, You may provide three or more. For example, in the case where three or more are provided, in addition to the positions shown in FIG.

(Embodiment 2)
The floor surface detection unit 31 may be configured to be able to perform both the detection of the entry prohibition area and the detection of the step, but may separately include a detection for the entry prohibition area and a detection of the step.
In the case of providing separately, for example, an infrared sensor for detecting an entry prohibition area is provided at a position as shown in FIG. 2, and an infrared sensor for detecting a step is provided at a position near the two side brushes in front of the driving wheel. It may be provided.

(Embodiment 3)
A plurality of a pair of floor surface detectors arranged in the left-right direction may be provided, and the respective black and white threshold values may be changed little by little. According to this, even if the detection varies depending on the color of the floor surface or the like, any one pair of floor surface detection units can detect the specific pattern, and the entry prohibition region can be reliably detected.

(Embodiment 4)
The forbidden tape pattern shown in FIG. 5 is an example, and the present invention is not limited to this. For example, as shown in FIGS. 8A and 8B, a pattern such as a checkered pattern or a polka dot pattern may be formed twice on the floor surface by changing the size of the pattern.
When such a pattern is formed, it is possible to effectively prevent the entry to the entry prohibited area for any entry route.
The prohibited tape pattern may be formed by a combination of white that reflects light and a black pattern that hardly reflects light, but is not limited to a combination of white and black, and other colors that easily reflect light. The pattern may be a combination of a portion (light reflecting surface) formed of or a material and a portion (light absorbing surface) formed of another color or material that hardly reflects light.

(Embodiment 5)
The light emitted from the floor surface detection unit 31 may use visible light in addition to infrared rays. Moreover, you may detect the monochrome pattern of a floor surface using an image sensor. In the case of using an image sensor, it is possible to image a predetermined area (for example, 2 cm square) at a time, so it is preferable to form a prohibited area on the floor using a prohibited tape in which a specific pattern that can be recognized is continuous. .

DESCRIPTION OF SYMBOLS 1 Self-propelled cleaner, 11 Control part, 12 Rechargeable battery, 13 Input part, 14 Inlet, 15 Exhaust, 16 Dust collecting part, 17 Suction wind generation part, 18 Obstacle detection part, 21 Travel control part, 22 Drive Wheel, 22a Right drive wheel, 22b Left drive wheel, 23 Brush drive unit, 24 Main brush, 25 Side brush, 25a Right side brush, 25b Left side brush, 26 Rear wheel, 31 Floor surface detection unit, 31a Right floor surface detection Part, 31b left floor detection part, 32 entry prohibition determination part, 33 generation part, 34 light receiving part, 35 floor surface, 36 prohibition tape, 37 steps, 38 step bottom surface, 41 storage part, 42 detection signal pattern, 43 floor surface Signal pattern, 44 forbidden area signal pattern, 45 step signal pattern, 51 guide signal light receiving section, 52 charge Base connection portion, 100 charger, 101 cleaner connecting portion, 102 induces signal transmission unit, 104 power supply unit, 105 commercial power supply

Claims (6)

A housing, a plurality of drive wheels,
A travel control unit for controlling the rotation of the drive wheel to travel the housing;
A dust collecting part for collecting floor garbage;
A floor detector that emits a predetermined light beam to the floor to detect the state of the floor; and
An entry prohibition determination unit that detects the presence of an entry prohibition display member formed on the floor surface and determines the boundary of the entry prohibition region based on information indicating the state of the floor surface detected by the floor surface detection unit; A self-propelled vacuum cleaner characterized by having it.   The self-propelled cleaner according to claim 1, wherein the entry prohibition determination unit determines a boundary of the entry prohibition region based on a detection pattern of the entry prohibition display member. The floor surface detection unit, a light emitting unit that emits infrared rays in the floor surface direction,
The self-propelled cleaner according to claim 1 or 2, wherein the self-propelled cleaner is an infrared sensor including a light receiving unit that receives infrared rays reflected by the floor surface.   The floor surface detection unit includes one or a plurality of infrared sensors, and when two infrared sensors are provided, the two infrared sensors are juxtaposed in a direction perpendicular to the forward direction of the housing. The self-propelled cleaner according to claim 3.   The said floor surface detection part detects the level | step difference formed in the floor surface, and the detection pattern which consists of a several different color formed in the floor surface, It was described in any one of Claim 1 to 4 characterized by the above-mentioned. Self-propelled vacuum cleaner.   6. The entry prohibition display member detected by the entry prohibition determination unit includes a detection pattern in which a plurality of black and white elongated rectangular patterns are alternately arranged. Self-propelled vacuum cleaner.