JP2019208545A - Moving body moving along floor surface - Google Patents

Abstract

To perform efficiently return to a base station, of a moving body moving along a floor surface.SOLUTION: A moving body moving along a floor surface having a reception part capable of detecting distinctively a left side return signal and a right side return signal, and a driving wheel, capable of executing a base station oriented processing for progressing following a return signal detected by the reception part, is turned to a direction corresponding to a kind of the return signal detected just before non-detection, when changing from a detected state of the return signal by the reception part to a non-detection state.SELECTED DRAWING: Figure 16

Description

  The present invention relates to a moving body that moves on a floor surface.

  2. Description of the Related Art There are known moving bodies that move on the floor surface, such as an autonomous traveling vacuum cleaner that has a function of automatically returning to a base station serving as a charger when the remaining battery level of the rechargeable battery decreases.

  Patent Document 1 stores a communication point at which communication with an external charging device (base station) is performed, and when returning to the external charging device, travels straight after setting a traveling direction at the stored communication point. A control method is disclosed.

JP 2006-236333 A

  As Patent Document 1 considers reaching the vicinity of the base station by feedback control, the area where the feedback signal can be detected is relatively narrow in the vicinity of the base station, and the feedback signal is easily lost. When lost, it is desired to re-detect the feedback signal at an early stage, but Patent Document 1 does not consider this.

The present invention made in view of the above circumstances,
A receiving unit capable of distinguishing and detecting a left feedback signal and a right feedback signal;
Driving wheels, and
A mobile that moves on the floor, capable of performing base station-oriented processing that follows the feedback signal detected by the receiver,
When the receiving unit changes from a state in which a feedback signal is detected to a state in which it is not detected, the receiver turns in a direction corresponding to the type of the feedback signal detected immediately before the non-detection.

It is the perspective view which looked down at the autonomous running type vacuum cleaner of Example 1 from the left front. It is a bottom view of the autonomous traveling type vacuum cleaner of Example 1. It is AA sectional drawing of FIG. It is a perspective view which shows the bumper internal structure which removed the bumper shade of the autonomous running type vacuum cleaner of Example 1. FIG. It is a block diagram which shows the apparatus connected to the control part of the autonomous running type vacuum cleaner of Example 1, and a control part. The figure which shows an example of a locus | trajectory at the time of the autonomous running type vacuum cleaner of Example 1 driving | running | working the room in reflection driving mode. The figure which shows an example of a locus | trajectory at the time of the autonomous running type vacuum cleaner of Example 1 driving | running | working in the return traveling mode in a room. The figure which shows the structure of the 1st receiving part of Example 1. FIG. The figure which shows the structure of the 2nd receiving part of Example 1. FIG. Front view of the base station of the first embodiment The figure which shows the example of a driving | running | working during the return driving control around the base station of Example 1. Control flowchart of feedback travel control of embodiment 1 Schematic which shows the state which is performing the feedback signal search process G1 of Example 1. FIG. Schematic which shows the state which is performing the base station orientation process G2 of Example 1. FIG. It is the schematic which shows the state at the time of losing sight of a feedback signal in the base station vicinity during the base station orientation process G2 of Example 1. FIG. Schematic diagram illustrating a state in which lost base station processing G3 is performed after losing sight of the feedback signal according to the first embodiment. Schematic showing the state at the time of the transition from the base station lost process G3 of Example 2 to the feedback reset process G4 Schematic from the middle of return travel control of Example 3

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view of the autonomous traveling cleaner S of this embodiment as viewed from the left front. FIG. 2 is a bottom view of the autonomous traveling cleaner S of the present embodiment. 3 is a cross-sectional view taken along the line AA in FIG. FIG. 4 is a perspective view of a part of the bumper 2 of the autonomously traveling cleaner S of this embodiment. FIG. 5 is a configuration diagram illustrating a control unit of the autonomous traveling cleaner S of the present embodiment and devices connected to the control unit.
The direction in which the autonomously traveling cleaner S normally travels is the front, the vertically upward direction is the upper direction, the driving wheels 3 and 4 are opposed to each other, the driving wheel 3 side is the right side, and the driving wheel 4 side is the left side. To do. That is, as shown in FIG.
The autonomously traveling vacuum cleaner S is an electric device that automatically cleans a predetermined cleaning area (for example, the floor surface Y of the room) while moving autonomously.

[Structure of autonomous traveling type vacuum cleaner S]
The autonomous traveling type vacuum cleaner S includes a main body case 1, a bumper 2 provided on a side periphery, a pair of driving wheels 3, 4 provided on a bottom surface, an auxiliary wheel 5, a rotating brush 6, a side brush 8, a rechargeable battery 9, and a control unit. 10, a suction fan 11, a dust collecting case 12, a display panel 17, an operation button 20, and a first receiver 26 and a second receiver 27 that detect a feedback signal.

  The drive wheels 3 and 4 are wheels that are rotated by the rotational force of the traveling motors 3m and 4m, and can rotate in independent directions. The autonomously traveling cleaner S is moved forward, backward, and swiveled by the drive wheels 3 and 4 (circular motion around a certain point. A certain point may overlap or overlap with a part of the autonomously traveling cleaner S. And super-spinning (spinning on the spot. Circular motion around the midpoint of the drive wheels 3 and 4). The auxiliary wheel 5 is a driven wheel (caster) that freely rotates.

  The side brushes 8a and 8b are provided on the front side of the autonomous traveling type cleaner S, on the outer side in the left-right direction, and from the front outer side region of the autonomous traveling type cleaner S to the front inner side as indicated by the arrow α1 in FIG. The dust on the floor is collected on the central rotating brush 6 side.

  The rotating brush 6 is provided behind the driving wheels 3 and 4 of the autonomous traveling cleaner S, and rotates around the horizontal direction as a rotation axis. The dust on the path of the autonomous traveling cleaner S and the dust bounced by the side brush 8 can be collected. In the area where the rotating brush 6 is installed, negative pressure is generated by the suction fan 11. A dust collection case 12 is located between the rotary brush 6 and the suction fan 11 and dust is stored.

  The rechargeable battery 9 is, for example, a secondary battery that can be reused by charging, and the remaining battery level can be measured or estimated by the remaining battery level detection unit 7. The electric power from the rechargeable battery 9 is supplied to members necessary for driving the autonomous traveling cleaner S, such as the control unit 10, the display panel 17, and the traveling motors 3m and 4m.

  The control unit 10 controls the autonomously traveling cleaner S in an integrated manner, and is configured, for example, by mounting a microcomputer 23 and peripheral circuits on a substrate. The microcomputer 23 reads out a control program stored in a ROM (Read Only Memory), develops it in a RAM (Random Access Memory), and executes various processes by being executed by a CPU (Central Processing Unit). The peripheral circuit includes an A / D / D / A converter, driving circuits for various motors, a sensor driving circuit, a charging circuit for the rechargeable battery 9, and the like.

  Further, the control unit 10 performs arithmetic processing according to the operation of the operation button 20 by the user and signals input from various obstacle detection means (bumper sensor 19, floor surface ranging sensor 22, distance measuring sensor 21). Execute and input / output signals to / from various motors.

  The dust collection case 12 has a suction port 12 i formed above the rotary brush 6 as an inlet. The dust collection case 12 has a dust collection filter 13 attached to the outlet. The suction fan 11 is driven by a fan motor 11m.

[Sensor]
The autonomously traveling cleaner S includes a floor surface ranging sensor 22, a bumper 2 (a bumper sensor 19), a ranging sensor 21, a receiving unit 26, 27.
The floor surface ranging sensor 22 (22a, 22b, 22c, 22d) is a sensor provided on the bottom surface of the autonomously traveling cleaner S to distinguish whether the floor surface exists within a predetermined distance. The floor surface distance measuring sensor 22 is not particularly limited as long as such a function can be realized, and a method using infrared rays for determination or a specific distance to the floor surface can be measured. May be. The distance measuring sensors 22 for floor according to the present embodiment are installed at four places on the bottom, front, rear, left and right.

  For example, when a level difference of about 30 mm or more is detected in front by the distance measuring sensor 22 for the floor surface, the control unit 10 controls the driving wheels 3 and 4 to move the autonomous traveling cleaner S backward, and then the traveling direction Can be converted.

  The bumper 2 is connected to a sensor that detects that the autonomously traveling vacuum cleaner S has collided with an obstacle such as a wall. The bumper 2 is urged outward with respect to the main body case 1 by a pair of left and right bumper springs (not shown). When an acting force when colliding with an obstacle via the bumper 2 acts on the bumper spring, the bumper spring is deformed so as to fall inward in a plan view, and the bumper 2 body case is urged outward. 1 is allowed to move inward. When the bumper 2 moves away from the obstacle and the above-described acting force disappears, the bumper 2 returns to the original position by the biasing force of the bumper spring.

  The movement of the bumper 2 (that is, contact with an obstacle) is detected by a bumper sensor 19 such as a photocoupler. When the bumper 2 moves backward due to contact with an obstacle or the like, the sensor light is blocked, and a detection signal corresponding to this change is output to the control unit 10, so that it can be detected that contact with the obstacle or the like has occurred. Then, the control unit 10 controls the drive wheels 3 and 4 to move the autonomous traveling cleaner S backward as necessary, and then changes the traveling direction.

  The distance measuring sensor 21 is an infrared sensor capable of detecting whether an obstacle or the like is present within a predetermined distance, and can be disposed, for example, on the side periphery of the autonomous traveling cleaner S. In this embodiment, distance measuring sensors are provided at a total of seven locations, one at the front and three at the left and right sides. The distance measuring sensor 21 may be able to detect the distance to an obstacle or the like in more detail.

  For example, the distance measuring sensor 21 includes a light emitting unit (not shown) that emits infrared light, and a light receiving unit (not shown) that receives reflected light that is reflected by an infrared ray reflected by an obstacle. Can be. Alternatively, an imaging unit such as a camera may be used.

The traveling motor encoders 18R and 18L of the autonomous traveling cleaner S are detectors that detect the rotational speed and rotational angle of the traveling motors 3m and 4m, and calculate the traveling speed and traveling distance of the autonomous traveling cleaner S. To do.
Further, the gyro sensor 50 of the autonomous traveling cleaner S can detect the rotation angle of the autonomous traveling cleaner S. Thereby, the control part 10 can detect the advancing direction of the autonomous running type vacuum cleaner S.
The operation button 20 is a button for outputting an operation signal corresponding to a user operation to the control unit 10 and can instruct the start / end of cleaning or the charging stand return.
The display panel 17 has a plurality of LEDs (Light Emitting Diodes: not shown) and a 7-segment display (not shown), and displays the operation state of the autonomous traveling cleaner S and the like.
The control unit 10 executes arithmetic processing in accordance with signals from the operation buttons 20 and sensors, and outputs command signals to the respective motors.

[Running control]
FIG. 6 is a diagram illustrating an example of a locus when the autonomous traveling vacuum cleaner S of the present embodiment travels in the room A in the reflective traveling mode.

The autonomous traveling type vacuum cleaner S traveling in the room A can travel autonomously by a return traveling control that searches for the base station 25 as a charging stand, in addition to the reflective traveling mode and the wall-side traveling mode as examples of the cleaning traveling control.
In the cleaning travel control, the side brushes 8 a and 8 b are rotated, and dust on the floor surface is taken in by the rotating brush 6, sucked by the blower fan 11, and autonomously traveled while being collected in the dust collecting case 12.
The reflective travel mode is a mode in which the autonomous traveling cleaner S travels while changing the direction of travel when it is detected that a wall or an obstacle 24 (shelf, sofa, etc.) is touched or approached, and the entire room A is cleaned. Suitable for When an obstacle 24 such as a wall is detected by a detection signal input from the bumper sensor 19 or the distance measuring sensor 21, the control unit 10 rotates the traveling motors 3 m and 4 m in opposite directions to rotate the autonomous traveling type cleaner S. Can be changed by changing the direction of travel by turning (superior) on the ground, or by changing the rotational speeds of the traveling motors 3m, 4m to different directions. Accordingly, the autonomously traveling cleaner S can move in a direction away from the detected obstacle 24 and the like.

[Return control]
When the cleaning by the cleaning travel control has passed for a certain period of time, when the remaining battery level of the rechargeable battery 9 has reached a predetermined value, or when the user is instructed to return to the travel mode by operating the button 20 or the like, the autonomous travel The mold cleaner S performs return travel control.

(Base station 25)
FIG. 10 is a front view of the base station 25 of the present embodiment.
The base station 25 includes a backrest portion 25a extending substantially perpendicular to the floor surface, a base portion 25b extending frontward in parallel to the floor surface, and an emission portion 25c that emits a feedback signal. The height of the backrest portion 25a is higher than the height of the autonomous traveling type vacuum cleaner 1, and three openings 25c for transmitting a feedback signal 29 are provided above the backrest portion 25a. For example, LEDs that emit infrared light are arranged in the respective openings 25c. Further, the base station 25 has a power cord 25e, and can acquire power necessary for causing the LED to emit light from a commercial power source or the like.

  The base portion 25b includes a power feeding terminal 25h that can be electrically connected to the rechargeable battery 9 of the autonomously traveling cleaner S. The power supply terminal 25 h can supply power to the rechargeable battery 9 by contacting the power receiving terminal 28 on the bottom surface of the autonomous traveling cleaner S when the autonomous traveling cleaner S returns to the base station 25.

The transmission of the feedback signal 29 from the base station 25 will be described. First, the feedback signal is a code generated by blinking the infrared LED at high speed (by repeating ON / OFF several tens of times in about 50 to 100 ms).
The receivers 26 and 27 of the autonomous traveling cleaner S can detect the return signal of the emitting unit 25c, and the autonomous traveling cleaner S will return to the base station 25 by searching for the source of the return signal. And

(Receivers 26 and 27)
FIG. 8 is a diagram illustrating a configuration of the first receiving unit 26 of the present embodiment, and FIG. 9 is a diagram illustrating a configuration of the second receiving unit 27 of the present embodiment.

The first receiving unit 26 includes a light receiving element 26a that receives a feedback signal emitted from the emitting unit 25c, such as infrared rays, a substantially cylindrical light receiving lens 26b that surrounds the light receiving element 26a, and an upper surface cover 26c that covers the upper surface of the light receiving lens 26b. And having.
The light receiving element 26a is fixed at a position substantially the same height as the upper surface of the bumper 12 with the light receiving direction facing upward. The light receiving lens 26b is made of a resin material having a cylindrical portion that transmits infrared rays, and can receive a feedback signal from the entire circumference or substantially the entire circumference of the cylindrical portion. In addition, the outer periphery of the light receiving lens 26b is formed in a mortar shape that is sunk downward toward the lower side, and the feedback signal captured from the outer periphery of the cylindrical portion is located below the boundary surface with the mortar-shaped outer periphery Reflected toward

  The light receiving element 26a under the light receiving lens 26b receives the reflected signal reflected in this way, and can receive the feedback signal from a wide range on the horizontal plane. Further, the top cover 26c is made of a resin that does not allow light in the wavelength range that can be detected by the light receiving element 26a, and blocks, for example, illumination light and remote control signals of other devices from above the autonomous traveling cleaner S. doing. The 1st receiving part 26 is provided in the upper surface of autonomous running type vacuum cleaner S, and can detect a wide range (in the plane at the time of top view), for example, 300 degrees or more, preferably a 360 degrees range in the horizontal direction. The range.

  When the base station 25 is placed on the flat floor surface Y, the height of the first receiving unit 26 of the autonomously traveling cleaner S traveling on the same floor surface Y is equal to the height of the feedback signal output from the output unit 25c. Designed to be nearly identical. Therefore, the first receiving unit 26 detects the return signal of the emitting unit 25c regardless of the positional relationship between the direction of the autonomous traveling cleaner S and the base station 25 if there is no obstacle 24 or the like between them. Cheap. In addition, the 1st receiving part 26 of a present Example is being fixed to the upper surface of the bumper 2 in the approximate center of the left-right width of the autonomous running type vacuum cleaner S.

  The second receiving unit 27 is provided at a position higher than the central position in the height direction of the bumper 2 and on the left or right of the left-right position where the first receiving unit 26 is located, for example, at a position about 30 mm away. The second receiving unit 27 includes a light receiving element 27a whose light receiving direction is substantially horizontal, and a cylindrical portion 27b that extends rearward from the outer shape of the bumper 2 and is recessed toward the rear. The directivity is about 30 degrees.

  The second receiving unit 27 is provided on the side periphery of the autonomous traveling cleaner S, and is relatively narrow in the horizontal direction (in a plane when viewed from above), at least in a range narrower than the first receiving unit 26, For example, a range of 45 ° or less is set as a detectable range.

(Return signal emitted from the base station 25)
The base station 25 transmits the right feedback signal 29R from the three emitting units 25c toward the right front area, transmits the left feedback signal 29L toward the left front area, and toward the center front area. A central feedback signal 29C is transmitted. The feedback signals 29R, 29L, and 29C are transmitted to an area about 6 m away from the base station 25, and the width of the transmission area of the feedback signals 29R and 29L is in the range of about 30 degrees in the left and right directions. Further, the width of the transmission region of the feedback signal 29C is narrower than the feedback signals 29R and 29L. Each feedback signal 29R, 29L, and 29C can be set to a different code, and the autonomous traveling cleaner S can distinguish which feedback signal is received.

[Return signal follow mode]
FIG. 7 is a diagram illustrating an example of a locus when the autonomous traveling cleaner S of the present embodiment travels in the room A in the return traveling mode. The autonomous traveling cleaner S that executes the return traveling mode identifies the codes of the feedback signals 29R, 29L, and 29C, and in which region (position) the autonomous traveling cleaner S travels with respect to the base station 25. The vehicle travels so as to return to the base station 25 after determining the traveling direction. The autonomously traveling vacuum cleaner S of the present embodiment moves forward so as not to deviate from the area where the central feedback signal 29C is transmitted, and returns to the base station 25.

[Search for feedback signal]
The autonomously traveling vacuum cleaner S that has detected the feedback signal 29 during the return traveling mode attempts to return to the base station 25 by following the feedback signal 29. However, since each feedback signal 29 is emitted from the emitting part 25c close to each other, the spread of the feedback signal 29 is narrow in the vicinity of the base station 25. For example, as illustrated in FIG. 7, since the width of the feedback signal 29 becomes narrow near the charging stand, the autonomously traveling cleaner S cannot receive any feedback signal 29 or the feedback signal of the code to be traced. It is assumed that the central feedback signal 29C (in this embodiment) cannot be detected.

  FIG. 11 shows an example of traveling during return traveling control around the base station 25. First, as shown in the travel locus L31 of the autonomous traveling cleaner S illustrated by the thick arrow line in FIG. 11, the feedback signal 29C is traced to approach the base station 25 and return to the base station 25 (to the power supply terminal 25h). Connection).

  However, if the connection is not successful in the vicinity of the base station 25, the autonomously traveling cleaner S changes its route in the directions L32 and L33 away from the receivable area of the feedback signal 29 and travels away from the receivable area. Sometimes. At this time, since the autonomously traveling vacuum cleaner S loses sight of the feedback signal 29, it is necessary to find the feedback signal 29 again.

  It is noted that the autonomous traveling cleaner S is expected to be present in the vicinity of the base station 25 if the feedback signal 29 is lost after detecting the feedback signal 29 and heading for the base station 25 in this way. In such a case, in order to effectively search for the feedback signal 29, the autonomous traveling cleaner S of the present embodiment firstly autonomously determines the values of the traveling motor encoders (right / left) 18R, 18L and the gyro sensor 50. While estimating the position of traveling type vacuum cleaner S and receiving feedback signal 29 during feedback traveling control, the position is memorized by control part 10 (for example, microcomputer 23).

  By using the gyro sensor 50, it is possible to estimate which direction the autonomous traveling cleaner S is facing, and by using the traveling motor encoders (right / left) 18R, 18L, the autonomous traveling cleaner S You can estimate the advanced length. By using this when losing sight of the feedback signal 29, it can be determined where the feedback signal 29 can be received by moving, and it is easy to reach an area where the feedback signal 29 can be received. A specific method will be described later.

[Return driving flow when the return signal is lost]
FIG. 12 is a control flowchart of the return travel control of this embodiment. This flow is a process G1 until the return signal is found after the transition to the feedback travel control, a process G2 until the return signal is headed to the base station, and a process when the return signal is lost while heading for the base station. The process G4 when the process of G3 and G3 cannot be performed in a fixed time is included. (In the following description, G1 to G4 are referred to as “feedback signal search processing G1”, “base station orientation processing G2”, “base station lost time processing G3”, and “feedback reset processing G4”.)
FIG. 13 is a schematic diagram showing a state where the cleaning operation is changed to the return travel and the return signal search process G1 is performed.
FIG. 14 is a schematic diagram showing a state in which the base station orientation processing G2 is performed since the feedback signal 29 is discovered and then the base station 25 is aimed.
FIG. 15 is a schematic diagram showing a state when the feedback signal 29 is lost near the base station during the base station orientation processing G2.
FIG. 16 is a schematic diagram showing a state in which the lost base station processing G3 is performed after losing sight of the feedback signal 29 and returning to the final reception point.
FIG. 17 is a schematic diagram showing a state when the base station lost time process G3 is not found even when the process is performed for a certain period of time and transitions to the feedback reset process G4.

  Referring to FIG. 13, it is assumed that the autonomous traveling cleaner S executes the cleaning traveling mode, travels along the locus indicated by the chain line arrow, and shifts to the return traveling mode when reaching the point P30.

The autonomously traveling vacuum cleaner S of the present embodiment can perform an operation suitable for cleaning, for example, so-called random traveling, before finding the return signal 29. More specifically, when the obstacle 24 or the like is found, the course direction is randomly changed and the forward movement is resumed.
It is assumed that the autonomously traveling cleaner S that is executing the return travel mode then reaches the point P31 that is within the receivable area of the return signal 29 and receives the return signal 29 (29R in this case). In this embodiment, the point P31 at which the feedback signal 29 is received in this way is set as a reference point for position estimation. After driving until the central feedback signal 29C is found from this place, a feedback signal follow-up running mode in which the central feedback signal 29C is followed as shown in the travel locus L31 illustrated in FIG.

At this time, the base station 25 may deviate from the area where the feedback signal 29 can be received for some reason, and the vehicle may be operated along a locus such as a chain line arrow L32 illustrated in FIG. In this case, the distance and direction from the current position to the position where the feedback signal 29 is received are calculated, and the course is changed to aim there. For example, based on the type of the last received feedback signal 29 (which is 29L, 29C, or 29R), and preferably, based on the position P32 at which the feedback signal 29 was last received, the position as indicated by a dotted arrow L33 Turn or turn around so as to go around to the front of the base station 25 toward P32. In this case, if the received signal at the final receiving point P32 is the feedback signal 29L, the turn or the super turn is performed clockwise. This is because the feedback signal 29L is directed to the opposite side of the feedback signal 29C, and thus it is understood that the base station 25 is on the left side when viewed from the autonomous traveling cleaner S.
If the feedback signal 29R has been received at the final receiving point P32, the base station 25 is on the right side, so that the turn or the superstrate turn is performed counterclockwise.

If the turning radius at this time is large, obstacles are frequently detected and the avoidance operation is frequently performed, and there is a concern that the return performance may be deteriorated. For example, one wheel of the autonomous traveling type cleaner S such as a pivot operation is A pivoting action is preferred. Returning to P32 is made by performing such traveling.
The above-described traveling flow will be described with reference to the flowchart of FIG.

<Process G1>
First, it is determined whether any of the receiving units 26 and 27 has received the feedback signal 29 when transitioning to the return travel mode, and it is recognized whether the base station 25 is nearby (step S1). If the feedback signal 29 has not been received (No at Step S1), the vehicle travels randomly and continues to search for the base station 25 (Step S2). When random driving is repeated and the feedback signal 29 is received (step S1, Yes), it is determined that the vehicle is in the vicinity of the base station 25, and the process proceeds to process G2.

<Process G2>
In the process G2, first, as a preparation for position estimation, a storage start point P31 that is a reference point necessary for calculating a relative position is set (step S3). When the setting of the storage start point P31 is completed, the feedback signal follow-up running is started (step S4). That is, the feedback signal 29 is traced to try to approach and connect to the base station 25.

  As a result of performing the feedback signal follow-up traveling, when it is determined that the connection to the base station 25 is determined to be successful (step S5, Yes), the feedback is terminated. However, while not connected (No at Step S5), the return traveling mode is continued. During this time, while performing an obstacle avoiding operation (steps S6 and S7) for avoiding the detected obstacle, a relative point (current location) from the storage start point is calculated and stored (step S8).

  When the storage of the current location is completed, the current feedback signal reception state is determined (step S9). If the feedback signal 29 is received at this time (step S9, Yes), it is determined that the feedback signal 29 has not been lost, and the feedback signal follow-up running (step S4) is performed. In contrast, if the feedback signal 29 has not been received (step S9, No), the next process (G3) is performed to determine whether the base station is completely lost or temporary. Transition to.

<Process G3>
If the state where the feedback signal is detected is changed to the non-detection state, first, it is arbitrarily checked whether the feedback signal 29 can be received by running (step S11). This makes it possible to determine whether the feedback signal 29 has been temporarily interrupted or has been lost due to obstacle avoidance or the like. Similarly to G2, when an obstacle is found on the way (step S12, Yes), an obstacle avoidance operation (step S13) is performed.

  That is, it is determined whether or not the feedback signal can be received while performing the running (step S11) and the obstacle avoiding operation (step S13) (step S14). If it is received at this time (step S14, Yes), the process returns to the feedback signal follow running (step S4). If the feedback signal cannot be received during the predetermined time T1 (step 15, Yes), it is determined that the signal is not temporarily interrupted but is lost, and the process proceeds to the next process (G4).

<Process G4>
At this stage, since it is determined that the received signal has already been lost, processing for moving to the final receiving point P32 where the feedback signal has been received most recently is performed. (Step S16). As described above, the turn in the direction corresponding to the type of the feedback signal 29 received last is performed.

  If the feedback signal 29 can be received in the middle of traveling toward the final reception point P32 (step S17, Yes), the feedback signal following traveling (step S4) is performed from that point.

  In contrast, when the feedback signal cannot be received here (step S17, No) and a certain time T2 (preferably T2> T1) has elapsed (step S18, Yes), the process returns to the place P31 where the signal can be received first. . Such a state can be considered when the connection is not successful due to a problem such as an approach angle. In such a case, as shown in FIG. 17, the process returns to the storage start point P31 including the meaning of reset, and the feedback process is performed again from the feedback signal follow-up running (step S4).

The technical idea related to the return to the base station 25 described in the present specification is not limited to the autonomously traveling cleaner S, but a mobile system including a base station that generates a return signal and a mobile body that detects the return signal. Applicable.
The information stored or calculated by the control unit 10 in this specification is not necessarily executed in the autonomous traveling cleaner S, and is stored in, for example, a server or storage with which the autonomous traveling cleaner S can communicate. It may be configured so that it can be called as necessary, or the server can request computation.

  It should be noted that the turning radius (step S16) for turning around the front of the base station 25 may be freely changed by the user. Further, a positive correlation may be given to the distance between the current position and the last stored position. The turning angle is preferably 180 ° or more and 360 ° or less, but the turning may be terminated when the feedback signal is detected again.

  Further, the feedback reset process G4 may be performed without performing the base station lost process G3. Depending on the situation, it may be possible to return far from the base station 25 to return to the memory start point P31. However, if the turning radius cannot be secured sufficiently or there are many objects in the vicinity, the user may return to the memory start point P31. Can smoothly connect to the base station 25.

  Also, when the base station lost process G3 is performed, instead of moving to the final reception point P32 by turning or super-significant turning, one or more previous operations are stored, and a predetermined time is exceeded. However, if the feedback signal remains lost, an operation that proceeds in the opposite direction to the stored operation (for example, backward if the immediately preceding operation is forward, or right rear if it is a right turn) is performed. You may aim at the receiving point P32.

This embodiment can be the same as the first embodiment except for the following points.
FIG. 17 is a schematic diagram of feedback reset processing G4 of this embodiment. After the transition to the feedback reset process G4, when the feedback signal 29 is received on the way, the feedback signal follow-up running G2 is resumed from that point. If the feedback signal 29L is detected in the middle of returning to the memory start point P31 (track L34), it does not follow the trajectory as shown in FIG. By doing so, it is possible to return to the base station 25 more efficiently.

This embodiment can be the same as the first and second embodiments except for the following points.
FIG. 18 is a diagram illustrating an example of a locus from the middle of the feedback control according to the present embodiment. At the time of the feedback reset process G4, instead of returning to the storage start point P31, a signal (storage start point P31) that has the same distance from the base station 25 and is output in the opposite direction to the feedback signal 29 received at P31. When the feedback signal 29R is received, the vehicle travels toward the position P33 where the feedback signal 29L can be received (dashed line arrow L35). Then, the base station 25 can be approached from different directions by making a transition to the feedback signal follow-up running G2.

S Autonomous Traveling Vacuum Cleaner 1 Body Case 2 Bumper 3 Right Drive Wheel 4 Left Drive Wheel 9 Rechargeable Battery 18 Travel Motor Encoder 19 Bumper Sensor (Example of Obstacle Sensor)
21 Ranging sensor (an example of an obstacle sensor)
23 Microcomputer 25 Base station 26 First receiver 27 Second receiver 50 Gyro sensor

Claims (4)

A receiving unit capable of distinguishing and detecting a left feedback signal and a right feedback signal;
Driving wheels, and
A mobile that moves on the floor, capable of performing base station-oriented processing that follows the feedback signal detected by the receiver,
A moving body characterized in that when the receiving unit changes from a state in which a feedback signal is detected to a state in which it is not detected, the mobile unit turns in a direction corresponding to the type of feedback signal detected immediately before the non-detection.   The mobile body according to claim 1, wherein when a feedback signal is detected during the turn, the base station orientation processing is executed.   3. The method according to claim 1, wherein if the connection to the base station fails as a result of the base station orientation processing after the turn, the mobile station tries to go to a storage start point where a feedback signal is detected before the turn. The moving body described.   As a result of the base station-oriented processing after the turn, if the connection to the base station fails, a feedback signal of a type different from the type of feedback signal that can be detected at the memory start point where the feedback signal was detected before the turn The mobile body according to claim 1, wherein the mobile body is directed to a detectable point.

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