JP3531268B2 - Self-propelled vacuum cleaner - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled cleaner which uses a battery as a power source, detects an obstacle by means of an obstacle detecting means, and carries out a cleaning operation while moving on the basis of a wall or the like. The present invention relates to a self-propelled vacuum cleaner that safely stops the main body and installs a rotary brush on a floor nozzle for automatic cleaning.

[0002]

2. Description of the Related Art A conventional self-propelled vacuum cleaner has a suction tool having a rotating brush at the bottom of the main body as a cleaning function and a drive wheel driven by a motor as a moving function, and has an optical guiding means and a gyro. Accurate guidance control of the main body is performed using the inertial navigation used, and the moving speed is adjusted based on the front wall by the obstacle detection means, and cleaning work is performed by repeating the reciprocating motion. is there.

When the self-propelled cleaner is stopped, the distance to the obstacle is measured by using the obstacle detecting means, and the moving speed is changed according to the distance (the speed is reduced as the distance approaches), thereby Stop Stops the main unit when the distance reaches the set stop distance.

That is, the speed is uniquely determined according to the distance to the obstacle, and the vehicle always stops at a position separated from the obstacle by a predetermined distance.

[0005]

However, when a person suddenly crosses the path of the main body moving at full speed, a case may occur in which the main body cannot secure a safe distance from an obstacle and stop.

[0006] This is because if it is a wall or the like, it will gradually decelerate according to the distance to the obstacle, so when it reaches the set stop distance, it can be safely decelerated because it is sufficiently decelerated, but suddenly. Even if the set distance for stopping the obstacle that has appeared is reached, the vehicle is not decelerated, so even if the stopping operation is performed, the vehicle cannot stop at that point, and the vehicle stops only after a certain distance is exceeded. Therefore, there is a problem that there is a risk of collision with an obstacle and it cannot be stopped safely.

Further, in the conventional self-propelled cleaner, it is controlled so as to always slow down and turn at the same position with respect to the reference wall during reciprocal cleaning. Therefore, the operation of the rotating brush attached to the main body as the cleaning means is always repeated at the same position on the carpet. For this reason, repeating reciprocal cleaning in a self-propelled vacuum cleaner equipped with a rotating brush that rotates at a constant speed at a high speed promotes abrasion of the carpet near the wall where the moving speed of the main body slows down, thus extending the life of the carpet. It was a cause of contraction.

In order to solve the above-mentioned problems, the present invention determines whether a person suddenly crosses the front of the main body or a stopped obstacle such as a wall according to the detection state of the obstacle detection means. Accordingly, the first purpose is to stop the main body safely by stopping the main body accordingly.

Further, by controlling the number of revolutions of the rotary brush near the wall to suppress the abrasion of the carpet as much as possible and controlling the input to the rotary brush, the continuous use time of the rechargeable self-propelled cleaner can be reduced. The second purpose is to improve the cleaning area and increase the cleaning area with a single full charge.

[0010]

In order to achieve the first object, the first technical means according to the present invention is a battery serving as a power source, and steering and driving means having left and right independent drive wheels provided at the bottom of the main body. And a cleaning means composed of a floor nozzle and a fan motor provided at the bottom of the main body, a plurality of obstacle detection means provided around the main body for detecting the presence or absence of an obstacle and the distance to the obstacle, and the obstacle detection A detection state determination means for determining the detection status of the means, and determines whether the obstacle is a stationary object or a moving object according to the outputs from the detection state determination means and the obstacle detection means, and the deceleration operation of the main body is completed. Tomo If you change the point
The distance of the deceleration operation end point according to the speed of the main body
To decide .

Further, in order to achieve the same object, the second technical means is provided with a speed setting means for selectively setting and storing the moving speed of the main body in addition to the first technical means. The distance of the deceleration operation end point is determined accordingly.

Further, in order to achieve the second object,
The third technical means is a steering and driving means having left and right independent drive wheels provided at the bottom of the main body, a plurality of obstacle detecting means provided around the main body for detecting the presence or absence of an obstacle and the distance to the obstacle, and traveling. A floor nozzle in which a rotating brush for picking up dust is arranged for performing a cleaning operation inside, an on / off control means for performing on / off control of the rotating brush based on an instruction from a determination processing means, and the obstacle The steering / driving means and the judgment processing means for controlling the on / off control means based on a signal from the detection means.

In order to achieve the same object, a fourth technical means is a steering and driving means having left and right independent drive wheels provided at the lower portion of the main body, and presence or absence of an obstacle provided around the main body and a distance between the obstacle and the obstacle. A plurality of obstacle detecting means for detecting, a floor nozzle having a rotating brush for dust scrubbing inside for performing cleaning work during traveling, a rotating brush control means for controlling the rotation speed of the rotating brush, and the obstacle. The determination processing means controls the rotation brush control means by determining the rotation speed of the rotation brush according to the distance from the obstacle detected by the object detection means.

In order to achieve the same object, the fifth technical means detects the moving speed of the main body by a signal from the steering / driving means, and the main body is detected by the moving speed of the main body and the signal from the obstacle detecting means. Situation judgment means for judging the operation situation,
The rotation brush control means is controlled by determining the number of rotations of the rotating brush based on the signal from the situation determining means and the moving speed signal from the steering / driving means.

In order to achieve the same object, the sixth technical means is a nozzle movement detecting means provided in the floor nozzle for detecting the movement state of the floor nozzle, and a movement state signal of the floor nozzle from the nozzle movement detecting means. According to the configuration, the number of rotations of the rotary brush is determined and the rotary brush control means is controlled.

In order to achieve the same object, the seventh technical means is a steering and driving means of left and right independent drive wheels structure provided in the lower part of the main body, and a dust scooping part provided in the lower part of the main body for cleaning work. A cleaning means composed of a floor nozzle with a rotating brush and a fan motor, a plurality of obstacle detection means provided around the main body for detecting presence or absence of an obstacle and a distance to the obstacle, and a lower portion of the main body A magnetic switch for detecting magnetic poles of N pole and S pole, a signal from the obstacle detecting means and a signal from the magnetic switch are received as a movement limiting signal when an obstacle is detected, and the obstacle detecting means And a determination processing unit that determines and controls the number of rotations of the rotating brush according to the distance to the detected obstacle or the moving distance after the magnetic tape is detected by the magnetic switch.

[0017]

According to the first technical means of the present invention, the detection status judging means judges the detection status of the obstacle detecting means, and the obstacles are detected by the outputs from the detection status judging means and the obstacle detecting means. Judging whether it is a moving object or a stationary obstacle , change the deceleration operation end point of the main unit, and
Determine the distance of the deceleration end point according to the speed of the main unit
By doing so, the main body can be stopped safely.

According to the second technical means, the distance of the deceleration operation end point is determined according to the moving speed of the main body selected by the speed setting means for selecting and setting the moving speed of the main body. It is a safer stop.

According to the third means of the present invention, the self-propelled cleaning is carried out by the floor nozzle having the rotating brush for scraping dust inside the cleaning work and the steering / driving means for automatic cleaning. In the machine, the presence / absence and the position of the obstacle are detected by the obstacle detection means during traveling, and when the determination processing means determines that there is an obstacle based on this information, the on / off control means rotates the rotating brush. Stop the rotation of
On the other hand, when the determination processing means determines that there is no obstacle, the on / off control means performs automatic cleaning while rotating the rotary brush.

According to the fourth means of the present invention, a self-propelled cleaning is carried out by a floor nozzle having a rotary brush for scraping up dust inside the cleaning work and a steering / driving means for automatic cleaning. In the machine, when the presence or absence and the position of the obstacle are detected by the obstacle detection means during traveling, the rotation speed of the rotating brush controlled by the rotating brush control means is determined by the judgment processing means according to the distance to the obstacle (obstacle). The rotation speed of the rotary brush is set to be slower as the distance between and becomes shorter), and output to the rotary brush control means. On the other hand, when it is determined that there are no obstacles, the rotary brush is returned to a predetermined rotation speed and automatic cleaning is performed.

According to the fifth means of the present invention, the self-propelled cleaning is performed automatically by the floor nozzle having the rotating brush for dust scrubbing inside the cleaning work and the steering and driving means. In the machine, the situation determining means detects the moving speed during traveling by the signal from the steering / driving means, and detects the presence or absence and the position of the obstacle by the signal from the obstacle detecting means to detect the operation status of the main body (obstacle). It is determined whether an object is being slowed down or whether it is slowing down immediately after starting straight ahead.), And the rotational speed of the rotary brush controlled by the rotary brush control means is determined from this information (obstacle). If there is an object and it is slowing down, the rotation speed of the rotating brush becomes slower as the distance to the obstacle becomes shorter. Back to the rolling speed.), And outputs to the rotary brush control means.

According to the sixth means of the present invention, the rotation state of the floor nozzle is detected by the nozzle movement detection means, and the rotation of the rotary brush is controlled by the rotary brush control means based on the information of the floor nozzle movement speed. The number is determined (the rotational speed of the rotary brush is made slower as the moving speed of the nozzle becomes slower, and if the moving speed is sufficient, the rotational brush is returned to a predetermined rotational speed) and output to the rotary brush control means.

According to the seventh means of the present invention, the self-propelled cleaning is performed automatically by the floor nozzle having the rotating brush for dust scrubbing inside the cleaning work and the steering and driving means. In the machine, the presence and position information of the obstacle detected by the obstacle detection means while traveling, and the distance to the obstacle in the judgment processing means based on the detection information of the magnetic tape constructed on the floor by the magnetic switch, Alternatively, the rotational speed of the rotary brush controlled by the rotary brush control means is determined according to the moving distance after the magnetic tape is detected (the shorter the distance from the obstacle, or the closer the magnetic tape is detected to a predetermined stop position, The rotation speed of the rotary brush is slowed down) and output to the rotary brush control means.
On the other hand, when it is determined that there are no obstacles and no magnetic tape, the rotary brush is returned to a predetermined rotation speed and automatic cleaning is performed.

[0024]

EXAMPLES Example 1 Hereinafter, a self-propelled vacuum cleaner, which is a first example of the present invention, will be described with reference to FIG.
~ It demonstrates based on FIG. FIG. 1 is a vertical sectional view of a self-propelled vacuum cleaner of the present embodiment, FIG. 2 is a horizontal sectional view of the same, and FIG. 3 is a control block diagram thereof. Reference numeral 1 denotes a main body of a self-propelled vacuum cleaner (hereinafter simply referred to as a main body), 4a and 4c are drive wheels provided on the left and right sides of the main body 1, respectively, and drive motors 4b and 4d are used to reduce speed reducers 4e and 4f (not shown). The left and right are independently driven via the above. Drive wheels 4a and 4c are drive motors 4b, respectively.
The wheel encoders 4g and 4h (not shown) including rotary encoders and the like connected to 4d are used to detect the rotational speeds of the drive motors 4b and 4d. 3c is
It is a follower wheel rotatably attached to the main body 1. As described above, the drive wheels 4a and 4c, the drive motors 4b and 4d, and the speed reducers 4e and 4
f and the wheel encoders 4g and 4h constitute steering and driving means for moving the main body 1. A battery 14 supplies electric power to the entire main body 1.

Reference numeral 10 is a plurality of obstacle detecting means for detecting obstacles around the wall or door or for detecting the distance thereof, and 12 is a gyro sensor for measuring the direction of the main body 1. Reference numeral 9 is a cleaning means including a floor nozzle 9d, a dust box 9b provided on the upper part of the main body 1, a filter 9c, and a fan motor 9a, and 11 is a detection state determination means for determining the detection status of the obstacle detection means 10. Yes, 13 receives the signal from the obstacle detection means 10 and the signal from the detection state determination means 11 as a movement restriction signal when the obstacle is detected, and moves forward and backward within a designated distance from the obstacle. The determination processing unit A controls the steering / driving unit 4 and the cleaning unit 9 so as to move laterally while moving.

The operation of the first technical means of the present invention configured as above will be described.

The self-propelled vacuum cleaner of the present invention is an obstacle detection means 1
The moving speed is adjusted according to the distance to the obstacle detected by 0. FIG. 4 shows this deceleration operation. The horizontal axis of the graph in the figure indicates the distance to the obstacle, and the vertical axis indicates the moving speed of the main body. As shown in the figure, the moving speed is divided into several stages from the start point of the deceleration operation (the point 50 cm from the obstacle in this example) to the end point of the deceleration operation (10 cm in this example), depending on the distance to the obstacle. Determine the speed of the deceleration operation (shown by the solid line in the figure). Suddenly moving people, etc.
Considering the case of detection, for example, when an obstacle is detected at point A in the figure (the obstacle is suddenly detected at a point of 38 cm, and is detected as 50 cm or more until then), the movement speed is originally 30.
It should be cm / s, but it is 50 cm / s, so it is necessary to drastically reduce the speed. Also, at the point B, it is 50 cm, although it is a distance that must be stopped.
/ S is moving. Even if the stopping operation is executed at the point B, it cannot be stopped at the point B, and a braking distance (distance until stopping) is required from the point B. Therefore, the vehicle collides with an obstacle while moving for the braking distance. I have something to do.

FIG. 5 shows the detection state of the obstacle detecting means 10 when a stationary obstacle such as a wall is detected and when an obstacle such as a person is suddenly detected.

The vertical axis of the figure is the distance to the obstacle, and the horizontal axis is time.

When a stationary obstacle such as a wall is detected, the distance to the obstacle changes as shown by the solid line in the figure, and in the case of a suddenly detected obstacle such as a person, the dotted line As shown by, there is a point (time points A and 3T in the figure) at which the distance to the obstacle greatly changes. The detection state determination means 11 monitors the distance to the obstacle detected by the obstacle detection means 10, and when the distance to the obstacle changes greatly at the time of 3T, the determination processing means A13 will be informed accordingly. Output.

The determination processing means A13 determines from the detection signals of the detection state determination means 11 and the obstacle detection means 10 that a moving obstacle such as a person is detected, and a deceleration operation end point (usually 10 cm from the obstacle). ) Is changed (for example, 3
Change to 0 cm. ) Stop the machine safely.

(Embodiment 2) FIG. 6 shows a control block diagram of a self-propelled cleaner according to a second technical means. In the figure, 15 is a speed setting means for setting and storing the moving speed of the main body. FIG. 7 shows an external view of the speed setting means.

The speed setting means 15 comprises a cleaning speed switch 15b for selecting a speed, 15a for displaying the cleaning speed, and a storage section 15c (not shown) for storing the set speed.

The judgment processing means B13 is a deceleration operation end point (usually, a speed change operation end point) which is changed when a moving obstacle such as a person is detected from the speed of the main body 1 stored in the speed setting means 15.
Determine a distance of 10 cm) from the obstacle.

That is, if the speed of the main body 1 is high (for example, changed from 10 cm to 30 cm), the change distance is increased, and if the speed is low, it is decreased (for example, changed from 10 cm to 20 cm).

By thus determining the distance of the deceleration operation end point according to the speed of the main body, the main body can be stopped optimally and safely.

(Embodiment 3) The overall construction of an embodiment of the third means of the present invention will be described below with reference to FIGS. The following elements are housed inside the main body 1 of the self-propelled cleaner. 9
Reference numerals a and 9b are a fan motor and a dust box, respectively, which constitute cleaning means. The reference numeral 9 is a floor nozzle 9d which also constitutes a cleaning means, and has a rotary brush 9e for scraping up dust therein. At the bottom rear of the main body 1,
Drive wheels 4a and 4c driven by a drive motor are provided, and a follower wheel 3 that is rotatable for movement is provided at the rear.

An obstacle detecting sensor 1 for detecting an obstacle and measuring its distance is provided on the front and rear and on the left and right of the main body 1.
0a, and a contact sensor 10b for detecting that the main body 1 contacts an obstacle or the like is provided around the entire lower portion of the main body 1. The obstacle detection sensor 10a and the contact sensor 1 are provided.
The obstacle detection means 10 is constituted by 0b.

Reference numeral 13 processes signals from the obstacle detecting means 10 and the like, sends an output signal to the steering / driving means 4 to control forward / backward movement / stop / direction change of the main body 1, and further the cleaning means. The determination processing means C controls the number of rotations of the rotating brush 9e. Further, 14 is a battery for supplying electric power to the entire main body. Reference numeral 16 denotes operation switches of the main body, which are a start switch for instructing the start of operation and a reset switch for operation.

The operation of this embodiment will be sequentially described below with reference to the block diagram of FIG.

In the figure, reference numeral 17 indicates ON / OFF of the rotating brush 9e.
It is an on / off control means for performing off control. The presence / absence and position of an obstacle (wall) during traveling is detected by the obstacle detection means 10, and when the determination processing means C13 determines that there is an obstacle based on this information, the on / off control means 17 The rotation of the rotating brush 9e is stopped by the on / off control means 17 when the rotation of the rotating brush 9e is stopped by the determination processing means 13.
The automatic cleaning is performed while rotating the.

To explain the operation of the above structure, when the main body 1 is placed facing the wall and the main body 1 is started, the main body 1 goes straight toward the wall, and the moving speed is gradually increased when the wall is detected. While slowing down, the rotation of the rotary brush 9e is stopped, the main body 1 is stopped at a point approaching the wall by a predetermined distance, and the backward movement is started. At this time, if no obstacle is detected in the traveling direction (backward), the rotation of the rotating brush 9e is restarted. In the present invention, when the main body 1 slows down as described above, the cleaning work is performed while the rotation of the rotating brush 9e is stopped, so that the local abrasion promotion of the carpet is prevented.

(Embodiment 4) Next, an embodiment of the self-propelled cleaner by the fourth means will be described with reference to the block diagram of FIG.

The presence and the position of the obstacle is detected by the obstacle detecting means 10, and the rotation number of the rotating brush 9e controlled by the rotating brush control means 18 is determined by the judgment processing means D13 according to the distance to the obstacle (obstacle). The rotational speed of the rotary brush is made slower as the distance to the object becomes shorter), and the result is output to the rotary brush control means 18. On the other hand, when the determination processing means D13 determines that there is no obstacle, the rotary brush 9e is returned to a predetermined rotation speed and automatic cleaning is performed.

The operation of the above structure will be described. When the main body 1 is placed face-to-face with a wall and the main body 1 is started, the main body 1 goes straight toward the wall, and when the wall is detected, the distance to the wall is reached. Accordingly, the moving speed is gradually decreased, and the rotating brush 9e is also controlled so that the rotating speed is gradually decreased as the distance to the wall becomes shorter. After that, the main body and the rotating brush 9e are stopped at a point approaching the wall to a predetermined distance, and the retreating operation is started. At this time, if no obstacle is detected in the traveling direction, the rotation of the rotating brush 9e is restarted. In the present invention, as described above, when the main body 1 approaches the wall (obstacle), the cleaning operation is performed while saving the rotation speed of the rotating brush 9e, so that the local abrasion promotion of the carpet can be prevented. By performing the input control to the rotating brush 9e while performing the cleaning, the continuous use time of the rechargeable self-propelled cleaner can be improved.

(Embodiment 5) Next, an embodiment of a self-propelled cleaner by the fifth means is shown in FIG.
The block diagram of FIG.

Numeral 19 detects the moving speed during traveling by the outputs from the wheel encoders 4g and 4h of the steering and driving means 4, and based on the presence or absence of the obstacle and the position information from the obstacle detecting means 10, the operation of the main body is detected. It is a situation determination means for determining the situation (determining whether the vehicle is slowing down by detecting an obstacle or slowing up immediately after the start of straight traveling) and outputting the result to the determination processing means E13. The determination processing means E13 determines the number of rotations of the rotating brush 9e controlled by the rotating brush control means 18 based on these pieces of information (if an obstacle exists and is slowing down, the rotation of the rotating brush decreases as the distance to the obstacle decreases). Make the number slower and return the rotating brush to the specified number of rotations during slow-up immediately after the start of straight running.)
Output to the rotating brush control means.

In the above structure, the operation is the same as the fourth means. When the main body 1 is placed facing the wall and the main body 1 is started, the main body 1 goes straight toward the wall and moves when the wall is detected. The operation is to gradually reduce the speed. After that, the main body and the rotating brush 9e are stopped at a point approaching the wall to a predetermined distance, and the retreating operation is started. At this time, if no obstacle is detected in the traveling direction, the rotation of the rotating brush 9e is restarted.

(Embodiment 6) Next, an embodiment of the self-propelled cleaner by the sixth means will be described with reference to the block diagram of FIG. 13 and the vertical sectional view of the floor nozzle of FIG.

In FIG. 14, 20a is a rotatable wheel provided on the floor nozzle 9d, and 20b is a rotation detector composed of a photocoupler or the like for detecting the rotation of the wheel 20a.

The wheel 20a and the rotation detector 20b detect the moving state (speed) of the nozzle, and the judgment processing means F13.
It constitutes a nozzle movement detecting means for outputting to. In the judgment processing means F13, the rotational speed of the rotary brush controlled by the rotary brush control means is determined from the information of the nozzle moving speed (the slower the moving speed of the nozzle, the slower the rotational speed of the rotary brush, so that the moving speed is sufficient). If there is, the rotating brush is returned to a predetermined number of rotations) and output to the rotating brush control means. Here, the judgment processing means F13 of the present invention
The nozzle movement detecting means 20 always detects and grasps the moving speed of the nozzle, and controls the rotation speed of the rotary brush 9e in proportion to the moving speed.

Therefore, since the rotation speed of the rotating brush 9e can be controlled even when the moving speed becomes slower irrespective of the distance to the wall (obstacle) when the floor surface having a slope is automatically cleaned, By subtly grasping changes in the surface and minimizing the burden on the carpet, and by controlling the input to the rotating brush 9e, the continuous use time of the rechargeable self-propelled cleaner is improved and one full charge. The cleaning area can be expanded.

(Embodiment 7) Next, an embodiment of the self-propelled cleaner by the seventh means will be described with reference to the block diagram of FIG.

In FIG. 15, reference numeral 21 is a magnetic switch for detecting magnetic poles of N pole and S pole, and 13 is a signal from the obstacle detecting means 10 and a signal from the magnetic switch 21 for detecting an obstacle. The rotation brush of the rotating brush 9e is determined according to the distance to the obstacle detected by the obstacle detecting means 10 or the moving distance after the magnetic tape is detected by the magnetic switch 21. It is the judgment processing means G13 for controlling the control means.

The operation of the above structure will be described. When the main body 1 is placed facing the wall and the main body 1 is started, the main body 1 goes straight toward the wall and the obstacle detecting means 10 detects the wall. At this time, the moving speed is gradually decreased according to the distance to the wall, and the rotating brush 9e is also controlled so as to gradually decrease the rotational speed as the distance to the wall is reduced. The main body and the rotating brush 9e are stopped at a point approaching the wall up to a certain distance. When the magnetic tape is detected by the magnetic switch 21 during traveling,
The rotational speed of the rotary brush 9e is gradually reduced as the speed is gradually reduced, and control is performed so that the main body 1 and the rotary brush 9e are stopped at a preset distance (for example, 60 cm).

Then, the moving direction of the main body is reversed to continue the cleaning. At this time, if no obstacle is detected in the traveling direction, the rotation of the rotating brush 9e is restarted at a predetermined rotation speed. In the present invention, as described above, when the main body 1 approaches a wall (obstacle) or when the magnetic tape is detected, the cleaning work is performed while saving the number of rotations of the rotating brush 9e. By taking into consideration the prevention of accelerated wear and controlling the input to the rotary brush 9e, it is possible to improve the continuous use time of the rechargeable self-propelled cleaner.

[0057]

According to the first technical means of the present invention, the detection state judging means for judging the detection status of the obstacle detecting means,
Based on the output from the obstacle detection means, it is judged whether the obstacle is a moving obstacle or a stationary obstacle, and the main body is stopped safely.

According to the second technical means, since the distance of the deceleration operation end point of the main body is determined according to the moving speed of the main body, the main body can be stopped more safely.

Further, according to the third means of the present invention, a self-propelled type in which automatic cleaning is carried out by a floor nozzle having a rotating brush for scrubbing dust inside the cleaning work and a steering / driving means. In the vacuum cleaner, the presence / absence and position of the obstacle are detected by the obstacle detection means while the vehicle is running, and when the determination processing means determines that there is an obstacle based on this information, the on / off control means rotates the rotation. The rotation of the brush is stopped, and when the determination processing means determines that there is no obstacle, the on / off control means performs automatic cleaning while rotating the rotating brush to promote localized wear of the carpet. Therefore, the cleaning work can be carried out with peace of mind without extremely shortening the life of the carpet.

According to the fourth means of the present invention, the presence or absence and the position of the obstacle are detected by the obstacle detecting means while the vehicle is running, and the judgment processing means has the obstacle based on this information. When the judgment is made, the rotating brush control means saves the rotating speed of the rotating brush according to the distance to the obstacle (controls so that the rotating speed of the rotating brush becomes slower as the distance to the obstacle becomes shorter). On the other hand, when it is determined that there are no obstacles, the rotating brush is returned to a predetermined number of rotations and automatically cleaned to prevent local promotion of abrasion of the carpet. By controlling the input to, it is possible to improve the continuous use time of the rechargeable self-propelled cleaner.

Further, according to the fifth means of the present invention, the situation determining means determines the moving speed of the main body and the situation of the main body operation (the obstacle is detected and thrown by the distance from the obstacle detecting means to the obstacle). Judgment is being made or whether the vehicle is slowing down immediately after starting straight ahead.) And controlling the rotation speed of the rotating brush to decelerate the rotating brush during slowdown due to the presence of obstacles. , The rotating brush returns to the specified number of revolutions if it is slowing up immediately after the start of straight running.
The rotating brush can be controlled according to the movement of the main body, and consideration is given to prevent local promotion of abrasion of the carpet.At the same time, by controlling the input to the rotating brush, a rechargeable self-propelled vacuum cleaner. The continuous use time can be improved.

Further, according to the sixth means of the present invention, the movement state (speed) of the floor nozzle is detected by the nozzle movement detection means, and the rotary brush is controlled according to the movement speed of the floor nozzle (movement of the floor nozzle). The slower the speed, the slower the rotational speed of the rotating brush. If the moving speed is sufficient, the rotational brush is returned to the specified rotational speed.) By subtly grasping the changes in the floor surface, the load on the carpet is minimized. In addition to being able to suppress it, by controlling the input to the rotating brush, it is possible to improve the continuous use time in a rechargeable self-propelled vacuum cleaner and to expand the cleaning area with one full charge, It can be a self-propelled vacuum cleaner that is easy to use.

Further, according to the seventh means of the present invention, even when the main body is stopped by the magnetic switch, the rotary brush is controlled according to the moving distance after the magnetic tape is detected, so that there is no obstacle. Along with being able to grasp the changes in the floor subtly to minimize the burden on the carpet, and by controlling the input to the rotating brush, we aim to improve the continuous use time of the rechargeable self-propelled cleaner,
The cleaning area can be expanded with a single full charge, and a self-propelled cleaner that is easy to use can be obtained.

[Brief description of drawings]

FIG. 1 is a vertical sectional view of a self-propelled vacuum cleaner showing a first embodiment of the present invention.

FIG. 2 is a partially cutaway plan view of the self-propelled vacuum cleaner.

FIG. 3 is a control block diagram of the self-propelled vacuum cleaner.

FIG. 4 is an explanatory diagram of a deceleration operation of the self-propelled vacuum cleaner.

FIG. 5 is an explanatory view of a detection state of obstacle detection means of the self-propelled cleaner.

FIG. 6 is a control block diagram of a self-propelled cleaner according to a second embodiment of the present invention.

FIG. 7 is an external front view of speed setting means of the self-propelled cleaner.

FIG. 8 is a perspective view showing an internal configuration of a self-propelled cleaner showing a third embodiment of the present invention.

FIG. 9 is a vertical sectional view of a floor nozzle of the self-propelled cleaner.

FIG. 10 is a control block diagram of the self-propelled vacuum cleaner.

FIG. 11 is a control block diagram of a self-propelled cleaner according to a fourth embodiment of the present invention.

FIG. 12 is a control block diagram of a self-propelled vacuum cleaner according to a fifth embodiment of the present invention.

FIG. 13 is a control block diagram of a self-propelled cleaner according to a sixth embodiment of the present invention.

FIG. 14 is a vertical sectional view of a floor nozzle of the self-propelled cleaner.

FIG. 15 is a control block diagram of a self-propelled cleaner according to a seventh embodiment of the present invention.

[Explanation of symbols]

1 body 3 followers 4 Steering and drive means 9 Cleaning means 10 Obstacle detection means 11 Detection status determination means 12 Gyro sensor 13 Judgment processing means 14 battery

─────────────────────────────────────────────────── ─── Continuation of front page (72) Hidetaka Yabuuchi, 1006 Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Mitsuyasu Ogawa, 1006, Kadoma, Kadoma-shi, Osaka Matsushita Electric Industrial Co., Ltd. Company (72) Inventor Toshiaki Fujiwara 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor Osamu Eguchi 1006 Kadoma, Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd. (72) Invention Person Hirofumi Inui 1006, Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor, Yoshifumi Takagi, 1006 Kadoma, Kadoma City, Osaka Prefecture Matsuda Electric Industrial Co., Ltd. (72) Takafumi Ishibashi Kadoma, Osaka Prefecture Matsuda Electric Industry Co., Ltd. 1006, Kadoma, Ichi, Japan (72) Inventor: Hiroyuki Senoo, 1006 Kadoma, Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. In-company (56) Reference JP-A-3-106319 (JP, A) JP-A-59-77517 (JP, A) JP-A-7-322977 (JP, A) JP-A-8-228979 (JP, A) ) JP-A-6-125861 (JP, A) JP-A-5-46246 (JP, A) JP-A-6-22884 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) A47L 9/28 A47L 9/00 102

Claims (7)

(57) [Claims] 1. A battery as a power source, a steering / driving means having left and right independent drive wheels provided at a lower portion of the main body, a cleaning means made up of a floor nozzle and a fan motor provided at a lower portion of the main body, and provided around the main body. A plurality of obstacle detection means for detecting the presence or absence of an obstacle and a distance to the obstacle, and a detection state determination means for determining the detection state of the obstacle detection means are provided, and the detection state determination means and the obstacle are provided. It judges whether the obstacle is a stationary object or a moving object according to the output from the detection means, changes the end point of the deceleration operation of the main body, and changes it according to the speed of the main body
Self-propelled vacuum cleaner that determines the distance at the end point of deceleration operation . 2. The self-propelled cleaner according to claim 1, further comprising speed setting means for selectively setting and storing the moving speed of the main body, and determining the distance of the deceleration operation end point according to the speed of the selected main body. 3. A steering / driving means having left and right independent drive wheels arranged at the bottom of the main body, a plurality of obstacle detecting means provided around the main body for detecting presence or absence of an obstacle and a distance to the obstacle, while running. A floor nozzle in which a rotating brush for scrubbing dust is arranged inside for performing the cleaning work, and on / off control means for performing on / off control of the rotating brush based on an instruction from the determination processing means,
A self-propelled cleaner including: a steering / driving means and a judgment processing means for controlling an on / off control means according to a signal from the obstacle detection means. 4. A steering and driving means having left and right independent drive wheels provided at a lower portion of the main body, a plurality of obstacle detecting means provided around the main body for detecting presence or absence of an obstacle and a distance to the obstacle, while running. The floor nozzle in which the rotating brush for scraping up dust is arranged, the rotating brush control means for controlling the number of rotations of the rotating brush, and the obstacle detected by the obstacle detecting means. A self-propelled cleaner including: a determination processing unit that determines the number of rotations of the rotating brush and controls the rotating brush control unit. 5. Situation judging means for detecting the moving speed of the main body by a signal from the steering and driving means, and judging the status of the main body operation from the moving speed of the main body and the signal from the obstacle detecting means, and this status judging means. 5. The self-propelled cleaner according to claim 4, wherein the number of rotations of the rotary brush is determined by a signal from the means and a moving speed signal from the steering and driving means to control the rotary brush control means. 6. A rotary brush control means, which is provided on the floor nozzle and detects a movement state of the floor nozzle, and a rotation speed of the rotary brush is determined by a movement state signal of the floor nozzle from the nozzle movement detection means. Controlling the
Or the self-propelled vacuum cleaner described in 5. 7. A steering / driving means having left and right independent drive wheels provided at the bottom of the main body, and a floor nozzle and a fan motor provided at the bottom of the main body in which a cleaning brush for cleaning dust is arranged inside. Cleaning means, a plurality of obstacle detecting means provided around the main body for detecting presence or absence of an obstacle and a distance to the obstacle, and a magnetic switch for detecting magnetic poles of N pole and S pole provided at a lower portion of the main body. A signal from the obstacle detection means and a signal from the magnetic switch as a movement restriction signal when an obstacle is detected, and the distance to the obstacle detected by the obstacle detection means or the magnetic switch. A self-propelled cleaner equipped with a judgment processing means for determining and controlling the number of rotations of the rotating brush according to the moving distance after the magnetic tape is detected.