JP3747487B2

JP3747487B2 - Self-propelled vacuum cleaner

Info

Publication number: JP3747487B2
Application number: JP02531495A
Authority: JP
Inventors: 崇文石橋; 昌弘木村; 保道小林; 秀隆藪内; 光康小川; 俊明藤原; 修江口; 弘文乾; 祥史高木; 義貴黒木; 裕之妹尾
Original assignee: Panasonic Corp; Matsushita Electric Industrial Co Ltd
Current assignee: Panasonic Corp; Panasonic Holdings Corp
Priority date: 1995-02-14
Filing date: 1995-02-14
Publication date: 2006-02-22
Anticipated expiration: 2021-02-22
Also published as: JPH08215116A

Description

【０００１】
【産業上の利用分野】
本発明は清掃機能と移動機能とを備えた自走式掃除機に関するものである。
【０００２】
【従来の技術】
従来の自走式掃除機の概略構成図を図１４に示す。
【０００３】
図１４において、１は自走式掃除機の本体であり、２は方位センサであるジャイロであり、３は障害物の有無と障害物までの距離を測距する障害物検知手段であり、４は本体１を操舵する操舵手段であり、５は本体１を駆動する駆動手段であり、操舵手段４と駆動手段５にて走行操舵手段を構成する。６は塵埃を集めておくための集塵室であり、７は集塵室６内に設置された集塵袋である。８は塵埃を吸い込むための真空圧を発生させるファンモータであり、９は床面上の塵埃を吸い込むための吸い込み口である床ノズルであり、これらで清掃手段を構成している。
【０００４】
上記のように構成される自走式掃除機を始動すると図１５に示すように基準壁との間を設定した距離だけ走行操舵手段にて走行し、前進時は角度θの方向に直進するよう方位センサ２にて監視しながら、障害物検知手段３より入力される距離情報により障害物との距離がある距離になるまで移動し、後退時は本体始動時に設定した０°の方向へ設定した距離Ｌ１直進し、以後同様に往復動作を繰り返して清掃領域を隈なく移動し、清掃手段にて清掃を行なうものである。
【０００５】
【発明が解決しようとする課題】
このように従来の自走式掃除機では、清掃動作開始時に本体の基準方向を設定し、本体の前進、後退において方位センサであるジャイロ２のデータを基に設定された方向に直進するので、このジャイロ２の角度出力の精度が本体の移動精度を左右する。
【０００６】
本体の直進方向は、基準方向に対して清掃領域をくまなく清掃するように設定されているので、ジャイロ２の角度出力にズレが生じると、そのまま本体の基準方向のズレにつながり、清掃動作開始時に設定した基準方向に対して移動軌跡がズレてしまうので、未清掃領域が発生してしまう。
【０００７】
本発明はこのような従来の構成の課題を解決しようとしたものであって、この様なジャイロの角度ズレに対しても自動的に補正し精度良く本体を移動させ未清掃領域の発生も未然に防ぐ事を目的としている。
【０００８】
【課題を解決するための手段】
本発明は、上記目的を達成するために、第１の手段として、本体を移動させる走行操舵手段と、本体の走行方向を検知する方位センサと、前記本体周囲の障害物の有無と前記障害物までの距離を検出する複数の障害物検知手段と、前記障害物検知手段において前記本体前面の左側に配置した左前障害物検知手段と、右側に配置した右前障害物検知手段と、本体が清掃を行う領域を入力する清掃領域入力手段と、前記清掃領域に応じて前記本体の直進方向を算出する直進方向算出手段と、前記方位センサの出力により前記本体を直進制御する直進制御手段と、清掃を実行する清掃手段を有し、前記直進方向算出手段において算出された方向に前進し、前方に障害物を検知すると停止して直進方向を転換し、基準方向に後退し、以降、前記清掃領域入力手段にて設定された横方向の移動距離に到達するまで、この往復清掃動作を繰り返す構成において、前記左前障害物検知手段の出力と前記右前障害物検知手段の出力の差により前記本体と対面する前方障害物の状態を認識すると共に、前記本体の向きを制御して前記方位センサの零点を設定して前記本体の基準方向を設定する姿勢制御手段と、前記本体の基準方向が設定されてからの直進往復回数を計数する往復回数計数手段と、前記往復回数計数手段の計数結果により前記本体の基準方向の設定を実行するか判断する姿勢制御実行判断手段と、前記本体の走行と清掃を制御する判断処理部とを備えたものである。
【０００９】
また、第２の手段として、本体の基準方向が設定されてからの直進往復回数を計数する往復回数計数手段からの入力により、連続した平面であるかを判断するための連続した対面する障害物の状態情報の個数を切り換える平面判断基準設定部を有し、前記平面判断基準設定部にて設定された対面する障害物の状態情報の個数により、前方障害物が連続した平面かを判断する連続平面判断部を姿勢制御手段に備えたものである。
【００１０】
また、第３の手段として、本体の基準方向を設定する前に、対面する障害物の状態を再度確認する対面状態確認部と、前記対面状態確認部からの入力により左前障害物検知手段と右前障害物検知手段とから入力される障害物までの距離情報によって前記本体の基準方向を設定する基準方向設定部を姿勢制御手段に備えたものである。
【００１１】
また、第４の手段として、対面する障害物の状態を認識するための本体の向きを設定する前に、左前障害物検知手段と右前障害物検知手段とから入力される障害物までの距離情報によって本体の向き設定後の対面状態を予測して本体の向きを設定するための本体の回転方法の切り換え判断をする回転方法判断部と、複数の回転方法を有し前記回転方法判断部にて設定された回転方法にて本体の向きを基準方向に設定する本体回転指示部を姿勢制御手段内に備えたものである。
【００１２】
また、第５の手段として、基準方向である零点と基準角速度の設定機能を有して本体の走行方向を検知する方位センサを有し、清掃動作開始時からの直進往復回数を計数する清掃往復計数手段を有し、前記方位センサの零点が設定された回数を計数する零設定計数部と、連続平面判断部と前記清掃往復計数手段と前記往復回数計数手段からの入力により、方位センサの角速度の基準点を設定すると同時に、左前障害物検知手段と右前障害物検知手段とから入力される障害物までの距離情報により方位センサの零点を設定して本体の基準方向を設定する基準方向設定部を有すること特徴とする構成を設けている。
【００１３】
また、第６の手段として、対面する障害物の状態を認識するための本体の向きを設定する前に、左前障害物検知手段と右前障害物検知手段とから入力される障害物までの距離情報によって本体の向き設定後の対面状態が平面かどうかを予測する平面予測部と、前記平面予測部から入力される平面がないという情報により本体の直進往復回数を計数する無平面計数部と、前記無平面計数部の計数値により本体の向きを設定する方向角度を設定する回転角度設定部と、本体の向きを前記回転角度設定部にて設定された角度に設定する本体回転指示部を姿勢制御手段内に備えたものである。
【００１４】
【作用】
本発明の第１の手段によれば、本体が前方障害物を検知して停止した時、往復回数計数手段にて計数する往復回数が所定の回数に達していれば、姿勢制御実行判断手段が姿勢制御手段に、姿勢制御の指示をだし、まず、本体を基準方向に向かせ、左前障害物検知手段と右前障害物検知手段から入力される各々の距離情報により左右の距離の差を算出し、平面が有ると判断すると差の情報を記憶する。この動作を停止毎に行って連続して記憶した情報が所定の個数になると、連続した情報により、前方障害物が連続した平面であるかを判断し、平面であれば、左前障害物検知手段と右前障害物検知手段から入力される各々の距離情報が等しくなるような方向に本体の向きを設定した後、方位センサの零点を設定し、本体の基準方向を再設定する。
【００１５】
本発明の第２の手段によれば、連続した平面であると判断するための連続して記憶した差の情報の個数の所定値を、平面判断基準設定部が往復回数計数手段より入力される往復回数により切り換えることにより、連続した平面がなかなか成立しない時は、所定値を小さくして連続平面が成立しやすくする。
【００１６】
本発明の第３の手段によれば、連続した平面があると判断した後、対面状態確認部にて、記憶した差の情報を連続した平面の判断基準値を切り換えて再度確認し、基準値を厳しくして基準方向設定部が実際に基準方向を設定する対面の状態を確認することで高精度で基準方向を設定する。
【００１７】
本発明の第４の手段によれば、本体回転指示部は基準となる回転方法を含む複数の回転方法を有しており、回転方法判断部は障害物検知手段が前方に障害物を検知して本体が停止した時の左前障害物検知手段と右前障害物検知手段から入力される各々の距離情報により、基準となる回転方法を決定し、その回転方法にて本体の方向を設定するよう本体回転指示部に指示し、本体回転指示部が本体の方向を設定することにより、最適な本体の回転を行うことができる。
【００１８】
本発明の第５の手段によれば、清掃往復計数手段が計数する清掃動作開始時よりの往復回数と、方位センサの零点が設定された回数が所定の回数に達しておらず、基準方向を設定するよう基準方向設定部に入力があった時は、基準方向設定部は左前障害物検知手段と右前障害物検知手段から入力される各々の距離情報が等しくなるような方向に設定した後、方位センサの零点のみを設定し、清掃往復計数手段の計数値かまたは零設定計数部の計数値が所定の計数値に達していれば、方位センサの零点と角速度の基準点を設定し、零設定計数部の計数値を零に設定し零点のみの設定よりも高精度な基準方向設定を行う。
【００１９】
本発明の第６の手段によれば、回転角度設定部は、本体回転指示部で本体の方向を設定する方向を、基本設定方向の方位センサの０度を含む複数の設定方向を有しており、平面予測部は障害物検知手段が前方に障害物を検知して本体が停止した時の左前障害物検知手段と右前障害物検知手段から入力される各々の距離情報により、本体の前方に認識可能な平面が有るかどうかを予測し、平面がないと判断した場合は無平面計数部が計数し、この状態が連続で発生した時のみ計数値を加算してゆき、連続が途切れた時は計数値を零にする。無平面計数部の計数値が所定の値に達した時、回転角度設定部は基本設定方向から設定方向を切り換えて本体回転指示部に出力し、本体回転指示部は入力した方向に本体の方向を設定した後、対面状態認識部にて対面状態の判断を行い、正確に対面の状態を認識して連続平面の判断を行う。
【００２０】
【実施例】
以下本発明の第１の実施例について図１、図２、図３を用いて説明する。
【００２１】
図１において、１１は本体（図２中３０））の前方、後方及び左右に配置した障害物を検知するための超音波を使用した複数の障害物検知センサであり、特に、本体前面の左端に配置した本体左前方の障害物までの距離を検出する左前障害物検知手段１２と、本体前面の右端に配置した本体右前方の障害物までの距離を検出する右前障害物検知手段１３とがその一部を構成している。
【００２２】
１８は本体３０が清掃を行う領域の縦、横の距離を入力する清掃領域入力手段であり、１７は清掃領域入力手段１８により入力された清掃領域の縦の距離に応じて本体３０の直進方向を算出する直進方向算出手段であり、１５は本体の移動方向を検知する角度の零点設定機能を有するジャイロ等の方位センサであり、１６は方位センサ１５から入力される現在の本体方向により、直進方向算出手段１７にて算出した方向へ本体の直進を制御する直進制御手段である。１９は清掃を行うための清掃手段であり２０は本体３０の走行・操舵を行う走行操舵手段である。
【００２３】
２８は本体の基準方向を設定する基準方向設定部であり、２５は左前障害物検知手段１２と右前障害物検知手段１３からの障害物までの距離情報により本体３０の前方の対面の状態を認識し、平面であるかどうかを判断する対面状態認識部であり、２６は対面状態認識部２５にて平面であると判断された対面情報を記憶する対面状態記憶部であり、２７は対面状態記憶部２６に記憶された対面情報により本体３０の前方に連続した平面が存在するかどうかを判断する連続平面判断部であり、２４は本体３０の方向を対面の状態を認識するための方向に設定する本体回転指示部であり、これらで対面状態を認識するための方向に本体３０の方向を設定して本体３０の前方に連続した平面が有るかどうかを判断して、有れば本体の基準方向を設定する姿勢制御動作を行う姿勢制御手段２３を構成する。
【００２４】
１４は前記障害物検知手段１１・直進制御手段１６・清掃領域入力手段１８・姿勢制御手段２３からの信号を処理して、走行操舵手段２０に出力信号を送り本体３０の前進・後退・停止・方向転換・回転を制御し、さらに清掃手段１９を制御する判断処理部である。
【００２５】
２１は方位センサ１５の零点が設定されてからの本体３０の往復動作の回数を計数する往復回数計数手段であり、２２は姿勢制御動作を行うかどうかを判断する姿勢制御実行判断手段である。
【００２６】
上記構成による作用は以下の通りである。
【００２７】
清掃動作を開始する際、図２に示すように基準壁に対して本体３０が正対するように（図２中αが９０°になるよう）本体の方向を設定し、走行開始前に方位センサ３５の角度の零点を設定する。これにより本体の基準方向が基準壁に対してα（９０°）になり、本体３０は基準壁と清掃領域入力手段１８にて設定された本体縦方向の距離間を、直進方向算出手段１７において算出された方向（図２中θ）に前進し、前方に障害物を検知すると停止して直進方向を転換し、基準方向に後退し、直進中は直進制御手段１６にて目標方向（前進はθ、後退は基準方向）に直進するよう判断処理部１４に出力し、判断処理部１４は走行操舵手段２０を操舵する。以降、清掃領域設定手段１８にて設定された横方向の移動距離に到達するまでこの動作を繰り返す。
【００２８】
この往復清掃動作を繰り返すうちに方位センサ３５の零点にズレが生じ、本体３０の基準方向が方位センサ１５の零点設定時よりδズレてしまう。
【００２９】
往復回数計数手段２１は方位センサ１５の零点設定時よりの往復回数を計数しており、姿勢制御実行判断手段２２はこの往復回数を入力しており、往復回数が規定値（例えば１０回）に到達し、本体３０が前方に障害物を検知して停止すると、姿勢制御手段２３に姿勢制御を実行するように指示を出す。
【００３０】
姿勢制御手段２３の本体回転指示部２４はこの指示を受けて本体３０の方向を現在の方位センサ３５の零点の方向になるよう判断処理部１４に出力し、判断処理部１４は走行操舵手段２０を操舵して本体３０を回転させ、本体３０の方向が方位センサ３５の零点の方向になると、対面状態認識部２５に対面状態を確認するように指示を出す。対面状態認識部２５はこの指示を受けて左前障害物検知手段１２からの本体３０の左前方の障害物までの距離情報と、右前障害物検知手段１３からの本体３０の右前方の障害物までの距離情報とにより対面の状態を認識し、本体３０の前方に何らかの障害物があると判断すると、この対面情報を左右の距離の差として、例えば、図２Ｂ点においては（Ｌ１−Ｒ１）、Ｃ点においては（Ｌ２−Ｒ２）というように対面状態記憶部２６に記憶してゆく。移動物を検知して本体３０が停止した等により対面状態認識部２５が障害物を検知できなかったときは対面状態記憶部２６の記憶内容は一旦クリアする。
【００３１】
連続平面判断部２７は対面状態記憶部２６に記憶された現在までの左右の距離差の情報を左右の距離差の変化量としてみており、連続して規定往復回数、左右の距離差の変化量が規定値以内に入っていれば、本体３０の前方に連続した平面があると判断して基準方向設定部２８に基準方向を設定するよう指示を出し、規定値外の距離差の変化があればその時点で対面状態記憶部２６の記憶内容を一旦クリアする。
【００３２】
例えば、図３において、連続規定往復回数を５回、距離差の変化量の規定値を±ａとすると、一旦１番目の左右の距離差のデータに対して差の規定値が決まり、４番目のデータにおいて規定値外の左右の距離差のデータが入ってきたので、一旦対面状態記憶部２６の内容がクリアされ、次の停止での左右の距離差のデータが１番目のデータとなり、このデータをもとに差の規定値が±ａで決まり、連続して５番目までのデータが規定値以内に入っているので、この時点で連続な平面が成立する。通常、図２に示すような凹凸のない基準壁においては基準方向がズレていたとしても、本体３０の基準方向に対しての左右の距離差はほぼ決まってくるので、連続な平面の判断を開始してからの左右の距離差の変化量は、途中に凹凸があったり、基準壁の傾きが変わったりしないかぎりほぼ一定となる。
【００３３】
基準方向設定部２８は、連続平面判断部２７からの指示を受けて、左前障害物検知手段１２からの本体３０の左前方の障害物までの距離情報と、右前障害物検知手段１３からの本体３０の右前方の障害物までの距離情報とが、等しくなるような方向に、つまり、基準壁に対して本体３０が９０゜の方向になるように本体３０を回転するよう判断処理部１４に出力し、判断処理部１４は走行操舵手段２０を操舵して本体３０を回転させ、左右の距離情報が等しくなると本体３０を停止させ、方位センサ１５の零点を設定する。これにより、方位センサ１５の零点がズレても定期的に本体の基準方向を基準壁に対して本体３０が９０゜の方向に設定することができる。
【００３４】
また、姿勢制御動作を停止毎に行わず定期的に行うのは通常の前進、停止、後退という動作に対して、姿勢制御動作を行うと多少でも時間がかかるので、１つの清掃領域を短い時間で清掃終了させる為である。
【００３５】
次に、本発明の第２の実施例を、図４、図５を用いて説明する。
【００３６】
図４において、４１は方位センサ３５の零点が設定されてからの本体５０の往復回数を計数する往復回数計数手段であり、３１は本体（図５中５０）の前方、後方及び左右に配置した障害物を検知するための超音波を使用した複数の障害物検知センサであり、特に、本体前面の左端に配置した本体左前方の障害物までの距離を検出する左前障害物検知手段３２と、本体前面の右端に配置した本体右前方の障害物までの距離を検出する右前障害物検知手段３３とがその一部を構成している。
【００３７】
３８は本体５０が清掃を行う領域の縦、横の距離を入力する清掃領域入力手段であり、３７は清掃領域入力手段３８により入力された清掃領域の縦の距離に応じて本体５０の直進方向を算出する直進方向算出手段であり、３５は本体の移動方向を検知する角度の零点設定機能を有するジャイロ等の方位センサであり、３６は方位センサ３５から入力される現在の本体方向により、直進方向算出手段３７にて算出した方向へ本体の直進を制御する直進制御手段である。３９は清掃を行うための清掃手段であり４０は本体５０の走行・操舵を行う走行操舵手段である。
【００３８】
４９は本体の基準方向を設定する基準方向設定部であり、４５は左前障害物検知手段３２と右前障害物検知手段３３からの障害物までの距離情報により本体３０の前方の対面の状態を認識し、平面であるかどうかを判断する対面状態認識部であり、４６は対面状態認識部４５にて平面であると判断された対面情報を記憶する対面状態記憶部であり、４７は往復回数計数手段４１より入力される往復回数により、後述の連続平面判断部４８が連続な平面を判断するための平面連続検知回数の規定値を設定する平面判断基準設定部であり、４８は平面判断基準設定部４７から入力される平面連続検知回数の規定値と対面状態記憶部４６に記憶された現在までの対面状態により本体５０の前方の障害物が連続した平面かどうかを判断する連続平面判断部であり、４４は本体５０の方向を対面の状態を認識するための方向に設定する本体回転指示部であり、これらで対面状態を認識するための方向に本体５０の方向を設定して本体５０の前方に連続した平面が有るかどうかを判断して、有れば本体の基準方向を設定する姿勢制御動作を行う姿勢制御手段４３を構成する。
【００３９】
３４は前記障害物検知手段３１・直進制御手段３６・清掃領域入力手段３８・姿勢制御手段４３からの信号を処理して、走行操舵手段４０に出力信号を送り本体５０の前進・後退・停止・方向転換・回転を制御し、さらに清掃手段３９を制御する判断処理部である。４２は姿勢制御動作を行うかどうかを判断する姿勢制御実行判断手段である。
【００４０】
上記構成による作用は以下の通りである。
【００４１】
往復回数計数手段４１から姿勢制御実行判断手段４２に入力される計数値が１０回になり、姿勢制御動作を実行するよう姿勢制御手段４３指示を出し、図５に示すように本体５０が基準壁に対して清掃領域入力手段３８にて設定された領域を、連続な平面を探索しながら清掃、移動している。今、平面判断基準設定部４７は往復回数計数手段４１から入力される計数値が２０回未満では５回、２０回以上では３回という規定回数を有しており、往復回数計数手段４１からの入力により、規定回数を連続平面判断部４８に出力しているとする。
【００４２】
姿勢制御動作実行の指示が出た直後からは連続平面判断部４８は平面判断基準設定部４７から入力される５回という規定回数により、対面状態記憶部４６に記憶された現在までの左右の距離差の情報を左右の距離差の変化量が、連続して５回変化量の規定値以内に入っていれば、本体５０の前方に連続した平面があると判断して基準方向設定部４９に基準方向を設定するよう指示を出し、連続５回以内に規定値外の距離差の変化があればその時点で対面状態記憶部４６の記憶内容を一旦クリアする。
【００４３】
図５において基準壁に凹凸が有り、Ｇ点での往復回数計数手段４１の計数値が１６回の時、Ｇ点からＨ点までは凹凸もなくほぼ一定した左右の距離差が対面状態記憶部４６に記憶され、連続平面判断部４８において連続３回の平面は成立するが、Ｉ点では凹凸があるため、左右の距離差の変化量が大きくなり、変化量の規定値外になると、対面状態記憶部４６の記憶内容を一旦クリアしてしまい、連続５回の平面は成立しない。このように連続５回内の間隔で凹凸があると連続した平面が全く成立しなくなり、基準方向設定部４９での本体５０の基準方向の設定ができなくなるが、Ｊ点に来たとき、往復回数計数手段４１にて計数される計数値が２０回になり、平面判断基準設定部４７にて規定回数が５回から３回に切り換わり、連続平面判断部４８に出力される。Ｊ点からＫ点までは凹凸もなくほぼ一定した左右の距離差が対面状態記憶部４６に記憶され、連続平面判断部４８において連続３回の平面は成立し、切り換わった規定回数３回に達しているので、基準方向設定部４９に本体５０の基準方向を設定するように指示を出し、Ｋ点にて本体の基準方向を設定する。
【００４４】
最初から規定回数を３回ではなく、５回で設定するのは、通常は確実な連続平面にて本体の基準方向を設定するためであり、仮に基準壁に凹凸が存在しても連続な平面部を見つけて本体５０の基準方向を設定できるよう規定回数を切り換えるものである。
【００４５】
また、本発明の第３の実施例を、図６、図７、図８を用いて説明する。
【００４６】
図６において、５１は本体（図７中７０））の前方、後方及び左右に配置した障害物を検知するための超音波を使用した複数の障害物検知センサであり、特に、本体前面の左端に配置した本体左前方の障害物までの距離を検出する左前障害物検知手段５２と、本体前面の右端に配置した本体右前方の障害物までの距離を検出する右前障害物検知手段５３とがその一部を構成している。
【００４７】
５８は本体７０が清掃を行う領域の縦、横の距離を入力する清掃領域入力手段であり、５７は清掃領域入力手段５８により入力された清掃領域の縦の距離に応じて本体７０の直進方向を算出する直進方向算出手段であり、５５は本体の移動方向を検知する角度の零点設定機能を有するジャイロ等の方位センサであり、６６は方位センサ５５から入力される現在の本体方向により、直進方向算出手段５７にて算出した方向へ本体の直進を制御する直進制御手段である。５９は清掃を行うための清掃手段であり６０は本体７０の走行・操舵を行う走行操舵手段である。
【００４８】
６５は左前障害物検知手段５２と右前障害物検知手段５３からの障害物までの距離情報により本体７０の前方の対面の状態を認識し、平面であるかどうかを判断する対面状態認識部であり、６６は対面状態認識部６５にて平面であると判断された対面情報を記憶する対面状態記憶部であり、６８は対面状態記憶部６６に記憶された対面情報により本体７０の前方に連続した平面が存在するかどうかを判断する連続平面判断部であり、６７は連続平面判断部６８にて連続な平面があると判断されたときに出力される指示により、対面状態記憶部６６から入力される現在までの対面の状態の情報により、現在の対面の状態が本体７０の方向を設定できる状態かを再度確認する対面状態確認手段であり、６９は対面状態確認部６７からの指示により本体の基準方向を設定する基準方向設定部であり、６４は本体７０の方向を対面の状態を認識するための方向に設定する本体回転指示部であり、これらで対面状態を認識するための方向に本体７０の方向を設定して本体７０の前方に連続した平面が有るかどうかを判断して、有れば本体の基準方向を設定する姿勢制御動作を行う姿勢制御手段６３を構成する。
【００４９】
５４は前記障害物検知手段５１・直進制御手段５６・清掃領域入力手段５８・姿勢制御手段６３からの信号を処理して、走行操舵手段６０に出力信号を送り本体７０の前進・後退・停止・方向転換・回転を制御し、さらに清掃手段５９を制御する判断処理部である。
【００５０】
６１は方位センサ５５の零点が設定されてからの本体７０の往復動作の回数を計数する往復回数計数手段であり、６２は姿勢制御動作を行うかどうかを判断する姿勢制御実行判断手段である。
【００５１】
上記構成による作用は以下の通りである。
【００５２】
図７に示すように本体７０が基準壁に対して清掃領域入力手段５８にて設定された領域を、連続な平面を探索しながら清掃、移動している。連続平面判断部４８は５回という規定回数と左右の距離差の変化量の規定値ａを有し、対面状態記憶部６６に記憶された現在までの左右の距離差の情報を左右の距離差の変化量が、連続して５回変化量の規定値以内に入っていれば、本体７０の前方に連続した平面があると判断する。この時、図７のＭ点及び、Ｏ点に示すように基準壁に凹凸があるが、凹凸が微小であり、５回の連続な平面の判断を通して左右な距離差の変化量が規定値ａ内に入っていれば、連続な平面が成立する。
【００５３】
仮にＯ点で本体７０の基準方向を設定するとすると、実際には凹凸が有るため、左前障害物検知手段５２からの本体７０の左前方の障害物までの距離情報と、右前障害物検知手段５３からの本体７０の右前方の障害物までの距離情報とが、等しくなるような方向に、つまり、図７中に示す仮想壁面ｌに対して本体７０がα（９０゜）の方向になるような方向ｍに基準方向が設定されてしまう。
【００５４】
今、連続平面判断部６８にて連続な平面が成立すると、対面状態確認部６７に現在の対面状態を再度確認するよう指示を出す。連続な平面が成立したとき、対面状態記憶部６６には、図８に示すような１番目の左右の距離差に対して規定値ａ内に入っている５回分の左右の距離差が記憶されており、対面状態確認部６７では対面状態記憶部６６から入力される現在の対面状態、つまり、図８中の５番目の左右の距離差にたいして左右の距離差の変化量の第２の規定値ｂをｂ＜ａとなるように設定し、現在までの左右の距離差（ここでは現在まで左右の距離差のうち現在の１つ前の４番目の左右の距離差が第２の規定値ｂ内に入っているかどうかを判断して、入っていれば基準方向設定部６９に本体７０の基準方向を設定するよう指示を出力し、入っていなければ対面状態記憶部６６の記憶内容をクリアして、再度連続な平面の判断するよう連続平面判断部６８に指示を出す。
基準方向設定部４９に基準方向を設定するよう指示を出し、連続５回以内に規定値外の距離差の変化があればその時点で対面状態記憶部４６の記憶内容を一旦クリアする。
【００５５】
これにより、実際に本体７０の方向を設定するための対面部付近のみ高精度に連続した平面であることを確認できる。
【００５６】
また、本発明の第４の実施例を、図９、図１０を用いて説明する。
【００５７】
図９において、７１は本体（図１０中９０）の前方、後方及び左右に配置した障害物を検知するための超音波を使用した複数の障害物検知センサであり、特に、本体前面の左端に配置した本体左前方の障害物までの距離を検出する左前障害物検知手段７２と、本体前面の右端に配置した本体右前方の障害物までの距離を検出する右前障害物検知手段７３とがその一部を構成している。
【００５８】
７８は本体９０が清掃を行う領域の縦、横の距離を入力する清掃領域入力手段であり、７７は清掃領域入力手段７８により入力された清掃領域の縦の距離に応じて本体９０の直進方向を算出する直進方向算出手段であり、７５は本体の移動方向を検知する角度の零点設定機能を有するジャイロ等の方位センサであり、７６は方位センサ７５から入力される現在の本体方向により、直進方向算出手段７７にて算出した方向へ本体の直進を制御する直進制御手段である。７９は清掃を行うための清掃手段であり８０は本体９０の走行・操舵を行う走行操舵手段である。
【００５９】
８９は本体の基準方向を設定する基準方向設定部であり、８６は左前障害物検知手段７２と右前障害物検知手段７３からの障害物までの距離情報により本体９０の前方の対面の状態を認識し、平面であるかどうかを判断する対面状態認識部であり、８７は対面状態認識部８６にて平面であると判断された対面情報を記憶する対面状態記憶部であり、８８は対面状態記憶部８７に記憶された対面情報により本体９０の前方に連続した平面が存在するかどうかを判断する連続平面判断部であり、８４は障害物を検知して本体９０が停止した時の左前障害物検知手段７２と右前障害物検知手段７３からのそれぞれの障害物までの距離情報より、本体９０の方向を対面の状態を認識するための方向に設定したときの対面の状態を予測して本体９０の方向の設定のための回転方法を切り換える回転方法判断部であり、８５は複数の回転方法を有し、回転方法判断部８４からの指示により、指定された回転方法にて本体９０の方向を設定する本体回転指示部であり、これらで対面状態を認識するための方向に本体９０の方向を設定して本体９０の前方に連続した平面が有るかどうかを判断して、有れば本体の基準方向を設定する姿勢制御動作を行う姿勢制御手段８３を構成する。
【００６０】
７４は前記障害物検知手段７１・直進制御手段７６・清掃領域入力手段７８・姿勢制御手段８３からの信号を処理して、走行操舵手段８０に出力信号を送り本体９０の前進・後退・停止・方向転換・回転を制御し、さらに清掃手段７９を制御する判断処理部である。
【００６１】
８１は方位センサ７５の零点が設定されてからの本体９０の往復動作の回数を計数する往復回数計数手段であり、８２は姿勢制御動作を行うかどうかを判断する姿勢制御実行判断手段である。
【００６２】
上記構成による作用は以下の通りである。
【００６３】
本体９０は基準壁と清掃領域入力手段７８にて設定された本体縦方向の距離間を、直進方向算出手段７７において算出された方向θに前進し、前方に障害物を検知すると停止して直進方向を転換し、基準方向に後退し、直進中は直進制御手段７６にて目標方向に直進するよう判断処理部７４に出力し、判断処理部７４は走行操舵手段８０を操舵する。以降、清掃領域設定手段７８にて設定された横方向の移動距離に到達するまでこの動作を繰り返す。
【００６４】
直進中に障害物を検知して停止する障害物（基準壁）からの距離は、障害物検知手段７１（左前障害物検知手段７２、右前障害物検知手段７３を含む）の検知能力の下限値付近に設定されている。
【００６５】
往復回数計数手段８１は方位センサ７５の零点設定時よりの往復回数を計数しており、姿勢制御実行判断手段８２はこの往復回数を入力しており、往復回数が１０回に到達し、本体９０が前方に障害物を検知して停止すると、姿勢制御手段８３に姿勢制御を実行するように指示を出す。往復回数１０回までは前進から後退、叉は後退から前進への本体９０の方向の回転は前進、後退のそれぞれの直進方向を設定することにより直進制御手段７６により、直進方向の反転後の初期に行われている。本体回転指示部８５は図１０中に示すＶ点を中心とする第１の回転方法とＷ点を中心とする第２の回転方法を有しており、姿勢制御手段８３の回転方法判断部８４は姿勢制御実行判断手段８２からの指示を受けて、左前障害物検知手段７２と右前障害物検知手段７３からのそれぞれの障害物までの距離情報により、回転方法を判断して回転方法を本体回転指示部８５に出力する。
【００６６】
回転方法判断部８４においては、基本は全て第１の回転方法であるが、図１０に示すようにＶ点中心の回転においては本体９０が停止して右前障害物検知手段７３と障害物（基準壁）との距離Ｒ１が検知能力の下限値付近まできているのに、回転することによりＲ２となり、Ｒ２＜Ｒ１となって右前障害物検知手段７３が実際の距離を検知できなくなる可能性があるため、右前障害物検知手段７３からの障害物までの距離情報により、第１の回転方法にて本体を回転させた後の右前障害検知手段７３の障害物までの検知距離を予測し、右前障害物検知手段７３が実際の距離を検知できなくなる可能性があれば、第２の回転方法にて回転するように指示を出す。
【００６７】
また、移動する障害物等により本体９０が停止し、左前障害物検知手段７２と右前障害物検知手段７３からのそれぞれの障害物までの距離情報により、本体回転後に対面が検知できそうにないとき、どちらの回転方法もとらないという情報を出力する。
【００６８】
本体回転指示部２４はこの指示または情報を受けて、第１または第２の回転方法にて本体を回転させるという指示であれば、本体９０の方向を現在の方位センサ７５の零点の方向になるよう、回転方法と回転指示を判断処理部７４に出力し、判断処理部７４は走行操舵手段８０を操舵して本体９０を回転させ、どちらの回転方法もとらないという情報であれば何もせず、姿勢制御手段８３は判断処理部７４に直進を開始するように指示を出す。この時、本体９０の回転は直進制御手段７６にて行われ通常時の回転となる。
【００６９】
これにより最も最適で無駄のない回転方法を選択する事が出きる。
【００７０】
また、第１の回転方法を基本としているのは、第２の回転方法では回転の方法が右側にあるため、走行操舵手段８０等の床面に接地している部分で本体９０の中心より右側に位置している部分に本体９０の重量が集中してかかるが、第１の回転方法では、本体９０の左右両方にバランス良く荷重がかかる為である。
【００７１】
次に、本発明の第５の実施例を、図１１を用いて説明する。
【００７２】
図１１において、９１は本体（図示せず）の前方、後方及び左右に配置した障害物を検知するための超音波を使用した複数の障害物検知センサであり、特に、本体前面の左端に配置した本体左前方の障害物までの距離を検出する左前障害物検知手段９２と、本体前面の右端に配置した本体右前方の障害物までの距離を検出する右前障害物検知手段９３とがその一部を構成している。
【００７３】
９８は本体が清掃を行う領域の縦、横の距離を入力する清掃領域入力手段であり、９７は清掃領域入力手段９８により入力された清掃領域の縦の距離に応じて本体の直進方向を算出する直進方向算出手段であり、９５は本体の移動方向を検知する角度の零点設定機能と角速度の基準設定機能を有するジャイロ等の方位センサであり、９６は方位センサ９５から入力される現在の本体方向により、直進方向算出手段９７にて算出した方向へ本体の直進を制御する直進制御手段である。９９は清掃を行うための清掃手段であり１００は本体の走行・操舵を行う走行操舵手段である。
【００７４】
１０４は本体が清掃動作を開始してからの本体の往復動作の回数を計数する清掃往復計数手段であり、１０９は方位センサ９５の零点が設定された回数を計数する零設定計数部であり、１１０は清掃往復計数手段１０４と零設定計数部１０９の計数値を入力して零設定計往復数部１０９の計数値が零設定の規定回数、清掃往復計数手段１０４の計数値が段階的に有する清掃往復の規定回数に共に達していなければ本体の基準方向を設定する際に方位センサ９５の零点のみを設定し、片方で達していれば方位センサの零点設定と、角速度の基準設定を行う基準方向設定部であり、１０６は左前障害物検知手段９２と右前障害物検知手段９３からの障害物までの距離情報により本体の前方の対面の状態を認識し、平面であるかどうかを判断する対面状態認識部であり、１０７は対面状態認識部１０６にて平面であると判断された対面情報を記憶する対面状態記憶部であり、１０８は対面状態記憶部１０７に記憶された対面情報により本体の前方に連続した平面が存在するかどうかを判断する連続平面判断部であり、１０５は本体の方向を対面の状態を認識するための方向に設定する本体回転指示部であり、これらで対面状態を認識するための方向に本体の方向を設定して本体の前方に連続した平面が有るかどうかを判断して、有れば本体の基準方向を設定する姿勢制御動作を行う姿勢制御手段１０３を構成する。
【００７５】
９４は前記障害物検知手段９１・直進制御手段９６・清掃領域入力手段９８・姿勢制御手段１０３からの信号を処理して、走行操舵手段１００に出力信号を送り本体の前進・後退・停止・方向転換・回転を制御し、さらに清掃手段９９を制御する判断処理部である。
【００７６】
１０１は方位センサ９５の零点が設定されてからの本体の往復動作の回数を計数する往復回数計数手段であり、１０２は姿勢制御動作を行うかどうかを判断する姿勢制御実行判断手段である。
【００７７】
上記構成による作用は以下の通りである。
【００７８】
方位センサ９５は時間（１秒）当たりに変化する角度、つまり角速度を検知して積分を行い、現在方位センサ９５の零点から何度の角度にあるかを検知しており、方位センサ９５にて本体の方向を検知するためには角度の零点の設定と、角速度の基準を設定しなくてはならない。清掃動作開始時にこの両者を設定して移動を開始するが、清掃動作が進んでいくうちに両者共にズレが生じてしまう。
【００７９】
清掃往復計数手段１０４では清掃動作を開始してからの本体の往復回数を計数しており、零設定計数部１０９では方位センサ９５の零点が設定されてからの往復回数を計数している。基準方向設定部１１０は、清掃往復計数手段１０４からの計数値と零設定計数部１０９からの計数値を入力しており、清掃往復計数手段１０４からの計数値に対しては段階的に（例えば５０回、１００回、１５０回・・・というように）規定値を有して、清掃動作開始時には初期値（５０回）が設定されており、零設定計数部１０９からの計数値に対しては単一の規定値（例えば、３回）を有している。
【００８０】
今、清掃動作開始後、往復回数計数手段１０１の計数値が１０回の時に姿勢制御実行判断手段１０２が姿勢制御動作を行うよう姿勢制御手段１０３に指示を出し、連続平面判断部１０８での規定回数が５回で、最初の５回で連続な平面が成立したとすると、基準方向設定部１１０においては、清掃往復計数手段１０４からは１４回、零設定計数部１０９からは１回という計数値の入力があり、このときは、両計数値共に規定値に達していないので、方位センサ９５の角度の零点のみを設定し、零設定計数部１０９の計数値は２になる。同様にして、清掃往復回数計数手段１０４の計数値が４２回（１４回×３）になったとする。この時、零設定計数部１０９の計数値は３になっており、規定値に達しているので、基準方向設定部１１０は、左前障害物検知手段９２からの本体の左前方の障害物までの距離情報と、右前障害物検知手段９３からの本体の右前方の障害物までの距離情報とが、等しくなるような方向に、つまり、基準壁に対して本体が９０゜の方向になるように本体を回転するよう判断処理部９４を通して走行操舵手段１００を操舵して本体の方向を設定した後、方位センサ９５の角速度の基準の設定と角度の零点の設定を行う。この時、清掃往復計数手段１０４からの計数値に対する規定値は５０回から１００回へと更新され、零設定計数部１０９の計数値は１回に再設定される。
【００８１】
仮に、連続平面判断部１０８にて連続な平面が成立せず、清掃往復回数に対して方位センサ９５の零点設定の回数が規定値に達せず（例えば１回）とも、連続な平面が成立して、基準方向設定部１１０に入力される清掃往復計数手段１０４と零設定計数部１０９の計数値のうち、清掃往復計数手段１０４の計数値が５０回に達していれば、方位センサ９５の角速度の基準の設定と角度の零点の設定を行う。
【００８２】
零点設定と共に、毎回角速度の基準設定を行わないのは、零点設定は瞬時に行えるのに対して、角速度の基準を設定するのに時間が要するのと、角速度の基準の設定は頻繁に行わなくても、清掃動作に大きな影響はないからである
これにより、本体の基準方向設定時に零点の設定のみならず、角速度の基準の設定も行え、高精度な基準方向の設定ができる
次に、本発明の第６の実施例を、図１２、図１３を用いて説明する。
【００８３】
図１２において、１２１は本体（図１３中１５０）の前方、後方及び左右に配置した障害物を検知するための超音波を使用した複数の障害物検知センサであり、特に、本体前面の左端に配置した本体左前方の障害物までの距離を検出する左前障害物検知手段１２２と、本体前面の右端に配置した本体右前方の障害物までの距離を検出する右前障害物検知手段１２３とがその一部を構成している。
【００８４】
１２８は本体１５０が清掃を行う領域の縦、横の距離を入力する清掃領域入力手段であり、１２７は清掃領域入力手段１２８により入力された清掃領域の縦の距離に応じて本体１５０の直進方向を算出する直進方向算出手段であり、１２５は本体の移動方向を検知する角度の零点設定機能を有するジャイロ等の方位センサであり、１２６は方位センサ１２５から入力される現在の本体方向により、直進方向算出手段１２７にて算出した方向へ本体の直進を制御する直進制御手段である。１２９は清掃を行うための清掃手段であり１３０は本体１５０の走行・操舵を行う走行操舵手段である。
【００８５】
１４１は本体の基準方向を設定する基準方向設定部であり、１３８は左前障害物検知手段１２２と右前障害物検知手段１２３からの障害物までの距離情報により本体１５０の前方の対面の状態を認識し、平面であるかどうかを判断する対面状態認識部であり、１３９は対面状態認識部１３８にて平面であると判断された対面情報を記憶する対面状態記憶部であり、１４０は対面状態記憶部１３９に記憶された対面情報により本体１５０の前方に連続した平面が存在するかどうかを判断する連続平面判断部であり、１３４は障害物を検知して本体１５０が停止した時の左前障害物検知手段１２２と右前障害物検知手段１２３からのそれぞれの障害物までの距離情報より、本体１５０の方向を対面の状態を認識するための方向に設定したとき平面有るかどうかを予測し、平面がないと予測されれば、平面がないという情報を出力する平面予測部である。
【００８６】
１３５は平面予測部１３４よりの平面がないという情報により、連続して平面がない往復回数を計数する無平面計数部であり、１３６は無平面計数部１３５からの入力により本体１５０の方向の設定のための本体方向設定角度を切り換える回転角度設定部であり、１３７は回転角度設定部１３６からの指示により、設定された方向に本体１５０の方向を設定する本体回転指示部であり、これらで対面状態を認識するための方向に本体１５０の方向を設定して本体１５０の前方に連続した平面が有るかどうかを判断して、有れば本体の基準方向を設定する姿勢制御動作を行う姿勢制御手段１３３を構成する。
【００８７】
１２４は前記障害物検知手段１２１・直進制御手段１２６・清掃領域入力手段１２８・姿勢制御手段１３３からの信号を処理して、走行操舵手段１３０に出力信号を送り本体１５０の前進・後退・停止・方向転換・回転を制御し、さらに清掃手段１２９を制御する判断処理部である。
【００８８】
１３１は方位センサ１２５の零点が設定されてからの本体１５０の往復動作の回数を計数する往復回数計数手段であり、１３２は姿勢制御動作を行うかどうかを判断する姿勢制御実行判断手段である。
【００８９】
上記構成による作用は以下の通りである。
【００９０】
本体１５０は基準壁と清掃領域入力手段１２８にて設定された本体縦方向の距離間を、直進方向算出手段７７において算出された方向θに前進し、前方に障害物を検知すると停止して直進方向を転換し、基準方向に後退し、直進中は直進制御手段１２６にて目標方向に直進するよう判断処理部１２４に出力し、判断処理部７４は走行操舵手段１３０を操舵する。以降、清掃領域設定手段１２８にて設定された横方向の移動距離に到達するまでこの動作を繰り返す。
【００９１】
方位センサ１２５の零点が大きくズレてくると、図１３に示すように本体１５０が障害物（基準壁）を検知して停止しした時の、左前障害物検知手段１２２からの障害物（基準壁）までの距離Ｌ１と、右前障害物検知手段１２３からの障害物（基準壁）までの距離Ｒ１に大きな差が生じ、本体１５０の障害物（基準壁）からの停止距離Ｌ１が検知能力の下限距離付近であるのに対して、Ｒ２は上限距離付近、または上限距離以上になってしまい、実際には平面があっても、平面がないように見えてしまう。
【００９２】
平面予測部１３４は姿勢制御実行判断手段１３２より、姿勢制御動作を行うよう姿勢制御手段１３３に指示があると、停止した時の左前障害物検知手段１２２と右前障害物検知手段１２３からのそれぞれの障害物までの距離情報より、本体１５０の方向を対面の状態を認識するための方向に設定したとき平面有るかどうかを予測し、上記のように平面が見えていないため平面がないという判断を行えば、平面がないという情報を出力し、そうでなければ平面があるという情報を出力する。無平面計数部１３５は平面予測部１３４からの情報を入力して、平面が有れば計数値を加算して、無ければ零にクリアする。回転角度設定部１３６は無平面計数部の計数値を入力して、計数値が規定値（例えば５回）未満であれば本体回転指示部１３７に本体の方向設定角度を方位センサ１２５の零度の方向として出力し、規定値以上になればＬ１とＲ１により決まる角度（例えばＬ１＜Ｒ１であれば方位センサ１２５の零度に対して左に２０°振った角度）を本体の方向設定角度ととして本体回転指示部１３７に出力し、本体回転指示部１３７は入力した本体の方向設定角度に本体の方向を設定するよう判断処理部１２４に出力し、判断処理部１２４は走行操舵手段１３０を操舵して本体１５０を回転させ、本体の方向を設定する。
【００９３】
これにより、方位センサ１２５の零点に大きなズレが生じても左前障害物検知手段１２２、右前障害物検知手段１２３の実際の対面の状態を認識して、連続な平面判断を行い、基準方向の設定を行うことができる。
【００９４】
【発明の効果】
以上の実施例からも明らかなように、本発明の第１の手段によれば本体前面の左側、及び右側に設けた障害物検知手段により検知する本体前方左右の障害物までの距離差を前方停止毎に、平面か判断して記憶し、連続な平面であると判断してから、連続な平面において本体の向きが前方の壁に対して直角となる方向に本体移動の基準方向の設定を行うので、高精度に基準方向の設定が行え、また定期的に行うので、清掃軌跡にズレが生じにくくなり、未清掃領域の発生を未然に防ぐことが出きる。
【００９５】
また、第２の手段により、連続な平面の判断の往復回数規定値を、連続な平面が成立しにくいと時は少なくするので、壁に凹凸があるところでも、連続な平面が成立し易く、基準方向の設定がしやすくなり、未清掃領域の発生を未然に防ぐことが出きる。
【００９６】
また、第３の手段により、連続な平面が確認できた後、実際に基準方向を設定する壁面を再度連続な平面かを確認するので、壁面の状態による誤方向への基準方向の設定が減少し、高精度な基準方向の設定が行える。
【００９７】
また、第４の手段により、本体停止時の本体前方左右の障害物までの距離差により壁面の状態認識の為の本体の方向設定の回転方法を切り換えることにより、障害物検知手段の最低距離検出限界値以上の距離において壁面の状態を正確に認識でき、また、最適な回転方法を得ることができる。
【００９８】
また、第５の手段により、定期的にジャイロの零点設定のみでなく、角速度の基準設定を行うことにより、零点設定を高精度に行え、基準方向の設定が高精度に行える。
【００９９】
また、第６の手段により、本体の停止時に障害物検知手段が前方に障害物がないと認識しても、壁面の状態認識の為の本体の方向設定の角度を切り換えて設定することにより、ジャイロの零点が大きくずれて、本体前方左または右の壁面までの距離が障害物検知手段の最高距離検出限界値よりも大きくなっても、正確に壁面の状態を認識できる。
【図面の簡単な説明】
【図１】本発明の自走式掃除機の第１の実施例のブロック図
【図２】同自走式掃除機の動作を示す図
【図３】同自走式掃除機の走行時の左右の距離差を示す図
【図４】本発明の自走式掃除機の第２の実施例を示すブロック図
【図５】同自走式掃除機の動作を示す図
【図６】本発明の自走式掃除機の第３の実施例を示すブロック図
【図７】同自走式掃除機の動作を示す図
【図８】同自走式掃除機の走行時の左右の距離差を示す図
【図９】本発明の自走式掃除機の第４の実施例を示すブロック図
【図１０】同自走式掃除機の動作を示す図
【図１１】本発明の自走式掃除機の第５の実施例を示すのブロック図
【図１２】本発明の自走式掃除機の第６の実施例を示すブロック図
【図１３】同自走式掃除機の動作を示す図
【図１４】従来の自走式掃除機の概略構成図
【図１５】従来の自走式掃除機の動作の説明図
【符号の説明】
１１、３１、５１、７１、９１、１２１障害物検知手段
１２、３２、５２、７２、９２、１２２左前障害物検知手段
１３、３３、５３、７３、９３、１２３右前障害物検知手段
１４、３４、５４、７４、９４、１２４判断処理部
１５、３５、５５、７５、９５、１２５方位センサ
１６、３６、５６、７６、９６、１２６直進制御手段
１７、３７、５７、７７、９７、１２７直進方向算出手段
１８、３８、５８、７８、９８、１２８清掃領域入力手段
１９、３９、５９、７９、９９、１２９清掃手段
２０、４０、６０、８０、１００、１３０走行操舵手段
２１、４１、６１、８１、１０１、１３１往復回数計数手段
２２、４２、６２、８２、１０２、１３２姿勢制御実行判断手段
２３、４３、６３、８３、１０３、１３３姿勢制御手段
２４、４４、６４、８５、１０５、１３７本体回転指示部
２５、４５、６５、８６、１０６、１３８対面状態確認部
２６、４６、６６、８７、１０７、１３９対面状態記憶部
２７、４８、６８、８８、１０８、１４０連続平面判断部
２８、４９、６９、８９、１１０、１４１基準方向設定部
３０、５０、７０、９０、１５０本体
４７平面判断基準設定部
６７対面状態確認部
８４回転方法判断部
１０４清掃往復計数部
１０９零設定計数部
１３４平面予測部
１３５無平面計数部
１３６回転角度設定部[0001]
[Industrial application fields]
The present invention relates to a self-propelled cleaner having a cleaning function and a moving function.
[0002]
[Prior art]
FIG. 14 shows a schematic configuration diagram of a conventional self-propelled cleaner.
[0003]
In FIG. 14, 1 is a main body of a self-propelled cleaner, 2 is a gyro which is an orientation sensor, 3 is an obstacle detection means for measuring the presence / absence of an obstacle and the distance to the obstacle, Is a steering means for steering the main body 1, and 5 is a driving means for driving the main body 1. The steering means 4 and the driving means 5 constitute a traveling steering means. 6 is a dust collection chamber for collecting dust, and 7 is a dust collection bag installed in the dust collection chamber 6. Reference numeral 8 denotes a fan motor that generates a vacuum pressure for sucking dust, and reference numeral 9 denotes a floor nozzle that is a suction port for sucking dust on the floor surface, and these constitute a cleaning means.
[0004]
When the self-propelled cleaner configured as described above is started, as shown in FIG. 15, the vehicle travels by the traveling steering means for a set distance from the reference wall, and when traveling forward, it travels straight in the direction of the angle θ. While monitoring by the azimuth sensor 2, the distance information from the obstacle detection means 3 moves until the distance to the obstacle reaches a certain distance, and when moving backward, the direction is set to 0 ° set at the time of starting the main body. The vehicle travels straight through the distance L1 and then repeats the reciprocating operation in the same manner to move through the cleaning area and perform cleaning by the cleaning means.
[0005]
[Problems to be solved by the invention]
As described above, in the conventional self-propelled cleaner, the reference direction of the main body is set at the start of the cleaning operation, and when the main body moves forward and backward, it goes straight in the direction set based on the data of the gyro 2 as the direction sensor. The accuracy of the angle output of the gyro 2 affects the moving accuracy of the main body.
[0006]
Since the straight direction of the main body is set to clean the entire cleaning area with respect to the reference direction, any deviation in the angle output of the gyro 2 will cause a deviation in the reference direction of the main body and start the cleaning operation. Since the movement trajectory is deviated from the reference direction set at times, an uncleaned area is generated.
[0007]
The present invention is intended to solve the problems of the conventional configuration, and automatically corrects such a gyro angle deviation and moves the main body with high accuracy, thereby causing an uncleaned area. The purpose is to prevent.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides, as first means, traveling steering means for moving the main body, an orientation sensor for detecting the traveling direction of the main body, the presence or absence of obstacles around the main body, and the obstacles. A plurality of obstacle detection means for detecting the distance to the front, a left front obstacle detection means arranged on the left side of the front surface of the main body in the obstacle detection means, a right front obstacle detection means arranged on the right side, and the main body for cleaning. Cleaning area input means for inputting an area to be performed, linear movement direction calculating means for calculating a straight traveling direction of the main body according to the cleaning area, straight movement control means for controlling the straight movement of the main body by the output of the direction sensor, and cleaning Having cleaning means to perform, Advances in the direction calculated by the straight direction calculation means, stops when it detects an obstacle ahead, changes the straight direction, reverses in the reference direction, and thereafter, the lateral direction set by the cleaning area input means In the configuration in which this reciprocating cleaning operation is repeated until the movement distance is reached, The difference between the output of the left front obstacle detection means and the output of the right front obstacle detection means recognizes the state of the front obstacle facing the main body, and controls the direction of the main body to set the zero point of the direction sensor The posture control means for setting the reference direction of the main body, the reciprocation number counting means for counting the number of rectilinear reciprocations since the reference direction of the main body is set, and the count result of the reciprocation number counting means It includes posture control execution determination means for determining whether to set a reference direction, and a determination processing unit for controlling travel and cleaning of the main body.
[0009]
Further, as a second means, continuous facing obstacles for determining whether or not the plane is a continuous plane by an input from a round-trip count counting means for counting the number of straight-trip round trips after the reference direction of the main body is set A plane determination reference setting unit that switches the number of state information of the continuous obstacles, and determines whether the front obstacle is a continuous plane based on the number of state information of the obstacles facing each other set by the plane determination reference setting unit A plane determination unit is provided in the attitude control means.
[0010]
Further, as a third means, before setting the reference direction of the main body, a facing state confirmation unit for reconfirming the state of the facing obstacle, and a left front obstacle detection unit and a right front by input from the facing state confirmation unit The posture control means includes a reference direction setting unit that sets the reference direction of the main body according to distance information to the obstacle input from the obstacle detection means.
[0011]
In addition, as a fourth means, the distance information to the obstacle input from the left front obstacle detecting means and the right front obstacle detecting means before setting the direction of the main body for recognizing the state of the obstacles facing each other. A rotation method determination unit for determining the switching of the rotation method of the main body for setting the direction of the main body by predicting the facing state after setting the direction of the main body, and the rotation method determination unit having a plurality of rotation methods The posture control means is provided with a main body rotation instructing unit for setting the direction of the main body to the reference direction by the set rotation method.
[0012]
Further, as a fifth means, a cleaning reciprocation that has a function of setting a zero point that is a reference direction and a reference angular velocity and detects a traveling direction of the main body and counts the number of rectilinear reciprocations from the start of the cleaning operation. An angular velocity of the azimuth sensor by means of a zero setting counter for counting the number of times the zero point of the azimuth sensor is set, a continuous plane determining unit, the cleaning reciprocation counting means, and the reciprocation count counting means. The reference direction setting unit sets the reference direction of the main body by setting the zero point of the azimuth sensor based on the distance information to the obstacle inputted from the left front obstacle detection means and the right front obstacle detection means at the same time The structure characterized by having is provided.
[0013]
Further, as the sixth means, before setting the direction of the main body for recognizing the state of the obstacles facing each other, the distance information to the obstacle inputted from the left front obstacle detecting means and the right front obstacle detecting means A plane prediction unit that predicts whether the facing state after setting the orientation of the main body is a plane, a non-plane counting unit that counts the number of rectilinear reciprocations of the main body according to information that there is no plane input from the plane prediction unit, Posture control of a rotation angle setting unit that sets a direction angle for setting the direction of the main body according to the count value of the non-planar counting unit, and a main body rotation instruction unit that sets the direction of the main body to the angle set by the rotation angle setting unit It is provided in the means.
[0014]
[Action]
According to the first means of the present invention, when the main body detects a front obstacle and stops, if the number of reciprocations counted by the reciprocation number counting means reaches a predetermined number, the posture control execution judging means Instruct the posture control means to perform posture control.First, turn the main body in the reference direction and calculate the difference between the left and right distances based on the distance information input from the left front obstacle detection means and right front obstacle detection means. If it is determined that there is a plane, the difference information is stored. When the information stored continuously by performing this operation for each stop reaches a predetermined number, it is determined from the continuous information whether the front obstacle is a continuous plane. After setting the direction of the main body in a direction in which the distance information input from the right front obstacle detection means becomes equal, the zero point of the direction sensor is set and the reference direction of the main body is reset.
[0015]
According to the second means of the present invention, the plane judgment reference setting unit inputs the predetermined value of the number of pieces of difference information stored continuously for judging that the plane is a continuous plane from the round-trip number counting means. By switching according to the number of reciprocations, when a continuous plane is not easily established, the predetermined value is reduced to facilitate establishment of the continuous plane.
[0016]
According to the third means of the present invention, after determining that there is a continuous plane, the facing state confirmation unit checks the stored difference information again by switching the determination reference value of the continuous plane, and the reference value The reference direction setting unit sets the reference direction with high accuracy by confirming the facing state in which the reference direction setting unit actually sets the reference direction.
[0017]
According to the fourth means of the present invention, the main body rotation instruction unit has a plurality of rotation methods including a reference rotation method, and the rotation method determination unit detects the obstacle forward by the obstacle detection means. The main body determines the reference rotation method based on the distance information input from the left front obstacle detection means and the right front obstacle detection means when the main body stops and sets the direction of the main body by the rotation method. By instructing the rotation instructing unit and setting the direction of the main body by the main body rotation instructing unit, the main body can be rotated optimally.
[0018]
According to the fifth means of the present invention, the number of reciprocations from the start of the cleaning operation counted by the cleaning reciprocation counting means and the number of times the zero point of the azimuth sensor is set do not reach the predetermined number, and the reference direction is set. When there is an input to the reference direction setting unit to set, the reference direction setting unit sets the distance information input from the left front obstacle detection means and the right front obstacle detection means to be equal to each other, If only the zero point of the azimuth sensor is set and the count value of the cleaning reciprocating counting means or the count value of the zero setting counter reaches the predetermined count value, the zero point of the azimuth sensor and the reference point of the angular velocity are set. The count value of the setting counter is set to zero, and the reference direction is set with higher accuracy than the setting of only the zero point.
[0019]
According to the sixth means of the present invention, the rotation angle setting unit has a plurality of setting directions including the direction of setting the direction of the main body by the main body rotation instruction unit including 0 degrees of the direction sensor of the basic setting direction. The plane prediction unit detects the obstacle forward by the obstacle detection means and detects the obstacle in front of the main body according to the distance information input from the left front obstacle detection means and the right front obstacle detection means. Predict whether there is a recognizable plane, and if it is determined that there is no plane, the non-planar counting unit counts, and when this state occurs continuously, the count value is added, and when the continuity is interrupted Sets the count value to zero. When the count value of the non-planar counting unit reaches a predetermined value, the rotation angle setting unit switches the setting direction from the basic setting direction and outputs it to the main body rotation instruction unit, and the main body rotation instruction unit outputs the main body direction in the input direction. Is set, the face-to-face state recognition unit determines the face-to-face state, accurately recognizes the face-to-face state, and determines the continuous plane.
[0020]
【Example】
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1, 2, and 3. FIG.
[0021]
In FIG. 1, reference numeral 11 denotes a plurality of obstacle detection sensors using ultrasonic waves for detecting obstacles arranged in front, rear, and left and right of the main body (30 in FIG. 2). The left front obstacle detection means 12 for detecting the distance to the obstacle on the left front of the main body and the right front obstacle detection means 13 for detecting the distance to the obstacle on the right front of the main body arranged at the right end of the front of the main body. Part of it.
[0022]
Reference numeral 18 denotes a cleaning area input means for inputting the vertical and horizontal distances of the area where the main body 30 performs cleaning. Reference numeral 17 denotes a rectilinear direction of the main body 30 according to the vertical distance of the cleaning area input by the cleaning area input means 18. 15 is a direction sensor such as a gyro having an angle zero setting function for detecting the moving direction of the main body, and 16 is a straight direction depending on the current main body direction inputted from the direction sensor 15. It is a straight-ahead control means for controlling the straight movement of the main body in the direction calculated by the direction calculation means 17. Reference numeral 19 denotes cleaning means for performing cleaning, and reference numeral 20 denotes traveling steering means for traveling and steering the main body 30.
[0023]
Reference numeral 28 denotes a reference direction setting unit for setting the reference direction of the main body. Reference numeral 25 denotes a state of facing the front of the main body 30 based on distance information from the left front obstacle detection means 12 and the right front obstacle detection means 13 to the obstacle. A facing state recognition unit that determines whether or not it is a plane; 26 is a facing state storage unit that stores the facing information determined to be a plane by the facing state recognition unit 25; and 27 is a facing state storage. A continuous plane determination unit that determines whether or not there is a continuous plane in front of the main body 30 based on the facing information stored in the unit 26, and 24 sets the direction of the main body 30 as a direction for recognizing the facing state. A main body rotation instructing unit that determines the direction of the main body 30 in the direction for recognizing the facing state and determines whether there is a continuous plane in front of the main body 30; Set direction Constituting the attitude control means 23 for posture control operation that.
[0024]
14 processes the signals from the obstacle detection means 11, the straight-ahead control means 16, the cleaning area input means 18, and the attitude control means 23, and sends an output signal to the traveling steering means 20 to move the main body 30 forward, backward, stop, It is a determination processing unit that controls the direction change / rotation and further controls the cleaning means 19.
[0025]
Reference numeral 21 denotes a reciprocating frequency counting means for counting the number of reciprocating movements of the main body 30 after the zero point of the azimuth sensor 15 is set. Reference numeral 22 denotes attitude control execution determining means for determining whether or not to perform an attitude control operation.
[0026]
The operation of the above configuration is as follows.
[0027]
When the cleaning operation is started, the direction of the main body is set so that the main body 30 faces the reference wall as shown in FIG. 2 (α in FIG. 2 is 90 °), and the direction sensor is set before the start of traveling. Set the zero of 35 angles. As a result, the reference direction of the main body becomes α (90 °) with respect to the reference wall, and the main body 30 determines the distance between the reference wall and the vertical direction of the main body set by the cleaning area input means 18 in the straight direction calculation means 17. The vehicle moves forward in the calculated direction (θ in FIG. 2), stops when it detects an obstacle ahead, changes direction straight, moves backward in the reference direction, and moves straight in the target direction (forward is θ and reverse travel in the reference direction) are output to the determination processing unit 14 so that the determination processing unit 14 steers the traveling steering means 20. Thereafter, this operation is repeated until the lateral movement distance set by the cleaning region setting means 18 is reached.
[0028]
As the reciprocating cleaning operation is repeated, the zero point of the azimuth sensor 35 is shifted, and the reference direction of the main body 30 is shifted by δ from when the azimuth sensor 15 is set to the zero point.
[0029]
The reciprocation count counting means 21 counts the number of reciprocations from when the azimuth sensor 15 is set to the zero point, and the attitude control execution determination means 22 inputs this reciprocation count, and the reciprocation count becomes a specified value (for example, 10 times). When the main body 30 detects an obstacle ahead and stops, the main body 30 instructs the posture control means 23 to execute posture control.
[0030]
In response to this instruction, the main body rotation instructing unit 24 of the attitude control means 23 outputs the direction of the main body 30 to the determination processing unit 14 so as to be the direction of the zero point of the current azimuth sensor 35. Is turned to rotate the main body 30, and when the direction of the main body 30 becomes the direction of the zero point of the direction sensor 35, an instruction is issued to the facing state recognition unit 25 to confirm the facing state. Upon receipt of this instruction, the face-to-face state recognition unit 25 receives distance information from the left front obstacle detection means 12 to the front left obstacle of the main body 30 and the right front obstacle detection means 13 to the right front obstacle of the main body 30. If the distance state information is recognized and it is determined that there is some obstacle in front of the main body 30, this distance information is set as the difference between the left and right distances, for example, at the point of FIG. 2B (L1-R1), At point C, it is stored in the facing state storage unit 26 as (L2-R2). When the moving state is detected and the main body 30 stops, for example, the facing state recognition unit 25 cannot detect the obstacle, the storage content of the facing state storage unit 26 is once cleared.
[0031]
The continuous plane determination unit 27 uses the information on the left / right distance difference stored in the facing state storage unit 26 as the amount of change in the left / right distance difference as the amount of change in the left / right distance difference. Is within the specified value, it is determined that there is a continuous plane in front of the main body 30, and the reference direction setting unit 28 is instructed to set the reference direction, and there is a change in the distance difference outside the specified value. For example, the stored contents of the meeting state storage unit 26 are once cleared at that time.
[0032]
For example, in FIG. 3, when the prescribed continuous reciprocation number is 5 and the prescribed value of the change amount of the distance difference is ± a, the prescribed difference value is once determined for the first left and right distance difference data. Since the data of the distance difference between the left and right outside the specified value has entered in the data of, the contents of the facing state storage unit 26 is once cleared, the data of the distance difference between the left and right at the next stop becomes the first data, The prescribed value of the difference is determined by ± a based on the data, and since the fifth data is continuously within the prescribed value, a continuous plane is established at this point. Usually, even if the reference direction is not aligned on the reference wall without unevenness as shown in FIG. 2, the difference in the left and right distances relative to the reference direction of the main body 30 is almost determined. The amount of change in the difference between the left and right distances after the start is substantially constant unless there are irregularities in the middle or the inclination of the reference wall changes.
[0033]
Upon receiving an instruction from the continuous plane determination unit 27, the reference direction setting unit 28 receives distance information from the left front obstacle detection unit 12 to the left front obstacle of the main body 30 and the main body from the right front obstacle detection unit 13. 30 to the judgment processing unit 14 so that the main body 30 is rotated in a direction in which the distance information to the obstacle on the right front of 30 becomes equal, that is, the main body 30 is in a direction of 90 ° with respect to the reference wall. The determination processing unit 14 steers the traveling steering means 20 to rotate the main body 30, stops the main body 30 when the left and right distance information becomes equal, and sets the zero point of the direction sensor 15. Thereby, even if the zero point of the azimuth sensor 15 is deviated, the main body 30 can be periodically set to the 90 ° direction with respect to the reference wall.
[0034]
In addition, since the posture control operation is not performed every time it is stopped, it takes a little time to perform one posture control operation for the normal forward, stop, and reverse operations. This is to finish the cleaning.
[0035]
Next, a second embodiment of the present invention will be described with reference to FIGS.
[0036]
In FIG. 4, reference numeral 41 denotes a reciprocating frequency counting means for counting the reciprocating frequency of the main body 50 after the zero point of the azimuth sensor 35 is set, and 31 is arranged in front, rear and left and right of the main body (50 in FIG. 5). A plurality of obstacle detection sensors using ultrasonic waves for detecting obstacles, in particular, a left front obstacle detection means 32 for detecting a distance to an obstacle at the left front of the main body disposed at the left end of the front surface of the main body; The front right obstacle detection means 33 for detecting the distance to the obstacle in front of the main body located at the right end of the front surface of the main body constitutes a part thereof.
[0037]
38 is a cleaning area input means for inputting the vertical and horizontal distances of the area where the main body 50 is to be cleaned, and 37 is the straight direction of the main body 50 according to the vertical distance of the cleaning area input by the cleaning area input means 38. Is a straight-ahead direction calculating means 35, 35 is an orientation sensor such as a gyro having an angle zero setting function for detecting the moving direction of the main body, and 36 is a straight-ahead travel according to the current main body direction inputted from the direction sensor 35. It is a straight-ahead control means for controlling the straight movement of the main body in the direction calculated by the direction calculation means 37. Reference numeral 39 denotes a cleaning means for cleaning, and reference numeral 40 denotes a traveling steering means for traveling / steering the main body 50.
[0038]
Reference numeral 49 is a reference direction setting unit for setting the reference direction of the main body, and 45 is a front-facing state of the main body 30 based on distance information from the left front obstacle detection means 32 and the right front obstacle detection means 33 to the obstacle. A facing state recognizing unit that determines whether or not it is a plane; 46 is a facing state storage unit that stores the facing information determined to be a plane by the facing state recognizing unit 45; A plane judgment reference setting unit for setting a prescribed value of the number of times of continuous plane detection for the continuous plane judgment unit 48 to be described later to judge a continuous plane based on the number of round trips input from the means 41. A continuous plane judgment for judging whether or not an obstacle in front of the main body 50 is a continuous plane based on a predetermined value of the number of times of continuous plane detection input from the unit 47 and the current facing state stored in the facing state storage unit 46 44 is a main body rotation instruction unit for setting the direction of the main body 50 to be a direction for recognizing the facing state, and sets the direction of the main body 50 to the direction for recognizing the facing state by these. It is determined whether or not there is a continuous plane ahead of 50, and if there is, the posture control means 43 that performs the posture control operation for setting the reference direction of the main body is configured.
[0039]
34 processes signals from the obstacle detection means 31, the straight travel control means 36, the cleaning area input means 38, and the attitude control means 43, and sends an output signal to the traveling steering means 40 to move the main body 50 forward, backward, stop, This is a determination processing unit that controls the direction change / rotation and further controls the cleaning means 39. Reference numeral 42 denotes attitude control execution determination means for determining whether or not to perform an attitude control operation.
[0040]
The operation of the above configuration is as follows.
[0041]
The count value input from the reciprocation count counting means 41 to the attitude control execution determination means 42 is 10, and the attitude control means 43 is instructed to execute the attitude control operation. As shown in FIG. On the other hand, the area set by the cleaning area input means 38 is cleaned and moved while searching for a continuous plane. Now, the plane determination reference setting unit 47 has a prescribed number of 5 times when the count value input from the round trip number counting means 41 is less than 20 times, and 3 times when the count value is 20 times or more. It is assumed that the specified number of times is output to the continuous plane determination unit 48 by input.
[0042]
Immediately after the instruction to perform the posture control operation is issued, the continuous plane determination unit 48 determines the left and right distances to the present stored in the facing state storage unit 46 by the specified number of times input from the plane determination reference setting unit 47. If the change amount of the distance difference between the left and right is within the prescribed value of the change amount five times in succession, it is determined that there is a continuous plane in front of the main body 50 and the reference direction setting unit 49 An instruction to set the reference direction is issued, and if there is a change in the distance difference outside the specified value within 5 consecutive times, the stored contents of the facing state storage unit 46 are once cleared at that time.
[0043]
In FIG. 5, when the reference wall has irregularities and the count value of the round trip number counting means 41 at the point G is 16, the distance difference between the left and right sides is almost constant from the G point to the H point without irregularities. 46, the continuous plane determination unit 48 establishes three consecutive planes. However, since there is unevenness at the point I, the amount of change in the distance difference between the left and right becomes large, and if the amount of change is outside the specified value, The stored contents of the state storage unit 46 are once cleared, and five continuous planes are not established. In this way, if there are irregularities within an interval of 5 consecutive times, a continuous plane will not be established at all, and the reference direction setting unit 49 will not be able to set the reference direction of the main body 50. The count value counted by the number counting means 41 is 20 times, and the specified number of times is switched from 5 times to 3 times in the plane determination reference setting unit 47 and output to the continuous plane determination unit 48. From point J to point K, a substantially constant distance difference between the left and right sides is stored in the facing state storage unit 46, and the continuous plane determination unit 48 establishes three consecutive planes. Therefore, the reference direction setting unit 49 is instructed to set the reference direction of the main body 50, and the reference direction of the main body is set at the K point.
[0044]
Setting the specified number of times from the beginning at 5 times instead of 3 is usually to set the reference direction of the main body with a reliable continuous plane, and even if there are irregularities on the reference wall, it is a continuous plane. The predetermined number of times is switched so that the reference direction of the main body 50 can be set by finding the part.
[0045]
A third embodiment of the present invention will be described with reference to FIGS.
[0046]
In FIG. 6, reference numeral 51 denotes a plurality of obstacle detection sensors using ultrasonic waves for detecting obstacles arranged in front, rear and left and right of the main body (70 in FIG. 7). The left front obstacle detection means 52 for detecting the distance to the obstacle on the left front of the main body and the right front obstacle detection means 53 for detecting the distance to the obstacle on the right front of the main body arranged at the right end of the front of the main body. Part of it.
[0047]
58 is a cleaning area input means for inputting the vertical and horizontal distances of the area where the main body 70 is to be cleaned, and 57 is the straight direction of the main body 70 according to the vertical distance of the cleaning area input by the cleaning area input means 58. Is a straight-ahead direction calculating means 55, 55 is a direction sensor such as a gyro having an angle zero setting function for detecting the moving direction of the main body, and 66 is a current main body input from the direction sensor 55 By direction In other words, it is a straight-ahead control means for controlling the straight movement of the main body in the direction calculated by the straight-ahead direction calculating means 57. 59 is a cleaning means for cleaning, and 60 is a traveling steering means for traveling and steering the main body 70.
[0048]
Reference numeral 65 denotes a facing state recognition unit that recognizes the front facing state of the main body 70 based on distance information from the left front obstacle detecting unit 52 and the right front obstacle detecting unit 53 to the obstacle, and determines whether or not it is a plane. , 66 is a meeting state storage unit that stores the meeting information determined to be a plane by the meeting state recognition unit 65, and 68 is continuous in front of the main body 70 by the meeting information stored in the meeting state storage unit 66. A continuous plane determination unit for determining whether or not a plane exists. 67 is input from the facing state storage unit 66 according to an instruction output when the continuous plane determination unit 68 determines that there is a continuous plane. The meeting state confirmation means for reconfirming whether the current meeting state is a state in which the direction of the main body 70 can be set based on the information on the state of meeting until now, 69 is an instruction from the meeting state confirmation unit 67 A reference direction setting unit for setting the reference direction of the body, and 64 is a main body rotation instruction unit for setting the direction of the main body 70 to a direction for recognizing the facing state, and a direction for recognizing the facing state with these. The orientation control means 63 is configured to set the orientation of the main body 70 to determine whether there is a continuous plane in front of the main body 70 and, if there is, a posture control operation for setting the reference direction of the main body.
[0049]
54 processes the signals from the obstacle detection means 51, the straight travel control means 56, the cleaning area input means 58, and the attitude control means 63, and sends an output signal to the traveling steering means 60 to move the main body 70 forward, backward, stop, This is a determination processing unit that controls the direction change / rotation and further controls the cleaning means 59.
[0050]
61 is a reciprocating frequency counting means for counting the number of reciprocating movements of the main body 70 after the zero point of the azimuth sensor 55 is set, and 62 is an attitude control execution determining means for determining whether or not to perform an attitude control operation.
[0051]
The operation of the above configuration is as follows.
[0052]
As shown in FIG. 7, the main body 70 cleans and moves the area set by the cleaning area input means 58 with respect to the reference wall while searching for a continuous plane. The continuous plane determination unit 48 has a specified number of times of 5 and a specified value a of the change amount of the left and right distance difference, and the information on the left and right distance difference stored in the facing state storage unit 66 is used as the left and right distance difference information. Is within the specified value of the amount of change five times in succession, it is determined that there is a continuous plane in front of the main body 70. At this time, the reference wall has irregularities as shown at point M and point O in FIG. 7, but the irregularities are very small, and the amount of change in the distance between the left and right through the determination of five consecutive planes is the specified value a. If it is inside, a continuous plane is established.
[0053]
If the reference direction of the main body 70 is set at the point O, since there is actually unevenness, distance information from the left front obstacle detection means 52 to the left front obstacle of the main body 70 and the right front obstacle detection means 53 are provided. In the direction in which the distance information to the right front obstacle of the main body 70 is equal, that is, the main body 70 is in the direction of α (90 °) with respect to the virtual wall surface 1 shown in FIG. The reference direction is set in the correct direction m.
[0054]
Now, when a continuous plane is established by the continuous plane determination unit 68, an instruction is issued to the facing state confirmation unit 67 to confirm the current facing state again. When a continuous plane is established, the facing state storage unit 66 stores the left and right distance differences for five times within the specified value a with respect to the first left and right distance difference as shown in FIG. In the meeting state confirmation unit 67, the second specified value of the change amount of the left and right distance difference with respect to the current meeting state input from the meeting state storage unit 66, that is, the fifth left and right distance difference in FIG. b is set such that b <a, and the left-right distance difference to the present (here, the fourth left-right distance difference immediately before the current left-right distance difference is the second specified value b) If it is entered, an instruction to set the reference direction of the main body 70 is output to the reference direction setting unit 69, and if not, the stored contents of the facing state storage unit 66 are cleared. The continuous plane determination unit 68 is instructed to determine the continuous plane again. It is.
The reference direction setting unit 49 is instructed to set the reference direction, and if there is a change in the distance difference outside the specified value within 5 consecutive times, the contents stored in the facing state storage unit 46 are once cleared.
[0055]
Thereby, it can be confirmed that only the vicinity of the facing portion for actually setting the direction of the main body 70 is a flat surface continuously with high accuracy.
[0056]
A fourth embodiment of the present invention will be described with reference to FIGS.
[0057]
In FIG. 9, reference numeral 71 denotes a plurality of obstacle detection sensors using ultrasonic waves for detecting obstacles arranged in front, rear and left and right of the main body (90 in FIG. 10). The left front obstacle detecting means 72 for detecting the distance to the obstacle located on the left front of the main body and the right front obstacle detecting means 73 for detecting the distance to the obstacle on the right front of the main body arranged at the right end of the front of the main body Part of it.
[0058]
78 is a cleaning area input means for inputting the vertical and horizontal distances of the area in which the main body 90 performs cleaning, and 77 is a straight direction of the main body 90 according to the vertical distance of the cleaning area input by the cleaning area input means 78. Is a straight-ahead direction calculating means for calculating the angle, 75 is a direction sensor such as a gyro having an angle zero setting function for detecting the moving direction of the main body, and 76 is a current main body input from the direction sensor 75 By direction In other words, it is a straight-ahead control means for controlling the straight movement of the main body in the direction calculated by the straight-ahead direction calculating means 77. Reference numeral 79 denotes a cleaning unit for cleaning, and reference numeral 80 denotes a traveling steering unit for traveling and steering the main body 90.
[0059]
89 is a reference direction setting unit for setting the reference direction of the main body, and 86 is a front-facing state of the main body 90 that is recognized by distance information from the left front obstacle detecting means 72 and the right front obstacle detecting means 73 to the obstacle. A face-to-face state recognizing unit that determines whether or not it is a plane; 87 is a face-to-face state storage unit that stores face-to-face information determined to be a plane by the face-to-face state recognizing unit 86; A continuous plane determination unit that determines whether or not there is a continuous plane in front of the main body 90 based on the face-to-face information stored in the unit 87. 84 is a front left obstacle when the main body 90 stops when an obstacle is detected Based on the distance information from the detection means 72 and the right front obstacle detection means 73 to the respective obstacles, the facing state when the direction of the main body 90 is set to the direction for recognizing the facing state is predicted, and the main body 90 Who Rotation method determination unit for switching the rotation method for the setting of, and 85 has a plurality of rotation methods, and sets the direction of main body 90 by the designated rotation method according to an instruction from rotation method determination unit 84 It is a main body rotation instructing unit, and sets the direction of the main body 90 in the direction for recognizing the facing state by these, and determines whether or not there is a continuous plane in front of the main body 90. The posture control means 83 for performing the posture control operation for setting the above is configured.
[0060]
74 processes the signals from the obstacle detection means 71, the straight-ahead control means 76, the cleaning area input means 78, and the attitude control means 83, and sends an output signal to the traveling steering means 80 to advance / retreat / stop the main body 90. This is a determination processing unit that controls the direction change / rotation and further controls the cleaning means 79.
[0061]
81 is a reciprocating frequency counting means for counting the number of reciprocating movements of the main body 90 after the zero point of the azimuth sensor 75 is set, and 82 is an attitude control execution determining means for determining whether or not to perform an attitude control operation.
[0062]
The operation of the above configuration is as follows.
[0063]
The main body 90 moves forward between the reference wall and the distance in the vertical direction of the main body set by the cleaning area input means 78 in the direction θ calculated by the straight traveling direction calculating means 77, and stops and moves straight when an obstacle is detected ahead. The direction is changed, the vehicle moves backward in the reference direction, and during straight traveling, the straight traveling control means 76 outputs the straight traveling to the target direction to the determination processing unit 74, and the determination processing unit 74 steers the traveling steering unit 80. Thereafter, this operation is repeated until the horizontal movement distance set by the cleaning area setting means 78 is reached.
[0064]
The distance from the obstacle (reference wall) that detects and stops the obstacle while traveling straight is the lower limit of the detection capability of the obstacle detection means 71 (including the left front obstacle detection means 72 and the right front obstacle detection means 73). It is set near.
[0065]
The reciprocation count counting means 81 counts the number of reciprocations from when the azimuth sensor 75 is set to the zero point, and the attitude control execution determination means 82 inputs this reciprocation count, and the reciprocation count reaches 10 times. When the vehicle detects an obstacle ahead and stops, it instructs the posture control means 83 to execute posture control. Up to 10 reciprocations, the rotation of the main body 90 from forward to backward, or from backward to forward, is performed by setting the straight forward direction of forward and backward, and by the straight forward control means 76, the initial after reverse of the straight forward direction Has been done. The main body rotation instructing unit 85 has a first rotation method centered on the V point and a second rotation method centered on the W point shown in FIG. In response to an instruction from the posture control execution determination means 82, the rotation method is determined based on the distance information to the respective obstacles from the left front obstacle detection means 72 and the right front obstacle detection means 73, and the rotation method is rotated. Output to the instruction unit 85.
[0066]
In the rotation method determination unit 84, all the basics are the first rotation method. However, as shown in FIG. 10, the main body 90 is stopped and the right front obstacle detection means 73 and the obstacle (standard) are rotated during the rotation around the V point. Although the distance R1 to the wall) is close to the lower limit value of the detection capability, it may become R2 by rotating, and R2 <R1 and the right front obstacle detection means 73 may not be able to detect the actual distance. Therefore, based on the distance information from the right front obstacle detection means 73 to the obstacle, the detection distance to the obstacle of the right front obstacle detection means 73 after the main body is rotated by the first rotation method is predicted, and the right front If there is a possibility that the obstacle detection means 73 will not be able to detect the actual distance, an instruction to rotate by the second rotation method is issued.
[0067]
Also, when the main body 90 stops due to a moving obstacle or the like, and it is unlikely that a face-to-face can be detected after the main body is rotated based on distance information from the left front obstacle detecting means 72 and the right front obstacle detecting means 73 to the respective obstacles. , Information that neither rotation method is used is output.
[0068]
The main body rotation instructing unit 24 receives this instruction or information, and if it is an instruction to rotate the main body by the first or second rotation method, the direction of the main body 90 becomes the direction of the zero point of the current direction sensor 75. Thus, the rotation method and the rotation instruction are output to the determination processing unit 74, and the determination processing unit 74 rotates the main body 90 by steering the traveling steering means 80, and if the information does not depend on which rotation method, nothing is done. The posture control means 83 instructs the judgment processing unit 74 to start straight traveling. At this time, the main body 90 is rotated by the straight-ahead control means 76 and becomes a normal rotation.
[0069]
This makes it possible to select the most optimal and lean rotation method.
[0070]
The first rotation method is basically based on the second rotation method because the rotation method is on the right side, so that the portion that is in contact with the floor surface such as the traveling steering means 80 is on the right side from the center of the main body 90. This is because the weight of the main body 90 is concentrated on the portion located at the position, but the load is applied to both the left and right sides of the main body 90 in a balanced manner in the first rotation method.
[0071]
Next, a fifth embodiment of the present invention will be described with reference to FIG.
[0072]
In FIG. 11, reference numeral 91 denotes a plurality of obstacle detection sensors using ultrasonic waves for detecting obstacles arranged in front, rear and left and right of a main body (not shown), and in particular, arranged at the left end of the front surface of the main body. The left front obstacle detecting means 92 for detecting the distance to the obstacle on the left front of the main body and the right front obstacle detecting means 93 for detecting the distance to the obstacle on the right front of the main body arranged at the right end of the front of the main body are one of them. Part.
[0073]
98 is a cleaning area input means for inputting the vertical and horizontal distances of the area where the main body is to be cleaned, and 97 is a straight line direction of the main body calculated according to the vertical distance of the cleaning area input by the cleaning area input means 98. 95 is a direction sensor such as a gyro having an angle zero setting function and an angular velocity reference setting function for detecting the moving direction of the main body, and 96 is a current main body input from the direction sensor 95. By direction In other words, it is a straight-ahead control means for controlling the straight movement of the main body in the direction calculated by the straight-ahead direction calculating means 97. Reference numeral 99 denotes a cleaning means for cleaning, and reference numeral 100 denotes a traveling steering means for traveling / steering the main body.
[0074]
104 is a cleaning reciprocating counting unit that counts the number of reciprocating operations of the main body after the main body starts the cleaning operation, 109 is a zero setting counting unit that counts the number of times the zero point of the azimuth sensor 95 is set, 110 receives the count values of the cleaning reciprocating counting means 104 and the zero setting counting section 109, the count value of the zero setting meter reciprocating number section 109 is a predetermined number of times of zero setting, and the count value of the cleaning reciprocating counting means 104 has stepwise. If the specified number of cleaning reciprocations has not been reached, only the zero point of the azimuth sensor 95 is set when setting the reference direction of the main body, and if it has reached one side, the zero point setting of the azimuth sensor and the reference setting for the angular velocity are set. A direction setting unit 106 is configured to recognize a front facing state of the main body based on distance information from the left front obstacle detecting unit 92 and the right front obstacle detecting unit 93 to the obstacle and determine whether the plane is a plane. The state recognition unit 107 is a meeting state storage unit that stores the meeting information that is determined to be a plane by the meeting state recognition unit 106, and 108 is based on the meeting information stored in the meeting state storage unit 107. A continuous plane determination unit that determines whether or not there is a continuous plane in front. 105 is a main body rotation instruction unit that sets the direction of the main body to a direction for recognizing the facing state. The posture control means 103 that performs the posture control operation for setting the reference direction of the main body is determined by setting the direction of the main body as the direction for recognition and determining whether there is a continuous plane in front of the main body. To do.
[0075]
94 processes the signals from the obstacle detection means 91, the straight-ahead control means 96, the cleaning area input means 98, and the attitude control means 103, and sends an output signal to the traveling steering means 100 to advance / retreat / stop / direction of the main body. This is a determination processing unit that controls the conversion / rotation and further controls the cleaning means 99.
[0076]
101 is a reciprocating frequency counting means for counting the number of reciprocating movements of the main body since the zero point of the direction sensor 95 is set, and 102 is an attitude control execution determining means for determining whether or not to perform an attitude control operation.
[0077]
The operation of the above configuration is as follows.
[0078]
The azimuth sensor 95 detects an angle changing per time (one second), that is, an angular velocity, performs integration, and detects how many angles from the zero point of the azimuth sensor 95 are present. In order to detect the direction of the main body, the setting of the zero point of the angle and the reference of the angular velocity must be set. Although both are set at the start of the cleaning operation and the movement is started, both of them are displaced as the cleaning operation proceeds.
[0079]
The cleaning reciprocation counting means 104 counts the number of reciprocations of the main body after the start of the cleaning operation, and the zero setting counting unit 109 counts the number of reciprocations since the zero point of the azimuth sensor 95 is set. The reference direction setting unit 110 inputs the count value from the cleaning reciprocating counting unit 104 and the count value from the zero setting counting unit 109, and the count value from the cleaning reciprocating counting unit 104 is stepwise (for example, (50 times, 100 times, 150 times, etc.), and a predetermined value is set, and an initial value (50 times) is set at the start of the cleaning operation. Has a single defined value (eg, 3 times).
[0080]
Now, after the cleaning operation is started, when the count value of the reciprocation count counting means 101 is 10, the attitude control execution determining means 102 instructs the attitude control means 103 to perform the attitude control operation, and the continuous plane determining unit 108 specifies If the number of times is 5 and a continuous plane is established in the first 5 times, the reference direction setting unit 110 counts 14 times from the cleaning reciprocating counting means 104 and 1 time from the zero setting counting unit 109. In this case, since both count values have not reached the specified value, only the zero point of the angle of the azimuth sensor 95 is set, and the count value of the zero setting counter 109 becomes 2. Similarly, it is assumed that the count value of the cleaning reciprocation frequency counting means 104 is 42 times (14 times × 3). At this time, the count value of the zero setting counting unit 109 is 3, which has reached the specified value, so the reference direction setting unit 110 moves from the left front obstacle detection means 92 to the obstacle on the left front of the main body. The distance information and the distance information from the front right obstacle detection means 93 to the right front obstacle of the main body are equal to each other, that is, the main body is in a direction of 90 ° with respect to the reference wall. After the traveling steering means 100 is steered through the determination processing unit 94 to rotate the main body and the direction of the main body is set, the reference of the angular velocity of the azimuth sensor 95 and the zero point of the angle are set. At this time, the specified value for the count value from the cleaning reciprocating counting means 104 is updated from 50 times to 100 times, and the count value of the zero setting counter 109 is reset to one time.
[0081]
Even if the continuous plane determination unit 108 does not establish a continuous plane, the continuous plane is established even if the number of zeros of the azimuth sensor 95 does not reach a specified value (for example, once) with respect to the number of cleaning reciprocations. If the count value of the cleaning reciprocating counting unit 104 among the count values of the cleaning reciprocating counting unit 104 and the zero setting counting unit 109 input to the reference direction setting unit 110 reaches 50 times, the angular velocity of the direction sensor 95 is determined. Set the reference and the zero point of the angle.
[0082]
Along with the zero point setting, the angular velocity reference setting is not performed every time. While the zero point setting can be performed instantaneously, it takes time to set the angular velocity reference, and the angular velocity reference setting is not performed frequently. This is because the cleaning operation is not greatly affected.
This makes it possible to set not only the zero point but also the angular velocity reference when setting the reference direction of the main body, and a highly accurate reference direction can be set.
Next, a sixth embodiment of the present invention will be described with reference to FIGS.
[0083]
In FIG. 12, 121 is a plurality of obstacle detection sensors using ultrasonic waves for detecting obstacles arranged in front, rear and left and right of the main body (150 in FIG. 13). The front left obstacle detecting means 122 for detecting the distance to the obstacle on the left front of the main body and the front right obstacle detecting means 123 for detecting the distance to the obstacle on the right front of the main body arranged at the right end of the front of the main body Part of it.
[0084]
128 is a cleaning area input means for inputting the vertical and horizontal distances of the area where the main body 150 is to be cleaned, and 127 is a straight direction of the main body 150 according to the vertical distance of the cleaning area input by the cleaning area input means 128. Is a straight direction calculation means for calculating the direction of movement, 125 is a direction sensor such as a gyro having an angle zero setting function for detecting the moving direction of the main body, and 126 is a current main body input from the direction sensor 125 By direction In other words, it is a straight-ahead control means for controlling the straight movement of the main body in the direction calculated by the straight-ahead direction calculating means 127. Reference numeral 129 denotes a cleaning unit for performing cleaning, and reference numeral 130 denotes a traveling steering unit that performs traveling and steering of the main body 150.
[0085]
Reference numeral 141 denotes a reference direction setting unit that sets the reference direction of the main body. Reference numeral 138 recognizes the front facing state of the main body 150 based on distance information from the left front obstacle detection means 122 and the right front obstacle detection means 123 to the obstacle. The face-to-face state recognition unit for determining whether the face is a plane, 139 is a face-to-face state storage unit for storing the face-to-face information determined to be a plane by the face-to-face state recognition unit 138, and 140 is a face-to-face state storage A continuous plane determination unit that determines whether or not there is a continuous plane in front of the main body 150 based on the face-to-face information stored in the unit 139, and 134 is a front left obstacle when the main body 150 stops when an obstacle is detected A plane when the direction of the main body 150 is set to a direction for recognizing the facing state based on distance information from the detection means 122 and the right front obstacle detection means 123 to the respective obstacles. To predict whether, flat No face If it is predicted, it is a plane prediction unit that outputs information that there is no plane.
[0086]
Reference numeral 135 denotes a non-planar counting unit that counts the number of reciprocations in which there is no plane continuously, based on information from the plane prediction unit 134 that there is no plane. 137 is a rotation angle setting unit that switches the body direction setting angle for, and 137 is a body rotation instruction unit that sets the direction of the main body 150 in the set direction according to an instruction from the rotation angle setting unit 136. Attitude control for setting the direction of the main body 150 as a direction for recognizing the state, determining whether there is a continuous plane in front of the main body 150, and setting the reference direction of the main body if there is The means 133 is configured.
[0087]
124 processes the signals from the obstacle detection means 121, the straight-ahead control means 126, the cleaning area input means 128, and the attitude control means 133, and sends an output signal to the traveling steering means 130 so that the main body 150 moves forward / backward / stop / This is a determination processing unit that controls the direction change / rotation and further controls the cleaning means 129.
[0088]
Reference numeral 131 denotes a reciprocating frequency counting means for counting the number of reciprocating movements of the main body 150 since the zero point of the azimuth sensor 125 is set, and 132 is an attitude control execution determining means for determining whether or not to perform an attitude control operation.
[0089]
The operation of the above configuration is as follows.
[0090]
The main body 150 moves forward in the direction θ calculated by the straight traveling direction calculating means 77 between the reference wall and the distance in the vertical direction of the main body set by the cleaning area input means 128, and stops and moves straight when an obstacle is detected ahead. The direction is changed, the vehicle moves backward in the reference direction, and during straight traveling, the straight traveling control means 126 outputs to the judgment processing unit 124 so as to go straight in the target direction, and the judgment processing unit 74 steers the traveling steering means 130. Thereafter, this operation is repeated until the lateral movement distance set by the cleaning area setting means 128 is reached.
[0091]
When the zero point of the azimuth sensor 125 is greatly deviated, as shown in FIG. 13, when the main body 150 detects an obstacle (reference wall) and stops, the obstacle (reference wall) from the left front obstacle detection means 122 is stopped. ) And the distance R1 from the right front obstacle detection means 123 to the obstacle (reference wall) is large, and the stop distance L1 from the obstacle (reference wall) of the main body 150 is the lower limit of the detection capability. Although it is near the distance, R2 becomes near the upper limit distance or more than the upper limit distance, and even if there is actually a plane, it appears that there is no plane.
[0092]
When the posture control execution determination unit 132 instructs the posture control unit 133 to perform the posture control operation, the plane prediction unit 134 receives each of the left front obstacle detection unit 122 and the right front obstacle detection unit 123 when stopped. From the distance information to the obstacle, it is predicted whether or not there is a plane when the direction of the main body 150 is set to a direction for recognizing the facing state, and the determination that there is no plane because the plane is not visible as described above. If it does, information that there is no plane is output; otherwise, information that there is a plane is output. The non-plane counting unit 135 inputs information from the plane prediction unit 134, adds a count value if there is a plane, and clears it to zero if there is no plane. The rotation angle setting unit 136 inputs the count value of the non-planar counting unit. If the count value is less than a specified value (for example, 5 times), the rotation angle setting unit 136 sets the direction setting angle of the main body to the main body rotation instruction unit 137 and sets the direction sensor 125 to zero The direction is output as the direction, and if it exceeds the specified value, the angle determined by L1 and R1 (for example, if L1 <R1, the angle swung to the left by 20 ° with respect to the zero degree of the direction sensor 125) is set as the direction setting angle of the body. Is output to the rotation instruction unit 137, and the main body rotation instruction unit 137 outputs to the determination processing unit 124 to set the direction of the main body to the input direction setting angle of the main body. The main body 150 is rotated to set the direction of the main body.
[0093]
Thereby, even if a large deviation occurs in the zero point of the azimuth sensor 125, the actual facing state of the left front obstacle detection means 122 and the right front obstacle detection means 123 is recognized, continuous plane judgment is performed, and the reference direction is set. It can be performed.
[0094]
【The invention's effect】
As is clear from the above embodiments, according to the first means of the present invention, the distance difference between the front and left obstacles detected by the obstacle detection means provided on the left side and the right side of the front face of the main body is forward. After each stop, determine whether it is a plane, store it, determine that it is a continuous plane, and then set the reference direction of movement of the main body in a direction where the direction of the main body is perpendicular to the front wall in the continuous plane. Therefore, since the reference direction can be set with high accuracy and periodically, the cleaning locus is less likely to be displaced and the occurrence of an uncleaned area can be prevented in advance.
[0095]
In addition, the second means reduces the reciprocation frequency prescribed value for determining the continuous plane when the continuous plane is difficult to be established, so the continuous plane is easily established even when the wall is uneven, It becomes easy to set the reference direction, and it is possible to prevent the occurrence of an uncleaned area.
[0096]
In addition, after the continuous plane is confirmed by the third means, it is confirmed again whether the wall surface for which the reference direction is actually set is a continuous plane, so the setting of the reference direction to the wrong direction due to the wall surface state is reduced. In addition, a highly accurate reference direction can be set.
[0097]
In addition, the fourth means detects the minimum distance of the obstacle detection means by switching the rotation method of the direction setting of the main body for recognizing the wall surface according to the distance difference between the front and left obstacles in front of the main body when the main body is stopped. The state of the wall surface can be accurately recognized at a distance greater than the limit value, and an optimum rotation method can be obtained.
[0098]
Further, by performing not only the gyro zero point setting periodically but also the angular velocity reference setting by the fifth means, the zero point setting can be performed with high accuracy and the reference direction can be set with high accuracy.
[0099]
Moreover, even if the obstacle detection means recognizes that there is no obstacle ahead when the main body is stopped by the sixth means, by switching and setting the direction setting angle of the main body for the wall surface state recognition, Even when the zero point of the gyro deviates greatly and the distance to the left or right wall surface in front of the main body becomes larger than the maximum distance detection limit value of the obstacle detection means, the wall surface state can be accurately recognized.
[Brief description of the drawings]
FIG. 1 is a block diagram of a first embodiment of a self-propelled cleaner according to the present invention.
FIG. 2 is a diagram showing the operation of the self-propelled cleaner.
FIG. 3 is a diagram showing a difference between left and right distances when the self-propelled cleaner is running.
FIG. 4 is a block diagram showing a second embodiment of the self-propelled cleaner according to the present invention.
FIG. 5 is a diagram showing the operation of the self-propelled cleaner.
FIG. 6 is a block diagram showing a third embodiment of the self-propelled cleaner according to the present invention.
FIG. 7 is a diagram showing the operation of the self-propelled cleaner.
FIG. 8 is a diagram showing a difference in distance between the left and right when the self-propelled cleaner is running.
FIG. 9 is a block diagram showing a fourth embodiment of the self-propelled cleaner according to the present invention.
FIG. 10 is a diagram showing the operation of the self-propelled cleaner.
FIG. 11 is a block diagram showing a fifth embodiment of the self-propelled cleaner according to the present invention.
FIG. 12 is a block diagram showing a sixth embodiment of the self-propelled cleaner according to the present invention.
FIG. 13 is a view showing the operation of the self-propelled cleaner.
FIG. 14 is a schematic configuration diagram of a conventional self-propelled cleaner.
FIG. 15 is an explanatory diagram of the operation of a conventional self-propelled cleaner.
[Explanation of symbols]
11, 31, 51, 71, 91, 121 Obstacle detection means
12, 32, 52, 72, 92, 122 Left front obstacle detection means
13, 33, 53, 73, 93, 123 Right front obstacle detection means
14, 34, 54, 74, 94, 124 Judgment processing unit
15, 35, 55, 75, 95, 125 Direction sensor
16, 36, 56, 76, 96, 126 Linear control means
17, 37, 57, 77, 97, 127 Straight direction calculation means
18, 38, 58, 78, 98, 128 Cleaning area input means
19, 39, 59, 79, 99, 129 Cleaning means
20, 40, 60, 80, 100, 130 Traveling steering means
21, 41, 61, 81, 101, 131 Round-trip count counting means
22, 42, 62, 82, 102, 132 Posture control execution determination means
23, 43, 63, 83, 103, 133 Attitude control means
24, 44, 64, 85, 105, 137 Main body rotation instruction section
25, 45, 65, 86, 106, 138 Face to face confirmation unit
26, 46, 66, 87, 107, 139 Face to face storage
27, 48, 68, 88, 108, 140 Continuous plane judgment unit
28, 49, 69, 89, 110, 141 Reference direction setting section
30, 50, 70, 90, 150
47 Plane criteria setting part
67 Face-to-face confirmation section
84 Rotation method determination part
104 Cleaning reciprocating counting unit
109 Zero setting counter
134 Plane prediction unit
135 Non-planar counter
136 Rotation angle setting part

Claims

Travel steering means for moving the main body, an orientation sensor for detecting the travel direction of the main body, a plurality of obstacle detection means for detecting the presence or absence of an obstacle around the main body and the distance to the obstacle, and the obstacle detection A front left obstacle detecting means arranged on the left side of the front surface of the main body, a front right obstacle detecting means arranged on the right side, a cleaning area input means for inputting an area where the main body performs cleaning, and the cleaning area according to the cleaning area. The straight direction calculation means for calculating the straight direction of the main body, the straight direction control means for controlling the straight direction of the main body based on the output of the direction sensor, and the cleaning means for executing cleaning, and the direction calculated by the straight direction calculation means. When the obstacle is detected ahead, it stops and changes straight direction, moves backward in the reference direction, and then reaches the lateral movement distance set by the cleaning area input means. In the configuration of repeating this reciprocating cleaning operation, recognizes the state of the front obstacle facing the said body by a difference in output between the output and the right front obstacle detection means of the left front obstacle detection means, controlling the orientation of said main body Attitude control means for setting the zero point of the azimuth sensor to set the reference direction of the main body, reciprocation count counting means for counting the number of rectilinear reciprocations since the reference direction of the main body is set, and the number of reciprocations A self-propelled cleaner comprising: attitude control execution determining means for determining whether to set a reference direction of the main body based on a counting result of the counting means; and a determination processing unit for controlling running and cleaning of the main body.

A plane that switches the number of pieces of state information of the obstacles that face each other in order to determine whether or not the plane is a continuous plane, based on input from a round-trip count counting unit that counts the number of straight-way round trips after the reference direction of the main body is set. The posture control means includes a continuous plane determination unit that has a determination reference setting unit and determines whether the front obstacle is a continuous plane based on the number of state information of the facing obstacle set by the plane determination reference setting unit. The self-propelled cleaner according to claim 1, further comprising:

Before setting the reference direction of the main body, it is input from the left front obstacle detection means and the right front obstacle detection means by the input from the facing state confirmation unit for reconfirming the state of the obstacle to face, and the facing state confirmation unit The self-propelled cleaner according to claim 1 or 2, further comprising a reference direction setting unit configured to set a reference direction of the main body based on distance information to the obstacle.

Before setting the orientation of the main body for recognizing the state of the obstacle to face, face to face after setting the orientation of the main body according to the distance information to the obstacle input from the left front obstacle detection means and the right front obstacle detection means A rotation method determination unit for determining switching of the rotation method of the main body for setting the direction of the main body by predicting the state, and a main body by a rotation method having a plurality of rotation methods and set by the rotation method determination unit The self-propelled cleaner according to any one of claims 1 to 3, further comprising a main body rotation instruction unit for setting the orientation of the main body in a reference direction in the attitude control means.

It has a direction sensor for detecting the traveling direction of the main body with a setting function of a zero point that is a reference direction and a reference angular velocity, and has a cleaning reciprocation counting unit that counts the number of rectilinear reciprocations since the start of the cleaning operation. At the same time as setting the reference point of the angular velocity of the azimuth sensor by the input from the zero setting counting unit that counts the number of times the sensor zero point is set, the continuous plane determining unit, the cleaning reciprocating counting unit, and the reciprocating number counting unit, 5. A reference direction setting unit configured to set a reference direction of the main body by setting a zero point of an orientation sensor based on distance information to an obstacle input from the left front obstacle detection unit and the right front obstacle detection unit. The self-propelled cleaner of any one of 1-4.

Before setting the orientation of the main body for recognizing the state of the obstacle to face, face to face after setting the orientation of the main body according to the distance information to the obstacle input from the left front obstacle detection means and the right front obstacle detection means A plane prediction unit that predicts whether or not the state is a plane, a non-plane counting unit that counts the number of rectilinear reciprocations of the main body based on information that there is no plane input from the plane prediction unit, and a count value of the non-plane counting unit The posture control means includes a rotation angle setting unit that sets a direction angle for setting the direction of the main body, and a main body rotation instruction unit that sets the direction of the main body to the angle set by the rotation angle setting unit. The self-propelled cleaner according to any one of claims 1 to 5.