JP2001258806A - Self-traveling vacuum cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-traveling vacuum cleaner capable of surely cleaning rooms with various floors covered with tatami, flooring board, carpet and the like. SOLUTION: This self-traveling vacuum cleaner A comprises a traveling machine part 1 self-traveling on a floor surface and a cleaner part 2 set in the traveling machine part 1 to clean the floor surface. The cleaner part 2 comprises any one of a mop M, a dustcloth and a rotary brush for rubbing the floor surface, or consists of a suction type cleaner.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled cleaner for self-running and automatically cleaning the floor of a room.

[0002]

2. Description of the Related Art Conventional self-propelled vacuum cleaners are mainly of the vacuum suction type, and a combination of a mop, a rag and a rotating brush can be used in an auxiliary manner. There is nothing to use. In addition, conventional self-propelled vacuum cleaners use a computer equipped with a computer with a built-in signal such as a direction recognition sensor such as a gyro, an external sensory sensor such as a bumper sensor, and a sensor that determines the number of rotations of the drive wheels, and calculate the trajectory to move. It is configured to generate and issue a command and to advance and turn by rotating the drive wheels provided on the left and right sides of the self-propelled cleaner.

[0003] In a self-propelled cleaner, a track is set in a substantially rectangular space of a plane to be cleaned so as to prevent duplication or leftover of cleaning. In order for a self-propelled cleaner to travel on an appropriate track, it is necessary to prevent the occurrence of useless resistance because various sensors and the like are accurately differentiated, and if useless resistance acts, it is likely to come off the track. There is. This wasted resistance
A large proportion occurs when wheels other than drive wheels, that is, free (driven) wheels do not move smoothly. Casters are
Since the axle is shifted with respect to the fulcrum of the axle bearing, the vehicle easily turns when driven, but a useless resistance force is likely to act when turning.

[0004]

A conventional self-propelled vacuum cleaner is:
Advanced equipment was used for the sensors and control devices, which were expensive and large. Moreover, since the conventional self-propelled cleaner uses vacuum suction as a main cleaning means, it is inconvenient for cleaning in which the use of a mop, a rag, and a rotating brush is advantageous. It is desirable that a single self-propelled cleaner can clean various rooms such as tatami mats, flooring floors, and carpets. For various cleanings, it is convenient if you can quickly change various cleaning tools,
Advantageously, the cleaning tool can be freely removed and used for manual cleaning. In addition, since the self-propelled cleaner works with limited energy, it is important that the corners of the room can be efficiently cleaned with little energy. Further, a sensor that uses ultrasonic waves, infrared rays, or the like as a sensor for recognizing the front cannot obtain sufficient accuracy. Therefore, a sensor of a type that mechanically detects an obstacle is inexpensive and practical.

A first object of the present invention is to provide a self-propelled cleaner capable of reliably cleaning various rooms such as tatami mats, flooring floors, and carpets. A second object of the present invention (corresponding to claim 5) is to provide a self-propelled cleaner in which a single self-propelled cleaner can be used by appropriately replacing a mop, a rag, a rotating brush, or a suction cleaner. is there. A third object of the present invention (corresponding to claim 6) is to provide a self-propelled cleaner which can be used for manual cleaning independently by removing a cleaning tool in addition to self-propelled cleaning.
A fourth object (corresponding to claim 7) of the present invention is to enable accurate self-propelling with a simple configuration of two driving front wheels and one driven rear wheel, and to prevent the generation of useless resistance. In providing self-propelled vacuum cleaners. The fifth object of the present invention (claim 8,
9) is to provide a self-propelled cleaner provided with a detector having a simple structure capable of mechanically detecting an obstacle. A sixth object of the present invention (corresponding to claims 10 to 13) is to provide a self-propelled cleaner in which a substantially rectangular flat surface to be cleaned can be reliably prevented from overlapping or remaining after cleaning. A seventh object of the present invention (claim 1
(Equivalent to 4) can move quickly when it is far from the wall and there is no danger of colliding with the wall, and when it is close to the wall, it can run at a speed that does not break even if it hits the wall In providing a self-propelled vacuum cleaner.

[0006]

A self-propelled cleaner is provided with a traveling machine unit which travels on the floor surface, and a cleaner installed on the traveling machine unit for cleaning the floor surface. In a self-propelled vacuum cleaner having a part, the cleaner part includes any of a mop, a rag, or a rotating brush that rubs the floor surface,
It is a vacuum cleaner.

[0007] The self-propelled vacuum cleaner having the structure of claims 1 to 4 is provided with a mop, a rag, a rotating brush or a suction-type vacuum cleaner, which is optimal for cleaning various floor surfaces such as tatami mats, flooring floors, and carpets. The floor can be reliably cleaned.

[0008] (Claim 5) In the self-propelled vacuum cleaner having the structure of any one of claims 1 to 4, two or more types of mop, rag, rotary brush and suction type vacuum cleaner are changeably mounted. it can. As a result, with one self-propelled vacuum cleaner,
Various floor surfaces such as tatami mats, flooring floors, carpets,
Efficient cleaning can be achieved by selectively replacing rags, rotating brushes or vacuum cleaners.

(Claim 6) In the self-propelled cleaner, the cleaner section is detachably connected to the traveling machine section.
The rag, rotating brush or vacuum cleaner can be removed and used. That is, in addition to the automatic cleaning by the self-propelled cleaner, the cleaning tool can be removed from the self-propelled cleaner and used for manual cleaning as needed. This is particularly necessary and convenient for suction vacuum cleaners.

According to a seventh aspect of the present invention, in the self-propelled cleaner having the configuration according to any one of the first to seventh aspects, the traveling unit includes two left and right driving wheels as independently controlled front wheels. It has one driven free wheel, and during cleaning,
The vehicle travels forward with two driving front wheels in 51% or more of the entire travel distance. The self-propelled cleaner can move freely with a minimum of two drive wheels and one driven wheel, and the floor can be cleaned with a mop, rag, rotating brush or suction cleaner. In addition, one free (following) wheel can prevent unnecessary resistance from being applied, and can run smoothly. This free wheel is
Although the use of ball wheels with low driven resistance is desirable, the use of casters is also possible.

[0011] In the self-propelled cleaner having any one of the constitutions described in claims 1 to 7, the self-propelled cleaner according to claim 8 is provided with: A bumper protruding forward from the front of the body, suspension means for suspending the bumper in the front-rear direction so as to be displaceable in the front-rear direction, and detecting a displacement of the bumper when pressed by an obstacle to convert the bumper into an electric signal An obstacle detector consisting of a sensor was installed.

[0012] In the self-propelled cleaner having the configuration of claim 9, the suspension means suspends the bumper horizontally at four points from the fixing member of the body, and urges the bumper or the suspension member forward. And a stopper that regulates the forward displacement of the bumper or the suspension member. According to the self-propelled cleaner having the above-described structure, the structure of the mechanical obstacle detector is simple and the cost is low, so that the self-propelled cleaner can be manufactured at low cost.

(Claims 10 to 13) Claim 10
In the self-propelled cleaner having the configurations of (1) to (13), by using a simple sensor and control device, it is possible to reliably prevent duplication and cleaning residue in a substantially rectangular space of a plane to be cleaned.

When the vehicle is separated from the wall and there is no danger of colliding with the wall (when the first front obstacle detector does not detect the front wall), the vehicle can move quickly. When the vehicle is approaching a wall (when the first front obstacle detector detects the front wall), the traveling speed is reduced, so that the self-propelled cleaner is not broken even if it hits the front wall. When the second front obstacle detector detects the front wall, the operation proceeds to the next operation, so that the self-propelled cleaner does not get stuck on the front wall.

[0015]

FIG. 1 shows a self-propelled cleaner A according to a first embodiment of the present invention, in which a traveling unit 1 and a cleaning unit 2 removably attached to the traveling unit 1 are shown. Consists of The traveling machine unit 1 includes a traveling machine body 10, right driving wheels 11 and left driving wheels 1 attached to left and right of a front portion 1 </ b> A of the traveling machine body 10.
2, and one driven wheel 13 (free wheel) attached to the lower surface of the rear portion 1B of the traveling machine body 10. In the present embodiment, the front portion 1A has a quadrant-shape with a horizontal axis with the rear side missing vertically, and the rear portion 1B has a flat bed shape.

In front part 1A, indicator lights 1D are provided on the left and right of the upper surface.
1E is attached, and a substantially U-shaped handle 1F is rotatably mounted on a central top portion with both lower ends serving as fulcrums. As shown in FIG. 4, the detachable connection between the traveling unit 1 and the cleaner unit 2 is provided between the front and rear slide rails 61, 61 provided parallel to the upper surface of the rear unit 1B. Engaging portions 6 projecting from the lower surface as opposite T-shaped convex side portions.
This is achieved by the connecting means 6 having a structure for inserting the second and the second 62.

The right driving wheel 11 and the left driving wheel 12
Each of the motors is independently driven by a motor (not shown) provided in the front portion 1A, and each motor has a built-in rotation sensor. The number of rotations detected by each rotation sensor is sent to the control device, and the traveling unit 1 normally travels forward, and retreats when changing directions. In the present embodiment, the driven wheel 13 is a spherical wheel having excellent followability and a simple structure, and has no drive source.

The driven wheel 13 may be another wheel such as a caster, but the caster is liable to generate resistance due to friction or the like when driven, and should be avoided if possible. This resistance hinders the self-propelled cleaner A from advancing on the track accurately by controlling the rotation speed of the right driving wheel 11 and the left driving wheel 12. One of the left and right display lamps 1D and 1E indicates ON / OFF of the power supply, and the other lights up while the traveling unit 1 is traveling to urge the surrounding people to avoid danger.

The traveling machine unit 1 includes a first front obstacle sensor S1, a second front obstacle sensor S2, a front left obstacle sensor S3, and a front right obstacle sensor S4 at a front part, and a rear part. Is provided with a sensor group including a rear left obstacle sensor S5 and a rear right obstacle sensor S6. In this embodiment, the first front obstacle sensor S1 is an infrared length measuring sensor and detects an obstacle 0.2 m to 1.0 m ahead. The self-propelled cleaner A travels at a speed of 1 to 4 km / h, and when the first front obstacle sensor S1 detects an obstacle, 0.2 km
/ H and proceed until the second front obstacle sensor S2 detects the front obstacle.

The cleaner section 2 is mounted on the front side of the rear section 1B of the traveling machine section 1 and forms a front section 2A that forms a self-propelled cleaner front section on a half cylinder together with the front section 1A of the traveling machine section 1; The cleaner body 20 has a flat rear portion 2B overlapping the rear portion 1B. A cleaning tool mounting mechanism 21 for mounting the cleaning tool 3 is provided on the rear portion 2B. The cleaning tool mounting mechanism 21 includes:
A longitudinal groove 22 formed at the center of the upper surface of the rear portion 2B;
And an arm 23 rotatably mounted in the groove 22.

The arm 23 has a front end rotatably attached to a support shaft 24 laterally provided at the front end of the groove 22, and a cam surface C is formed at the front end. A leaf spring 25 that is supported by being sandwiched between support pins P1 and P2 whose front end is fixed to the front portion 2A of the cleaner body 20 is attached to an intermediate portion of the cleaner body 20. The rear end of the leaf spring 25 presses the cam surface C upward from below, and the arm 23 is held at a substantially horizontal position and a substantially vertical position.

During cleaning of the self-propelled cleaner, the groove 22 is urged in the clockwise direction by a leaf spring 25 pressing the cam surface C.
Horizontal stopper 2 consisting of a horizontal bar attached to the rear lower part of
6, the lower surface of the intermediate portion is locked, and the arm 23 is held at a substantially horizontal position. When the vacuum cleaner is not used, the cam surface C
The arm 23 is urged in the left rotation direction by a leaf spring 25 that presses the arm 23, and the upper surface of the front end is locked by a vertical stopper 27 formed of a horizontal bar attached to the upper part of the front of the groove 22, so that the arm 23 is substantially in a vertical position. Is held.

The cleaning tool 3 according to the first embodiment is mounted on the lower surface of the rear end 28 of the arm 23. Cleaning tools 3
Is a cylindrical hand 3 attached to the lower surface of the rear end 28.
Mop head 32 attached to hand 31 and having an oblong plate shape having a long diameter equal to the entire width of traveling machine unit 1 and having a center connected to the lower end of hand 31 and a lower surface of mop head 32 Mop M. The mop M has a bag portion, and the mop head 3
Attach by inserting 2.

FIG. 2 shows a self-propelled cleaner according to a second embodiment of the present invention. In the present embodiment, as the cleaning tool 3A, a strip-shaped core plate 33 connected to the lower end of the hand 31 and having a width equal to the entire width of the traveling unit 1 and a rag Z wound around the core plate 33 and fixed. Become. The lower surface of the core plate 33 is formed as a gentle cylindrical surface having a horizontal horizontal axis, and wire grips G, G urged by torsion springs 34, 34 are formed on the upper surface of the core plate 33.
Are provided at the front and rear to fix both ends of the rag Z detachably.

FIG. 3 shows a self-propelled cleaner according to a third embodiment of the present invention. In this embodiment, a rotating brush mechanism 4 is attached as a cleaning tool. The rotary brush mechanism 4 includes a horizontally long and flat box-shaped case 40, and auxiliary wheels 41, 41 attached to left and right sides of the case 40. Case 40
A rear opening 42 is provided at a rear portion of the bottom of the bottom, and is closed by a swing lid 43 so as to be openable and closable. At the front of the case 40,
The rotating brush 44 is mounted horizontally, and the lower end of the rotating brush 44 projects downward from the front opening 45 at the bottom and contacts the floor F. The auxiliary wheels 41, 41 and the left and right sides of the rotating brush 44 are linked by a gear set 46.

The auxiliary wheels 41, 41 and the rotating brush 44 are pressed against the floor F, and are pulled by the traveling unit 1, whereby the auxiliary wheels 41, 41 obtain a rotational force due to friction. The rotational force of the auxiliary wheels 41, 41 rotates the rotary brush 44 via the gear set 46. The rotating brush 44 has a brush 47 implanted on one shaft, and the tip of the brush 47 has a cylindrical shape. The rotating brush 44 conveys dust upward on the floor F by sandwiching between the bristles of the brush 47 by rotating while the outer peripheral portion is pressed against the floor F.

A pair of comb-like members 48 and 48 are opposed to each other on the upper part of the rotating brush 44 so as to cross the circumference diagonally.
One comb-shaped member 48 which is in the opposite direction (the direction in which the tip of the comb faces the rotation) depending on the rotation direction of the rotating brush 44 is configured to take up dust. At this time, the other comb-shaped member 48 is in the forward direction, and allows the dust to pass through without wiping. The swing lid 43 provided at the rear bottom of the case 40 is for opening the swing lid 43 appropriately and discharging the dust accumulated in the case 40 from the rear opening 42.

FIG. 3 (c) shows another embodiment of the motor-driven rotary brush cleaner 4A. Rotary brush cleaner 4
A has a motor H attached to the center of the case 40, and power is supplied to the motor H from a battery (not shown). The output shaft of the motor H and the center of the shaft of the rotary brush 44 are transmitted by a gear set 49 including gears G1 and G2 attached to each shaft. Rotating brush 4 through
It is conveyed to 4.

The operation of the rotating brush 44 to take in dust into the case 40 and the method of removing dust accumulated in the case 40 are the same as those of the rotating brush mechanism 4. In the rotating brush mechanism 4 and the rotating brush cleaning tool 4A, the auxiliary wheels 41, 41
The case 40 keeps a fixed distance from the floor F, enables the above-described dust taking-in action to be performed smoothly, and enables the self-propelled cleaner to move smoothly on the floor F.

FIGS. 4 to 7 show a self-propelled cleaner according to a fourth embodiment of the present invention. In the self-propelled cleaner A of the present embodiment, a vacuum suction type suction cleaner 5 is detachably mounted on the traveling machine unit 1. The suction type vacuum cleaner 5 has a hollow body 50 provided with a duct insertion port 51 at the center of the rear end. One end of the duct insertion port 51 is inserted into a duct 52 whose rear part is bent downward. The other end of the duct 52 is directed downward, and a suction opening 53 is attached.

The suction mouthpiece 53 has a horizontally long rectangular plate-like head portion 5A, a brush 5B attached to the outer periphery of the lower surface of the head portion, and is formed on the upper surface at the center of the head portion 5A and is detachably inserted into the other end of the duct 52. 5C. Body 5
A motor 54 is attached to the center of the motor 0, and a turbo fan 55 is connected to an output shaft of the motor 54. The turbo fan 55 rotates on the downstream side of the filter pack 56 mounted in the body 50, and collects dust sucked from the suction port tool 53 by the filter pack 56.

The detachable attachment of the suction type vacuum cleaner 5 to the traveling machine section 1 is performed by connecting means 6 of the vacuum cleaner section. In the configuration of the connecting means 6, the connection between the traveling machine unit 1, the cleaning units 3, 3A, and the rotating brush mechanism 4 is the same. The connecting means 6 includes a pair of slide rails 61, 61 attached in parallel to the upper surface of the rear portion 1B of the traveling unit 1, and the slide rails 61, 6 protruding from the lower surface of the rear portion of the body 50.
The sliding engaging portion 60 is formed by engaging portions 62, 62 that slide into each other, and a hook mechanism 63 that connects the top of the front portion 1 </ b> A of the traveling unit 1 and the front top of the body 50. Become.

The hook mechanism 63 is a front part 1A of the traveling machine part 1.
Engaged portion 64 provided at the top of the groove 50, a groove-shaped recess 65 provided at the front top of the body 50, and fitted into the groove-shaped recess 65 through the upper portion, and an upper projection having a front end inclined surface on the front side. Part 6
A, a lever 66 having an upwardly protruding push button portion 6B at the center and a groove-shaped rotation fulcrum portion 6C at the rear end;
5 is disposed between the fulcrum pin 67 and the grooved recess 65 via the lever 66 and the fulcrum pin 67 to be fitted into the rotation fulcrum 6C. The urging force is applied to the lever 66 in the clockwise direction in the drawing. And a leaf spring 68.

In the hook mechanism 63, the engaging portion 6A is always engaged with the engaged portion 64, and when the push button portion 6B is pressed, the engagement is released, and the suction cleaner 5 is slid backward. It becomes possible. The set of the suction-type vacuum cleaner 5 slides the suction-type vacuum cleaner 5 forward by using the slide rails 61, 61, and at the end of the slide, the front end inclined surface of the engaging portion 6A causes the engaged portion 64 to slide. Slip, the engaging portion 6A sinks down, and then is engaged by being pushed up by the leaf spring 68. That is, the suction-type vacuum cleaner 5 includes the slide rail 6.
The lower surface of the body 50 is slid forward while pressing the lower surface of the body 50 against the first and the first 61, thereby being connected to the traveling machine unit 1.

FIGS. 7 and 8 show a second front obstacle sensor S.
2 shows a mechanical obstacle detector 7 attached to the front end of the front part 1A of the traveling machine unit 1 according to the first embodiment. Inside the front wall 1a of the front part 1A, a detector case 71 having an inverted L-shaped cross section composed of a horizontal wall 7A and a vertical wall 7B is fastened. The obstacle detector 7 is a front wall 1 of the front part 1A.
a, and a suspension mechanism 70 for suspending the bumper 72 horizontally at four front, rear, left, and right fulcrums on the lower surface of the horizontal wall 7A.

The bumper 72 has a flat box shape with an open rear, a front end 72A protruding forward from the front wall 1a, and is suspended by a suspension mechanism 70 so as to be movable in the front-rear direction. Inside 721 of front wall of bumper 72
And a vertical wall 7B, a front end is rotatably connected to the inside of the front wall of the bumper 72, and a stay 73 is disposed at a rear end thereof through a hole 7C provided in the vertical wall 7B. .

The outer end of the stay 73 has a vertical wall 7B at the rear end.
At the rear end of the stay 73, a locking ring 75 with an adjusting screw 751 is mounted at the rear end of the stay 73 so as to abut the rear surface of the vertical wall 7B to adjust the amount of protrusion of the bumper 72 forward. Have been. Spring 7
4 adjusts the adjustment screw 7 while urging the bumper 72 forward.
An appropriate set load is applied by adjusting 51.

The suspension mechanism 70 comprises a total of four front and rear and left and right suspension members 76 having a fulcrum that can rotate vertically. A sensor 7S is horizontally attached to a predetermined position in the detector case 71, and a contact surface 78 urged rightward in the drawing by a spring 77 with an adjuster 771 is provided at a position corresponding to the suspension member 76 on the front side. Is provided.

The sensor 7S has a plunger 7P which always protrudes by a fixed amount from the cylindrical casing 7D, and uses a plunger switch whose switch is turned on. When the plunger 7P is pressed against the contact surface 78, the switch is turned off. When the amount of movement of the bumper 72 is too large, the contact surface 78 is retracted (moves to the left in the drawing) by the action of the spring 77 with the adjuster, thereby preventing an excessive force from acting on the sensor 7S. .

FIG. 9 shows a second example of the second obstacle sensor S2.
1 shows a mechanical obstacle detector 8 mounted on the front end of a front part 1A of the traveling machine unit 1 according to the embodiment. In this embodiment, the bumper 81 is a front wall 1a of the front part 1A of the traveling machine unit 1.
Horizontal member 8A protruding forward from the horizontal member 8a, and a horizontal member 8 extending rearward from the left and right sides of the horizontal horizontal member 8A.
B, 8B.

The bumper 81 is suspended by a suspension plate 80 on a fixing plate 82 fixed horizontally inside the front portion 1A. The suspension mechanism 80 includes a front rocking plate 83 and rear rocking arms 84, 84.
8B is hung at four points in front, rear, left and right to hold the bumper 81 horizontally. The front swing plate 83 has a horizontal axis 831 at the upper end.
Thus, the lower end is rotatably connected to the front lower surface of the fixed plate 82, and the lower end is rotatably connected to the front portions of the members 8B, 8B via a horizontal shaft 832 through a horizontal plane.

Similarly, the upper and lower ends of the rear swing arms 84 and 84 are horizontally connected to the lower surface of the rear portion of the fixed plate 82 by the members 8B and 8B.
And is rotatably connected to the rear part. Front swing plate 83
And the lower ends of the rear swing arms 84, 84
It is connected to a parallelogram-shaped bearing portion of the pandagraph by springs 85, 85 installed on diagonal lines of the parallelogram.

The bumper 81 includes left and right springs 85,
It is urged forward by 85, is locked in place by stoppers 86, 86 fixed to the corresponding position of the front wall 1a of the front portion 1A, and is given an initial load. An adjuster 87 for the sensor is provided in the middle upper portion of the front swing plate 83.
Is attached, and the distance to a sensor (not shown) at the back is adjustable. The bumper 81 includes a suspension mechanism 80.
, The sensor is retracted backward when it hits an obstacle, and a sensor attached to the rear of the adjuster 87 converts the rearward displacement of the adjuster 87 into an electric signal.

In this embodiment, the obstacle detector 8 is displaced rearward in parallel even if an obstacle comes into contact with the bumper 81 because the front swing plate 83 has a plate shape. Thus, there is an advantage that an obstacle can be reliably detected by one sensor. The same operation and effect can be obtained even if the rear swing arms 84, 84 are constituted by a single swing plate.

Next, a method of cleaning the self-propelled cleaner according to the present invention will be described with reference to FIGS. FIG. 10 shows a traveling trajectory of a cleaning operation on a rectangular floor which is the shape of a room. 1) First place the self-propelled cleaner in front of the rear wall parallel to the left wall. The self-propelled cleaner recognizes the left wall surface by the left obstacle sensor and starts traveling along the left wall surface. In addition,
When placed in front of the rear wall parallel to the right wall, the right obstacle is recognized by the right obstacle sensor, and the vehicle starts traveling along the right wall. In this case, the behavior is targeted.

2) The self-propelled cleaner that has started traveling basically travels along a straight line drawn in the data of its own storage device, but detects the left wall surface by the left obstacle sensor.
Modified to go along the wall. 3) Proceed until the front wall is detected, and stop once it is detected. Therefore, the current trajectory is recognized as the first straight trajectory, the data is replaced, and the work trajectory is generated based on the first straight trajectory. The working track is the right driving wheel 11
And the locus of the center point of the left driving wheel 12.

4) Next, as shown in FIG. 11, from this point (P ₁ ), the robot retreats toward the second linear trajectory while making a turning motion, and stops when reaching the second linear trajectory (P ₂ ).
Then, after the posture is adjusted, the vehicle advances on the second linear trajectory by a predetermined distance toward the rear wall surface (P ₃ ), and makes a 180 ° counterclockwise turn at P ₃ . In this turning direction, since the driving wheel is the front wheel, the self-propelled cleaner does not hit the left wall surface if it is counterclockwise, but hits the left wall surface if it is clockwise. Note that the switching motion is obtained by the difference between the rotational speeds of the left and right drive wheels. That is, in the process leading to P ₂ from P ₁ in FIG. 11, in the first half portion, and the rotational speed of the right wheel less than the rotational speed of the left wheel, the second part, the rotation of the rotational speed of the right wheel of the left wheel More than number.

In the above embodiment, P ₁ , P ₂ ,
In P _3, self-propelled cleaner has a configuration in which stop temporarily, without stopping, it may be continuously be moved to the next operation. Further, although the moves from P ₂ to P _3, when it reaches the P ₃ in the course of crosscut operation, the linear motion is omitted. After the third straight orbit, the vehicle turns in a direction to avoid hitting the right wall surface. That is, the rear part turns toward the left wall surface and draws a semicircle.

5) After moving along the second straight track, the robot retreats until the working portion hits the front wall surface. The position where the working part hits the front wall surface is generated on the internal track, proceeds along the internal track, and stops at the position where it hits the wall surface.
In this embodiment, the inner track hits the wall surface. However, in the case where the sensor is provided behind the self-propelled cleaner, the cleaner may travel backward until a signal from the rear sensor is received. .

6) Subsequently, the vehicle travels on the second straight trajectory. When it reaches the rear wall Q _1, behavior as shown in FIG. 10, reaches Q ₂ on the third straight track while the crosscut movement. Stops at Q _2, established a posture, a third linear orbit Q
Towards the _3, to stop to reach Q _3. Q ₃ at 180 °
Turn and reverse the direction of travel. At this time, the turning direction is
Turn while turning the rear part of the self-propelled cleaner toward the left wall. The reason for not turning to the right side is to prevent the rear part of the self-propelled cleaner from hitting the right side wall during turning. In addition, Q _2, stop or in Q _3, may be omitted moved from Q ₂ to Q _3.

7) The last trajectory that has traveled without detecting the right wall surface is the n-th linear trajectory. When you hit the front wall at the end of traveling forward in the n-th straight orbit,
_Set to ₁ . It stops at R ₁ , retreats while making a turning motion, and heads for an (n + 1) linear trajectory. Halfway retracted, and stops when the right rear sensor detects the right wall, the point R ₂
And the (n + 1) '-th linear trajectory parallel to the n-th linear trajectory. Once, it advances to return to the original R ₁ , stops, and then retreats in a turning motion toward the (n + 1) ′-th linear trajectory.

When the vehicle reaches the (n + 1) 'th straight trajectory, it stops, this point is defined as R _3, and the (n + 1)' th straight trajectory is retreated from there to reach R ₄ . It stops when reaching R _4, 180 ° pivots while towards the rear of the self-propelled cleaner in situ rotated to the left wall. Then, proceed to the (n + 1) 'straight track toward the front wall, the rear stops leads to R ₅ in contact with the front wall. Note that R ₁ , R ₂ , R ₃ ,
The stop at R ₄ and R ₅ and the movement from R ₃ to R ₄ may be omitted. In addition, in R ₂ , after determining the (n + 1) ′-th straight trajectory, once returning to R ₁ is omitted, R
_{It is also possible} to move to ₄ and continue to perform the behavior after R ₄ .

Furthermore, when the self-propelled cleaner is started by being placed on the right rear side of the rectangular chamber, it goes without saying that the self-propelled cleaner behaves symmetrically with respect to the center line of the chamber.

Finally, when the vehicle travels on the (n + 1) 'th straight trajectory to the rear wall surface, it stops, and the R ₄
Return to the point and stop and make the first
Return to a straight orbit, stop when it reaches the first straight orbit,
The posture is adjusted, and then the vehicle advances on the first linear trajectory toward the rear wall surface. When the vehicle reaches the rear wall surface, the vehicle stops and completes a series of operations.

[Brief description of the drawings]

FIG. 1 is a plan view, a side view, and a rear view of a self-propelled cleaner according to a first embodiment.

FIG. 2 is a plan view, a side view, and a plan view and a side view of a cleaning tool according to a second embodiment.

FIG. 3 is a plan view, a side view, and a plan view of another cleaning tool of a self-propelled cleaner according to a third embodiment.

FIG. 4 is a side view of a self-propelled cleaner according to a fourth embodiment.

FIG. 5 is a plan view of a self-propelled cleaner according to a fourth embodiment.

FIG. 6 is a rear view of the self-propelled cleaner according to the fourth embodiment.

FIG. 7 is a side view of a self-propelled cleaner according to a fourth embodiment.

FIG. 8 is a cross-sectional view of the obstacle detector.

FIG. 9 is a perspective view of an obstacle detector according to another embodiment.

FIG. 10 is a plan view showing a traveling pattern of the self-propelled cleaner.

FIG. 11 is an enlarged view of the behavior near the front wall surface of the self-propelled cleaner.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS A Self-propelled cleaner 1 Running machine part 2 Vacuum cleaner part 3 Cleaning tool (mop) 4 Rotary brush mechanism 5 Suction type vacuum cleaner 6 Connecting means 7 Obstacle detector (second front obstacle sensor) 8 Obstacle detector (Second front obstacle sensor) 10 Traveling machine body (body) 11 Right driving wheel (driving wheel) 12 Left driving wheel (driving wheel) 13 Follower wheel (automatic wheel) 70 Suspension mechanism 80 Suspension mechanism 1A Front 1B Rear of traveling machine 2A Front of cleaner 2B Rear of cleaner 3A Cleaning tool (rag) S1 First front obstacle sensor S2 Second front obstacle sensor S3 Front left obstacle sensor S4 Front right obstacle sensor S5 Rear left obstacle sensor S6 Rear right obstacle sensor

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) A47L 11/24 A47L 11/24 (72) Inventor Toshiaki Fukuda 1-1-1, Showa-cho, Kariya-shi, Aichi Pref. (72) Inventor Sanka Ikeya 1-1-1, Showa-cho, Kariya-shi, Aichi Prefecture Inside Denso Co., Ltd. (72) Inventor Yasuyuki Sunaka 311 Shimotakayanagi, Kazo City, Saitama Prefecture Japan Wiper Blade Co., Ltd. (72) Invention Person Higashio Wonuma 311 Shimotakayanagi, Kazo-shi, Saitama F-term (reference) in Japan Wiper Blade Co., Ltd. 3B006 KA01 3B057 DA04 DE01 DE06 3B061 AA06 AA14 AD02

Claims (14)

[Claims] 1. A self-propelled cleaner having a traveling unit that runs on a floor surface and a cleaner unit that is installed on the traveling unit and cleans a floor surface, wherein the cleaner unit cleans the floor surface. Self-propelled vacuum cleaner with a rubbing mop. 2. A self-propelled cleaner having a traveling machine unit that travels on the floor surface and a cleaner unit installed on the traveling machine unit to clean the floor surface, wherein the cleaner unit cleans the floor surface. A self-propelled vacuum cleaner equipped with a rag to wipe. 3. A self-propelled cleaner having a traveling unit that runs on a floor surface and a cleaner unit installed on the traveling unit to clean the floor, wherein the cleaning unit cleans the floor surface. A self-propelled vacuum cleaner having a rotating brush for rubbing. 4. A self-propelled vacuum cleaner having a traveling machine unit that runs on a floor surface and a cleaner unit installed on the traveling machine unit to clean the floor surface, wherein the cleaner unit is a suction-type cleaner. A self-propelled vacuum cleaner characterized by being a vacuum cleaner. 5. The self-propelled cleaner according to claim 1, wherein the cleaner is detachably connected to the traveling machine, and includes a mop, a rag, a rotating brush, or a suction cleaner. A self-propelled vacuum cleaner characterized in that any two or more types of vacuum cleaners can be mounted so as to be changeable. 6. The self-propelled cleaner according to claim 1, wherein the cleaner is detachably connected to the cleaner, and includes a mop, a rag, a rotating brush, or a suction cleaner. A self-propelled vacuum cleaner characterized by being removable and usable. 7. The self-propelled cleaner according to claim 1, wherein the traveling machine unit includes two driving wheels as left and right independently controlled front wheels and one driving wheel. It has a free wheel that follows, 51% of the total travel during cleaning
A self-propelled cleaner characterized by traveling forward by two driving front wheels as described above. 8. The self-propelled cleaner according to claim 1, wherein a bumper is provided at a front portion of a body of a traveling machine portion so as to protrude forward from a front surface of the body, and the bumper is provided on the body. A suspension means for suspending the bumper so as to be displaceable in the front-rear direction, and an obstacle detector comprising a sensor for detecting displacement of the bumper when pressed by an obstacle and converting the displacement into an electric signal. Running vacuum cleaner. 9. The self-propelled cleaner according to claim 8, wherein
A suspension member for horizontally suspending the bumper at four points from a fixing member of the body, a spring for urging the bumper or the suspension member forward, and a front of the bumper or the suspension member. A self-propelled cleaner characterized by comprising a stopper that regulates displacement to the vacuum cleaner. 10. A traveling machine unit which runs on a floor surface by itself, and a cleaner unit which is installed in the traveling machine unit and cleans the floor surface, wherein the traveling machine unit has two independent driving wheels on right and left sides. A front obstacle detector, a left front obstacle detector, and a right front obstacle detector are mounted in front of the traveling machine unit, and travel on the following work route (1) or (2). Self-propelled vacuum cleaner. (1) When performing cleaning work on the floor of a rectangular room surrounded by a wall surface, when starting the cleaning work from the left rear corner, a) the work section of the vacuum cleaner section substantially parallel to the left wall surface. The initial position is set on the rear wall surface on a straight line separated to the right by a distance of about 1/2 of the width of, and the self-propelled cleaner is installed with the direction toward the front wall surface as the initial direction. B) Before setting the first linear trajectory, the self-propelled cleaner recognizes the initial direction as the temporary first linear trajectory and starts traveling. C) In the provisional first straight trajectory, it is set to turn slightly left. D) When the left front obstacle detector detects the left wall surface during the traveling, the vehicle rotates in a fixed angle to the right by the rotation on the spot, changes the traveling direction, and then proceeds in a direction away from the left wall surface. E) The vehicle travels again while turning slightly to the left, and when the left wall surface is detected again, the same operation as in the above item d) is performed, and a series of operations are repeated to advance while correcting the first linear trajectory. F) When the front obstacle detector detects the front wall surface, a straight line connecting this detection point and the initial point is defined and recognized as a first straight path. (2) In the case of performing the cleaning operation of the rectangular room surrounded by the wall surface, when the cleaning operation is started from the right rear corner, the cleaning operation is line-symmetric with respect to the left and right center lines of the above-described room (1). Take a behavior. 11. A traveling machine unit that runs on a floor surface, and a cleaner unit installed on the traveling machine unit for cleaning the floor surface, wherein the traveling machine unit includes two independent driving wheels on left and right sides. A self-propelled cleaner having a front obstacle detector mounted at a front part of the traveling machine unit and traveling on the following work route (1) or (2). (1) As a first behavior, the vehicle travels on a straight line that is substantially parallel to the left wall surface and separated from the initial position by a distance of about half the width of the self-propelled cleaner. As a second behavior, when the front obstacle detector detects the front wall surface, a line connecting the initial position to the detected position is defined as a first straight path. As a third behavior, the robot moves away from the first linear trajectory by a fixed distance (d) and retreats toward a parallel second linear trajectory while performing a turning motion. As a fourth behavior, when the second linear trajectory is reached, a transition is made to a fifth behavior. As a fifth behavior, it rotates 180 degrees on the spot. Sixth
As a behavior, the vehicle travels on the second linear trajectory toward the front wall surface. As the seventh behavior, when the vehicle advances to the front wall surface, the operation moves to the eighth behavior. As an eighth behavior, the vehicle travels on the second linear trajectory toward the rear wall surface. (2) In the case of performing the cleaning operation of the rectangular room surrounded by the wall surface, when the cleaning operation is started from the right rear corner, the cleaning operation is line-symmetric with respect to the left and right center lines of the above-described room (1). Take a behavior. 12. A traveling machine unit which runs on a floor surface by itself, and a cleaner unit which is installed in the traveling machine unit and cleans a floor surface, wherein the traveling machine unit has two left and right independent drive wheels. A front obstacle detector, a left front obstacle detector, and a right front obstacle detector are mounted at a front part of the traveling machine part, and a left rear obstacle detector is provided at a rear part of the traveling machine part. , And a self-propelled cleaner equipped with a right rear obstacle detector and traveling on the following work route (1) or (2). (1) When cleaning a rectangular room surrounded by a wall surface, the cleaning operation is started from the left rear corner, and the right wall surface is moved by a self-propelled cleaner that sequentially advances in a parallel, straight path separated by a certain distance. When the straight line trajectory immediately before detection is the n-th straight line trajectory, the first behavior is terminated when the front obstacle detector collides with the front wall surface while the n-th straight trajectory is in progress, and the second behavior As the third behavior, when the right rear obstacle detector detects the right wall surface, the (n + 1) ′ parallel to the n-th linear trajectory at that position. A linear trajectory is set, as a fourth behavior, a 180-degree rotation is made on the spot, as a fifth behavior, the vehicle travels forward on the (n + 1) '-th linear trajectory, and as a sixth behavior, the vehicle travels to the front wall surface. Ending the sixth behavior, As 7 behavior, self-propelled cleaner that is to proceed toward the first (n + 1) 'linear orbit rearward wall surface. (2) When cleaning a rectangular chamber surrounded by a wall surface, the cleaning work is started from the right rear corner, and the left side surface of the self-propelled cleaner that sequentially proceeds in a parallel straight line at a fixed distance. A self-propelled cleaner that behaves symmetrically with respect to (1) above and the left and right center lines when the straight line trajectory immediately before detecting is the nth straight line trajectory. 13. A traveling machine unit which runs on a floor surface by itself, and a cleaner unit which is installed in the traveling machine unit and cleans a floor surface, wherein the traveling machine unit has two independent driving wheels on right and left sides. A front obstacle detector, a left front obstacle detector, and a right front obstacle detector are mounted at a front part of the traveling machine part, and a left rear obstacle detector is provided at a rear part of the traveling machine part. , And a self-propelled cleaner equipped with a right rear obstacle detector and traveling on the following work route (1) or (2). (1) When cleaning a rectangular room surrounded by a wall surface, the cleaning operation is started from the left rear corner, and the right wall surface is moved by a self-propelled cleaner that sequentially advances in a parallel, straight path separated by a certain distance. When the straight line trajectory immediately before detection is the n-th straight line trajectory, the first behavior is terminated when the front obstacle detector collides with the front wall surface while the n-th straight trajectory is in progress, and the second behavior As the third behavior, when the right rear obstacle detector detects the right wall surface, the (n + 1) ′ parallel to the n-th linear trajectory at that position. A straight trajectory is set, and as a fourth behavior, the robot once returns to the point where the first behavior on the n-th linear trajectory is completed, and as a fifth behavior, retreats while performing a turning motion toward the (n + 1) ′-th linear trajectory. And the (n + 1) ' When the vehicle reaches the line trajectory, the fifth behavior is completed. As a sixth behavior, the vehicle rotates 180 degrees on the spot. As a seventh behavior, the vehicle advances forward on the (n + 1) ′-th linear trajectory. The self-propelled cleaner is configured to end the eighth behavior when traveling to the front wall surface, and proceed as a ninth behavior on the (n + 1) ′-th straight trajectory toward the rear wall surface. (2) When cleaning a rectangular chamber surrounded by a wall surface, the cleaning work is started from the right rear corner, and the left side surface of the self-propelled cleaner that sequentially proceeds in a parallel straight line at a fixed distance. A self-propelled cleaner that behaves symmetrically with respect to (1) above and the left and right center lines when the straight line trajectory immediately before detecting is the nth straight line trajectory. 14. A traveling unit having two independently controlled drive wheels on the left and right sides and self-propelled on the floor, and a cleaner installed on the traveling unit to clean the floor. A self-propelled cleaner having: a first non-contact type front obstacle detector and a second non-contact type front obstacle detector at a front portion of the traveling machine unit; The self-propelled cleaner according to claim 1, wherein when the front obstacle detector detects the front wall, the traveling speed is reduced, and when the second front obstacle detector detects the front wall, the operation proceeds to the next operation.