JP2007122327A - Self-propelled vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled vacuum cleaner that can prevent detection errors due to noise with sonic sensors and can be configured inexpensively without expensive dedicated ultrasonic sensors. <P>SOLUTION: The self-propelled vacuum cleaner has a cleaning function and a moving function, has the transmitting and receiving sonic sensors for detecting obstacles, and has a control means for controlling cleaning and movement by detecting distances to the obstacles from transmitting/receiving time differences and avoiding the obstacles. The control means recognizes an obstacle only when the received waveform height value of the sonic sensors is within a predetermined set range depending on distance. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a self-propelled cleaner that has a cleaning function and a moving function and performs automatic cleaning.

  In recent years, a so-called self-propelled self-propelled cleaner, which has a moving function added to a vacuum cleaner and is equipped with a microcomputer and various sensors, has been developed, and a technology for automatically running and cleaning the entire room has already been known. (For example, see Patent Document 1 and Patent Document 2).

  Moreover, in order to charge after completion | finish of cleaning, the technique which returns to a charging device automatically is already known (for example, refer patent document 1, patent document 3).

In addition, in order to detect the distance to the object, a method for calculating the distance using ultrasonic waves has already been established. This is because the velocity of sound waves traveling in the air can be obtained by the following equation, so by detecting the time from when the ultrasonic wave is transmitted until it is reflected by the object and when the reflected wave is received, Can be calculated.
Sonic velocity: V = 331.5 + 0.6T (m / s) T: Ambient temperature (° C)
And in a self-propelled cleaner, this ultrasonic sensor technology is already used when detecting the distance from a wall or other obstacles (for example, Patent Document 1, Patent Document 2, Patent Document 4, etc.) reference).

In addition, in order to prevent excessive suction of dust, there is already known a technique for detecting a state with such a risk using a pressure sensor or a current sensor, and performing a dust disposal display or suction stop using an LED or the like. (For example, see Patent Document 5).
Japanese Patent Laid-Open No. 7-8428 Japanese Patent Laid-Open No. 2-19126 JP-A-2-209121 JP-A-63-311923 JP-A-3-173521

  These conventional self-propelled vacuum cleaners detect obstacles such as walls with a sonic sensor (mostly ultrasonic ones) to avoid collisions. Will be detected. In addition, the cost of a general-purpose ultrasonic sensor is high and can only be mounted on expensive products. However, it is possible to use a general-purpose buzzer or microphone by using a sound wave of about 20 kHz close to the audible range, which is an inexpensive obstacle. Object detection can be configured. In this case, particularly, there are many sounds that are erroneously detected as described above, and clapping and shouting sounds, metal sounds, and the like are examples.

  These conventional self-propelled vacuum cleaners stop regardless of the surrounding conditions when cleaning is completed and stopped. In this case, there is a risk that a main body case may be deformed or damaged, or a fire may occur if it stops in a location where there is a high temperature source such as a stove or a hot air outlet of an oil fan heater in the vicinity. In addition, there is a problem in that it is difficult for the user to find where the furniture is located because it stops at a complicated place such as furniture.

  Moreover, these conventional self-propelled cleaners are battery-powered and need to be charged. The larger the battery capacity, the longer the operation time, and the more it can be cleaned several times. However, this increases the weight, the size, and the price. Therefore, when it is actually used once a day, it is sufficient if it can be cleaned once, and when cleaning is completed, it is efficient if charging can be completed by starting charging and cleaning tomorrow. In that case, the battery capacity is enough to clean the room to be cleaned, and if you cleaned today yesterday and you run it today without charging it, the remaining battery capacity is only the remaining consumed yesterday from the original capacity, It ’s not enough to drive, and cleaning the room is halfway.

  In addition, these conventional self-propelled vacuum cleaners uniformly clean the entire room to be cleaned, but if the capacity of the cleaning function is increased uniformly, the battery capacity must be increased, and conversely If it is made lower, the battery capacity can be reduced, but there are places where the cleaning is insufficient. Therefore, efficient cleaning cannot be performed, and the battery capacity cannot be optimized.

  Further, in the prior art, for automatic charging, as shown in Patent Document 1, an ultrasonic oscillator that is provided in an automatic power supply charging means (charging station) and constantly emits ultrasonic waves is used, or Patent Document 3 As shown in Fig. 1, the inertial navigation means for directing the direction using a gyro and the optical guidance means using a reflective tape often found in automatic guided vehicles are used. That is, using a sonic sensor (ultrasonic sensor) provided for distance detection, the location of the charging device is specified while detecting the distance, and it is not possible to automatically return to that location for charging.

  Furthermore, when charging automatically after cleaning is completed, if the remaining battery level is low, the battery runs out before returning to the charging device and may stop halfway.

  Further, in the prior art, it is not possible to specify a region that is not desired to be cleaned or a region that is desired to be cleaned more heavily in the room to be cleaned, and cannot be reflected in travel control.

  In addition, since it is not possible to accurately calculate the velocity of sound waves in different usage environments, an improvement in distance detection accuracy has been desired.

  In addition, many controls using a pressure sensor and a current sensor are used to prevent excessive dust suction, and depending on the type of dust, the overspeed state of the suction motor cannot be accurately detected.

  Accordingly, the present invention has been made to solve such a problem, and even if a sonic sensor is used, erroneous detection due to noise can be prevented, and an expensive dedicated ultrasonic sensor is not used. Another object of the present invention is to provide a self-propelled vacuum cleaner that can be configured at low cost.

  Also, paying attention to the fact that dust and dust often accumulate in the corners of the walls of the room, etc., and effective cleaning by increasing the capacity of the cleaning function only at the walls and the like where dust and dirt tend to accumulate. It is an object of the present invention to provide a self-propelled cleaner that can perform the operation and can optimize the battery capacity.

  In addition, when cleaning is finished and stopped, it is possible to prevent deformation or breakage of the main body case without stopping in places where high temperature sources are nearby, and in places where furniture is complicated The object is to provide a self-propelled cleaner that is easy to find for the user without stopping.

  It is another object of the present invention to provide a self-propelled vacuum cleaner that can alert a user to prevent the room from becoming halfway when the user tries to drive without charging.

  Another object of the present invention is to provide a self-propelled cleaner that can efficiently perform automatic charging using a sonic sensor.

  It is another object of the present invention to provide a self-propelled cleaner that can reliably perform automatic charging regardless of the remaining amount of battery.

  It is another object of the present invention to provide a self-propelled vacuum cleaner that can set an area that is not desired to be cleaned or an area that is more importantly cleaned, and can improve cleaning efficiency. It is what.

  It is another object of the present invention to provide a self-propelled cleaner with improved distance detection accuracy with respect to obstacles such as walls.

  It is another object of the present invention to provide a self-propelled cleaner that can accurately detect the overspeed state of the suction motor and prevent deterioration of the performance of the cleaner regardless of the type of dust.

  In order to achieve the above object, the present invention has a cleaning function and a moving function, and has a transmission and reception acoustic wave sensor for detecting an obstacle, and the obstacle from the transmission / reception time difference. Control means for controlling the cleaning and movement while detecting the distance to the obstacle while avoiding obstacles, and the control means has a received waveform peak value of the sonic sensor within a predetermined setting range according to the distance. It is characterized in that it is recognized as an obstacle only in the case of, and is not recognized as an obstacle in other cases.

  In addition to having a cleaning function and a moving function, it has transmission and reception acoustic sensors for detecting obstacles, while detecting the distance to the obstacle from the time difference between transmission and reception while avoiding the obstacle Control means for controlling cleaning and movement is provided, and the control means recognizes an obstacle only when the received waveform width of the sonic sensor is within a predetermined setting range, and does not recognize the obstacle otherwise. It is characterized by.

  Furthermore, the frequency of the acoustic wave sensor is 20 kHz or less.

  Further, the control means performs control to increase the capability of the cleaning function during the cleaning by the wall, compared with the cleaning by the time other than the cleaning by the wall.

  Further, the control means performs control to increase the capability of the cleaning function when the direction is changed by the detection of a wall or other obstacles during cleaning other than the side of the wall than when cleaning other than the side of the wall. is there.

  In addition, when the control means stops after cleaning, the surrounding state is detected by the sound wave type sensor, and based on the state, control is performed to stop at a place where there is nothing around. It is.

  In addition, the control means performs control to notify that charging is necessary when an operation start operation is performed in a state where the battery built in the cleaner body is not charged from the previous use to the current use. It is characterized by this.

  Moreover, it has a charging device for charging the battery built in the cleaner body, and when the sound wave transmitted from the sonic sensor of the cleaner body is received by the charging device, the transmitter / receiver transmits a sound wave having a frequency different from that. And the control means performs control for specifying the charging device and returning to the charging device using the transmission / reception unit.

  Further, the transmitter / receiver is provided with a plurality of parts having different frequencies to be transmitted.

  In addition, the control means monitors the remaining amount of the battery during cleaning, calculates a distance from the charging device using the transmission / reception unit, and a distance that can be traveled by the remaining battery amount is a distance from the charging device. Control to return to the charging device is performed before the temperature becomes less than the value.

  In addition, when receiving the sound wave transmitted from the sound wave type sensor of the cleaner body, it includes a region setting means for transmitting a sound wave having a frequency different from that of the sound wave sensor, and the control means specifies the cleaning prohibited region using the region setting means. Then, control is performed to avoid traveling to that region.

  On the other hand, when receiving the sound wave transmitted from the sound wave type sensor of the main body of the vacuum cleaner, it comprises a region setting means for transmitting a sound wave of a frequency different from that, and the control means specifies the cleaning priority region using the region setting means. Then, control is performed to increase the travel time in that region.

  In addition, a temperature sensor for detecting an ambient temperature is provided, and the control unit corrects the temperature using the ambient temperature detected by the temperature sensor when detecting the distance of the object using the acoustic wave sensor. It is characterized by.

  In addition, the control means performs control for detecting an overspeed sound of a suction motor built in the cleaner body using a sound wave type sensor and notifying that it is necessary to dispose of dust.

  Further, the control means is characterized by detecting an overspeed sound of a suction motor built in the cleaner body using a sound wave type sensor and performing suction stop control.

  According to the present invention, by controlling the received waveform peak value of the sonic sensor to be recognized as an obstacle only when it is within a predetermined setting range according to the distance, and other than that it is not recognized as an obstacle. Even if a sound wave type sensor is used, it is possible to prevent erroneous detection due to noise such as clapping, humming and metal sounds.

  Also, the same effect as described above can be obtained by controlling the sound wave sensor so that it is recognized as an obstacle only when the received waveform width is within a predetermined setting range and not otherwise recognized as an obstacle. .

  Furthermore, by setting the frequency of the sonic sensor to 20 kHz or less, it can be configured at low cost without using an expensive dedicated ultrasonic sensor.

  In addition, during cleaning near the wall, control is performed to increase the capacity of the cleaning function compared to when cleaning outside the wall, so that the suction force can be increased or the rotational speed of the rotating brush can be increased only at the wall where dust and dirt accumulate easily. By increasing the cleaning capacity and increasing the cleaning capacity, efficient cleaning can be performed and the battery capacity can be optimized.

  In addition, when changing the direction by detecting walls and other obstacles while cleaning other than the wall, it is possible to perform more efficient cleaning by performing control to increase the capability of the cleaning function than when cleaning other than the wall. it can.

  In addition, when stopping after cleaning, the surrounding situation is detected by a sonic sensor, and based on the situation, stopping at a place where there is nothing in the surroundings, when cleaning is finished and stopping, Stops where there is a high temperature source, for example, a hot air outlet of a stove or oil fan heater, etc. In addition, it does not stop at a place where furniture or the like is intricate, but stops at a wide place where there is nothing around, so that it is easy for the user to find.

  In addition, when the operation start operation is performed in a state where the battery built in the cleaner body is not charged from the previous use to the current use, the previous cleaning is performed by notifying that charging is necessary, If you leave without charging and try to drive this time, you will be alerted by a display that prompts you to charge, so it will start driving and stop halfway and cleaning the room will be halfway You can be alerted not to end up.

  In addition, when the charging device receives a sound wave transmitted from the sound wave type sensor of the cleaner body, the charging device includes a transmission / reception unit that transmits a sound wave having a frequency different from that, and the charging device is specified by using the transmission / reception unit. By performing the control to return to, automatic charging can be efficiently performed while detecting the distance from the charging device using a sonic sensor.

  Further, by providing the transmitter / receiver with a plurality of parts having different frequencies to be transmitted, it is possible to determine a specific part in the charging device such as a charging port connected at the time of charging. Therefore, when returning to the charging device for automatic charging, the time for detecting the charging port or the like is shortened, and automatic charging can be performed more efficiently.

  Further, the battery remaining amount is monitored during cleaning, the distance to the charging device is calculated using the transmission / reception unit, and the distance that can be traveled by the remaining battery amount is less than the distance from the charging device to the charging device. By performing the return control, it becomes possible to reliably perform automatic charging without stopping on the way regardless of the remaining amount of the battery, leading to improvement in user convenience.

  In addition, when a sound wave transmitted from the sound wave type sensor of the cleaner body is received, an area setting unit that transmits a sound wave having a frequency different from the sound wave is provided. By performing control to avoid the traveling, it is possible to easily set an area that is not desired to be cleaned in the entire room to be cleaned.

  On the other hand, when receiving the sound wave transmitted from the sound wave type sensor of the main body of the cleaner, it is provided with a region setting means for transmitting a sound wave having a frequency different from that, and using this region setting means, the cleaning priority region is specified, By performing control to increase the travel time, it is possible to easily set a region to be cleaned more heavily in the entire room to be cleaned.

  Further, a temperature sensor for detecting the ambient temperature is provided, and when detecting the distance of the object using the sonic sensor, the distance detection accuracy is improved by correcting the temperature using the ambient temperature detected by the temperature sensor. By improving, it is possible to avoid collision with an obstacle such as a wall and enlarge a cleaning area near the wall.

  In addition, by detecting the overspeed sound of the suction motor built in the vacuum cleaner body using a sonic sensor and notifying that garbage disposal is necessary, such as garbage disposal display, regardless of the type of garbage The overspeed state of the suction motor can be accurately detected, and the performance of the vacuum cleaner can be prevented from being promoted by trashing.

  Also, by detecting the overspeed sound of the suction motor built in the vacuum cleaner body using a sonic sensor and performing suction stop control, the overspeed state of the suction motor can be accurately detected regardless of the type of dust, By stopping the suction, it is possible to reliably prevent performance deterioration of the vacuum cleaner.

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

  1 is a front view of a self-propelled cleaner body according to an embodiment of the present invention, FIG. 2 is a side view, FIG. 3 is a plan view, FIG. 4 is a plan view showing an internal configuration, and FIG. 5 is a control block diagram. It is.

  The vacuum cleaner main body 1 of the self-propelled cleaner in the present embodiment has a substantially disk shape, and is provided with steering traveling drive wheels 2a and 2b on both the left and right sides. By rotating the driving wheels 2a and 2b in the opposite directions, rotation on the spot is possible.

  Each of the drive wheels 2a and 2b is fixed to an output shaft 4 of a drive unit 3 having a reduction gear inside, and each drive unit 3 is rotated around a drive unit support shaft 5 on the front side by an internal spring. It is configured to move and protrude downward. Each drive unit support shaft 5 is held horizontally by a lower case 6 via a bearing.

  Each drive unit 3 itself is positioned so as to protrude downward with respect to the main body 1 constituted by the lower case 6 and the upper case 7 and can be rotated upward, but is always pushed by a downward force by a spring. It is in the state. That is, the driving wheels 2a and 2b attached to each driving unit 3 are applied with a force that always protrudes with respect to the floor surface, but when placed on the floor surface, the weight of the main body 1 and the spring force The state in which the drive wheels 2a and 2b are not excessively pulled out (most retracted) from the main body 1 by the balance with is a steady state.

  Travel motors 8a and 8b are provided on the input side of each drive unit 3, and encoder units 9a and 9b (shown in FIG. 5) for detecting the travel distance of each of the travel motors 8a and 8b are attached to the rear part of the motor. ing. Supporting wheels 10 a and 10 b are provided at the lower front and rear of the main body 1.

  The front bumper portion 11 of the main body 1 has a plurality of obstacles using ultrasonic waves (in this case, sound waves not felt by human ears at 16 kHz or more) as sound wave type sensors for detecting obstacles such as walls from the front to the left and right. An object sensor 12 is provided. Specifically, three transmitters 12a are provided on the front and left and right sides thereof, and four receivers 12b are provided on both sides thereof. Here, in this embodiment, the frequency of the ultrasonic wave used by the obstacle sensor 12 is set to 20 kHz or less (for example, 18 kHz), and thus a transmitter such as a general-purpose buzzer is used as the transmitter 12a. Therefore, the receiving unit 12b can sufficiently receive even an electric condenser microphone.

  Further, the front bumper unit 11 is provided with bumper switches 13 (shown in FIG. 5) for detecting that the main body 1 has come into contact with an obstacle or the like on the left and right.

  As shown in FIG. 4, a step detection sensor 14 using infrared rays for detecting the presence or absence of a step on the floor surface is provided on the front side and the left and right sides of the bottom surface of the lower case 6 downward. Each of the step detection sensors 14 includes an infrared light emitting diode 14a and a phototransistor 14b, and detects a distance from the floor surface by reflected light from the floor surface of infrared light.

  On the other hand, a dust collection dust box 15 is provided in the rear part of the main body 1, and an electric blower comprising a suction fan 16 and a suction motor 17 that rotationally drives the dust box 15 via a filter 15a at one end thereof. 18 is arranged. In addition, a horizontally long suction port 19 communicating with the dust box 15 is formed at the bottom of the lower case 6, and a rotating brush 20 is provided facing the suction port 19. When the rotary brush 20 is rotationally driven by a rotary brush motor 21 (shown in FIG. 5), dust on the floor surface is scraped up and sucked by the suction fan 16 that is rotationally driven by the suction motor 17, and the duct box 15. It is designed to collect dust inside.

  Further, a side brush 22 is provided on the lower left front side of the lower case 6 and is disposed so as to scrape dust from the wall toward the suction port 19. The rotation of the side brush motor 23 is transmitted to the side brush 22 via the side brush gear 24.

  An operation display unit 25 as shown in FIG. 3 is provided at the center of the upper surface of the main body 1. The key operation unit includes an operation / stop key 25a and an operation time switching key 25b. Further, as the LED display section, there is an operation / stop display LED 25c that is lit red when stopped and lit green during operation before the operation / stop key 25a, and an operation time composed of three LEDs before the operation time switching key 25b. There is a display LED 25d.

  The control system of each part mentioned above is comprised as shown in the control block diagram of FIG. In other words, the microcomputer 31 constituting the control means of the present invention is mounted on the main board 30. The microcomputer 31 includes an operation display unit 25 mounted on the operation display board, a bumper switch 13, an ultrasonic sensor control unit 32 mounted on a sub board for controlling the obstacle sensor 12, and a step detection sensor 14. Light-emission control / light-receiving amplification unit 33 to be controlled, speaker 34, travel motor control unit 35 having a driver function for travel motors 8a and 8b and a waveform shaping function for travel motor encoder units 9a and 9b, and suction motor drive for driving suction motor 17 A part 36, a rotary brush motor drive part 37 for driving the rotary brush motor 21, a side brush motor drive part 38 for driving the side brush motor 23, a current detection part 39 thereof, and the like are connected. In addition, unlike the suction motor 17 via the filter 15a, the rotary brush motor drive unit 37 and the side brush motor drive unit 38 may be directly exposed to dust and may be burned out. In addition, a burnout prevention function is added.

  Further, a battery 40 as a power source of the self-propelled cleaner main body 1 is connected to a power circuit section 42 through a power switch 41, and power is supplied to each section from here. The power supply voltage of the battery 40 is input to the microcomputer 31 via the battery capacity voltage conversion unit 43.

  Next, the operation of this embodiment will be described.

  First, the main body 1 is placed so as to face a nearby wall, and the operation / stop key 25a is pressed. As a result, the main body 1 turns on the suction motor 17 and the rotary brush motor 21, and drives the travel motors 8a and 8b to advance.

  Simultaneously with the forward movement, a voltage is applied from the ultrasonic sensor control unit 32 to the obstacle sensor 12 such as a general-purpose buzzer. As the voltage waveform frequency, a frequency band of 20 kHz or less (for example, 18 kHz) that can be sufficiently received by an electric condenser microphone is used instead of a frequency band such as 30 kHz that is a complete ultrasonic range. Therefore, a high-grade dedicated ultrasonic transmitter and receiver are not necessary. However, if the frequency is about 2 kHz used as normal sound, the frequency of false detection is too high, and there are frequent stop / rotation operations to avoid obstacles even though there is nothing while the body is running. Since the room cleaning may not be completed within the set time, it is necessary to set the frequency band outside the audible range to some extent.

  Therefore, it is set to about 18 kHz as described above. However, even in this case, there is a case where it reacts to a sound such as a rattling sound or a sheet of metal. Since sound in the frequency band of about 18 kHz is included, the frequency is lower than about 2 kHz, but there is a risk of malfunction when sound in this frequency band is generated nearby.

  Here, the reception waveform with respect to the transmission waveform of the sonic sensor is as shown in FIG. In FIG. 6, a is a transmission waveform, b is a direct wave directly incident on the reception unit from the transmission unit, and c is a reception waveform of a reflected wave returned by an obstacle.

  FIG. 7 is a graph in which received waveforms (solid lines) with respect to distances of obstacles indicated by time (ms) are superimposed on the horizontal axis, and the magnitude (crest value) of the waveform differs depending on the distance. I understand. Further, the width of the waveform is determined to some extent.

  The calculation unit in the microcomputer 31 calculates the peak value and the waveform width (for example, at 80% of the peak value) of the received waveform, and according to the distance stored in the nonvolatile memory in the microcomputer 31 in advance. Comparison with standard received waveform data (crest value data) and reception waveform width confirmation are performed, and if each is within a predetermined setting range, it is recognized that there is actually an obstacle.

  FIG. 8 is a flowchart showing the obstacle detection determination routine described above. The processing shown in this flowchart is repeatedly executed. First, when an ultrasonic wave (18 kHz) is transmitted in step S101, it is checked whether or not there is reception corresponding to the ultrasonic wave (N loop in step S102). When there is reception, the time between transmission and reception is measured, and the distance is calculated (Y in step S102 → step S103).

  Then, the peak value of the received waveform is measured, and it is determined whether or not the peak value is within a predetermined setting range according to the distance (step S104 → step S105). If the peak value is within the set range, the waveform width is further measured to determine whether or not the waveform width is within the predetermined set range (Y in step S105 → step S106 → step S107). If the waveform width is within the set range, it is recognized as an obstacle and an avoidance operation is performed at a predetermined distance (Y in step S107 → step S108).

  On the other hand, if the peak value of the received waveform is not within the set range (N in step S105), or the waveform width is not within the set range (N in step S107), the obstacle is not recognized as the obstacle in step S8. Avoid avoidance action.

  As described above, if the obstacle sensor 12 (12a, 12b) of the front bumper unit 11 determines the recognition of the obstacle such as the front wall during the forward movement, the obstacle such as the wall is in front. By doing this, turn right at a predetermined distance and move on to the wall.

  At this time, since the main body 1 is recognized at a position along the wall, the input of the suction motor 17 is increased, and the rotation speed of the rotary brush motor 21 for the floor is also increased. As a result, normally, particularly light dust such as dust or dust is often brought to the corners of the wall or the like by wind or the like when accumulated in the room, so that more efficient cleaning can be performed.

  As a rotation operation at the time of wall detection, observation is performed by the obstacle sensor 12 at the left end during the right rotation so as to be parallel to the wall, and the rotation is stopped when the distance becomes the smallest. Actually, the distance is detected, and after detecting that the distance decreases with rotation and starts to increase after passing the minimum point, reverse rotation is performed accordingly, and the main body is finally oriented parallel to the wall surface. Make 1 point.

  When it becomes parallel to the wall surface, the side brush 22 is rotated while being in contact with the wall, and dust around the wall is scraped to clean the outer periphery of the room.

  When there is a step such as a staircase or an entrance while traveling on the outer periphery, the step detection sensor 14 detects the step so as not to fall. For example, in the case of an entrance upstairs, the level difference of the entrance is first detected by the front level difference detection sensor 14 while traveling along the wall, and if it is rotated to the right as it is, the left driving wheel 2a may fall to the level difference of the entrance. Turn back 3cm) and turn right.

  After cleaning around the wall along the outer circumference, the cleaning moves to random cleaning inside. The internal cleaning at the time of random running is not close to the wall, so the applied voltage of the suction motor 17 is lowered so that the necessary suction force is obtained, and the rotational speed of the rotary brush motor 21 is also lowered. As a result, the operation time can be extended without consuming unnecessary power. However, when an obstacle is detected and rotated during random driving, it is in the case of a wall or other obstacle, and a large amount of dust or dirt remains as described above. The number of rotations of the rotating brush 20 by the brush motor 21 is increased.

  FIG. 9 is a flowchart showing the above-described running and suction control routine. At the start of traveling, the vehicle travels straight until reaching the wall, and the suction force by the suction motor 17 and the rotation speed of the rotary brush 20 by the rotary brush motor 21 are normally controlled (N loop from step S201 to step 202).

  When reaching the wall, the suction force by the suction motor 17 and the number of rotations of the rotary brush 20 by the rotary brush motor 21 are increased to the maximum, and a right turn is made to shift to wall-side running (Y in step S202 → step S203 → step S204).

  Then, it is checked that the cleaning by the wall is finished (N loop in step S205). If the cleaning is finished, the process moves to random internal cleaning, and the suction force by the suction motor 17 and the rotation speed of the rotary brush 20 by the rotary brush motor 21 are normally controlled. (Y in step S205 → step 206).

  Even in random internal cleaning, if an obstacle is detected, the suction force by the suction motor 17 and the rotational speed of the rotary brush 20 by the rotary brush motor 21 are increased to the maximum when rotating (Y in step S207 → step S208). .

  The random cleaning time is a time set by the operation time switching key 25b of the operation display unit 25. When the operation time elapses, the operation is stopped.

  FIG. 10 is a flowchart showing a stop control routine. When the operation is stopped, it is checked whether or not the set operation time has elapsed (N loop in step S301). When the operation time has elapsed, 360 ° rotation is performed on the spot and around (in the vicinity of a certain range). It is determined whether there is no obstacle or the like (Y in step S301 → step S302 → step S303). If there is nothing, the vehicle stops (Y in step S303 → step S304), and if it is determined that there is an obstacle in the vicinity, the vehicle travels a predetermined distance in a direction opposite to the detected obstacle, that is, away from the obstacle (step S303). N → Step S305). Then, it is rotated 360 ° again on the spot, and surrounding obstacles are determined (step S302 → step S303). By repeating this operation, a stop position is determined by searching for a place where there is nothing around.

  As described above, according to the present embodiment, the received waveform peak value of the obstacle sensor 12 using the sonic sensor is within a set range that is determined in advance according to the distance, and the received waveform width is determined in advance. Even if a sonic sensor is used, false detection due to noise such as clapping or shuffling or metal sound is performed by controlling so that it is recognized as an obstacle only when it is within the set range and not otherwise recognized as an obstacle. Can be prevented.

  Note that either one of the received waveform peak value and the waveform width may be used, but the determination using both of them can more reliably prevent erroneous detection due to noise as described above.

  Further, by setting the frequency of the sonic sensor used as the obstacle sensor 12 to 20 kHz or less, a general-purpose buzzer, an electric condenser microphone, or the like can be used, so that it is inexpensive without using an expensive dedicated ultrasonic sensor. Can be configured.

  In addition, more efficient cleaning can be performed by increasing the suction force and increasing the number of rotations of the rotating brush 20 only on the wall or other obstacles where dust or dust tends to accumulate. Can be optimized. A certain effect can be obtained by increasing only one of them.

  In addition, when cleaning is stopped, it stops at a place where there is nothing nearby, so stop at a place where there is a high temperature source, such as a hot air outlet of a stove or oil fan heater, There is no risk of fire, if it is deformed or damaged. In addition, it does not stop at a place where furniture or the like is intricate, but stops at a wide place where there is nothing around, making it easier for the user to find.

  FIG. 11 is a control block diagram showing another embodiment of the present invention. The same reference numerals as those in the above-described embodiment indicate the same or corresponding parts.

  In this embodiment, when the operation start operation is performed in a state where the battery 40 built in the cleaner body 1 is not charged from the previous use to the current use, a message indicating that charging is necessary is displayed. Is.

  More specifically, in the present embodiment, as shown in FIG. 11, whether or not the battery 40 has been charged by the charger, the charging time, and the like are detected on the main board 30, and the detected charging information is stored in the micro A charge detection unit 44 that outputs to the computer 31 and an electrically rewritable nonvolatile memory (EEPROM) 45 are provided as a charge information storage unit for the microcomputer 31 to store the charge information. In the operation display unit 25 shown in FIG. 3, the operation / stop display LED 25c in front of the operation / stop key 25a is lit red when stopped and lit green during operation. The LED 25c blinks in red so that it also serves as an indication that charging is required.

  In the above configuration, when the cleaner main body 1 finishes cleaning and stops, the microcomputer 31 thereafter monitors whether or not the battery 40 is charged by the charge detection unit 44, and if charging is performed, charging information thereof. Is stored in the nonvolatile memory (EEPROM) 45, which is a charging information storage unit, from the microcomputer 31. From this charging information, it is possible to obtain information such as whether charging has been performed between the end of the previous cleaning and the start of cleaning this time, and how many minutes it has been performed.

  Therefore, when the operation start operation is performed on the next day, it is known whether or not the charging is insufficient, and if it is charged, the operation is started as usual. On the other hand, if the battery is not charged, the operation / stop display LED 25c can be flashed in red to prompt the user that charging is necessary. This charge-required display shows that if you drive without charging, you can see that the remaining amount of battery is only consumed from the original capacity yesterday and it is not enough to drive the room to be cleaned. It is possible to avoid stopping during cleaning. If it is possible to stop the operation halfway, it is also possible to configure the vehicle so that it can be operated by pressing the operation / stop key 25a again.

  In this way, in this embodiment, the previous cleaning was performed and the battery was left without being charged. If this time, the display prompts the user to charge the battery. And you can be alerted that the room cleaning will not be halfway.

  In general, notification by display is simple and easy to understand, but notification by voice using the speaker 34 or a combination thereof is also possible. In addition, it is possible to reduce the cost by causing the LED 25c that is lit red at the time of stoppage to blink red, so that it is possible to reduce the cost. However, a display means dedicated to charging may be provided. .

  FIG. 12 is a control block diagram showing still another embodiment of the present invention, in which the same reference numerals as those in the previous embodiment denote the same or corresponding parts.

  In this embodiment, it has a charging stand (charging device) (not shown) for charging the battery 40 built in the cleaner body 1, and a charging stand detection sensor (sound wave) provided in the cleaner body 1 on the charging stand. When the ultrasonic wave transmitted from the sensor 26 is received, the transmission / reception unit 51 transmits an ultrasonic wave having a frequency different from that of the ultrasonic wave. The microcomputer 31 of the cleaner body 1 uses the transmission / reception unit 51 to set the charging stand. The control to specify and return to the charging stand is performed.

As described above, the distance calculation method using the sonic sensor is to measure the time until the ultrasonic wave transmitted from the sonic sensor is reflected by the object and the reflected wave is received by the sonic sensor. Thus, the round-trip distance to the object can be calculated by multiplying the time by the sound velocity. The sound velocity can be expressed by the following formula.
Sonic velocity: V = 331.5 + 0.6T (m / s) T: Ambient temperature (° C)
However, in order to use this method for specifying the position of the charging stand, it is necessary to determine which of the received reflected waves is reflected by the charging stand. Therefore, by using ultrasonic waves having different frequencies, that is, by providing the charging stand with a function of transmitting ultrasonic waves having a different frequency when receiving ultrasonic waves transmitted from the cleaner body 1. Can solve this problem.

  The ultrasonic wave of frequency A used by the self-propelled cleaner main body 1 for detecting the charging stand is ultrasonic wave A, and the ultrasonic wave of frequency B transmitted from the charging stand is ultrasonic wave B. First, the vacuum cleaner main body 1 transmits the ultrasonic wave A from the charging stand detection sensor 26 in a radial pattern for specifying the position of the charging stand. Upon receiving the ultrasonic wave A, the charging stand transmission / reception unit 51 immediately transmits the ultrasonic wave B in a radial pattern. The vacuum cleaner body 1 receives and distinguishes the ultrasonic wave B returning from the charging stand together with the reflected ultrasonic wave A reflected by various objects by the charging stand detection sensor 26, thereby distinguishing the charging stand. You can identify the direction that there is. In addition, the reciprocating distance to the charging stand can be calculated by measuring the time from the transmission of the ultrasonic wave A to the reception of the ultrasonic wave B and multiplying by the sound wave velocity. The charging stand detection sensor 26 can be provided at the same location as the obstacle sensor transmission / reception units 12a and 12b shown in FIGS.

  FIG. 13 is a flowchart on the main body side of the vacuum cleaner when calculating the distance, and FIG. 14 is a flowchart on the same side of the charging stand. The processes shown in these flowcharts are repeatedly executed.

  First, on the cleaner body 1 side, an ultrasonic wave A is transmitted from the charging stand detection sensor 26, and time measurement is started by a timer (step S401 → step S402 in FIG. 13).

  On the other hand, on the charging base side, it is checked whether or not the ultrasonic wave A has been received by the transmission / reception unit 51 (N loop in step S501 in FIG. 14), and when the ultrasonic wave A is received, the ultrasonic wave B is transmitted from the transmission / reception unit 51. (Y in step S501 → step S502).

  On the other hand, the cleaner body 1 side checks whether or not the charging stand detection sensor 26 has received the ultrasonic wave B transmitted from the charging stand while counting up the timer time (step in FIG. 13). N in S403 → step S404 → loop in step S403). When the charging stand detection sensor 26 receives the ultrasonic wave B transmitted from the charging stand, the reciprocating distance is calculated from the above-described sound wave velocity and timer time, and the distance from the charging stand is determined (Y in step S403). Step S405).

  By calculating the distance from the charging stand in this way and performing the traveling control that advances the cleaner main body 1 in that direction, the cleaner main body 1 can be automatically returned to the charging stand, and automatic charging is efficiently performed. Can be performed.

  In the above embodiment, the charging stand detection sensor 26 is provided in the vacuum cleaner main body 1 separately from the obstacle sensor 12, but the obstacle sensor 12 can also be diverted. Can be suppressed.

  In addition, regarding ultrasonic waves transmitted from the charging stand in a radial manner, not only the ultrasonic wave B but also an ultrasonic wave having a different frequency is added to the charging stand to perform charging in a charging stand such as a charging port connected at the time of charging. It is possible to determine a specific part of

  FIG. 15 is a flowchart on the cleaner body side when calculating the distance by applying the ultrasonic wave C having a frequency C different from the ultrasonic waves A and B described above, and FIG. 16 is a flowchart on the charging stand side. The process shown is repeated.

  First, on the cleaner body 1 side, the ultrasonic wave A is transmitted from the charging stand detection sensor, and time measurement is started by a timer (step S601 → step S602 in FIG. 15).

  On the other hand, the charging stand side checks whether or not the ultrasonic wave A has been received (N loop in step S701 in FIG. 16). When the ultrasonic wave A is received, the ultrasonic wave B and the ultrasonic wave C are transmitted (in step S701). Y → step S702 → step S703).

  On the other hand, the cleaner body 1 side checks whether or not the charging stand detection sensor has received the ultrasonic waves B and C transmitted from the charging stand while counting up the timer time (FIG. 15). N from step S603 to step S608 → loop of step S603). When the charging stand detection sensor receives the ultrasonic wave B transmitted from the charging stand, the reciprocating distance is calculated from the above-described sound wave velocity and timer time, and the distance from the charging stand ultrasonic B transmitting portion is determined ( Y in step S604 → step S609). Moreover, when the charging stand detection sensor receives the ultrasonic wave C transmitted from the charging stand, the reciprocating distance is calculated from the sound wave velocity and the timer time, and the distance from the ultrasonic C transmitting portion of the charging stand is determined. When both the ultrasonic waves B and C have been received, the process ends (Y in step S608).

  By calculating the distance from the desired location of the charging stand in this way and performing the traveling control that advances the cleaner main body 1 in that direction, when the cleaner main body 1 returns to the charging stand for automatic charging, The time for detecting the charging port or the like is shortened, and automatic charging can be performed more efficiently.

  17 and 18 are flowcharts showing still another embodiment of the present invention. The control system is the same as the control block diagram shown in FIG.

  In the present embodiment, the remaining amount of the battery 40 is monitored during cleaning, the distance from the charging stand is calculated using the transmission / reception unit 51 of the charging stand, and the distance that can be traveled by the remaining amount of the battery 40 is the charging stand. Control to return to the charging stand before it is less than the distance.

  Specifically, when the self-propelled cleaner body 1 performs cleaning, the microcomputer 31 monitors the remaining amount of the battery 40 via the battery capacity voltage conversion unit 43, and determines the distance that can be traveled with the remaining amount. Calculate sequentially. At the same time, by calculating and comparing the distance to the charging stand with the technique shown in the above-described embodiment, cleaning control can be performed under conditions where the vehicle can always travel to the charging stand.

  That is, if the distance to the charging stand is shorter than the distance that can be traveled by the remaining amount of the battery 40, the charging stand can be returned to whenever the cleaning is completed. On the other hand, if the distance to the charging base reaches the distance that can be traveled with the remaining amount of the battery 40, if the cleaning is continued as it is, the battery capacity to return to the charging base does not remain after completion, so the distance becomes equal. Sometimes finish cleaning and return to the charging stand. As a result, the remaining battery power will not be exhausted while returning to the charging stand.

  Referring to the flowcharts of FIGS. 17 and 18, first, on the cleaner body 1 side, the ultrasonic wave A is transmitted from the charging stand detection sensor 26 and time measurement is started by a timer (step S801 in FIG. 17 → Step S802).

  On the other hand, on the charging stand side, it is checked whether or not the ultrasonic wave A is received by the transmission / reception unit 51 (N loop in step S901 in FIG. 18), and when the ultrasonic wave A is received, the ultrasonic wave B is transmitted from the transmission / reception unit 51. (Y in step S901 → step S902).

  On the other hand, the cleaner body 1 side checks whether the charging stand detection sensor 26 has received the ultrasonic wave B transmitted from the charging stand while counting up the timer time (step in FIG. 17). (N of S803 → step S804 → loop of step S803). When the charging stand detection sensor 26 receives the ultrasonic wave B transmitted from the charging stand, the reciprocating distance is calculated from the above-described sound wave velocity and timer time, and the distance from the charging stand is determined (Y in step S803). Step S805).

  Further, the remaining battery level (voltage) of the battery 40 is detected via the battery capacity voltage conversion unit 43, and the distance that can be traveled under the worst condition is calculated from the detected remaining battery level (step S806 → step S807).

  Then, the distance from the charging stand calculated above and the travelable distance are compared, and if the travelable distance is larger than the distance from the charging stand, it is still ok, and the process ends as it is (N in step S808).

  On the other hand, if the distance to the charging base is equal to the travelable distance, it will not be possible to return to the charging base if further cleaning is performed. Therefore, the cleaning is terminated, and the process proceeds to a traveling process toward the charging base (Y in step S808). Step S809).

  By controlling in this way, it is possible to reliably perform automatic charging without stopping in the middle of any remaining battery level. Since the vacuum cleaner main body 1 must be carried to the charging stand and charged manually, the user-friendliness is improved.

  FIG. 19 is a control block diagram showing still another embodiment of the present invention. The same reference numerals as those in the above-described embodiment indicate the same or corresponding parts.

  In the present embodiment, when an ultrasonic wave transmitted from a unit detection sensor (sonic sensor) 27 provided in the cleaner body 1 is received, an area setting unit (area setting unit) that transmits an ultrasonic wave having a frequency different from that of the ultrasonic wave. ) 52, and the microcomputer 31 of the vacuum cleaner main body 1 specifies the cleaning prohibition area and the cleaning priority area by using the area setting unit 52, and avoids traveling to the area or traveling time in the area. The control to increase is performed.

  When the area setting unit 52 receives the ultrasonic wave A having the same frequency A as that of the above-described embodiment transmitted from the unit detection sensor 27 of the cleaner body 1 to a pole or the like that can be installed on the floor surface, Is provided with a transmission / reception unit for transmitting ultrasonic waves B of different frequencies B in a radial pattern. Thus, the microcomputer 31 of the vacuum cleaner main body 1 transmits the ultrasonic wave A from the transmission unit of the unit detection sensor 27 to the reception of the ultrasonic wave B from the region setting unit 52 by the reception unit of the unit detection sensor 27. The position of the region setting unit 52 can be specified by measuring the time of (2) and multiplying the sound wave velocity.

  That is, when the region setting unit 52 is used for setting a cleaning prohibited region, when there is a region that is not desired to be cleaned in the room to be cleaned, one or a plurality of region setting units 52 are arranged in that region. When the vacuum cleaner main body 1 is cleaning, if the ultrasonic wave B transmitted radially from the unit 52 is received, the distance is compared so as not to be within a predetermined set distance, and the set distance is reached. When it does, traveling control which avoids from the area is performed.

  Referring to the flowcharts shown in FIGS. 20 and 21, first, on the cleaner body 1 side, the ultrasonic wave A is transmitted from the unit detection sensor 27 and time measurement is started by a timer (step S1001 in FIG. 20 → Step S1002).

  On the other hand, the region setting unit 52 side checks whether or not the ultrasonic wave A is received by the transmission / reception unit (N loop in step S1101 in FIG. 21), and when the ultrasonic wave A is received, the ultrasonic wave B is transmitted from the transmission / reception unit. (Y of step S1101 → step S1102).

  On the other hand, the cleaner body 1 side checks whether the unit detection sensor 27 has received the ultrasonic wave B transmitted from the area setting unit 52 while counting up the timer time (in FIG. 20). N in step S1003 → loop in step S1004 → step S1003). Then, when the unit detection sensor 27 receives the ultrasonic wave B transmitted from the region setting unit 52, the reciprocal distance is calculated from the above-described sound wave velocity and timer time, and the distance from the unit 52 is determined (Y in step S1003). → Step S1005).

  Then, the distance calculated with the above unit 52 is compared with the set distance, and if the distance to the unit 52 is greater than the set distance, the process ends as it is (N in step S1006).

  On the other hand, if the distance from the unit 52 is equal to or smaller than the set distance, the process proceeds to an avoidance traveling process in which the unit 52 is separated (Y in step S1006 → step S1007).

  Further, when the region setting unit 52 is used for setting a cleaning priority region, when there is a region to be cleaned more heavily in the room to be cleaned, one or a plurality of region setting units 52 are included in the region. Place. When the cleaner body 1 is cleaning, if the ultrasonic wave B transmitted radially from the unit 52 is received, the distance is compared, and when the distance is within a predetermined set distance, this set distance The travel control is performed so as not to move away from the area so that the travel within is continued for a preset time. The control on the area setting unit 52 side is the same as that in FIG.

  22 and the flowchart shown in FIG. 21 will be described. First, on the cleaner body 1 side, the ultrasonic wave A is transmitted from the unit detection sensor 27 and time measurement is started by a timer (step S1201 in FIG. 22). → Step S1202).

  On the other hand, on the area setting unit 52 side, as described above, it is checked whether or not the ultrasonic wave A is received by the transmission / reception unit (N loop in step S1101 in FIG. 21). Is transmitted (Y in step S1101 → step S1102).

  On the other hand, the cleaner body 1 side checks whether or not the unit detection sensor 27 has received the ultrasonic wave B transmitted from the area setting unit 52 while counting up the timer time (FIG. 22). N in step S1203 → step S1204 → loop in step S1203). Then, when the unit detection sensor 27 receives the ultrasonic wave B transmitted from the region setting unit 52, the round trip distance is calculated from the above-described sound wave velocity and timer time, and the distance to the unit 52 is determined (Y in step S1203). → Step S1205).

  Then, the distance to the unit 52 calculated as described above is compared with the set distance, and if the distance to the unit 52 is larger than the set distance, the process ends as it is (N in step S1206).

  On the other hand, if the distance from the unit 52 is equal to or less than the set distance, it is checked whether or not the round trip time of the round trip timer is equal to or shorter than the set time. Therefore, the round trip timer is counted up to shift to the round trip process that does not leave the unit 52 (Y in step S1206 → Y in step S1207 → step S1208 → step S1209).

  If the above-described processing is repeatedly performed and the lap driving time when the distance to the unit 52 is less than or equal to the set distance exceeds the set time, the lap driving timer is cleared and the process ends (Y in step S1206 → N in step S1207). Step S1210).

  By controlling as described above, it is possible to easily set an area that is not desired to be cleaned or an area that is desired to be cleaned more intensively in the entire room to be cleaned, leading to improved cleaning efficiency.

  FIG. 23 is a plan view of a self-propelled cleaner body in still another embodiment of the present invention, FIG. 24 is a control block diagram thereof, and the same reference numerals as those in the above-described embodiment indicate the same or corresponding parts.

  In this embodiment, a temperature sensor 28 including a thermistor or the like that detects the ambient temperature is provided on the front side of the upper surface of the cleaner body 1, and when the obstacle sensor (sonic sensor) 12 is used to detect the distance to the object. Further, the temperature is corrected using the ambient temperature detected by the temperature sensor 28.

For example, when the time from when the ultrasonic wave is transmitted from the transmission unit of the obstacle sensor 12 to when the reflected wave of the object is received by the reception unit of the obstacle sensor 12 is 0.5 ms, the sound velocity is expressed by the following equation. So you can
Sonic velocity: V = 331.5 + 0.6T (m / s) T: Ambient temperature (° C)
If the temperature of the sonic velocity is corrected using the ambient temperature detected by the temperature sensor 28, the distance to the object is about 83 mm when the ambient temperature is 0 ° C, and the distance to the object when the ambient temperature is 40 ° C. The distance is about 89mm. Therefore, the distance to the object can be accurately measured without detection error even in the same reflected wave detection time.

  FIG. 25 is a flowchart showing the distance detection process described above, and the process shown in this flowchart is repeatedly executed.

  First, the ambient temperature (T) is detected from the temperature sensor 28, and an ultrasonic wave is transmitted from the transmission unit of the obstacle sensor 12, and time measurement is started by a timer (step S1301 → step S1302 → step S1303).

  Then, it is checked whether or not the ultrasonic wave reflected from the obstacle has been received by the receiving unit of the obstacle sensor 12 while counting up the timer time (N of step S1304 → step S1305 → loop of step S1304).

  When the ultrasonic wave reflected from the obstacle is received by the receiver of the obstacle sensor 12, the sound velocity is calculated from the ambient temperature (T) detected by the temperature sensor 28 using the above formula (Y in step S1304 → step S1306). Then, the round-trip distance is calculated from the sound wave velocity and the timer time, and the distance from the obstacle is determined (step S1307).

  As described above, by performing temperature correction using the ambient temperature at the time of distance detection, the distance detection accuracy is improved, so that collision with an obstacle such as a wall can be avoided and the cleaning area such as the wall can be enlarged.

  In the above embodiment, the case where the temperature is corrected when detecting the distance to the obstacle has been described. However, when detecting the distance to the charging stand shown in the above-described embodiment, or detecting the distance to the area setting unit. In this case, if the above-described temperature correction using the ambient temperature is applied, the distance detection accuracy can be improved as described above.

  FIG. 26 is a plan view showing the internal configuration of a self-propelled cleaner body in still another embodiment of the present invention, FIG. 27 is a control block diagram thereof, and the same reference numerals as those in the above-described embodiment indicate the same or corresponding parts. ing.

  In the present embodiment, the overspeed sound of the suction motor 17 built in the cleaner body 1 is detected by using the suction motor acceleration sensor 29 which is a sonic sensor using ultrasonic waves, and garbage disposal display and suction stop control are performed. It is what I do.

  More specifically, a suction composed of an ultrasonic sensor set in the vacuum cleaner body 1 adjacent to the suction motor 17 and configured to detect ultrasonic waves generated when the suction motor 17 is in an overspeed state. A motor overspeed sensor 29 is provided. The suction motor 17 is overspeeded due to excessive accumulation of dust in the dust box 15 during cleaning, and if the cleaning continues beyond this, the performance of the vacuum cleaner body 1 will deteriorate. A sound (ultrasonic wave) is detected, and a garbage disposal display is performed by blinking the operation / stop display LED 25c or the operation time display LED 25c described above of the operation display unit 25. After that, if there is no change in the suction motor sound within a certain time without being discarded, a safe operation for stopping the suction is performed.

  FIG. 28 is a flowchart showing the above-described control at the time of overspeed of the suction motor 17, and the control shown in this flowchart is repeatedly executed.

  First, it is checked whether or not the suction motor overspeed sensor 29 has received ultrasonic waves generated due to abnormal overspeed of the suction motor 17, and if not, the timer is cleared and the process ends (N → step of step S1401). S1402).

  On the other hand, when the suction motor overspeed sensor 29 receives the ultrasonic wave generated due to the abnormal overspeed of the suction motor 17, the timer is counted up and the garbage disposal display process is performed (Y in step S1401 → step S1403 → Step 1404). Then, it is checked whether or not the timer has reached a predetermined set time or more, and if it has not been set time or longer, the process ends as it is (N in step S1405).

  It is sufficient if the user notices the garbage throwing display and the dust collected in the dust box 15 is thrown away. However, when the garbage throwing is not done due to not knowing the dust throwing display, the overspeed sound is detected and the timer counts up ( Step S1401 Y → Step S1403) is repeated, and when the timer reaches the set time or longer, the operation of the suction motor 17 is stopped (Y in Step S1405 → Step S1406).

  By controlling as described above, it is possible to accurately detect the overspeed state of the suction motor 17 regardless of the type of garbage, and to prevent the deterioration of the performance of the vacuum cleaner by prompting the user to throw away the garbage by the garbage disposal display. Can do. Furthermore, when the overspeed state of the suction motor 17 continues, the suction operation by the suction motor 17 is stopped, so that the performance deterioration of the cleaner can be surely prevented.

  In general, notification by display is simple and easy to understand, but notification by voice using the speaker 34 or a combination thereof is also possible. In addition, the operation / stop display LED 25c and the operation time display LED 25c of the operation display unit 25 can be used for the waste disposal display by blinking, so that the cost can be reduced. However, a display unit dedicated to the waste disposal display is provided. Anyway.

The front view of the self-propelled cleaner body concerning one embodiment of the present invention. Similarly side view. FIG. The top view which shows an internal structure. Control block diagram. The figure which shows the received waveform with respect to the transmission waveform of a sonic sensor. Explanatory drawing of the obstacle detection determination which overlapped and showed the received waveform with respect to each distance of an obstacle. The flowchart which shows an obstruction detection determination routine. The flowchart which shows a driving | running | working and suction control routine. The flowchart which shows a stop control routine. The control block diagram which shows other embodiment of this invention. The control block diagram which shows other embodiment of this invention. The flowchart by the side of the vacuum cleaner main body at the time of the distance calculation with the charging stand using the ultrasonic waves A and B in the said embodiment. Similarly, the flowchart on the charging stand side. The flowchart by the side of the vacuum cleaner main body at the time of the distance calculation which added the ultrasonic wave C of the frequency C different from the said ultrasonic waves A and B. FIG. Similarly, the flowchart on the charging stand side. The flowchart by the side of the vacuum cleaner main body shown as other embodiment of this invention. Similarly, the flowchart on the charging stand side. The control block diagram which shows other embodiment of this invention. The flowchart by the side of the cleaner body at the time of using a field setting unit for cleaning prohibition field setting in the above-mentioned embodiment. The flowchart by the area | region setting unit side similarly. The flowchart by the side of the cleaner body at the time of using a field setting unit for cleaning important field setting in the above-mentioned embodiment. The top view of the self-propelled cleaner body in other embodiments of the present invention. The control block diagram similarly. The flowchart of the distance detection similarly. The top view which shows the internal structure of the self-propelled cleaner body in other embodiment of this invention. The control block diagram similarly. The flowchart which similarly shows the control at the time of the overspeed of the suction motor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vacuum cleaner main body 2a, 2b Drive wheel 8a, 8b Traveling motor 11 Front bumper part 12 Obstacle sensor 15 Dust box 16 Suction fan 17 Suction motor 18 Electric blower 19 Suction port 20 Rotating brush 21 Rotating brush motor 22 Side brush 23 Side brush motor 25 Operation display section 25a Run / stop key 25b Run time switching key 25c Run / stop display LED
25d Operating time display LED
26 Charging stand detection sensor 27 Unit detection sensor 28 Temperature sensor 29 Suction motor overspeed sensor 31 Microcomputer 32 Ultrasonic sensor control unit 40 Battery 43 Battery capacity voltage conversion unit 44 Charge detection unit 45 Non-volatile memory (EEPROM)
51 Charging stand transceiver 52 Area setting unit

Claims (15)

  It has a cleaning function and a moving function, and also has a sonic sensor for transmission and reception for detecting obstacles, and it detects the distance to the obstacle from the time difference between transmission and reception and avoids the obstacle. Control means for controlling movement, the control means recognizes as an obstacle only when the received waveform peak value of the sonic sensor is within a predetermined setting range according to the distance, otherwise the obstacle Self-propelled vacuum cleaner characterized by not recognizing.   It has a cleaning function and a moving function, and also has a sonic sensor for transmission and reception for detecting obstacles, and it detects the distance to the obstacle from the time difference between transmission and reception and avoids the obstacle. It comprises a control means for controlling the movement, and the control means recognizes an obstacle only when the received waveform width of the sound wave sensor is within a predetermined setting range, and does not recognize the obstacle otherwise. A self-propelled vacuum cleaner.   The self-propelled cleaner according to claim 1 or 2, wherein the frequency of the sonic sensor is 20 kHz or less.   The self-propelled cleaner according to any one of claims 1 to 3, wherein the control means performs control to increase the capability of the cleaning function during cleaning by the wall, compared to cleaning by the time other than by the wall. .   5. The control unit performs control to increase the capability of the cleaning function when the direction is changed by detecting a wall or other obstacle during the cleaning of a part other than the wall, as compared with the cleaning of the part other than the wall. Self-propelled vacuum cleaner.   2. The control unit according to claim 1, wherein when stopping after completion of cleaning, the surrounding state is detected by the sound wave type sensor, and based on the state, control is performed to stop at a place where there is nothing around. The self-propelled cleaner according to any one of claims 5 to 6.   The control means performs control for notifying that charging is necessary when an operation start operation is performed in a state where the battery built in the cleaner body is not charged from the previous use to the current use. The self-propelled cleaner according to any one of claims 1 to 6.   A transmitter / receiver that has a charging device for charging a battery built in the vacuum cleaner body, and that transmits a sound wave having a frequency different from that when receiving a sound wave transmitted from a sonic sensor of the vacuum cleaner body to the charging device. The self-propelled cleaner according to any one of claims 1 to 7, wherein the control means performs control of specifying the charging device and returning to the charging device using the transmission / reception unit. .   The self-propelled cleaner according to claim 8, wherein the transmitter / receiver includes a plurality of parts having different frequencies to be transmitted.   The control means monitors the remaining amount of the battery during cleaning, calculates a distance from the charging device using the transmission / reception unit, and the distance that can be traveled by the remaining battery amount is less than the distance from the charging device. The self-propelled cleaner according to claim 8 or 9, wherein control to return to the charging device is performed before it becomes necessary.   When receiving the sound wave transmitted from the sound wave type sensor of the main body of the cleaner, it comprises a region setting means for transmitting a sound wave of a frequency different from that, and the control means specifies the cleaning prohibited region using the region setting means, The self-propelled cleaner according to any one of claims 1 to 10, wherein control for avoiding traveling to the region is performed.   When receiving the sound wave transmitted from the sound wave type sensor of the main body of the cleaner, it comprises a region setting means for transmitting a sound wave having a frequency different from that, and the control means specifies the cleaning priority region using the region setting means, The self-propelled cleaner according to any one of claims 1 to 11, wherein control is performed to increase the travel time in that region.   A temperature sensor for detecting an ambient temperature is provided, and the control unit performs temperature correction using the ambient temperature detected by the temperature sensor when detecting the distance of the object using the acoustic wave sensor. The self-propelled cleaner according to any one of claims 1 to 12.   The said control means detects the overspeed sound of the suction motor built in the cleaner main body using a sound wave type sensor, and performs control which notifies that garbage disposal is required. The self-propelled cleaner according to any one of 13 above. The self-control according to any one of claims 1 to 14, wherein the control means detects an overspeed sound of a suction motor built in the vacuum cleaner body using a sound wave type sensor and performs suction stop control. Traveling vacuum cleaner.

Images