TECHNICAL FIELD
[0001] The present invention relates to an autonomous travel-type cleaner.
BACKGROUND ART
[0002] Autonomous travel-type cleaners provided with a body on which various components
are mounted, a driving unit moving the body, a main brush, and a suction unit are
disclosed in the related art (refer to, for example, PTL 1 and PTL 2). The main brush
is placed at a suction port formed in the body and collects rubbish present on a cleaning
surface. The suction unit suctions the rubbish from the suction port in the body.
[0003] The autonomous travel-type cleaners disclosed in a number of patent documents such
as PTL 1 and PTL 2 have substantially circular bodies. These shapes of the bodies
give the autonomous travel-type cleaners a high level of turning performance.
[0004] The autonomous travel-type cleaners according to the related art that have the circular
bodies cause a relatively wide gap to be formed between the suction port in the body
and a tip part of a corner even if the autonomous travel-type cleaner approaches the
corner in an object region to the maximum extent possible. Accordingly, in some cases,
the rubbish that is present at the corner in the object region cannot be sufficiently
suctioned by the suction unit.
[0005] Autonomous travel-type cleaners that further include one or more side brushes placed
on a bottom surface of the body are disclosed so that the above-described problem
can be addressed (refer to, for example, PTL 3 to PTL 6). The side brush is provided
with a bristle bundle sticking out from the outline of the body. The bristle bundle
collects the rubbish present outside the outline of the body in the suction port of
the body. Accordingly, the autonomous travel-type cleaners disclosed in PTL 3 to PTL
6 can suction more of the rubbish present at the corner in the object region.
[0006] The ability of the autonomous travel-type cleaners disclosed in PTL 3 to PTL 6 to
suction the rubbish present at the corner in the object region (hereinafter, simply
referred to as a "corner cleaning ability" in some cases) is regarded as being determined
mainly by the side brush. The length of the bristle bundle, in the meantime, is set
under various constraints. Accordingly, the corner cleaning ability obtained based
on the side brush is also affected by the constraint. In other words, the autonomous
travel-type cleaners disclosed in PTL 3 to PTL 6 have room for improvement in terms
of the corner cleaning ability.
[0007] An example of the autonomous travel-type cleaner with a further improved corner cleaning
ability is also disclosed (refer to, for example, PTL 7).
[0008] The autonomous travel-type cleaner disclosed in PTL 7 is provided with a substantially
D-shaped body, a suction port formed in a bottom surface of the body, and a pair of
side brushes attached to corners of the bottom surface of the body.
[0009] At the position of the corner in the object region, this autonomous travel-type cleaner
allows the axis of the side brush and the suction port of the body to approach a vertex
of the corner to a greater extent than the autonomous travel-type cleaners disclosed
in, for example, PTL 3 to PTL 6.
[0010] Accordingly, more of the rubbish becomes likely to be suctioned by the body. In a
case where the autonomous travel-type cleaner disclosed in PTL 7 is positioned at
the corner in the object region, however, a front surface and one side surface of
the body come into contact with a wall that forms the corner or approach the wall
to the point of being comparable to the contact. Accordingly, this autonomous travel-type
cleaner cannot rotate in that place in some cases.
[0011] In other words, a relatively significant constraint is imposed on the operation trajectory
of the autonomous travel-type cleaner disclosed in PTL 7 when the autonomous travel-type
cleaner moves to another place from a cleaned corner in the object region after the
cleaning of the corner is completed.
Citation List
Patent Literature
[0012]
PTL 1: Japanese Patent Unexamined Publication No. 2008-296007
PTL 2: PCT Japanese Translation Patent Publication No. 2014-504534
PTL 3: Japanese Patent Unexamined Publication No. 2011-212444
PTL 4: Japanese Patent Unexamined Publication No. 2014-073192
PTL 5: Japanese Patent Unexamined Publication No. 2014-094233
PTL 6: PCT Japanese Translation Patent Publication No. 2014-512247
PTL 7: Japanese Patent Unexamined Publication No. 2014-061375
SUMMARY OF THE INVENTION
[0013] The present invention provides an autonomous travel-type cleaner performing efficient
cleaning until rubbish present at a corner in an object region is removed.
[0014] An autonomous travel-type cleaner according to an aspect of the present invention
includes a body having a suction port in a bottom surface, a suction unit mounted
on the body, a corner detection unit detecting a corner in an object region, a driving
unit driving the body to perform a reciprocating motion, and a control unit controlling
the driving unit. The control unit controls the driving unit for the reciprocating
motion of the body once the corner is detected by the corner detection unit.
[0015] In this manner, the autonomous travel-type cleaner performing the efficient cleaning
until the rubbish present at the corner in the object region is removed can be realized.
BRIEF DESCRIPTION OF DRAWINGS
[0016]
FIG. 1 is a front view of an autonomous travel-type cleaner according to Embodiment
1.
FIG. 2 is a bottom view of the autonomous travel-type cleaner illustrated in FIG.
1.
FIG. 3 is a functional block diagram illustrating a configuration of an electrical
system in the autonomous travel-type cleaner illustrated in FIG. 1.
FIG. 4 is an operational diagram illustrating a state where an autonomous travel-type
cleaner according to the related art has reached a corner.
FIG. 5 is an operational diagram illustrating a state where the autonomous travel-type
cleaner illustrated in FIG. 1 approaches the corner.
FIG. 6 is an operational diagram illustrating a state where the autonomous travel-type
cleaner illustrated in FIG. 5 has reached the corner.
FIG. 7 is an operational diagram illustrating a state where the autonomous travel-type
cleaner illustrated in FIG. 6 has rotated.
FIG. 8 is a front view of an autonomous travel-type cleaner according to Embodiment
2.
FIG. 9 is a bottom view of the autonomous travel-type cleaner illustrated in FIG.
8.
FIG. 10 is a perspective view of an autonomous travel-type cleaner according to Embodiment
3.
FIG. 11 is a front view of the autonomous travel-type cleaner illustrated in FIG.
10.
FIG. 12 is a front view showing a state where a lid of the autonomous travel-type
cleaner illustrated in FIG. 10 is open.
FIG. 13 is a bottom view of the autonomous travel-type cleaner illustrated in FIG.
10.
FIG. 14 is a side view of the autonomous travel-type cleaner illustrated in FIG. 10.
FIG. 15 is a perspective view illustrating a state of a front surface side where some
of elements illustrated in FIG. 10 are separated.
FIG. 16 is a perspective view illustrating a state of a bottom surface side where
some of elements illustrated in FIG. 10 are separated.
FIG. 17 is a sectional view taken along line 17-17 in FIG. 11.
FIG. 18 is a sectional view illustrating a state where some of elements illustrated
in FIG. 17 are separated.
FIG. 19 is a sectional view taken along line 19-19 in FIG. 14.
FIG. 20 is a perspective view of a lower unit illustrated in FIG. 15.
FIG. 21 is a perspective view of the lower unit illustrated in FIG. 15.
FIG. 22 is a perspective view of the lower unit illustrated in FIG. 15.
FIG. 23 is a perspective view of the lower unit illustrated in FIG. 15.
FIG. 24 is a perspective view of an upper unit illustrated in FIG. 10.
FIG. 25 is a bottom view of the upper unit illustrated in FIG. 24.
FIG. 26 is a functional block diagram illustrating a configuration of an electrical
system in the autonomous travel-type cleaner illustrated in FIG. 10.
FIG. 27 is a flowchart related to a first corner cleaning control according to Embodiment
4.
FIG. 28 is a flowchart related to a second corner cleaning control according to Embodiment
5.
FIG. 29 is a flowchart related to a third corner cleaning control according to Embodiment
6.
FIG. 30 is a flowchart related to a fourth corner cleaning control according to Embodiment
7.
FIG. 31 is a flowchart related to a first escape control according to Embodiment 8.
FIG. 32 is a flowchart related to a second escape control according to Embodiment
9.
FIG. 33 is a flowchart related to a step control according to Embodiment 10.
FIG. 34 is a flowchart related to a designated region cleaning control according to
Embodiment 11.
FIG. 35 is a flowchart related to a reciprocating cleaning control according to Embodiment
12.
FIG. 36 is a front view of an autonomous travel-type cleaner according to a modification
example.
FIG. 37 is a front view of an autonomous travel-type cleaner according to a modification
example.
FIG. 38 is a front view of an autonomous travel-type cleaner according to a modification
example.
DESCRIPTION OF EMBODIMENTS
[0017] Hereinafter, embodiments will be described with reference to accompanying drawings.
The present invention is not limited to the embodiments.
(Embodiment 1)
[0018] A basic configuration of an autonomous travel-type cleaner according to Embodiment
1 will be described below with reference to FIGS. 1 and 2.
[0019] FIG. 1 is a front view of autonomous travel-type cleaner 10 according to Embodiment
1. FIG. 2 is a bottom view of the autonomous travel-type cleaner illustrated in FIG.
1.
[0020] As illustrated in FIGS. 1 and 2, autonomous travel-type cleaner 10 according to this
embodiment is a robot-type cleaner that autonomously travels on a cleaning surface
in an object region and suctions rubbish present on the cleaning surface. A room is
an example of the object region and a floor surface in the room is an example of the
cleaning surface.
[0021] Autonomous travel-type cleaner 10 according to this embodiment is provided with functional
blocks such as body 20 on which various components are mounted, a pair of driving
units 30, cleaning unit 40, suction unit 50, rubbish bin unit 60, control unit 70,
power supply unit 80, and caster 90. The pair of driving units 30 cause body 20 to
move to be capable of reciprocating back and forth, to the left and right, and the
like. Cleaning unit 40 collects the rubbish present in the object region. Suction
unit 50 suctions the rubbish collected by cleaning unit 40 into body 20. Rubbish bin
unit 60 accumulates the rubbish suctioned by suction unit 50. Control unit 70 controls
driving unit 30, cleaning unit 40, suction unit 50, and the like. Power supply unit
80 supplies electric power to driving unit 30, cleaning unit 40, suction unit 50,
and the like. Caster 90 rotates to follow rotation of driving unit 30.
[0022] Right driving unit 30 that is placed on a right side with respect to the width-direction
center of body 20 and left driving unit 30 that is placed on a left side with respect
to the width-direction center of body 20 constitute the pair of driving units 30.
One of driving units 30 that is on the right side or the left side constitutes a first
driving unit and the other one of driving units 30 that is on the left side or the
right side constitutes a second driving unit. A horizontal direction, which is the
width direction of autonomous travel-type cleaner 10, is defined on the basis of a
forward direction of autonomous travel-type cleaner 10.
[0023] Lower unit 100 (refer to FIG. 2) that forms the external shape of a lower side of
body 20 and upper unit 200 (refer to FIG. 1) that forms the external shape of an upper
side of body 20 are combined with each other to constitute body 20.
[0024] As illustrated in FIG. 1, upper unit 200 is provided with cover 210, lid 220, bumper
230, and the like. Cover 210 forms a main outer part of upper unit 200. Lid 220 is
disposed to be opened and closed with respect to cover 210. Bumper 230 is displaced
with respect to cover 210 and mitigates an impact or the like.
[0025] Body 20 has, for example, the planar shape of a Reuleaux triangle, the planar shape
of a polygon that has substantially the same shape as the Reuleaux triangle, or a
shape in which R is formed in a top portion of the triangle or the polygon. This shape
contributes to giving body 20 properties identical or similar to geometric properties
of the Reuleaux triangle. As illustrated in FIG. 1, body 20 according to this embodiment
has, for example, a planar shape that is substantially the same as the Reuleaux triangle.
[0026] Body 20 is also provided with a plurality of outer peripheral surfaces and a plurality
of top portions. Front surface 21, right side surface 22, and left side surface 22
are examples of the plurality of outer peripheral surfaces. Front surface 21 is present
on a forward side of autonomous travel-type cleaner 10. Right side surface 22 is present
on a right rear side with respect to front surface 21. Left side surface 22 is present
on a left rear side with respect to front surface 21. Front surface 21 is formed as
a curved surface curved toward the outside and mainly by bumper 230. Each side surface
22 is formed in a side portion of bumper 230 and a side portion of cover 210 with
the shape of a curved surface curved toward the outside.
[0027] Right front top portion 23, left front top portion 23, and rear top portion 24 are
examples of the plurality of top portions. Right front top portion 23 is defined by
front surface 21 and right side surface 22. Left front top portion 23 is defined by
front surface 21 and left side surface 22. Rear top portion 24 is defined by right
side surface 22 and left side surface 22.
[0028] As illustrated in FIG. 1, front surface 21 and side surface 22 are formed such that
the angle formed by tangent L1 of front surface 21 and tangent L2 of side surface
22 is an acute angle.
[0029] In addition, right front top portion 23 and left front top portion 23 define the
maximum width of body 20. According to the example that is illustrated in FIG. 1,
the maximum width of body 20 is equivalent to the distance between a vertex of right
front top portion 23 and a vertex of left front top portion 23, that is, the distance
between two vertices of the Reuleaux triangle.
[0030] As illustrated in FIG. 2, body 20 is also provided with suction port 101 for suctioning
the rubbish into body 20. Suction port 101 is formed in a bottom surface of lower
unit 100, which is a bottom surface of body 20. Suction port 101 is formed in, for
example, a rectangular shape. The longitudinal direction of suction port 101 is substantially
the same as the width direction of body 20. The short direction of suction port 101
is substantially the same as the front-rear direction of body 20.
[0031] Suction port 101 is formed at a part of the bottom surface of body 20 that is close
to front surface 21. A positional relationship of suction port 101 is defined by,
for example, one or both of the following two types of relationships related to respective
elements. The first relationship is the center line of suction port 101 along the
longitudinal direction of suction port 101 (hereinafter, referred to as the "longitudinal-direction
center line of suction port 101") being present on the front side of body 20 with
respect to the center of body 20 in the front-rear direction. The second relationship
is suction port 101 being formed on the front side of body 20 with respect to the
pair of driving units 30.
[0032] The width of suction port 101, which is a longitudinal-direction dimension of suction
port 101, exceeds the inside gap between right driving unit 30 and left driving unit
30. Accordingly, a greater width can be ensured for suction port 101. This contributes
to an increase in the amount of the rubbish suctioned by suction unit 50.
[0033] As illustrated in FIG. 2, driving unit 30 is provided with a plurality of elements
and placed on the bottom surface side of lower unit 100. For example, driving unit
30 is provided with wheel 33 traveling on the cleaning surface, traveling motor 31
giving torque to wheel 33, and housing 32 accommodating traveling motor 31. Wheel
33 is accommodated in a recessed portion formed in lower unit 100. Wheel 33 is supported
by lower unit 100 to be capable of rotating with respect to lower unit 100.
[0034] Wheel 33 is placed on a width-direction outer side of body 20 with respect to traveling
motor 31. This placement allows the gap between right wheel 33 and left wheel 33 to
be wider than in a case where wheel 33 is placed on a width-direction inner side with
respect to traveling motor 31. This contributes to stability improvement for body
20.
[0035] Driving of autonomous travel-type cleaner 10 is based on the two wheels facing each
other. Therefore, right driving unit 30 and left driving unit 30 are placed to face
each other in the width direction of body 20. In other words, axis of rotation H of
right wheel 33 and axis of rotation H of left wheel 33 are present in a substantially
coaxial manner as illustrated in FIG. 2.
[0036] At this time, the distance between axis of rotation H of the wheel and center of
gravity G of autonomous travel-type cleaner 10 is set with an intention to give, for
example, a predetermined turning performance to autonomous travel-type cleaner 10.
The predetermined turning performance is a performance that allows a trajectory which
is identical or similar to a quadrangular trajectory formed by the outline of the
Reuleaux triangle to be formed by body 20. Specifically, for example, the position
of axis of rotation H is set on the rear side of body 20 with respect to center of
gravity G of autonomous travel-type cleaner 10 and a predetermined distance is set
as the distance between axis of rotation H and center of gravity G. As a result of
this setting, the quadrangular or similar trajectory can be formed by contact between
body 20 and a surrounding object being used.
[0037] As illustrated in FIG. 2, cleaning unit 40 is provided with a plurality of elements
and placed inside and outside body 20. For example, cleaning unit 40 is provided with
brush driving motor 41, gearbox 42, and main brush 43. Brush driving motor 41 and
gearbox 42 are placed inside body 20. Main brush 43 is placed at suction port 101
of body 20 with a length that is substantially equal to the longitudinal-direction
dimension of suction port 101.
[0038] Brush driving motor 41 and gearbox 42 are attached to lower unit 100. Gearbox 42
is connected to an output shaft of brush driving motor 41 and main brush 43 and transmits
torque of brush driving motor 41 to main brush 43.
[0039] Main brush 43 is supported by a bearing portion (not illustrated) to be capable of
rotating with respect to lower unit 100. The bearing portion is formed in, for example,
one or both of gearbox 42 and lower unit 100. As shown by the arrow AM that is illustrated
in FIG. 14, for example, main brush 43 has a direction of rotation set such that its
orbit of rotation is toward the rear from the front of body 20 on the cleaning surface
side.
[0040] As illustrated in FIG. 1, suction unit 50 is provided with a plurality of elements
and placed in body 20. Suction unit 50 is placed on, for example, the rear side of
rubbish bin unit 60 and on the front side of power supply unit 80 (described later).
[0041] For example, suction unit 50 is provided with fan case 52 attached to lower unit
100 (refer to FIG. 2) and electric fan 51 placed in fan case 52. Electric fan 51 suctions
air in rubbish bin unit 60 and discharges the air to the outside in the circumferential
direction of electric fan 51. The air discharged from electric fan 51 passes through
the space in fan case 52 and the space surrounding fan case 52 in body 20 and is exhausted
to the outside from body 20.
[0042] As illustrated in FIG. 2, rubbish bin unit 60 is placed between the pair of driving
units 30, on the rear side of main brush 43, and on the front side of suction unit
50 in body 20. Body 20 and rubbish bin unit 60 are provided with a removable structure
that allows a user to select at will a state where rubbish bin unit 60 is attached
to body 20 or a state where rubbish bin unit 60 is detached from body 20.
[0043] As illustrated in FIG. 1, control unit 70 is placed on the rear side of suction unit
50 in body 20.
[0044] As illustrated in FIGS. 1 and 2, autonomous travel-type cleaner 10 according to this
embodiment is also provided with a plurality of sensors. The plurality of sensors
include, for example, obstacle detection sensor 71, a pair of distance measurement
sensors 72, collision detection sensor 73, and a plurality of floor surface detection
sensors 74. Obstacle detection sensor 71 detects an obstacle present in front of body
20. The pair of distance measurement sensors 72 detects the distance between the object
present around body 20 and body 20. Collision detection sensor 73 detects a collision
between body 20 and the surrounding object. Floor surface detection sensor 74 detects
the cleaning surface present on the bottom surface of body 20. Detection signals of
obstacle detection sensor 71, distance measurement sensor 72, collision detection
sensor 73, and floor surface detection sensor 74 are input to control unit 70. Autonomous
travel-type cleaner 10 is controlled based on the detection signals.
[0045] An ultrasonic sensor or the like constitutes obstacle detection sensor 71 provided
with a transmitting unit and a receiving unit. Infrared sensors or the like constitute
distance measurement sensor 72 and floor surface detection sensor 74 provided with
light emitting units and light receiving units. A contact-type displacement sensor
or the like constitutes collision detection sensor 73. A switch that is turned ON
by bumper 230 coming into contact with the object and being pressed against cover
210 also constitutes collision detection sensor 73.
[0046] As illustrated in FIG. 1, right distance measurement sensor 72 and left distance
measurement sensor 72 constitute the pair of distance measurement sensors 72. Right
distance measurement sensor 72 is placed on the right side with respect to the width-direction
center of body 20. Left distance measurement sensor 72 is placed on the left side
with respect to the width-direction center of body 20. Right distance measurement
sensor 72 is placed in the vicinity of right front top portion 23 and outputs light
(such as an infrared ray) obliquely forward and to the right from body 20. Left distance
measurement sensor 72 is placed in the vicinity of left front top portion 23 and outputs
light (such as an infrared ray) obliquely forward and to the left from body 20. Because
of this placement, the distance between the surrounding object that is the closest
to the outline of body 20 and body 20 can be detected regardless of whether autonomous
travel-type cleaner 10 turns to the left or turns to the right.
[0047] As illustrated in FIG. 2, for example, front-side floor surface detection sensor
74 that is placed on the front side of body 20 with respect to driving unit 30 and
rear-side floor surface detection sensor 74 that is placed on the rear side of body
20 with respect to driving unit 30 constitute the plurality of floor surface detection
sensors 74.
[0048] Autonomous travel-type cleaner 10 according to this embodiment is also provided with
power supply unit 80. Power supply unit 80 supplies electric power to obstacle detection
sensor 71, distance measurement sensor 72, collision detection sensor 73, floor surface
detection sensor 74, and the like as well as driving unit 30, cleaning unit 40, and
suction unit 50 as described above. Power supply unit 80 is placed on the rear side
of body 20 with respect to suction unit 50 on the rear side of body 20 with respect
to the center of body 20 in the front-rear direction. Power supply unit 80 is provided
with, for example, battery case 81, storage battery 82, and main switch 83. Battery
case 81 is attached to lower unit 100. A secondary battery or the like constitutes
storage battery 82 accommodated in battery case 81. Main switch 83 switches between
electric power supply from power supply unit 80 to each element and stop of the electric
power supply from power supply unit 80 to each element.
[0049] Autonomous travel-type cleaner 10 according to this embodiment has the configuration
described above.
[0050] Hereinafter, a configuration of an electrical system of autonomous travel-type cleaner
10 according to this embodiment will be described with reference to FIG. 3.
[0051] FIG. 3 is a functional block diagram illustrating the configuration of the electrical
system in the autonomous travel-type cleaner illustrated in FIG. 1.
[0052] Control unit 70 is placed on power supply unit 80 in body 20 as illustrated in FIG.
1 and is electrically connected to power supply unit 80. In addition, control unit
70 is electrically connected to above-described obstacle detection sensor 71, distance
measurement sensor 72, collision detection sensor 73, floor surface detection sensor
74, rubbish detection sensor 300, the pair of traveling motors 31, brush driving motor
41, electric fan 51, and the like.
[0053] A semiconductor integrated circuit such as a central processing unit (CPU) constitutes
control unit 70 controlling each circuit. Control unit 70 also has a storage unit
(not illustrated) storing various programs executed by control unit 70, a parameter,
and the like. A nonvolatile semiconductor memory device such as a flash memory constitutes
the storage unit.
[0054] Specifically, control unit 70 determines whether or not an object hampering the traveling
of autonomous travel-type cleaner 10 is present within a predetermined range in front
of body 20 based on the detection signal input from obstacle detection sensor 71.
Control unit 70 calculates the distance between the object that is present around
front top portion 23 of body 20 and the outline of body 20 based on the detection
signal input from distance measurement sensor 72.
[0055] In addition, control unit 70 determines whether or not body 20 has collided with
the surrounding object based on the detection signal input from collision detection
sensor 73. Control unit 70 determines whether or not the cleaning surface in the object
region is present below body 20 based on the detection signal input from floor surface
detection sensor 74.
[0056] Then, control unit 70 controls the pair of traveling motors 31, brush driving motor
41, and electric fan 51 by using at least one of the determination and calculation
results described above. In this manner, control unit 70 controls an operation of
autonomous travel-type cleaner 10 or the like for the cleaning surface in the object
region to be cleaned.
[0057] As illustrated in FIG. 1, autonomous travel-type cleaner 10 is also provided with
rubbish detection sensor 300 that is electrically connected to control unit 70. Rubbish
detection sensor 300 detects at least one of the rubbish suctioned from suction port
101 illustrated in FIG. 2 and house dust. Rubbish detection sensor 300 is placed on
a passage that leads to, for example, rubbish bin unit 60 from suction port 101 and
detects the amount of the rubbish passing through the passage or the like. Electric
power is supplied to rubbish detection sensor 300 from power supply unit 80.
[0058] An infrared sensor that has a light emitting element and a light receiving element
or the like constitutes rubbish detection sensor 300. In rubbish detection sensor
300, the light receiving element detects information related to the amount of light
emitted from the light emitting element. Then, rubbish detection sensor 300 outputs
a detection signal related to the detected information to control unit 70. Control
unit 70 determines the amount of the rubbish based on the detection signal input from
rubbish detection sensor 300. Specifically, control unit 70 determines that the amount
of the rubbish is large in a case where the amount of the light is small and determines
that the amount of the rubbish is small in a case where the amount of the light is
large. The detection signal is a signal output from, for example, an operational amplifier
that is an amplification element connected to the light receiving element.
[0059] The electrical system of autonomous travel-type cleaner 10 according to this embodiment
has the configuration described above.
[0060] Hereinafter, the operation of autonomous travel-type cleaner 10 according to this
embodiment will be described with reference to FIGS. 5 to 7 and in comparison to an
operation of autonomous travel-type cleaner 900 according to the related art that
is illustrated in FIG. 4.
[0061] FIG. 4 is an operational diagram illustrating a state where the autonomous travel-type
cleaner according to the related art has reached a corner. FIG. 5 is an operational
diagram illustrating a state where the autonomous travel-type cleaner illustrated
in FIG. 1 approaches the corner. FIG. 6 is an operational diagram illustrating a state
where the autonomous travel-type cleaner illustrated in FIG. 5 has reached the corner.
FIG. 7 is an operational diagram illustrating a state where the autonomous travel-type
cleaner illustrated in FIG. 6 has rotated.
[0062] As illustrated in FIGS. 4 to 7, room RX as the object region is provided with corner
R3 that is formed by, for example, first wall R1 and second wall R2. Herein, a case
where corner R3 has a substantially right angle (including a right angle) will be
described as an example.
[0063] Autonomous travel-type cleaner 900 according to the related art cannot cover tip
part R4 of corner R3, due to its external shape, when autonomous travel-type cleaner
900 according to the related art has reached corner R3 as illustrated in FIG. 4. Therefore,
a relatively large gap is formed between suction port 910 of autonomous travel-type
cleaner 900 and tip part R4.
[0064] At this time, autonomous travel-type cleaner 900 according to the related art still
can collect the rubbish present at tip part R4 in suction port 910 with a side brush
mounted on autonomous travel-type cleaner 900 according to the related art. However,
autonomous travel-type cleaner 900 according to the related art suctions the rubbish
with suction port 910 at a position separated from tip part R4 regardless of the presence
or absence of the side brush.
[0065] In this embodiment, corner R3 of room RX is cleaned by control unit 70 causing autonomous
travel-type cleaner 10 to travel in, for example, the following manner.
[0066] As illustrated in FIG. 5, control unit 70 first causes a posture to be assumed in
which front surface 21 of body 20 directly faces, for example, first wall R1 of room
RX as the object region. Then, control unit 70 causes autonomous travel-type cleaner
10 to move forward along second wall R2 and toward first wall R1. At this time, autonomous
travel-type cleaner 10 travels while maintaining a state where one of front top portions
23 (right front top portion 23) is in contact with second wall R2 or a state where
one of front top portions 23 (right front top portion 23) has approached second wall
R2 to the same extent.
[0067] Then, once front surface 21 of body 20 has come into contact with first wall R1 as
illustrated in FIG. 6 or once front surface 21 of body 20 has approached first wall
R1 to the same extent, control unit 70 temporarily stops the operation of autonomous
travel-type cleaner 10. At this time, a part of right front top portion 23 of body
20 covers a part of tip part R4 of corner R3. In other words, autonomous travel-type
cleaner 10 according to this embodiment allows suction port 101 of body 20 to approach
tip part R4 of corner R3 to a greater extent than in a case where autonomous travel-type
cleaner 900 according to the related art that is illustrated in FIG. 4 has approached
corner R3 to the maximum extent possible.
[0068] Then, control unit 70 causes autonomous travel-type cleaner 10 to repeatedly execute
a turning operation for front surface 21 of body 20 to come into contact with first
wall R1 and a turning operation for right side surface 22 to come into contact with
second wall R2. At this time, autonomous travel-type cleaner 10 is subjected to a
reaction force that acts on body 20 as a result of the contact between front surface
21 and first wall R1 and a reaction force that acts on body 20 as a result of the
contact between right side surface 22 and second wall R2. Accordingly, autonomous
travel-type cleaner 10 turns to the left with center of gravity G changing its position.
This turning operation is a simulation of part of an operation at a time when the
Reuleaux triangle forms the quadrangular trajectory.
[0069] After turning over a certain angle from the state where front surface 21 of autonomous
travel-type cleaner 10 directly faces first wall R1, right front top portion 23 is
directed toward a vertex of corner R3 or the vicinity of the vertex as illustrated
in FIG. 7. Accordingly, a state is achieved where right front top portion 23 has approached
the vertex of corner R3 to the maximum extent possible. At this time, body 20 covers
a relatively wide range of tip part R4 of corner R3. In addition, the distance between
suction port 101 of body 20 and tip part R4 of corner R3 is shorter than the distance
between suction port 910 and tip part R4 of corner R3 in the case where autonomous
travel-type cleaner 900 according to the related art that is illustrated in FIG. 4
has approached corner R3 to the maximum extent possible. This placement of suction
port 101 contributes to autonomous travel-type cleaner 10 outdoing autonomous travel-type
cleaner 900 according to the related art in terms of corner cleaning ability.
[0070] What has been described in relation to the corner cleaning ability of autonomous
travel-type cleaner 10 can also be described as follows.
[0071] In autonomous travel-type cleaner 10 according to this embodiment, the angle that
is formed by tangent L1 of front surface 21 of body 20 and tangent L2 of side surface
22 is an acute angle as illustrated in FIG. 1. Therefore, autonomous travel-type cleaner
10 can turn once autonomous travel-type cleaner 10 is positioned at corner R3 in the
object region. Accordingly, autonomous travel-type cleaner 10 can assume various postures
with respect to corner R3. Examples of the postures include a posture in which front
top portion 23 of body 20 is directed toward the vertex of corner R3 in the object
region or the vicinity thereof.
[0072] In a case where autonomous travel-type cleaner 10 assumes the above-described posture,
the outline of body 20 approaches the vertex of corner R3 to a greater extent than
in the case where autonomous travel-type cleaner 900 according to the related art,
which is provided with a circular body, has approached corner R3 in the object region
to the maximum extent possible. Accordingly, suction port 101 of body 20 further approaches
the vertex of corner R3, too. Therefore, body 20 becomes more likely to suction the
rubbish present on the cleaning surface of corner R3 from suction port 101. In other
words, autonomous travel-type cleaner 10 is more likely to suction the rubbish present
at corner R3 in the object region than autonomous travel-type cleaner 900 according
to the related art that is provided with the circular body.
[0073] In a case where the posture is assumed in which front top portion 23 of body 20 is
directed toward the vertex of corner R3 or the vicinity thereof, autonomous travel-type
cleaner 10 can change its direction by rotation. Therefore, the constraint that is
imposed on an autonomous travel-type cleaner according to the related art which is
provided with a D-shaped body can be reduced (mitigated) in the case of a movement
from corner R3 in the object region to another place. In other words, autonomous travel-type
cleaner 10 is capable of promptly moving from corner R3 to another place compared
to the autonomous travel-type cleaner according to the related art that is provided
with the D-shaped body.
[0074] Autonomous travel-type cleaner 10 according to this embodiment is operated as described
above.
[0075] Hereinafter, effects of autonomous travel-type cleaner 10 according to this embodiment
will be described.
- (1) In another form of autonomous travel-type cleaner 10, the width of suction port
101 may be smaller than the inside gap between the pair of driving units 30. However,
it is more preferable that the width of suction port 101 exceeds the inside gap between
the pair of driving units 30 as in the illustration of autonomous travel-type cleaner
10 according to this embodiment. In other words, in the configuration of this embodiment,
the width of suction port 101 is larger than in the alternative form described above.
Therefore, suction unit 50 is capable of suctioning more of the rubbish.
- (2) In another form of autonomous travel-type cleaner 10, suction port 101 may be
formed between the pair of driving units 30. However, it is more preferable that suction
port 101 is formed on the front side of body 20 with respect to the pair of driving
units 30 as in the illustration of autonomous travel-type cleaner 10 according to
this embodiment. In other words, in the configuration of this embodiment, suction
port 101 can approach the wall (corner R3) to a greater extent than in the alternative
form described above. Therefore, suction unit 50 is capable of suctioning more of
the rubbish.
- (3) In autonomous travel-type cleaner 10, the maximum width of body 20 is defined
by left and right front top portions 23. Accordingly, the width of a rear portion
of body 20 is smaller than the width of a front portion of body 20. Therefore, the
risk of contact between the rear portion of body 20 and the surrounding object is
reduced in a case where autonomous travel-type cleaner 10 turns in a place where the
surrounding object is present. Accordingly, the mobility of autonomous travel-type
cleaner 10 can be enhanced.
- (4) Another form of autonomous travel-type cleaner 10 may be configured to be provided
with steering-type driving. However, the driving based on the two facing wheels that
the pair of driving units 30 constitute as in the illustration of autonomous travel-type
cleaner 10 according to this embodiment is more preferable. In other words, in the
configuration of this embodiment, structural simplification can be achieved compared
to the alternative form described above. Accordingly, reduction in size, weight, and
cost can be achieved.
- (5) In general, a relationship between axis of rotation H of each driving unit 30
and center of gravity G of autonomous travel-type cleaner 10 constitutes one of main
factors that determine a trajectory of rotation which is formed by body 20. In this
regard, axes of rotation H of the pair of driving units 30 in autonomous travel-type
cleaner 10 according to this embodiment are present on the rear side of body 20 with
respect to center of gravity G. In this case, autonomous travel-type cleaner 10 is
likely to form an operation of turning while changing the position of its center of
gravity G by using contact with the surrounding object. Accordingly, autonomous travel-type
cleaner 10 can appropriately form (clean) at least a part of the quadrangular trajectory
based on the turning operation of body 20 formed by the Reuleaux triangle. As a result,
the corner cleaning ability of autonomous travel-type cleaner 10 can be further enhanced.
(Embodiment 2)
[0076] Hereinafter, an autonomous travel-type cleaner according to Embodiment 2 will be
described with reference to FIGS. 8 and 9. Elements in the description of Embodiment
2 that have the same reference numerals as in Embodiment 1 have functions identical
or similar to those of the corresponding elements of Embodiment 1.
[0077] FIG. 8 is a front view of the autonomous travel-type cleaner according to Embodiment
2. FIG. 9 is a bottom view of the autonomous travel-type cleaner illustrated in FIG.
8.
[0078] As illustrated in FIGS. 8 and 9, autonomous travel-type cleaner 10 according to this
embodiment differs from the autonomous travel-type cleaner according to Embodiment
1 in that cleaning unit 40 is further provided with a pair of side brushes 44, brush
driving motor 41, and a pair of second gearboxes 42.
[0079] The pair of side brushes 44 of cleaning unit 40 is placed on the bottom surface of
lower unit 100, which is the bottom surface of body 20. One (for example, the left
one) of the pair of second gearboxes 42 is connected to the output shaft of brush
driving motor 41, main brush 43, and one (for example, the left one) of side brushes
44. The torque of brush driving motor 41 is transmitted to main brush 43 and one (for
example, the left one) of side brushes 44. The other (for example, the right) second
gearbox 42 is connected to main brush 43 and the other (for example, the right) side
brush 44 and transmits torque of main brush 43 to the other (for example, the right)
side brush 44.
[0080] Side brush 44 is provided with brush shaft 44A, a plurality of bristle bundles 44B,
and the like. Brush shaft 44A is attached to front top portion 23 of body 20. Bristle
bundles 44B are attached to brush shaft 44A.
[0081] Side brush 44 is disposed, with respect to body 20, at a position where an orbit
of rotation is formed that allows the rubbish collection in suction port 101. Three
bundles, for example, constitute bristle bundles 44B as illustrated in FIG. 8. Respective
bristle bundles 44B are attached to brush shaft 44A with a constant angular interval
(such as 120°).
[0082] Brush shaft 44A has an axis of rotation that extends in the same direction as the
height direction of body 20 or in substantially the same direction as the height direction
of body 20. Brush shaft 44A is supported by body 20 to be capable of rotating with
respect to body 20. In addition, brush shaft 44A is placed on the front side of body
20 with respect to the longitudinal-direction center line of suction port 101.
[0083] A plurality of bristles constitute each of bristle bundles 44B. Each of bristle bundles
44B is fixed to brush shaft 44A to extend in the same direction as the radial direction
of brush shaft 44A or in substantially the same direction as the radial direction
of brush shaft 44A. At this time, the length of bristle bundle 44B is set to, for
example, a length at which tips of bristle bundles 44B stick out at least from the
outline of body 20.
[0084] As shown by the arrows AS that are illustrated in FIG. 8, the directions of rotation
of the pair of side brushes 44 are set to directions in which the orbits of rotation
are directed toward the rear from the front of body 20 on the width-direction center
side of body 20. In other words, the pair of side brushes 44 rotates in opposite directions.
In other words, the rotation occurs toward the rear from the front of body 20 at a
part of the orbit of rotation of each side brush 44 that approaches the orbit of rotation
of the other side brush 44.
[0085] Autonomous travel-type cleaner 10 according to this embodiment has the configuration
described above.
[0086] In other words, autonomous travel-type cleaner 10 according to this embodiment achieves
the following effects in addition to the effects of (1) to (5) achieved by autonomous
travel-type cleaner 10 according to Embodiment 1.
(6) Autonomous travel-type cleaner 10 according to this embodiment is provided with
side brush 44. According to this configuration, the rubbish present at corner R3 in
the object region can be collected in suction port 101 of body 20 by side brush 44.
Accordingly, the corner cleaning ability of autonomous travel-type cleaner 10 is further
enhanced.
(7) Side brush 44 is attached to a bottom surface of front top portion 23. According
to this configuration, brush shaft 44A of side brush 44 approaches the vertex of corner
R3 to a greater extent than in a case where autonomous travel-type cleaner 900 according
to the related art is positioned at corner R3. Accordingly, the corner cleaning ability
of autonomous travel-type cleaner 10 is further enhanced.
(8) In autonomous travel-type cleaner 10 according to this embodiment, respective
side brushes 44 rotate in the opposite directions. In other words, the rotation occurs
toward the rear from the front of body 20 at the part of the orbit of rotation of
each side brush 44 that approaches the orbit of rotation of the other side brush 44.
According to this configuration, the rubbish is collected in suction port 101 from
the front side of body 20 by side brush 44. Therefore, the rubbish is more likely
to be suctioned in suction port 101 than in a case where, for example, the rubbish
is collected in suction port 101 from the vicinity of a side of suction port 101.
Accordingly, the rubbish that is present on the cleaning surface of corner R3 can
be efficiently removed.
(9) An autonomous travel-type cleaner that is provided with a general side brush has
a high level of risk in the form of a bristle bundle being caught by a surrounding
object during traveling of the autonomous travel-type cleaner in a case where the
bristle bundle is excessively large in length. However, autonomous travel-type cleaner
10 according to this embodiment can allow suction port 101 of body 20 to further approach
tip part R4 of corner R3, and thus the corner cleaning ability does not depend much
on the length of bristle bundle 44B. Accordingly, bristle bundle 44B is allowed to
be relatively small in length. As a result, the risk of bristle bundle 44B being caught
by the surrounding object can be reduced.
(10) Likewise, in the autonomous travel-type cleaner that is provided with the side
brush, the bristle bundle becomes increasingly prone to bending during a movement
of the rubbish by the bristle bundle as the length of the bristle bundle increases.
In a case where the bristle bundle is bent to a significant extent, the bristle bundle
might be unable to move the rubbish to a suction port of a body in an appropriate
manner. However, autonomous travel-type cleaner 10 according to this embodiment allows
a relatively small length to be set for bristle bundle 44B as described above, and
thus the amount of bending of bristle bundle 44B is reduced by the small length being
set for bristle bundle 44B. Accordingly, the rubbish that is present at corner R3
is likely to be collected in suction port 101 by bristle bundle 44B.
(Embodiment 3)
[0087] Hereinafter, an autonomous travel-type cleaner according to Embodiment 3 will be
described with appropriate reference to FIGS. 10 to 26. Elements in the description
of Embodiment 3 that have the same reference numerals as in Embodiment 2 have functions
identical or similar to those of the corresponding elements of Embodiment 2.
[0088] FIG. 10 is a perspective view of autonomous travel-type cleaner 10 according to Embodiment
3.
[0089] Autonomous travel-type cleaner 10 according to this embodiment is further provided
with the following configurations unspecified in Embodiment 2.
[0090] Each element of autonomous travel-type cleaner 10 illustrated in FIG. 10 is an example
of a specific form that can be taken by each element of autonomous travel-type cleaner
10 according to Embodiment 2 schematically illustrated in FIGS. 8 and 9.
[0091] As illustrated in FIG. 10, each of right front top portion 23, left front top portion
23, and rear top portion 24 of body 20 of autonomous travel-type cleaner 10 according
to this embodiment has an R shape. Upper unit 200 is provided with a plurality of
exhaust ports 211, light receiving unit 212, and lid button 213. The plurality of
exhaust ports 211 are formed to line up along, for example, an edge of lid 220 to
be directed toward left and right side surfaces 22 of body 20 and allow the space
in body 20 and the outside to communicate with each other. Light receiving unit 212
is formed on the front side of lid 220. Lid button 213 is disposed for opening and
closing of lid 220 in a case where, for example, the rubbish accumulated in rubbish
bin unit 60 is disposed of.
[0092] Light receiving unit 212 receives a light signal that is output from a charging stand
(not illustrated) charging autonomous travel-type cleaner 10 or a light signal that
is output from a remote controller (not illustrated) operating autonomous travel-type
cleaner 10. After the light signal is received, light receiving unit 212 outputs a
light receiving signal corresponding to the signal to control unit 70 (refer to, for
example, FIG. 15).
[0093] FIG. 11 is a front view of autonomous travel-type cleaner 10 illustrated in FIG.
10.
[0094] As illustrated in FIG. 11, autonomous travel-type cleaner 10 has a substantially
axisymmetric shape with respect to its center line (refer to line 17-17 in the drawing)
that extends in the front-rear direction. Bumper 230 is provided with a pair of curved
convex portions 231 protruding from left and right front top portions 23. Curved convex
portions 231 are curved to imitate the R shapes of front surface 21 and side surface
22 and form a part of the outline of body 20.
[0095] FIG. 12 is a front view illustrating a state where lid 220 of the autonomous travel-type
cleaner illustrated in FIG. 10 is open.
[0096] As illustrated in FIG. 12, upper unit 200 is provided with cover 210, lid 220, bumper
230, interface portion 240, rubbish bin receiver 250, and the like. An element operated
by the user is placed in interface portion 240. Rubbish bin receiver 250 supports
rubbish bin unit 60. Lid 220 is provided with a pair of arms 221 constituting a hinge
structure of lid 220. In addition, upper unit 200 is provided with a pair of arm accommodating
portions 260 (refer to FIG. 25) accommodating arms 221.
[0097] Interface portion 240 constitutes a part of cover 210. Interface portion 240 is closed
when lid 220 is closed (refer to, for example, FIG. 11) and is opened when lid 220
is opened. Interface portion 240 is provided with, for example, panel 241 that includes
main switch 83, operation button 242, display unit 243, and the like. Operation button
242 turns ON or OFF the operation of autonomous travel-type cleaner 10. Panel 241
displays information related to autonomous travel-type cleaner 10 in display unit
243. In addition, panel 241 is provided with an operation button (not illustrated)
for various setting inputs related to the operation of autonomous travel-type cleaner
10. Main switch 83 is placed in interface portion 240.
[0098] FIG. 24 is a perspective view of the bottom surface side of upper unit 200 illustrated
in FIG. 10.
[0099] As illustrated in FIG. 24, rubbish bin receiver 250 is configured as a box-shaped
object that is open to an upper surface side of upper unit 200. Rubbish bin receiver
250 is provided with bottom portion opening 251 open to a bottom portion side of body
20 and rear opening 252 open to the rear side of body 20. Rubbish bin unit 60 illustrated
in FIG. 12 is inserted into rubbish bin receiver 250.
[0100] FIG. 13 is a bottom view of autonomous travel-type cleaner 10 illustrated in FIG.
11.
[0101] As illustrated in FIG. 13, lower unit 100 is provided with base 110, supporting shaft
91, and the like. Base 110 forms a frame of lower unit 100. Supporting shaft 91 is
placed in parallel to the longitudinal direction of suction port 101 and supports
caster 90.
[0102] Base 110 is provided with power supply port 102 that is open to the bottom surface
and has a shape corresponding to power supply unit 80, a pair of charging terminals
103 that are connected to the charging stand (not illustrated), and the like. Power
supply port 102 is formed on the rear side of body 20 with respect to the center of
body 20 in the front-rear direction and a part of power supply port 102 is formed
between the pair of driving units 30. Charging terminal 103 is formed on the front
side of body 20 with respect to suction port 101. Charging terminal 103 is formed
at, for example, a part of the bottom surface of base 110 that is close to the front
surface 21 side.
[0103] Base 110 is also provided with a pair of bottom portion bearings 111 for supporting
supporting shaft 91. Bottom portion bearing 111 is formed on the rear side of body
20 with respect to driving unit 30. Bottom portion bearing 111 is placed in, for example,
the rear of body 20 with respect to power supply port 102 at a bottom-surface position
on the rear top portion 24 side in the bottom surface of base 110.
[0104] Supporting shaft 91 is inserted to caster 90 to be capable of rotating with respect
to caster 90. Each end portion of supporting shaft 91 is press-fitted into bottom
portion bearing 111. In this manner, caster 90 is coupled with base 110 in a rotatable
manner.
[0105] FIG. 14 is a side view of autonomous travel-type cleaner 10 illustrated in FIG. 10.
[0106] As illustrated in FIG. 14, main brush 43 rotates in the direction of the arrow AM.
The gap between the axis of rotation of wheel 33 of driving unit 30 and the axis of
rotation of caster 90 is placed to be wider than the gap between the axis of rotation
of wheel 33 and the axis of rotation of main brush 43. This positional relationship
contributes to stabilization of the posture of body 20 of autonomous travel-type cleaner
10.
[0107] FIG. 15 is a perspective view illustrating an upper surface side of lower unit 100
in which some of the elements illustrated in FIG. 10 are disassembled.
[0108] As illustrated in FIG. 15, the pair of second gearboxes 42, suction unit 50, fan
case 52, rubbish bin unit 60 (refer to FIG. 12), control unit 70, and the like are
attached to the upper surface side of lower unit 100. Brush driving motor 41 is accommodated
in one of the second gearboxes 42.
[0109] Lower unit 100 is provided with not only base 110 but also brush housing 170 that
is attached to an upper surface side of base 110. Brush housing 170 is provided with
duct 171 connected to rubbish bin unit 60 and forms a space in which main brush 43
is accommodated.
[0110] Fan case 52 is provided with, for example, front-side case element 52A and rear-side
case element 52B. Front-side case element 52A is placed on the front side of electric
fan 51. Rear-side case element 52B is placed on the rear side of electric fan 51.
Front-side case element 52A and rear-side case element 52B are combined with each
other to constitute fan case 52.
[0111] In addition, front-side case element 52A of fan case 52 is provided with suction
port 52C, discharge port 52D (refer to FIG. 19), louver 52E, and the like. Suction
port 52C is placed to face outlet 61B (refer to FIG. 17) of rubbish bin 61. Discharge
port 52D is placed to be open to the driving unit 30 side. Louver 52E is disposed
to cover suction port 52C.
[0112] FIG. 16 is a perspective view illustrating the bottom surface side of lower unit
100 in which some of the elements illustrated in FIG. 10 are disassembled.
[0113] As illustrated in FIG. 16, the pair of driving units 30, main brush 43, the pair
of side brushes 44, caster 90, and power supply unit 80 are attached to the bottom
surface side of lower unit 100. In addition, lower unit 100 is provided with brush
cover 180 that is attached to a bottom surface side of brush housing 170 and holding
frame 190 that is attached to power supply port 102. Holding frame 190 is fixed to
power supply port 102. In this manner, holding frame 190 holds power supply unit 80
in cooperation with base 110.
[0114] In addition, base 110 and brush cover 180 are provided with a removable structure
that allows the user to select at will a state where brush cover 180 is attached to
base 110 or a state where brush cover 180 is detached from base 110. Likewise, base
110 and holding frame 190 are provided with a removable structure that allows the
user to select at will a state where holding frame 190 is attached to base 110 or
a state where holding frame 190 is detached from base 110.
[0115] FIG. 20 is an enlarged perspective view in which lower unit 100 illustrated in FIG.
15 is viewed from the front side. FIG. 21 is an enlarged perspective view in which
lower unit 100 illustrated in FIG. 15 is viewed from the left side.
[0116] As illustrated in FIG. 20, base 110 is provided with a plurality of functional regions
in which respective corresponding elements are supported or accommodated. Examples
of the functional regions include driving part 120, cleaning part 130, rubbish bin
part 140, suction part 150, and power supply part 160.
[0117] Driving part 120, which is a functional region accommodating driving unit 30, is
provided with a plurality of functional parts. Examples of the functional parts of
driving part 120 include wheel house 121 and spring hook portion 122. Wheel house
121 is open to the bottom surface side of base 110 and accommodates driving unit 30.
Suspension spring 36 (refer to FIG. 21) that constitutes a suspension mechanism (described
later) is hooked in spring hook portion 122.
[0118] Wheel house 121 protrudes upward from the upper surface of base 110 and is formed
at a part of base 110 that is close to side surface 22 (refer to FIG. 19). Spring
hook portion 122 is formed at a part in the front of wheel house 121 and is disposed
to protrude substantially upward (including upward) from wheel house 121.
[0119] As illustrated in FIG. 21, derailing detection switch 75 is attached to an upper
portion of wheel house 121. At the time of derailing of driving unit 30 (refer to
FIG. 15) from the cleaning surface in the object region, derailing detection switch
75 is pressed by spring hook portion 32B in line with the derailing. In this manner,
derailing of autonomous travel-type cleaner 10 is detected.
[0120] Cleaning part 130 that is illustrated in FIG. 20 is a functional region supporting
cleaning unit 40 and is provided with a plurality of functional parts. Examples of
the functional parts of cleaning part 130 include a pair of shaft insertion portions
131, coupling units 132, brush housing 170, and brush cover 180. The pair of shaft
insertion portions 131 supports brush shaft 44A (refer to FIG. 22) of side brush 44.
The pair of shaft insertion portions 131 and the pair of second gearboxes 42 (refer
to FIG. 22) are placed in coupling units 132.
[0121] As illustrated in FIG. 17, both end parts of main brush 43 protrude from brush housing
170 to coupling unit 132 (refer to FIG. 20) once main brush 43 is placed in brush
housing 170.
[0122] Brush shaft 44A of side brush 44 illustrated in FIG. 15 is inserted into a hole that
is formed in shaft insertion portion 131 (refer to FIG. 20).
[0123] One of the second gearboxes 42 illustrated in FIG. 15 is placed in one of coupling
units 132 (refer to FIG. 20) and is connected to each of an end portion of main brush
43 and one of brush shafts 44A. The other second gearbox 42 is placed in the other
coupling unit 132 (refer to FIG. 20) and is connected to each of the end portion of
main brush 43 and the other brush shaft 44A.
[0124] Rubbish bin part 140 illustrated in FIG. 20 is a functional region that is formed
between cleaning part 130 and suction part 150 in the front-rear direction of body
20. Rubbish bin part 140 forms a space where rubbish bin receiver 250 (refer to FIG.
18) is placed.
[0125] Suction part 150 is a functional region supporting suction unit 50 and is formed
substantially at the center of base 110 of in the vicinity thereof. The pair of wheel
houses 121 is formed in both side portions of suction part 150.
[0126] Power supply part 160 is a functional region supporting power supply unit 80 and
has a recessed portion that is recessed to the upper surface side when viewed from
the bottom surface of base 110. Control unit 70 is mounted in an upper portion of
power supply part 160.
[0127] As illustrated in FIGS. 15 and 17, brush cover 180 protrudes downward from the bottom
surface of base 110 and is attached to base 110. Brush cover 180 is provided with
suction port 101 that causes main brush 43 to be exposed to the outside of body 20
and inclined surface 181 that is formed at a front part. Inclined surface 181 is formed
as a surface that is disposed such that the distance from the bottom surface of lower
unit 100 increases toward the rear from the front of body 20. In this manner, inclined
surface 181 comes into contact with a step that is present on the cleaning surface
in the object region and contributes to floating of the front of body 20.
[0128] Duct 171 of brush housing 170 is shaped to extend substantially in the vertical direction
of body 20. Duct 171 is provided with inlet 172 that accommodates an upper portion
of main brush 43 and outlet 173 that is connected to the space in rubbish bin unit
60. Outlet 173 is inserted into bottom portion opening 251 of rubbish bin receiver
250. Outlet 173 is formed to be smaller in passage area than inlet 172. In other words,
as illustrated in FIG. 15, the passage in duct 171 is formed to be slightly inclined
to the rear side of body 20 from inlet 172 toward outlet 173. The shape of this passage
contributes to guiding of the rubbish to a filter 62 (described later) side after
the suctioning of the rubbish into body 20 via suction port 101.
[0129] As illustrated in FIG. 18, rubbish bin unit 60 is provided with rubbish bin 61 that
has a rubbish accumulation space and filter 62 that is attached to rubbish bin 61.
Rubbish bin 61 is provided with inlet 61A that is connected to outlet 173 of duct
171, outlet 61B where filter 62 is placed, and bottom portion 61C with a set dimension
smaller than that of an upper portion.
[0130] As illustrated in FIG. 19, filter 62 is placed to face suction unit 50 in rear opening
252 of rubbish bin receiver 250 and substantially over the entire width direction
of rubbish bin 61.
[0131] As illustrated in FIG. 17, bottom portion 61C of rubbish bin 61 is placed between
the rear side of duct 171 and the front side of fan case 52. This placement contributes
to setting of the position of bottom portion 61C in the height direction of body 20
at a lower position and lowering of the center of gravity of rubbish bin 61.
[0132] As illustrated in FIG. 18, suction unit 50 is placed at an angle to base 110. In
other words, suction unit 50 with respect to base 110 is placed in an inclined posture
in which a bottom portion of suction unit 50 is positioned relatively on the front
side of body 20 and a top portion of suction unit 50 is positioned relatively on the
rear side of body 20. This placement contributes to setting of a small height for
body 20.
[0133] As illustrated in FIG. 19, fan case 52 has discharge port 52D in one (for example,
the left) side portion with the other side portion closed. This configuration contributes
to stabilization of the flow of the air that is discharged from electric fan 51.
[0134] FIGS. 21, 22, and 23 are perspective views showing an internal structure of lower
unit 100 viewed from the left side, the front side, and the right side.
[0135] As illustrated in FIGS. 21, 22, and 23, the pair of second gearboxes 42, main brush
43, the pair of side brushes 44, suction unit 50, control unit 70, and power supply
unit 80 are attached to lower unit 100. Upper unit 200 illustrated in FIGS. 24 and
25 constitutes body 20 illustrated in FIG. 10 by being attached to lower unit 100.
[0136] FIG. 16 is an exploded perspective view of driving unit 30 that is separated from
lower unit 100.
[0137] Driving unit 30, which is a functional block causing autonomous travel-type cleaner
10 to move forward, move rearward, and turn, is provided with a plurality of elements.
As illustrated in FIG. 16, driving unit 30 is provided with tire 34 in addition to
above-described traveling motor 31, housing 32, wheel 33, and the like. Tire 34 is
attached around wheel 33 and has a block-shaped tread pattern.
[0138] In addition, driving unit 30 is provided with supporting shaft 35 and the suspension
mechanism.
[0139] Supporting shaft 35 has the axis of rotation of housing 32. Suspension spring 36
(refer to FIG. 21) and the like constitute the suspension mechanism and the suspension
mechanism absorbs an impact that is applied to wheel 33.
[0140] Housing 32 is provided with motor accommodating portion 32A, spring hook portion
32B, and bearing portion 32C. Motor accommodating portion 32A accommodates traveling
motor 31. One end portion of suspension spring 36 is hooked in spring hook portion
32B. Supporting shaft 35 is press-fitted into bearing portion 32C. Wheel 33 is supported
by housing 32 to be capable of rotating with respect to housing 32.
[0141] One end portion of supporting shaft 35 is press-fitted into bearing portion 32C and
the other end portion of supporting shaft 35 is inserted into a bearing portion formed
in driving part 120. Because of the coupling of these elements, housing 32 and supporting
shaft 35 can rotate with respect to driving part 120 about the axis of rotation of
supporting shaft 35.
[0142] As illustrated in FIG. 21, the other end portion of suspension spring 36 is hooked
in spring hook portion 122 of driving part 120. Suspension spring 36 gives housing
32 a reaction force that acts such that tire 34 (refer to FIG. 16) is pressed against
the cleaning surface in the object region. In this manner, a state where tire 34 is
grounded on the cleaning surface is maintained.
[0143] Once a pressing force toward the body 20 side is applied to tire 34 illustrated in
FIG. 16 from the cleaning surface, housing 32 rotates from the cleaning surface side
to the body 20 side about the center line of supporting shaft 35 while compressing
suspension spring 36 (refer to FIG. 21). In this manner, a force that acts on tire
34 depending on a situation of the surface to be cleaned is absorbed by suspension
spring 36.
[0144] In the case of derailing of wheel 33, housing 32 rotates with respect to driving
part 120 because of the reaction force of suspension spring 36. As a result of the
rotation of housing 32, spring hook portion 32B presses derailing detection switch
75. Then, derailing detection switch 75 illustrated in FIG. 21 is turned ON and a
signal is output to control unit 70. Control unit 70 stops the traveling of autonomous
travel-type cleaner 10 based on the output signal. As a result, an unnatural operation
of autonomous travel-type cleaner 10 such as an idle operation can be prevented.
[0145] In addition, autonomous travel-type cleaner 10 is provided with, for example, the
plurality of floor surface detection sensor 74, obstacle detection sensor 71, distance
measurement sensor 72, and collision detection sensor 73 described above as illustrated
in FIGS. 21 to 24. Three floor surface detection sensors 74 that are placed on the
front side of body 20 with respect to the pair of driving units 30, two floor surface
detection sensors 74 that are placed on the rear side of body 20 with respect to the
pair of driving units 30, and the like constitute floor surface detection sensor 74.
[0146] Front-side floor surface detection sensor 74 is attached to three places such as
the center in the front of base 110, right front top portion 23 of base 110, and left
front top portion 23 of base 110. As illustrated in FIG. 19, rear-side floor surface
detection sensor 74 is attached to two places, one being in the vicinity of right
side surface 22 of base 110 and the other being in the vicinity of left side surface
22 of base 110.
[0147] As illustrated in FIG. 13, base 110 is provided with a plurality of sensor windows
112 responding to the plurality of floor surface detection sensors 74. Sensor window
112 includes three sensor windows 112 responding to floor surface detection sensors
74 at the center in the front, on the right side in the front, and on the left side
in the front described above. In addition, sensor window 112 includes two sensor windows
112 responding to floor surface detection sensors 74 on the right rear side and the
left rear side.
[0148] Obstacle detection sensor 71 is provided with transmitting unit 71A outputting ultrasonic
waves and receiving unit 71B receiving reflected ultrasonic waves. Each of transmitting
unit 71A and receiving unit 71B is attached to a back surface of bumper 230 (inner
surface side of body 20).
[0149] Upper unit 200 is provided with a plurality of windows in addition to cover 210,
lid 220, and bumper 230. The plurality of windows include, for example, transmission
window 232, reception window 233, and a pair of distance measurement windows 234 illustrated
in FIG. 10.
[0150] As illustrated in FIG. 19, transmission window 232 is formed in bumper 230 in response
to transmitting unit 71A of obstacle detection sensor 71. Accordingly, the ultrasonic
waves output from transmitting unit 71A are guided to the outside by transmission
window 232 and emitted to the outside.
[0151] Reception window 233 is formed in bumper 230 in response to receiving unit 71B of
obstacle detection sensor 71. Accordingly, the ultrasonic waves output from transmitting
unit 71A and reflected from the surrounding object are guided to receiving unit 71B
by reception window 233. As a result, the surrounding object is detected.
[0152] Distance measurement windows 234 are formed in bumper 230 in response to respective
distance measurement sensors 72. As shown by the dashed-line arrows in FIG. 19, light
output from distance measurement sensors 72 is emitted obliquely forward from body
20 after passing through distance measurement windows 234.
[0153] Autonomous travel-type cleaner 10 according to this embodiment has the configuration
described above.
[0154] Hereinafter, a configuration of an electrical system of the autonomous travel-type
cleaner according to this embodiment will be described with reference to FIG. 26.
[0155] FIG. 26 is a functional block diagram illustrating the configuration of the electrical
system in the autonomous travel-type cleaner illustrated in FIG. 10.
[0156] As illustrated in FIG. 26, control unit 70 is electrically connected to obstacle
detection sensor 71, distance measurement sensor 72, collision detection sensor 73,
floor surface detection sensor 74, derailing detection switch 75, rubbish detection
sensor 300, and the like. In addition, control unit 70 is electrically connected to
light receiving unit 212, operation button 242, the pair of traveling motors 31, brush
driving motor 41, electric fan 51, and the like. As illustrated in FIG. 17, rubbish
detection sensor 300 is placed in the passage in duct 171.
[0157] Hereafter, the operation of autonomous travel-type cleaner 10 according to this embodiment
will be described in detail.
[0158] Firstly, the user turns ON the power supply of autonomous travel-type cleaner 10
by operating operation button 242. Control unit 70 initiates operations of traveling
motor 31, brush driving motor 41, and electric fan 51 based on the power supply ON
signal.
[0159] Driving of electric fan 51 causes the air in rubbish bin 61 illustrated in FIG. 17
to be suctioned by electric fan 51. At the same time, the air in electric fan 51 is
discharged around electric fan 51. Then, the air on the bottom surface side of base
110 is suctioned into rubbish bin 61 via suction port 101 and duct 171. Then, the
air in fan case 52 is exhausted to the outside from body 20 via the plurality of exhaust
ports 211 illustrated in FIG. 10. In other words, the air in a bottom portion of base
110 illustrated in FIG. 17 is discharged to the outside after flowing through suction
port 101, duct 171, rubbish bin 61, filter 62, electric fan 51, fan case 52, the space
surrounding fan case 52 in body 20, and exhaust port 211 in this order.
[0160] Then, control unit 70 sets a traveling route of autonomous travel-type cleaner 10
based on the detection signals input from obstacle detection sensor 71, distance measurement
sensor 72, collision detection sensor 73, and floor surface detection sensor 74.
[0161] Then, control unit 70 causes autonomous travel-type cleaner 10 to travel in accordance
with the set traveling route.
[0162] Then, control unit 70 performs the following operation and executes cleaning, similarly
to autonomous travel-type cleaner 10 according to Embodiment 1, when corner R3 in
the object region is included in the traveling route. In other words, as described
with reference to FIGS. 5 to 7, control unit 70 causes corner R3 to be cleaned by
causing autonomous travel-type cleaner 10 to travel and turn. In this manner, the
rubbish that is present at corner R3 in the object region can be efficiently and reliably
suctioned so that the cleaning can be performed.
[0163] In other words, autonomous travel-type cleaner 10 according to this embodiment achieves,
for example, the following effects in addition to the effects of (1) to (10) achieved
by autonomous travel-type cleaner 10 according to Embodiment 2.
(11) Autonomous travel-type cleaner 10 according to this embodiment is provided with
R-shaped right front top portion 23, left front top portion 23, and rear top portion
24. According to this configuration, body 20 is capable of softly coming into contact
with the surrounding object when body 20 comes into contact with the surrounding object
and turns. Accordingly, the occurrence of damage to the surrounding object, damage
to autonomous travel-type cleaner 10, and the like can be forestalled.
(Embodiment 4)
[0164] Hereinafter, a control operation of the autonomous travel-type cleaner according
to Embodiment 4 will be described with reference to FIG. 27. The configuration of
autonomous travel-type cleaner 10 according to Embodiment 4 is substantially identical
to the configuration of autonomous travel-type cleaner 10 according to Embodiment
3. Therefore, elements in the description of Embodiment 4 that have the same reference
numerals as in Embodiment 3 have functions identical or similar to those of the corresponding
elements of Embodiment 3.
[0165] FIG. 27 is a flowchart related to a first corner cleaning control of the autonomous
travel-type cleaner according to Embodiment 4.
[0166] As illustrated in FIG. 27, control unit 70 executes the first corner cleaning control
as follows.
[0167] Firstly, control unit 70 drives rubbish detection sensor 300 (Step S1). The driving
of rubbish detection sensor 300 is initiated at a point in time when, for example,
autonomous travel-type cleaner 10 initiates cleaning or a movement.
[0168] Then, control unit 70 determines whether or not a corner has been detected in the
object region by a corner detection unit (Step S2). The corner corresponds to, for
example, corner R3 that is illustrated in FIGS. 5 to 7.
[0169] In a case where it is determined that no corner has been detected (NO in Step S2),
the processing of Step S2 is repeatedly executed. The first corner cleaning control
may be terminated in the case where it is determined that no corner has been detected.
[0170] In a case where it is determined that the corner has been detected (YES in Step S2),
the processing proceeds to Step S3 and the corner cleaning is initiated.
[0171] The above-described determination is executed by the use of the corner detection
unit such as obstacle detection sensor 71 and distance measurement sensor 72. Specifically,
control unit 70 detects the presence or absence of a wall in front with obstacle detection
sensor 71. At the same time, the presence or absence of a wall is detected by right
distance measurement sensor 72 or left distance measurement sensor 72. In a case where
the wall is detected to be present, control unit 70 determines that autonomous travel-type
cleaner 10 has approached the corner.
[0172] More specifically, obstacle detection sensor 71 emits the ultrasonic waves to a space
around the front from transmission window 232. If the object is present around the
front, the ultrasonic wave reflected from the object will enter reception window 233.
The ultrasonic wave incident upon reception window 233 is received by receiving unit
71B of obstacle detection sensor 71. In this manner, control unit 70 determines the
presence or absence of the wall in front, which is an example of the obstacle, based
on the received result.
[0173] At the same time, distance measurement sensor 72 emits the light such as the infrared
ray to the outside through distance measurement window 234. If the object such as
the wall is present therearound at this time, the light will be reflected by the wall.
The reflected light is received by distance measurement sensor 72. In this manner,
control unit 70 determines whether or not the wall is present nearby by using right
distance measurement sensor 72 or left distance measurement sensor 72.
[0174] As described above, control unit 70 determines whether or not the corner has been
detected based on the detection result of the corner detection unit.
[0175] Then, control unit 70 initiates the corner cleaning by autonomous travel-type cleaner
10 (Step S3). At this time, an operation for swinging body 20 to the left and right
is executed such that body 20 performs a reciprocating motion in a state where, for
example, autonomous travel-type cleaner 10 is stationary without moving forward or
rearward. In this manner, the corner is cleaned.
[0176] In other words, control unit 70 controls, for example, right traveling motor 31 and
left traveling motor 31. Specifically, control unit 70 moves right tire 34 forward
and retracts left tire 34. Then, control unit 70 moves left tire 34 forward and retracts
right tire 34. Then, this operation is repeated. In this manner, the operation for
swinging body 20 of autonomous travel-type cleaner 10 to the left and right is realized
and the corner is cleaned.
[0177] At this time in Step S3, the presence or absence of the rubbish at the corner needs
to be detected for the first time. Therefore, the operation for swinging body 20 to
the left and right may be performed, for example, once, twice, or three times. The
expression that the operation is performed once means a series of operation starting
in the state where body 20 is stationary and ending in a state where body 20 is put
back into the stationary state after hitting one wall and then hitting the other wall.
The operation being performed once may also be body 20 hitting the other wall from
one wall and then hitting one wall again. In any of the above, body 20 returning to
a predetermined position after starting at the predetermined position is regarded
as one reciprocating motion. Therefore, it is a matter of course that the reciprocating
motion may be any operation in which the state described above is realized and is
not limited to the definition described above.
[0178] Then, control unit 70 determines the absence or presence of rubbish detection by
rubbish detection sensor 300 (Step S4). The processing proceeds to Step S6 in a case
where it is determined that the rubbish detection is absent (YES in Step S4).
[0179] The processing proceeds to Step S5 in a case where it is determined that the rubbish
detection is present (NO in Step S4). Control unit 70 determines the presence or absence
of the rubbish by executing Step S4 as described above during the execution of Step
S3.
[0180] Then, control unit 70 continues to perform the corner cleaning pertaining to Step
S3 (Step S5) and causes the processing to return to Step S4.
[0181] Then, control unit 70 stops the corner cleaning once the rubbish disappears (Step
S6). In this manner, control unit 70 terminates the first corner cleaning control
of autonomous travel-type cleaner 10.
[0182] At this time, control unit 70 may cause the processing to return to Step S2 after
the termination of Step S6 and may execute a processing for detecting a next corner
until cleaning termination.
[0183] In other words, during the first corner cleaning control according to Embodiment
4, the cleaning is performed in line with the swinging of body 20 of autonomous travel-type
cleaner 10 to the left and right until rubbish detection sensor 300 detects no rubbish,
that is, until the rubbish at the corner disappears. Accordingly, the cleaning can
be automatically performed until the removal of the rubbish accumulated at the corner.
(Embodiment 5)
[0184] Hereinafter, a control operation of the autonomous travel-type cleaner according
to Embodiment 5 will be described with reference to FIG. 28. The configuration of
autonomous travel-type cleaner 10 according to Embodiment 5 is substantially identical
to the configuration of autonomous travel-type cleaner 10 according to Embodiment
3. Therefore, elements in the description of Embodiment 5 that have the same reference
numerals as in Embodiment 3 have functions identical or similar to those of the corresponding
elements of Embodiment 3.
[0185] FIG. 28 is a flowchart that is related to a second corner cleaning control which
is executed by autonomous travel-type cleaner 10 according to Embodiment 5.
[0186] As illustrated in FIG. 28, control unit 70 executes the following second corner cleaning
control instead of the first corner cleaning control described in Embodiment 4.
[0187] Firstly, control unit 70 drives rubbish detection sensor 300 (Step S10). The driving
of rubbish detection sensor 300 is initiated at a point in time when, for example,
autonomous travel-type cleaner 10 initiates cleaning or a movement.
[0188] Then, control unit 70 determines whether or not a corner has been detected in the
object region by the corner detection unit (Step S11). In a case where it is determined
that no corner has been detected (NO in Step S11), the processing of Step S11 is repeatedly
executed. The second corner cleaning control may be terminated in the case where it
is determined that no corner has been detected.
[0189] In a case where it is determined that the corner has been detected (YES in Step S11),
the processing proceeds to Step S12. In Step S11, control unit 70 executes substantially
the same processing as Step S2 that is illustrated in FIG. 27.
[0190] Then, control unit 70 sets the number of cleanings to, for example, five times, the
number of cleanings being the number of the reciprocating motions for swinging body
20 to the left and right, and stores the set information in the storage unit (not
illustrated) of control unit 70 (Step S12). The number of cleanings is not limited
to five times, and any number of cleanings may be set by a designer or the user. One
cleaning is equivalent to one reciprocating operation to the left and right.
[0191] Then, control unit 70 initiates the corner cleaning by autonomous travel-type cleaner
10 (Step S13). At this time, the operation for swinging body 20 to the left and right
is executed such that body 20 performs the reciprocating motion in the state where,
for example, autonomous travel-type cleaner 10 is stationary without moving forward
or rearward. In this manner, the corner is cleaned. In Step S13, control unit 70 executes
substantially the same processing as Step S3 that is illustrated in FIG. 27.
[0192] Then, control unit 70 executes the corner cleaning once (Step S14), the corner cleaning
being the operation for swinging body 20 to the left and right.
[0193] Then, control unit 70 subtracts one (Step S15) from the number of cleanings stored
in the storage unit in Step S12.
[0194] Then, control unit 70 determines the absence or presence of rubbish detection by
rubbish detection sensor 300 (Step S16). The processing proceeds to Step S18 in a
case where it is determined that the rubbish detection is absent (YES in Step S16).
[0195] The processing proceeds to Step S17 in a case where it is determined that the rubbish
detection is present (NO in Step S16).
[0196] Then, control unit 70 determines whether or not the number of cleanings stored in
the storage unit is zero (Step S17). The processing returns to Step S14 in a case
where the number of cleanings is not zero (NO in Step S17). Then, the processing following
Step S14 is similarly executed.
[0197] The processing proceeds to Step S18 in a case where the number of cleanings is zero
(YES in Step S17).
[0198] Then, control unit 70 stops the corner cleaning initiated in Step S13 (Step S18)
in a case where the rubbish is absent or has disappeared and once a predetermined
number of cleanings have terminated. In this manner, control unit 70 terminates the
second corner cleaning control of autonomous travel-type cleaner 10.
[0199] At this time, control unit 70 may cause the processing to return to Step S11 after
the termination of Step S18 and may execute a processing for detecting a next corner
until cleaning termination.
[0200] In other words, during the second corner cleaning control according to Embodiment
5, the cleaning is performed by body 20 being swung to the left and right a predetermined
number of times in a case where control unit 70 determines that the corner has been
detected.
[0201] Then, once rubbish detection sensor 300 detects no rubbish, the corner cleaning is
terminated even before the predetermined number of the swings of body 20 to the left
and right (corresponding to YES in Step S16).
[0202] Even in a case where rubbish detection sensor 300 is detecting the rubbish, the corner
cleaning is terminated insofar as the operation for swinging body 20 to the left and
right the predetermined number of times is terminated (corresponding to YES in Step
S17).
[0203] In this manner, the corner cleaning is stopped immediately after the removal of the
rubbish in a case where a small amount of the rubbish is at the corner. In a case
where a large amount of the rubbish is at the corner, the corner cleaning is terminated,
despite the rubbish detection by rubbish detection sensor 300, once body 20 is swung
to the left and right the predetermined number of times.
[0204] In other words, the second corner cleaning control according to Embodiment 5 is to
clean a next place with cleaning performed not thoroughly but only to some extent
in the case where the amount of the rubbish at the corner is large. Therefore, the
second corner cleaning control according to Embodiment 5 is effective as a control
operation for a case where the user puts the length of time required for the cleaning
before thorough corner cleaning.
(Embodiment 6)
[0205] Hereinafter, a control operation of the autonomous travel-type cleaner according
to Embodiment 6 will be described with reference to FIG. 29. The configuration of
autonomous travel-type cleaner 10 according to Embodiment 6 is substantially identical
to the configuration of autonomous travel-type cleaner 10 according to Embodiment
3. Therefore, elements in the description of Embodiment 6 that have the same reference
numerals as in Embodiment 3 have functions identical or similar to those of the corresponding
elements of Embodiment 3.
[0206] FIG. 29 is a flowchart that is related to a third corner cleaning control which is
executed by autonomous travel-type cleaner 10 according to Embodiment 6.
[0207] As illustrated in FIG. 29, control unit 70 executes the following third corner cleaning
control instead of the first corner cleaning control described in Embodiment 4 and
the second corner cleaning control described in Embodiment 5.
[0208] Firstly, control unit 70 drives rubbish detection sensor 300 (Step S20). The driving
of rubbish detection sensor 300 is initiated at a point in time when, for example,
autonomous travel-type cleaner 10 initiates cleaning or a movement.
[0209] Then, control unit 70 determines whether or not a corner has been detected in the
object region by the corner detection unit (Step S21). In a case where it is determined
that no corner has been detected (NO in Step S21), the processing of Step S21 is repeatedly
executed. The third corner cleaning control may be terminated in the case where it
is determined that no corner has been detected.
[0210] In a case where it is determined that the corner has been detected (YES in Step S21),
the processing proceeds to Step S22. In Step S21, control unit 70 executes substantially
the same processing as Step S2 that is illustrated in FIG. 27.
[0211] Then, control unit 70 initiates the corner cleaning by autonomous travel-type cleaner
10 (Step S22). At this time, the operation for swinging body 20 to the left and right
is executed such that body 20 performs the reciprocating motion in the state where,
for example, autonomous travel-type cleaner 10 is stationary without moving forward
or rearward. In this manner, the corner is cleaned. In Step S22, control unit 70 executes
substantially the same processing as Step S3 that is illustrated in FIG. 27.
[0212] Then, control unit 70 determines the absence or presence of rubbish detection by
rubbish detection sensor 300 (Step S23). The processing proceeds to Step S32 in a
case where it is determined that the rubbish detection is absent (YES in Step S23).
[0213] The processing proceeds to Step S24 in a case where it is determined that the rubbish
detection is present (NO in Step S23).
[0214] Then, control unit 70 determines whether or not the amount of the rubbish detected
by rubbish detection sensor 300 is large (Step S24). The processing proceeds to Step
S25 in a case where the amount of the rubbish is large (YES in Step S24). The processing
proceeds to Step S26 in a case where the amount of the rubbish is not large (NO in
Step S24).
[0215] In the third corner cleaning control, determination references of large, medium,
and small are set in advance depending on the amount of the rubbish detected per unit
time or the like by rubbish detection sensor 300. However, the present invention is
not limited thereto. For example, the amounts of the rubbish corresponding to large,
medium, and small may be appropriately changed by the designer or the user.
[0216] Then, control unit 70 sets the number of cleanings to, for example, eight times,
the number of cleanings being the number of the reciprocating motions for swinging
body 20 to the left and right, in the case of a large rubbish amount. Then, control
unit 70 stores the set information in the storage unit (not illustrated) of control
unit 70 (Step S25). The number of cleanings is not limited to eight times, and any
number of cleanings may be set by the designer or the user.
[0217] In a case where the amount of the rubbish is not large, control unit 70 determines
whether or not the amount of the rubbish detected by rubbish detection sensor 300
is medium (Step S26). The processing proceeds to Step S27 in the case of a medium
rubbish amount (YES in Step S26). The processing proceeds to Step S28 in a case where
the amount of the rubbish is not medium (NO in Step S26). In the case where the amount
of the rubbish is not medium, it is determined that the amount of the rubbish is small.
[0218] Then, control unit 70 sets the number of cleanings to, for example, five times in
the case of the medium rubbish amount. Then, control unit 70 stores the set information
in the storage unit of control unit 70 (Step S27). The number of cleanings is not
limited to five times, and any number of cleanings may be set by the designer or the
user.
[0219] Then, control unit 70 sets the number of cleanings to, for example, twice in the
case where the amount of the rubbish is not medium. Then, control unit 70 stores the
set information in the storage unit of control unit 70 (Step S28). The number of cleanings
is not limited to twice, and any number of cleanings may be set by the designer or
the user.
[0220] Control unit 70 sets the number of cleanings in accordance with the large, medium,
or small rubbish amount through the steps described above. Then, the processing proceeds
to Step S29.
[0221] Then, the processing proceeds to Step S30 after control unit 70 executes the corner
cleaning once (Step S29), the corner cleaning being the operation for swinging body
20 to the left and right. Then, the processing proceeds to Step S31 after control
unit 70 subtracts one (Step S30) from the number of cleanings stored in the storage
unit in Step S25, Step S27, or Step S28.
[0222] Then, control unit 70 determines whether or not the number of cleanings stored in
the storage unit in Step S25, Step S27, or Step S28 is zero (Step S31). The processing
returns to Step S29 in a case where the number of cleanings is not zero (NO in Step
S31).
[0223] The processing proceeds to Step S32 in a case where the number of cleanings is zero
(YES in Step S31).
[0224] Then, control unit 70 stops the corner cleaning initiated in Step S22 (Step S32)
at the time of no rubbish detection or termination of the cleanings with the number
thereof set in accordance with the amount of the rubbish. In this manner, control
unit 70 terminates the third corner cleaning control of autonomous travel-type cleaner
10.
[0225] At this time, control unit 70 may cause the processing to return to Step S21 after
the termination of Step S32 and may execute a processing for detecting a next corner
until cleaning termination.
[0226] In other words, in the third corner cleaning control according to Embodiment 6, the
number of the swings of body 20 to the left and right is set in accordance with the
amount of the rubbish detected by rubbish detection sensor 300 during the corner cleaning.
[0227] Then, the control is performed such that the corner is cleaned by the set number
of the swings of body 20 to the left and right being performed.
[0228] In this manner, an operation for meticulously cleaning the corner in the event of
a large rubbish amount and for simply cleaning the corner in the event of a small
rubbish amount can be realized.
(Embodiment 7)
[0229] Hereinafter, a control operation of the autonomous travel-type cleaner according
to Embodiment 7 will be described with reference to FIG. 30. The configuration of
autonomous travel-type cleaner 10 according to Embodiment 7 is substantially identical
to the configuration of autonomous travel-type cleaner 10 according to Embodiment
3. Therefore, elements in the description of Embodiment 7 that have the same reference
numerals as in Embodiment 3 have functions identical or similar to those of the corresponding
elements of Embodiment 3.
[0230] FIG. 30 is a flowchart that is related to a fourth corner cleaning control which
is executed by autonomous travel-type cleaner 10 according to Embodiment 7.
[0231] As illustrated in FIG. 30, control unit 70 executes the following fourth corner cleaning
control instead of the first to third corner cleaning controls shown in Embodiments
4 to 6.
[0232] Firstly, control unit 70 initiates cleaning in the object region (Step S40).
[0233] Then, control unit 70 determines whether or not predetermined conditions have been
satisfied (Step S41). A first predetermined condition is, for example, a case where
a state where a value detected by distance measurement sensor 72 is equal to or less
than a predetermined value continues for at least a predetermined period of time.
A second predetermined condition is a case where the obstacle has been detected by
obstacle detection sensor 71. In a case where the first condition and the second condition
have been satisfied, control unit 70 determines that the predetermined conditions
have been satisfied and executes the following control.
[0234] In a case where it is determined that the predetermined conditions have not been
satisfied (NO in Step S41), the processing of Step S41 is repeatedly executed.
[0235] In a case where it is determined that the predetermined conditions have been satisfied
(YES in Step S41), the processing proceeds to Step S42. The satisfaction of the predetermined
conditions implies that body 20 has moved to the corner in the object region.
[0236] Then, control unit 70 determines whether or not the obstacle has been detected by
obstacle detection sensor 71 (Step S42).
[0237] The processing proceeds to Step S43 in a case where it is determined that the obstacle
has been detected (YES in Step S42).
[0238] In a case where it is determined that the obstacle has not been detected (NO in Step
S42), the processing proceeds to Step S44. A case where, for example, the detected
obstacle has been removed after the detection of the obstacle in Step S41 is conceivable
as the case of no obstacle detection in Step S42.
[0239] In the case of obstacle detection, control unit 70 initiates a first traveling of
body 20 (Step S43). The first traveling is, for example, an operation in which one
of tires 34 and the other tire 34 rotate in opposite directions. This is equivalent
to traveling for turning body 20. In this case, body 20 turns at the corner, and thus
the corner becomes likely to be cleaned. In Step S43, the first traveling operation
of body 20 continues to be executed even in the event of detection of a collision
between body 20 and the object by collision detection sensor 73.
[0240] In the case of no obstacle detection, control unit 70 initiates a second traveling
of body 20 (Step S44). The second traveling is, for example, an operation in which
one of tires 34 and the other tire 34 rotate in the same direction. This is equivalent
to traveling for causing body 20 to move forward or retract.
[0241] Once a predetermined traveling operation of body 20 terminates, control unit 70 stops
the cleaning in the object region (Step S45). In this manner, control unit 70 terminates
the fourth corner cleaning control of autonomous travel-type cleaner 10. The fourth
corner cleaning control may be repeatedly executed until the cleaning in the object
region is completed.
[0242] With the control operation of autonomous travel-type cleaner 10 according to Embodiment
7, the following effects are achieved in addition to the effects of (1) to (11) achieved
by autonomous travel-type cleaner 10 according to Embodiment 3.
(12) Autonomous travel-type cleaner 10 according to this embodiment detects the corner
before the contact between body 20 and the obstacle by using the corner detection
unit including obstacle detection sensor 71 and distance measurement sensor 72. Therefore,
body 20 and the obstacle are unlikely to come into contact with each other in a case
where the corner is cleaned by body 20 being turned.
(13) In a case where, for example, the obstacle has been removed after the detection
of the obstacle by obstacle detection sensor 71 of autonomous travel-type cleaner
10 according to this embodiment, body 20 is moved forward or retracted without detouring
around a region where the obstacle was placed. Therefore, the region where the obstacle
was placed can also be cleaned.
(14) In the case of turning of body 20 of autonomous travel-type cleaner 10 according
to this embodiment, body 20 continues to turn even in the event of a collision between
body 20 and the object. Therefore, the corner can be sufficiently cleaned compared
to a case where the cleaning is stopped once body 20 and the object come into contact
with each other.
(Embodiment 8)
[0243] Hereinafter, a control operation of the autonomous travel-type cleaner according
to Embodiment 8 will be described with reference to FIG. 31. The configuration of
autonomous travel-type cleaner 10 according to Embodiment 8 is substantially identical
to the configuration of autonomous travel-type cleaner 10 according to Embodiment
3. Therefore, elements in the description of Embodiment 8 that have the same reference
numerals as in Embodiment 3 have functions identical or similar to those of the corresponding
elements of Embodiment 3.
[0244] FIG. 31 is a flowchart that is related to a first escape control which is executed
by autonomous travel-type cleaner 10 according to Embodiment 8.
[0245] As illustrated in FIG. 31, control unit 70 executes the first escape control as follows.
[0246] Firstly, control unit 70 initiates cleaning in the object region (Step S50).
[0247] Then, control unit 70 determines whether or not the first condition has been satisfied
(Step S51). The first condition is a condition that is substantially the same as the
predetermined condition pertaining to Step S41 and described with reference to FIG.
30 in Embodiment 7.
[0248] The processing of Step S51 is repeatedly executed in a case where it is determined
that the first condition has not been satisfied (NO in Step S51).
[0249] The processing proceeds to Step S52 in a case where it is determined that the first
condition has been satisfied (YES in Step S51). The satisfaction of the first condition
implies that body 20 has moved to the corner in the object region.
[0250] Then, control unit 70 initiates the first traveling of body 20 (Step S52). The first
traveling is a traveling that is substantially the same as the first traveling pertaining
to Step S43 and described with reference to FIG. 30 in Embodiment 7. In this case,
the corner becomes likely to be cleaned by body 20 turning at the corner.
[0251] Then, control unit 70 determines whether or not the second condition has been satisfied
(Step S53). The second condition is, for example, a case where no collision between
body 20 and the object is detected by collision detection sensor 73 in a state where
no obstacle is detected by obstacle detection sensor 71. Then, control unit 70 executes
the following control based on the second condition determination result.
[0252] The processing proceeds to Step S54 in a case where it is determined that the second
condition has not been satisfied (NO in Step S53). The non-satisfaction of the second
condition implies, for example, body 20 being stuck at the corner.
[0253] The processing proceeds to Step S55 in a case where it is determined that the second
condition has been satisfied (YES in Step S53).
[0254] In the case of the non-satisfaction of the second condition, control unit 70 causes
body 20 to initiate a repetitive motion (Step S54). In the repetitive motion, one
of tires 34 that is, for example, on the side which is close to the part of contact
between body 20 and the object is stopped and the other tire 34 is retracted first.
Then, the other tire 34 is stopped and one tire 34 is moved forward in the case of
a further collision of body 20 with another part of the object or another object resulting
from the retraction of the other tire 34. Furthermore, one tire 34 is stopped and
the other tire 34 is retracted in the case of a further collision of body 20 with
another part of the object or another object resulting from the forward movement of
one tire 34. In other words, body 20 can be caused to execute the repetitive motion
by the operation described above being repeated.
[0255] During the repetitive motion of body 20 in Step S54, control unit 70 executes, for
example, the processing of Step S53 after the elapse of a predetermined period of
time (such as two seconds) following the start of the operation for stopping one tire
34 and retracting the other tire 34. Then, body 20 continues to perform the repetitive
motion in Step S54 until the second condition is satisfied in Step S53.
[0256] Then, control unit 70 initiates the second traveling of body 20 (Step S55) in the
case of the satisfaction of the second condition. The second traveling is a traveling
that is substantially the same as the second traveling pertaining to Step S44 and
described with reference to FIG. 30 in Embodiment 7. Specifically, the second traveling
is a traveling for moving body 20 forward. In this manner, body 20 stuck at the corner
is allowed to escape from the corner.
[0257] Control unit 70 stops the cleaning in the object region (Step S56) once body 20 escapes
from the corner. In this manner, control unit 70 terminates the first escape control
of autonomous travel-type cleaner 10. The first escape control may be repeatedly executed
until the cleaning in the object region is completed.
[0258] With the control operation of autonomous travel-type cleaner 10 according to Embodiment
8, the following effect is achieved in addition to the effects of (1) to (11) achieved
by autonomous travel-type cleaner 10 according to Embodiment 3.
(15) Autonomous travel-type cleaner 10 according to this embodiment executes the first
escape control in a case where body 20 is stuck at the corner during the cleaning
of the corner. At this time, the angle (relative position) of body 20 with respect
to the corner gradually changes because of the execution of the repetitive motion
of body 20. Therefore, body 20 can change its direction and easily escape from the
corner despite body 20 being stuck at the corner.
(Embodiment 9)
[0259] Hereinafter, a control operation of the autonomous travel-type cleaner according
to Embodiment 9 will be described with reference to FIG. 32. The configuration of
autonomous travel-type cleaner 10 according to Embodiment 9 is substantially identical
to the configuration of autonomous travel-type cleaner 10 according to Embodiment
3. Therefore, elements in the description of Embodiment 9 that have the same reference
numerals as in Embodiment 3 have functions identical or similar to those of the corresponding
elements of Embodiment 3.
[0260] FIG. 32 is a flowchart that is related to a second escape control which is executed
by autonomous travel-type cleaner 10 according to Embodiment 9.
[0261] As illustrated in FIG. 32, control unit 70 executes the following second escape control
instead of the first escape control shown in Embodiment 8.
[0262] Firstly, control unit 70 initiates cleaning in the object region (Step S60).
[0263] Then, control unit 70 determines whether or not a movement range of body 20 at a
predetermined time is less than a predetermined value (Step S61). The movement range
of body 20 is calculated based on, for example, the rotation speed of wheel 33 that
is detected by a rotation sensor (not illustrated) attached to wheel 33 and the traveling
direction of body 20 that is detected by a gyro sensor (not illustrated) placed in
body 20.
[0264] The processing of Step S61 is repeatedly executed in a case where it is determined
that the movement range of body 20 is not less than the predetermined value (NO in
Step S61).
[0265] The processing proceeds to Step S62 in a case where it is determined that the movement
range of body 20 is less than the predetermined value (YES in Step S61). The case
where the movement range of body 20 at the predetermined time is less than the predetermined
value implies that body 20 has moved to the corner in the object region.
[0266] Then, control unit 70 initiates the first traveling of body 20 (Step S62). The first
traveling is a traveling that is substantially the same as the first traveling pertaining
to Step S43 and described with reference to FIG. 30 in Embodiment 7. In this case,
the corner becomes likely to be cleaned by body 20 turning at the corner.
[0267] Then, control unit 70 determines whether or not the predetermined condition has been
satisfied (Step S63). The predetermined condition is a condition that is substantially
the same as the predetermined condition pertaining to Step S41 and described with
reference to FIG. 30 in Embodiment 7.
[0268] The processing of Step S63 is repeatedly executed in a case where it is determined
that the predetermined condition has not been satisfied (NO in Step S63).
[0269] The processing proceeds to Step S64 in a case where it is determined that the predetermined
condition has been satisfied (YES in Step S63). In the case of the satisfaction of
the predetermined condition, body 20 is in a state where body 20 is directed to be
capable of escaping from the corner.
[0270] In the case of the satisfaction of the predetermined condition, control unit 70 initiates
the second traveling of body 20 (Step S64) in the state where body 20 is directed
to be capable of escaping from the corner. The second traveling is a traveling that
is substantially the same as the second traveling pertaining to Step S44 and described
with reference to FIG. 30 in Embodiment 7. This is equivalent to a traveling for moving
body 20 forward. In this manner, body 20 stuck at the corner is allowed to escape
from the corner.
[0271] Control unit 70 stops the cleaning in the object region (Step S65) once body 20 escapes
from the corner. In this manner, control unit 70 terminates the second escape control
of autonomous travel-type cleaner 10. The second escape control may be repeatedly
executed until the cleaning in the object region is completed.
[0272] With the control operation of autonomous travel-type cleaner 10 according to Embodiment
9, the following effect is achieved in addition to the effects of (1) to (11) achieved
by autonomous travel-type cleaner 10 according to Embodiment 3.
(16) Autonomous travel-type cleaner 10 according to this embodiment detects body 20
being stuck at the corner or the like from the movement range of body 20 at a predetermined
time. Then, in a case where body 20 is stuck at the corner, for example, body 20 is
allowed to travel in a direction that allows body 20 to escape from the corner by
obstacle detection sensor 71 and distance measurement sensor 72. Accordingly, body
20 and the object are unlikely to come into contact with each other during the escape.
(Embodiment 10)
[0273] Hereinafter, a control operation of the autonomous travel-type cleaner according
to Embodiment 10 will be described with reference to FIG. 33. The configuration of
autonomous travel-type cleaner 10 according to Embodiment 10 is substantially identical
to the configuration of autonomous travel-type cleaner 10 according to Embodiment
3. Therefore, elements in the description of Embodiment 10 that have the same reference
numerals as in Embodiment 3 have functions identical or similar to those of the corresponding
elements of Embodiment 3.
[0274] Autonomous travel-type cleaner 10 according to Embodiment 10 is also provided with
a first rotation sensor (not illustrated) and a second rotation sensor (not illustrated).
The first rotation sensor is attached to wheel 33 and detects the rotation speed of
wheel 33. The second rotation sensor is attached to caster 90 and detects the rotation
speed of caster 90.
[0275] FIG. 33 is a flowchart that is related to a step control which is executed by autonomous
travel-type cleaner 10 according to Embodiment 10.
[0276] As illustrated in FIG. 33, control unit 70 executes the step control as follows.
[0277] Firstly, control unit 70 initiates cleaning in the object region (Step S70).
[0278] Then, control unit 70 determines whether or not the rotation speed of wheel 33 detected
by the first rotation sensor and the rotation speed of caster 90 detected by the second
rotation sensor correspond to each other (Step S71).
[0279] The processing proceeds to Step S75 in a case where it is determined that the rotation
speed of wheel 33 and the rotation speed of caster 90 correspond to each other (YES
in Step S71).
[0280] The processing proceeds to Step S72 in a case where it is determined that the rotation
speed of wheel 33 and the rotation speed of caster 90 do not correspond to each other
(NO in Step S71). The case where the rotation speed of wheel 33 and the rotation speed
of caster 90 do not correspond to each other implies a state where wheel 33 or caster
90 has slipped due to the step or the like.
[0281] Control unit 70 changes the traveling direction of body 20 (Step S72). Specifically,
control unit 70 changes the traveling direction of body 20 such that the traveling
direction becomes askew with respect to the traveling direction of body 20 pertaining
to Step S71. Then, body 20 is allowed to move in obliquely with respect to, for example,
the step that is likely to result in the slipping. As a result, body 20 becomes likely
to ride over the step.
[0282] Then, control unit 70 determines whether or not the rotation speed of wheel 33 detected
by the first rotation sensor and the rotation speed of caster 90 detected by the second
rotation sensor correspond to each other (Step S73). The processing of Step S73 is
a processing substantially the same as the processing of Step S71.
[0283] The processing proceeds to Step S75 in a case where it is determined that the rotation
speed of wheel 33 and the rotation speed of caster 90 correspond to each other (YES
in Step S73).
[0284] The processing proceeds to Step S74 in a case where it is determined that the rotation
speed of wheel 33 and the rotation speed of caster 90 do not correspond to each other
(NO in Step S73).
[0285] In the case where the rotation speeds do not correspond to each other, control unit
70 changes the traveling direction of body 20 again (Step S74). Specifically, control
unit 70 changes the traveling direction of body 20 to a direction that differs from
the traveling direction of body 20 in Step S71 or Step S72, examples of which include
the direction opposite to the traveling direction of body 20 in Step S71 or Step S72.
Then, body 20 becomes more likely to ride over, for example, the step that is likely
to result in the slipping.
[0286] Then, control unit 70 stops the cleaning in the object region (Step S75). In this
manner, control unit 70 terminates the step control of autonomous travel-type cleaner
10. The step control may be repeatedly executed until the cleaning in the object region
is completed.
[0287] With the control operation of autonomous travel-type cleaner 10 according to Embodiment
10, the following effects are achieved in addition to the effects of (1) to (11) achieved
by autonomous travel-type cleaner 10 according to Embodiment 3.
(17) The first rotation sensor and the second rotation sensor of autonomous travel-type
cleaner 10 according to this embodiment detects the slipping of wheel 33 or caster
90 when, for example, the step is ridden over. In the case of slip detection, the
traveling direction is changed and body 20 is caused to move in, for example, obliquely
with respect to the step. Accordingly, the step is more likely to be ridden over than
in a case where body 20 is moved straight to the step.
(18) According to autonomous travel-type cleaner 10 of this embodiment, body 20 is
caused to travel in the opposite direction to the step in a case where, for example,
the state of slipping continues despite the oblique movement of body 20 with respect
to the step. Accordingly, the step can be avoided. As a result, it can become more
difficult for body 20 to be stuck at the step.
(Embodiment 11)
[0288] Hereinafter, a control operation of the autonomous travel-type cleaner according
to Embodiment 11 will be described with reference to FIG. 34. The configuration of
autonomous travel-type cleaner 10 according to Embodiment 11 is substantially identical
to the configuration of autonomous travel-type cleaner 10 according to Embodiment
3. Therefore, elements in the description of Embodiment 11 that have the same reference
numerals as in Embodiment 3 have functions identical or similar to those of the corresponding
elements of Embodiment 3.
[0289] FIG. 34 is a flowchart that is related to a designated region cleaning control which
is executed by autonomous travel-type cleaner 10 according to Embodiment 11.
[0290] As illustrated in FIG. 34, control unit 70 executes the designated region cleaning
control as follows.
[0291] Firstly, control unit 70 registers a target point or a plurality of target points
on a path of movement of body 20 (Step S80). In this embodiment, control unit 70 registers
the plurality of target points on the path of movement of body 20 in, for example,
the storage unit.
[0292] Specifically, control unit 70 stores a distance and an angle with respect to a reference
position for each target point on the path of movement of body 20 based on a signal
output from the remote controller. The reference position is the position of the charging
stand, which is a start point, or the immediately preceding target point. In this
manner, control unit 70 can store a cleaning region that is designated by the user.
[0293] Then, control unit 70 receives light information related to a movement order from
the remote controller with light receiving unit 212 (Step S81). In this manner, control
unit 70 moves body 20 along the plurality of registered target points. In a case where,
for example, an obstacle is detected on the movement path by obstacle detection sensor
71 at this time, control unit 70 moves body 20 so that body 20 deviates from the movement
path as will be described later. Then, control unit 70 performs a control so that
body 20 is back on the movement path after the obstacle is avoided.
[0294] In other words, control unit 70 determines whether or not the obstacle has been detected
at the target point by using obstacle detection sensor 71 (Step S82). The processing
proceeds to Step S83 in a case where it is determined that the obstacle has been detected
at the target point (YES in Step S82).
[0295] Then, control unit 70 determines whether or not the target point that is present
at a position which is superposed on the position of the obstacle detected in the
processing of Step S82 is a final target point (Step S83). The final target point
is a target point that shows an end point of the movement path of body 20. The processing
proceeds to Step S85 in a case where it is determined that the target point is the
final target point (YES in Step S83).
[0296] The processing proceeds to Step S84 in a case where it is determined that the target
point is not the final target point (NO in Step S83).
[0297] Then, control unit 70 causes body 20 to move toward the next target point without
passing through the target point where the obstacle is present (Step S84). After moving
body 20 to the next target point, control unit 70 allows the processing to return
to Step S82.
[0298] Then, control unit 70 causes the point of arrival, which is a point that is actually
reached, to be cleaned (Step S85) in a case where obstacle detection sensor 71 detects
that the obstacle is present at the final target point.
[0299] The processing proceeds to Step S86 in a case where it is determined that no obstacle
is detected at the target point (NO in Step S82). Then, control unit 70 causes the
target point to be cleaned (Step S86).
[0300] Then, control unit 70 determines whether or not the target point cleaned in the processing
of Step S86 is the final target point (Step S87). The processing returns to Step S82
in the case of a determination that the target point is not the final target point
(NO in Step S87). Then, a similar processing is executed.
[0301] The processing proceeds to Step S88 in the case of a determination that the target
point is the final target point (YES in Step S87).
[0302] Then, control unit 70 causes body 20 to clean the final target point (Step S88).
In this manner, the plurality of target points can be cleaned in order.
[0303] After the cleaning of the final target point, control unit 70 causes body 20 to travel
in reverse (Step S89) so that body 20 moves in reverse on the movement path and reaches
the target point.
[0304] Then, control unit 70 determines whether or not light receiving unit 212 has received
the light signal output from the charging stand (Step S90). The processing of Step
S90 is repeatedly executed in a case where it is determined that light receiving unit
212 has not received the light signal (NO in Step S90).
[0305] The processing proceeds to Step S91 in a case where it is determined that light receiving
unit 212 has received the light signal (YES in Step S90).
[0306] In this case, control unit 70 causes body 20 to deviate from the movement path on
which the reverse traveling is performed. Then, control unit 70 causes autonomous
travel-type cleaner 10 to return to the charging stand based on the signal output
from the charging stand (Step S91). In this manner, the control unit terminates the
designated region cleaning control of autonomous travel-type cleaner 10.
[0307] With the control operation of autonomous travel-type cleaner 10 according to Embodiment
11, the following effects are achieved in addition to the effects of (1) to (11) achieved
by autonomous travel-type cleaner 10 according to Embodiment 3.
(19) Autonomous travel-type cleaner 10 according to this embodiment stores the target
point to be cleaned in advance. Accordingly, any region of the object region that
is set by the user or the like can be cleaned. Therefore, efficient cleaning can be
executed by autonomous travel-type cleaner 10.
(20) In a case where the obstacle is present on one target point, body 20 of autonomous
travel-type cleaner 10 according to this embodiment is moved toward the next target
point without passing through that target point. Therefore, any region of the object
region is more likely to be cleaned than in a control operation configuration in which
the cleaning is terminated in a case where it is impossible to pass through one target
point.
(21) In a case where it has been impossible to reach the final target point due to
the obstacle or the like, autonomous travel-type cleaner 10 according to this embodiment
cleans the point that has been actually reached. Therefore, a wider region can be
cleaned than in a case where the cleaning is terminated in a case where the final
target point cannot be reached.
(22) In the case of returning to the charging stand following the arrival at the final
target point, autonomous travel-type cleaner 10 according to this embodiment performs
the reverse traveling on the movement path until the light signal output from the
charging stand is received. Therefore, the returning toward the charging stand can
be performed on an appropriate path.
(Embodiment 12)
[0308] Hereinafter, a control operation of the autonomous travel-type cleaner according
to Embodiment 12 will be described with reference to FIG. 35. The configuration of
autonomous travel-type cleaner 10 according to Embodiment 12 is substantially identical
to the configuration of autonomous travel-type cleaner 10 according to Embodiment
3. Therefore, elements in the description of Embodiment 12 that have the same reference
numerals as in Embodiment 3 have functions identical or similar to those of the corresponding
elements of Embodiment 3.
[0309] FIG. 35 is a flowchart that is related to a reciprocating cleaning control which
is executed by autonomous travel-type cleaner 10 according to Embodiment 12.
[0310] As illustrated in FIG. 35, control unit 70 executes the reciprocating cleaning control
as follows.
[0311] Firstly, control unit 70 sets a reference point or a reference line in the object
region (Step S100). In this embodiment, control unit 70 sets, for example, the reference
point in the object region.
[0312] Then, control unit 70 initiates a reciprocating traveling of body 20 (Step S101).
At this time, control unit 70 causes body 20 to perform the reciprocating traveling
ranging from the reference point set in Step S100 to the outline of the object region.
Then, control unit 70 causes cleaning to be initiated while causing body 20 to perform
the reciprocating traveling.
[0313] Specifically, control unit 70 turns body 20 in the case of obstacle detection by
obstacle detection sensor 71. Then, control unit 70 causes body 20 to perform the
reciprocating traveling over the distance between the reference point and the obstacle-detected
point.
[0314] Then, control unit 70 determines whether or not the predetermined condition has been
satisfied (Step S102). The predetermined condition is, for example, a case where the
distance of traveling in one direction of the reciprocating traveling is less than
a predetermined value. In a case where the traveling distance is less than the predetermined
value, control unit 70 determines that the predetermined condition has been satisfied.
The traveling distance is detected by, for example, the rotation sensor (not illustrated)
attached to wheel 33.
[0315] The processing proceeds to Step S104 in a case where it is determined that the predetermined
condition has been satisfied (YES in Step S102).
[0316] The processing proceeds to Step S103 in a case where it is determined that the predetermined
condition has not been satisfied (NO in Step S102). The case of the satisfaction of
the predetermined condition implies that the resistance causing body 20 to travel
in the object region varies with the direction of traveling.
[0317] Then, control unit 70 determines whether or not the cleaning in the object region
has terminated (Step S103). In a case where it is determined that the cleaning in
the object region has not terminated (NO in Step S103), the processing returns to
Step S102 and a similar processing is executed.
[0318] The processing proceeds to Step S105 in a case where it is determined that the cleaning
in the object region has terminated (YES in Step S103).
[0319] In the case of the satisfaction of the predetermined condition, control unit 70 adds
the distance of traveling in the other direction of the reciprocating traveling of
body 20 (Step S104). In this manner, the difference between the distance by which
body 20 is moved in one direction and the distance by which body 20 is moved in the
other direction during the reciprocating traveling can be reduced. Accordingly, the
reference point can be corrected in the case of a deviation of the reference point
in the object region.
[0320] Then, control unit 70 stops the cleaning in the object region (Step S105). In this
manner, control unit 70 terminates the reciprocating cleaning control of autonomous
travel-type cleaner 10. The reciprocating cleaning control may be repeatedly executed
until the cleaning in the object region is completed.
[0321] With the control operation of autonomous travel-type cleaner 10 according to Embodiment
12, the following effect is achieved in addition to the effects of (1) to (11) achieved
by autonomous travel-type cleaner 10 according to Embodiment 3.
(23) In a case where the resistance that is applied to body 20 varies with the traveling
direction during carpet cleaning or the like, autonomous travel-type cleaner 10 according
to this embodiment can correct the positional deviation attributable to the difference
in traveling resistance by using the reciprocating cleaning control. Therefore, the
object region can be more accurately cleaned than in a configuration in which the
positional deviation is not corrected.
(Modification Example)
[0322] Each of the embodiments described above is the description of an example of the form
that can be taken by the autonomous travel-type cleaner. The present invention is
not limited to the embodiments described above.
[0323] In other words, the autonomous travel-type cleaner according to the embodiments can
take, for example, the forms of the following modification examples as well as those
of the embodiments described above.
[0324] For example, bodies 20 according to the modification examples may have outlines that
differ from the outline of body 20 shown in each embodiment as illustrated in FIGS.
36 to 38.
[0325] Body 20 according to the modification example that is illustrated in FIG. 36 will
be described first.
[0326] FIG. 36 shows an example of the modification example that is related to the outline
of body 20. The two-dot chain line in this drawing shows the outline of body 20 according
to Embodiment 1.
[0327] As illustrated in FIG. 36, side surfaces 22a on the front side and side surfaces
22b on the rear side constitute left and right side surfaces 22 of body 20 according
to the modification example, side surfaces 22a and side surfaces 22b differing from
each other in shape. Specifically, side surface 22a on the front side is configured
as a curved surface and side surface 22b on the rear side is configured as a flat
surface.
[0328] Body 20 according to the modification example illustrated in FIG. 37 will be described
below.
[0329] FIG. 37 shows another example of the modification example that is related to the
outline of body 20. The two-dot chain line in this drawing shows the outline of body
20 according to Embodiment 1.
[0330] In body 20 according to the modification example, a part of the rear portion of body
20 including rear top portion 24 is omitted and rear surface 25 is newly formed as
illustrated in FIG. 37. A curved surface that is curved to bulge to the outside is
an example of rear surface 25. Rear surface 25 may also be a flat surface or the like.
[0331] Body 20 according to the modification example illustrated in FIG. 38 will be described
below.
[0332] FIG. 38 shows another example of the modification example that is related to the
outline of body 20. The two-dot chain line in this drawing shows the outline of body
20 according to Embodiment 3.
[0333] In body 20 according to the modification example, a predetermined part including
rear top portion 24 of body 20 according to Embodiment 3 is omitted and rear surface
25 is newly formed as illustrated in FIG. 38. A flat surface is an example of rear
surface 25. Rear surface 25 may also be a curved surface that is curved to bulge to
the outside or the like.
[0334] Bodies 20 according to these modification examples can achieve effects similar to
those achieved with the body according to each Embodiment described above.
[0335] According to the corner cleaning control of Embodiments 4 to 6 related to the modification
example, control unit 70 may control electric fan 51 such that a suction force of
electric fan 51 increases in a case where it is determined that the corner has been
detected by the corner detection unit. In addition, control unit 70 may control brush
driving motor 41 for an increase in the rotation speed of brush driving motor 41 in
the case where it is determined that the corner has been detected by the corner detection
unit. In this case, the rotation speeds of main brush 43 and side brush 44 increase.
[0336] In this manner, at least one of the control for increasing the suction force of electric
fan 51 and the control for increasing the rotation speed of brush driving motor 41
is executed in the case of corner detection. As a result, the rubbish accumulated
at the corner and unlikely to be picked up can be quickly picked up. In a place other
than the corner where the rubbish is unlikely to accumulate, the suction force of
electric fan 51 is reduced in comparison to that at the corner. Likewise, the rotation
speed of the brush driving motor is reduced in comparison to that at the corner. Then,
electric power consumption by the autonomous travel-type cleaner can be suppressed.
[0337] Although a configuration in which the amount of the rubbish is detected by rubbish
detection sensor 300 when body 20 completes one reciprocating motion or a plurality
of the reciprocating motions has been described as an example with regard to the corner
cleaning control according to Embodiments 4 to 6, the present invention is not limited
thereto. For example, a modification example related to the corner cleaning control
may be a configuration in which the amount of the rubbish at the corner is determined
with the amount of the rubbish detected by rubbish detection sensor 300 until body
20 approaches a wall on one side to the maximum extent possible after body 20 is put
into a state where body 20 is stopped. In addition, another modification example related
to the corner cleaning control may be a configuration in which the amount of the rubbish
at the corner is determined with the amount of the rubbish detected by rubbish detection
sensor 300 until body 20 approaches one wall to the maximum extent possible and then
approaches the other wall after body 20 is put into a state where body 20 is stopped.
Yet another modification example related to the corner cleaning control may be a configuration
in which the amount of the rubbish at the corner is determined with the amount of
the rubbish detected by rubbish detection sensor 300 when body 20 is swung from one
wall to the other wall. In this manner, effects similar to those of the respective
embodiments described above are achieved.
[0338] The second escape control according to Embodiment 9 that is related to the modification
example may be determined based on whether or not an alternative predetermined condition
has been satisfied in place of the predetermined condition pertaining to Step S63.
This alternative predetermined condition is, for example, whether or not body 20 and
the object collide with each other that is detected by collision detection sensor
73. In the case of no detection of the collision between body 20 and the object by
collision detection sensor 73, control unit 70 determines that the alternative predetermined
condition has been satisfied and performs a control.
[0339] In this modification example, collision detection sensor 73 detects the presence
or absence of a collision between body 20 and objects in a case where, for example,
body 20 is stuck between the objects. In the case of a no-collision detection result,
control unit 70 repeats the first traveling and the second traveling. Then, body 20
can escape from the space between the objects which body 20 is stuck. As a result,
body 20 can escape more quickly than in a case where body 20 escapes by repeating
contacts with the objects.
[0340] In addition, autonomous travel-type cleaner 10 according to Embodiment 9 that is
related to the modification example may also have a configuration in which the rotation
sensor is attached to caster 90 instead of wheel 33 or the rotation sensor is attached
to each of caster 90 and wheel 33.
[0341] Furthermore, the gyro sensor may be omitted in autonomous travel-type cleaner 10
according to Embodiment 9 that is related to the modification example. In this case,
the traveling direction of body 20 is calculated from the ratio between the rotation
speeds that are detected by the rotation sensors attached to right wheel 33 and left
wheel 33. In this manner, a simplified configuration is obtained along with a reduction
in cost.
[0342] Side brushes 44 according to the modification example may have a configuration in
which the rotation occurs toward the front from the rear of body 20 at the part of
the orbit of rotation of each side brush 44 that approaches the orbit of rotation
of the other side brush 44.
[0343] According to this configuration, side brush 44 causes the rubbish to move forward
on the width-direction center side of body 20. Therefore, the rubbish collected by
side brush 44 is likely to approach suction port 101 during a forward movement of
autonomous travel-type cleaner 10. Accordingly, insufficient rubbish suctioning is
unlikely to occur on the rear side of suction port 101.
[0344] In addition, autonomous travel-type cleaner 10 according to the modification example
may be configured to be provided with a brush driving motor giving torque to main
brush 43 and one of side brushes 44 and a brush driving motor giving torque to the
other side brush 44. This can result in reduction in size, weight, and cost.
[0345] In addition, autonomous travel-type cleaner 10 according to the modification example
may be configured for each of main brush 43, side brush 44 on the right side, and
side brush 44 on the left side to be provided with a brush driving motor. Then, the
respective brush driving motors can give torque individually to the responding brushes.
As a result, effective cleaning can be performed by an appropriate driving force being
provided in accordance with a situation of the surface to be cleaned and a situation
of the rubbish.
[0346] In a case where light receiving unit 212 of autonomous travel-type cleaner 10 according
to the modification example receives the light signal output from the charging stand,
control unit 70 may cause the distance between body 20 and the obstacle at the time
of obstacle detection by obstacle detection sensor 71 to exceed the distance at the
time of no light signal reception by light receiving unit 212.
[0347] This allows the charging stand as an obstacle to become more likely to be detected
by obstacle detection sensor 71 in a case where the distance between body 20 and the
charging stand is short. Therefore, contact between body 20 and the charging stand
can become less likely to occur during the cleaning.
[0348] In autonomous travel-type cleaner 10 according to the modification example, control
unit 70 may change the distance between body 20 and the object at a time when the
obstacle is detected by obstacle detection sensor 71 based on at least one of the
driving time of obstacle detection sensor 71 as an ultrasonic sensor and the magnitude
of an ultrasonic signal of obstacle detection sensor 71 that reaches receiving unit
71B from transmitting unit 71A without passing through the obstacle.
[0349] According to this modification example, the distance between body 20 and the obstacle
at the time of obstacle detection by obstacle detection sensor 71 is changed. Accordingly,
the obstacle becomes more likely to be detected in, for example, the first half of
the driving time of obstacle detection sensor 71 than in the latter half of the driving
time of obstacle detection sensor 71. Likewise, the obstacle becomes more likely to
be detected in a case where the ultrasonic signal reaching receiving unit 71B is strong
than in a case where the ultrasonic signal reaching receiving unit 71B is weak.
[0350] The distance between body 20 and the obstacle at the time of obstacle detection by
obstacle detection sensor 71 is changed as described above. Accordingly, the accuracy
of obstacle detection sensor 71 can be improved.
[0351] In addition, control unit 70 of autonomous travel-type cleaner 10 according to the
modification example may be configured to determine that the amount of the rubbish
present in rubbish bin unit 60 is equal to or greater than a predetermined amount
in a case where rubbish detection sensor 300 detects at least a predetermined amount
of the rubbish in line with the driving of electric fan 51. In this case, notification
based on light, sound, or the like is preferable.
[0352] According to this modification example, it is implied that rubbish bin unit 60 is
full of the accumulated rubbish in the case where rubbish detection sensor 300 detects
at least a predetermined amount of the rubbish. Accordingly, rubbish bin unit 60 being
full of the accumulated rubbish can be easily confirmed with a simple configuration.
[0353] In addition, autonomous travel-type cleaner 10 according to the modification example
may be provided with a non-ultrasonic sensor as obstacle detection sensor 71. Examples
of the non-ultrasonic sensor include an infrared sensor.
[0354] Furthermore, autonomous travel-type cleaner 10 according to the modification example
may be provided with a non-infrared sensor as distance measurement sensor 72. Examples
of the non-infrared sensor include an ultrasonic sensor.
[0355] Moreover, autonomous travel-type cleaner 10 according to the modification example
may be provided with a sensor that is not a contact-type displacement sensor as collision
detection sensor 73, examples of which include an impact sensor.
[0356] Moreover, autonomous travel-type cleaner 10 according to the modification example
may be provided with a non-infrared sensor as floor surface detection sensor 74. Examples
of the non-infrared sensor include an ultrasonic sensor. With these modification examples,
effects similar to those of the respective embodiments described above are achieved.
[0357] Autonomous travel-type cleaner 10 according to the modification example may also
be configured to be provided with a plurality of casters 90 on the rear side of body
20 with respect to driving unit 30. Then, the stability of autonomous travel-type
cleaner 10 is further improved.
[0358] Autonomous travel-type cleaner 10 according to the modification example may also
be configured to be provided with at least one caster on the front side of body 20
with respect to the pair of driving units 30. Then, the stability of autonomous travel-type
cleaner 10 is further improved.
[0359] The detailed description above is intended to be illustrative and not to be restrictive.
For example, each of the embodiments described above or the one or more modification
examples described above may be combined with each other if necessary.
[0360] The technical features or subjects disclosed in the embodiments can also be present
as features smaller in number than all the features of a certain embodiment. Therefore,
it is a matter of course that the scope of claims is incorporated into the detailed
description of the present invention and each claim can claim itself as an individual
embodiment.
[0361] In addition, it is a matter of course that a range disclosed in the embodiment is
established based on both the range of rights given to the scope of claims and the
entire range of the equivalents.
[0362] As described above, the autonomous travel-type cleaner according to the present invention
is provided with the body provided with the suction port in the bottom surface, the
suction unit mounted on the body, the corner detection unit detecting the corner in
the object region, the driving unit driving the body to perform the reciprocating
motion, and the control unit controlling the driving unit. The control unit may control
the driving unit for the reciprocating motion of the body once the corner is detected
by the corner detection unit.
[0363] According to this configuration, the autonomous travel-type cleaner performs the
reciprocating motion upon reaching the corner. Accordingly, a large amount of the
rubbish accumulating at the corner can be picked up in an efficient manner.
[0364] In the autonomous travel-type cleaner according to the present invention, the reciprocating
motion may be an operation for swinging the body to the left and right.
[0365] According to this configuration, the autonomous travel-type cleaner causes the body
to swing to the left and right upon reaching the corner. Accordingly, a large amount
of the rubbish accumulating at the corner can be picked up.
[0366] The autonomous travel-type cleaner according to the present invention is provided
with the right wheel-driving right traveling motor and the left wheel-driving left
traveling motor in the driving unit. The control unit controls the body, such that
the body is swung to the left and right, by repeatedly performing a controlling operation
for a forward movement of the right wheel and retraction of the left wheel followed
by a forward movement of the left wheel and retraction of the right wheel.
[0367] According to this configuration, the two, right and left, wheels are separately controlled
once the autonomous travel-type cleaner reaches the corner. Accordingly, the body
can be swung to the left and right. As a result, a large amount of the rubbish accumulating
at the corner can be picked up.
[0368] In the autonomous travel-type cleaner according to the present invention, the body
may be provided with the front surface and the plurality of side surfaces that are
curved surfaces bulging to the outside and the front top portions that are the top
portions defined by the front surface and the side surfaces and the angle formed by
the tangent of the front surface and the tangent of the side surface may be an acute
angle.
[0369] According to this configuration, the body is substantially identical in planar shape
to a Reuleaux triangle and performs the reciprocating motion in the shape of the Reuleaux
triangle. Accordingly, even the rubbish accumulating at the corner can be removed.
[0370] In the autonomous travel-type cleaner according to the present invention, the suction
unit may be provided with the air-suctioning electric fan and the control unit may
perform a control for increasing the suction force of the electric fan once the corner
is detected by the corner detection unit.
[0371] According to this configuration, the autonomous travel-type cleaner increases the
suction force of the electric fan upon reaching the corner. Accordingly, a large amount
of the rubbish accumulating at the corner can be picked up in an effective manner.
In a place other than the corner where the rubbish is unlikely to accumulate, the
suction force of the electric fan is reduced in comparison to that at the corner.
In this manner, electric power consumption by the autonomous travel-type cleaner can
be suppressed.
[0372] The autonomous travel-type cleaner according to the present invention is also provided
with the side brush that is placed on the bottom surface side of the body and the
brush driving motor that drives the side brush. The control unit may perform a control
for increasing the rotation speed of the brush driving motor once the corner is detected
by the corner detection unit.
[0373] According to this configuration, the autonomous travel-type cleaner increases the
rotation speed of the side brush upon reaching the corner. Accordingly, a large amount
of the rubbish accumulating at the corner can be picked up in an efficient manner.
In the place other than the corner where the rubbish is unlikely to accumulate, the
rotation speed of the brush driving motor is reduced in comparison to that at the
corner. In this manner, the electric power consumption by the autonomous travel-type
cleaner can be suppressed.
[0374] The autonomous travel-type cleaner according to the present invention is also provided
with the main brush that is placed at the suction port and the brush driving motor
that drives the main brush. The control unit may perform a control for increasing
the rotation speed of the brush driving motor once the corner is detected by the corner
detection unit.
[0375] According to this configuration, the autonomous travel-type cleaner increases the
rotation speed of the main brush upon reaching the corner. Accordingly, a large amount
of the rubbish accumulating at the corner can be picked up in an efficient manner.
In the place other than the corner where the rubbish is unlikely to accumulate, the
rotation speed of the brush driving motor is reduced in comparison to that at the
corner. In this manner, the electric power consumption by the autonomous travel-type
cleaner can be suppressed.
(Notes Regarding Means for Solving Problems)
Note (A1)
[0376] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including an obstacle
detection sensor detecting the presence or absence of an obstacle in the direction
that is orthogonal to the axis of rotation of the wheel, a distance measurement sensor
detecting the distance between an object in the direction that is parallel to the
axis of rotation of the wheel and the body, and a control unit and the control unit
causing one of the wheels and the other wheel to rotate in opposite directions in
a case where a state where a value detected by the distance measurement sensor is
equal to or less than a predetermined value continues for at least a predetermined
period of time and the obstacle is detected by the obstacle detection sensor.
[0377] This autonomous travel-type cleaner detects the corner before contact between the
body and the obstacle by using the obstacle detection sensor and the distance measurement
sensor. Therefore, the body and the obstacle are unlikely to come into contact with
each other in a case where the corner is cleaned by the body being turned.
Note (A2)
[0378] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including an obstacle
detection sensor detecting the presence or absence of an obstacle in the direction
that is orthogonal to the axis of rotation of the wheel, a distance measurement sensor
detecting the distance between an object in the direction that is parallel to the
axis of rotation of the wheel and the body, and a control unit and the control unit
causing the pair of wheels to rotate in the same direction in a case where a state
where a value detected by the distance measurement sensor is equal to or less than
a predetermined value continues for at least a predetermined period of time and obstacle
detection by the obstacle detection sensor has become impossible after obstacle detection
by the obstacle detection sensor.
[0379] In a case where, for example, the obstacle has been removed after the detection of
the obstacle by the obstacle detection sensor of this autonomous travel-type cleaner,
the body is moved forward or retracted without detouring around a region where the
obstacle was placed. Therefore, the region where the obstacle was placed can also
be cleaned.
Note (A3)
[0380] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including an obstacle
detection sensor detecting the presence or absence of an obstacle in the direction
that is orthogonal to the axis of rotation of the wheel, a distance measurement sensor
detecting the distance between an object in the direction that is parallel to the
axis of rotation of the wheel and the body, a collision detection sensor detecting
a collision of the body with the surrounding object, and a control unit, the control
unit causing one of the wheels and the other wheel to rotate in opposite directions
in a case where a state where a value detected by the distance measurement sensor
is equal to or less than a predetermined value continues for at least a predetermined
period of time and the obstacle is detected by the obstacle detection sensor, and
the operation of the wheels continuing, despite the detection of the collision between
the body and the object by the collision detection sensor, during the opposite-direction
rotation of the wheel and the other wheel.
[0381] According to this autonomous travel-type cleaner, the body continues to turn despite
a collision between the body and the object in the case of turning of the body. Therefore,
the corner can be sufficiently cleaned compared to a case where the cleaning is stopped
once the body and the object come into contact with each other.
Note (A4)
[0382] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including an obstacle
detection sensor detecting the presence or absence of an obstacle in the direction
that is orthogonal to the axis of rotation of the wheel, a distance measurement sensor
detecting the distance between an object in the direction that is parallel to the
axis of rotation of the wheel and the body, a collision detection sensor detecting
a collision of the body with the surrounding object, and a control unit, the control
unit executing a repetitive motion, the repetitive motion being to cause one of the
wheels and the other wheel to rotate in opposite directions in a case where a state
where a value detected by the distance measurement sensor is equal to or less than
a predetermined value continues for at least a predetermined period of time and the
obstacle is detected by the obstacle detection sensor and then stop the wheel on the
side which is close to the part of contact between the body and the object and retract
the other wheel in a case where the collision between the body and the object is detected
by the collision detection sensor, stop the other wheel and move forward one wheel
in the case of a further collision of the body with another part of the object or
another object resulting from the retraction of the other wheel, and stop one wheel
and retract the other wheel in the case of a further collision of the body with another
part of the object or another object resulting from the forward movement of one wheel,
and the pair of wheels being moved forward in the case of no obstacle detection by
the obstacle detection sensor.
[0383] According to this autonomous travel-type cleaner, the above-described control is
executed in a case where the body is stuck at the corner during corner cleaning. In
this case, the angle of the body with respect to the corner gradually changes. Therefore,
the body can escape from the corner by changing its direction even if the body is
stuck at the corner.
Note (B1)
[0384] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including an obstacle
detection sensor detecting the presence or absence of an obstacle in the direction
that is orthogonal to the axis of rotation of the wheel, a distance measurement sensor
detecting the distance between an object in the direction that is parallel to the
axis of rotation of the wheel and the body, and a control unit, the control unit calculating
a movement range of the body at a predetermined time, and the control unit causing
the pair of wheels to rotate in a direction in which a value detected by the distance
measurement sensor is equal to or less than a predetermined value and no obstacle
is detected by the obstacle detection sensor in a case where the movement range at
the predetermined time is less than a predetermined value.
[0385] According to this autonomous travel-type cleaner, the body being stuck at the corner
or the like can be detected from the movement range of the body at a predetermined
time. Therefore, the body is allowed to travel in a direction that allows the body
to escape from the corner by the obstacle detection sensor and the distance measurement
sensor in a case where, for example, the body is stuck at the corner. Accordingly,
the body and the object are unlikely to come into contact with each other during the
escape.
Note (B2)
[0386] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including an obstacle
detection sensor detecting the presence or absence of an obstacle in the direction
that is orthogonal to the axis of rotation of the wheel, a distance measurement sensor
detecting the distance between an object in the direction that is parallel to the
axis of rotation of the wheel and the body, a collision detection sensor detecting
a collision of the body with the surrounding object, and a control unit, the control
unit calculating a movement range of the body at a predetermined time, and the control
unit causing the pair of wheels to rotate in a direction in which the body and the
object are detected not to collide with each other, based on a detection result of
the collision detection sensor, in a case where the movement range at the predetermined
time is less than a predetermined value.
[0387] According to this autonomous travel-type cleaner, the body can perform escaping by
the use of the body-object collision detection result of the collision detection sensor,
turning of the body, and repeated wheel operations in a case where, for example, the
body is stuck between objects. Therefore, the body can perform the escaping more quickly
than in a case where the body performs the escaping by repeating contacts with the
objects.
Note (C1)
[0388] An autonomous travel-type cleaner including a body, a pair of wheels, a caster, a
suction port, and an electric fan, the autonomous travel-type cleaner further including
a first rotation sensor detecting the rotation speed of the wheel and a second rotation
sensor detecting the rotation speed of the caster, and the control unit changing the
direction in which the body travels, in a case where it is determined from detection
results of the first rotation sensor and the second rotation sensor that the wheel
rotation speed and the caster rotation speed do not correspond to each other, such
that the traveling direction of the body is inclined with respect to the traveling
direction of the body at that time.
[0389] In the case of wheel slipping or caster slipping detection at a step or the like
by the first rotation sensor and the second rotation sensor of this autonomous travel-type
cleaner, the body is caused to move in obliquely with respect to the step. Therefore,
the step is more likely to be ridden over than in a case where the body is moved straight
to the step.
Note (C2)
[0390] An autonomous travel-type cleaner including a body, a pair of wheels, a caster, a
suction port, and an electric fan, the autonomous travel-type cleaner further including
a first rotation sensor detecting the rotation speed of the wheel and a second rotation
sensor detecting the rotation speed of the caster, the control unit changing the direction
in which the body travels, in a case where it is determined from detection results
of the first rotation sensor and the second rotation sensor that the wheel rotation
speed and the caster rotation speed do not correspond to each other, such that the
traveling direction of the body is inclined with respect to the traveling direction
of the body at that time, and the control unit changing the traveling direction of
the body to the direction opposite to the traveling direction of the body in a case
where the wheel rotation speed and the caster rotation speed still do not correspond
to each other thereafter.
[0391] According to this autonomous travel-type cleaner, a step is avoided based on traveling
in the opposite direction to the step in a case where, for example, a state of slipping
continues despite an oblique movement of the body with respect to the step. Therefore,
the body becomes unlikely to be stuck at the step.
Note (D1)
[0392] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including an obstacle
detection sensor detecting the presence or absence of an obstacle in the direction
that is orthogonal to the axis of rotation of the wheel, a light receiving unit receiving
a light signal output from a charging stand charging the autonomous travel-type cleaner,
and a control unit and the control unit causing the distance between the body and
the obstacle at the time of obstacle detection by the obstacle detection sensor to
exceed the distance at the time of no light signal reception by the light receiving
unit in a case where the light receiving unit receives the light signal output from
the charging stand.
[0393] According to this autonomous travel-type cleaner, the charging stand as an obstacle
becomes more likely to be detected by the obstacle detection sensor in a case where
the body and the charging stand are close to each other. Therefore, contact between
the body and the charging stand can become less likely to occur during the cleaning.
Note (E1)
[0394] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including a light
receiving unit receiving a light signal output from a remote controller operating
the autonomous travel-type cleaner and a control unit, the control unit storing a
distance and an angle with respect to a reference position for each of one or more
target points on a path of movement of the body based on the signal output from the
remote controller, and the control unit causing the body to move along the target
point by the light receiving unit receiving light information related to a movement
order from the remote controller.
[0395] This autonomous travel-type cleaner stores the target point to be cleaned in advance.
Accordingly, any region of an object region can be cleaned. Therefore, efficient cleaning
can be executed by the autonomous travel-type cleaner.
Note (E2)
[0396] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including a light
receiving unit receiving a light signal output from a remote controller operating
the autonomous travel-type cleaner and a light signal output from a charging stand
charging the autonomous travel-type cleaner and a control unit, the control unit storing
a distance and an angle with respect to a reference position for each of one or more
target points on a path of movement of the body based on the signal output from the
remote controller, the body performing reverse traveling on the movement path back
to the target point after the body reaches a final target point by the control unit
moving the body along the one or more target points, and the control unit causing
the body to deviate from the movement path and move toward the charging stand by the
light receiving unit receiving the light signal output from the charging stand.
[0397] According to this autonomous travel-type cleaner, the reverse traveling on the movement
path is performed until the light signal output from the charging stand is received
in the case of returning to the charging stand following arrival at the final target
point. Therefore, the returning toward the charging stand can be performed on an appropriate
path.
Note (E3)
[0398] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including an obstacle
detection sensor detecting the presence or absence of an obstacle in the direction
that is orthogonal to the axis of rotation of the wheel, a light receiving unit receiving
a light signal output from a remote controller operating the autonomous travel-type
cleaner, and a control unit, the control unit storing a distance and an angle with
respect to a reference position for each of one or more target points on a path of
movement of the body based on the signal output from the remote controller, the control
unit causing the body to move along the target point by the light receiving unit receiving
light information related to a movement order from the remote controller, and the
control unit moving the body toward the next target point in a case where one of the
target points is superposed on the position of the obstacle detected by the obstacle
detection sensor.
[0399] In a case where the obstacle is present on one target point, this autonomous travel-type
cleaner moves toward the next target point without passing through that target point.
Therefore, any region of the object region is more likely to be cleaned than in a
configuration in which the cleaning is terminated in a case where it is impossible
to pass through one target point.
Note (E4)
[0400] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including a light
receiving unit receiving a light signal output from a remote controller operating
the autonomous travel-type cleaner and a control unit, the control unit storing a
distance and an angle with respect to a reference position for each of one or more
target points on a path of movement of the body based on the signal output from the
remote controller, the control unit causing the body to move along the target point
by the light receiving unit receiving light information related to a movement order
from the remote controller, and the control unit driving the electric fan at an actually-reached
point in a case where an obstacle is present at a final target point.
[0401] In a case where it has been impossible to reach the final target point due to the
obstacle or the like, this autonomous travel-type cleaner performs cleaning at the
point that has been actually reached. Therefore, a wider region can be cleaned than
in a case where the cleaning is terminated in a case where the final target point
cannot be reached.
Note (E5)
[0402] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including an obstacle
detection sensor detecting the presence or absence of an obstacle in the direction
that is orthogonal to the axis of rotation of the wheel and a control unit, the control
unit detecting a traveling distance with a rotation sensor attached to the wheel and
causing the body to perform reciprocating traveling to the outline of an object region
from a reference point or a reference line set in the object region in the case of
the traveling of the body for cleaning the object region determined in advance, the
control unit turning the body and causing the body to travel over the distance between
the reference point or the reference line and an obstacle-detected point in the case
of obstacle detection by the obstacle detection sensor during the reciprocating traveling,
and the control unit causing the body to travel with a predetermined distance added
in a case where the traveling distance is less than a predetermined value.
[0403] According to this autonomous travel-type cleaner, a positional deviation that is
attributable to a difference in traveling resistance is corrected even in a case where,
for example, the cleaning is performed on a carpet or the like where the resistance
during the traveling of the body varies with the traveling direction. Accordingly,
the object region is more likely to be cleaned than in a configuration in which the
positional deviation is not corrected in the case of the cleaning on the carpet or
the like.
Note (F1)
[0404] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including a rubbish
bin unit accumulating rubbish suctioned from the suction port, a duct connecting the
suction port and the rubbish bin unit to each other, and a rubbish detection sensor
placed in a passage of the duct and detecting the rubbish suctioned from the suction
port, the control unit determining that at least a predetermined amount of the rubbish
is present in the rubbish bin unit in a case where the amount of the rubbish detected
by the rubbish detection sensor in line with driving of the electric fan is equal
to or greater than a predetermined amount.
[0405] According to this autonomous travel-type cleaner, a case where the amount of the
rubbish detected by the rubbish detection sensor is equal to or greater than the predetermined
amount implies that the rubbish bin unit is full of the accumulated rubbish. Therefore,
the rubbish bin unit being full of the accumulated rubbish can be easily confirmed
with a simple configuration.
Note (G1)
[0406] An autonomous travel-type cleaner including a body, a pair of wheels, a suction port,
and an electric fan, the autonomous travel-type cleaner further including an obstacle-detecting
ultrasonic sensor detecting the presence or absence of an obstacle in the direction
that is orthogonal to the axis of rotation of the wheel and a control unit, the obstacle
detection sensor being provided with a transmitting unit outputting ultrasonic waves
and a receiving unit receiving reflected ultrasonic waves, and the control unit changing
the distance between the body and the obstacle at the time of obstacle detection by
the obstacle detection sensor based on at least one of a driving time, which is a
period of time during which the obstacle detection sensor is driven, and the magnitude
of the ultrasonic wave that reaches the receiving unit from the transmitting unit
without passing through the obstacle.
[0407] According to this autonomous travel-type cleaner, the distance between the body and
the obstacle at the time of obstacle detection by the obstacle detection sensor is
changed such that, for example, the obstacle is more likely to be detected in the
first half of the driving time of the obstacle detection sensor than in the latter
half of the driving time of the obstacle detection sensor. In addition, the distance
between the body and the obstacle at the time of obstacle detection by the obstacle
detection sensor is changed such that the obstacle is more likely to be detected in
a case where the ultrasonic wave reaching the receiving unit without passing through
the obstacle is strong than in a case where the ultrasonic wave reaching the receiving
unit without passing through the obstacle is weak. In other words, according to this
autonomous travel-type cleaner, the distance between the body and the obstacle at
the time of obstacle detection by the obstacle detection sensor is changed as described
above. Accordingly, the accuracy of the obstacle detection sensor is likely to be
improved.
INDUSTRIAL APPLICABILITY
[0408] The present invention can be applied to autonomous travel-type cleaners used in various
environments, including autonomous travel-type cleaners for home and office use requiring
a high level of corner cleaning ability.
REFERENCE MARKS IN THE DRAWINGS
[0409]
- 10, 900
- Autonomous travel-type cleaner
- 20
- Body
- 21
- Front surface
- 22, 22a, 22b
- Side surface
- 23
- Front top portion
- 24
- Rear top portion
- 25
- Rear surface
- 30
- Driving unit
- 31
- Traveling motor
- 32
- Housing
- 32A
- Motor accommodating portion
- 32B
- Spring hook portion
- 32C
- Bearing portion
- 33
- Wheel
- 34
- Tire
- 35
- Supporting shaft
- 36
- Suspension spring
- 40
- Cleaning unit
- 41
- Brush driving motor
- 42
- Gearbox (second gearbox)
- 43
- Main brush
- 44
- Side brush
- 44A
- Brush shaft
- 44B
- Bristle bundle
- 50
- Suction unit
- 51
- Electric fan
- 52
- Fan case
- 52A
- Front-side case element
- 52B
- Rear-side case element
- 52C, 910
- Suction port
- 52D
- Discharge port
- 52E
- Louver
- 60
- Rubbish bin unit
- 61
- Rubbish bin
- 61A
- Inlet
- 61B
- Outlet
- 61C
- Bottom portion
- 62
- Filter
- 70
- Control unit (control unit)
- 71
- Obstacle detection sensor
- 71A
- Transmitting unit
- 71B
- Receiving unit
- 72
- Distance measurement sensor
- 73
- Collision detection sensor
- 74
- Floor surface detection sensor
- 75
- Derailing detection switch
- 80
- Power supply unit
- 81
- Battery case
- 82
- Storage battery
- 83
- Main switch
- 90
- Caster
- 91
- Supporting shaft
- 100
- Lower unit
- 101
- Suction port
- 102
- Power supply port
- 103
- Charging terminal
- 110
- Base
- 111
- Bottom portion bearing
- 112
- Sensor window
- 120
- Driving part
- 121
- Wheel house
- 122
- Spring hook portion
- 130
- Cleaning part
- 131
- Shaft insertion portion
- 132
- Coupling unit
- 140
- Rubbish bin part
- 150
- Suction part
- 160
- Power supply part
- 170
- Brush housing
- 171
- Duct
- 172
- Inlet
- 173
- Outlet
- 180
- Brush cover
- 181
- Inclined surface
- 190
- Holding frame
- 200
- Upper unit
- 210
- Cover
- 211
- Exhaust port
- 212
- Light receiving unit
- 213
- Lid button
- 220
- Lid
- 221
- Arm
- 230
- Bumper
- 231
- Curved convex portion
- 232
- Transmission window
- 233
- Reception window
- 234
- Distance measurement window
- 240
- Interface portion
- 241
- Panel
- 242
- Operation button
- 243
- Display unit
- 250
- Rubbish bin receiver
- 251
- Bottom portion opening
- 252
- Rear opening
- 260
- Arm accommodating portion
- 300
- Rubbish detection sensor
- G
- Center of gravity
- H
- Axis of rotation
- RX
- Room
- R1
- First wall
- R2
- Second wall
- R3
- Corner
- R4
- Tip part
- L1
- Tangent
- L2
- Tangent