JP2007029328A - Self-propelled vacuum cleaner and its program - Google Patents

Abstract

[PROBLEMS] The overlap amount cannot be set finely, so if the overlap amount is set too small, dust will be left behind, and if the overlap amount is set more than necessary, the cleaning time will be longer, so the battery will be consumed more. turn into.
SOLUTION: A cleaning means 106 divided into a plurality of positions, a dust amount level determination means 108 for determining the amount of dust for each cleaning means by level, and a travel for determining a travel route according to the dust amount level. A position that is provided with the control means 110, specifies a position where the amount of dust is larger on the travel route than the amount of dust detected for each of the cleaning means provided at a plurality of positions, and is specified when the amount of dust is large when the travel route is determined. By finely setting the overlap amount so as to pass again, cleaning can be performed efficiently according to the amount of dust.
[Selection] Figure 1

Description

  The present invention relates to a self-propelled cleaner that travels independently without human assistance and a program thereof.

  Conventionally, in this type of self-propelled cleaner, cleaning means for cleaning, dust detecting means for detecting dust, and dust in at least an uncleaned area of the cleaning area based on the detection result of the dust detecting means. A route control unit configured to control a travel drive unit so as to travel along the travel route determined by the route determination unit; Depending on the amount of dust, the travel route is determined so that the amount of overlap increases as the amount of dust in the uncleaned area is predicted by the means (see, for example, Patent Literature). 1).

  FIG. 7 is a diagram illustrating a travel route before the dust amount prediction unit predicts that the amount of dust in the uncleaned area is large.

  In FIG. 7, 1 is a main body, SA is a cleaning area where the main body 1 performs cleaning, B is a square block obtained by mesh-dividing an uncleaned area by the route determining means, and DA is an area where there is a large amount of dust in the cleaning area SA. Yes, the main body 1 is cleaned by controlling the travel drive unit with the travel control means so that the body 1 travels in the center of the block B (80 cm side in the conventional example).

FIG. 8 is a diagram showing a travel route when the amount of dust in the uncleaned area is predicted to be large by the dust amount predicting means. When the main body 1 passes through the area DA with a large amount of dust, the route determining means blocks. The size of B is re-determined (in the conventional example, one side is 50 cm), and then the main body 1 performs cleaning by controlling the travel drive unit with travel control means so as to travel in the center of the block B.
Japanese Patent No. 3598881

  However, in the conventional configuration, if the sweeper method sweeps the dust inward by the side brush, the dust can be concentrated in the middle, so the position where there is a lot of dust can be specified as the middle, but in other methods, When dust detection is performed by one dust detection means, it is impossible to specify at which position, such as a corner or the middle, where there is a lot of dust. For this reason, the overlap amount cannot be set in detail when determining the travel route of the uncleaned area based on the amount of dust detected by the dust detection means, so if the overlap amount is set too small, dust may be left behind or more than necessary. When the wrap amount is set, the cleaning time becomes long, so that there is a problem that battery consumption increases.

  The present invention solves the above-mentioned conventional problems, and specifies the position where the amount of dust is larger on the travel route than the amount of dust detected for each cleaning means provided at a plurality of positions, and determines the amount of dust when determining the travel route. An object of the present invention is to provide a self-propelled cleaner that can perform cleaning efficiently according to the amount of dust by finely setting the overlap amount so as to pass through a specified position again when there are many.

  In order to solve the above-mentioned conventional problems, the self-propelled cleaner of the present invention travels with a traveling means for moving the main body, a cleaning means divided into a plurality of positions, and a predetermined traveling pattern. A travel control means for controlling the travel means, a dust amount detection means for detecting the amount of cleaned dust for each cleaning means, and a certain amount of dust detected by the dust amount detection means for each cleaning means. A dust amount level determination means for determining the travel route is provided, and the travel control means is a self-propelled cleaner that determines a travel route according to the dust amount level determined by the dust amount level determination means.

  As a result, a position where the amount of dust is larger on the travel route than the amount of dust detected for each of the cleaning means provided at a plurality of positions is specified in detail, and the position specified when the amount of dust is large when the travel route is determined passes again. Thus, by setting the overlap amount finely, it is possible to efficiently perform cleaning according to the amount of dust.

  The self-propelled cleaner of the present invention specifies the position where the amount of dust is larger on the travel route than the amount of dust detected for each of the cleaning means provided at a plurality of positions, and specifies that the amount of dust is large when determining the travel route. By finely setting the overlap amount so as to pass through the position again, cleaning can be efficiently performed according to the amount of dust.

  The first invention includes a traveling means for moving the main body, a cleaning means divided into a plurality of positions, a traveling control means for controlling the traveling means so as to travel in a predetermined traveling pattern, A dust amount detecting means for detecting the amount of cleaned dust for each of the cleaning means; and a dust amount level determining means for determining, by level, the amount of dust detected by the dust amount detecting means for each of the cleaning means, Since the travel control means determines the travel route according to the dust amount level determined by the dust amount level determination means, the amount of dust on the travel route from the amount of dust detected for each of the cleaning means provided at a plurality of positions. By specifying the position where there is a lot of detail and finely setting the overlap amount so that it passes through the specified position again when the amount of dust is large when determining the travel route, efficient cleaning is performed according to the amount of dust Ukoto can.

  In particular, the second invention is provided with a turn number counting means for counting the number of times the self-propelled cleaner of the first invention is turned, and when the turn number counting means is greater than or equal to a predetermined count, the vehicle travels. The control means determines the travel route that eliminates or reduces the overlap amount, so that the wheels and nozzles can be restricted so that they do not pass the same position many times. be able to.

  According to the third invention, in particular, the self-propelled cleaner of the first or second invention according to the cleaning activation control means for controlling the activation for each cleaning means, and the dust amount level determined by the dust amount level determination means. Cleaning start position selection means for selecting the start position of the cleaning means is provided, and the cleaning start control means controls the start of the cleaning means at the position selected by the cleaning start position selection means, so that the amount of dust is reduced. Since the cleaning means can be stopped when passing through a small travel route again, the cleaning can be efficiently performed with low power consumption.

  The fourth aspect of the invention is particularly a cleaning capacity control means for controlling the cleaning ability of the cleaning means in the self-propelled cleaner according to any one of the first to third inventions, and a dust amount level determined by the dust amount level determination means. And a cleaning capability determining unit that determines a cleaning capability of the cleaning unit according to the control unit. The cleaning capability control unit controls the cleaning unit with the cleaning capability determined by the cleaning capability determining unit, so that the amount of dust is small. Since the cleaning ability can be lowered when passing through the travel route again, the cleaning can be efficiently performed with less power consumption.

  The fifth aspect of the invention is, in particular, a traveling position detection means for detecting a traveling position in the self-propelled cleaner according to any one of the first to fourth aspects of the invention, and a garbage amount for each traveling position detected by the traveling position detection means. A garbage amount level storing means for each traveling position for storing the dust amount level determined by the level determining means is provided, and the vehicle travels in a traveling position where the dust amount level stored in the garbage amount level storing means for each traveling position is a predetermined level or more. Before the cleaning means is selected by the cleaning activation position selection means or the cleaning ability determination means is selected by the cleaning activation position selection means, the cleaning means is activated before passing again through a position with a large amount of dust. In addition, since the cleaning ability can be increased, cleaning can be performed efficiently with low power consumption.

  According to a sixth aspect of the present invention, in particular, the self-propelled cleaner according to any one of the first to fifth aspects is provided with a setting means, and the setting means determines the amount of dust from the amount of dust detected by the dust amount level detection means. By setting a threshold value for determining the amount level, the level determination based on the amount of dust can be set more finely by a person.

  A seventh invention is a program for causing a computer to execute all or a part of the functions of the self-propelled cleaner of any one of the first to sixth inventions. All or part of the traveling vacuum cleaner can be easily realized.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment.

(Embodiment 1)
FIG. 1 is a block diagram of a self-propelled cleaner according to the first embodiment of the present invention.

  In FIG. 1, a main body 101 includes a wheel 102 that is a traveling means for traveling, a traveling motor 103 that drives the wheel 102, and an encoder 104 that detects the number of rotations of the wheel 102 to detect a traveling distance. An ultrasonic sensor 105 that detects an obstacle, a suction means 106 (106a, 106b, 106c) that is a cleaning means for sucking dust, and a dust amount detection means 107 that detects the amount of dust sucked for each suction means 106. (Abc), and a dust amount level determination means 108 (in this embodiment, the level is determined from 0 to 2) for determining the amount of dust at the dust amount level from the dust amount detected by the dust amount detection means 107. A dust amount level storage means 109 for storing the dust amount level determined by the dust amount level determination means 108 for each suction means 106, and a dust amount level storage. A travel route to perform round trip from the stored waste levels determined in step 109, and the running control means 110 for controlling the traveling on the basis of the motor 103 the determined travel route.

  FIG. 2 is a diagram showing a trajectory traveled by the main body 101. 101a is the main body 101 immediately after the start of travel, 101b is the main body 101, 201 moved based on the travel route determined by the travel control means 110. 101 is a cleaning area in which cleaning is performed, 202 is a row delimited by the nozzle width of the suction means 106, 203 indicates a trajectory traveled by the main body 101, and the travel control means 110 includes three rows 202 in one straight travel. Determine the round trip route.

  FIG. 3 is a flowchart showing an operation flow in the first embodiment of the present invention.

  FIG. 4 is a flowchart showing a flow in which the travel control unit 110 determines a travel route based on the dust amount level stored in the dust amount level storage unit 109 according to the first embodiment of the present invention.

  About the self-propelled cleaner comprised as mentioned above, the operation | movement and an effect | action are demonstrated using FIGS. 1-4 below.

  First, when the main body 101 is installed at the travel start point, suction by the suction means 106a, 106b, 106c is started, and the dust amount level for each suction means 106 stored in the dust amount level storage means 109 is cleared (this book). In the embodiment, all dust amount levels are set to 0) (STEPs 1-2). Thereafter, the traveling motor 103 is driven by the traveling control means 110 to start straight traveling (STEP 3).

  During straight traveling, the amount of dust is calculated based on the amount of dust detected by the dust amount detection unit 107 for each suction unit 106 and the amount of dust per unit area calculated based on the rotation speed of the wheel 102 detected by the encoder 104. The level determination unit 108 determines the dust amount level. After the determination, the dust amount level stored in the dust amount level storage unit 109 is updated so as to become the maximum value of the dust amount level (STEP 4). These operations of STEP 4 are performed until an obstacle is detected by the ultrasonic sensor 105. When the obstacle is detected by the ultrasonic sensor 105, the suction means stored in the dust amount level storage means 109 by the traveling control means 110. The travel route is determined based on the dust amount level for each 106 (STEPs 5 to 7).

  In the determination of the travel route by the travel control means 110, the overlap amount is determined with a row having the same width as the nozzle width of the suction means 106 as one unit.

  In order to determine the overlap amount, first, the confirmation order of the dust amount level of the suction means 106 stored in the dust amount level storage means 109 is determined (in this embodiment, the dust amount of the suction means 106a, 106b, 106c). The quantity levels are 1, 2, and 2, respectively (STEP 101). For example, in the case of reciprocating traveling from left to right as shown in FIG. 2, the order of confirmation from the leftmost suction means 106 is determined (the main body 101a in FIG. 2 detects an obstacle). The confirmation order after the detection is 106a → 106b → 106c, and the confirmation order after the main body 101b detects an obstacle is 106c → 106b → 106a).

  After the confirmation order of the dust amount level of the suction means 106 is determined, first, the dust amount level of the suction means 106 of order 1 is confirmed. When the dust amount level is equal to or higher than a threshold value (2 or more in this embodiment), Further, the number of turns counted by the turn number counting means 111 is confirmed. When the number of turns is less than a threshold value (less than 3 in this embodiment), the number of turns is counted up, and the overlap amount is set to 0 column, When the number of turns is equal to or greater than the threshold value, the number of turns is cleared and the overlap amount is set to 3 rows (STEP 0102 to STEP 107).

  Further, when the dust amount level of the suction means 106 in the order 1 is less than the threshold value, the dust amount level of the suction means 106 in the order 2 is checked next, and when the dust amount level is more than the threshold value, the overlap amount is set. One row is set (STEP 108 to STEP 109) (in this embodiment, the amount of movement of the row is 1).

  Further, when the dust amount level of the suction means 106 in the order 2 is less than the threshold value, the dust amount level of the suction means 106 in the order 3 is confirmed. The overlap amount is set to 3 rows (STEP 110 to STEP 113).

  After the overlap amount is determined by the traveling means 110, the suction means is moved until the determined column width is moved, the dust amount level stored in the dust amount level storage means 109 is cleared again, and an obstacle is detected. The vehicle travels straight while detecting the amount of dust and determining the level for each 106 (in this embodiment, the vehicle travels in one line as shown by 101b in FIG. 2).

  In this embodiment, the reciprocating traveling is repeated in one direction forward and backward at a constant pitch, but spiral traveling that travels in a spiral manner or random traveling that travels along a non-regular route. You can go.

  In addition, although the ultrasonic sensor 105 is used to detect an obstacle, an infrared sensor, a camera, or the like may be used.

  Further, although the dust amount level determination unit 109 determines the dust amount level in three steps, it may be two steps or four or more steps.

  Further, although the number of the suction means 106 is set to 3, it may be set to 2 or 4 or more.

  Further, the overlap amount determined by the travel control means 110 is the nozzle width of the suction means 106, but it may be larger or smaller than the nozzle width.

  As described above, in the present embodiment, a position where the amount of dust on the travel route is larger than the amount of dust detected for each suction means 106 provided at a plurality of positions is specified in detail, and the amount of dust is large when determining the travel route. By finely setting the overlap amount so as to pass through the specified position again, it is possible to efficiently perform the cleaning according to the amount of dust, and the traveling control means 110 eliminates or reduces the overlap amount. By determining the travel route, it is possible to limit the wheels 102 and the nozzles of the suction means 106 so that they do not pass the same position many times, so that wrinkles can be reduced.

(Embodiment 2)
FIG. 5 is a block diagram of a self-propelled cleaner in the second embodiment of the present invention. The main body 101 determines a travel route from the dust amount level stored in the dust amount level storage means 109 of FIG. 1, and in addition to the travel control means 110 that controls the travel motor 103 based on the determined travel route. The suction activation position selection means 113, which is a cleaning activation position selection means for selecting the activation position of the suction means 106, and the suction, which is a cleaning activation control means for activation of the suction means 106 selected by the suction activation position selection means 113. The suction control unit 115 is a cleaning capability control unit that determines the suction capability of the startup control unit 114 and the suction unit 106 and controls the suction capability (in this embodiment, the suction capability is “large” or “small”. 2 steps).

  The operation and action of the self-propelled cleaner configured as described above will be described below with reference to FIGS.

  First, when the main body 101 is installed at the travel start point, the dust amount level for each suction means 106 stored in the dust amount level storage means 109 is cleared, and all suction means 106 are activated by the suction activation control means 114. Then, the suction capacity control means 115 starts the suction so that the suction capacity of all the suction means 106 becomes “small”. Thereafter, the traveling control unit 110 drives the traveling motor 103 to start straight traveling, and until the obstacle is detected by the ultrasonic sensor 105, the procedure for each suction unit 106 is performed in the same manner as in the first embodiment. Detection of dust amount and determination and storage of dust amount level.

  When an obstacle is detected by the ultrasonic sensor 105, the overlap amount is determined in the same procedure as in the first embodiment, based on the dust amount level for each suction unit 106 stored in the dust amount level storage unit 109. (In the present embodiment, the dust amount levels of the suction means 106a, 106b, and 106c are set to 0, 2, and 0, and the overlap amount is set to one column from the dust amount levels).

  After the overlap amount is determined by the travel control means 110, the determined overlap amount is moved, and after the movement, the starting position of the suction means 106 is selected by the suction start position selecting means 113. Selection of the starting position of the suction means 106 is stored in the dust amount level storage means 109 for each suction means 106, when the row that the suction means 106 cleans this time is the first cleaning row or the previous cleaning row. The activation is selected depending on whether or not the level of the amount of dust is greater than or equal to a threshold (2 or more in the present embodiment). For example, in the case of the main body 101b shown in FIG. 2, the suction means 106a is activated for the first cleaning row. The suction unit 106b does not start when the dust amount level of the suction unit 106c stored in the dust amount level storage unit 109 is 0. The suction unit 106 c is activated when the dust amount level of the suction unit 106 b stored in the dust amount level storage unit 109 is 2.

  After the start position of the suction means 106 is determined by the suction start position selection means 113, the suction means 106 is started by the suction start control means 114, and the suction capacity determination means 115 determines the suction capacity. The suction capacity determination method by the suction capacity determination means 115 is such that, for each suction means 106, when the suction means 106 performs cleaning for the first time, or when the previous cleaning is performed, the dust amount level stored in the dust amount level storage means 109. Decide more. For example, in the case of the main body 101b of FIG. 2, since the suction means 106a is the first line to be cleaned, the suction capacity is “small”, and the suction means 106c has the dust level of the suction means 106b stored in the dust quantity level storage means 109. Therefore, the suction capacity is set to “high” (in this embodiment, since the suction means 106b is not activated by the suction activation control means 114, the suction capacity is not determined).

  After the suction capability is determined by the suction capability control means 115, the dust amount level stored in the dust amount level storage means 109 is cleared and the dust detection means 107 controls the suction capacity while the dust detection means 107 controls the dust amount. The traveling control unit 110 controls the traveling motor until the obstacle is detected by the ultrasonic sensor 105 while detecting the amount of dust and the dust amount level determining unit 108, and the vehicle travels straight.

  In this embodiment, the suction capacity control by the suction capacity control means 114 is performed in two stages, but it may be performed in three stages or more.

  As described above, in the present embodiment, the suction means 106 can be stopped or the suction ability can be lowered when the vehicle again passes the travel route with a small amount of dust, so that efficient cleaning can be performed with low power consumption. it can.

(Embodiment 3)
FIG. 6 is a block diagram of a self-propelled cleaner according to the third embodiment of the present invention. In addition to the configuration of FIG. 5, the main body 101 has a gyro 116 for detecting the traveling direction, and the cell position for each suction means 106 based on the rotational speed of the wheel 102 detected by the encoder 104 and the traveling direction detected by the gyro 116. Traveling cell position detecting means 117 for detecting and traveling map storage means 118 for storing a map of the cleaning area divided for each cell (in this embodiment, the size of the cell is a square and the size of one side is suction A dust amount level storage unit 119 for each cell position that stores the dust amount level determined by the dust amount level determination unit 108 for each cell stored in the travel map storage unit 118; In the present embodiment, dust amount level 1 is first stored at all cell positions), and dust amount level determination means 108 detects dust amount. 107 includes a setting button 120 for setting a threshold value for determining the amount of dust level from the detected amount of dust from.

  The operation and action of the self-propelled cleaner configured as described above will be described below with reference to FIG.

  First, with the setting button 120, the dust amount level determination means 108 uses the dust amount per unit cell area calculated from the dust amount detected by the dust amount detection means 107 and the cell position detected by the traveling cell position detection means 117. A threshold for determining the quantity level is set. For example, if you want to clean carefully, set the threshold value to a low value so that the dust amount level is judged to be high with a small amount of dust, and if you want to clean in a short time, Is set so that the dust amount level is not judged to be high with a small amount of dust.

  After the setting by the setting button 120 is completed, the suction activation control unit 114 activates all the suction units 106 and the suction capability control unit 115 starts the suction so that the suction capabilities of all the suction units 106 become “small”. Then, the traveling motor 103 is driven by the traveling control means 110 to start straight traveling.

  During straight traveling, the cell position for each suction means 106 is detected by the traveling cell position detection means 117, the activation position of the suction means 106 is selected by the suction activation position selection means 113, and selected by the suction activation control means 114. The suction means 106 is activated. For example, in the method of selecting the activation position of the suction unit 106, the current cell position stored in the dust amount level storage unit 119 for each cell position or the dust amount level of the next cell position is equal to or greater than a threshold value (in this embodiment, 1 or more) is selected as the activation position.

  After the activation position of the suction means 106 is selected, the suction ability of the suction means 106 activated by the suction control ability means 115 is determined and controlled. For example, as a method for determining the suction capacity, the dust amount level at the current cell position or the next cell position stored in the dust amount level storage means 119 for each cell position is greater than or equal to a threshold (in this embodiment, two or more). The suction means 106) is set to “Large” suction capacity, and otherwise, the suction capacity is set to “Small”.

  After the selection and activation of the starting position of the suction means 106 and determination of the suction capability, the dust amount level determination means 108 determines the unit for each suction means 106 based on the cell position and the dust amount detected by the dust amount detection means 107. The dust amount level is determined from the dust amount per cell area, and the dust amount level determined for each suction unit 106 is stored in the dust amount level storage unit 119 for each cell position. Detection of these cell positions, selection and activation of the activation position of the suction means 106, determination of suction capability, detection of dust amount, level determination and storage of dust amount are performed until an obstacle is detected by the ultrasonic sensor 105.

  When an obstacle is detected by the ultrasonic sensor 105, the travel control unit 110 determines the travel route from the dust amount level stored in the dust amount storage unit 119 for each cell position.

  In the determination of the travel route by the travel control means 110, the overlap amount is determined with a row having the same width as the nozzle width of the suction means 106 as one unit.

  The determination method of the overlap amount first determines the confirmation order of the MAX value of the dust amount level at the cell position that has passed when the straight traveling is performed from the dust amount level storage unit 119 for each suction unit 106 for each suction unit 106. For example, in the case of a reciprocation that proceeds from left to right, the order in which confirmation is performed from the leftmost suction means 106 is determined.

  After the determination order of the dust amount level is determined, first, the MAX value of the dust amount level at the cell position passed through the suction means 106 of the order 1 is confirmed from the dust amount level storage means 119 for each cell position, and the MAX of the dust amount level is checked. When there is a cell position whose value is greater than or equal to the threshold (in this embodiment, 2 or more), the overlap amount is set to 0 column.

  When the MAX value of the dust amount level of the suction means 106 in the order 1 is less than the threshold value, the dust amount level at the cell position where the suction means 106 in the order 2 next passes through the dust amount level storage means 119 for each cell position. The MAX value is confirmed, and when there is a cell position where the MAX value of the dust amount level is greater than or equal to the threshold value, the overlap amount is set to one column.

  When the MAX value of the dust amount level of the suction means of order 2 is less than the threshold value, the MAX value of the dust amount level at the cell position passed by the suction means 106 of order 3 from the dust amount level storage means 119 for each cell position. It is confirmed that the overlap amount is 2 columns when there is a cell position equal to or greater than the threshold value, and the overlap amount is 3 columns when the cell position is less than the threshold value.

  After the overlap amount by the traveling means 110 is determined, the movement is performed by the overlap amount, and then the cell position is detected until the obstacle is detected, the start-up selection of the suction means 106 and the determination and control of the suction capability. The vehicle travels straight ahead until the obstacle is detected by the ultrasonic sensor 105, while detecting the amount of dust and determining and storing the level of dust.

  In this embodiment, the size of the cell is the nozzle width of the suction means 106, but the size may be larger or smaller than the nozzle width.

  In the present embodiment, the dust amount level at the next cell position is confirmed when the activation of the suction means 106 is selected or when the suction capability is determined. You can go.

  As described above, in the present embodiment, the suction means 106 can be activated and the suction capability can be increased before passing again through a position where the amount of dust is large, so that efficient cleaning can be performed with low power consumption. In addition, by setting a threshold value for the dust amount level determination means 108 to determine the dust amount level from the dust amount detected by the dust amount detection means 107 with the setting button 120, the level determination based on the dust amount in detail by a person. Can be set.

(Embodiment 4)
A self-propelled cleaner according to a fourth embodiment of the present invention will be described with reference to FIG.

  The embodiment of the present invention is a program for causing a computer to execute all or part of the functions of the traveling control means 110, and causes the computer to function as all or part of the traveling control means 110. .

  As described above, in the present embodiment, all or part of the self-propelled cleaner of the present invention can be easily realized using a general-purpose computer or a server.

  As described above, the position where the amount of dust on the travel route is larger than the amount of dust detected for each cleaning means provided at a plurality of positions is specified in detail, and the position specified when the amount of dust is large when the travel route is determined is again determined. By finely setting the overlap amount so that it passes, it can be efficiently cleaned according to the amount of garbage, so a cleaning robot that cleans in the factory or office, etc., or an automatic cleaning device that automatically polishes the floor, bath, etc. It can also be applied to uses such as.

Block diagram of the self-propelled cleaner in Embodiment 1 of the present invention Explanatory drawing which shows the running locus of the self-propelled cleaner Flow chart showing the operation of the self-propelled cleaner Flow chart showing travel route determination of the self-propelled cleaner The self-propelled cleaner in Embodiment 2 of the present invention is a block diagram. Block diagram of self-propelled cleaner in embodiment 3 of the present invention Explanatory drawing which shows the driving | running route before the amount of garbage prediction of the conventional self-propelled cleaner Explanatory drawing which shows the travel route after the amount of garbage prediction of the self-propelled cleaner

Explanation of symbols

102 Traveling means (wheels)
106 Cleaning means (suction means)
107 dust amount detection means 108 dust amount level determination means 110 travel control means 111 turn count counting means 113 cleaning activation position selection means (suction activation position selection means)
114 Cleaning start control means (suction start control means)
115 Cleaning ability control means (suction ability control means)
117 Travel position detection means (travel cell position detection means)
119 Dust amount level storage means for each travel position (Dust amount level storage means for each cell position)
120 Setting means (setting button)

Claims (7)

Traveling means for moving the main body, cleaning means divided into a plurality of positions, traveling control means for controlling the traveling means to travel in a predetermined traveling pattern, and the amount of garbage cleaned A dust amount detecting means for detecting each cleaning means; and a dust amount level determining means for determining the level of the amount of dust detected by the dust amount detecting means for each of the cleaning means. A self-propelled cleaner that determines a travel route according to the amount of dust determined by the amount level determination means. 2. A turn number counting means for counting the number of turns made, and when the count number of the turn number counting means is equal to or greater than a predetermined count, the traveling control means determines a traveling route that eliminates or reduces the overlap amount. A self-propelled vacuum cleaner as described in 1. The cleaning activation control means for controlling the activation for each cleaning means, and the cleaning activation position selection means for selecting the activation position of the cleaning means in accordance with the dust amount level determined by the dust amount level determination means, the cleaning activation The self-propelled cleaner according to claim 1 or 2, wherein the control means controls the activation of the cleaning means at a position selected by the cleaning activation position selection means. The cleaning ability control means for controlling the cleaning ability of the cleaning means, and the cleaning ability determination means for determining the cleaning ability of the cleaning means according to the dust amount level determined by the dust amount level determination means, the cleaning ability control means The self-propelled cleaner according to any one of claims 1 to 3, wherein the cleaning means is controlled by the cleaning ability determined by the cleaning ability determining means. A travel position detecting means for detecting a travel position; and a dust amount level storage means for each travel position for storing the dust amount level determined by the dust amount level determining means for each travel position detected by the travel position detecting means, Before traveling in a travel position where the dust amount level stored in the travel amount dust level storage means is greater than or equal to a predetermined level, the cleaning start position selecting means selects the starting position of the cleaning means, or the cleaning ability determining means performs cleaning. The self-propelled cleaner according to claim 3 or 4, wherein the ability is determined. 6. The setting unit according to claim 1, further comprising a setting unit, wherein the setting unit sets a threshold for determining the dust amount level from the amount of dust detected by the dust amount detection unit. Self-propelled vacuum cleaner. The program for making a computer perform the function of all or one part of the self-propelled cleaner of any one of Claim 1 to 6.