JP2023038576A - Autonomous travel cleaning device - Google Patents

Abstract

[Problem] To continue automatic cleaning by moving between cleaning areas regardless of differences in level. [Solution] An autonomous cleaning device 1 that can autonomously run and perform automatic cleaning work includes a follow-up travel control section 33 and a random travel control section that control automatic travel cleaning of each of a plurality of cleaning areas. 34, and movement control sections such as a movement control section 35 and a step movement control section 36 that control autonomous movement between two cleaning areas. When there is a step between the cleaning area at the current position and the next cleaning area, the step traveling control unit 36 moves the step from the cleaning area at the current position to the next cleaning area when a predetermined step traveling condition is satisfied. The vehicle is controlled so that it can autonomously move over steps. [Selection diagram] Figure 1

Description

TECHNICAL FIELD The present invention relates to an autonomously traveling cleaning device capable of autonomously traveling and automatically cleaning.

2. Description of the Related Art Conventionally, an autonomously traveling cleaning device is configured to autonomously travel among a plurality of cleaning areas to clean each cleaning area in order to clean the interior of a house or the like.

For example, in the autonomous mobile robot cleaner of Patent Document 1, the control means refers to the map information of the cleaned area stored in the storage means to determine that the cleaning of a predetermined room on the first floor has been completed, and If it determines that it is necessary to go up and down the stairs to move to a different floor by communicating with the stair-compatible remote controller, it waits near the entrance of the stairs and activates the notification means when the human body detection sensor detects a human body. Distinctly output requests for movement to a floor or a lower floor.

Japanese Patent Application Laid-Open No. 2005-216021

A conventional autonomously traveling cleaning device cannot autonomously move between cleaning areas when the cleaning areas are arranged over different floors. For example, the autonomous mobile robot cleaner disclosed in Patent Document 1 does not require a complicated mechanism for ascending and descending stairs. is realized. However, in order to move between cleaning areas on different floors, a person must always be present when one floor is finished cleaning, and must be aware of the movement request, lifting the robot cleaner up and down the stairs. This is inconvenient for the user because it has to be set. In addition, in a conventional autonomously traveling cleaning device such as the autonomously traveling robot cleaner of Patent Document 1, automatic traveling cleaning cannot be performed between cleaning areas on different floors, with stairs and landings as cleaning areas. Unable to meet requests for cleaning landings, etc.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an autonomously traveling cleaning device that can move between cleaning areas regardless of steps and continue automatically traveling cleaning. That's what it is.

In order to solve the above-described problems, a first autonomously traveling cleaning device of the present invention is an autonomously traveling cleaning device capable of performing an automatic cleaning work by autonomously traveling and automatically cleaning each of a plurality of cleaning areas. and a movement control unit for controlling autonomous movement between the two cleaning areas, wherein the movement control unit controls the cleaning area at the current position and the next cleaning area. When there is a step between the cleaning area and a predetermined step-difference traveling condition is satisfied, step-difference traveling is executed to autonomously move from the cleaning area at the current position to the next cleaning area across the step. It is characterized by controlling to do.

According to the first autonomously traveling cleaning device of the present invention, even when a plurality of cleaning areas are arranged over different floors (floors), the device can automatically travel over the steps between the different floors. Therefore, automatic traveling cleaning of a plurality of cleaning areas over different floors can be performed without imposing any trouble or burden on the user. Therefore, automatic traveling cleaning can be continued by moving between cleaning areas regardless of steps.

In order to solve the above-mentioned problems, in the second autonomously traveling cleaning device of the present invention, the movement control unit is arranged so that when there is a step where the next cleaning area is positioned below the current cleaning area, and controlling the step-difference running so as to move downward when the step-difference running condition is satisfied.

According to the second autonomously traveling cleaning device of the present invention, even if the next cleaning area is located below, the cleaning device can automatically travel downwards over the step, so that it does not burden the user with time and effort. Instead, it is possible to perform automatic traveling cleaning of the cleaning area located below.

In order to solve the above-mentioned problems, in the third autonomously traveling cleaning device of the present invention, the movement control unit controls the cleaning completion rate of the cleaning area of the current position for the automatic traveling cleaning to be equal to or higher than a predetermined completion rate threshold value. Then, it is determined that the bump traveling condition is satisfied.

According to the third autonomously traveling cleaning device of the present invention, even when a plurality of cleaning areas are arranged over different floors, the cleaning of each cleaning area can be completed without imposing any trouble or burden on the user. Self-driving cleaning of multiple cleaning areas across different floors can be performed while maintaining a high rate.

In order to solve the above problems, in the fourth autonomously traveling cleaning device of the present invention, the movement control unit determines whether the cleaning area at the current position has been automatically traveling cleaned for a predetermined cleaning time or a predetermined cleaning distance or longer. In this case, it is determined that the step condition is satisfied.

According to the fourth autonomously traveling cleaning device of the present invention, it can be determined that the cleaning completion rate of the cleaning area is equal to or higher than the predetermined completion rate threshold based on the elapsed time or the elapsed distance of the automatic traveling cleaning. , it is possible to perform automatic traveling cleaning of a plurality of cleaning areas over different floors while maintaining a high cleaning completion rate of each cleaning area without imposing any trouble or burden on the user.

In order to solve the above-mentioned problems, a fifth autonomously traveling cleaning device of the present invention provides a cleaning plan creating unit that creates a cleaning plan indicating the order of automatic traveling cleaning of the plurality of cleaning areas, and supplies power to each unit. and a power supply unit, wherein the movement control unit moves to the next cleaning area in order to complete the cleaning plan based on the remaining power of the power supply unit and the power required for automatic traveling cleaning of the cleaning area. If the vehicle needs to move, it is determined that the step condition is met.

According to the fifth autonomously traveling cleaning device of the present invention, it is possible to more reliably complete the automatically traveling cleaning of a plurality of cleaning areas included in the cleaning plan according to the remaining power of the power supply unit.

In order to solve the above-mentioned problems, the sixth autonomous traveling cleaning device of the present invention includes a suppressing structure for suppressing the impact during traveling on a step, and an auxiliary structure for assisting the traveling on a step.

According to the sixth autonomously traveling cleaning device of the present invention, when traveling down a step and landing on the next cleaning area, the device main body does not break and the device can safely move over the step.

ADVANTAGE OF THE INVENTION According to this invention, an autonomously traveling cleaning apparatus can move between cleaning areas regardless of a level|step difference, and can continue an automatically traveling cleaning.

1 is a block diagram showing the configuration of an autonomously traveling cleaning device according to an embodiment of the present invention; FIG. FIG. 5 is a schematic diagram showing an operation example of the stepped traveling assistance unit in the autonomous traveling cleaning device according to the embodiment of the present invention; FIG. 5 is a schematic diagram showing an operation example of the stepped traveling assistance unit in the autonomous traveling cleaning device according to the embodiment of the present invention; 1 is a schematic diagram showing an example of a plurality of cleaning areas to be cleaned in an autonomously traveling cleaning device according to an embodiment of the present invention; FIG. 4 is a table showing an example of stepped traveling conditions in the autonomously traveling cleaning device according to the embodiment of the present invention. FIG. 2 is a schematic diagram showing an example of automatic traveling cleaning on stairs and a landing in the autonomous traveling cleaning device according to the embodiment of the present invention; FIG. 4 is a schematic diagram showing an example of stepped travel in the autonomously traveling cleaning device according to the embodiment of the present invention. 4 is a flowchart showing an operation example of automatic traveling cleaning of a plurality of cleaning areas in the autonomous traveling cleaning device according to the embodiment of the present invention; 4 is a flowchart showing an operation example of movement to the next cleaning area in the autonomously traveling cleaning device according to the embodiment of the present invention; 4 is a table showing an example of requirements for completion of automatic traveling cleaning for each cleaning area in the autonomous traveling cleaning device according to the embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiments are preferred specific examples of the present invention and disclose various preferred techniques, but the technical scope of the present invention is not limited to these aspects.

An autonomous traveling cleaning device 1 according to an embodiment of the present invention will be described. The autonomously traveling cleaning device 1 moves between cleaning areas and automatically travels and cleans each cleaning area based on a preset cleaning plan for a house or the like having a plurality of cleaning areas. The autonomously traveling cleaning device 1 is designed to automatically travel and clean each cleaning area including stairs from the upper floor to the lower floor in order to clean cleaning areas arranged over different floors in a house or the like. It is preferably constructed in a small size so that the user can carry it upstairs.

The autonomously traveling cleaning device 1 is capable of traveling by manual operation and autonomously by automatic operation, and can be switched to either a manual mode or an automatic mode. It operates by switching to any one of the driving mode, moving driving mode, and step driving mode.

In the manual mode, the autonomous traveling cleaning device 1 performs manual traveling and manual cleaning according to manual operations by the operator. When performing manual traveling cleaning of a plurality of cleaning areas, the autonomous traveling cleaning device 1 creates and stores environmental maps for each of the plurality of cleaning areas.

In the follow-up travel mode, the autonomous travel cleaning device 1 performs follow-up travel for automatically traveling and cleaning along obstacles such as walls of the cleaning area, and creates an environmental map of the cleaning area while following travel. Specifically, the autonomously traveling cleaning device 1 performs follow-up traveling by detecting surrounding obstacles and automatically traveling while keeping a predetermined distance from the obstacles.

In the random traveling mode, the autonomously traveling cleaning device 1 performs random traveling in which it automatically travels and cleans by going straight in various directions in the cleaning area. Specifically, the autonomous traveling cleaning device 1 performs automatic traveling cleaning in which it moves straight in a predetermined traveling direction, and when it detects an obstacle such as a wall surface in front, it performs an avoidance operation of the detected obstacle to change the traveling direction. Then, perform automatic traveling cleaning that goes straight in the changed direction.

Further, the autonomously traveling cleaning device 1 is set to the traveling traveling mode when predetermined traveling traveling conditions are satisfied in the cleaning area of the current position, and performs traveling traveling to autonomously move to the next cleaning area.

When there is a step between the cleaning area of the current position and the next cleaning area, the autonomous traveling cleaning device 1 is set to the stepped traveling mode when a predetermined stepped traveling condition is satisfied. It runs on steps to move autonomously to the cleaning area.

As shown in FIG. 1, the autonomous traveling cleaning device 1 includes a device main body 2 for accommodating various parts, a traveling section 3 for traveling the device main body 2, and a floor surface below the device main body 2 for cleaning work. and a cleaning unit 4 . The device main body 2 is configured to have impact resistance that can withstand the impact when it descends and lands on the next cleaning area while traveling on a step. The autonomous cleaning device 1 also includes a first obstacle detection unit 6 , a second obstacle detection unit 7 , an acceleration sensor 8 , a step detection unit 9 and an imaging unit 10 . Further, the autonomously traveling cleaning device 1 includes a stepped traveling assistance section 12 (auxiliary structure), an operation display section 13 , a power supply section 14 and a communication section 15 . The autonomously traveling cleaning device 1 also includes a control unit 20 and a storage unit 21 .

Next, each part of the autonomous traveling cleaning device 1 will be described.

The running unit 3 is provided in the lower part of the device main body 2, and includes, for example, a pair of driving wheels, one auxiliary wheel 3a (see FIG. 2(b)), a running motor, and an encoder. The traveling unit 3 can move the device body 2 forward or backward by rotating a pair of driving wheels respectively by a traveling motor, and can also turn the device body 2 on a pivot to change the traveling direction. . By controlling the driving of the traveling motor, the traveling speed of the autonomously traveling cleaning device 1 (the traveling section 3) is adjusted (acceleration/deceleration). The traveling unit 3 measures the amount of rotation of the driving wheels with an encoder. The traveling section 3 drives a traveling motor under the control of the control section 20 , and transmits the amount of rotation of the driving wheels measured by the encoder to the control section 20 .

When the operation mode is set to the manual mode, the traveling section 3 operates according to the manual operation of the operation display section 13 by the operator. In addition, when the operation mode is set to the automatic mode, the traveling section 3 operates according to the control of the control section 20 based on the cleaning plan or the like.

The cleaning unit 4 is provided in the lower part of the device main body 2, and is composed of a mechanism for cleaning the floor surface by, for example, a dry cleaning method. The cleaning unit 4 includes a rotating brush that collects dust on the floor, a brush motor that rotates the brush, a blower that sucks the dust collected by the brush, and a dust sucked by the blower. with a bucket.

When the operation mode is set to the manual mode, the cleaning unit 4 operates according to the manual operation of the operation display unit 13 by the operator. Also, when the operation mode is set to the automatic mode, the cleaning unit 4 operates according to the control of the control unit 20 based on the cleaning plan or the like.

The first obstacle detection unit 6 detects an obstacle such as a wall around the device main body 2, and is composed of a piezoelectric element, a capacitance sensor, or the like. , and detects an obstacle that has come into contact with the impact suppressing section 16 . Note that the impact suppressing portion 16 may be attached to the front side of the device main body 2, and a shock absorbing member may be provided between the device main body 2 and the bumper.

The second obstacle detection unit 7 detects obstacles such as walls surrounding the device main body 2, and is composed of an ultrasonic sensor, an infrared sensor, a laser range finder (LRF), and the like. An obstacle is detected without contact by measuring positional information between the main body 2 and the obstacle.

The acceleration sensor 8 detects acceleration of the device main body 2, and for example, measures information such as tilt and vibration of the device main body 2 by measuring the acceleration.

The step detector 9 detects a step around the apparatus main body 2, and is composed of an infrared sensor or the like. For example, the step detection unit 9 detects the reflection of the irradiation of infrared rays by an infrared sensor, and can move below the cleaning area of the current position based on the reflection state of the irradiation of the infrared rays at a predetermined irradiation angle. It can be determined whether or not there is a cleaning area that is suitable for cleaning.

The image capturing unit 10 captures an image of the surroundings of the apparatus main body 2, and is composed of a CCD (Charge Coupled Device) camera or the like. For example, the imaging unit 10 captures an image of a situation during autonomous traveling cleaning, and transmits the imaged result to the user's mobile terminal 17 via the communication unit 15, so that the user can use the mobile terminal 17 to perform autonomous traveling cleaning. make it possible to grasp the situation of Note that the imaging unit 10 takes an image including steps around the device main body 2 and transmits the imaged result to the user's mobile terminal 17 via the communication unit 15 so that the user can use the mobile terminal 17 to take the image. You may enable it to grasp|ascertain a level|step difference. At this time, the user may operate the portable terminal 17 to input an instruction to run on a step, which may be received by the control unit 20 via the communication unit 15 so that the vehicle may run on a step.

The stepped running assistance part 12 assists the device body 2 in stepping. For example, as shown in FIG. 2(b), the bump running assistance unit 12 is composed of a front safety wheel 3a and a damper 12a capable of lifting and lowering the safety wheel 3a. As shown in FIG. 2(a), when the device main body 2 travels over steps from the cleaning area at the current position to the next cleaning area located below, the step-difference travel assisting unit 12 performs step-difference travel as shown in FIG. 2(b). , the front part of the apparatus main body 2 enters the next cleaning area and the rear part of the apparatus main body 2 remains in the cleaning area of the current position, and the damper 12a is extended to move the auxiliary wheel 3a to the next cleaning area. down to Then, when the device main body 2 further enters the next cleaning area in a state where the training wheels 3a have landed on the next cleaning area, the step-difference traveling assisting part 12 moves the damper 12 as shown in FIG. 3(a). 12a is gradually shortened to absorb the fall of the device main body 2, and the lowering speed when the autonomously traveling cleaning device 1 moves downward on the step is suppressed.

Alternatively, the step assisting section 12 presses the left and right walls of the apparatus main body 2 like a tension bar to assist the apparatus main body 2 in stepping downward. It is composed of a support member for supporting, and suppresses the lowering speed when the autonomously traveling cleaning device 1 moves downward on a step.

The operation display unit 13 is for operating and displaying various functions of the autonomously traveling cleaning device 1 , is configured by a touch panel or the like, and displays various screens according to control signals from the control unit 20 . The operation display unit 13 is provided in a mobile terminal 17 such as a smart phone or a tablet terminal, which is separate from the device main body 2 . As another example, the operation display unit 13 may be provided integrally with the device body 2 . The operation display unit 13 receives setting operations for traveling data such as the traveling speed of the traveling unit 3 and cleaning data such as the number of rotations of the brush of the cleaning unit 4 and the suction force of the blower.

The operation display unit 13 receives an operation of creating a cleaning plan for the cleaning target when performing automatic traveling cleaning of the cleaning target consisting of a plurality of cleaning areas. For example, as shown in FIG. 4, the object to be cleaned is a house, from the 2nd floor bedroom, 2nd floor children's room, 2nd floor corridor, stairs (including landing), 1st floor reception room, 1st floor living room, 1st floor entrance hall If a plurality of cleaning areas are included, the operation display unit 13 receives an operation for selecting a cleaning area for automatic traveling cleaning from among these cleaning areas.

The power supply unit 14 supplies electric power to each unit of the autonomously traveling cleaning device 1, and includes a battery and a charging circuit, and the battery is charged by being connected to an external power supply. Note that the power supply unit 14 may output a signal indicating the remaining amount of the battery to the control unit 20 .

The communication unit 15 is for communicating with an external device, and performs wireless communication with the portable terminal 17 according to a wireless LAN such as Wi-Fi or a communication standard such as Bluetooth (registered trademark).

The control unit 20 is composed of a computer such as a CPU (Central Processing Unit), and performs integrated control of each unit and various functions of the autonomously traveling cleaning device 1 (traveling by the traveling unit 3, cleaning work by the cleaning unit 4, etc.). The control unit 20 includes the traveling unit 3, the cleaning unit 4, the first obstacle detection unit 6, the second obstacle detection unit 7, the acceleration sensor 8, the step detection unit 9, the image pickup unit 10, the step travel assistance unit 12, and an operation display. It is connected to each part of the autonomously traveling cleaning device 1 such as the part 13 , the power supply part 14 , the communication part 15 and the storage part 21 .

The storage unit 21 includes a storage medium such as a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, and a flash memory. and cleaning data such as blower suction power.

For example, the storage unit 21 stores basic information such as the total length of the autonomously traveling cleaning device 1, the vehicle body width, and the cleaning width. The storage unit 21 associates an environment map created by simple teaching of a plurality of cleaning areas to be cleaned with each cleaning area, and stores the environment map as preliminary data of the plurality of cleaning areas. Alternatively, the storage unit 21 stores, as preliminary data, data indicating the shape and size of each cleaning area obtained from map data or the like input in advance for a plurality of cleaning areas to be cleaned. In addition, the memory|storage part 21 may include and store the number of steps of stairs in a priori data, when a cleaning area is stairs. In addition, the storage unit 21 stores cleaning plans for a plurality of cleaning areas when performing automatic traveling cleaning.

The storage unit 21 stores programs and data for controlling each unit and various functions of the autonomously traveling cleaning device 1, and the control unit 20 executes arithmetic processing based on the programs and data stored in the storage unit 21. By doing so, each part and various functions are controlled in an integrated manner.

For example, by executing the program stored in the storage unit 21, the control unit 20, as shown in FIG. automatic cleaning control unit), random travel control unit 34 (automatic cleaning control unit), moving travel control unit 35 (movement control unit), and step travel control unit 36 (movement control unit). As a result, the autonomously traveling cleaning device 1 can autonomously travel according to a pre-stored program and automatically work.

The mode switching section 30 switches the operation mode between the manual mode and the automatic mode according to the operation of the operation display section 13 . Also, in the automatic mode, the mode switching unit 30 switches the driving mode to any one of the following driving mode, the random driving mode, the moving driving mode, and the bump driving mode by the control unit 20 according to the work situation.

In order to perform automatic traveling cleaning of the cleaning areas in the order according to the cleaning plan, the mode switching unit 30, for example, when an instruction to start automatic traveling is operated by the operation display unit 13, or automatically travels to one cleaning area. When moving from one cleaning area to another cleaning area, the cleaning area of the current position is determined, and if the cleaning plan is followed, the traveling mode is switched to the following traveling mode.

At this time, as shown in FIG. 3(b), the mode switching unit 30 controls the traveling unit 3 to perform a pivot turn at the first position in the cleaning area, while the second obstacle detecting unit 7 detects obstacles such as wall surfaces around the device main body 2, and based on the detection result, it is determined whether or not automatic traveling cleaning can be performed in the cleaning area. Obstacles such as walls are arranged around the cleaning area, and the mode switching unit 30 operates following traveling or random traveling based on the detection results of the first obstacle detection unit 6 and the second obstacle detection unit 7 . When it is determined that the automatic traveling cleaning can be performed by the automatic traveling cleaning, the traveling mode is switched to the follow-up traveling mode.

In addition, the mode switching unit 30 compares the shape and size of the cleaning area measured when the cleaning area is tracked once with the preliminary data of the cleaning area, so that the cleaning area at the current position follows the cleaning plan. It is determined whether or not it is a cleaning area. Then, the mode switching unit 30 continues the following travel mode when the cleaning area is in accordance with the cleaning plan, and moves to the cleaning area in accordance with the cleaning plan when the cleaning area is not in accordance with the cleaning plan. To do so, switch the driving mode to the moving driving mode.

On the other hand, the mode switching unit 30 does not have obstacles such as walls around the cleaning area, and the following traveling or random traveling is performed based on the detection results of the first obstacle detection unit 6 and the second obstacle detection unit 7 . When it is determined that the automatic traveling cleaning cannot be performed by the automatic traveling cleaning, the traveling mode is switched to the stepped traveling mode in order to move to the next cleaning area. For example, if the cleaning area is a stairway with a hollowed out riser surface, the mode switching unit 30 determines that automatic traveling cleaning cannot be performed because there are no obstacles such as wall surfaces in the surrounding area.

Further, the mode switching unit 30 switches the traveling mode to the random traveling mode when the autonomous traveling cleaning device 1 completes the follow-up traveling in the cleaning area.

At this time, the mode switching unit 30 determines whether or not the cleaning area allows random travel based on the shape and size of the cleaning area. Switch to random run mode, on the other hand, if it is too narrow to allow random run, switch the run mode to step run mode to move to the next cleaning area.

For example, the mode switching unit 30 calculates the lengths of two short sides out of the four sides that make up the cleaning area, based on the shape and size of the cleaning area that is measured when the cleaning area is circled by follow-up travel. Then, the length of the short side and the size (full length) of the autonomously traveling cleaning device 1 are compared, and the stepped traveling condition for switching to the stepped traveling mode is determined based on the comparison result.

Specifically, as shown in FIG. 5, when the length of the short side is less than the total length of the autonomously traveling cleaning device 1, it is possible to achieve a cleaning rate of 90% or more in the cleaning area by performing one round of follow-up traveling. The mode switching unit 30 makes the determination and switches the running mode to the step running mode without performing follow-up running for the second lap. Further, when the length of the short side is less than twice the total length of the autonomously traveling cleaning device 1, the mode switching unit 30 determines that the cleaning rate of the cleaning area can be achieved by 90% or more by performing the follow-up traveling two times. switches the running mode to the stepped running mode after the follow-up running of the second lap is performed. Also, if the length of the short side is at least twice the total length of the autonomously traveling cleaning device 1, it is possible to achieve a cleaning rate of 90% or more in the cleaning area by performing two rounds of follow-up traveling and then performing random traveling. After the random traveling is performed, the mode switching unit 30 switches the traveling mode to the step traveling mode.

By the way, if the cleaning area is stairs, the short sides of the treads are relatively short, so it is difficult to perform random running. Standards for the dimensions of residential stairs, for example, include a riser height of 23 cm or less, a short side of the tread of 30 cm or more, and a long side of the tread of 75 cm or more. In addition, it is known that the height of the riser x 2 + the length of the short side of the tread = 60 cm is the size of the stairs that is easy to walk on. Therefore, when the cleaning area is stairs, the mode switching unit 30 changes the cleaning rate of the stairs when one or two follow-up runs (see the broken line) are completed, as shown in FIG. 6(a). It is preferable to determine that 90% or more can be achieved, and switch the running mode to the stepped running mode.

Further, as shown in FIG. 6A, when the cleaning area is a landing, the short side of the tread is relatively long, so random running is possible. Therefore, as shown in FIG. 6(b), after performing two laps of following the landing (see the dashed line), random running (see the dashed line) of the landing is performed to achieve a landing cleaning rate of 90% or more. After the random running is performed, the mode switching unit 30 switches the running mode to the stepped running mode.

The mode switching unit 30 determines whether there is a level difference between the current cleaning area and the next cleaning area when the autonomous cleaning device 1 completes automatic traveling cleaning including follow-up traveling and random traveling in the cleaning area. is detected by the step detector 9 . If no level difference is detected between the cleaning area at the current position and the next cleaning area, the mode switching unit 30 determines that it is possible to move to the next cleaning area by normal automatic traveling, and performs the predetermined movement. It is determined that the driving condition is satisfied, and the driving mode is switched to the mobile driving mode. Further, when a step is detected between the cleaning area of the current position and the next cleaning area, the mode switching unit 30 determines that the next cleaning area can be moved to by step traveling instead of normal automatic traveling. Then, it is determined that the predetermined bump traveling condition is satisfied, and the traveling mode is switched to the bump traveling mode.

Further, when the current position cleaning area is moved over a step to the next cleaning area in the stepped traveling mode, the mode switching unit 30 stores in advance if the current position cleaning area is stairs. It may be determined that the automatic traveling cleaning of the stairs is completed by completing the movement of the number of steps that were previously set. Note that the mode switching unit 30 may determine whether or not the autonomously traveling cleaning device 1 has moved over a step based on the detection result of the acceleration sensor 8 .

The map creation unit 31 estimates the self-position and creates an environment map in real time using techniques such as SLAM (Simultaneous Localization and Mapping) while manual travel in the manual mode or follow-up travel in the follow-up travel mode is performed. conduct.

Specifically, while the map creation unit 31 is traveling in a predetermined cleaning area, the second obstacle detection unit 7 acquires the positional information of the device body 2 and obstacles such as walls around the device body 2. Then, based on this position information, a local map around the device body 2 is created at predetermined time intervals or predetermined distance intervals. Further, the map creation unit 31 estimates the self-position (coordinates) of the autonomous mobile cleaning device 1 in the local map based on the local map and the detection result (movement amount of the traveling unit 3) by the encoder of the traveling unit 3. . Then, the map creation unit 31 creates an environmental map of the cleaning area by connecting each local map.

The map creating unit 31 stores the created environment map in the storage unit 21 in association with each cleaning area when the simple teaching is performed by manual traveling for a plurality of cleaning areas to be cleaned. For example, as shown in FIG. 4, the map creation unit 31 consists of a bedroom on the second floor, a children's room on the second floor, a hallway on the second floor, stairs (including a landing), a reception room on the first floor, a living room on the first floor, and an entrance hall on the first floor. Manual runs of multiple cleaning areas are made to map these environments.

The cleaning plan creation unit 32 is configured to create a cleaning plan for a cleaning target consisting of a plurality of cleaning areas. Remember. The cleaning plan creation unit 32 sets the order of automatic traveling cleaning of a plurality of cleaning areas according to the operation of the operation display unit 13 . Note that if the cleaning areas are arranged over different floors (floors), the cleaning plan creation unit 32 completes the automatic traveling cleaning of the cleaning area on one floor, and then moves to another floor. , it is advisable to create a cleaning plan that includes the order of floors to be cleaned automatically.

The cleaning plan creation unit 32 reads the environmental maps or data indicating the shapes and sizes of the plurality of cleaning areas stored in advance in the storage unit 21 as advance data of the plurality of cleaning areas. The cleaning plan creation unit 32 displays the preliminary data of a plurality of cleaning areas on the operation display unit 13 so as to be selectable, and receives an operation for selecting a cleaning area for automatic traveling cleaning. Note that the cleaning plan creation unit 32 may display the preliminary data of a plurality of cleaning areas on a plan map for each floor, or may display them as a list. The cleaning plan creation unit 32 creates a cleaning plan for a plurality of cleaning areas in accordance with a cleaning area selection operation.

For example, as shown in FIG. 4, an environmental map of the cleaning areas of the bedroom on the second floor, the children's room on the second floor, the hallway on the second floor, the stairs (including the landing), the reception room on the first floor, the living room on the first floor, and the entrance hall on the first floor. are stored in the storage unit 21 in advance, the cleaning plan creating unit 32 accepts selection operations of these cleaning areas. In response to the selection operation of the cleaning area, for example, the cleaning plan creation unit 32 automatically runs and cleans the cleaning areas in the order of the second floor bedroom, the second floor corridor, the stairs, the first floor reception room, and the first floor entrance hall. , create a cleaning plan.

In addition, the cleaning plan creation unit 32 may create a cleaning plan by accepting a selection operation of a cleaning area in a scene where automatic traveling cleaning is started, for example, in a bedroom on the second floor where automatic traveling cleaning is started. A cleaning plan may be created by accepting a selection operation of a cleaning area in a scene that is not related to the execution of traveling cleaning, for example, other than the bedroom on the second floor.

The follow-up travel control unit 33 controls the travel unit 3 and the cleaning unit 4 to perform follow-up travel for automatically traveling and cleaning along obstacles such as walls of the cleaning area when the follow travel mode is set.

Specifically, the follow-up travel control unit 33 detects an obstacle such as a wall surface around the device main body 2 by the second obstacle detection unit 7, and automatically travels and cleans while maintaining a predetermined distance from the obstacle. It controls the running section 3 and the cleaning section 4 . Note that, when the step detection unit 9 detects a step during the follow-up travel, the follow-up travel control unit 33 avoids the step and travels.

First, when the follow-up travel control unit 33 completes one round of automatic travel cleaning along the inner periphery of the cleaning area, the map creation unit 31 creates an environmental map of the cleaning area, grasps the shape and size of the cleaning area, and performs cleaning. The area to be cleaned at the current position is determined by comparing it with the area data in advance. For example, when performing follow-up travel in a square cleaning area, the cleaning area is made one round by connecting four automatic travel cleanings that go straight along each side with three 90° turns, and each turning point is used as a reference. to determine the length of each side. Note that the follow-up travel control unit 33 may calculate the shape and size of the inner circumference of the cleaning area based on the movement amount and turning angle measured by the encoder of the travel unit 3 during follow-up travel. If the second obstacle detection unit 7 detects an obstacle that does not exist in the environment map of the advance data or the like during the follow-up travel, the follow-up travel control unit 33 determines that there is an obstacle.

Alternatively, the follow-up travel control unit 33 performs a pivot turn before performing follow-up travel in the cleaning area, and performs cleaning of the current position based on the detection result of the second obstacle detection unit 7 and the imaging result of the imaging unit 10. area can be determined. If the cleaning area at the current position complies with the cleaning plan, the follow-up travel control unit 33 continues the follow-up travel.

Next, the follow-up travel control unit 33 gradually increases the predetermined distance from obstacles such as wall surfaces each time the cleaning area is circumnavigated, so that the robot approaches the center while circling the cleaning area. Automatic traveling cleaning is performed, in other words, automatic traveling cleaning is continued so as to paint the inside of the cleaning area in a spiral. For example, the follow-up travel control unit 33 doubles or triples the predetermined interval each time the cleaning area is circled, or integrates the predetermined interval by the cleaning width of the cleaning unit 4 to clean the area. Repeat laps around the area.

The follow-up travel control unit 33 controls follow-up travel along obstacles such as walls in the cleaning area in order to improve the ratio of the area that has been cleaned by automatic travel cleaning (cleaning completion rate: %). After repeating a predetermined number of times, the follow-up running is completed.

When the cleaning area is stairs, the follow-up travel control unit 33 repeats the follow-up travel a predetermined number of times (for example, twice) to complete the follow-up travel. It is determined that the cleaning run has been completed, the moving running condition or the stepped running condition is satisfied, and the running mode is switched to the moving running mode or the stepped running mode.

The random travel control unit 34 controls the travel unit 3 and the cleaning unit 4 so that when the random travel mode is set, the robots 3 and 4 move straight in various directions in the cleaning area to perform automatic travel cleaning.

Specifically, the random travel control unit 34 performs automatic travel cleaning in which the vehicle travels straight in a predetermined traveling direction, and when the first obstacle detection unit 6 detects contact with an obstacle such as a wall surface in front, or when the second obstacle When the object detection unit 7 detects an approach within a predetermined distance from an obstacle such as a wall surface in front, the traveling unit 3 and the cleaning unit 4 are controlled so as to stop automatic traveling cleaning. After that, the random traveling control unit 34 performs an avoidance operation of the detected obstacle, for example, changes the traveling direction by turning or turning at a predetermined angle until the obstacle can no longer be detected, and proceeds straight in the changed traveling direction. The traveling unit 3 and the cleaning unit 4 are controlled so as to perform automatic traveling cleaning. In addition, it is preferable that the rotating motion is performed so as to face at least the direction opposite to the obstacle. Then, the random travel control unit 34 performs random travel by repeating the straight automatic travel cleaning and the avoidance operation as described above.

The random travel control unit 34 completes the random travel when the cleaning area is sufficiently cleaned by combining the following travel and the random travel and it is determined that the cleaning is completed. For example, the random travel control unit 34 grasps the travel route passed through during the automatic travel cleaning of the following travel and the random travel based on the amount of movement and turning angle measured by the encoder of the travel unit 3 and the cleaning width of the cleaning unit 4. Then, by calculating the ratio of filling the environmental map of the cleaning area with this traveling route, the cleaning completion rate (%) of the cleaning area is calculated. Then, the random travel control unit 34 completes the random travel when the cleaning completion rate of the cleaning area is equal to or higher than a predetermined completion rate threshold value (for example, 90%).

Alternatively, the random travel control unit 34 measures the elapsed time (min) during which the automatic travel cleaning of the follow-up travel and the random travel is performed, or measures the elapsed distance (m) with the encoder of the travel unit 3, and measures the elapsed time or elapsed time. If the distance is equal to or greater than a predetermined cleaning time or a predetermined cleaning distance, it is determined that the cleaning completion rate of the cleaning area is equal to or greater than a predetermined completion rate threshold value, and random travel is completed. The predetermined cleaning time and the predetermined cleaning distance are set by performing preliminary driving and simulation driving in the cleaning area and measuring the elapsed time and elapsed distance when the cleaning rate reaches 90%. Note that when the random travel is incomplete, that is, when the cleaning completion rate of the cleaning area during random travel is less than the predetermined completion rate threshold, if the step detection unit 9 detects a step, the step avoid and drive. At this time, the random travel control unit 34 performs the obstacle avoidance operation as described above using the step detected by the step detection unit 9 as an obstacle. For example, when the random traveling control unit 34 detects an approach within a predetermined distance from a step, the automatic traveling cleaning is stopped, and the traveling direction is changed by turning or turning at a predetermined angle until the step can no longer be detected, The traveling unit 3 and the cleaning unit 4 are controlled so as to automatically travel straight in the changed traveling direction.

When the random travel control unit 34 completes the random travel, the mode switching unit 30 determines that the automatic cleaning travel of the cleaning area is completed, satisfies the travel travel condition or the step travel condition, and changes the travel mode to the travel travel. mode or step mode.

The mobile travel control unit 35 controls the travel unit 3 and the cleaning unit 4 to automatically travel from the current cleaning area to the next cleaning area when the mobile travel mode is set.

For example, the mobile travel control unit 35 determines the next cleaning area for automatic travel cleaning based on the environmental map and cleaning plan of a plurality of cleaning areas to be cleaned, and determines the next cleaning area from the current cleaning area. Create a movement path to move to. The next cleaning area may be another cleaning area directly adjacent to the current cleaning area, or may be an adjacent cleaning area via one or more cleaning areas.

The step travel control unit 36 causes the travel unit 3 to automatically travel to the next cleaning area over the step between the cleaning area at the current position and the next cleaning area when the step travel mode is set. and controls the cleaning unit 4 .

For example, if there is a step such that the next cleaning area is positioned below the current cleaning area, the stepped travel control unit 36 causes the autonomous traveling cleaning device 1 to move downward toward the next cleaning area. to control step running. As shown in FIG. 7( a ), based on the detection result of the level difference detection unit 9 , for example, the reflection state of the irradiation of infrared rays by the infrared sensor, the cleaning area below the current position (for example, the second floor corridor) When it is determined that there is a cleaning area (stairs) that can be moved to, the step travel control unit 36 executes step travel. At this time, the stepped traveling control unit 36 advances the autonomous traveling cleaning device 1 from the cleaning area at the current position toward the boundary line between the cleaning area at the current position and the next cleaning area, and then moves the boundary line as it is. Cross over and proceed to the next cleaning area. As a result, the stepped traveling control unit 36 causes the autonomously traveling cleaning device 1 that has entered the next cleaning area to drop from the current cleaning area height to the next cleaning area height. Become.

Even if there is a step between the current cleaning area and the next cleaning area, as shown in FIG. If it is determined that there is no cleaning area that can be moved below the cleaning area (first floor entrance hall) at the current position based on the state of reflection, the step-difference travel control unit 36 stops step-difference travel. , the automatic running cleaning may be stopped. Further, the step travel control unit 36 measures the height of the step between the cleaning area at the current position and the next cleaning area based on the detection result of the step detection unit 9, and determines that the step height is equal to or greater than a predetermined threshold. In this case (for example, when the height of the riser of the stairs is 23 cm or more), it may be determined that it is not possible to safely run on the step, stop running on the step, and stop the automatic running cleaning.

The stepped traveling control unit 36 operates the stepped traveling assisting unit 12 when the autonomously traveling cleaning device 1 enters the next cleaning area, thereby suppressing the descending speed of the autonomously traveling cleaning device 1 and allowing the autonomously traveling cleaning device to operate. Suppresses the impact when 1 lands on the next cleaning area. In addition, the step control unit 36 controls the traveling of the autonomous traveling cleaning device 1 so that the autonomous traveling cleaning device 1 lands on the next cleaning area from the impact suppression unit 16 such as a bumper. The run 3 is controlled to run perpendicular to the boundary between the area and the next cleaning area.

The step control unit 36 stops the traveling unit 3 when the autonomously traveling cleaning device 1 leaves the current cleaning area, so that the autonomously traveling cleaning device 1 that has landed in the next cleaning area travels by inertia. should be suppressed. Based on the detection result of the acceleration sensor 8, the step traveling control unit 36 controls the autonomous traveling cleaning device 1 to perform the next cleaning from the current cleaning area when, for example, the output value of the acceleration sensor 8 is equal to or greater than a predetermined output threshold value. It determines that it has moved over the step to the area, and completes the step travel.

Next, the operation of automatically traveling cleaning of a plurality of cleaning areas by the autonomous traveling cleaning device 1 will be described with reference to the flowchart of FIG.

First, when the operator operates the operation display unit 13 to input the cleaning order of the plurality of cleaning areas, the cleaning plan creating unit 32 creates cleaning plans for the plurality of cleaning areas (step S1).

When the operator places the autonomously traveling cleaning device 1 in the cleaning area at the beginning of the cleaning plan and operates the operation display unit 13 to instruct automatic traveling start, the mode switching unit 30 causes the autonomously traveling cleaning device 1 to pivot. While moving, the second obstacle detection unit 7 detects an obstacle such as a surrounding wall surface, and if it is a cleaning area where automatic traveling cleaning can be performed, the traveling mode is switched to the following traveling mode.

The follow-up travel control unit 33 starts follow-up travel (step S2), and when the cleaning area is completed by follow-up travel, the mode switching unit 30 confirms that the cleaning area at the current position is the cleaning area according to the cleaning plan. . The follow-up travel control unit 33 detects whether or not there is a step in the direction of travel by the step detection unit 9 while following the travel. (step S4).

When the follow-up travel of the autonomously traveling cleaning device 1 in the cleaning area is completed a predetermined number of times by the follow-up travel control unit 33 (step S5: Yes), the mode switching unit 30 switches to the cleaning area where random travel is possible. If it is possible to run randomly in the cleaning area at the current position (step S6: Yes), the running mode is switched to the random running mode.

The random travel control unit 34 starts random travel (step S7), detects whether or not there is a step in the direction of travel by the step detection unit 9 during random travel, and if there is a step (step S8: Yes), the vehicle is driven to avoid bumps (step S9). When the completion rate of cleaning in the cleaning area in the random run is equal to or higher than a predetermined completion rate threshold value, the random run is completed (step S10: Yes).

Next, the mode switching unit 30 determines whether or not there is a next cleaning area based on the cleaning plan, and if there is no next cleaning area (step S11: No), the automatic traveling cleaning is completed (step S12). . On the other hand, if there is a next cleaning area (step S11: Yes), the process moves to the next cleaning area (step S13).

Further, even if random traveling in the cleaning area at the current position is not possible (step S6: No), the mode switching unit 30 determines whether there is a next cleaning area based on the cleaning plan, and determines whether there is a next cleaning area. If not (step S11: No), the automatic traveling cleaning is completed (step S12). On the other hand, if there is a next cleaning area (step S11: Yes), the process moves to the next cleaning area (step S13).

Next, the operation of moving to the next cleaning area by the autonomously traveling cleaning device 1 will be described with reference to the flow chart of FIG.

First, the mode switching unit 30 detects whether or not there is a step between the cleaning area at the current position and the next cleaning area by the step detecting unit 9, and if no step is detected (step S14: No). , to switch the driving mode to the mobile driving mode.

Based on the cleaning plan, the movement control unit 35 automatically causes the autonomously traveling cleaning device 1 to travel from the current cleaning area to the next cleaning area (step S15). Complete (step S16). After that, returning to the flow chart of FIG. 8, automatic traveling cleaning is continued with the next cleaning area as the cleaning area of the current position.

On the other hand, when a step is detected between the current cleaning area and the next cleaning area (step S14: Yes), the mode switching unit 30 switches the running mode to the stepped running mode.

The step control unit 36 measures the height of the step between the current cleaning area and the next cleaning area based on the detection result of the step detection unit 9 (step S17). If the height is equal to or higher than the height threshold (step S18: Yes), step S18 is stopped, the process returns to the flow chart of FIG. 8, and automatic cleaning is stopped (S12).

On the other hand, if the height of the step between the cleaning area at the current position and the next cleaning area is less than the predetermined height threshold (step S18: No), the step travel control unit 36 controls the cleaning area at the current position and the next cleaning area. Step S19 is started so as to move to the next cleaning area over the step between the two cleaning areas. At this time, the step control unit 36 activates the step assisting unit 12 (step S20) to assist the autonomous cleaning device 1 in descending to the next cleaning area and suppress the impact when it lands. .

When the output value of the acceleration sensor 8 is equal to or greater than the predetermined output threshold value (step S21: Yes), the step-difference traveling control unit 36 determines that the autonomous traveling cleaning device 1 should move to the next cleaning area, and completes step-difference traveling. (step S22). After that, returning to the flow chart of FIG. 8, automatic traveling cleaning is continued with the next cleaning area as the cleaning area of the current position.

Then, the cleaning plan is completed by performing automatic traveling cleaning of each cleaning area so that the cleaning completion rate for each of the plurality of cleaning areas included in the cleaning plan is equal to or higher than a predetermined completion rate threshold.

As described above, according to the present embodiment, the autonomously traveling cleaning device 1 capable of autonomously traveling and performing an automatic cleaning work of automatically cleaning a plurality of cleaning areas has a follow-up traveling that controls the automatic traveling cleaning of each of the plurality of cleaning areas. It includes an automatic cleaning control unit such as a control unit 33 and a random travel control unit 34, and a movement control unit such as a travel control unit 35 and a step travel control unit 36 that control autonomous movement between two cleaning areas. When there is a step between the cleaning area at the current position and the next cleaning area, the step travel control unit 36 moves the step from the cleaning area at the current position to the next cleaning area when a predetermined step travel condition is satisfied. control to execute step-difference traveling that moves autonomously beyond.

With such a configuration, the autonomously traveling cleaning device 1 can automatically travel over steps between different floors even when a plurality of cleaning areas are arranged over different floors. , automatic traveling cleaning of a plurality of cleaning areas over different floors (floors) can be performed without imposing any trouble or burden on the user. Therefore, automatic traveling cleaning can be continued by moving between cleaning areas regardless of steps.

Further, in the present embodiment, in the autonomous traveling cleaning device 1, when there is a step where the next cleaning area is located below the cleaning area of the current position, the step traveling condition is satisfied. Secondly, it controls step running so that it moves downward.

With such a configuration, even if the next cleaning area is located below, the autonomously traveling cleaning device 1 can automatically travel downwards over the step, without imposing any trouble or burden on the user. , an automatic traveling cleaning of the cleaning area located below can be carried out.

Further, in the present embodiment, in the autonomous traveling cleaning device 1, the stepped traveling control unit 36 sets the stepped traveling condition when the cleaning completion rate of the automatic traveling cleaning of the cleaning area at the current position is equal to or higher than a predetermined completion rate threshold. It is determined that the conditions are satisfied.

With such a configuration, the autonomous traveling cleaning device 1 can achieve a cleaning completion rate of each cleaning area without burdening the user, even when a plurality of cleaning areas are arranged over different floors (floors). can be maintained high, and automatic traveling cleaning of a plurality of cleaning areas over different floors can be performed.

Alternatively, in the present embodiment, in the autonomous traveling cleaning device 1, the stepped traveling control unit 36 determines that the stepped traveling condition is determined to be satisfied.

With such a configuration, the autonomous traveling cleaning device 1 can determine that the cleaning completion rate of the cleaning area is equal to or higher than the predetermined completion rate threshold based on the elapsed time or the elapsed distance of the automatic traveling cleaning. It is possible to automatically travel and clean a plurality of cleaning areas across different floors while maintaining a high cleaning completion rate for each cleaning area without imposing any trouble or burden on the user.

In addition, in the present embodiment, the autonomous traveling cleaning device 1 includes an impact suppressing section 16 (suppression structure) such as a bumper that suppresses impact when traveling on a step, and a step traveling assistance section 12 (auxiliary structure) that assists traveling on a step. have

With such a configuration, the autonomously traveling cleaning device 1 can safely move over a step without breaking the device main body 2 when it descends and lands on the next cleaning area while traveling on a step.

In the above-described embodiment, when the step detection unit 9 detects a step such that the next cleaning area is located below the current cleaning area, the step control unit 36 controls the autonomous traveling cleaning device 1 to Although an example of controlling the step-difference traveling so that moves downward toward the next cleaning area has been described, the present invention is not limited to this example. In another embodiment, when the step detection unit 9 detects a step such that the next cleaning area is located above the current cleaning area, the step travel control unit 36 causes the autonomous traveling cleaning device 1 to move to the next cleaning area. may be configured to control step travel to move upward toward the cleaning area of .

At this time, it is preferable that the level difference detection unit 9 is configured to be movable up and down by a damper mechanism so that the next cleaning area located above the current cleaning area can be detected. Further, instead of having a pair of driving wheels, the traveling portion 3 may be configured to have a pair of caterpillars so that it can climb steps such as stairs. As a result, even when a cleaning plan is created to move from the cleaning area on the first floor to the cleaning area on the second floor via stairs, the cleaning plan can be carried out by performing automatic traveling cleaning of these cleaning areas. can. The mode switching unit 30 switches the running mode to the stepped running mode when the next cleaning area is located below the cleaning area at the current position. When positioned above, the running mode may be switched to the mobile running mode.

In the above-described embodiment, the cleaning plan is completed by completing the automatic traveling cleaning of each cleaning area so that the cleaning completion rate for each of the plurality of cleaning areas included in the cleaning plan is equal to or higher than a predetermined completion rate threshold. Although an example has been described, the invention is not limited to this example. In another embodiment, based on the remaining power of the battery of the power supply unit 14 and the power required for automatic traveling cleaning of the cleaning area, regardless of the cleaning completion rate, the cleaning plan is determined by determining the completion of the automatic traveling cleaning of each cleaning area. may be completed.

At this time, the traveling control unit 35 and the step traveling control unit 36 determine the next cleaning area to complete the cleaning plan based on the remaining power of the battery of the power supply unit 14 and the power required for automatic traveling cleaning of the cleaning area. If it is determined that it is necessary to move to the next cleaning area, regardless of the cleaning completion rate of the cleaning area at the current position, movement such as moving traveling conditions and step traveling conditions It is determined that the conditions are satisfied. For example, when the remaining amount of power in the battery of the power supply unit 14 is less than the power required for automatic traveling cleaning of the unfinished cleaning area, the moving traveling control unit 35 and the step traveling control unit 36 are arranged so that the cleaning plan can be completed. Allocate power for self-driving cleaning of the cleaning area of the job.

Specifically, a priority is set for each of a plurality of cleaning areas included in the cleaning plan, and the movement control unit 35 and the step control unit 36 select the cleaning area with high priority (for example, the reception room on the first floor). On the other hand, for low-priority cleaning areas (e.g. stairs), automatic traveling cleaning is omitted or the completion rate threshold is set low (e.g. , from 90% to 60%) to control automatic travel cleaning. As for the electric power required for automatically traveling cleaning of each cleaning area, it is preferable to store in the storage unit 21 the electric power required when the completion rate threshold was satisfied in the past automatically traveling cleaning. For example, by subtracting the power required for cleaning areas with high priority from the remaining power of the battery of the power supply unit 14 and calculating the power that can be used for cleaning areas with low priority based on the subtraction result, the priority It is preferable to determine whether to omit the automatic traveling cleaning or set a low completion rate threshold for cleaning areas with a low cleaning rate.

Thereby, according to the electric power remaining amount of the battery of the power supply part 14, the automatic traveling cleaning of several cleaning areas included in a cleaning plan can be completed more reliably.

In the above-described embodiment, when the cleaning areas are arranged over different floors (floors), the cleaning plan creating unit 32 moves from the cleaning area on one floor to the cleaning area on another floor. Although an example of creating a plan has been described, the invention is not limited to this example. In another embodiment, a garbage collection unit is provided on one floor, and the cleaning plan creation unit 32 moves to the garbage collection unit to collect garbage after completing the automatic traveling cleaning of the cleaning area of the one floor. After that, create a cleaning plan to move to the cleaning area on another floor.

Alternatively, in another embodiment, a garbage collection unit is provided on another floor, and the cleaning plan creation unit 32 completes the automatic traveling cleaning of the cleaning area on one floor and then moves to the cleaning area on the other floor. After that, the cleaning plan may be created such that after moving to the garbage collection section and collecting the garbage, the automatic traveling cleaning of the cleaning areas of the other floors is carried out. The dust collection unit may be provided on each floor, and the dust collection unit may have a function of charging the battery of the power supply unit 14 .

In the above-described embodiment, the stepped traveling condition for switching the traveling mode to the stepped traveling mode is the case where it is determined that the automatic cleaning travel in the cleaning area at the current position is completed, and the cleaning area at the current position and the next It was assumed that a step was detected between the cleaning area and the cleaning area. In particular, when the cleaning completion rate of the cleaning area is equal to or higher than a predetermined completion rate threshold, or when the elapsed time or elapsed distance of automatic traveling cleaning is equal to or greater than a predetermined cleaning time or a predetermined cleaning distance. , the example of determining that the automatic cleaning travel of the cleaning area has been completed has been described, but the present invention is not limited to this example. In another embodiment, as the bump traveling condition, the requirement for determining that the automatic cleaning traveling of the cleaning area has been completed may be changed according to the type and size of the cleaning area.

For example, when the cleaning area is stairs, the requirement for determining that the automatic cleaning travel in the cleaning area has been completed may be set to perform the follow-up travel a predetermined number of times (for example, two times or more). In addition, when the cleaning area is a stair landing, as a requirement for determining that the automatic cleaning travel in the cleaning area has been completed, as shown in FIG. Alternatively, the predetermined cleaning distance may be set within a range of less than 10 minutes or less than 20 m. In addition, when the cleaning area is a corridor (less than a predetermined length), the elapsed time or the elapsed distance of the automatic traveling cleaning is compared as shown in FIG. The predetermined cleaning time or the predetermined cleaning distance may be set within a range of 10 minutes or more and less than 20 minutes or 20 m or more and less than 40 m. Also, when the cleaning area is a corridor (with a predetermined length or more), the elapsed time or the elapsed distance of the automatic traveling cleaning is compared as shown in FIG. It is preferable to set the predetermined cleaning time or the predetermined cleaning distance within a range of 20 minutes or more or 40 m or more.

In the above-described embodiment, the autonomous mobile cleaning device 1 is provided in a plurality of cleaning areas on the first and second floors (for example, a second-floor bedroom, a second-floor children's room, a second-floor corridor, stairs (including a landing), Although an example in which automatic traveling cleaning is performed for the reception room on the first floor, the living room on the first floor, and the entrance hall on the first floor has been described, the present invention is not limited to this example. In another embodiment, the autonomously traveling cleaning device 1 may perform autonomously traveling cleaning while gradually moving from the top floor to the lower floors in a plurality of cleaning areas provided on the third floor and higher. .

Note that when the number of cleaning areas is small (for example, when only the second-floor corridor, stairs, and first-floor corridor are to be cleaned), the autonomous mobile cleaning device 1 does not create a cleaning plan, and the user performs each cleaning. An instruction to start or end automatic driving may be input by operating the operation display unit 13 in the area.

In addition, the present invention can be modified as appropriate within a scope that does not contradict the gist or idea of the invention that can be read from the scope of claims and the entire specification, and the autonomous traveling cleaning device that accompanies such modifications is also the technology of the present invention. included in thought.

The present invention is an autonomous traveling cleaning device capable of autonomously traveling and automatically cleaning the floor surface of a number of cleaning areas arranged over different floors in a house or the like. It can be suitably used for a cleaning device such as a cleaning robot that performs cleaning.

REFERENCE SIGNS LIST 1 autonomous traveling cleaning device 2 device main body 3 travel unit 4 cleaning unit 9 step detection unit 12 step travel assistance unit (auxiliary structure)
13 Operation display unit 14 Power supply unit 16 Impact suppression unit (suppression structure)
17 mobile terminal 20 control unit 21 storage unit 30 mode switching unit 31 map creation unit 32 cleaning plan creation unit 33 follow-up travel control unit (automatic cleaning control unit)
34 random travel control unit (automatic cleaning control unit)
35 movement control unit (movement control unit)
36 Step travel control unit (movement control unit)

Claims (6)

An autonomously traveling cleaning device capable of executing an automatic cleaning work that autonomously travels and automatically cleans,
an automatic cleaning control unit that controls automatic traveling cleaning for each of the plurality of cleaning areas;
a movement control unit that controls autonomous movement between the two cleaning areas;
When there is a step between the cleaning area at the current position and the next cleaning area, the movement control unit moves from the cleaning area at the current position to the next cleaning area when a predetermined step difference travel condition is satisfied. An autonomously traveling cleaning device characterized in that control is performed so as to execute stepped traveling in which the cleaning device autonomously moves over the step to and beyond. When there is a step where the next cleaning area is positioned below the current cleaning area, the movement control unit causes the step difference traveling to move downward when the step traveling condition is satisfied. The autonomously traveling cleaning device according to claim 1, characterized in that it controls the 2. The movement control unit determines that the bump traveling condition is satisfied when a cleaning completion rate of automatic traveling cleaning of the cleaning area at the current position is equal to or higher than a predetermined completion rate threshold value. 2. The autonomously traveling cleaning device according to 2. 2. The movement control unit determines that the stepped traveling condition is satisfied when the automatic traveling cleaning of the cleaning area at the current position is performed for a predetermined cleaning time or a predetermined cleaning distance or more. Or the autonomous traveling cleaning device according to 2. a cleaning plan creation unit that creates a cleaning plan indicating the order of automatic traveling cleaning of the plurality of cleaning areas;
and a power supply unit that supplies power to each unit,
Based on the remaining power of the power supply unit and the power required for automatic traveling cleaning of the cleaning area, the movement control unit determines whether the cleaning area needs to move to the next cleaning area in order to complete the cleaning plan. The autonomously traveling cleaning device according to any one of claims 1 to 4, wherein it is determined that the stepped traveling condition is satisfied. a suppression structure for suppressing impact during running on bumps;
The autonomously traveling cleaning device according to any one of claims 1 to 5, further comprising an auxiliary structure that assists the stepped traveling.

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