Autonomous cleaning device

Abstract

To cause an autonomous travel cleaning device to continue automatic travel cleaning by moving between cleaning areas regardless of steps.SOLUTION: An autonomous travel cleaning device 1 capable of performing automatic cleaning work by traveling autonomously and cleaning automatically, includes: automatic cleaning control units such as a follow-up travel control unit 33 and a random travel control unit 34 that control automatic travel cleaning for each of a plurality of cleaning areas; and movement control units such as a movement 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 a cleaning area at the current position and a next cleaning area, and when predetermined step travel conditions are satisfied, the step travel control unit 36 performs control so as to perform stepped travel for autonomously moving over the step from the cleaning area at the current position to the next cleaning area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an autonomous traveling cleaning device that can perform autonomous traveling and cleaning. [Background technology]

[0002] Conventionally, autonomously traveling cleaning devices are configured to autonomously travel through multiple cleaning areas and automatically travel and clean each cleaning area in order to clean the interior of a house or the like.

[0003] For example, in the autonomous robot cleaner of Patent Document 1, the control means determines that cleaning of a specific room on one floor has been completed by referring to map information of the cleaned area stored in the memory means, and if it determines through communication with the stair-compatible remote controller that it is necessary to go up or down the stairs to move to a different floor, it waits near the staircase entrance and, when a human body is detected by the human body detection sensor, activates the alarm means to output a request to move to either an upper or lower floor, distinguishing between these two. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-216021 Summary of the Invention [Problem to be solved by the invention]

[0005] Conventional autonomous cleaning devices cannot autonomously move between cleaning areas when the cleaning areas are located across different floors. For example, the autonomous robot cleaner of Patent Document 1 can reliably move up and down floors manually without requiring a complex mechanism for climbing and descending stairs, thereby realizing a device that can clean multiple floors at low cost. However, in order to move between cleaning areas on different floors, a person must always be present to notice the request for movement when cleaning one floor is finished, and the robot cleaner must be lifted up and down the stairs, which is inconvenient for users. Furthermore, conventional autonomous cleaning devices such as the autonomous robot cleaner of Patent Document 1 cannot automatically move and clean stairs, landings, and other areas between cleaning areas on different floors, and therefore cannot meet requests for cleaning stairs, landings, and other areas.

[0006] The present invention has been made in consideration of the problems described above, and an object of the present invention is to provide an autonomous cleaning device that can move between cleaning areas regardless of steps and continue automatic cleaning. [Means for solving the problem]

[0007] In order to solve the above problems, a first autonomous traveling cleaning device of the present invention is an autonomous traveling cleaning device that can perform automatic cleaning work by traveling autonomously and cleaning automatically, and includes an automatic cleaning control unit that controls the automatic traveling and cleaning of each of a plurality of cleaning areas, and a movement control unit that controls autonomous movement between two of the cleaning areas, and the movement control unit controls the autonomous traveling between the cleaning areas to perform step traveling, in which the autonomous traveling moves from the cleaning area at the current position to the next cleaning area over the step when a predetermined step traveling condition is satisfied when there is a step between the cleaning area at the current position and the next cleaning area. The movement control unit determines that the step travel condition is satisfied when the cleaning completion rate of the automatic traveling cleaning of the cleaning area of ​​the current location is equal to or greater than a predetermined completion rate threshold, or when the automatic traveling cleaning of the cleaning area of ​​the current location has been completed for a predetermined cleaning time or a predetermined cleaning distance. It is characterized by:

[0008] According to the first autonomous cleaning device of the present invention, even when multiple cleaning areas are arranged across different floors, the device can automatically travel over the steps between the different floors, so that the device can automatically travel and clean the multiple cleaning areas across the different floors without imposing any effort or burden on the user. Therefore, the device can move between cleaning areas regardless of the steps and continue automatic cleaning. Furthermore, according to the first autonomous cleaning device of the present invention, even when multiple cleaning areas are located across different floors (levels), the device can perform automatic cleaning of multiple cleaning areas across different floors (levels) without causing any hassle or burden to the user, while maintaining a high cleaning completion rate for each cleaning area. Furthermore, according to the first autonomous cleaning device of the present invention, it is possible to determine whether the cleaning completion rate of a cleaning area is above a predetermined completion rate threshold based on the elapsed time or distance during which the autonomous cleaning has been performed, and it is possible to perform autonomous cleaning of multiple cleaning areas across different floors (levels) while maintaining a high cleaning completion rate for each cleaning area without imposing any hassle or burden on the user.

[0009] In order to solve the above problem, the second autonomous traveling cleaning device of the present invention teeth , An autonomous traveling cleaning device capable of performing automatic cleaning work by traveling autonomously and cleaning automatically comprises an automatic cleaning control unit that controls the automatic traveling and cleaning of each of a plurality of cleaning areas, and a movement control unit that controls autonomous movement between two of the cleaning areas, wherein the movement control unit controls step traveling to autonomously move from the cleaning area of ​​the current location to the next cleaning area over the step when a predetermined step traveling condition is met when there is a step between the cleaning area of ​​the current location and the next cleaning area, and further comprises a cleaning plan creation unit that creates a cleaning plan indicating the order of automatic traveling and cleaning of the plurality of cleaning areas, and a power supply unit that supplies power to each unit, wherein the movement control unit determines that the step traveling condition is met when movement to the next cleaning area is required to complete the cleaning plan, based on the remaining power of the power supply unit and the power required for automatic traveling and cleaning of the cleaning area. .

[0010] According to the second autonomously traveling cleaning device of the present invention, Depending on the remaining power of the power supply unit, automatic cleaning of multiple cleaning areas included in the cleaning plan can be more reliably completed.

[0011] In order to solve the above problem, in the third autonomous traveling cleaning device of the present invention, the movement control unit When there is a step where the next cleaning area is located below the cleaning area of ​​the current position, the step travel is controlled so that the cleaning robot moves downward if the step travel condition is satisfied. .

[0012] According to the third autonomously traveling cleaning device of the present invention, Even if the next cleaning area is located below, the robot can automatically move downwards over the step, so it can automatically clean the lower cleaning area without putting any effort or burden on the user. .

[0017] In order to solve the above problems, the present invention 4 The autonomously traveling cleaning device includes a suppression structure that suppresses impacts when traveling over steps, and an auxiliary structure that assists the device in traveling over steps.

[0018] The present invention 4 According to the autonomous cleaning device, when the device descends over a step and lands in the next cleaning area, the device body can move over the step safely without being damaged. [Effects of the Invention]

[0019] According to the present invention, the autonomous cleaning device can move between cleaning areas regardless of steps and continue automatic cleaning. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a block diagram showing a configuration of an autonomously traveling cleaning device according to an embodiment of the present invention. [Figure 2] 10A and 10B are schematic diagrams showing an example of operation of the step travel assist unit in the autonomous traveling cleaning device according to an embodiment of the present invention. [Figure 3] 10A and 10B are schematic diagrams showing an example of operation of the step travel assist unit in the autonomous traveling cleaning device according to an embodiment of the present invention. [Figure 4] 1 is a schematic diagram showing an example of multiple cleaning areas to be cleaned by an autonomous cleaning device according to an embodiment of the present invention. FIG. [Figure 5] 10 is a table showing examples of step travel conditions in the autonomous traveling cleaning device according to an embodiment of the present invention. [Figure 6] 1 is a schematic diagram showing an example of automatic cleaning of stairs and landings in an autonomous cleaning device according to an embodiment of the present invention. FIG. [Figure 7] 1 is a schematic diagram showing an example of travel over steps in an autonomous cleaning device according to an embodiment of the present invention; [Figure 8] 10 is a flowchart illustrating an example of the operation of the autonomous traveling cleaning device according to the embodiment of the present invention for automatically traveling and cleaning a plurality of cleaning areas. [Figure 9] 10 is a flowchart illustrating an example of an operation of moving to a next cleaning area in an autonomously traveling cleaning device according to an embodiment of the present invention. [Figure 10] 10 is a table showing examples of requirements for completing autonomous traveling and cleaning for each cleaning area in an autonomous traveling cleaning device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] 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.

[0022] An autonomous cleaning device 1 according to an embodiment of the present invention will be described. The autonomous cleaning device 1 moves between cleaning areas and automatically travels and cleans each cleaning area based on a pre-set cleaning plan for a cleaning target such as a house with multiple cleaning areas. The autonomous cleaning device 1 is configured to automatically travel and clean each cleaning area, including stairs, from upper to lower floors in order to clean cleaning areas arranged across different floors (story) of a house, and is preferably configured to be compact so that a user can carry it up to the upper floors.

[0023] The autonomously traveling cleaning device 1 is capable of traveling manually or autonomously by automatic operation, and can be switched between two operating modes: manual mode and automatic mode. In automatic mode, it operates by switching between one of the following traveling modes: follow traveling mode, random traveling mode, mobile traveling mode, and step traveling mode.

[0024] In the manual mode, the autonomous cleaning device 1 performs manual driving and manual cleaning in response to manual operation by an operator. When the autonomous cleaning device 1 performs manual driving and cleaning of multiple cleaning areas, it creates and stores an environmental map for each of the multiple cleaning areas.

[0025] In the follow-travel mode, the autonomous cleaning device 1 performs follow-travel, automatically cleaning along obstacles such as walls in the cleaning area, and creates an environmental map of the cleaning area while following. Specifically, the autonomous cleaning device 1 performs follow-travel by detecting surrounding obstacles and automatically traveling while maintaining a predetermined distance from the obstacles.

[0026] In the random travel mode, the autonomous cleaning device 1 performs random travel, automatically traveling and cleaning in various directions in the cleaning area. Specifically, the autonomous cleaning device 1 performs automatic traveling and cleaning in a straight line in a predetermined direction, and when it detects an obstacle such as a wall ahead, it takes action to avoid the detected obstacle, changes its direction of travel, and performs automatic traveling and cleaning in a straight line in the changed direction of travel.

[0027] Furthermore, when predetermined travel conditions are satisfied in the cleaning area where the autonomously traveling cleaning device 1 is currently located, the travel mode is set and the autonomously traveling cleaning device 1 travels to the next cleaning area.

[0028] When there is a step between the cleaning area at the current position and the next cleaning area, the autonomously traveling cleaning device 1 is set to step traveling mode if a predetermined step traveling condition is met, and performs step traveling to move autonomously over the step to the next cleaning area.

[0029] As shown in FIG. 1, the autonomous traveling cleaning device 1 includes a device main body 2 for housing each component, a traveling unit 3 for traveling the device main body 2, and a cleaning unit 4 for cleaning the floor surface below the device main body 2. The device main body 2 is configured to be shock-resistant so that it can withstand the impact when descending over steps and landing on the next cleaning area. The autonomous traveling 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. The autonomous traveling cleaning device 1 further includes a step traveling assistance unit 12 (assistance structure), an operation display unit 13, a power supply unit 14, and a communication unit 15. The autonomous traveling cleaning device 1 also includes a control unit 20 and a memory unit 21.

[0030] Next, each part of the autonomous traveling cleaning device 1 will be described.

[0031] The traveling unit 3 is provided at the bottom of the device main body 2 and includes, for example, a pair of drive wheels, one auxiliary wheel 3a (see FIG. 2(b)), a traveling motor, and an encoder. The traveling unit 3 can move the device main body 2 forward or backward by rotating each of the pair of drive wheels using the traveling motor, and can also make the device main body 2 pivot to change its direction of travel. The traveling speed (acceleration / deceleration) of the autonomous traveling cleaning device 1 (traveling unit 3) is adjusted by controlling the drive of the traveling motor. The traveling unit 3 measures the amount of rotation of the drive wheels using an encoder. The traveling unit 3 drives the traveling motor under the control of the control unit 20, and also transmits the amount of rotation of the drive wheels measured by the encoder to the control unit 20.

[0032] When the operation mode is set to the manual mode, the traveling unit 3 operates in response to manual operation by the operator on the operation display unit 13. When the operation mode is set to the automatic mode, the traveling unit 3 operates in response to control by the control unit 20 based on a cleaning schedule or the like.

[0033] The cleaning unit 4 is provided at the bottom of the device main body 2, and is composed of a mechanism that cleans the floor surface by, for example, a dry cleaning method. The cleaning unit 4 includes a brush that rotates to collect dust on the floor surface, a brush motor that rotates the brush, a blower that sucks up the dust collected by the brush, and a bucket that collects the dust sucked up by the blower.

[0034] When the operation mode is set to manual mode, the cleaning unit 4 operates in response to manual operation by the operator on the operation display unit 13. When the operation mode is set to automatic mode, the cleaning unit 4 operates in response to control by the control unit 20 based on a cleaning schedule or the like.

[0035] The first obstacle detection unit 6 detects obstacles such as walls around the device body 2, and is composed of a piezoelectric element, a capacitance sensor, or the like, and is provided on an impact suppression unit 16 (suppression structure) such as a bumper, to detect obstacles that come into contact with the impact suppression unit 16. The impact suppression unit 16 may be attached to the front side of the device body 2, and an impact absorbing member may be provided between the device body 2 and the bumper.

[0036] The second obstacle detection unit 7 detects obstacles such as walls around the device main body 2, and is composed of an ultrasonic sensor, an infrared sensor, a laser range finder (LRF), etc., and detects obstacles without contact by measuring the positional information between the device main body 2 and the obstacle.

[0037] The acceleration sensor 8 detects the acceleration of the device body 2, and measures information such as the tilt and vibration of the device body 2 by measuring the acceleration, for example.

[0038] The step detection unit 9 detects steps around the device main body 2 and is composed of an infrared sensor or the like. For example, the step detection unit 9 can detect reflection of infrared light irradiation using an infrared sensor, and determine whether there is a cleaning area below the cleaning area of ​​the current position that can be moved based on the reflection state of infrared light irradiation at a predetermined irradiation angle.

[0039] The imaging unit 10 captures images of the surroundings of the device main body 2 and is configured with a CCD (Charge Coupled Device) camera or the like. For example, the imaging unit 10 captures images of the situation during autonomous traveling and cleaning and transmits the image results to the user's mobile terminal 17 via the communication unit 15, allowing the user to understand the situation during autonomous traveling and cleaning on the mobile terminal 17. The imaging unit 10 may also capture images of steps around the device main body 2 and transmit the image results to the user's mobile terminal 17 via the communication unit 15, allowing the user to understand the steps on the mobile terminal 17. In this case, an instruction to travel over steps input by the user through operation of the mobile terminal 17 may be received by the control unit 20 via the communication unit 15, and the device may travel over steps.

[0040] The step travel assisting unit 12 assists the device main body 2 in traveling over steps. For example, as shown in FIG. 2(b), the step travel assisting unit 12 is composed of front auxiliary wheels 3a and dampers 12a that can raise and lower the auxiliary wheels 3a. As shown in FIG. 2(a), when the device main body 2 travels over steps from the current cleaning area to the next cleaning area located below, the step travel assisting unit 12 extends the dampers 12a to lower the auxiliary wheels 3a to the next cleaning area while the front of the device main body 2 enters the next cleaning area and the rear of the device main body 2 remains in the current cleaning area, as shown in FIG. 2(b). Then, as the device main body 2 further enters the next cleaning area with the auxiliary wheels 3a touching down on the next cleaning area, the step travel assisting unit 12 gradually shortens the dampers 12a to absorb the fall of the device main body 2 and suppress the descent speed of the autonomously traveling cleaning device 1 as it travels down steps.

[0041] Alternatively, the step-traveling assistance unit 12 is composed of a support member that supports the device main body 2 against the walls by pressing against the walls on both sides of the device main body 2 like a tension rod, in order to assist the device main body 2 in traveling down steps, and suppresses the descent speed when the autonomously traveling cleaning device 1 moves down steps.

[0042] The operation display unit 13 is used to operate and display various functions of the autonomous traveling cleaning device 1, and is configured with a touch panel or the like, and displays various screens in response to control signals from the control unit 20. The operation display unit 13 is provided on a mobile terminal 17, such as a smartphone or tablet terminal, that is separate from the device main body 2. As another example, the operation display unit 13 may be provided integrally with the device main body 2. The operation display unit 13 accepts setting operations for travel data such as the travel speed of the travel unit 3, and cleaning data such as the brush rotation speed and blower suction power of the cleaning unit 4.

[0043] When performing automatic traveling cleaning of a cleaning target consisting of multiple cleaning areas, the operation display unit 13 accepts an operation to create a cleaning plan for this cleaning target. For example, as shown in Fig. 4, if the cleaning target is a house and includes multiple cleaning areas consisting of a second-floor bedroom, a second-floor children's room, a second-floor hallway, stairs (including a landing), a first-floor reception room, a first-floor living room, and a first-floor entrance hall, the operation display unit 13 accepts an operation to select a cleaning area from these cleaning areas for automatic traveling cleaning.

[0044] The power supply unit 14 supplies power to each component of the autonomously traveling cleaning device 1, and is configured with a battery and a charging circuit, and the battery is charged by connecting to an external power source. The power supply unit 14 may also output a signal indicating the remaining battery charge to the control unit 20.

[0045] The communication unit 15 is for communicating with external devices, and performs wireless communication with the mobile terminal 17 according to a communication standard such as a wireless LAN such as Wi-Fi or Bluetooth (registered trademark).

[0046] The control unit 20 is composed of a computer such as a CPU (Central Processing Unit), and controls each unit and each function (traveling by the travel unit 3, cleaning work by the cleaning unit 4, etc.) of the autonomous traveling cleaning device 1. The control unit 20 is connected to each unit of the autonomous traveling cleaning device 1, such as the travel 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 imaging unit 10, the step traveling assistance unit 12, the operation display unit 13, the power supply unit 14, the communication unit 15, and the memory unit 21.

[0047] The memory unit 21 is composed of storage media such as ROM (Read Only Memory), RAM (Random Access Memory), a hard disk, and flash memory, and stores running data such as the running speed of the running unit 3, and cleaning data such as the brush rotation speed and blower suction power of the cleaning unit 4.

[0048] For example, the memory unit 21 stores basic information such as the overall length, vehicle width, and cleaning width of the autonomous cleaning device 1. The memory unit 21 associates environmental maps created by simple teaching of multiple cleaning areas to be cleaned with each cleaning area and stores them as advance data for the multiple cleaning areas. Alternatively, the memory unit 21 stores data indicating the shape and size of each cleaning area acquired from map data previously input for the multiple cleaning areas to be cleaned as advance data. Note that if the cleaning area is a staircase, the memory unit 21 may store the number of staircase steps as part of the advance data. Furthermore, when performing autonomous cleaning, the memory unit 21 stores cleaning plans for multiple cleaning areas.

[0049] The memory unit 21 stores programs and data for controlling each part and various functions of the autonomously traveling cleaning device 1, and the control unit 20 performs overall control of each part and various functions by performing calculations based on the programs and data stored in the memory unit 21.

[0050] For example, by executing a program stored in memory unit 21, control unit 20 operates as mode switching unit 30, map creation unit 31, cleaning plan creation unit 32, follow-up travel control unit 33 (automatic cleaning control unit), random travel control unit 34 (automatic cleaning control unit), mobile travel control unit 35 (mobility control unit), and step travel control unit 36 ​​(mobility control unit), as shown in Fig. 1. This allows autonomous traveling cleaning device 1 to travel and work autonomously according to a program stored in advance.

[0051] The mode switching unit 30 switches the operation mode between a manual mode and an automatic mode in response to an operation on the operation display unit 13. In the automatic mode, the mode switching unit 30 switches the travel mode between a follow-up travel mode, a random travel mode, a mobile travel mode, and a step travel mode by the control unit 20 in response to the work situation.

[0052] In order to automatically clean the cleaning area in the order according to the cleaning plan, the mode switching unit 30 determines the cleaning area of ​​the current location, for example, when an instruction to start automatic driving is operated from the operation display unit 13, or when the robot moves from one cleaning area to another by automatic driving, and switches the driving mode to the follow driving mode if the cleaning plan is being followed.

[0053] 3(b), the mode switching unit 30 controls the traveling unit 3 to make a pivot turn at the position where the robot was initially placed in the cleaning area, while detecting obstacles such as walls around the device main body 2 with the second obstacle detection unit 7, and determines whether automatic traveling and cleaning can be performed in the cleaning area based on the detection results. If the mode switching unit 30 determines that obstacles such as walls are placed around the cleaning area and that automatic traveling and cleaning by follow traveling or random traveling can be performed based on the detection results of the first obstacle detection unit 6 and the second obstacle detection unit 7, it switches the traveling mode to follow traveling mode.

[0054] Furthermore, the mode switching unit 30 determines whether the cleaning area at the current location is a cleaning area according to the cleaning plan by comparing the shape and size of the cleaning area measured when the robot makes one lap around the cleaning area in follow travel with the prior data for the cleaning area. If the cleaning area is a cleaning area according to the cleaning plan, the mode switching unit 30 continues the follow travel mode, and if the cleaning area is not a cleaning area according to the cleaning plan, the mode switching unit 30 switches the travel mode to the transfer travel mode in order to move to a cleaning area according to the cleaning plan.

[0055] On the other hand, if the mode switching unit 30 determines that there are no obstacles such as walls around the cleaning area and that automatic cleaning by follow travel or random travel cannot be performed based on the detection results of the first obstacle detection unit 6 and the second obstacle detection unit 7, it switches the travel mode to step travel mode to move to the next cleaning area. For example, if the cleaning area is a staircase with a hollowed-out riser, the mode switching unit 30 determines that automatic cleaning cannot be performed because there are no obstacles such as walls around the area.

[0056] Furthermore, when autonomous traveling cleaning device 1 completes follow-up traveling in the cleaning area, mode switching unit 30 switches the traveling mode to random traveling mode.

[0057] At this time, the mode switching unit 30 determines whether the cleaning area is one in which random travel is possible based on the shape and size of the cleaning area, and if the area is large enough to allow random travel, the mode is switched to the random travel mode, while if the area is too narrow to allow random travel, the mode is switched to the step travel mode to move to the next cleaning area.

[0058] For example, based on the shape and size of the cleaning area measured when the cleaning area is followed around once, the mode switching unit 30 calculates the length of two of the four short sides that make up the cleaning area, compares the length of the short sides with the size (total length) of the autonomously traveling cleaning device 1, and determines the step traveling conditions for switching to step traveling mode based on the comparison results.

[0059] Specifically, as shown in Fig. 5, if the length of the short side is less than the entire length of the autonomously traveling cleaning device 1, it is determined that a cleaning rate of 90% or more of the cleaning area can be achieved by performing one follow-up travel, and the mode switching unit 30 switches the travel mode to the step travel mode without performing the second follow-up travel. Also, if the length of the short side is less than twice the entire length of the autonomously traveling cleaning device 1, it is determined that a cleaning rate of 90% or more of the cleaning area can be achieved by performing two follow-up travel, and the mode switching unit 30 switches the travel mode to the step travel mode after the second follow-up travel. Also, if the length of the short side is more than twice the entire length of the autonomously traveling cleaning device 1, it is determined that a cleaning rate of 90% or more of the cleaning area can be achieved by performing random travel after two follow-up travel, and the mode switching unit 30 switches the travel mode to the step travel mode after the random travel.

[0060] However, when the cleaning area is a staircase, the short side of the tread is relatively short, making random travel difficult. Standards for the dimensions of residential stairs include, for example, 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. It is known that the dimensions of stairs that are easy to walk on are: riser height x 2 + short side length of the tread = 60 cm. Therefore, when the cleaning area is a staircase, the mode switching unit 30 determines that a stair cleaning rate of 90% or more can be achieved after completing one or two laps of tracking travel (see dashed lines), as shown in FIG. 6(a), and switches the travel mode to step travel mode.

[0061] Furthermore, as shown in Fig. 6(a), when the cleaning area is a landing, the short side of the tread is relatively long, so random travel is possible. Therefore, as shown in Fig. 6(b), by performing two laps of following travel (see dashed line) on the landing and then performing random travel (see dashed line) on the landing, it is determined that a cleaning rate of 90% or more can be achieved, and the mode switching unit 30 switches the travel mode to the step travel mode after the random travel has been performed.

[0062] When autonomous cleaning device 1 completes automatic cleaning including follow-up travel and random travel in a cleaning area, mode switching unit 30 uses step detection unit 9 to detect whether there is a step between the cleaning area of ​​the current location and the next cleaning area. If no step is detected between the cleaning area of ​​the current location and the next cleaning area, mode switching unit 30 determines that movement to the next cleaning area is possible by normal automatic travel, determines that predetermined movement and travel conditions are met, and switches the travel mode to movement and travel mode. Furthermore, if a step is detected between the cleaning area of ​​the current location and the next cleaning area, mode switching unit 30 determines that movement to the next cleaning area is possible by step travel rather than normal automatic travel, determines that predetermined step travel conditions are met, and switches the travel mode to step travel mode.

[0063] Furthermore, when autonomous cleaning device 1 moves over steps from the cleaning area of ​​the current position to the next cleaning area in step travel mode, if the cleaning area of ​​the current position is a staircase, mode switching unit 30 may determine that autonomous cleaning of the staircase has been completed by moving over the pre-stored number of steps. Note that mode switching unit 30 may determine whether autonomous cleaning device 1 has moved over steps based on the detection result of acceleration sensor 8.

[0064] The map creation unit 31 estimates its own position and creates an environmental map in real time using a technique such as SLAM (Simultaneous Localization and Mapping) while manual driving in manual mode or follow-up driving in follow-up driving mode is being performed.

[0065] Specifically, while traveling in a predetermined cleaning area, the map creation unit 31 acquires position information between the device main body 2 and obstacles such as walls around the device main body 2 using the second obstacle detection unit 7, and creates a local map of the area around the device main body 2 at predetermined time intervals or predetermined distance intervals based on this position information. The map creation unit 31 also estimates the self-position (coordinates) of the autonomous traveling cleaning device 1 in the local map based on the local map and the detection results (movement amount of the traveling unit 3) by the encoder of the traveling unit 3. The map creation unit 31 then creates an environmental map of the cleaning area by connecting each local map.

[0066] When simple teaching is performed using manual navigation in multiple cleaning areas to be cleaned, the map creation unit 31 associates the created environmental map with each cleaning area and stores it in the memory unit 21. For example, as shown in Fig. 4, the map creation unit 31 performs manual navigation in multiple cleaning areas consisting of a second-floor bedroom, a second-floor children's room, a second-floor hallway, stairs (including a landing), a first-floor reception room, a first-floor living room, and a first-floor entrance hall, and creates environmental maps for these areas.

[0067] The cleaning plan creation unit 32 is configured to create a cleaning plan for a cleaning target consisting of multiple cleaning areas, and creates a cleaning plan that indicates the order in which the automatic traveling and cleaning will be performed on the multiple cleaning areas, and stores the cleaning plan in the memory unit 21. The cleaning plan creation unit 32 sets the order in which the automatic traveling and cleaning will be performed on the multiple cleaning areas in response to operations on the operation display unit 13. Note that if the cleaning areas are located across different floors, the cleaning plan creation unit 32 may create a cleaning plan that includes the order of floors on which the automatic traveling and cleaning will be performed, so that the automatic traveling and cleaning of the cleaning areas on one floor is completed before moving on to another floor.

[0068] The cleaning plan creation unit 32 reads out data indicating the environmental maps or shapes and sizes of the multiple cleaning areas that are stored in advance in the memory unit 21 as preliminary data for the multiple cleaning areas. The cleaning plan creation unit 32 displays the preliminary data for the multiple cleaning areas on the operation display unit 13 so that they can be selected, and accepts an operation to select the cleaning areas for which automatic cleaning will be performed. The cleaning plan creation unit 32 may display the preliminary data for the multiple cleaning areas on a planar map for each floor, or may display it as a list. The cleaning plan creation unit 32 creates cleaning plans for the multiple cleaning areas in response to the operation to select the cleaning areas.

[0069] 4, if environmental maps of the cleaning areas of the second floor bedroom, second floor children's room, second floor hallway, stairs (including the landing), first floor reception room, first floor living room, and first floor entrance hall are stored in advance in the storage unit 21, the cleaning plan creation unit 32 accepts an operation to select these cleaning areas. In response to the operation to select the cleaning areas, for example, the cleaning plan creation unit 32 creates a cleaning plan to perform automatic traveling cleaning of the cleaning areas in the following order: second floor bedroom, second floor hallway, stairs, first floor reception room, and first floor entrance hall.

[0070] The cleaning plan creation unit 32 may create a cleaning plan by accepting a cleaning area selection operation in a situation where automatic cleaning is to be started, for example, in a second-floor bedroom where automatic cleaning is to be started, or may create a cleaning plan by accepting a cleaning area selection operation in a situation not related to the execution of automatic cleaning, for example, in a place other than the second-floor bedroom.

[0071] When the following travel mode is set, the following travel control unit 33 controls the travel unit 3 and the cleaning unit 4 to perform following travel, which automatically travels and cleans along obstacles such as walls in the cleaning area.

[0072] Specifically, the follow-up travel control unit 33 detects obstacles such as walls around the device main body 2 using the second obstacle detection unit 7, and controls the travel unit 3 and the cleaning unit 4 to automatically travel and clean while maintaining a predetermined distance from the obstacle. If the step detection unit 9 detects a step during follow-up travel, the follow-up travel control unit 33 will travel while avoiding the step.

[0073] First, the following travel control unit 33 automatically travels around the inner periphery of the cleaning area, then creates an environmental map of the cleaning area using the map creation unit 31 to determine the shape and size of the cleaning area. The map creation unit 31 then compares the map with the preliminary data for the cleaning area to determine the cleaning area for the current location. For example, when following a rectangular cleaning area, the following travel control unit 33 completes one lap around the cleaning area by automatically traveling straight along each side four times and then making three 90-degree turns. The length of each side is determined based on each turning point. The following travel control unit 33 may also calculate the shape and size of the inner periphery of the cleaning area based on the movement distance and turning angle measured by the encoder of the traveling unit 3 during following travel. If the second obstacle detection unit 7 detects an obstacle that does not exist in the preliminary data environmental map during following travel, the following travel control unit 33 determines that an obstacle is present.

[0074] Alternatively, before performing follow-up travel in the cleaning area, the follow-up travel control unit 33 may perform a pivot turn to determine the cleaning area of ​​the current location based on the detection results of the second obstacle detection unit 7 and the imaging results of the imaging unit 10. Then, if the cleaning area of ​​the current location complies with the cleaning plan, the follow-up travel control unit 33 continues follow-up travel, but if the cleaning area of ​​the current location does not complies with the cleaning plan, the follow-up travel control unit 33 ends follow-up travel.

[0075] Next, the follow-up travel control unit 33 gradually increases the predetermined distance from obstacles such as walls each time the cleaning unit 4 completes one lap around the cleaning area, thereby performing automatic cleaning while circling the cleaning area and approaching the center; in other words, the follow-up travel control unit 33 continues automatic cleaning by filling the inside of the cleaning area in a spiral pattern. For example, the follow-up travel control unit 33 may integrally multiply the predetermined distance by two or three times each time the cleaning unit 4 completes one lap around the cleaning area, or may multiply the predetermined distance by the cleaning width of the cleaning unit 4, and repeat the circumnavigation of the cleaning area.

[0076] The following driving control unit 33 completes following driving after repeating a predetermined number of following driving laps along obstacles such as walls in the cleaning area in order to improve the percentage of cleaned areas (cleaning completion rate: %) that have been filled in by automatic driving cleaning in the cleaning area.

[0077] In addition, if the cleaning area is a staircase, the following travel control unit 33 repeats the following travel lap a predetermined number of times (for example, twice) to complete the following travel, and the mode switching unit 30 determines that the automatic cleaning travel of the cleaning area has been completed, and the moving travel condition or step travel condition is met, and the travel mode is switched to the moving travel mode or step travel mode.

[0078] When the random travel mode is set, the random travel control unit 34 controls the travel unit 3 and the cleaning unit 4 to perform random travel, automatically traveling and cleaning in a straight line in various directions in the cleaning area.

[0079] Specifically, the random travel control unit 34 performs automatic travel cleaning in a straight line in a predetermined direction of travel, and controls the travel unit 3 and cleaning unit 4 to stop automatic travel cleaning when the first obstacle detection unit 6 detects contact with an obstacle such as a wall ahead, or when the second obstacle detection unit 7 detects approach within a predetermined distance of an obstacle such as a wall ahead. The random travel control unit 34 then controls the travel unit 3 and cleaning unit 4 to perform an operation to avoid the detected obstacle, for example, by turning or turning at a predetermined angle until the obstacle can no longer be detected, and then to perform automatic travel cleaning in a straight line in the changed direction of travel. It is preferable that the rotation operation be such that the robot turns at least in the opposite direction to the obstacle. The random travel control unit 34 then performs random travel by repeating the above-described automatic travel cleaning in a straight line and the avoidance operation.

[0080] The random travel control unit 34 completes random travel when it determines that the cleaning area has been sufficiently cleaned by combining the following travel and random travel and that cleaning is complete. For example, the random travel control unit 34 determines the travel path taken by the automatic cleaning travel of following travel and random travel based on the movement amount and turning angle measured by the encoder of the travel unit 3 and the cleaning width of the cleaning unit 4, and calculates the percentage of the environmental map of the cleaning area that is filled with this travel path, thereby calculating the cleaning completion rate (%) of the cleaning area. Then, the random travel control unit 34 completes random travel when the cleaning completion rate of the cleaning area is equal to or greater than a predetermined completion rate threshold (e.g., 90%).

[0081] Alternatively, the random travel control unit 34 measures the elapsed time (min) during the automatic cleaning of the following travel and random travel, or measures the elapsed distance (m) using the encoder of the travel unit 3. If the elapsed time or elapsed distance is equal to or greater than a predetermined cleaning time or a predetermined cleaning distance, the random travel control unit 34 determines that the cleaning completion rate of the cleaning area is equal to or greater than a predetermined completion rate threshold, and completes the random travel. The predetermined cleaning time and predetermined cleaning distance are set by performing a preliminary travel or a simulation travel of the cleaning area and measuring the elapsed time and elapsed distance when the cleaning rate reaches 90%. If the step detection unit 9 detects a step 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, the random travel control unit 34 avoids the step while traveling. At this time, the random travel control unit 34 regards the step detected by the step detection unit 9 as an obstacle and performs the obstacle avoidance operation described above. For example, when the random travel control unit 34 detects that the robot is approaching within a predetermined distance from a step, it controls the travel unit 3 and the cleaning unit 4 to stop automatic travel cleaning, change the direction of travel by turning or turning at a predetermined angle until the step can no longer be detected, and then perform automatic travel cleaning by moving straight in the changed direction of travel.

[0082] When the random travel control unit 34 completes random travel, the mode switching unit 30 determines that the automatic cleaning travel of the cleaning area has been completed, and the travelling condition or step travelling condition is met, and the travelling mode is switched to the travelling mode or step travelling mode.

[0083] When the travel mode is set, the travel control unit 35 controls the travel unit 3 and the cleaning unit 4 so that the robot automatically travels from the cleaning area where the robot is currently located to the next cleaning area.

[0084] For example, the travel control unit 35 determines the next cleaning area to be cleaned by automatic travel, based on an environmental map and cleaning plan of multiple cleaning areas to be cleaned, and creates a travel route from the cleaning area where the robot is currently located to the next cleaning area. The next cleaning area may be another cleaning area directly adjacent to the cleaning area where the robot is currently located, or it may be an adjacent cleaning area that passes through one or more cleaning areas.

[0085] When the step travel mode is set, the step travel control unit 36 ​​controls the travel unit 3 and the cleaning unit 4 so that the robot automatically travels over the step between the cleaning area at the current position and the next cleaning area to the next cleaning area.

[0086] For example, if there is a step such that the next cleaning area is located below the cleaning area of ​​the current position, the step travel control unit 36 ​​controls step travel so that the autonomous cleaning device 1 moves downward toward the next cleaning area. As shown in FIG. 7(a), if the step detection unit 9 determines based on the detection result, for example, the reflection state of infrared light emitted by the infrared sensor, that there is a cleaning area (stairs) that can be moved below the cleaning area of ​​the current position (e.g., a second-floor hallway), the step travel control unit 36 ​​executes step travel. At this time, the step travel control unit 36 ​​causes the autonomous cleaning device 1 to proceed from the cleaning area of ​​the current position toward the boundary line between the cleaning area of ​​the current position and the next cleaning area, and then continues across the boundary line toward the next cleaning area. As a result, the step travel control unit 36 ​​causes the autonomous cleaning device 1, which has entered the next cleaning area, to descend from the height of the cleaning area of ​​the current position to the height of the next cleaning area.

[0087] 7(b), if it is determined that there is no cleaning area below the current cleaning area (first floor entrance hall) to which the robot can move based on the detection results of the step detection unit 9, for example, the reflection state of infrared light emitted by the infrared sensor, the step travel control unit 36 ​​may halt step travel and stop automatic cleaning. Furthermore, the step travel control unit 36 ​​may measure the height of the step between the current cleaning area and the next cleaning area based on the detection results of the step detection unit 9, and if the height of the step is equal to or greater than a predetermined threshold (for example, if the riser height of the staircase is 23 cm or greater), determine that the robot cannot safely travel over the step, halt step travel, and stop automatic cleaning.

[0088] The step travel control unit 36 ​​activates the step travel assistance unit 12 when the autonomous cleaning device 1 enters the next cleaning area, thereby suppressing the descent speed of the autonomous cleaning device 1 and suppressing the impact when the autonomous cleaning device 1 lands on the next cleaning area. The step travel control unit 36 ​​also controls the travel of the autonomous cleaning device 1 so that the autonomous cleaning device 1 lands on the next cleaning area from the impact suppression unit 16, such as a bumper, and controls the travel unit 3, for example, so that the autonomous cleaning device 1 moves perpendicular to the boundary line between the current cleaning area and the next cleaning area.

[0089] The step travel control unit 36 ​​may stop the travel unit 3 when the autonomous cleaning device 1 leaves the cleaning area of ​​its current location, thereby preventing the autonomous cleaning device 1 from coasting when it lands in the next cleaning area. Based on the detection result of the acceleration sensor 8, for example, when the output value of the acceleration sensor 8 is equal to or greater than a predetermined output threshold, the step travel control unit 36 ​​determines that the autonomous cleaning device 1 has moved over a step from the cleaning area of ​​its current location to the next cleaning area, and completes step travel.

[0090] Next, the operation of the autonomous traveling cleaning device 1 for automatically traveling and cleaning a plurality of cleaning areas will be described with reference to the flowchart of FIG.

[0091] First, when the operator operates the operation display unit 13 to input the cleaning order of a plurality of cleaning areas, the cleaning schedule creation unit 32 creates a cleaning schedule for the plurality of cleaning areas (step S1).

[0092] When the operator places the autonomously traveling cleaning device 1 in the first cleaning area of ​​the cleaning plan and operates the operation display unit 13 to instruct the device to start automatic traveling, the mode switching unit 30 causes the autonomously traveling cleaning device 1 to make a pivot turn while detecting obstacles such as surrounding walls using the second obstacle detection unit 7, and switches the traveling mode to follow-travel mode if the area is one where automatic traveling cleaning can be performed.

[0093] The following travel control unit 33 starts following travel (step S2), and after completing one lap of the cleaning area in following travel, the mode switching unit 30 confirms that the cleaning area of ​​the current position is the cleaning area according to the cleaning plan. While following travel, the following travel control unit 33 detects whether or not there is a step in the traveling direction using the step detection unit 9, and if there is a step (step S3: Yes), causes the robot to travel in a way that avoids the step (step S4).

[0094] When the following travel control unit 33 completes following travel by causing the autonomously traveling cleaning device 1 to circle the cleaning area a predetermined number of times (step S5: Yes), the mode switching unit 30 determines whether the cleaning area is capable of random travel, and if random travel is possible in the cleaning area of ​​the current location (step S6: Yes), the travel mode is switched to random travel mode.

[0095] The random travel control unit 34 starts random travel (step S7), and while random travelling, detects whether or not there is a step in the direction of travel using the step detection unit 9, and if there is a step (step S8: Yes), causes the robot to travel so as to avoid the step (step S9). If the cleaning completion rate in the cleaning area during random travel is equal to or greater than a predetermined completion rate threshold, the random travel is completed (step S10: Yes).

[0096] Next, the mode switching unit 30 determines whether there is a next cleaning area based on the cleaning plan, and if there is no next cleaning area (step S11: No), the automatic cleaning ends (step S12). On the other hand, if there is a next cleaning area (step S11: Yes), the mode switching unit 30 moves to the next cleaning area (step S13).

[0097] Also, if random travel in the cleaning area of ​​the current location 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 if there is no next cleaning area (step S11: No), the automatic travel cleaning ends (step S12). On the other hand, if there is a next cleaning area (step S11: Yes), the mode switching unit 30 moves to the next cleaning area (step S13).

[0098] Next, the operation of autonomous cleaning device 1 for moving to the next cleaning area will be described with reference to the flowchart of FIG.

[0099] First, the mode switching unit 30 detects whether there is a step between the cleaning area at the current position and the next cleaning area using the step detection unit 9, and if no step is detected (step S14: No), switches the driving mode to the mobile driving mode.

[0100] Based on the cleaning plan, the travel control unit 35 automatically travels the autonomous cleaning device 1 from the cleaning area of ​​the current position to the next cleaning area (step S15), and when the autonomous cleaning device 1 moves to the next cleaning area, the travel ends (step S16). After that, the flow returns to the flowchart of FIG. 8, and the autonomous cleaning continues, with the next cleaning area as the cleaning area of ​​the current position.

[0101] On the other hand, if a step is detected between the cleaning area of ​​the current position and the next cleaning area (step S14: Yes), the mode switching unit 30 switches the travel mode to the step travel mode.

[0102] 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 (step S17), and if the height of the step is equal to or greater than a predetermined height threshold (step S18: Yes), it stops step travel, returns to the flowchart of Figure 8, and stops automatic travel cleaning (step S12).

[0103] On the other hand, if the height of the step between the current cleaning area and the next cleaning area is less than the predetermined height threshold (step S18: No), the step travel control unit 36 ​​starts step travel to move over the step between the current cleaning area and the next cleaning area to the next cleaning area (step S19). At this time, the step travel control unit 36 ​​activates the step travel assistance unit 12 (step S20) to assist the autonomous cleaning device 1 in descending to the next cleaning area and reduce the impact when it lands.

[0104] If the output value of the acceleration sensor 8 is equal to or greater than the predetermined output threshold (step S21: Yes), the step travel control unit 36 ​​determines that the autonomous traveling cleaning device 1 should move to the next cleaning area and completes step travel (step S22). After that, the process returns to the flowchart of Fig. 8, and the autonomous traveling cleaning continues, with the next cleaning area set as the cleaning area for the current position.

[0105] The cleaning plan is then completed by performing automatic cleaning in each of the multiple cleaning areas included in the cleaning plan so that the cleaning completion rate for each of the cleaning areas is equal to or greater than a predetermined completion rate threshold.

[0106] As described above, according to this embodiment, autonomous traveling cleaning device 1, which is capable of performing automatic cleaning work by autonomously traveling and cleaning automatically, includes an automatic cleaning control unit such as a follow traveling control unit 33 and a random traveling control unit 34 that control the automatic traveling and cleaning of each of a plurality of cleaning areas, and a movement control unit such as a moving traveling control unit 35 and a step traveling control unit 36 ​​that control autonomous movement between two cleaning areas. When there is a step between the cleaning area of ​​the current position and the next cleaning area, step traveling control unit 36 ​​controls the autonomous traveling to move over the step from the cleaning area of ​​the current position to the next cleaning area if a predetermined step traveling condition is met.

[0107] With this configuration, the autonomous cleaning device 1 can automatically travel over the steps between different floors even when multiple cleaning areas are located across different floors, so it can automatically travel and clean multiple cleaning areas across different floors without placing any effort or burden on the user. Therefore, it can move between cleaning areas regardless of the steps and continue automatic cleaning.

[0108] In addition, in this embodiment, in the autonomously 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 control unit 36 ​​controls the step traveling so that it moves downward if the step traveling condition is met.

[0109] With this configuration, the autonomous cleaning device 1 can automatically move downward over the step even if the next cleaning area is located below, so that it can automatically clean the cleaning area located below without causing any trouble or burden to the user.

[0110] In addition, in this embodiment, in the autonomous traveling cleaning device 1, the step traveling control unit 36 ​​determines that the step traveling condition is met when the cleaning completion rate of the autonomous traveling cleaning in the cleaning area of ​​the current location is equal to or greater than a predetermined completion rate threshold.

[0111] With this configuration, the autonomous cleaning device 1 can automatically travel and clean multiple cleaning areas across different floors (levels) without causing any hassle or burden to the user, while maintaining a high cleaning completion rate for each cleaning area, even when multiple cleaning areas are located across different floors (levels).

[0112] Alternatively, in this embodiment, in the autonomous traveling cleaning device 1, the step traveling control unit 36 ​​determines that the step traveling condition is met when the autonomous traveling cleaning of the cleaning area at the current location has been performed for a predetermined cleaning time or a predetermined cleaning distance or more.

[0113] With this configuration, the autonomous cleaning device 1 can determine whether the cleaning completion rate of a cleaning area is above a predetermined completion rate threshold based on the elapsed time or distance during which the autonomous cleaning has been performed, and can perform autonomous cleaning of multiple cleaning areas across different floors (levels) while maintaining a high cleaning completion rate for each cleaning area without imposing any hassle or burden on the user.

[0114] In this embodiment, the autonomous traveling cleaning device 1 is equipped with an impact suppression unit 16 (suppression structure) such as a bumper that suppresses impact when traveling over steps, and a step travel assistance unit 12 (assistance structure) that assists traveling over steps.

[0115] With this configuration, when autonomous traveling cleaning device 1 descends during travel over steps and lands in the next cleaning area, device body 2 is not damaged and the device can move over the steps safely.

[0116] In the above embodiment, an example has been described in which, when the step detection unit 9 detects a step such that the next cleaning area is located below the cleaning area of ​​the current position, the step travel control unit 36 ​​controls step travel so that the autonomous traveling cleaning device 1 moves downward toward the next cleaning area, but the present invention is not limited to this example. In other embodiments, when the step detection unit 9 detects a step such that the next cleaning area is located above the cleaning area of ​​the current position, the step travel control unit 36 ​​may control step travel so that the autonomous traveling cleaning device 1 moves upward toward the next cleaning area.

[0117] In this case, the step detection unit 9 may be configured to be able to move up and down using a damper mechanism, so that it can detect the next cleaning area located above the cleaning area of ​​the current position. Furthermore, the traveling unit 3 may be configured with a pair of caterpillar tracks instead of a pair of drive wheels, so that it can climb steps such as stairs. This allows the cleaning plan to be carried out by automatically traveling and cleaning these cleaning areas, even if a cleaning plan is created that calls for moving from a cleaning area on the first floor to a cleaning area on the second floor via stairs. The mode switching unit 30 may switch the traveling mode to the step traveling mode when the next cleaning area is located below the cleaning area of ​​the current position, and may switch the traveling mode to the mobile traveling mode when the next cleaning area is located above the cleaning area of ​​the current position.

[0118] In the above embodiment, an example is described in which the cleaning plan is completed by completing automatic traveling and cleaning of each cleaning area so that the cleaning completion rate for each of the multiple cleaning areas included in the cleaning plan is equal to or greater than a predetermined completion rate threshold, but the present invention is not limited to this example. In other embodiments, the cleaning plan may be completed by determining the completion of automatic traveling and cleaning of each cleaning area based on the remaining power in the battery of the power supply unit 14 and the power required for automatic traveling and cleaning of the cleaning area, regardless of the cleaning completion rate.

[0119] At this time, the travel control unit 35 and the step travel control unit 36 ​​determine whether movement to the next cleaning area is necessary to complete the cleaning plan based on the remaining power in the battery of the power supply unit 14 and the power required for automatic travel and cleaning of the cleaning area, and if it is determined that movement to the next cleaning area is necessary, they determine that movement conditions such as the travel condition and the step travel condition are met regardless of the cleaning completion rate of the cleaning area of ​​the current location. For example, if the remaining power in the battery of the power supply unit 14 is less than the power required for automatic travel and cleaning of the unworked cleaning area, the travel control unit 35 and the step travel control unit 36 ​​allocate power to be used for automatic travel and cleaning of the unworked cleaning area so that the cleaning plan can be completed.

[0120] Specifically, a priority is assigned to each of the multiple cleaning areas included in the cleaning plan, and the movement / travel control unit 35 and the step / bump control unit 36 ​​perform automatic cleaning of high-priority cleaning areas (e.g., the first-floor reception room) so as to satisfy the completion rate threshold. On the other hand, automatic cleaning of low-priority cleaning areas (e.g., stairs) is omitted or the completion rate threshold is set lower (e.g., reduced from 90% to 60%). Regarding the power required for automatic cleaning of each cleaning area, the power required when the completion rate threshold was satisfied in a previous automatic cleaning is preferably stored in the memory unit 21. For example, the power required for the high-priority cleaning area may be subtracted from the remaining battery power of the power supply unit 14, and the power available for the low-priority cleaning area may be calculated based on the subtraction result. This may then be used to determine whether to omit automatic cleaning of the low-priority cleaning area or to set a lower completion rate threshold.

[0121] This makes it possible to more reliably complete automatic travel cleaning of multiple cleaning areas included in the cleaning plan depending on the remaining power level of the battery in the power supply unit 14.

[0122] In the above embodiment, an example was described in which the cleaning plan creation unit 32 creates a cleaning plan so that when cleaning areas are located across different floors, the cleaning plan creation unit 32 moves from a cleaning area on one floor to a cleaning area on another floor, but the present invention is not limited to this example. In another embodiment, a dust collection unit may be provided on one floor, and the cleaning plan creation unit 32 may create a cleaning plan so that after completing automatic cleaning of a cleaning area on one floor, the cleaning robot moves to the dust collection unit to collect dust, and then moves to a cleaning area on another floor.

[0123] Alternatively, in another embodiment, a dust collection unit may be provided on another floor, and the cleaning plan creation unit 32 may create a cleaning plan such that after completing automatic cleaning of a cleaning area on one floor, the robot moves to a cleaning area on another floor, then moves to the dust collection unit to collect dust, and then performs automatic cleaning of the cleaning area on the other floor. Note that a dust collection unit may be provided on each floor, and the dust collection unit may have a function to charge the battery of the power supply unit 14.

[0124] In the above-described embodiment, the bump travel condition for switching the travel mode to the bump travel mode is when it is determined that the automatic cleaning travel in the cleaning area where the robot is currently located is completed and when a bump is detected between the cleaning area where the robot is currently located and the next cleaning area. In particular, the random travel control unit 34 determines that the automatic cleaning travel in a cleaning area is completed when the cleaning completion rate of the cleaning area is equal to or greater than a predetermined completion rate threshold, or when the elapsed time or elapsed distance of the automatic cleaning travel is equal to or greater than a predetermined cleaning time or cleaning distance. However, the present invention is not limited to this example. In other embodiments, the bump travel condition for determining that the automatic cleaning travel in a cleaning area is completed may be changed depending on the type or size of the cleaning area.

[0125] For example, if the cleaning area is a staircase, the requirement for determining that the automatic cleaning run of the cleaning area is complete may be set to a predetermined number of laps (e.g., two or more times) of following travel. Also, if the cleaning area is a staircase landing, the requirement for determining that the automatic cleaning run of the cleaning area is complete may be set to a predetermined cleaning time or predetermined cleaning distance for comparison with the elapsed time or elapsed distance of the automatic cleaning run, within a range of less than 10 minutes or less than 20 meters, as shown in FIG. 10. Also, if the cleaning area is a hallway (less than a predetermined length), the requirement for determining that the automatic cleaning run of the cleaning area is complete may be set to a predetermined cleaning time or predetermined cleaning distance for comparison with the elapsed time or elapsed distance of the automatic cleaning run, within a range of 10 minutes or more but less than 20 minutes or 20 meters or more but less than 40 meters, as shown in FIG. 10. In addition, when the cleaning area is a hallway (longer than a predetermined length), as a requirement for determining that the automatic cleaning run of the cleaning area has been completed, it is preferable to set a predetermined cleaning time or a predetermined cleaning distance for comparing the elapsed time or elapsed distance of the automatic cleaning run within a range of 20 minutes or more or 40 meters or more, as shown in Figure 10.

[0126] In the above embodiment, an example has been described in which the autonomous traveling cleaning device 1 performs automatic traveling and cleaning of multiple cleaning areas located on the first and second floors (for example, the second floor bedroom, the second floor children's room, the second floor hallway, the stairs (including the landing), the first floor reception room, the first floor living room, and the first floor entrance hall), but the present invention is not limited to this example. In other embodiments, the autonomous traveling cleaning device 1 may perform automatic traveling and cleaning of multiple cleaning areas located on the third floor or higher, moving gradually from the top floor to lower floors.

[0127] In addition, if there are only a few cleaning areas (for example, if the cleaning areas are only the second floor corridor, stairs, and first floor corridor), the autonomous cleaning device 1 does not create a cleaning plan, and the user may operate the operation display unit 13 in each cleaning area to input instructions to start or end automatic driving.

[0128] Furthermore, the present invention can be modified as appropriate within the scope that does not contradict the gist or idea of ​​the invention that can be read from the claims and the entire specification, and an autonomous cleaning device with such modifications is also included in the technical idea of ​​the present invention. [Industrial Applicability]

[0129] The present invention can be suitably used in cleaning devices such as cleaning robots that perform cleaning work on the floor surfaces of a number of cleaning areas arranged across different floors (storeys) in a house, etc., using an autonomously traveling cleaning device that can perform autonomous traveling cleaning by traveling autonomously and cleaning automatically. [Explanation of symbols]

[0130] 1. Autonomous cleaning device 2. Device body 3 Running part 4 Cleaning Department 9. Step detection unit 12 Step running support part (support structure) 13 Operation display section 14 Power supply section 16 Impact suppression section (suppression structure) 17 Mobile devices 20 Control Unit 21 Memory section 30 Mode switching section 31 Map Creation Department 32 Cleaning Planning Department 33 Follow-up driving control unit (automatic cleaning control unit) 34 Random running control unit (automatic cleaning control unit) 35 Mobile travel control unit (mobile control unit) 36 Step travel control unit (movement control unit)

Claims

1. An autonomous traveling cleaning device capable of performing automatic cleaning work by traveling autonomously and cleaning automatically, an automatic cleaning control unit that controls automatic travel and cleaning in each of the plurality of cleaning areas; a movement control unit that controls autonomous movement between the two cleaning areas, the movement control unit controls the robot to perform step travel, in which the robot autonomously moves over the step from the cleaning area at the current position to the next cleaning area, when a step exists between the cleaning area at the current position and the next cleaning area and a predetermined step travel condition is satisfied; The autonomous driving cleaning device is characterized in that the movement control unit determines that the step travel condition is met when the cleaning completion rate of the autonomous driving cleaning of the cleaning area at the current location is equal to or greater than a predetermined completion rate threshold, or when the autonomous driving cleaning of the cleaning area at the current location has been completed for a predetermined cleaning time or a predetermined cleaning distance.

2. An autonomously traveling cleaning device capable of performing automatic cleaning tasks by traveling autonomously and cleaning automatically, an automatic cleaning control unit that controls automatic travel and cleaning in each of the plurality of cleaning areas; a movement control unit that controls autonomous movement between the two cleaning areas, the movement control unit controls the robot to perform step travel, in which the robot autonomously moves over the step from the cleaning area at the current position to the next cleaning area, when a step exists between the cleaning area at the current position and the next cleaning area and a predetermined step travel condition is satisfied; a cleaning plan creation unit that creates a cleaning plan indicating the order of automatic cleaning of the plurality of cleaning areas; a power supply unit that supplies power to each unit, The movement control unit determines that the step travel condition is met when movement to the next cleaning area is required to complete the cleaning plan, based on the remaining power of the power supply unit and the power required for automatic driving and cleaning of the cleaning area.

3. The autonomous cleaning device of claim 1 or 2, characterized in that when there is a step where the next cleaning area is located below the cleaning area at the current position and the step travel condition is met, the movement control unit controls the step travel so that the autonomous cleaning device moves downward.

4. a suppression structure for suppressing impact when traveling over a step; The autonomous cleaning device according to any one of claims 1 to 3, further comprising an auxiliary structure that assists the autonomous cleaning device in traveling over steps.

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