Self-propelled cleaning device and control method and control program thereof

Abstract

To reduce a possibility of affecting an object external to a self-propelled cleaning device connected to a foreign matter even when the foreign matter is wound around a rotary brush.SOLUTION: When a drive current of a rotation motor (24a) that detects an obstacle (OB) on the basis of information from a sensor part (13) and rotatively drives a rotary brush (23) exceeds a threshold, a control part (14) of a self-propelled cleaning device (1) controls a travel part (11) to stop travel of the self-propelled cleaning device (1) and controls the rotation motor (24a) to reverse the rotation of the rotary brush (23).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a self-propelled cleaning device, a control method for the same, and a control program. [Background technology]

[0002] Self-propelled cleaning devices that perform cleaning by autonomous travel are known as prior art (for example, Patent Documents 1 and 2). Patent Document 1 also discloses that when a foreign object such as a cord, string, or tassel becomes tangled in a rotating brush, the self-propelled cleaning device is moved forward while maintaining the rotation of the rotating brush in a nearly neutral position, thereby eliminating the tangle of the foreign object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-195843 [Patent Document 2] Patent Publication No. 2021-041071 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, foreign matter such as cloth or paper that is too large to fit inside the self-propelled cleaning device may become entangled in the rotating brush, potentially affecting other objects connected to the foreign matter and located outside the self-propelled cleaning device.

[0005] One aspect of the present invention is to reduce the possibility that, even if a foreign object gets entangled in a rotating brush, the foreign object will affect an object connected to the foreign object and external to the self-propelled cleaning device. [Means for solving the problem]

[0006] In order to solve the above problems, one embodiment of the present invention provides a self-propelled cleaning device that moves autonomously to clean, and includes a running unit for running the self-propelled cleaning device, a cleaning unit having a rotating brush and a rotary motor that drives the rotating brush to rotate, a sensor unit for detecting obstacles present around the self-propelled cleaning device, and a control unit that controls the self-propelled cleaning device, and when the control unit detects the obstacle based on information from the sensor unit and the drive current of the rotary motor exceeds a threshold value, it controls the running unit to stop the self-propelled cleaning device from moving, and controls the rotary motor to reverse the rotation of the rotary brush.

[0007] Another aspect of the present invention relates to a control method for a self-propelled cleaning device, which is a control method for a self-propelled cleaning device that moves autonomously and cleans, and includes the steps of detecting an obstacle based on information from a sensor unit of the self-propelled cleaning device that detects obstacles present around the self-propelled cleaning device, and when the drive current of a rotation motor of the self-propelled cleaning device that drives the rotating brush of the self-propelled cleaning device to rotate exceeds a threshold value, controlling the running unit of the self-propelled cleaning device to stop the self-propelled cleaning device from moving, and controlling the rotation motor to reverse the rotation of the rotating brush.

[0008] The self-propelled cleaning device according to each aspect of the present invention may be realized by a computer. In this case, the control program for the self-propelled cleaning device, which causes the computer to operate as each part (software element) of the self-propelled cleaning device, and the computer-readable recording medium on which it is recorded, also fall within the scope of the present invention. [Effects of the Invention]

[0009] According to one aspect of the present invention, even if a foreign object gets entangled around the rotating brush, it is possible to reduce the possibility of the foreign object affecting an object (obstacle) connected to the foreign object and outside the self-propelled cleaning device. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram showing an overview of a self-propelled cleaning device according to an embodiment of the present invention; [Figure 2] 3 is a block diagram showing a schematic configuration of a control unit in the self-propelled cleaning device. FIG. [Figure 3] FIG. 3 is a transition diagram showing operation modes in the control unit. [Figure 4] 10 is a flowchart showing a process flow in a foreign object detection mode in the control unit. DETAILED DESCRIPTION OF THE INVENTION

[0011] [Embodiment 1] An embodiment of the present invention will be described with reference to FIGS.

[0012] (Outline of the self-propelled cleaning device) Fig. 1 is a block diagram showing an outline of a self-propelled cleaning device according to this embodiment. The self-propelled cleaning device 1 is a device that autonomously travels and cleans. As shown in Fig. 1, the self-propelled cleaning device 1 includes a traveling unit 11, a cleaning unit 12, a sensor unit 13, and a control unit 14.

[0013] The traveling unit 11 is used to travel the self-propelled cleaning device 1. The traveling unit 11 includes wheels 21 and a traveling drive unit 22 including a motor that drives the wheels 21.

[0014] The cleaning unit 12 cleans the floor FL by sucking up dirt on the floor FL. Examples of such dirt include dust, hair, paper scraps, sand, and paper clips. The cleaning unit 12 includes a suction unit (not shown) that sucks up the dirt, a rotating brush 23 that is provided at the suction port of the suction unit, and a brush drive unit 24 that drives the rotating brush. The brush drive unit 24 drives the rotating brush 23 to rotate, so that the brush of the rotating brush 23 can sweep, wipe, or tap the floor FL, or scrape out dirt buried in the carpet, allowing the suction unit to suck up dirt more efficiently.

[0015] In this embodiment, the rotating brush 23 is movable in the vertical direction. The brush driving unit 24 includes a rotation motor 24a for rotating the rotating brush 23 and a movement motor (not shown) for moving the rotating brush 23 in the vertical direction. The movement motor allows the rotating brush 23 to be adjusted to an appropriate height for any floor FL, such as a long-pile carpet or hardwood floor.

[0016] The sensor unit 13 detects the situation around the self-propelled cleaning device 1 (particularly in front of it (the forward direction of the self-propelled cleaning device 1)) using one or more sensors. In this embodiment, the sensor unit 13 can use any type of sensor that can detect an obstacle OB present in the surrounding area, such as a camera (image sensor), an ultrasonic sensor, an infrared sensor, a Lidar (Light detection and ranging) sensor, a Radar (Radio detection and ranging) sensor, or a contact sensor.

[0017] The control unit 14 comprehensively controls the operation of various components of the self-propelled cleaning device 1, and is configured by, for example, a computer including a CPU (Central Processing Unit) and memory. The operation of the various components is controlled by causing the computer to execute a control program.

[0018] 2 is a block diagram showing a schematic configuration of the control unit 14. As shown in FIG. 2, the control unit 14 includes an obstacle detection unit 31, a foreign object detection unit 32, a travel control unit 33, and a brush control unit .

[0019] The obstacle detection unit 31 detects the obstacle OB based on information from the sensor unit 13. The obstacle detection unit 31 notifies the brush control unit 34 and the travel control unit 33 that the obstacle OB has been detected.

[0020] The foreign object detection unit 32 detects a foreign object FO wrapped around the rotating brush 23. When a foreign object FO wraps around the rotating brush 23, the load on the rotating brush 23 increases, causing the drive current of the rotation motor 24a of the brush drive unit 24 to rise. Therefore, in this embodiment, the foreign object detection unit 32 acquires the drive current from the brush drive unit 24, and if the drive current exceeds a threshold value, it determines that some foreign object FO has wrapped around the rotating brush 23. The foreign object detection unit 32 notifies the brush control unit 34 and the travel control unit 33 that the foreign object FO has been detected.

[0021] The travel control unit 33 controls the travel of the self-propelled cleaning device 1 by issuing instructions to the travel drive unit 22. In this embodiment, the travel control unit 33 instructs the travel drive unit 22 to stop the travel of the self-propelled cleaning device 1 when the obstacle detection unit 31 detects the obstacle OB and the foreign object detection unit 32 detects the foreign object FO.

[0022] The brush control unit 34 controls the rotating brush 23 by issuing instructions to the brush driving unit 24. In this embodiment, when the obstacle detection unit 31 detects the obstacle OB and the foreign object detection unit 32 detects the foreign object FO, the brush control unit 34 instructs the brush driving unit 24 to rotate the rotating brush 23 in the opposite direction (reverse rotation).

[0023] With the above configuration, if the drive current of the rotation motor 24a of the brush drive unit 24 exceeds a threshold value, it is considered that a foreign object FO has been caught in the rotating brush 23. Furthermore, if the obstacle detection unit 31 detects an obstacle OB, the obstacle OB is located near the self-propelled cleaning device 1. Therefore, there is a possibility that a foreign object FO such as cloth, paper, or thread has protruded from the self-propelled cleaning device 1 and is connected to the obstacle OB.

[0024] Therefore, in these cases, the travel control unit 33 controls the travel unit 11 to stop the travel of the self-propelled cleaning device 1. This prevents the self-propelled cleaning device 1 from traveling with the foreign object FO caught in the rotating brush 23. Furthermore, the brush control unit 34 controls the brush drive unit 24 to rotate the rotating brush 23 in the opposite direction (reverse). This eliminates the entanglement of the foreign object FO, and the foreign object FO can be easily pulled out from the self-propelled cleaning device 1. As a result, it is possible to reduce the possibility of affecting an obstacle OB connected to the foreign object FO.

[0025] (Operation mode) 3 is a transition diagram showing the operation modes of the control unit 14 of the self-propelled cleaning device 1 configured as described above. As shown in Fig. 3, the self-propelled cleaning device 1 includes a start mode M11, a normal mode M12, an obstacle detection mode M13, and a foreign object detection mode M14.

[0026] In start mode M11, the brush control unit 34 rotates the rotating brush 23 in the forward direction and instructs the brush drive unit 24 to lower the rotating brush 23 from the storage position. When the rotating brush 23 comes into contact with the floor FL, a load is applied to the rotating brush 23, causing the drive current of the motor 24a for rotating the rotating brush 23 to increase. When the drive current reaches a predetermined range suitable for cleaning, the brush control unit 34 instructs the brush drive unit 24 to stop the descent. Thereafter, the control unit 14 determines that preparation for cleaning is complete and transitions to normal mode M12.

[0027] In normal mode M12, control unit 14 instructs travel drive unit 22 and cleaning unit 12 to clean while traveling. Also, brush control unit 34 instructs brush drive unit 24 to adjust the vertical position of rotating brush 23 so that the drive current of rotation motor 24a is maintained within the predetermined range. When obstacle detection unit 31 detects an obstacle OB present around self-propelled cleaning device 1, the mode transitions to obstacle detection mode M13.

[0028] In obstacle detection mode M13, the travel control unit 33 instructs the travel drive unit 22 to stop before the obstacle OB or to perform an avoidance operation to avoid the obstacle OB. Note that the cleaning unit 12 continues to operate. Thereafter, if the obstacle detection unit 31 no longer detects the obstacle OB, the mode transitions to the original normal mode M12. On the other hand, if the drive current of the rotation motor 24a exceeds the threshold value that is greater than the predetermined range, the foreign object detection unit 32 determines that some foreign object FO is wrapped around the rotating brush 23, and the mode transitions to foreign object detection mode M14.

[0029] (Foreign object detection mode processing) Fig. 4 is a flowchart showing the processing flow in foreign object detection mode M14. As shown in Fig. 4, first, the travel control unit 33 instructs the travel drive unit 22 to stop the travel of the self-propelled cleaning device 1 (S11), and the brush control unit 34 instructs the brush drive unit 24 to rotate the rotating brush 23 in the reverse direction (reverse) (S12). Note that steps S11 and S12 may be performed simultaneously, or one of them may be performed first.

[0030] Next, the self-propelled cleaning device 1 waits until a first predetermined period (e.g., 10 seconds) has elapsed (S13). Various operations may be performed during the first predetermined period. One example of the various operations is when the travel control unit 33 instructs the travel drive unit 22 to move the self-propelled cleaning device 1 backward for a second predetermined period (e.g., 8 seconds) after stopping the travel of the self-propelled cleaning device 1. Another example of the various operations is when the travel control unit 33 instructs the travel drive unit 22 to go around the obstacle OB after stopping the travel of the self-propelled cleaning device 1. In these cases, there is a possibility that the foreign object FO will be released from the rotating brush 23 and be able to leave the self-propelled cleaning device 1.

[0031] Another example of the various actions described above is maintaining the stoppage of the travel. Another example of the various actions described above is the self-propelled cleaning device 1 issuing a warning to those in the vicinity. In these cases, there is a possibility that a person may be able to pull out the foreign object FO released from the rotating brush 23 from the self-propelled cleaning device 1.

[0032] After the first predetermined period has elapsed (YES in S13), the brush control unit 34 instructs the brush drive unit 24 to rotate the rotating brush 23 in the forward direction (S14). Next, the obstacle detection unit 31 measures the drive current of the motor 24a for rotating the rotating brush 23 (S15) and determines whether the drive current exceeds the threshold value (S16). If the drive current exceeds the threshold value (YES in S16), it determines that the foreign object FO is still wrapped around the rotating brush 23, and the process returns to step S11 to repeat the above operation.

[0033] On the other hand, if the drive current is equal to or less than the threshold value (NO in S16), the brush control unit 34 determines that the foreign object FO has been released from the rotating brush 23, and adjusts the vertical position of the rotating brush 23 until the drive current falls within the predetermined range (S17). Thereafter, the mode transitions to normal mode M12. As a result, the control unit 14 controls the traveling unit 11 and the cleaning unit 12 to resume traveling and cleaning.

[0034] (Additional notes) The obstacle detection unit 31 may detect an obstacle OB that is within a predetermined distance (for example, within 30 cm) from the self-propelled cleaning device 1. In this case, there is a high possibility that the foreign object FO and the obstacle OB are connected, so it is possible to effectively reduce the possibility that the foreign object FO will get entangled around the rotating brush 23 and affect the obstacle OB.

[0035] Furthermore, if the self-propelled cleaning device 1 is provided with side brushes on the underside of the self-propelled cleaning device 1 to collect dirt, there is a possibility that a foreign object FO may become entangled around the side brushes and affect an object connected to the foreign object FO. Therefore, the control unit 14 may control the side brushes in the same way as the rotating brush 23. In this case, it is possible to reduce the possibility that a foreign object FO may become entangled around the side brushes and affect an object connected to the foreign object FO.

[0036] [Software implementation example] The functions of the self-propelled cleaning device 1 (hereinafter referred to as the "device") can be realized by a program that causes a computer to function as the device, and a program that causes a computer to function as each control block of the device (particularly each part included in the control unit 14).

[0037] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The control device and storage device execute the program, thereby realizing the functions described in each of the above embodiments.

[0038] The program may be non-transitory and may be recorded on one or more computer-readable recording media. The recording media may or may not be included in the device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

[0039] Furthermore, some or all of the functions of the control blocks can be realized by logic circuits. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of the control blocks can also be realized by, for example, a quantum computer.

[0040] Furthermore, each process described in each of the above embodiments may be executed by AI (Artificial Intelligence). In this case, the AI ​​may run on the control device or on another device (for example, an edge computer or a cloud server).

[0041] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0042] 1 Self-propelled cleaning device 11 Running part 12 Cleaning Department 13 Sensor section 14 Control Unit 21 wheels 22 Travel drive unit 23 Rotating Brush 24 Brush drive unit 24a Rotation motor 31 Obstacle detection unit 32 Foreign object detection unit 33 Travel control unit 34 Brush control unit

Claims

1. A self-propelled cleaning device that autonomously travels and cleans, a traveling unit for traveling the self-propelled cleaning device; a cleaning unit including a rotating brush provided at the bottom of the self-propelled cleaning device and a rotation motor that rotates the rotating brush; a sensor unit for detecting obstacles present around the self-propelled cleaning device; a control unit that controls the self-propelled cleaning device, The control unit When the obstacle is detected based on information from the sensor unit and when it is detected based on the drive current of the rotation motor that a foreign object has become entangled in the rotating brush, the self-propelled cleaning device is controlled to stop the traveling unit and the cleaning unit is controlled to reverse the rotation of the rotating brush, and a foreign object detection mode operation is performed; The self-propelled cleaning device operates in a normal mode in which the traveling unit and the cleaning unit are controlled so as to clean while traveling, if it detects that a foreign object has become entangled in the rotating brush but does not detect the obstacle.

2. The self-propelled cleaning device of claim 1, wherein the control unit detects the obstacle within a predetermined distance from the self-propelled cleaning device based on information from the sensor unit, and when it detects that a foreign object has become entangled around the rotating brush, it operates in the foreign object detection mode.

3. the sensor unit is for detecting an obstacle present in front of the self-propelled cleaning device, The control unit When the obstacle is detected based on the information from the sensor unit, the traveling unit is controlled so as to perform an avoidance operation to avoid the obstacle. The self-propelled cleaning device according to claim 1 , wherein, when it is detected that a foreign object has become entangled around the rotating brush during the avoidance operation, the self-propelled cleaning device performs the operation in the foreign object detection mode.

4. 2. The self-propelled cleaning device according to claim 1, wherein the control unit controls the rotating motor to return the rotation of the rotating brush to its original state during operation in the foreign object detection mode, and performs operation in the normal mode when the drive current of the rotating motor is within a predetermined range that is equal to or less than a threshold value.

5. 2. A control program for causing a computer to function as the self-propelled cleaning device according to claim 1, the control program causing the computer to function as the control unit.

6. A control method for a self-propelled cleaning device that autonomously travels and cleans, a step of detecting an obstacle present around the self-propelled cleaning device based on information from a sensor unit of the self-propelled cleaning device, and when detecting that a foreign object has become entangled around a rotating brush based on a drive current of a rotation motor of the self-propelled cleaning device that drives the rotation of the rotating brush provided at the bottom of the self-propelled cleaning device, controlling a traveling unit of the self-propelled cleaning device to stop traveling of the self-propelled cleaning device, and controlling a cleaning unit of the self-propelled cleaning device that includes the rotating brush and the rotation motor to reverse the rotation of the rotating brush, in a foreign object detection mode; and if it is detected that a foreign object has become entangled in the rotating brush but no obstacle is detected, performing normal mode processing to control the traveling unit and the cleaning unit so that the device cleans while traveling.

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