U.S. patent application number 11/038966 was filed with the patent office on 2005-08-04 for automatic traveling cleaner for automatically cleaning surface to be cleaned by discriminating object placed on surface to be cleaned.
This patent application is currently assigned to Funai Electric Co., Ltd.. Invention is credited to Uehigashi, Naoya.
Application Number | 20050166353 11/038966 |
Document ID | / |
Family ID | 34805691 |
Filed Date | 2005-08-04 |
United States Patent
Application |
20050166353 |
Kind Code |
A1 |
Uehigashi, Naoya |
August 4, 2005 |
Automatic traveling cleaner for automatically cleaning surface to
be cleaned by discriminating object placed on surface to be
cleaned
Abstract
It is determined whether a sensor band reacts and, if the sensor
band reacts, it is determined whether the sensor band continues to
react for a predetermined period of time. If the sensor band
continues to react for the predetermined period of time in the
previous step, it is determined that sucking is dangerous because
an object is considered as an object that may possibly obstruct a
cleaning work, for example, a long object such as a cord-shaped
object. In accordance therewith, a control unit gives a command for
stoppage of the sucking of a suction unit, whereby decrease of the
sucking power by entanglement with a long object such as a
cord-shaped object can be prevented, and the cleaning work can be
carried out efficiently and safely.
Inventors: |
Uehigashi, Naoya; (Osaka,
JP) |
Correspondence
Address: |
OSHA LIANG L.L.P.
1221 MCKINNEY STREET
SUITE 2800
HOUSTON
TX
77010
US
|
Assignee: |
Funai Electric Co., Ltd.
Osaka
JP
|
Family ID: |
34805691 |
Appl. No.: |
11/038966 |
Filed: |
January 20, 2005 |
Current U.S.
Class: |
15/319 |
Current CPC
Class: |
A47L 9/2847 20130101;
A47L 9/2889 20130101; A47L 2201/06 20130101; A47L 9/2852 20130101;
A47L 9/2805 20130101 |
Class at
Publication: |
015/319 |
International
Class: |
A47L 005/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 30, 2004 |
JP |
JP2004-022992 |
Claims
What is claimed is:
1. An automatic traveling cleaner that performs cleaning via a
cleaning suction port disposed on a bottom surface and having a
predetermined area, comprising: a suction unit which performs
suction via said cleaning suction port; a sensor unit which is
disposed on said bottom surface, is placed ahead of said cleaning
suction port in a movement direction, and detects an object on a
surface to be cleaned; and a control unit which controls suction
operation of said suction unit in accordance with a detection
result from said sensor unit, wherein said sensor unit includes: a
determination region which is disposed ahead of said cleaning
suction port in the movement direction and has an area larger than
said predetermined area; a first sensor band which can detect said
object in a region having a dimension larger than a maximum
dimension of said cleaning suction port along a direction
orthogonal to the movement direction; and a second sensor band
which can detect said object in a region having a dimension larger
than a maximum dimension of said cleaning suction port along the
movement direction, said first sensor band is disposed ahead of
said determination region in the movement direction and near to an
outer circumference of said determination region in the direction
orthogonal to the movement direction, said second sensor band is
disposed near to the outer circumference of said determination
region along the movement direction, each of said first sensor band
and said second sensor band has a plurality of sensors that detect
said object for each predetermined region thereof, and said control
unit gives a command for stoppage of suction of said suction unit
in accordance with the number of sensors that have reacted among
said plurality of sensors of at least one of said first sensor band
and said second sensor band when said object continues to be
detected for the predetermined period of time by at least one of
said first sensor band and said second sensor band, said automatic
traveling cleaner further comprising: a roller which is disposed on
said cleaning suction port; and a roller drive unit which controls
rotation of said roller, wherein said control unit gives a command
for stoppage of rotation of said roller to said roller drive unit
when said object continues to be detected for the predetermined
period of time by at least one of said first sensor band and said
second sensor band, said second sensor band has a first subsensor
band and a second subsensor band that are disposed along the
movement direction are disposed respectively on a left side and a
right side of said determination region, and can detect said object
in the region having the dimension larger than the maximum
dimension of said cleaning suction port along the movement
direction, and one of said first subsensor band and said second
subsensor band operates in accordance with said movement
direction.
2. An automatic traveling cleaner that performs cleaning via a
cleaning suction port disposed on a bottom surface and having a
predetermined area, comprising: a suction unit which performs
suction via said cleaning suction port; a sensor unit which is
disposed on said bottom surface, is placed ahead of said cleaning
suction port in a movement direction, and detects an object on a
surface to be cleaned; and a control unit which controls suction
operation of said suction unit in accordance with a detection
result from said sensor unit.
3. The automatic traveling cleaner according to claim 2, wherein
said sensor unit includes: a determination region which is disposed
ahead of said cleaning suction port in the movement direction and
has an area larger than said predetermined area; a first sensor
band which can detect said object in a region having a dimension
larger than a maximum dimension of said cleaning suction port along
a direction orthogonal to the movement direction; and a second
sensor band which can detect said object in a region having a
dimension larger than a maximum dimension of said cleaning suction
port along the movement direction, said first sensor band is
disposed ahead of said determination region in the movement
direction and near to an outer circumference of said determination
region in the direction orthogonal to the movement direction, and
said second sensor band is disposed near to the outer circumference
of said determination region along the movement direction.
4. The automatic traveling cleaner according to claim 3, wherein
said control unit gives a command for stoppage of suction of said
suction unit when said object continues to be detected for a
predetermined period of time by at least one of said first sensor
band and said second sensor band.
5. The automatic traveling cleaner according to claim 4, further
comprising: a roller which is disposed on said cleaning suction
port; and a roller drive unit which controls rotation of said
roller, wherein said control unit gives a command for stoppage of
rotation of said roller to said roller drive unit when said object
continues to be detected for a predetermined period of time by at
least one of said first sensor band and said second sensor
band.
6. The automatic traveling cleaner according to claim 3, wherein
each of said first sensor band and said second sensor band has a
plurality of sensors that detect said object for each predetermined
region thereof, and said control unit gives a command for stoppage
of suction of said suction unit in accordance with the number of
sensors that have reacted among said plurality of sensors of at
least one of said first sensor band and said second sensor band
when said object continues to be detected for a predetermined
period of time by at least one of said first sensor band and said
second sensor band.
7. The automatic traveling cleaner according to claim 6, further
comprising: a roller which is disposed on said cleaning suction
port; and a roller drive unit which controls rotation of said
roller, wherein said control unit gives a command for stoppage of
rotation of said roller to said roller drive unit when said object
continues to be detected for a predetermined period of time by at
least one of said first sensor band and said second sensor
band.
8. The automatic traveling cleaner according to claim 3, wherein
said second sensor band has a first subsensor band and a second
subsensor band that are disposed along the movement direction, are
disposed respectively on a left side and a right side of said
determination region, and can sense a dimension larger than the
maximum dimension of said cleaning suction port along the movement
direction, and one of said first subsensor band and said second
subsensor band operates in accordance with said movement direction.
Description
BACKGROUND OF THE INVENTION
[0001] 1. Field of the Invention
[0002] The present invention relates to an automatic traveling
cleaner having an auto-traveling function in a main body of the
cleaner and automatically performing cleaning of a surface to be
cleaned.
[0003] 2. Description of the Background Art
[0004] Conventionally, a cleaner has been developed in which a
movement function is added to the cleaner so as to aim improvement
of operability during the cleaning. Particularly, in recent years,
development of an automatic traveling cleaner of a so-called
self-inducing type obtained by mounting a microcomputer or the like
and various sensors thereon is attracting people's attention. An
automatic traveling cleaner of this type (hereinafter, simply
referred to also as cleaner), when started to operate, begins to
travel along a straight line by means of wheels driven by a driving
motor. During the traveling, the cleaner measures the distance to
obstacles such as furniture with a plurality of sensors or the
like, confirms the step difference of the surface to be cleaned so
as to travel by side stepping the step difference, and sucks the
dust adhering to the surface to be cleaned by using a suction port
and a brush or the like disposed in the bottom part of the main
body, thereby automatically performing cleaning of the surface to
be cleaned.
[0005] Japanese Patent Laying-Open No. 06-113984 discloses an
automatic traveling cleaner that executes automatic cleaning by
being made to learn the information necessary for cleaning in
advance, and continues cleaning while evading the obstacles by
sensing the distance to the obstacles with the use of a sensor.
[0006] However, in a conventional automatic traveling cleaner, it
was not possible to discriminate the objects placed on the surface
to be cleaned, so that all the objects placed on the surface to be
cleaned were sucked.
[0007] Therefore, when an elongate entangling object such as a cord
is placed, such an object may be erroneously sucked through the
suction port by the cleaner while traveling and is entangled to
reduce the suction power through the suction port, thereby raising
a possibility of obstructing the cleaning work.
SUMMARY OF THE INVENTION
[0008] The present invention has been made in order to solve the
aforementioned problems and, therefore, aims to provide an
automatic traveling cleaner that avoids suction of an object that
may possibly obstruct a cleaning work by discriminating the object
placed on a surface to be cleaned.
[0009] According to the present invention, an automatic traveling
cleaner that performs cleaning via a cleaning suction port disposed
on a bottom surface and having a predetermined area includes a
suction unit which performs suction via the cleaning suction port,
a sensor unit which is disposed on the bottom surface, is placed
ahead of the cleaning suction port in a movement direction, and
detects an object on a surface to be cleaned, and a control unit
which controls suction operation of the suction unit in accordance
with a detection result from the sensor unit. The sensor unit
includes a determination region which is disposed ahead of the
cleaning suction port in the movement direction and has an area
larger than the predetermined area, a first sensor band which can
detect the object in a region having a dimension larger than a
maximum dimension of the cleaning suction port along a direction
orthogonal to a movement direction, and a second sensor band which
can detect the object in a region having a dimension larger than a
maximum dimension of the cleaning suction port along the movement
direction. The first sensor band is disposed ahead of the
determination region in the movement direction and near to an outer
circumference of the determination region in the direction
orthogonal to the movement direction. The second sensor band is
disposed near to an outer circumference of the determination region
in the movement direction. Each of the first sensor band and the
second sensor band has a plurality of sensors that detect the
object for each predetermined region thereof. The control unit
gives a command for stoppage of suction of the suction unit in
accordance with the number of sensors that have reacted among the
plurality of sensors of at least one of the first sensor band and
the second sensor band when the object continues to be detected for
a predetermined period of time by at least one of the first sensor
band and the second sensor band. The automatic traveling cleaner
further includes a roller which is disposed on the cleaning suction
port, and a roller drive unit which controls rotation of the
roller. The control unit gives a command for stoppage of rotation
of the roller to the roller drive unit when the object continues to
be detected for a predetermined period of time by at least one of
the first sensor band and the second sensor band. The second sensor
band has a first subsensor band and a second subsensor band that
are disposed along the movement direction are disposed respectively
on a left side and a right side of the determination region, and
can detect the object in the region having the dimension larger
than the maximum dimension of the cleaning suction port along the
movement direction. One of the first subsensor band and the second
subsensor band operates in accordance with the movement
direction.
[0010] According to the present invention an automatic traveling
cleaner that performs cleaning via a cleaning suction port disposed
on a bottom surface and having a predetermined area includes a
suction unit which performs suction via the cleaning suction port,
a sensor unit which is disposed on the bottom surface, is placed
ahead of the cleaning suction port in a movement direction, and
detects an object on a surface to be cleaned, and a control unit
which controls suction operation of the suction unit in accordance
with a detection result from the sensor unit.
[0011] Preferably, the sensor unit includes a determination region
which is disposed ahead of the cleaning suction port in the
movement direction and has an area larger than the predetermined
area, a first sensor band which can detect the object in a region
having a dimension larger than a maximum dimension of the cleaning
suction port along a direction orthogonal to the movement
direction, and a second sensor band which can detect the object in
a region having a dimension larger than a maximum dimension of the
cleaning suction port along the movement direction. The first
sensor band is disposed ahead of the determination region in the
movement direction and near to an outer circumference of the
determination region in a direction orthogonal to the movement
direction. The second sensor band is disposed near to an outer
circumference of the determination region in the movement
direction.
[0012] In particular, the control unit gives a command for stoppage
of suction of the suction unit when the object continues to be
detected for a predetermined period of time by at least one of the
first sensor band and the second sensor band.
[0013] In particular, each of the first sensor band and the second
sensor band has a plurality of sensors that detect the object for
each predetermined region thereof. The control unit gives a command
for stoppage of suction of the suction unit in accordance with the
number of sensors that have reacted among the plurality of sensors
of at least one of the first sensor band and the second sensor band
when the object continues to be detected for a predetermined period
of time by at least one of the first sensor band and the second
sensor band.
[0014] In particular, the automatic traveling cleaner according to
the present invention further includes a roller which is disposed
on the cleaning suction port, and a roller drive unit which
controls rotation of the roller. Herein, the control unit gives a
command for stoppage of rotation of the roller to the roller drive
unit when the object continues to be detected for a predetermined
period of time by at least one of the first sensor band and the
second sensor band.
[0015] In particular, the second sensor band has a first subsensor
band and a second subsensor band that are disposed in the movement
direction are disposed respectively on a left side and a right side
of the determination region, and can sense a dimension larger than
the maximum dimension of the cleaning suction port along the
movement direction. One of the first subsensor band and the second
subsensor band operates in accordance with the movement
direction.
[0016] The automatic traveling cleaner according to the present
invention gives a command for stoppage of suction of the suction
unit when the object continues to be detected for a predetermined
period of time by at least one of the first sensor band and the
second sensor band. In other words, the cleaner stops suction of
the suction unit by discriminating an elongate object such as a
cord which is an object that continues to be detected for the
predetermined period of time. This can evade decrease or the like
in the suction power of the suction unit that is generated by
entanglement, and the cleaning work can be carried out efficiently
and safely.
[0017] The foregoing and other objects, features, aspects and
advantages of the present invention will become more apparent from
the following detailed description of the present invention when
taken in conjunction with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0018] FIG. 1 is a schematic view illustrating a bottom part of a
cleaner according to an embodiment of the present invention;
[0019] FIG. 2 is a schematic block diagram describing the mechanism
of the cleaner according to the embodiment of the present
invention;
[0020] FIG. 3 is a conceptual view describing the cleaner according
to the embodiment of the present invention that travels in a room
as one example;
[0021] FIG. 4 is a flowchart describing a method of discriminating
objects during the cleaning work in a control unit according to the
embodiment of the present invention;
[0022] FIGS. 5A to 5C are conceptual views describing the method of
discriminating objects that has been described in the flowchart of
FIG. 4; and
[0023] FIG. 6 is a flowchart describing a method of discriminating
objects in an automatic traveling cleaner according to a
modification of the embodiment of the present invention.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0024] Embodiments of the present invention will be described in
detail with reference to the attached drawings. Here, in the
drawings, identical or corresponding parts will be denoted with the
same reference numerals and the description thereof will not be
repeated.
[0025] Referring to FIG. 1, a cleaner 20 according to an embodiment
of the present invention includes a wheel 22 disposed on the front
side relative to the movement direction as a movement function, a
left wheel 23 and a right wheel 24 disposed on the rear side, a
suction port 21 for sucking dust and the like on a surface to be
cleaned, sensor bands 26 to 28 that detect objects placed on the
surface to be cleaned, and a brush 29 that is disposed in suction
port 21 and rotates in contact with the surface to be cleaned so as
to brush the dust and the like into the suction port.
[0026] Left wheel 23 and right wheel 24 are each driven
independently, and wheel 22 controls the direction driving. In the
forward movement, left wheel 23 and right wheel 24 operate to
proceed the cleaner in the forward direction. In turning the
direction, wheel 22 rotates so as to achieve a desired movement
direction while left wheel 23 and right wheel 24 operate to turn
the direction.
[0027] Each of sensor bands 26 to 28 has a plurality of sensors sn.
In FIG. 1, as one example, sensor bands 26 and 27 are each provided
with five sensors sn arranged and spaced apart by a predetermined
interval. The number of sensors in sensor bands 26 and 27 is set so
that a range having a dimension larger than the maximum dimension
of suction port 21 in the movement direction can be sensed.
Further, sensor band 28 is provided with 20 sensors sn arranged and
spaced apart by a predetermined interval. The number of sensors in
sensor band 28 is set so that a range having a dimension larger
than the maximum dimension of suction port 21 in a direction
perpendicular to the movement direction can be sensed.
[0028] In the bottom surface part, a sensing region 25 having an
area larger than the area of the suction port is disposed ahead of
suction port 21 in the movement direction. Sensor bands 26 to 28
are disposed so as to surround this sensing region 25.
Specifically, sensor bands 26 and 27 are disposed respectively on
the left side and on the right side near to the outer circumference
of sensing region 25 along the movement direction. Sensor band 28
is disposed near to the outer circumference of sensing region 25
along the direction perpendicular to the movement direction. Sensor
band 28 is disposed ahead of sensing region 25 in the movement
direction.
[0029] Referring to FIG. 2, cleaner 20 according to an embodiment
of the present invention includes a control unit 2 that controls
the cleaner as a whole, a position/speed detection unit 3 for
sensing the position and the speed of the cleaner and outputting a
sensing result to control unit 2, a motor unit 4 for rotating
wheels 22 to 24, a driving control unit 5 that controls the
rotation and direction of the wheels in motor unit 4 by receiving a
command from control unit 2, a brush motor 6 for rotating brush 29
disposed in suction port 21, a brush control unit 7 that controls
rotation of brush motor 6 by receiving a command from control unit
2, a suction unit 8 for collecting dusts by a sucking force in
suction port 21 by receiving a command from control unit 2, and a
suction sensor unit 9 disposed on the bottom surface part wherein
sensor bands 26 to 28 directed towards the surface to be cleaned
react to output a sensing result to control unit 2.
[0030] Here, the traveling of the cleaner will be described.
[0031] With reference to FIG. 3, cleaner 20 according to an
embodiment of the present invention that travels inside a room 30
will be described as one example. Cleaner 20 is placed at an end in
the inside of room 30, and the cleaning is started. Here,
information necessary for cleaning, specifically, necessary
information such as the region of cleaning, start position of
cleaning, path of cleaning, and end position of cleaning, is stored
in advance in a storage unit (not illustrated), and the cleaner
carries out the cleaning work in accordance with the contents
stored in the storage unit.
[0032] Specifically, the cleaning work is started, for example, at
an end of the inside of room 30, and cleaner 20 proceeds forward at
a constant speed. At that time, control unit 2 gives a command so
that cleaner 20 may travel along a desired path of cleaning in
accordance with the sensing result on the position and the speed
obtained in position/speed detection unit 3. Further, when a
forward wall of the room is sensed by a forward sense unit (not
illustrated) that senses the front, the cleaner turns the
direction, and proceeds at a constant speed again by being shifted
by a predetermined position. When cleaner 20 is started at the
cleaning start position of the cleaning region, driving control
unit 5 is driven by control of control unit 2 along the cleaning
path in the contents stored in the storage unit, whereby the
cleaning can be performed automatically up to the cleaning end
position.
[0033] Here, with reference to the flowchart of FIG. 4, a method of
discriminating an object during the cleaning work by control unit 2
according to an embodiment of the present invention will be
described.
[0034] With reference to FIG. 4, first, the cleaning work of
cleaner 20 is started (step S0). Next, during the traveling, it is
determined whether the sensor bands react (step S1). Specifically,
it is determined whether at least one of the sensors sn in the
sensor bands reacts. In the method of discriminating an object
according to this embodiment, sensor band 28 and one of sensor band
26 and sensor band 27 are used. As one example, in the case shown
in FIG. 3, in the first cleaning path L1, sensor band 27 and sensor
band 28 are used. After the direction is turned, in the cleaning
path L2, sensor band 26 and sensor band 28 are used. Namely,
control unit 2 gives a command on the sensor bands to be used to
suction sensor unit 2 in turning the direction in accordance with
the cleaning path stored in advance in the storage unit.
[0035] When the sensor bands do not react in step S1, the flow
stays in step S1 until the sensors react. On the other hand, when
the sensor bands react in step S1, the flow proceeds to the next
step S2.
[0036] In step S2, it is determined whether the sensor bands
continue to react for a predetermined period of time. When the
reaction of the sensor bands ends within the predetermined period
of time in step S2, it is determined that the suction is possible
(step S2#a), and the flow returns to the first step S1. This
predetermined period of time is set within the period of time from
the time when the sensor band 28 in FIG. 1 begins to react to an
object until the object reaches suction port 21. Specifically, the
predetermined period of time is set in accordance with the speed of
the cleaner and the distance from suction port 21 to sensor band
28.
[0037] On the other hand, when the sensor bands continue to react
for the predetermined period of time in step S2, it is determined
that the suction is dangerous (step S2#). In accordance therewith,
in the next step S3, control unit 2 gives a command for stoppage of
the suction of suction unit 8 (step S3).
[0038] Next, in step S4, the flow stays until the reaction of the
sensor bands ends. When the reaction of the sensor bands ends, the
flow proceeds to the next step, and control unit 2 gives a command
for operation of the suction of suction unit 8 after a fixed period
of time passes (step S5). This restarts the cleaning work, and in
the next step S6, it is determined whether the cleaning work is
finished. When the cleaning work is finished in step S6, the
operation of the cleaner is ended (step S7). If the cleaning work
is not finished yet in step S6, the flow returns to the first step
S1.
[0039] Here, this fixed period of time is a period of time until
the object that has been regarded as being dangerous on the surface
to be cleaned passes by, and is set in accordance with the speed of
the cleaner.
[0040] Here, although not illustrated, together with the commands
for stoppage of the suction of suction unit 8 and operation of the
suction of suction unit 8, control unit 2 gives commands for
stoppage of the rotation and restart of the rotation of brush 29 to
brush control unit 7.
[0041] Therefore, the suction through suction port 21 or suction by
rotation operation of brush 29 in accordance with the rotation of
brush motor 6 is stopped, thereby preventing suction of an object
that is regarded as being dangerous when being sucked.
[0042] With reference to FIG. 5A, in this example, an elongate
cord-shaped object 50 is shown.
[0043] In this example, as described in FIG. 4, cleaner 20 in
accordance with an embodiment of the present invention senses with
sensor bands 27 and 28 in step S1, and proceeds to the next step
S2. In the next step S2, since the sensor bands 27 and 28 continue
to react for a predetermined period of time, the flow proceeds to
the next step S2#. Namely, the sucking is determined as being
dangerous, and control unit 2 gives a command for stoppage of the
suction of suction unit 8. This can evade the danger of sucking
such an elongate cord-shaped object 50 through suction port 21.
Then, in the next step S4, the cleaning work is started when a
fixed period of time passes after the reaction of sensor bands 27
and 28 ends. Therefore, stoppage of the cleaning function by
entanglement of object 50 is evaded, so that the cleaning work can
be stably carried out.
[0044] With reference to FIG. 5B, in this example, a suckable
object 51 is shown instead of the elongate chord-shaped object 50
shown in FIG. 5A.
[0045] In this example, as described in FIG. 4, the cleaner senses
with sensor bands 27 and 28 in step S1, and proceeds to the next
step S2. In the next step S2, since this object is not an elongate
object, the sensor bands 27 and 28 stop reacting when the object
completely enters the sensor region 25. Namely, since the sensor
bands 27 and 28 do not continue to react for the predetermined
period of time, it is determined that the sucking is possible, and
the flow returns to the first step S1. By this, control unit 2 does
not give a command for stoppage of the suction of suction unit 8,
whereby the normal cleaning work is continued, and object 51 is
sucked through suction port 21 by suction unit 8.
[0046] With reference to FIG. 5C, in this example, an object 52
that may possibly be sucked is shown at an end of suction port
21.
[0047] In this example, as described in FIG. 4, the cleaner senses
with sensor bands 27 and 28 in step S1, and proceeds to the next
step S2. In the next step S2, since the sensor bands 27 and 28
continue to react for a predetermined period of time, the flow
proceeds to the next step S2#. Namely, the sucking is determined as
being dangerous, and control unit 2 gives a command for stoppage of
the suction of suction unit 8, in the same manner as in FIG.
5A.
[0048] In this case, depending on the sucking power, the object 52
may be sucked through the lateral side. Therefore, supposing that
object 52 is an elongate cord-shaped object such as object 50, the
sucking of suction unit 8 is stopped, whereby the danger of sucking
the object through suction port 21 can be evaded with
certainty.
[0049] On the other hand, supposing that object 52 is not an
elongate cord-shaped object such as object 50 and is simply normal
rubbish, the object can be sucked through suction port 21 in the
next cleaning path after the direction is turned. For example, the
determination such as in FIG. 5C is made in the cleaning path L1 of
FIG. 3, and the process is carried out in accordance with a
determination method similar to the one described above in the next
cleaning path L2. Namely, when object 52 is an elongate cord-shaped
object such as object 50, control unit 2 gives a command for
stoppage of the suction of suction unit 8, whereas when object 52
is normal rubbish, object 52 is sucked through suction port 21 by
suction unit 8.
[0050] Here, as described above, in the above-mentioned
determination method, sensor bands 27 and 28 are used in the
cleaning path L1, and sensor bands 26 and 28 are used in the
cleaning path L2.
[0051] By an automatic traveling cleaner according to the
embodiment of the present invention, the danger of entangling an
elongate cord-shaped object in the suction port can be evaded with
certainty, so that the cleaning work can be carried out efficiently
and safely by differentiating normal rubbish from others.
Modification of the Embodiment
[0052] In the above-described embodiment, a determination method of
differentiating an elongate cord-shaped object to perform the
cleaning work safely has been described. On the other hand, when
the object is large compared with suction port 21, there is little
danger of sucking the object through suction port 21.
[0053] As a modification of the embodiment, a determination method
of differentiating a large object that has no possibility of being
sucked will be described.
[0054] With reference to the flowchart of FIG. 6, a method of
differentiating an object in an automatic traveling cleaner
according to a modification of the embodiment of the present
invention will be described.
[0055] With reference to FIG. 6, as described in the
above-mentioned embodiment, the cleaning work of cleaner 20 is
started (start) (step S0). Next, it is determined whether the
sensor bands react during the traveling (step S1). When the sensor
bands do not react in step S1, the flow stays in step S1 until the
sensor bands react. On the other hand, when the sensor bands react
in step S1, the flow proceeds to the next step S2. In step S2, it
is determined whether the sensor bands continue to react for a
predetermined period of time. When the reaction of the sensor bands
ends within the predetermined period of time, it is determined that
sucking is possible (step S2#a), and the flow returns to the first
step S1. On the other hand, when the sensor bands continue to react
for the predetermined period of time in step S2, the flow proceeds
to the next step S2a.
[0056] In step S2a, it is determined whether a predetermined number
or more of the sensors are reacting. When the predetermined number
or more of the sensors are reacting in step S2a, it is determined
that the suction of the object through suction port 21 is
impossible (step S2b), and the cleaning work is continued (step
S2c). Then, the flow proceeds to step S6.
[0057] When the predetermined number or more of the sensors do not
react, the flow proceeds to step S2#, where it is determined that
the suction is dangerous. The subsequent processing procedures are
the same as described with reference to the flowchart of FIG.
4.
[0058] In the modification of the embodiment of the present
invention, the cleaning work is continued when a predetermined
number or more of the sensors are reacting. In other words, the
object is considered to be a large object because the predetermined
number or more of the sensors are reacting. Therefore, in this
case, suction of the object is considered to be impossible because
the object is too large compared with the size of suction port 21.
By this, it is not necessary to stop the suction by suction unit 8,
so that the cleaning work can be carried out more efficiently.
Here, the predetermined number of the sensors can be set in
accordance with the size, shape, or the like of suction port 21, or
the suction power of suction unit 8.
[0059] This allows determination of whether the suction through
suction port 21 is possible or impossible, thereby achieving an
efficient cleaning work.
[0060] Here, in the above-described embodiment, a method of
discriminating an object has been described in which a rectangular
sensing area 25 having a larger area than the area of suction port
21 in the movement direction of suction port 21 is provided, and
the object is discriminated by using the flowcharts described in
FIGS. 4 and 6; however, the present invention is not limited to
this alone. By further enlarging the sensing area 25, a more
precise process of discriminating an object can be executed,
whereby an efficient cleaning work can be carried out.
[0061] Although the present invention has been described and
illustrated in detail, it is clearly understood that the same is by
way of illustration and example only and is not to be taken by way
of limitation, the spirit and scope of the present invention being
limited only by the terms of the appended claims.
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