Self-running cleaner with anti-overturning capability
First Claim
1. A self-running cleaner comprising:
- a cleaning unit cleaning a floor, a travel steering unit for self-propelling of a main body, an acceleration sensing unit sensing acceleration of said main body, and a determination processing unit controlling said cleaning unit and said travel steering unit in response to an acceleration signal from said acceleration sensing unit, wherein said determination processing unit comprises a storage unit storing an output waveform of a plurality of said acceleration signals corresponding to respective plurality of attitudes of said main body, a counting unit, and a control unit determining the attitude of said main body by collating an output waveform of said acceleration signal with an output waveform of said plurality of acceleration signals stored to control said travel steering unit and said cleaning unit, wherein determination is made of said main body passing over a doorsill by detecting occurrence of a succeeding impact within a predetermined term from a preceding impact to cause said main body to recede by said travel steering unit when two impacts appear continuously at the output waveform of an acceleration signal in a vertical direction of said main body.
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Accused Products
Abstract
An acceleration sensor is disposed on the center line of a main body to sense and output to a determination processing unit the acceleration component in three axial directions orthogonal to each other. The determination processing unit has a predetermined threshold value set for the acceleration in the z axis direction to determine the overturning possibility of the main body by the tilt angle of the main body exceeding a certain critical angle when falling short of the threshold value. The determination processing unit controls the travel steering unit so as to effect an obviation operation (for example, moving back the main body a predetermined distance and rotating the main body) to decrease the tilt angle of the main body, i.e. to increase the acceleration in the z axis directions. Thus, the main body is prevented from turning over.
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Citations
9 Claims
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1. A self-running cleaner comprising:
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a cleaning unit cleaning a floor, a travel steering unit for self-propelling of a main body, an acceleration sensing unit sensing acceleration of said main body, and a determination processing unit controlling said cleaning unit and said travel steering unit in response to an acceleration signal from said acceleration sensing unit, wherein said determination processing unit comprises a storage unit storing an output waveform of a plurality of said acceleration signals corresponding to respective plurality of attitudes of said main body, a counting unit, and a control unit determining the attitude of said main body by collating an output waveform of said acceleration signal with an output waveform of said plurality of acceleration signals stored to control said travel steering unit and said cleaning unit, wherein determination is made of said main body passing over a doorsill by detecting occurrence of a succeeding impact within a predetermined term from a preceding impact to cause said main body to recede by said travel steering unit when two impacts appear continuously at the output waveform of an acceleration signal in a vertical direction of said main body.
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2. A self-running cleaner comprising:
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a cleaning unit cleaning a floor, a travel steering unit for self-propelling of a main body, an acceleration sensing unit sensing acceleration of said main body, and a determination processing unit controlling said cleaning unit and said travel steering unit in response to an acceleration signal from said acceleration sensing unit, wherein said determination processing unit determines an attitude of said main body based on an output waveform of said acceleration signal. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9)
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Specification