Self-propelled cleaner
First Claim
1. A self-propelled cleaner comprising a body that includes a cleaner mechanism, a drive mechanism responsible for steering and driving, an angular velocity sensor, an angle detector that detects an azimuth, in which the body is oriented, by integrating a sensor output value detected by the angular velocity sensor, and a plurality of ultrasonic sensors that measures the distance to a wall located in the direction of movement in which the body is moved, wherein:
- every time the wall enters a range of distance measurement within which the ultrasonic sensors measure distances, every time a certain time elapses, or every time a user enters an instruction, control of a driving force which the drive mechanism exerts according to the azimuth detected by the angle detector is invalidated based on the distances to the wall measured by at least two ultrasonic sensors;
the drive mechanism is controlled based on the distances to the wall measured by at least two ultrasonic sensors so that the self-propelled cleaner will travel toward the wall and the direction of movement of the body will be perpendicular to the wall;
when the direction of movement of the body becomes perpendicular to the wall, the body is halted, and the total value of a sensor output value integrated by the angle detector is reset; and
control of the driving force which the drive mechanism exerts according to the azimuth detected by the angle detector is then validated.
1 Assignment
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Accused Products
Abstract
Disclosed is a self-propelled cleaner making it possible to reduce a cost by decreasing the number of components through multipurpose use of one sensor. When ultrasonic sensors sense a forward wall, the direction of movement in which a body is moved is corrected based on the distances to the wall measured by two ultrasonic sensors so that the direction of movement will be perpendicular to the wall. Thereafter, an azimuth indicated by a gyro-sensor is reset with a direction perpendicular to the wall regarded as a reference direction. The ultrasonic sensors designed to prevent collision with the forward wall may be used as sensors for compensating an error caused by the gyro-sensor. Consequently, the number of components is decreased, and a cost of manufacture is reduced.
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Citations
18 Claims
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1. A self-propelled cleaner comprising a body that includes a cleaner mechanism, a drive mechanism responsible for steering and driving, an angular velocity sensor, an angle detector that detects an azimuth, in which the body is oriented, by integrating a sensor output value detected by the angular velocity sensor, and a plurality of ultrasonic sensors that measures the distance to a wall located in the direction of movement in which the body is moved, wherein:
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every time the wall enters a range of distance measurement within which the ultrasonic sensors measure distances, every time a certain time elapses, or every time a user enters an instruction, control of a driving force which the drive mechanism exerts according to the azimuth detected by the angle detector is invalidated based on the distances to the wall measured by at least two ultrasonic sensors;
the drive mechanism is controlled based on the distances to the wall measured by at least two ultrasonic sensors so that the self-propelled cleaner will travel toward the wall and the direction of movement of the body will be perpendicular to the wall;
when the direction of movement of the body becomes perpendicular to the wall, the body is halted, and the total value of a sensor output value integrated by the angle detector is reset; and
control of the driving force which the drive mechanism exerts according to the azimuth detected by the angle detector is then validated.
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2. A self-propelled cleaner comprising a body that includes a cleaner mechanism, a drive mechanism responsible for steering and driving, an angular velocity sensor, an angle detector that detects an azimuth, in which the body is oriented, by integrating a sensor output value detected by the angular velocity sensor, and a plurality of distance meters that measures the distance to a wall located in the direction of movement in which the body is moved, further comprising a reset processor that:
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controls the drive mechanism on the basis of the distances to the wall measured by at least two distance meters so that the direction of movement of the body will meet the wall at a predetermined angle; and
when the direction of movement of the body has come to meet the wall at the predetermined angle, halts the body, and then resets the total value of a sensor output value integrated by the angle detector. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification