JPH06100932B2 - Automatic traveling cleaning device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an automatic traveling cleaning device for cleaning a sheet-like laid object such as a carpet with a self-propelled cleaner in a hotel, a general household or the like.

[Conventional technology]

As an automatic traveling cleaning device of this type, a self-propelled cleaner travels along a guideway such as a railway provided under the floor of the building,
Those that perform cleaning have been previously proposed, and some have already been put to practical use. However, such an automatic traveling cleaning device does not have the freedom to appropriately change the traveling direction with respect to an obstacle. Therefore, it is suitable for use in places such as hotel lobbies and corridors where there are few obstacles and the self-propelled cleaner needs to travel a certain route, but many obstacles such as general households are undefined. It is not suitable for use in places where the locations are scattered.

On the other hand, as an automatic traveling cleaning device capable of cleaning such a place, it has a self-propelled cleaner provided with a plurality of ultrasonic sensors for detecting the position of an obstacle, It is known to determine the traveling direction based on a detection signal and perform cleaning.

[Problems to be Solved by the Invention]

However, in the above-described automatic traveling cleaning device, since the self-propelled cleaner is caused to travel based on the detection signal of the ultrasonic sensor provided in the self-propelled cleaner, control of the traveling direction of the self-propelled cleaner is performed. Is difficult, and the configuration of the control system becomes complicated. Further, since the ultrasonic sensor described above is also expensive, the cost of the device becomes high. Further, in the case where the traveling of the self-propelled cleaner is controlled by the detection signal of the ultrasonic sensor in this way, the self-propelled cleaner detects the obstacle only when it approaches the obstacle and sets the traveling direction each time. Since it is a thing, it has a problem that it is difficult to run a self-propelled cleaner efficiently, and it is the present situation that it has not been put to practical use yet.

[Means for Solving the Problems]

In order to solve the above-mentioned problems, an automatic traveling cleaning device according to a first aspect of the present invention includes traveling means for traveling, traveling drive means for driving the traveling means, and traveling direction changing means for changing the traveling direction. , And an automatic traveling cleaning device having a cleaning means for cleaning the sheet-like laying, and equipped with a self-propelled cleaner for cleaning while traveling on the sheet-like laying. The load position detecting means for detecting the applied position, the storing means for storing the load position detected by the load position detecting means, and the position of the stationary load detected by the load position detecting means are obstructed. Considering the position of the object, the position of the moving load is regarded as the position of the self-propelled cleaner, and the traveling direction designation information that specifies the traveling direction of the self-propelled cleaner that avoids obstacles is created. Traveling direction Constant information creating means, transmitting means for sending the running direction specifying information issued by the running direction specifying information creating means to the automatic cleaner, and a signal provided from the sending means provided in the self-propelled cleaner. Receiving means for receiving
The self-propelled vacuum cleaner is provided with a traveling direction changing means control means for controlling the traveling direction changing means based on the traveling direction specifying information obtained through the receiving means.

In order to solve the above problems, an automatic traveling cleaning device according to a second aspect of the present invention includes traveling means for traveling, traveling drive means for driving the traveling means, and traveling direction changing means for changing the traveling direction. , And an automatic traveling cleaning device having a cleaning means for cleaning the sheet-shaped laying object and having a self-propelled cleaner for cleaning while traveling on the sheet-like laid object. The load position detecting means for detecting the applied position, the storing means for storing the load position detected by the load position detecting means, and the position of the stationary load detected by the load position detecting means are obstructed. Considering the position of the object, the position of the moving load is regarded as the position of the self-propelled cleaner, and the traveling direction designation information that specifies the traveling direction of the self-propelled cleaner that avoids obstacles is created. Traveling direction When the constant information creating means and the traveling self-propelled cleaner traveling near the obstacle, the traveling speed deceleration signal as speed information for instructing to slow down the traveling speed of the self-propelled cleaner is issued. When the traveling vacuum cleaner moves away from the obstacle, a roadside information generating means for issuing a traveling speed acceleration signal as speed information for instructing to return the traveling speed of the self-propelled cleaner to the speed before deceleration, Traveling direction designating information issued by the traveling driving means control means, and transmitting means for transmitting the speed information issued by the speed information generating means to the self-propelled cleaner, and the self-propelled cleaner provided. Receiving means for receiving the signal sent from the transmitting means, and traveling direction changing means provided in the self-propelled cleaner for controlling the traveling direction changing means on the basis of traveling direction designating information obtained through the receiving means. Control means and self-propelled Based on the speed information obtained by the receiving means provided in the vacuum cleaner, when this speed information is a travel speed deceleration signal, the travel drive means is controlled so that the travel speed of the self-propelled cleaner is reduced, When the speed information is the traveling speed acceleration signal,
The self-propelled cleaner is provided with a traveling drive means control means for controlling the traveling drive means so that the traveling speed returns to the original speed before deceleration.

In order to solve the above-mentioned problems, an automatic traveling cleaning device according to a third aspect of the present invention travels for traveling, traveling drive means for driving the traveling means, traveling direction changing means for changing the traveling direction. , And an automatic traveling cleaning device having a cleaning means for cleaning the sheet-like laying, and equipped with a self-propelled cleaner for cleaning while traveling on the sheet-like laying. It has a load position detecting means for detecting the position to be applied and an input section by manual operation,
Obstacle position input means capable of inputting the position of the obstacle on the sheet-like laid structure, load position detected by the load position detecting means, and position of the obstacle input by the obstacle position input means And a storage means for storing the position of the stationary load detected by the load position detection means as an obstacle position, and a moving load position as a position of the self-propelled cleaner. Assumed, traveling direction designation information for designating the traveling direction of the self-propelled cleaner so as to avoid the obstacle having the stationary load position as the obstacle and the obstacle inputted by the obstacle position input means. And a transmitting means for transmitting the traveling direction specifying information to the self-propelled cleaner, and a reception unit provided in the self-propelled cleaner for receiving the signal transmitted from the transmitting means. Means, and provided in the self-propelled vacuum cleaner, Based on the travel direction specifying information obtained through the signal means is a configuration in which a traveling direction changing means control means for controlling the running direction changing means described above.

[Work]

According to the configuration of the first aspect of the present invention, the load position detecting means detects the position where the load is applied on the sheet-like laid object, and the storing means stores the load position detected by the load position detecting means. To be done. As the load position detecting means, a structure in which a pressure-sensitive conductive layer is interposed between two upper and lower films printed with mutually orthogonal electrode groups can be used. Further, such a load position detecting means may be internally provided in a sheet-like laying object such as a carpet to be cleaned, and is a separate body from the sheet-like laying object. It may be provided between the floor and the floor.

On the other hand, the traveling direction designation information creating means regards the position of the stationary load detected by the load position detecting means as the position of the obstacle, and the position of the moving load as the position of the self-propelled cleaner. Therefore, the traveling direction designation information for designating the traveling direction of the self-propelled cleaner so as to avoid the obstacle is created.
Then, the traveling direction designation information is transmitted to the self-propelled vacuum cleaner by the transmission means. As a transmission medium by the transmitting means, weak radio waves, ultrasonic waves, infrared rays, power lines, or the like can be used.

Then, the traveling direction designation information sent from the transmitting means is received by the receiving means provided in the self-propelled vacuum cleaner, and is input to the traveling direction changing means control means through this receiving means. The traveling direction changing means control means controls the traveling direction changing means based on the traveling direction designation information. The traveling means of the self-propelled cleaner can be constituted by wheels, for example, and the wheels may be four wheels or three wheels. As a power source for the self-propelled vacuum cleaner, a primary battery, a secondary battery or an AC power source can be used. When using an AC power supply, an outlet may be provided in the load position detecting means.

By such an operation, the self-propelled cleaner can travel while avoiding obstacles on the sheet-shaped laying object. That is, the self-propelled cleaner can be accurately moved in response to a change in the position of an obstacle such as furniture without mounting a position detection sensor and an obstacle sensor for each direction on the self-propelled cleaner. You can Also, the self-propelled vacuum cleaner itself has a very simple structure. Furthermore, the traveled route of the self-propelled vacuum cleaner is stored in the storage means, and by creating travel direction designation information that avoids this traveled route, without duplicating the same portion, The self-propelled cleaner can be run to clean all areas requiring cleaning.

According to the configuration of the second aspect of the invention, the load position detecting means detects the position where the load is applied on the sheet-like laid structure, and the storing means stores the load position detected by the load position detecting means. To be done. The traveling direction designation information creating means regards the position of the stationary load detected by the load position detecting means as the position of the obstacle, and the position of the moving load as the position of the self-propelled cleaner. Therefore, the traveling direction designation information for designating the traveling direction of the self-propelled cleaner so as to avoid the obstacle is created. When the traveling self-propelled vacuum cleaner approaches the obstacle, the speed information generation means issues a traveling speed deceleration signal for instructing the traveling speed of the self-propelled cleaner to slow down, while the self-propelled cleaning is performed. When the machine is moving away from the obstacle, a traveling speed acceleration signal is issued to instruct the traveling speed of the self-propelled cleaner to return to the speed before deceleration. The traveling direction designating information issued by the traveling direction designating information creating means and each speed information issued by the speed information generating means are transmitted to the self-propelled cleaner by the transmitting means.

Each information transmitted from the transmission means is transmitted to the traveling drive means control means through the reception means. The traveling direction changing means control means controls the traveling direction changing means based on the traveling direction designation information. On the basis of the obtained speed information, the traveling drive means control means controls the traveling drive means so that the traveling speed of the self-propelled vacuum cleaner becomes slower when this speed information is a traveling speed deceleration signal, while the speed information is When it is a traveling speed acceleration signal, the traveling drive means is controlled so that the traveling speed of the self-propelled cleaner returns to the original speed before deceleration. The control of the traveling speed of such a self-propelled cleaner can be performed by changing the speed stepwise or continuously.

Due to the control operation for the self-propelled cleaner described above, even if the self-propelled cleaner collides with an obstacle, the obstacle may be scratched or the self-propelled cleaner may fall down. It can be avoided.

That is, the obstacle placed on the sheet-shaped laying object,
A shape in which the shape of the load surface does not match the shape of an obstacle, such as a shape in which the upper part of the load position projects from the bottom side in the lateral direction, or a shape supported by several load surfaces such as a desk. There is. Therefore, when the load position of such an obstacle is regarded as the position of the obstacle and the control for avoiding the collision of the self-propelled cleaner with the obstacle is being performed, the self-propelled cleaner cleans that position. There is a risk of collision with an obstacle. Then, when the self-propelled cleaner collides with an obstacle, not only the self-propelled cleaner falls and becomes incapable of traveling, but also an inconvenience such as a flaw on the obstacle is caused.

On the other hand, when the self-propelled cleaner approaches an obstacle like this automatic traveling cleaning device, the traveling speed of the self-propelled cleaner is made slower than the normal traveling speed, so that the obstacle is approached. The obstacle avoidance control of the traveling vacuum cleaner at the position can be easily performed, and even if the self-propelled cleaner collides with the obstacle, the damage can be minimized.

Even when the self-propelled cleaner collides with an obstacle and the traveling direction or the position of the obstacle is deviated, the position of the self-propelled cleaner is stored in the storage means. It is possible to automatically restore the position and the position.

According to the third aspect of the present invention, the load position detecting means detects the position where the load is applied on the sheet-like laid structure, and the storing means detects the load position and the obstacle detected by the load position detecting means. The position of the obstacle input by the object position input means is stored. The traveling direction designation information creating means regards the position of the stationary load detected by the load position detecting means as the position of the obstacle, and the position of the moving load as the position of the self-propelled cleaner. Regarded as
Create traveling direction specification information that specifies the traveling direction of the self-propelled vacuum cleaner so as to avoid the obstacle that has the position of the stationary load as the obstacle and the obstacle input by the obstacle position input means. To do. The traveling direction designation information sent from the transmission means is
It is received by the receiving means provided in the self-propelled vacuum cleaner, and is input to the traveling direction changing means control means through this receiving means. The traveling direction changing means control means controls the traveling direction changing means based on the traveling direction designation information.

By such an operation, the self-propelled cleaner can cope with a change in the position of an obstacle such as furniture on a sheet-like laid object, and an obstacle having a protruding portion protruding in the lateral direction at the upper portion, It is possible to accurately avoid obstacles and drive.

That is, when the load position is regarded as the position of the obstacle and the control is performed so as to avoid the collision of the self-propelled cleaner with the obstacle, when the load position is above the bottom surface in the lateral direction. There is a risk that the self-propelled vacuum cleaner may collide with the obstacle that cannot be dealt with.

As a configuration for coping with the above inconvenience, it may be possible to provide a tactile sensor on the self-propelled cleaner, but such a configuration causes an increase in cost, and the self-propelled cleaner itself has a protrusion. Is not appropriate.

Therefore, as described above, the obstacle position input means can be used to input the position of the obstacle that matches the actual shape in advance or during the cleaning operation, so as to cope with obstacles having various projection shapes. Therefore, the self-propelled cleaning device can be appropriately traveled without colliding with an obstacle.

In addition, the obstacle itself is usually placed in a fixed position on the sheet-like facility, and at this time, the travel designated content of the self-propelled vacuum cleaner once set through the obstacle position input means is set. By setting the initial set state for the next operation, the setting work for each time becomes unnecessary, and the operation becomes very easy.

[Embodiment of the Invention of Claim 1] An embodiment of the present invention will be described below with reference to FIGS. 1 to 12.

The automatic traveling cleaning device according to the present invention includes a seat portion 18 shown in FIG. 2, and the seat portion 18 has a laying sheet 1 as a sheet-like laid article also shown in FIG. This laying sheet 1 has a lower coating layer 2 at the bottom,
On the lower cover layer 2, a large number of X electrodes 3 ...
X electrode layers 4 arranged in parallel are provided. A pressure-sensitive conductive layer 5 whose resistance value changes when pressed is provided on the X-electrode layer 4, and a large number of Y electrodes 6 ... Are arranged on the pressure-sensitive conductive layer 5 in the X-axis direction. The Y electrode layers 7 arranged in parallel are provided. An upper coating layer 8 is provided on the Y-axis electrode layer 7. The X electrodes 3, the pressure-sensitive conductive layer 5, and the Y electrodes 6 constitute a detection unit 15 which will be described later as load position detection means.

The X electrodes 3 are for detecting the position of the load surface in the X axis direction on the obstacle on the laying sheet 1, and the Y electrodes 6 are for detecting the position in the Y axis direction. …
In order to properly grasp the shape of the load surface, a large number of Y electrodes 6 are provided so that a sufficient number of electrodes correspond to each side of the load surface. Therefore, it has a high detection function for the shape of the load surface. Further, these X electrodes 3 ... And Y electrodes 6 ... Are connected to a microcomputer (hereinafter referred to as a microcomputer) 16 which will be described later, as shown in FIG. That is, the X electrodes 3 ... Are the output terminals of the microcomputer 16.
O ₁ ~On is connected to, Y electrode 6 ... is connected to the input terminal I ₁ -In. In addition, each Y electrode 6 has a pull-down resistor 10 ...
Are connected.

Between the two electrodes 3 and 6 at the point where the X electrode 3 and the Y electrode 6 intersect (hereinafter referred to as the "intersection point"), as shown in FIG. A pressure reducing resistor 11 is formed so as to connect the electrodes 3 and 6. This decompression resistance
As shown in the graph of FIG. 6, 11 changes depending on the magnitude of the load applied to the laying sheet 1. That is, when an obstacle having a load W kg and a bottom area S cm ² is placed on the portion A shown in FIG. 2, the load w ₁ applied to the intersection of the electrodes 3 and 6 under the obstacle. kg is w ₁ = W, where s cm ² is the area of intersection.
Xs / S. Therefore, from the same graph, the resistance value of the pressure reducing resistor 11 at the above-mentioned intersection becomes a very small value of R ₁ KΩ, and the electrodes 3 and 6 are electrically connected. On the other hand, the above-mentioned load is not applied to the intersections of the electrodes 3 and 6 in the portion other than the portion A of the laying sheet 1, and only a small load w ₂ kg which is a part of the weight of the laying sheet 1 is added. . Therefore,
The resistance value of the pressure reducing resistor 11 at the intersection is as large as R ₂ KΩ, and the electrodes 3 and 6 are substantially non-conductive.

On the other hand, at one corner 9 of the laid sheet 1, the first
A seat portion side control circuit 12 shown in the figure is internally provided. The seat side control circuit 12 is connected to a commercial power source by a power plug 13 and supplies a constant voltage power to a constant voltage circuit 14
And the detection unit 15 for detecting the position of the obstacle on the laying sheet 1, the microcomputer 16, the traveling signal output from the microcomputer 16, the cleaning start signal, the cleaning end signal, and the traveling direction as traveling direction designation information. It has a transmitter 17 as a transmitter for supplying a change signal to the self-propelled cleaner.

The microcomputer 16 is a storage unit that stores the load position detected by the detection unit 15, and considers the position of the stationary load detected by the detection unit 15 as the position of the obstacle,
The position of the moving load is regarded as the position of the self-propelled cleaner 19 to be described later, and the traveling direction change signal that specifies the traveling direction of the self-propelled cleaner 19 that avoids obstacles is created. It has a function as an information creating means and is adapted to perform the control operation shown in the flowchart of FIG.

Further, the automatic traveling cleaning device is equipped with a self-propelled cleaner 19 shown in FIG. 7, and the self-propelled cleaner 19 is a cleaner main body.
Has 21. As shown in FIG. 8, on the lower surface side of the body 22 of the cleaner body 21, the driven shaft 23, the front wheels 24 and 24 mounted on the driven shaft 23, the drive shaft 25, and the rear wheels mounted on the drive shaft 25 are attached. 26, 26 are provided, these driven shaft 23, front wheel 24.
24, the drive shaft 25, and the rear wheels 26, 26 constitute a traveling means. The front wheels 24, 24 are the arms 27, 27 and the drive rod 28.
Also, it is connected to a direction changing motor 29, which is a stepping motor for changing the traveling direction of the self-propelled cleaner 19, through a rack and pinion mechanism (not shown). The arms 27, 27, the drive rod 28, the rack and pinion mechanism, and the direction changing motor 29 constitute a traveling direction changing means. A driving wheel motor 30 is connected to the drive shaft 25 as a drive device for rotating the drive shaft 25 to drive the self-propelled cleaner 19.

In addition, the lower surface of the fuselage 22 has a suction port for sucking dust.
31 is formed. Inside the machine body 22, a dust container 32 and an exhaust port 33 that communicate with the suction port 31 are formed. In the vicinity of the exhaust port 33, there is provided a cleaning function of sucking dust from the suction port 31 by rotating the fan 34a, storing the sucked dust in the dust storing section 32, and simultaneously discharging the sucked air from the exhaust port 33. A cleaning motor 34 is provided for obtaining. Then, the suction port 31 and the dust container described above.
A cleaning means is constituted by the 32, the exhaust port 33, the cleaning motor 34, and the fan 34a.

Further, as shown in FIG. 10, the self-propelled cleaner 19 includes a receiver 20 for receiving the signal sent from the transmitter 17 through the antenna 20a, and a self-propelled cleaner control circuit 35. have. The self-propelled cleaner side control circuit 35 is a battery 36 as a power source, and a constant voltage circuit that supplies constant voltage power to each part.
37, microcomputer 38, relay that turns ON / OFF the driving wheel motor 30
39, a driver 40 that drives the relay 39 based on a control signal from the microcomputer 38, and a relay 4 that turns ON / OFF the cleaning motor 34.
1, a driver 42 that drives a relay 41 based on a control signal from the microcomputer 38, and a driver 43 that drives a direction changing motor 29 based on a control signal from the microcomputer 38.

The microcomputer 38 decodes the traveling direction changing signal and other signals input from the receiving unit 20, and based on the traveling direction changing signal, a direction changing motor as traveling direction changing means.
The control unit 29 functions as a traveling direction changing unit control unit for controlling 29, and also performs the control operation shown in the flowchart of FIG.

In the above configuration, the operation of the automatic traveling cleaning device is
A description will be given below based on the flowchart of FIG. 12 and FIG. Incidentally, FIG. 11 shows the operation of the seat side control circuit 12,
The figures respectively show the operation of the automatic vacuum cleaner side control circuit 35.

When the automatic traveling cleaning device is activated, the microcomputer 16 of the seat portion 18 first detects a load position where a load is applied on the laid seat 1 (S1). Then, the load position is recognized as an obstacle and stored (S2).

In the operations of S1 and S2 above, the microcomputer 16 outputs
The output signals are scanned in the order of O ₁ , O ₂ , O _3, ... On, and each time, the voltage dividing resistance value of the pressure reducing resistance 11 and the pull-down resistance 10 at each intersection of the X electrode 3 ... and the Y electrode 6 ... The obtained input voltage V _I is read through the input terminals I _{1 to} In.

If the output voltage of the microcomputer 16 is V _O , the resistance value of the pressure reducing resistor 11 is R _C , and the resistance value of the pull-down resistor 10 is R _D , the input voltage V _I input to each of these input terminals I _{1 to} In is V _I = V _O × R _D / (R
_C + R _D ) (V). Here, since V _O and R _D are constant, R _C can be uniquely known by measuring V _I. Then, the microcomputer 16 uses the pressure reducing resistor 11 shown in FIG.
The input voltage V _I corresponding to the reference resistance value R _F is set as a reference voltage V _F, and an obstacle is placed on the laying sheet 1, that is, R ₁ <R _F as in the A section described above. Since the input voltage V _I is higher than the reference voltage V _{F in the} range, it is determined that the obstacle is “present”. Similarly, since the parts other than the above-mentioned part A satisfy R _F <R2, the input voltage V _I becomes lower than the reference voltage V _F , and it is determined that the obstacle is “absent”.

Next, the microcomputer 16 that has detected the position of the obstacle as described above transmits a traveling signal to the self-propelled cleaner 19 via the transmission unit 17 (S3).

This traveling signal is received by the receiving unit 20 through the antenna 20a of the self-propelled cleaner 19 and sent to the microcomputer 38. In this way, when the traveling signal is received (S14), the microcomputer 38
Issues a control signal to the driver 40, and the driver 40 operates based on this control signal to operate the relay 39,
The driving wheel motor 30 is turned on (S15). As a result, the self-propelled cleaner 19 starts traveling.

At this time, the microcomputer 16 of the seat portion 18 detects whether the load position has moved (S4), and if the load position moves,
The moving load position is recognized and stored as the position of the self-propelled cleaner 19 (S5). In this way, since the microcomputer 16 always detects the load position on the laying sheet 1, it is possible to distinguish between the moving load position and another stationary load position.

By the operation so far, the microcomputer 16 recognizes the position of the self-propelled cleaner 19 as an obstacle on the laying sheet 1.
Then, a cleaning start signal is sent to the self-propelled vacuum cleaner 19 (S
6).

When the microcomputer 38 of the self-propelled cleaner 19 receives this cleaning start signal (S16), the microcomputer 38 issues a control signal to the driver 42, and the driver 42 operates based on this control signal to operate the relay 41. , The cleaning motor 34 is turned on (S1
7). As a result, the self-propelled cleaner 19 starts cleaning.

At this time, since the moving area of the self-propelled cleaner 19 on the laid sheet 1 and the cleaned area match, the sheet portion 18
The microcomputer 16 recognizes the moving position of the self-propelled cleaner 19 as a cleaned area and stores it (S7).

In addition, the microcomputer 16 stores the position of the obstacle previously stored,
The position of the moving self-propelled cleaner 19 is constantly detected, and whether or not the self-propelled cleaner 19 approaches an obstacle is detected (S8). When the self-propelled cleaner 19 approaches an obstacle, a traveling direction change signal is transmitted to the self-propelled cleaner 19 so as to avoid the obstacle (S9). Also, self-propelled vacuum cleaner 19
When is approaching the end of the laid sheet 1 (S10), a traveling direction change signal for guiding the self-propelled cleaner 19 to the uncleaned area is transmitted (S11).

When the above-mentioned traveling direction change signal is received (S18), the microcomputer 3
8 issues a control signal based on the traveling direction change signal to the driver 43, and is driven by the driver 43 which operates based on this control signal, and the direction change motor 29 operates (S19). Thereby, the direction changing motor 29 operates based on the instruction of the traveling direction changing signal, and the self-propelled cleaner 19 avoids an obstacle or moves to an uncleaned area.

As described above, the cleaning work by the self-propelled cleaner 19 is advanced, and until the microcomputer 16 of the seat portion 18 detects that all the cleaning areas on the laid sheet 1 have become cleaned areas, S7- The operation up to S11 is repeated (S12). When the microcomputer 16 detects that the entire cleaning area has become a cleaned area, it sends a cleaning end signal (S1
3).

When the microcomputer 38 of the self-propelled cleaner 19 receives this cleaning end signal (S20), the microcomputer 38 turns off the cleaning motor 34 (S2
1) And, the driving wheel motor 30 is turned off (S22). This completes a series of cleaning operations.

[Embodiment of the Invention of Claim 2] An embodiment of the present invention will be described below with reference to FIGS. 1 to 9 and FIGS. 13 to 15. Devices having the same functions as the devices shown in the drawings of the above-described embodiments are designated by the same reference numerals, and the description thereof is omitted.

The automatic traveling cleaning device according to the present invention includes a seat portion 51 shown in FIG. 2, and the seat portion 51 is shown in FIG. 3 as a laying sheet 1 as a sheet-like laying object, and in FIG. It has a seat portion side control circuit 52 including a microcomputer 53. Then, the microcomputer 53 and the X electrode 3 of the laying sheet 1
And the connection structure and characteristics with the Y electrodes 6 are as shown in FIGS. 4 to 6.

The microcomputer 53 considers the position of the stationary load detected by the detection unit 15 as the position of the obstacle and the position of the moving load as the position of the self-propelled cleaner 54 described later. , A traveling direction designation information creating means for producing a traveling direction change signal as traveling direction designation information for designating a traveling direction of the self-propelled cleaner 54 so as to avoid an obstacle, and the self-propelled cleaner 54 traveling is obstructed. Self-propelled vacuum cleaner 54 when approaching objects
While issuing a traveling speed deceleration signal as speed information instructing to slow the traveling speed of, when the self-propelled cleaner 54 is moving away from the obstacle, the traveling speed of the self-propelled cleaner 54 before deceleration It has a function as a speed information generating means for issuing a traveling speed acceleration signal as speed information for instructing to return to a speed, and a function as a storage means for storing the load position detected by the detection unit 15, and the flowchart of FIG. The control operation shown in is performed.

Further, the automatic traveling cleaning device is equipped with a self-propelled cleaner 54 shown in FIG. 7 to FIG.
Has a self-propelled cleaner control circuit 55 shown in FIG. The self-propelled cleaner side control circuit 55 has a microcomputer 56, a speed control circuit 57 for controlling the rotation speed of the moving wheel motor 30 based on a speed control signal of the microcomputer 56, and other devices. Then, the microcomputer 56 and the speed control circuit 57, based on the speed information obtained through the receiving unit 20, when the speed information is a traveling speed deceleration signal, the traveling speed of the self-propelled cleaning device 54 is reduced. While controlling the moving wheel motor 30 as the driving means, when the speed information is the traveling speed acceleration signal, traveling in which the traveling wheel motor 30 is controlled so that the traveling speed of the self-propelled cleaner 54 returns to the original speed before deceleration. The drive means control means is configured. In addition, the microcomputer 56
Also has a function as a traveling direction changing means control means for controlling the direction changing motor 29 based on the traveling direction changing signal obtained through the receiving section 20, so as to perform the control operation shown in the flowchart of FIG. Has become.

In the above configuration, the operation of the automatic traveling cleaning device is
The following description is based on the flowchart of FIG. 15 and FIG. Incidentally, FIG. 14 shows the operation of the seat side control circuit 52, FIG.
The figures respectively show the operation of the self-propelled cleaner side control circuit 55.

When the automatic traveling cleaning device is activated, the microcomputer 53 of the seat portion 51 first detects the load position on the laid seat 1 (S31). Then, the load position is recognized as an obstacle and stored (S32). Microcomputer 53 that detects the position of the obstacle
Sends a travel signal to the self-propelled cleaner 54 through the transmitter 17 (S33).

When the microcomputer 56 of the self-propelled vacuum cleaner 54 receives the traveling signal (S4
5) The microcomputer 56 sends a control signal to the driver 40 to operate the relay 39, thereby turning on the moving wheel motor 30 (S46). As a result, the self-propelled cleaner 54 starts traveling.

At this time, the microcomputer 53 of the seat portion 51 detects whether or not the load position has moved (S34), and if the load position has moved, the moving load position is recognized as the position of the self-propelled cleaner 54. , Memorize (S35). When the microcomputer 53 recognizes the positions of the obstacle on the laying sheet 1 and the self-propelled cleaner 54 as described above, it sends a cleaning start signal to the self-propelled cleaner 54 (S36).

When the microcomputer 56 of the self-propelled cleaner 54 receives this cleaning start signal (S47), the microcomputer 56 sends a control signal to the driver 42, and the relay 41 is activated to turn on the cleaning motor 34 (S48). As a result, the self-propelled vacuum cleaner 54 starts cleaning.

At this time, the microcomputer 53 of the seat portion 18 recognizes the moving position of the self-propelled cleaner 54 as a cleaned area and stores it (S3
7).

Further, the microcomputer 53 stores the position of the obstacle previously stored,
The position of the moving self-propelled cleaner 54 is constantly detected, and whether or not the self-propelled cleaner 54 approaches an obstacle is detected (S38). When the self-propelled cleaner 54 approaches the obstacle, a traveling speed deceleration signal is issued to the self-propelled cleaner 54 (S3
Along with 9), a traveling direction change signal is issued to avoid the obstacle (S40).

When the traveling direction change signal is received (S49), the microcomputer 56 of the self-propelled vacuum cleaner 54 issues a control signal based on the traveling direction change signal to the driver 43, and the driver 43 driven based on this control signal drives the driver 43. The direction changing motor 29 is activated (S50). As a result, the direction changing motor 29 operates based on the instruction of the traveling direction changing signal, and the self-propelled cleaner 54 avoids the obstacle.

In addition, when the traveling alongside deceleration signal is received (S51), the microcomputer 5
6 sends a deceleration control signal as a speed control signal to the speed control circuit 57, and the speed control circuit 57 which receives the speed control signal decelerates the rotation speed of the moving wheel motor 30 (S52), and the self-propelled cleaner 54
Reduces the traveling speed.

After that, when the microcomputer 53 of the seat portion 51 detects that the self-propelled cleaner 54 is separated from the obstacle (S41), the self-propelled cleaner 5
A traveling speed acceleration signal is transmitted to 4 (S42).

Upon receiving the traveling speed acceleration signal (S53), the self-propelled vacuum cleaner 54
The microcomputer 56 sends an acceleration control signal as a speed control signal to the speed control circuit 57, and the rotation speed of the moving wheel motor 30 is accelerated by the speed control circuit 57 which receives this (S54). As a result, the traveling speed of the self-propelled cleaner 54 returns to the original speed before deceleration.

As the cleaning work proceeds as described above, the seat portion 51
When the microcomputer 53 detects that all the cleaning areas on the laid sheet 1 have been cleaned (S43), it sends a cleaning completion signal to the self-propelled cleaner 54 (S13).

Upon receiving this cleaning completion signal (S55), the self-propelled vacuum cleaner 54
The microcomputer 56 turns off the cleaning motor 34 (S56) and turns off the driving wheel motor 30 (S57). This completes a series of cleaning operations.

[Embodiment of the Invention of Claim 3] An embodiment of the present invention will be described below with reference to FIGS. 2 to 10, 12 and 16 to 20. Devices having the same functions as the devices shown in the drawings of the above-described embodiments are designated by the same reference numerals, and the description thereof is omitted.

The automatic traveling cleaning device according to the present invention includes a seat portion 61 shown in FIG. 2, and the seat portion 61 is shown in FIG. 3 and a laying sheet 1 as a sheet-like laying object. A seat portion side control circuit 62 including a microcomputer 63 and a protrusion size setting switch 64 is provided. And the microcomputer 63
The connection structure and characteristics between the X electrode 3 and the Y electrode 6 of the laying sheet 1 are as shown in FIGS. 4 to 6.

The microcomputer 63 considers the position of the stationary load detected by the detection unit 15 as the position of the obstacle, and the position of the moving load as the position of the self-propelled cleaner 19, and A traveling direction designation information creating unit that creates a traveling speed acceleration signal as traveling direction designation information that designates a traveling direction of the self-propelled cleaner 19 that avoids an object, and a load position detected by the detection unit 15, And the protrusion size setting switch described later
It has a function as a storage means for storing the position of the obstacle input by 64, and performs the control operation shown in the flowchart of FIG.

The protrusion size setting switch 64 is connected to the microcomputer 63, and as shown in FIG.
65, a setting key 66 and a change key 67. Then, before or after the self-propelled cleaner 19 starts to travel, the size of the obstacle on the laying sheet 1 is input to the microcomputer 63 by manually pressing the respective keys 65 ... 66.67 as the input section. However, the microcomputer 63 can store the size.

For example, as shown in FIGS. 18 and 19, the projection 68 is placed on the laying sheet 1, and the projection 68bg of the projection 68 as an obstacle is 15 cm (B
Dimension) Projection 68 including projection 68b when protruding
When inputting the position of, the setting key 66 is first pressed, and then the numerical input keys 65 of 1 and 5 are sequentially pressed. On the other hand, if you want to change the previously set value to, for example, 20 cm, first change the key.
67 is pressed, and then the 2 and 0 numerical value input keys 65 are pressed in sequence.

Further, the automatic traveling cleaning device is equipped with the self-propelled cleaner 19 shown in FIGS. 7 to 9.
Has a self-propelled cleaner side control circuit 35 shown in FIG. As described above, the microcomputer 38 of the self-propelled cleaner side control circuit 35 serves as a traveling direction changing means control means for controlling the traveling direction changing means based on the traveling direction changing signal obtained through the receiving section 20. With the function of, the control operation shown in the flowchart of FIG. 12 is performed.

In the above configuration, the operation of the automatic traveling cleaning device is
A description will be given below based on the flowchart of FIG. 12 and FIG. 20 shows the operation of the seat side control circuit 62, FIG.
The figures respectively show the operation of the self-propelled cleaner side control circuit 35.

When the automatic traveling cleaning device is activated, the microcomputer 63 of the seat portion 61 first detects the load position (S61), recognizes and stores the load position as an obstacle (S62), and the self-propelled cleaner 19
Send a traveling signal to (S63).

The microcomputer 38 of the self-propelled cleaner 19 receiving this traveling signal (S14) turns on the driving wheel motor 30 (S15), and the self-propelled cleaner 19
Starts running.

The microcomputer 63 of the seat portion 61 detects whether or not the load position has moved (S64), and if the load position has moved, it recognizes this moving load position as the position of the self-propelled cleaner 19 and stores it ( S65). Next, if the operator has performed an input operation of the projection size setting switch 64, the input signal is read (S66). After storing this input signal, the microcomputer 6
3 sends a cleaning start signal to the self-propelled cleaner 19 (S67).

Microcomputer 38 of the self-propelled cleaner 19 receiving this cleaning start signal
(S16), the cleaning motor 34 is turned on (S17). As a result, the self-propelled cleaner 19 starts cleaning.

At this time, the microcomputer 63 of the seat portion 61 recognizes the moving position of the self-propelled cleaner 19 as a cleaned area and stores it (S6
8). Further, at this time, if the operator performs an input operation of the projection size setting switch 64, the input signal is read (S69), and the projecting portion of the projection 68 is read by the input signals read in S66 and S69. The site containing 68b is also recognized as an obstacle and stored (S70).

After that, as described above, the microcomputer 63 of the seat portion 61 always detects whether or not the self-propelled cleaner 19 approaches an obstacle (S7
1) If the self-propelled cleaner 19 approaches an obstacle, a traveling direction change signal is transmitted to the self-propelled cleaner 19 so as to avoid the obstacle (S72). When the self-propelled cleaner 19 approaches the end of the laid sheet 1 (S73), a traveling direction change signal for guiding the self-propelled cleaner 19 to the uncleaned area is transmitted (S74).

The microcomputer 38 receiving the traveling direction change signal (S18) controls the direction changing motor 29 according to the traveling direction change signal (S1).
9). As a result, the self-propelled cleaner 19 avoids obstacles,
Alternatively, move to an uncleaned area.

After that, when all the cleaning areas become cleaned areas (S7
5), the microcomputer 63 of the seat portion 61 transmits a cleaning end signal to the self-propelled cleaner 19 (S76).

Microcomputer 38 of the self-propelled cleaner 19 receiving this cleaning end signal
(S20), the cleaning motor 34 is turned off (S21), and the driving wheel motor 30 is turned off (S22). This completes a series of cleaning operations.

Here, the read command of the protrusion size setting switch 64 is
As shown in S69, by providing it in the cleaning work routine as well, even when the self-propelled cleaner 19 is performing the cleaning work, the protrusion size setting switch 64 is manually operated and the protrusion 68 is set. The recognition dimensions for can be changed.

Further, since the size of the protrusion 68 once stored in the microcomputer 63 is retained unless the operator operates the protrusion size setting switch 64 as described above, the set size is maintained for the next cleaning. It is possible to make use of it as the initial setting dimensions during work.

〔The invention's effect〕

As described above, the automatic traveling cleaning apparatus according to the first aspect of the present invention includes traveling means for traveling, traveling drive means for driving the traveling means, traveling direction changing means for changing the traveling direction, and sheet-like shape. An automatic traveling cleaning device having a cleaning means for cleaning a laying object and having a self-propelled cleaning device for cleaning while traveling on the sheet laying object detects a position to which a load is applied on the sheet laying object. Load position detecting means, storage means for storing the load position detected by the load position detecting means, and the position of the stationary load detected by the load position detecting means as the position of the obstacle. Considering the position of the moving load as the position of the self-propelled cleaner as well as considering it, create traveling direction designation information that designates the traveling direction of the self-propelled cleaner that avoids obstacles. Creator And a transmitting means for transmitting the traveling direction designating information issued by the traveling direction designating information creating means to the self-propelled cleaner, and a signal provided from the transmitting means provided in the self-propelled cleaner. The receiving means and the traveling direction changing means control means which is provided in the self-propelled vacuum cleaner and controls the traveling direction changing means based on the traveling direction specifying information obtained through the receiving means. .

That is, in this automatic traveling cleaning device, the obstacle is detected by detecting the load applied to the sheet laying object, which is the object to be cleaned, by the load position detecting means. Therefore, the position of the obstacle can be easily and accurately known, and
The structure of the self-propelled vacuum cleaner can be simplified, and the cost can be reduced. Furthermore, since it is possible to recognize obstacles in all areas to be cleaned at the start of cleaning, it is possible to set the traveling course of the self-propelled cleaner and efficiently drive the self-propelled cleaner. .

As described above, the automatic traveling cleaning device according to the second aspect of the present invention includes traveling means for traveling, traveling drive means for driving the traveling means, traveling direction changing means for changing the traveling direction, and sheet-like shape. An automatic traveling cleaning device having a cleaning means for cleaning a laying object and having a self-propelled cleaning device for cleaning while traveling on the sheet laying object detects a position to which a load is applied on the sheet laying object. Load position detecting means, storage means for storing the load position detected by the load position detecting means, and the position of the stationary load detected by the load position detecting means as the position of the obstacle. Assumed and regarded as the position of the self-propelled vacuum cleaner at the position of the moving load, create the traveling direction designation information that designates the traveling direction of the self-propelled vacuum cleaner that avoids obstacles. Creator When the traveling self-propelled cleaner approaches the obstacle, the traveling speed deceleration signal as speed information for instructing to slow down the traveling speed of the self-propelled cleaner is issued, while the self-propelled cleaner is When the vehicle is moving away from the obstacle, speed information generating means for issuing a travel speed acceleration signal as speed information instructing to return the travel speed of the self-propelled cleaner to the speed before deceleration, and the above-mentioned travel drive means control Means for transmitting the traveling direction designating information issued by the means and the speed information issued by the speed information generator to the self-propelled cleaner, and the sending means provided in the self-propelled cleaner Receiving means for receiving the signal, the traveling direction changing means control means provided in the self-propelled cleaner for controlling the traveling direction changing means based on the traveling direction designating information obtained through the receiving means, Installed in a traveling vacuum cleaner When the speed information is a traveling speed deceleration signal based on the speed information obtained through the receiving means, the traveling drive means is controlled so that the traveling speed of the self-propelled cleaning device becomes slower, while the traveling speed information is traveled. When the signal is a speed acceleration signal, the self-propelled cleaner is provided with a travel drive means control means for controlling the travel drive means so that the travel speed returns to the original speed before deceleration.

Therefore, like the automatic traveling cleaning device according to the first aspect of the present invention, the position of the obstacle can be easily and accurately known, the configuration is simplified, the cost can be reduced, and the efficiency can be improved. You can often drive a self-propelled vacuum cleaner.

Furthermore, when the self-propelled cleaner approaches an obstacle, the traveling speed of the self-propelled cleaner becomes slower than the normal traveling speed, and when it separates from the obstacle, the traveling speed is the original traveling speed before deceleration. As a result, the obstacle avoidance control of the self-propelled cleaner can be easily performed. In addition, even if the self-propelled vacuum cleaner collides with an obstacle, the situation in which the self-propelled vacuum cleaner is prevented from tipping over or the obstacle is damaged is reduced, and the damage is reduced. It has the effect that it can be stopped at a minimum.

As described above, the automatic traveling cleaning device according to the third aspect of the present invention includes traveling means for traveling, traveling drive means for driving the traveling means, traveling direction changing means for changing the traveling direction, and sheet shape. An automatic traveling cleaning device having a cleaning means for cleaning a laying object and having a self-propelled cleaning device for cleaning while traveling on the sheet laying object detects a position to which a load is applied on the sheet laying object. Obstacle position input means for inputting the position of the obstacle on the sheet-like laying body, and the load position detected by the load position detecting means. , And storage means for storing the position of the obstacle inputted by the obstacle position input means, and the position of the stationary load detected by the load position detecting means is regarded as the position of the obstacle, Transfer The position of the applied load is regarded as the position of the self-propelled vacuum cleaner, and the position of the stationary load is used as an obstacle to avoid the obstacle and the obstacle input by the obstacle position input means. A traveling direction designating information creating unit that creates traveling direction designating information that designates a traveling direction of the self-propelled cleaner, a transmitting unit that transmits the traveling direction designating information to the self-propelled cleaner, and a self-propelled cleaner. And means for receiving the signal sent from the transmitting means, and for controlling the traveling direction changing means based on the traveling direction designation information provided in the self-propelled cleaner and obtained through the receiving means. And a traveling direction changing means control means.

Therefore, like the automatic traveling cleaning device according to the first aspect of the present invention, the position of the obstacle can be easily and accurately known, the configuration is simplified, the cost can be reduced, and the efficiency can be improved. You can drive a self-propelled vacuum cleaner.

Further, by inputting the position of the obstacle separately by the obstacle position input means, it is possible to deal with obstacles having various projection shapes, and the self-propelled cleaning device can be appropriately operated without colliding with the obstacle. Can be driven to.

In addition, once you set the running specification contents of the self-propelled vacuum cleaner,
If the initial set state for the next operation is used,
This eliminates the need for the setting operation every time and improves the operation.

[Brief description of drawings]

FIG. 1 shows an embodiment of the invention according to claims 1 and 2, and is a block diagram showing the structure of a seat portion side control circuit, and FIGS. 2 to 9 are claims. 1 shows an embodiment of the invention according to items 1 to 3,
FIG. 2 is an explanatory view showing the structure of the laying sheet, FIG. 3 is a longitudinal sectional view showing the structure of the laying sheet, FIG. 4 is a circuit diagram showing the connection state of the X electrodes and the Y electrodes to the microcomputer, and FIG. The figure is a circuit diagram showing the pressure reducing resistance formed at the intersection of the X electrode and the Y electrode. Fig. 6 is a graph showing the relationship between the load applied to the laying sheet and the resistance value of the pressure reducing resistance. Fig. 7 is a self-propelled type. Fig. 8 is a schematic front view showing the vacuum cleaner, Fig. 8 is a bottom view of the self-propelled cleaner, Fig. 9 is an explanatory view schematically showing the internal structure of the self-propelled cleaner, and Fig. 10 is the claim 1. And FIG. 11 is a circuit diagram showing a configuration of a self-propelled cleaner side control circuit according to an embodiment of the invention according to claim 2 and FIG. 11 is an embodiment of the invention according to claim 1. FIG. 12 is a flow chart showing the operation of the seat side control circuit, and FIG. 12 is a flowchart showing the operation according to claim 1 and claim 3. There is shown an example of,
Flow chart showing the operation of the self-propelled cleaner side control circuit,
13 to 15 show an embodiment of the invention according to claim 2, FIG. 13 is a circuit diagram showing the configuration of a self-propelled cleaner side control circuit, and FIG. 14 is Flow chart showing the operation of the seat side control circuit, FIG. 15 is a flow chart showing the operation of the self-propelled cleaner side control circuit, FIGS. 16 to 20
FIG. 16 shows an embodiment of the invention according to claim 3, FIG. 16 is a block diagram showing the structure of the seat side control circuit, and FIG. 17 is a front view showing a projection size setting switch. , FIG. 18 is an explanatory plan view showing the relationship between the base portion (loading surface) of the obstacle and the protruding portion on the laid sheet, FIG. 19 is the same front view, and FIG. 20 shows the operation of the seat portion side control circuit. It is a flowchart shown. 1 is a laying sheet (sheet-like laying object), 3 is an X electrode, 5 is a pressure-sensitive conductive layer, 6 is a Y electrode, 10 is a pull-down resistor, 11 is a pressure reducing resistor, 12.52.62 is a seat side control circuit, Reference numeral 15 is a detection section (load position detection means), 16 is a microcomputer (travel direction designation information creation means, storage means), 17 is a transmission section (transmission means), 18 ・ 51 ・ 61 is a seat section, and 19 ・ 54 is an own section. 20 is a receiving unit (receiving means), 21 is a cleaner body, 23 is a driven shaft (traveling means), 24 is a front wheel (traveling means), 25 is a drive shaft (traveling means), and 26 is rear Wheels (traveling means), 29 is a direction changing motor (traveling direction changing means), 30 is a moving wheel motor (traveling driving means), 34 is a cleaning motor (cleaning means), 35 and 55 are self-propelled cleaner side control circuits, 38 is a microcomputer (traveling direction changing means control means), 39 and 41 are relays, 40, 42 and 43
Is a driver, 53 is a microcomputer (running direction designation information creating means, speed information generating means, storage means), 56 is a microcomputer (running direction changing means controlling means, running driving means controlling means), and 57 is a speed control circuit (running). Drive means control means), 63 is a microcomputer (traveling direction designation information creating means, storage means), 64 is a protrusion size setting switch (obstacle position input means), 65 is a numerical value input key, 66 is a setting key, 67 is A change key, 68 is a protrusion, and 68a is a protrusion.

Claims (3)

[Claims] 1. A sheet-like member having traveling means for traveling, traveling-driving means for driving the traveling means, traveling-direction changing means for changing a traveling direction, and cleaning means for cleaning a sheet-like structure. In an automatic traveling cleaning device equipped with a self-propelled cleaner that cleans while traveling on a laying object, a load position detecting means for detecting a position to which a load is applied on a sheet-like laying material, and this load position detecting means. The storage means for storing the loaded load position and the stationary load position detected by the load position detection means are regarded as obstacle positions, and the moving load position is self-propelled cleaning. Considered as the position of the machine, the traveling direction designation information creating means for creating the traveling direction designation information for designating the traveling direction of the self-propelled vacuum cleaner so as to avoid the obstacle, The transmitting means for transmitting the traveling direction designation information to the self-propelled vacuum cleaner, the receiving means provided in the self-propelled vacuum cleaner, and receiving the signal sent from the transmitting means, and the self-propelled vacuum cleaner An automatic traveling cleaning device comprising: a traveling direction changing means control means for controlling the traveling direction changing means based on the traveling direction specifying information obtained through the receiving means. 2. A sheet-like member having traveling means for traveling, traveling drive means for driving the traveling means, traveling direction changing means for changing the traveling direction, and cleaning means for cleaning the sheet-like laid structure. In an automatic traveling cleaning device equipped with a self-propelled cleaner that cleans while traveling on a laying object, a load position detecting means for detecting a position to which a load is applied on a sheet-like laying material, and this load position detecting means. The storage means for storing the loaded load position and the stationary load position detected by the load position detection means are regarded as obstacle positions, and the moving load position is self-propelled cleaning. It is regarded as the position of the machine and the traveling direction designation information creating means for creating the traveling direction designation information for designating the traveling direction of the self-propelled vacuum cleaner so as to avoid the obstacle, and the traveling self-propelled cleaner traveling is regarded as the obstacle. Approached At the same time, a traveling speed deceleration signal is issued as speed information instructing the traveling speed of the self-propelled cleaner to slow down, while when the self-propelled cleaner goes away from an obstacle, Speed information generation means for issuing a travel speed acceleration signal as speed information for instructing to return the travel speed to the speed before deceleration, travel direction designation information issued by the travel drive means control means, and speed information generation Transmitting means for transmitting the speed information issued by the means to the self-propelled vacuum cleaner, receiving means provided in the self-propelled vacuum cleaner for receiving the signal sent from the transmission means, and the self-propelled vacuum cleaner The traveling direction changing means control means provided for controlling the traveling direction changing means based on the traveling direction designating information obtained through the receiving means, and the speed obtained through the receiving means provided in the self-propelled cleaner. Based on information Then, when this speed information is the traveling speed deceleration signal, the traveling drive means is controlled so that the traveling speed of the self-propelled cleaning device becomes slow, while when the speed information is the traveling speed acceleration signal, the self-propelled cleaning is performed. An automatic traveling cleaning device, comprising: traveling drive means control means for controlling the traveling drive means so that the traveling speed of the machine returns to the original speed before deceleration. 3. A sheet-like member having traveling means for traveling, traveling-driving means for driving the traveling means, traveling-direction changing means for changing the traveling direction, and cleaning means for cleaning a sheet-like laid structure. In an automatic traveling cleaning device equipped with a self-propelled cleaner for cleaning while traveling on a laying object, a load position detecting means for detecting a position to which a load is applied on the sheet-like laying object, and an input section operated manually. An obstacle position input means capable of inputting the position of the obstacle on the sheet-like laid structure, a load position detected by the load position detection means, and an obstacle input by the obstacle position input means. The storage means for storing the position and the position of the stationary load detected by the load position detection means are regarded as the position of the obstacle, and the position of the moving load is the position of the self-propelled cleaner. Tomi None, traveling direction designation information for designating the traveling direction of the self-propelled cleaner so as to avoid the obstacle having the stationary load position as the obstacle and the obstacle inputted by the obstacle position input means. And a transmitting means for transmitting the traveling direction specifying information described above to the self-propelled cleaner, and a receiver provided on the self-propelled cleaner for receiving the signal transmitted from the transmitting means. Means and a traveling direction changing means control means for controlling the traveling direction changing means, which is provided in the self-propelled vacuum cleaner and controls the traveling direction changing means based on the traveling direction specifying information obtained through the receiving means. Automatic traveling cleaning device.