JP2003280740A - Movable device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To resolve a problem in conventional configurations in which it is difficult to identify detection direction with few detection devices since the detection area is limited only in proceeding direction, or configuration becomes complicated and large-sized using many detecting devices needed in whole- direction detection. <P>SOLUTION: The movable device has a travelling device, shock-absorbing bodies 41-43 fixed at the outermost circumference of a main body 11, detection means 91-96 for detecting whether contacting or not to obstacles through the shock-absorbing bodies 41-43, and a travelling control device 26. By plurally dividing the shock-absorbing bodies, and concentrating the arranging the plurality of detection means 91-96 to each shock-absorbing body 41-43, assembly like wiring is facilitated and the detection means 91-96 can be disposed in a small space, furthermore, the detection means 91-96 located at obstacle side can carry out detection regardless of the shape of the main body 11, so that the direction of an obstacle can be recognized for movement in all directions reliably with a simple configuration light in small size. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile work robot, such as an automatic guided vehicle or an automatic floor cleaner, which performs automatic work among mobile devices.

[0002]

2. Description of the Related Art A conventional mobile work robot is provided with a cushioning body called a bumper that projects around the main body.
The impact at the time of collision with an obstacle is mitigated. Some bumpers are provided with obstacle detection means such as a contact switch and a pressure sensitive element to detect the presence or absence of contact with the obstacle. For example, Japanese Patent Laid-Open No. 5-19852 and Japanese Patent Laid-Open No. 11852/1993
It is the structure as disclosed in -187664.

[0003]

However, in the above-mentioned conventional mobile work robot, if the detection range of the obstacle is limited to the forward direction or if the detection is performed from all directions, a large number of detection devices are required. It was necessary to dispose all around the main body, and the configuration became complicated and large, and if this number was small, it was difficult to specify the detection direction.

[0004]

[Means for Solving the Problems] A traveling device for advancing / retracting / turning the main body, a shock absorber provided almost all around the outermost circumference of the main body, and presence / absence of contact with an obstacle through the shock absorber And a traveling control device for controlling the operating state of the traveling device by determining the contact state with an obstacle from the signal obtained by the detecting device, and the buffer is divided into a plurality of parts. And each buffer is provided with a plurality of detection means,
The plurality of detecting means are arranged in a concentrated manner for each buffer body. In this way, it is possible to easily assemble the wiring and the like, and to arrange the detection means in a small space, and it is possible to detect the detection means positioned on the obstacle side regardless of the shape of the main body. As a result, it has a simple structure, is highly reliable, is small and lightweight, and can recognize the direction of obstacles when moving or changing directions in all directions, including forward movement, and avoiding obstacles with minimal movement. It is one that can make good moves.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 is characterized in that a traveling device for advancing / retracting / direction-changing the main body, a shock absorber provided on almost the entire outermost peripheral portion of the main body, and a shock absorber are provided. Detecting means for detecting the presence or absence of contact with an obstacle, and a traveling control device for controlling the operating state of the traveling device by determining the contact state with the obstacle from the signal obtained by the detecting means, the buffer body, It is divided into a plurality of parts, and each buffer is provided with a plurality of detecting means, and the plurality of detecting means are arranged in a concentrated manner for each buffer. In this way, it is possible to easily assemble the wiring and the like, and to arrange the detection means in a small space, and it is possible to detect the detection means positioned on the obstacle side regardless of the shape of the main body. As a result, it has a simple structure, is highly reliable, is small and lightweight, and can recognize the direction of obstacles when moving or changing directions in all directions, including forward movement, and avoiding obstacles with minimal movement. It is one that can make good moves.

According to a second aspect of the present invention, in addition to the structure described in the first aspect, the cushioning body is divided into front and rear with respect to the main traveling direction, and the front side cushioning body is further left and right. Since the moving device is divided and two detecting means are provided for each buffer, in a moving device that can move forward as the main movement and also move backward, the forward, backward, and direction can be achieved with the minimum number of divided buffers. Basic movement for conversion can be performed, and a moving device with a simple structure can be realized.

According to a third aspect of the present invention, in addition to the structure according to the first or second aspect, the cushioning body is provided at the lowermost portion of the outer shell of the main body, and is curved so that its cross-sectional shape projects outward. Since the most protruding part is located below the center in the vertical direction of the shock absorber, even an obstacle with a low height can surely contact the shock absorber and detect it. Also, since the number of times of avoidance movement is small without damaging the obstacle and further reducing the friction at the time of contact with the obstacle to detect the obstacle more than necessary, smooth movement can be performed.

The invention described in claim 4 is the same as claims 1 to 3.
In addition to the configuration described in any one of 1 above, since the outer shell surface of the cushioning body is subjected to a texture treatment, the friction at the time of contact with the obstacle is reduced with a simple configuration to prevent the obstacle from being excessively needed. Without detection, it can be avoided with a small number of movements, allowing smooth movement.

The invention described in claim 5 is the invention according to claims 1 to 4.
In addition to the structure described in any one of 1 above, since the contact portion of the buffer body with the obstacle is made of a plurality of materials having different hardness,
It is possible to reduce the friction at the time of contact with an obstacle, detect the obstacle more than necessary, can be avoided with a small number of movements, can perform smooth movement, and can reduce wear of the cushioning body.

The invention described in claim 6 is based on claims 1 to 5.
In addition to the configuration described in any one of 1 above, since the buffer body is composed of a rigid body portion and an elastic body portion provided outside the rigid body portion, the buffer body can maintain its basic shape and absorb impact at the same time. Therefore, the displacement applied to the buffer can be reliably transmitted to the detection means.

The invention described in claim 7 is the invention according to claims 1 to 6.
In addition to the configuration described in any one of 1, the combination of a plurality of detection means when one of the divided buffers contacts an obstacle, when the main body turns to the right and to the left Since it detects different detection patterns,
The number of detection means can be increased even with a small number of detection means, and as a result, efficient avoidance movement according to the direction change situation can be performed.

According to the invention described in claim 8, in addition to the structure described in claim 7, there is provided a movable restricting portion for restricting a movable range of the buffer body, and the movable restricting portion has a substantially triangular or trapezoidal hole. And a shaft portion that relatively moves inside the hole portion, one of the hole portion or the shaft portion is provided on the buffer body side, the other is provided on the main body side, and the corner portion of the hole portion is further provided by the urging body. Since it is urged to move, it is possible to increase the number of detection patterns even with a small number of detection means, and as a result, it is possible to perform efficient avoidance movement according to the direction change situation. Furthermore, the cushion can always return to its home position when stationary.

The invention described in claim 9 is defined by claims 1 to 8.
In addition to the structure described in any one of 1 above, the buffer body is biased by a spring having a small load provided in the vicinity of the detecting means, and the spring having a large load is located farther than the spring having a small load when viewed from the detecting means. Since it is arranged, a spring with a small load can perform highly sensitive detection, and a spring with a large load can mitigate the impact, achieving both highly accurate detection capability and high impact relaxation force. There is.

The invention described in claim 10 is based on claim 1
In addition to the configuration described in any one of 9 above, in the sliding portion between the shock absorber and the main body, hook-shaped protrusions are provided on both the shock absorber side and the main body side, and the hook-shaped protrusions engage with each other. Therefore, by installing the sliding part and the attachment strength holding part at the same location,
The shock absorber can be firmly attached in a small space.

The invention described in claim 11 is from claim 1 to
In addition to the structure described in any one of 10 above, a blower is provided in the main body, and a part of the exhaust air is blown to the sliding portion between the cushioning body and the main body from above, so that dust or the like is applied to the sliding portion. It is possible to continuously and smoothly slide without adhering or accumulating.

The invention described in claim 12 is from claim 1
In addition to the configuration described in any one of 11 above, since it has a cleaning function, it moves on a wide range of floor surfaces excluding obstacles,
Automatic cleaning is performed with a small uncleaned area.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to FIGS.
This will be described with reference to 1.

FIG. 1 is a side view of a floor cleaning robot according to a first embodiment of the present invention, and FIG. 2 is a vertical sectional view showing a schematic structure. FIG. 3 is a schematic plan configuration diagram showing a schematic configuration of the contact type detection device. FIG. 4 is a detailed cross-sectional view of the portion A of FIG. 2, showing the engagement structure between the shock absorber and the main body. FIG. 5 is a detailed plan view of a portion B of FIG. 3, showing a configuration in the vicinity of the movable restricting portion of the shock absorber. FIG. 6 is a vertical cross-sectional view showing a schematic path of fan motor exhaust. FIG. 7A to FIG. 9B are configuration diagrams of the contact-type detection device showing a state where the floor-cleaning robot is in contact with an obstacle when moving. 10 (a) to 10 (e) are configuration diagrams showing the operating state of the movable restricting portion of FIG. FIG. 11 is a side view showing the structure of the outer surface of the bumper.

In this embodiment, 11 is the main body of the floor cleaning robot (hereinafter simply referred to as the main body), and 12 and 13 are the main body 1.
The left and right driving wheels provided on the drive unit 1 are independently driven by the traveling motors 14 and 15. Reference numeral 16 is a follower wheel rotatably attached to the rear of the main body 11. Above, drive wheel 12
13 and the traveling motors 14 and 15 and the driven wheels 16 constitute a traveling device that allows the main body 11 to travel by itself. Reference numeral 17 is an electric blower, and 18 is a dust collection chamber.

A floor nozzle 19 is provided at the bottom front of the main body 11 and has a rotary agitator (not shown) therein for scraping up dust on the floor surface. The floor nozzle 19 is connected to the dust collection chamber 18 via a connection pipe (not shown) and a telescopic hose (not shown), and dust on the floor surface is sucked by the electric blower 17 and collected in the dust collection chamber 18. Be dusted. A floor nozzle suspension lever 22 is rotatably supported by a lever rotation shaft (not shown), whereby the floor nozzle 19 is attached to the main body 11 so as to be vertically movable. The electric blower 17, the dust collection chamber 18, the floor nozzle 19, the connecting pipe, the expansion / contraction hose, the floor nozzle suspension lever 22, and the lever pivot shaft constitute a work device for performing dust collection work. Reference numeral 24 is a distance measurement sensor provided around the main body 11 and including an optical sensor, an ultrasonic sensor, and the like. The distance measurement sensor 24 measures the distance to an object in front of, on the left, right, or side of the main body 11, and detects an obstacle. It constitutes a contact type obstacle detection device. Reference numeral 26 denotes a travel control device for controlling travel of the main body 11. The travel control device 26 controls the travel motor 12 based on data from a position recognition means (not shown) such as a gyro or an obstacle detection device to advance the main body 11 forward.・ Control operations such as backward movement, direction change, and stop.

Reference numeral 27 denotes an operating unit, which is a switch and LC.
The main body 11 is operated by the operation panel 28 provided with a display device such as a D / LED. 29 With the main body handle, hold it to move between places. Reference numeral 31 is a power switch, which also serves as an emergency stop switch for completely stopping the main body 11.

Reference numeral 33 denotes a battery storage unit which stores a battery 34, which is a storage battery, and supplies electric power to the entire main body 11. Reference numeral 35 denotes a device engaging portion provided on the rear side of the main body 11 and above the battery housing portion 33, to which a charger (not shown) is attached. An input terminal 36 is provided inside the device engaging portion 35, which is connected to the battery 34 and is supplied with electric power from a charger during charging.

Numerals 41 to 43 are left and right and rear bumpers which are shock absorbers mounted around the lowermost portion of the outer shell of the main body 11, and a small gap 44 is provided between the respective bumpers so as not to interfere with each other when the bumpers are moved. ~ 46 are provided. The bumper 41 maintains a basic shape with an internal sheet metal frame 47, and constitutes an elastic body portion 50 made of a thermoplastic elastomer so as to cover the outer side thereof, and the surface of the bumper 41 is textured with a small contact resistance. I am giving it. The cross-sectional shape of the elastic body portion 50 is a substantially triangular shape that is curved so as to project outward, and the most projecting portion is the bumper 41.
The shape is located below the center of the vertical direction. The bumpers 42 and 43 have the same structure.
Reference numerals 53 to 58 are sliding parts that are integrated with the holding part. The sliding parts 53 to 58 have upward hook-shaped protrusions 59 on the bumper 41 side and downward hook-shaped protrusions 65 on the main body 11 side so as to face each other. The bumper 41 is attached to the main body 11 by these engaging with each other. The basic configuration is the same for the bumpers 42 and 43. Numerals 71 to 74 are auxiliary sliding portions for keeping the bumpers 41 to 43 horizontal. For example, in the auxiliary sliding portion 71, a flat short portion in the horizontal direction protrudes from the main body 11 side to receive the bumper 41 side. The section is on this. Bumper 4 which has 75 and 76 in sliding parts 55 and 56, and is integrated with upward hook-shaped projections 61 and 62
It is the central axis for rotation of 1.42. Sliding resistance of the sliding portions 53 to 58, the auxiliary sliding portions 71 to 70, and the rotation center shafts 75 and 76
The rotation resistance is extremely small, and it is mounted so that it can slide or rotate freely. 77 and 78 are thin leaf springs that are provided on the bumpers 41 and 42 and urge them forward.
Reference numeral 0 is a thin leaf spring which is provided on the bumpers 41 and 42 and urges the bumpers 41 and 42 laterally. Reference numerals 81 and 82 are torsion coil springs provided on the main body 11 side and having a larger load than the thin leaf springs that urge the vicinity of the rear ends of the bumpers 41 and 42 forward. 8
Reference numeral 3.84 is a torsion coil spring having a long arm that biases the bumper 43 rearward. Numerals 91 to 96 are limit switches as detecting means, which are dust-proof type having an actuator having a semi-circular tip.
~ 43 made of resin, which is an actuator provided in 43 ~
It is arranged so that it is made conductive by being pushed by 100. Limit switch 91.9 paired with bumper 41
3 are arranged in a concentrated manner in the vicinity of the protruding portion 97 at the front edge of the main body 11, and have the same configuration except that the bumper 42 side is also symmetrical. In addition, the limit switches 95 and 96 that are paired with the bumper 43 are also included in the main body 1
1 Placed concentrated on the rear edge. Further, the wirings from the limit switches 91 to 94 are bundled into one and connected to the travel control device 26 via one wiring path. The same applies to the wiring from the limit switches 95 and 96. Reference numerals 101 and 102 denote movable restricting portions that restrict the movable range of the bumper 43. The substantially trapezoidal hole portion 1 has a shape protruding from the bumper 43 and expanding toward the outside of the main body 11.
03 and 104, and the shaft portions 105 and 106 provided in the main body 11 located inside.

Most of the exhaust air from the electric blower 17 provided in the main body 11 and the bumper 41.
Although it is released to the outside through the gap with the ~ 43,
˜58 and auxiliary sliding parts 71 to 74, the discharge gap is blocked and instead the sliding parts 53 to 58 and auxiliary sliding parts 71 are replaced.
Exhaust air is blown to ~ 74.

With the above construction, in particular, in this embodiment, the floor nozzle 19 is disposed in the front side of the main body 11 so as to be substantially full in the left-right width, and the drive wheels 12, 13 are provided behind it, and the follower wheel 16 is provided behind this. Drive wheels 12 and 13 and driven wheels 16
Is sufficiently separated from each other, and the center of gravity of the main body 11 is arranged between them. Therefore, the outer shape of the main body 11 in a plane is a substantially rectangular shape whose longitudinal direction is the longitudinal direction.

The operation of this embodiment will be described below.
Although this floor cleaning robot has several operation modes, for example, the main body 11 is placed straight toward the wall surface, the power switch 31 is turned on, the operation panel 28 is checked, and then the robot is started. After that, the electric blower 17 operates to start traveling. While traveling, dust is collected by the work device, while the distance measuring sensor 24 always measures the distance to the surrounding obstacles and the position recognition means measures and corrects the traveling angle.

Although the floor nozzle 19 provided on the front side of the main body 11 collects the dust on the floor surface that has passed through, the floor nozzle 19 is provided so as to be almost the width of the main body 11, and as a result, the main body 11 has passed. Most dust on the floor can be collected. That is, the main body 11 can approach an obstacle existing in the room near the wall, the corner portion, or the cleaning space, and collect the dust at the location.

When the main body 11 approaches an obstacle by a predetermined distance, avoiding actions such as turning and retreating are performed, and the traveling surface is cleaned while traveling in the entire cleaning area by repeating this action.

At this time, a bumper and a limit switch, which are contact-type detecting means, are used to detect a protruding step that cannot be detected by the distance measuring sensor 24 or an obstacle placed or falling on the floor surface. Is.

That is, as shown in FIG. 7 (a), when an obstacle 111 exists in front of the main body 11 and slightly to the right when the vehicle moves forward in the E direction, the bumper 4 that comes into contact with the obstacle 111.
1 moves rearward against the biasing force of the thin leaf spring 78, and operates the limit switch 91 via the protrusion 97. In order to move the main body 11 in the direction in which the travel control device 26 avoids the obstacle 111 in response to the operation signal from the limit switch 91, the rotation directions of the travel motors 14 and 15 are controlled. For example, when the limit switch 91 is operated during forward movement, the left and right drive wheels 12 and 13 are reversed to move backward. FIG. 7B shows an operation state when retreating in the F direction. When the obstacle 111 is present on the rear or slightly right side of the main body 11 when retreating, the bumper 43 contacting the obstacle 111 is twisted. It moves forward against the biasing force of the coil spring 83, and through the protrusion 99, the limit switch 9
5 is operated. As a result, the left drive wheel 13 is stopped or moved forward at a low speed, and the right drive wheel 12 is moved forward at a high speed to perform avoidance movement.

Further, as shown in FIG. 8 (a), when the obstacle 111 is present in the diagonally forward right direction of the main body 11 at the time of turning rightward in the direction G, the bumper 41 comes into contact with the thin plate after contacting the bumper 41. The rotation center shaft 75 is resisted against the biasing force of the spring 79.
The protrusion 97 operates the limit switch 93 to move the right running wheel 12 forward at high speed. Figure 8
As shown in (b), when the obstacle 111 exists diagonally forward and to the right of the main body 11 at the time of turning left in the H direction, both limit switches 91 and 93 are activated after the bumper 41 is contacted. Then, the right drive wheel 12 is moved backward at high speed, and the left drive wheel 13 is moved backward at low speed. That is, when the main body 11 turns right (G direction) and turns left (H direction), the obstacle 11
1 exists at almost the same position, the pattern of operation of the limit switches 91 and 93 is different, and as a result, the drive wheels 12 and 13 corresponding to the contact state are transmitted from the travel control device 26.
Rotation control.

Further, as shown in FIG. 9A, when the obstacle 111 is present on the diagonally right rear side of the main body 11 at the time of turning rightward in the G direction, after contact with the bumper 43, the protrusion 9
The limit switch 95 operates via 9 and the right running wheel 1
Advance 2 at high speed. As shown in FIG. 9B, when the obstacle 111 is present on the diagonally right rear side of the main body 11 at the time of turning leftward in the H direction, after contact with the bumper 43, the limit switch is inserted via the protrusion 100. 96 works,
The left traveling wheel 13 is advanced at high speed. Rear bumper 43
Also, in the right turn (G direction) and the left turn (H direction) of the main body 11, even if the obstacle 111 exists at almost the same position, the pattern of operation of the limit switches 95 and 96 is different. As a result, the traveling control device 26 controls the rotation of the drive wheels 12 and 13 according to the contact state. The operation state of the rear bumper 43 will be described in more detail. When the obstacle is not in contact with the bumper 43, the movable regulating portion 101 is regulated so as to be positioned at the corner of the hole as shown in FIG. However, Fig. 8 (b)
In this state, the movement is restricted at the position shown in FIG.
In the state of (a), the movement is restricted at the position of FIG. Further, FIG. 10D shows the movable restricting position in the state of FIG. 9B, and FIG. 10E shows the movable restricting portion 1 on the opposite side.
02 shows the movable restricting position when the state of FIG.

In the above description, the obstacle is an isolated columnar model, but of course the same operation can be performed on a wall surface.

When the bumper 41 collides with an obstacle, the impact is relieved by the elastic body portion 50. However, since the inside of the bumper 41 has a frame, the entire bumper 41 is not deformed, and the displacement applied at the time of the collision is prevented. It is surely transmitted to the limit switches 91 and 93. The same applies to the bumpers 42 and 43.

Since the bumpers 41 to 43 are provided at the lowermost part of the outer shell of the main body 11 except for a gap required for traveling from the floor surface, they can contact obstacles or steps having a low height. The limit switches 91 to 96 are operated. Here, if there is an obstacle or a step which is lower than the bumpers 41 to 43, the traveling device will get over it. Further, since the bumpers 41 to 43 have a substantially triangular shape that is curved so as to project outward, the contact area with an obstacle is reduced, and as a result, the resistance due to wall friction can be reduced. Further, since the most protruding portions of the bumpers 41 to 43 are shaped to be located below the vertical center of the bumpers 41 to 43, it is possible to quickly contact an obstacle protruding from the floor surface.

Since the surface of the outer shell of the bumpers 41 to 43 is textured, the limit switch is not operated when the friction with the obstacle is small and the degree of contact of the bumper with the obstacle is small. Since no avoidance movement is performed, movement such as forward / backward / direction change is continued.

Further, as shown in FIG. 11, bumpers 41 to 41
By providing the hard band portion 107 made of resin at the most projecting portion of the outer shell surface of 43, the impact relaxation by the elastic body portion 50 is maintained and the resistance due to friction with the obstacle is reduced.

When an obstacle comes into contact with the bumpers 41 to 43, the bumpers 41 to 43 move within a range in which they are normally urged by thin leaf springs 77 to 80 provided near the limit switches 91 to 94 and having a small load. Limit switch 9
1 to 94 are actuated, but at the time of collision that frequently occurs in the front and diagonally forward directions, impact force is also applied to the torsion coil springs 81 and 82 having a large load, and this is mitigated.

The sliding portions 53 to 58 are respectively the bumpers 4
Since the upward hook-shaped projections 59 to 64 on the side 1 to 43 and the downward hook-shaped projections 65 to 70 on the side of the main body 11 are engaged with each other,
The sliding part and the attachment strength holding part are configured at the same location,
Even if an external force required for normal movement is applied to the bumpers 41 to 43, the bumpers 41 to 43 are not easily disassembled or damaged.

Further, during the work, a part of the exhaust air from the electric blower 17 is blocked from being emitted to the outside, and the sliding portions 53 to 58 and the auxiliary portions are assisted, for example, in a general path of the exhaust air shown by arrows C and D. The sliding parts 71 to 74 are wiped to prevent foreign matter such as dust from adhering and stagnating. Note that the exhaust air guided to the sliding portion passes through a filter, etc., so that clean air is blown.

Since the structure of the bumper and the like is bilaterally symmetric, when the direction change direction is opposite, the operation is performed in the left and right opposite directions.

As described above, by using the moving device of the present embodiment, the assembly of the wiring and the like is easy, and the limit switch 91 which is the detecting means in a small space.
~ 96 can be arranged, and any body shape can be detected by a limit switch located on the obstacle side. As a result, it has a simple structure, is highly reliable, is small and lightweight, and can recognize the direction of obstacles when moving or changing directions in all directions, including forward movement, and avoiding obstacles with minimal movement. It is one that can make good moves. At this time, the bumper is arranged almost all around the main body 11 and is divided into front and rear with respect to the traveling direction,
And the front bumper is further divided into left and right,
Since two detection means are provided for each buffer,
In a moving device that uses forward movement as the main movement and can also move backward, basic movement such as forward movement, backward movement, and direction change can be performed with a minimum number of divided buffer bodies, and a moving device with a simple configuration can be realized.

Further, the bumpers 41 to 43 are provided at the lowermost portion of the outer shell of the main body 11 and are curved so that their cross-sectional shapes project to the outside.
Since the shape is located below the center in the up-down direction, even an obstacle with a low height can surely come into contact with the buffer body and be detected, and the main body 11 and the obstacle are not damaged. Further, since the friction at the time of contact with the obstacle is reduced and the obstacle is not detected more than necessary, the number of times of avoidance movement is reduced, and thus smooth movement can be performed.

On the outer shell surface of the bumpers 41 to 43,
Since the texture is applied, it is possible to avoid the obstacle with a small number of movements and reduce the friction when contacting the obstacle with a simple structure, to detect the obstacle more than necessary, and to perform smooth movement.

Further, since the contact portions of the bumpers 41 to 43 with the obstacle are made of two materials having different hardness, a hard portion which frequently contacts with the obstacle has a good slipperiness, and it is necessary to reduce friction at the time of contact. As described above, it is possible to avoid the obstacle with a small number of times of movement without detecting the obstacle, to perform smooth movement, and to reduce wear of the cushioning body. At this time, the bumper's original impact-relieving ability can be provided at the same time.

Further, since the bumper 41 is composed of the frame 47 which is a rigid body and the elastic body portion 50 provided on the outside of the frame 47, the basic shape of the bumper 41 can be maintained and the impact can be alleviated at the same time. The displacement applied to 41 can be reliably transmitted to the protrusion 97 and the limit switch 91.

When one of the divided bumpers (for example, bumper 41) comes into contact with an obstacle, the main body 11
Different detection patterns are detected depending on the combination of the two limit switches 91 and 93 when the vehicle turns to the right and to the left, so the number of detection patterns can be increased with a small number of limit switches. It is possible to perform efficient avoidance movement according to the above.

Further, the movable restricting portions 101.1 and 102 for restricting the movable range of the bumper 43 are provided.
02 is a substantially trapezoidal hole 103 provided on the bumper 43 side.
104 and the hole 1 provided on the main body 11 side relatively
It consists of shafts 105 and 106 that move inside 03.104, and is biased to the corners of holes 103 and 104 by torsion coil springs 83 and 84. Therefore, only two limit switches 95 and 96 can detect patterns. As a result, efficient avoidance movement can be performed according to the direction change situation. Furthermore, a substantially trapezoidal hole 1
Since 03 and 104 are shaped to spread toward the outside of the main body 11, the bumper 43 can always return to a fixed position when stationary.

Further, the bumpers 41 and 42 are biased by thin leaf springs 77 to 80 provided near the limit switches 91 to 94 and having a small load, and the torsion coil springs 81 and 82 having a large load are connected to the limit switches 91 to 94.
Since it is arranged farther from the thin leaf springs 77 to 80, the thin leaf springs 77 to 80 can perform highly sensitive detection, and the torsion coil springs 81 and 82 can reduce the impact. It has both excellent detection ability and high shock absorbing power.

Further, in the sliding portion 53 between the bumpers 41 to 43 and the main body 11, the hook-shaped protrusion 5 facing upward toward the bumper 41 side.
9 is provided, and a downward hook-shaped projection 65 is provided on the main body 11 side. Since both hook-shaped projections are engaged with each other, the sliding portion 53 and the attachment strength holding portion are provided at the same location. The bumper 41 can be firmly attached in a small space.

Further, an electric blower is provided in the main body 11, and a part of the exhaust air is slidable between the bumpers 41 to 43 and the main body 11.
3 to 58 is blown from above, so the sliding portion 53
It is possible to continuously and smoothly slide without causing dust or the like to adhere to or be accumulated on 58.

The main body 11 having a substantially rectangular shape which is long in the front-rear direction and suitable for cleaning is provided with a dust collecting work device, which is close to not only the four corners of the room, but also obstacles as far as it does not hinder the movement. Since it moves so as not to be farther than necessary from the obstacle, the range of the wall / corner cleaning is widened, and as a result, a wide range of floor surfaces excluding the obstacle can be reliably and automatically cleaned. At this time, since the operation of moving away from the obstacle more than necessary and returning again is small, the power consumption of the battery can be suppressed.

[0053]

EFFECT OF THE INVENTION Wiring and the like can be easily assembled, the detecting means can be arranged in a small space, and the detecting means positioned on the obstacle side can detect any body shape. As a result, it has a simple structure, is highly reliable, is small and lightweight, and can recognize the direction of obstacles when moving or changing directions in all directions, including forward movement, and avoiding obstacles with minimal movement. It is possible to realize a moving device capable of moving efficiently.

[Brief description of drawings]

FIG. 1 is a side view of a floor cleaning robot that is an embodiment of the present invention.

FIG. 2 is a vertical sectional view showing the schematic configuration.

FIG. 3 is a schematic plan configuration diagram showing a schematic configuration of the contact type detection device.

FIG. 4 is a detailed cross-sectional view showing the engagement structure between the shock absorber and the main body.

FIG. 5 is a detailed plan view showing a configuration in the vicinity of a movable restricting portion of the buffer body.

FIG. 6 is a vertical sectional view showing a schematic path of the fan motor exhaust.

FIG. 7 (a) is a block diagram of a contact type detection device showing a state of contacting an obstacle when the main body moves forward, and (b) is a configuration diagram of a contact type detection device showing a state of contacting an obstacle when the main body moves backward.

FIG. 8 (a) is a block diagram of a contact-type detection device showing a state in which an obstacle ahead diagonally to the right is contacted when the body turns right; Configuration diagram of the contact type detection device showing the state

FIG. 9 (a) is a block diagram of a contact-type detection device showing a state in which an obstacle diagonally to the right is contacted when the body turns to the right, and (b) an obstacle diagonally to the right is touched when the body turns to the left. Configuration diagram of the contact type detection device showing the state

FIG. 10A is a configuration diagram showing an operating state (when stopped) of the movable regulating portion, and FIG. 10B is a configuration diagram showing an operating state of the movable regulating portion (at the time of right rear contact). (D) Configuration diagram showing an operating state (at the time of rearward diagonal contact at the right) (d) Configuration diagram showing an operating state of the movable regulation portion (at the time of right diagonal rear contact at the time of turning to the right) (e) Operating state of the movable regulation portion Configuration diagram showing (when turning to the right and contacting diagonally to the left)

FIG. 11 is a side view of the other floor cleaning robot.

[Explanation of symbols]

11 body 12/13 drive wheels 14.15 traveling motor 16 followers 17 electric blower 26 Travel control device 41-43 Bumper (buffer) 47 frames 50 elastic body 53-58 Sliding part 59 Upward hook-shaped protrusion 65 Downward hook-shaped protrusion 77-80 Thin leaf spring 81-84 torsion coil spring 91-96 Limit switch 97-100 protrusions 101-102 movable regulation part 103 ・ 104 hole 105 ・ 106 Shaft 107 Hard band

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60R 19/48 B60R 19/48 H 21/00 610 21/00 610Z 624 624G (72) Inventor Hidetaka Yabuuchi Osaka 1006, Kadoma, Oita, Kadoma-shi Matsuda Denshi Sangyo Co., Ltd. (72) Inventor Hiroshi Mori 1006, Kadoma, Kadoma-shi Osaka Pref. 72nd inventor, Matsushita Electric Industrial Co., Ltd. Electric Appliance Industry Co., Ltd. (72) Inventor Miki Hono 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Toru Kodachi 1006 Kadoma, Kadoma City, Osaka Prefecture (Reference) 3B057 DA00 DA08 3C007 AS01 AS15 CS08 CY32 KS12 KS31 KW01 KX02 MS07 WA16 WB21 5H301 AA02 AA10 BB05 BB11 DD01 GG08 GG10 GG17 HH10 HH20 LL01 LL06 LL11

Claims (12)

[Claims] 1. A traveling device for advancing / retracting / turning the main body, a shock absorber provided on almost the entire outermost circumference of the main body, and detection for detecting the presence or absence of contact with an obstacle through the shock absorber. Means, having a traveling control device for controlling the operating state of the traveling device to determine the contact state with the obstacle from the signal obtained by the detection means, the buffer is divided into a plurality,
In addition, a moving device having a configuration in which a plurality of detecting means is provided in each buffer body, and the plurality of detecting means are arranged in a concentrated manner for each buffer body. 2. The shock absorber is divided into front and rear with respect to the main traveling direction, and the front shock absorber is further divided into left and right parts, and two detection means are provided for each shock absorber. The moving device according to claim 1, wherein the moving device is provided. 3. The buffer is provided at the bottom of the outer shell of the main body,
3. The moving device according to claim 1, wherein the cross-sectional shape is curved so as to project to the outside, and the most projecting portion is located below the center of the shock absorber in the vertical direction. 4. The moving device according to claim 1, wherein the outer shell surface of the buffer body is textured. 5. The moving device according to claim 1, wherein a contact portion of the buffer body with the obstacle is made of a plurality of materials having different hardnesses. 6. The buffer body comprises a rigid body portion and an elastic body portion provided outside the rigid body portion.
The moving device described in any one of 1. 7. A configuration in which different detection patterns are detected by a combination of a plurality of detection means when one of the divided buffer bodies contacts an obstacle and when the main body turns to the right and to the left. The moving device according to any one of claims 1 to 6. 8. A movable restricting portion for restricting a movable range of the cushioning body, wherein the movable restricting portion comprises a substantially triangular or trapezoidal hole portion and a shaft portion which relatively moves inside the hole portion. 8. The moving device according to claim 7, wherein one of the hole and the shaft is provided on the buffer body side, the other is provided on the main body side, and the biasing body further urges the corner portion of the hole. 9. The buffer body is urged by a spring having a small load provided in the vicinity of the detecting means, and the spring having a large load is arranged farther from the spring having a smaller load when viewed from the detecting means. The moving device described in any one of 1 to 8. 10. The sliding portion between the shock absorber and the main body is provided with hook-shaped protrusions on both the shock absorber side and the main body side, and the hook-shaped protrusions are engaged with each other. 1 to
9. The moving device described in any one of 9 above. 11. The structure according to claim 1, wherein an air blowing means is provided in the main body, and a part of the exhaust air is blown onto the sliding portion between the buffer body and the main body from above. Mobile device. 12. The moving device according to claim 1, which has a cleaning function.