JP2003330537A - Self-propelled equipment and program thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that a spring switch for safety damages a floor with a prong of the switch during self-propelling and that the spring switch is operated and movement or rotation of a brush is stopped on a self-propelled equipment when propelling over a step of a carpet or the like. <P>SOLUTION: The self-propelled equipment is provided with a control means 6, a moving means 2a, 2b which propel and transport a main body 1, a step detecting means 4a, 4b which detect a step in front of or behind the main body 1, and a contact detecting means 7a, 7b which detect contact with an obstruction in front of or behind the main body 1; and the control means 6 conducts rotation/stop of a rotation part of the moving means 2a, 2b based on the content of detection by the step detecting means 4a, 4b or the contact detecting means 7a, 7b. Thus, it is safe even if the main body is lifted or turned over during the self-propelling, and besides, it can propel over the step such as a carpet, and does not damage the floor. <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 self-propelled device which runs independently without human assistance.

[0002]

2. Description of the Related Art Conventionally, in a device such as a vacuum cleaner or an electric stove, which has a rotating part and a heat generating part where a person touches it, the brush rotating part and the heat generating part are detected by detecting that they are lifted during operation. In order to stop, it was common to provide a spring switch or the like.

[0003]

However, the self-propelled device has a problem that when the spring switch is provided, the protrusion of the switch damages the floor surface during self-propelling. In addition, there is a problem in that the spring switch is activated even when the carpet or the like is running, and the running and the brush rotation are stopped.

The present invention solves the above-mentioned conventional problems. It is safe even if the main body is lifted or tilted down while traveling, and furthermore, it is possible to run on a step such as a carpet and damage the floor surface. The purpose is to provide self-propelled equipment without

[0005]

In order to solve the above-mentioned problems, the present invention provides a control means, a traveling means for moving the main body, a step detecting means for detecting a step in front of or behind the main body, A contact detection unit for detecting contact with an obstacle in front of or behind the main body, and the control unit stops the operation of the rotating unit such as the traveling unit based on the content detected by the step detection unit or the contact detection unit. It is configured to perform.

[0006] Thus, it is possible to provide a self-propelled device which is safe even if the main body is lifted or tilted down during traveling and is capable of traveling by climbing over steps such as carpets without damaging the floor surface. You can

[0007]

The invention according to claim 1 is a control means, a traveling means for moving and moving a main body, a step detecting means for detecting a step in front of or behind the main body, and in front of the main body or A contact detection unit that detects contact with an obstacle behind, and the control unit stops the operation of the rotating unit such as the traveling unit based on the content detected by the step detection unit or the contact detection unit. did. As a result, it is possible to provide a self-propelled device that is safe even if the main body is lifted or tilted while traveling, and that can travel while riding on a step such as a carpet without damaging the floor surface.

The invention as defined in claim 2 is particularly defined by claim 1.
In the control means described in (1), when the step detecting means detects a step forward and the contact detecting means detects a contact with a rear obstacle, or the step detecting means detects a rear step and the contact detecting means When contact with an obstacle in front is detected,
It is configured to stop the operation of the rotating part such as the traveling means. As a result, it is safe when the front of the main unit is pressed against the floor and the front is lifted, or when the front of the main unit is pressed against the floor and the rear is lifted, and it is possible to ride over steps such as carpets and run on the floor. A self-propelled device that does not damage can be realized.

According to a third aspect of the present invention, the control means, the traveling means for moving the main body, the step detecting means for detecting a left or right step of the main body, and the left or right side of the main body. Contact detecting means for detecting contact with one obstacle, wherein the control means detects a step to the right by the step detecting means and detects contact with an obstacle on the left side by the contact detecting means. In the case of, or when the step detecting means detects a step to the left and the contact detecting means detects a contact with an obstacle on the right side, the operation of the rotating part such as the traveling means is stopped. did. As a result, it is possible to realize a self-propelled device that is safe when the side surface of the main body is pressed against the floor and is laid down, and is capable of riding on a step such as a carpet and traveling without damaging the floor.

According to a fourth aspect of the present invention, a plurality of contact detections for detecting contact between the control means, the traveling means for moving and traveling the main body, and the obstacle in front of or behind the main body, or on the left side or the right side of the main body. And a means for stopping the operation of the rotating unit such as the traveling unit when at least two of the contact detecting units detect contact with an obstacle. As a result, even if the main body is lifted during traveling, when at least two of the contact detecting means detect contact with an obstacle (person), the operation of the rotating part such as the traveling means is stopped, so that a safe self-operation is possible. A mobile device can be provided.

According to a fifth aspect of the present invention, there is provided a program for a self-propelled device for causing a computer to function as all or a part of the self-propelled device according to any one of the first to fourth aspects. And Thereby, by making a computer function as all or a part of the self-propelled device according to any one of claims 1 to 4, all or one of the self-propelled device of the present invention is used by using a general-purpose computer or a server. The parts can be easily realized.

[0012]

(Embodiment 1) A first embodiment of the present invention will be described below. FIG. 1 is a block diagram showing the configuration of the present embodiment, and FIG. 2 is a diagram showing the mounting position and field of view of a step distance measuring sensor from above. In FIGS. 1 and 2, 1 is a main body of a self-propelled device, 2a and 2b are left driving wheels and right driving wheels which constitute traveling means, 3a and 3b are left motors and right motors which similarly constitute traveling means, 4a are Distance measuring sensor for front left step (step detecting means), 4b is distance measuring sensor for rear left step (step detecting means), 4c is distance measuring sensor for front right step (step detecting means), 4d is rear right step measuring Distance sensor (step detection means),
Reference numerals 5a, 5b, 5c and 5d are distance measuring sensors which are distance measuring means for measuring distances to front, left, right and rear obstacles, 6 is control means, and 7a, 7b, 7c and 7d are The front bumper switch, the rear bumper switch, the left bumper switch, and the right bumper switch, which are contact detection means for detecting contact with front, rear, left, and right obstacles.

The front left step distance measuring sensor 4a, the rear left step step distance measuring sensor 4b, the front right step step distance measuring sensor 4c, and the rear right step step distance measuring sensor 4d each fall or climb up while traveling at maximum speed. When a step that becomes dangerous is detected, sudden braking is applied and it is attached at a position with the diagonally downward direction oriented so that the distance can be measured just in time. The distance of the dangerous convex step that gets stuck on the vehicle and the distance of the dangerous concave step that falls when the vehicle gets stuck cannot be measured by the distance measuring sensor 4a for the front left step.
Distance measuring sensor 4b for rear left step, distance measuring sensor 4 for front right step
c, each of the rear right step distance measuring sensors 4d is predetermined.

The operation of this embodiment will be described below with reference to the flowchart of FIG. Usually, the control means 6
While the obstacles are detected and avoided by the distance measuring sensors 5a, 5b, 5c, and 5d, the left motor 3a and the right motor 3b are controlled to travel (step 1). On the way, the concave step is detected simultaneously at three or more points among the front left step distance measuring sensor 4a, the rear left step step distance measuring sensor 4b, the front right step step distance measuring sensor 4c, and the rear right step step distance measuring sensor 4d. In this case, the left motor 3a and the right motor 3b are stopped, and the rotation of the left drive wheel 2a and the right drive wheel 2b is stopped (steps 2 and 6). The front bumper switch 7a and the rear bumper switch 7b are turned on at the same time.
Also in the case, the left motor 3a and the right motor 3b are stopped,
The rotation of the left drive wheel 2a and the right drive wheel 2b is stopped (steps 3 and 6). Further, even when the concave step is detected by the front left step distance measuring sensor 4a and the front right step distance measuring sensor 4c at the same time, and the rear bumper switch 7b is turned on at the same time,
The left drive wheel 2 is stopped by stopping the left motor 3a and the right motor 3b.
a, the rotation of the right drive wheel 2b is stopped (step 4 to
6).

In this embodiment, the step distance measuring sensor is
Although four points and bumper switches are provided, any number may be provided for each. Further, in the present embodiment, the traveling motor is stopped to stop the rotation of the drive wheels, but the rotation of the rotating brush or the like when the cleaning function is provided or the heat generation when the heat generation means is provided You may stop it.

As described above, according to the present embodiment, even if the main body is lifted or tilted during traveling, the rotation is stopped and the heat generation is stopped, so it is safe, and the step of the carpet or the like is also climbed up. It realizes a self-propelled device that can run and does not damage the floor.

(Second Embodiment) Next, a second embodiment of the present invention will be described. The block diagram showing the configuration of this embodiment is
It is FIG. 1 similarly to the first embodiment.

The operation of this embodiment will be described below. First, the operation shown in the flowchart of FIG. 4 is basically the same as that of the first embodiment. The front left step distance measuring sensor 4a and the front right step distance measuring sensor 4c simultaneously detect the concave step,
Also, even when the rear bumper switch 7b is turned on at the same time, the left motor 3a and the right motor 3b are stopped and the rotations of the left drive wheel 2a and the right drive wheel 2b are stopped (steps 4 to 4).
6). Even when the rear left step distance measuring sensor 4b and the rear right step distance measuring sensor 4d simultaneously detect a concave step and the front bumper switch 7a is simultaneously turned on, the left motor 3a and the right motor 3b are stopped, The rotation of the left drive wheel 2a and the right drive wheel 2b is stopped (steps 7, 8, 6).

In the present embodiment, the operation such as the rotation stop is performed for both the front and rear top surfaces, but the structure of the main body prevents the top and the rear surfaces from falling. Since it is also available, only one of them may be supported.

As described above, according to the present embodiment, it is safe when the rear side of the main body is pressed against the floor surface to lift the front side or when the front side of the main body is pressed against the floor surface and the rear side is lifted. This is to realize a self-propelled device that can ride on the steps of the car and run without damaging the floor surface.

(Embodiment 3) Next, a third embodiment of the present invention will be described. The block diagram showing the configuration of this embodiment is
It is FIG. 1 similar to Examples 1 and 2.

The operation of this embodiment will be described below with reference to the flowchart of FIG. First, the operation shown in FIG. 5 is basically the same as that of the second embodiment. The front right step distance measuring sensor 4c and the rear right step distance measuring sensor 4d detect the concave step at the same time, and the left bumper switch 7c simultaneously turns on.
Even when the result is N, the left motor 3a and the right motor 3b are stopped, and the rotations of the left drive wheel 2a and the right drive wheel 2b are stopped (steps 9, 10, 6). Distance measuring sensor 4a for front left step
Even when the concave step difference sensor 4b detects the concave step at the same time and the right bumper switch 7d simultaneously turns on, the left motor 3a and the right motor 3b are stopped, and the left drive wheel 2a and the right drive wheel are driven. Stop rotation of 2b (step 1
1, 12, 6).

In this embodiment, the operation such as the rotation stop is performed for both the left sideways and the right sideways.
Due to the structure of the main body, there is a structure that can not fall into either,
Only one of them may be supported.

As described above, according to the present embodiment, it is safe when the side surface of the main body is pressed against the floor surface and is laid down, and furthermore, it is possible to run on a step such as a carpet and not to damage the floor surface. It realizes a self-propelled device.

(Fourth Embodiment) Next, a fourth embodiment of the present invention will be described with reference to FIG. In this embodiment, the computer is made to function as all or a part of the control means 6, and the computer is made to function as all or part of the control means 6.

As described above, according to this embodiment, all or part of the self-propelled device of the present invention can be easily realized by using a general-purpose computer or a server.

In all of the first to third embodiments, when the step detecting means and the contact detecting means respectively detect a step or an obstacle, the operation of the rotating part of the traveling means is stopped. Even if a plurality of contact detection means are provided around the side surface of the main body and the operation of the rotating part of the traveling means is stopped when at least two or more contact detection means simultaneously detect an obstacle (person), It is possible to realize a self-propelled device capable of stopping the operation of the rotating part without a step detecting means when the self-propelled device is lifted by holding it.

[0028]

As described above, according to the invention described in claims 1 to 5, it is safe even if the main body is lifted or tilted while traveling, and it is possible to travel by climbing a step such as a carpet. It is possible to provide a self-propelled device that does not damage the floor surface.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a self-propelled device according to a first embodiment of the present invention.

FIG. 2 is a top view of a mounting position and a field of view of a step distance measuring sensor of the self-propelled device.

FIG. 3 is a flowchart showing the operation of the self-propelled device.

FIG. 4 is a flowchart showing the operation of the self-propelled device in the second embodiment of the present invention.

FIG. 5 is a flowchart showing the operation of the self-propelled device according to the third embodiment of the present invention.

[Explanation of symbols]

1 body 2a Left drive wheel (traveling means) 2b Right drive wheel (traveling means) 3a Left motor (travel means) 3b Right motor (travel means) 4a Distance measuring sensor for front left step (step detecting means) 4b Rear left step distance measuring sensor (step detecting means) 5a Front distance measuring sensor 5b Left distance sensor 5c Right distance sensor 5d Rear range sensor 6 Control means 7a Front bumper switch (contact detection means) 7b Rear bumper switch (contact detection means) 7c Left bumper switch (contact detection means) 7d Right bumper switch (contact detection means)

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hidetoshi Imai             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Kouji Kato             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. F-term (reference) 3B006 KA01                 3B057 DA04 DE01 DE02                 5H301 AA02 BB11 CC03 CC06 GG06                       GG07 HH10 MM09

Claims (5)

[Claims] 1. A control means, a traveling means for moving and moving a main body, a step detecting means for detecting a step in front of or behind the main body, and a contact for detecting contact with an obstacle in front of or behind the main body. A self-propelled device comprising: a detection unit, wherein the control unit stops the operation of a rotating unit such as the traveling unit based on the content detected by the step detection unit or the contact detection unit. 2. The control means detects the step forward by the step detecting means and detects contact with an obstacle behind by the contact detecting means, or detects the rear step by the step detecting means and contact detection. The self-propelled device according to claim 1, wherein when the means detects a contact with an obstacle in front, the operation of the rotating part such as the traveling means is stopped. 3. A control means, a traveling means for moving the main body, a step detecting means for detecting a step on the left or right side of the main body, and a contact with an obstacle on the left or right side of the main body. Contact detecting means for detecting a step, the control means detecting a step to the right by the step detecting means and detecting contact with an obstacle on the left side by the contact detecting means, or the step detecting When the means detects a step to the left and the contact detection means detects contact with an obstacle on the right,
A self-propelled device for stopping the operation of a rotating unit such as the traveling unit. 4. A control means, a traveling means for moving the main body to travel, and a plurality of contact detection means for detecting contact with an obstacle in front of or behind the main body or on the left or right side of the main body. Means is at least two of the contact detection means
A self-propelled device that stops the operation of a rotating unit such as the traveling unit when one detects contact with an obstacle. 5. A program for a self-propelled device for causing a computer to function as all or a part of the self-propelled device according to any one of claims 1 to 4.