WO2022153634A1

WO2022153634A1 - Mobile object and mobile object control method

Info

Publication number: WO2022153634A1
Application number: PCT/JP2021/038236
Authority: WO
Inventors: 梓網野; 佐知田中; 浩平京谷; 優佑円谷; 昭義大平
Original assignee: 株式会社日立製作所
Priority date: 2021-01-18
Filing date: 2021-10-15
Publication date: 2022-07-21
Also published as: JP2022110328A

Abstract

Provided is a high-performance mobile object for cleaning a floor surface while autonomously travelling indoors, said mobile object making it possible to smoothly overcome differences in level and to clean floor surfaces effectively using a rotary brush. This mobile object for cleaning a floor surface while autonomously travelling indoors is characterized by comprising at least two drive wheels, a motor for driving the drive wheels, and a rotary brush, wherein the ground contact surfaces of the two drive wheels in contact with the floor and the ground contact surface of the rotary brush in contact with the floor are positioned on a substantially straight line when the mobile object is moving.

Description

Moving body and control method of moving body

The present invention relates to the structure of a moving body and its control, and particularly relates to a technique effective when applied to a robot vacuum cleaner that cleans the floor surface while autonomously traveling in a room.

In recent years, robot vacuum cleaners that run autonomously to clean the floor of a room have improved performance and a lineup of models with various functions, which is convenient when cleaning multiple rooms or large rooms. , Not only for general households, but also for shared facilities such as facilities for the elderly.

Functions installed in robot vacuum cleaners include, for example, a step detection function that detects steps on thick carpets, thresholds, stairs, etc., a collision prevention function that cleans while avoiding collisions with furniture, and smartphones. There is a wireless communication function that can be linked.

As a background technique in this technical field, for example, there is a technique such as Patent Document 1. Patent Document 1 discloses "a surface cleaning robot that secures the ground contact of a roller brush by providing suspension springs on each of a caster wheel (driven wheel) and a drive wheel (drive wheel)".

Further, Patent Document 2 discloses "a self-propelled electronic device provided with front auxiliary wheels and rear wheels which are driven wheels in addition to driving wheels".

Special Table 2015-520369 Japanese Unexamined Patent Publication No. 2017-185270

As mentioned above, robot vacuum cleaners in recent years are equipped with various functions due to the evolution of sensors and software, but they are fundamental in that they cannot easily overcome steps or drag thin lugs. There's a problem.

Also, with a conventional robot vacuum cleaner equipped with casters (driven wheels) to maintain posture in addition to the driving wheels for running, the rotating brush floats from the floor surface when climbing over steps, making it difficult to clean properly. In some cases. Further, when the diameter of the caster (driving wheel) is small, there is a problem that the caster (driving wheel) cannot get over the step and is easily caught.

In Patent Document 1 above, the performance of overcoming a step is limited by the diameter of the caster wheel (driving wheel), so that it is easy to stack.

Similarly, in Patent Document 2 above, the performance of overcoming a step is limited to the diameters of the front auxiliary wheels and the rear wheels, and it is particularly easy to get stuck when moving backward.

Therefore, an object of the present invention is to provide a high-performance moving body that can effectively clean the floor surface with a rotating brush while smoothly overcoming a step in a moving body that cleans the floor surface while autonomously traveling in a room. There is.

In order to solve the above problems, the present invention is a moving body that cleans the floor surface while autonomously traveling in a room, and includes at least two drive wheels, a motor for driving the drive wheels, and a rotary brush. The moving body is characterized in that the grounding surfaces of the two driving wheels that come into contact with the floor and the grounding surfaces of the rotating brush that come into contact with the floor are located substantially in a straight line.

Further, the present invention is a method for controlling a moving body that cleans the floor surface while autonomously traveling in a room, and when the moving body moves, the main body becomes vertical with respect to the floor surface based on information from a posture sensor. As described above, the two drive wheels are controlled in a predetermined control cycle.

According to the present invention, in a moving body that cleans the floor surface while autonomously traveling in a room, it is possible to realize a high-performance moving body that can effectively clean the floor surface with a rotating brush while smoothly overcoming a step. can.

Issues, configurations and effects other than those described above will be clarified by the explanation of the following embodiments.

It is a front view of the moving body which concerns on Example 1 of this invention. It is a view (side view) in the direction of AA'of FIG. 1A. It is a block diagram which shows the control structure of the moving body which concerns on Example 1 of this invention. It is a figure which conceptually shows the action effect of the moving body which concerns on Example 1 of this invention. It is a side view of the moving body which concerns on Example 2 of this invention. (When the stand is deployed) It is a side view of the moving body which concerns on Example 2 of this invention. (When the stand is stored) It is a block diagram which shows the control structure of the moving body which concerns on Example 2 of this invention. It is a side view of the moving body which concerns on Example 3 of this invention. (When deploying casters) It is a side view of the moving body which concerns on Example 3 of this invention. (When driving casters) It is a side view of the moving body which concerns on Example 3 of this invention. (When driving casters) It is a perspective view of the robot vacuum cleaner which concerns on Example 4 of this invention. It is a perspective view of the apparatus main body of the robot vacuum cleaner which concerns on Example 4 of this invention. It is a perspective view (bottom view) from the lower part of FIG. It is a BB'direction arrow view (side view) of FIG. FIG. 10 is a cross-sectional view of FIG. FIG. 8 is a view taken along the line CC'of FIG. 8 (front view). (When the casters are stored) FIG. 8 is a view taken along the line CC'of FIG. 8 (front view). (When deploying casters) It is a figure which shows typically the structure of the conventional robot vacuum cleaner. It is a figure which shows the problem of the conventional robot vacuum cleaner. It is a figure which shows the problem of the conventional robot vacuum cleaner.

Hereinafter, examples of the present invention will be described with reference to the drawings. In each drawing, the same components are designated by the same reference numerals, and the detailed description of overlapping portions will be omitted.

The moving body of the first embodiment of the present invention and its control method will be described with reference to FIGS. 1A to 3 and 13A to 13C.

FIG. 1A is a front view of the moving body of the present embodiment, and FIG. 1B is a view taken along the line AA'(side view) of FIG. 1A. FIG. 2 is a block diagram showing a control configuration of the moving body of the present embodiment. FIG. 3 is a diagram conceptually showing the action and effect of the moving body of this embodiment. 13A to 13C are diagrams for explaining the problems in the conventional robot vacuum cleaner (moving body) described above. In addition, in each figure, in order to make it easy to understand the problem of the prior art, the configuration of the present invention, and the action and effect, only the configuration necessary for explanation is schematically shown.

[Problems of prior art]
First, the problems of the conventional robot vacuum cleaner will be described with reference to FIGS. 13A to 13C.

As shown in FIG. 13A, a conventional typical robot vacuum cleaner is configured to include a drive wheel 3, a rotary brush 5, and a caster 23, which is a driven wheel, below the main body 2 (and the filter 6). .. When the robot vacuum cleaner moves in the room to clean the floor surface, the drive wheels 3, the casters 23, and the rotary brush 5 come into contact with the floor 8. The rotary brush 5 cleans the floor surface by scraping out fine particles such as dust and dirt adhering to the inside of the carpet and carpet and fine particles such as dust and dirt that have entered the groove of the threshold and sucking them through a suction port (not shown).

However, as shown in FIG. 13B, for example, when there is a step such as an obstacle 30 on the floor 8, the rotating brush 5 floats when overcoming the step, and the vicinity of the obstacle 30 (step) is generated. The floor may not be cleaned well.

Further, as shown in FIG. 13C, when the diameter of the caster (driving wheel) 23 is small, there is a problem that the caster (driving wheel) 23 cannot get over the obstacle 30 (step) and is easily caught.

[Basic configuration]
Next, the basic configuration of the moving body 1 of this embodiment will be described with reference to FIGS. 1A and 1B.

As shown in FIGS. 1A and 1B, the moving body 1 of the present embodiment includes a main body 2, two drive wheels 3 arranged on the left and right sides of the main body 2, a motor 4 for driving the drive wheels 3, and the main body 2. A rotating brush 5 arranged at the lower part of the main body 2 and a filter 6 and a fan 7 arranged at the upper part of the main body 2 are provided.

The filter 6 is a fine filter such as a ULPA filter and a HEPA filter, and can collect fine particles such as viruses and bacteria in the filter portion in addition to dust and dirt.

The moving body 1 can move autonomously by two drive wheels 3 arranged on the left and right sides of the main body 2 as a means of transportation. Since the drive wheels 3 can freely travel, by driving the rotary brush 5 while traveling, fine particles such as dust and dirt adhering to a wide range of floors can be collected.

Further, as shown in FIG. 1B, the moving body 1 drives a fan 7 provided in the upper part of the main body to generate an air flow from the lower part of the main body to the upper part of the main body, sucks air from the outside of the main body, and presses the filter 6. The passed clean air can be discharged into the room. In addition, it is possible to wind up fine particles such as dust and dirt on the floor with the rotating brush 5 and put them on the air flow to suck them. Therefore, both the fine particles suspended in the air and the fine particles adhering to the floor surface can be collected by the filter 6.

That is, the moving body 1 of this embodiment can be used not only as a vacuum cleaner for sucking dust and dirt on the floor, but also as an air purifier for purifying the air in the room.

Although FIG. 1A shows an example in which two drive wheels 3 are arranged on the left and right sides of the main body 2, at least two drive wheels 3 may be used as means of transportation, and a plurality of drive wheels 3 may be provided on the left and right sides of the main body 2. The drive wheels 3 may be arranged.

Here, as shown in FIG. 1A, the moving body 1 of the present embodiment has a grounding surface 9 of two drive wheels 3 that touch the floor 8 when the moving body 1 moves, and a rotating brush 5 that touches the floor 8. The ground contact surface 10 of the above is configured to be located substantially in a straight line.

[Control configuration]
Next, the control configuration of the moving body 1 of this embodiment will be described with reference to FIG.

The moving body 1 of the present embodiment includes a communication unit 15 and a control unit 16 on a control board 11 mounted on the main body 2, and receives an instruction from a user in the communication unit 15 to control each function by the control unit 16. It is configured in. From the control unit 16, the rotating brush 5 and the fan 7 which are the dust collecting units 12, and the drive wheels 3 which are the drive units 13 can be controlled, and the information from the attitude sensor 14 which is the detection unit is transmitted to the control unit 16. Can be received.

The control unit 16 controls the two drive wheels 3 in a predetermined control cycle so that the main body 2 is always vertical to the floor surface based on the information from the posture sensor 14 when the moving body 1 moves. Then, the moving body 1 moves while maintaining the front-rear balance by the inverted pendulum control by the two drive wheels 3.

The posture sensor 14 uses a gyroscope that detects the tilt angle (posture), angular velocity, or angular acceleration of the main body 2.

Here, the instruction from the user may be given by the operation panel (not shown) provided on the main body 2, or may be received by wireless communication through other information devices such as a smartphone, a PC, and a server, and the instruction from the user may be given. In response to this, the moving body 1 operates.

The control unit 16 appropriately controls each function by receiving an instruction from the user via the communication unit 15 and receiving information from a detection unit such as the posture sensor 14. For example, it controls whether or not to drive the rotating brush 5 and the fan 7 which are the dust collecting units 12, how to control the driving wheels 3 which are the driving units 13, and how to move them.

Further, the control unit 16 can notify the user of the operation status and the detection result of the detection unit such as the posture sensor 14 via the communication unit 15. Regardless of the method of notifying the user, the communication unit 15 may transmit data to the cloud and the user may check the information with a browser, or the data may be directly transmitted from the communication unit 15 to a display device such as a smartphone. Is also good.

[Action effect]
Next, the action and effect of the moving body 1 of this embodiment will be described with reference to FIG.

As described above, the moving body 1 of the present embodiment has two drive wheels 3 in a predetermined control cycle so that the main body 2 is always vertical to the floor surface based on the information from the posture sensor 14 when moving. It is controlled and moves while maintaining the front-rear balance of the moving body 1 by the inverted pendulum control by the two drive wheels 3.

Further, the moving body 1 is configured such that the ground contact surface 9 of the two drive wheels 3 touching the floor 8 and the ground contact surface 10 of the rotating brush 5 touching the floor 8 are located substantially in a straight line when moving. Has been done.

As a result, as shown in FIG. 3, even when the moving body 1 (main body 2) is tilted forward or backward, autonomous traveling by the two drive wheels 3 can be continued without falling.

Also, since only the drive wheel 3, which has a larger diameter than the caster (driven wheel), touches the ground and moves, it is possible to smoothly get over the step and it is quiet.

Further, even if the main body 2 is tilted, the distance between the rotating brush 5 and the floor 8 does not change, so that the effective cleaning of the floor surface by the rotating brush 5 can be continued. Since the main body 2 is grounded to the floor surface by a "line" formed by the drive wheels 3 and the rotating brush 5, fine particles on the floor 8 can be efficiently collected.

The moving body of the second embodiment of the present invention and its control method will be described with reference to FIGS. 4A to 5.

4A and 4B are side views of the moving body 1 of the present embodiment, and show the state when the stand, which is the foot, is deployed and when the stand is retracted, respectively.

[Device configuration]
The apparatus configuration of the moving body 1 of this embodiment will be described with reference to FIGS. 4A and 4B. Since the main configurations of the robot vacuum cleaner such as the drive wheel 3, the rotary brush 5, and the filter 6 are the same as those in the first embodiment, the differences from the first embodiment will be mainly described below.

As shown in FIGS. 4A and 4B, the moving body 1 of the present embodiment includes a stand base 17 connected to the main body 2 and a stand drive motor 18 arranged on the stand base 17, in addition to the configuration of the first embodiment. And a stand 19 rotatably arranged with respect to the stand base 17 by the stand drive motor 18.

When the moving body 1 is stopped without autonomous movement, as shown in FIG. 4A, the stand 19 is deployed and grounded on the floor surface, and the moving body 1 is fixed on the floor 8. On the other hand, when the moving body 1 is autonomously moved, as shown in FIG. 4B, the stand 19 is flipped up and stored in the stand base 17.

[Control configuration]
The control configuration of the moving body 1 of this embodiment will be described with reference to FIG.

As shown in FIG. 5, the moving body 1 of this embodiment is configured so that the stand drive unit 20 can be controlled from the control unit 16 in addition to the configuration of the first embodiment (FIG. 2).

Based on the command from the control unit 16, the stand drive unit 20 is controlled to expand and retract the stand 19.

[Action effect]
As described above, the moving body 1 of the present embodiment includes a stand 19 that can be deployed and stowed, and when the moving body 1 is stopped without autonomous movement, the stand 19 is deployed to the floor. The moving body 1 can be fixed on the floor 8 by grounding the surface.

As described in the first embodiment, the moving body 1 is a vacuum cleaner that sucks dust and dirt on the floor, and at the same time, can be used as an air purifier that purifies the air in the room, so that the moving body 1 is autonomously moved. When only air cleaning is performed without cleaning, the stand 19 is lowered to achieve a stable form in order to save energy. Since the inverted pendulum is not controlled by the drive wheels 3, the power supply to the motor 4 that drives the drive wheels 3 can be stopped.

On the other hand, when the moving body 1 is autonomously moved and used as a robot vacuum cleaner, the stand 19 is flipped up and stored in the stand base 17, and the inverted pendulum is controlled by the drive wheels 3 to be the same as in the first embodiment. The effect can be obtained.

The moving body of the third embodiment of the present invention and its control method will be described with reference to FIGS. 6A to 6C.

6A to 6C are side views of the moving body 1 of the present embodiment, respectively, when the casters which are the feet are deployed, when one of the front and rear casters is driven, and when both the front and rear casters are driven. It shows the state of.

[Device configuration]
The apparatus configuration of the moving body 1 of this embodiment will be described with reference to FIGS. 6A to 6C. Since the main configurations of the robot vacuum cleaner such as the drive wheel 3, the rotary brush 5, and the filter 6 are the same as those in the first embodiment, the differences from the first embodiment will be mainly described below.

As shown in FIGS. 6A to 6C, the moving body 1 of this embodiment has a caster base 21 connected to the main body 2 and a caster drive motor 22 arranged on the caster base 21 in addition to the configuration of the first embodiment. And casters (driven wheels) 23 rotatably arranged with respect to the caster base 21 by the caster drive motor 22.

When the moving body 1 is stopped without autonomous movement, as shown in FIG. 6A, the caster (driving wheel) 23 is deployed and grounded on the floor surface to stabilize the moving body 1 with respect to the floor 8. To. On the other hand, when the moving body 1 is autonomously moved, the caster (driving wheel) 23 is flipped up and stored in the caster base 21. As shown in FIG. 6A, it is also possible to move with the caster (driving wheel) 23 lowered.

[Action effect]
As described above, the moving body 1 of the present embodiment includes a caster (driving wheel) 23 that can be deployed and stowed, and when the moving body 1 is stopped without autonomous movement, the caster (slave). The driving wheel) 23 can be deployed and grounded on the floor surface to make the moving body 1 stable with respect to the floor 8.

As described in the first embodiment, the moving body 1 is a vacuum cleaner that sucks dust and dirt on the floor, and at the same time, can be used as an air purifier that purifies the air in the room, so that the moving body 1 is autonomously moved. When only air cleaning is performed without cleaning, the caster (driving wheel) 23 is lowered to achieve a stable form in order to save energy. Since the inverted pendulum is not controlled by the drive wheels 3, the power supply to the motor 4 that drives the drive wheels 3 can be stopped.

On the other hand, when the moving body 1 is autonomously moved and used as a robot vacuum cleaner, the caster (driven wheel) 23 is flipped up and stored in the caster base 21, and the inverted pendulum is controlled by the drive wheel 3 in the embodiment. The same effect as in 1 can be obtained.

Further, as shown in FIGS. 6B and 6C, when a fall occurs from an inverted state due to an unexpected external force or the like, it is possible to return to the original posture by lowering the caster (driving wheel) 23.

The robot vacuum cleaner according to the fourth embodiment of the present invention and its control method will be described with reference to FIGS. 7 to 12B.

FIG. 7 is an external view (perspective view) of the robot vacuum cleaner of this embodiment, and FIG. 8 is an external view (perspective view) of the contents (robot vacuum cleaner main body) with the cover of the robot vacuum cleaner of FIG. 7 removed. Is. FIG. 9 is a perspective view (bottom view) of FIG. 8 as viewed from below. FIG. 10 is a view taken along the line BB'of FIG. 8 (side view). FIG. 11 is a cross-sectional view of FIG. 12A and 12B are arrow views (front view) in the CC'direction of FIG. 8, and show the state when the casters are retracted and when the casters are deployed, respectively.

In this embodiment, a case where the moving body 1 described in the first to third embodiments is mounted on an actual robot vacuum cleaner will be described.

As shown in FIG. 7, the robot vacuum cleaner 24 of this embodiment is configured such that the moving body 1 described in any one of Examples 1 to 3 is covered with a cover including a housing 25. The robot vacuum cleaner 24 cleans the floor surface while autonomously traveling in the room by the drive wheels 3 exposed from the cover.

The robot vacuum cleaner 24 is provided with a distance sensor 27 on the side surface (front surface), and the surrounding situation can be grasped by the distance sensor 27. Therefore, for example, a function of incorporating the information of the distance sensor 27 into the control board 11 and estimating the self-position. By providing the above, it is possible to control the drive wheels 3 and appropriately move to the destination.

In this embodiment, an example provided with the distance sensor 27 is shown, but any type of sensor can be used as long as it is a sensor that detects the surrounding environment, a contact sensor that detects contact, and a floor sensor that detects the floor surface. , An image sensor that detects an image, a motion sensor that detects a person, a dust sensor that detects the amount of fine particles, or any other sensor may be mounted.

Further, FIG. 7 shows a state in which the housing 25 that also functions as the lid of the exhaust port 31 is raised and the exhaust port 31 is opened (formed). By raising the housing 25 to open (form) the exhaust port 31, clean air that has passed through the filter 6 can be discharged into the room from the exhaust port 31. That is, the housing (cover portion) 25 is provided so as to be movable up and down, and when it rises, the exhaust port is opened (formed) in the upper part of the main body.

The contents (robot vacuum cleaner main body 26) from which the cover of the robot vacuum cleaner 24 has been removed will be described with reference to FIGS. 8 and 9.

As described in Examples 1 to 3, two drive wheels 3 are arranged on the left and right sides of the main body 2 (robot vacuum cleaner main body 26).

Further, as shown in FIG. 9, a rotating brush 5 is arranged between the two drive wheels 3, and the ground contact surface 9 of the two drive wheels 3 that touches the floor 8 when the robot vacuum cleaner 24 moves. And the grounding surface 10 of the rotating brush 5 that touches the floor 8 are configured to be positioned substantially in a straight line.

The air purifying function described in the first embodiment will be described with reference to FIGS. 10 and 11.

As shown in FIG. 11, the robot vacuum cleaner 24 of the present embodiment includes a filter 6 for purifying the passing air and an air intake port provided on the side surface of the robot vacuum cleaner main body 26 facing the rotating brush 5. By driving the fan 7, an air flow is generated from the lower part of the main body to the upper part of the main body, and the air sucked from the intake port is purified by the filter 6 and discharged into the room.

It is desirable that the rotation shaft of the drive wheel 3 and the rotation shaft of the rotation brush 5 and the rotation shaft of the fan motor 28 are located on substantially the same plane. This is to facilitate the balance of the robot vacuum cleaner main body 26 when the robot vacuum cleaner 24 is moved by the inverted pendulum control.

The operation of the caster (driving wheel) 23 will be described with reference to FIGS. 12A and 12B. The caster (driving wheel) 23 is provided so as to be movable up and down by the caster elevating motor 29, and can be stored and deployed with respect to the robot vacuum cleaner main body 26.

Therefore, as described with reference to FIG. 7, the housing 25 (cover portion) is raised to open (form) the exhaust port 31, and the casters (driving wheels) are interlocked with the raising of the housing 25 (cover portion). It is also possible to raise the 23 and control it so as to move away from the floor surface.

By installing an ultraviolet irradiation device on the robot vacuum cleaner body 26, fine particles such as dust and dirt collected on the filter 6, viruses, and bacteria can be irradiated with ultraviolet rays to inactivate or sterilize them. It is also possible to configure.

Further, the present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above examples have been described in detail to aid in understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.

1 ... Moving body, 2 ... Main body, 3 ... Drive wheel, 4 ... Motor, 5 ... Rotating brush, 6 ... Filter, 7 ... Fan, 8 ... Floor, 9 ... Ground surface (of drive wheel 3), 10 ... (Rotation) (Brush 5) Ground plane, 11 ... Control board, 12 ... Dust collection unit, 13 ... Drive unit, 14 ... Attitude sensor, 15 ... Communication unit, 16 ... Control unit, 17 ... Stand base, 18 ... Stand drive motor, 19 ... stand, 20 ... stand drive unit, 21 ... caster base, 22 ... caster drive motor, 23 ... caster (driven wheel), 24 ... robot vacuum cleaner, 25 ... housing, 26 ... robot vacuum cleaner body, 27 ... distance sensor , 28 ... fan motor, 29 ... caster lift motor, 30 ... obstacle, 31 ... exhaust port.

Claims

It is a moving body that cleans the floor while autonomously traveling indoors.
At least two drive wheels and
The motor that drives the drive wheels and
With a rotating brush,
A moving body characterized in that, when the moving body moves, the grounding surfaces of the two drive wheels that touch the floor and the grounding surface of the rotating brush that touches the floor are located substantially in a straight line.
The moving body according to claim 1.
With the fan that is the dust collector
A fan motor for driving the fan is provided.
A moving body characterized in that the rotation axis of the drive wheel, the rotation axis of the rotation brush, and the rotation axis of the fan motor are located on substantially the same plane.
The moving body according to claim 1 or 2.
A posture sensor that detects the posture of the main body and
A control unit that controls the posture of the main body is provided.
The control unit is a moving body that controls the drive wheels at a predetermined control cycle so that the main body is vertical to the floor surface based on the information from the posture sensor.
The moving body according to any one of claims 1 to 3.
Equipped with a foot that can be moved up and down,
When the moving body is moving, the foot is separated from the floor surface,
A moving body characterized in that when the moving body is stopped, the foot portion touches the floor surface.
The moving body according to claim 4.
The foot is a moving body characterized by being a stand or a caster.
The moving body according to claim 3.
With a foot that can be moved up and down,
It is provided with a lid that can be moved up and down and rises to form an exhaust port on the upper part of the main body.
When the moving body is moving, the lid portion rises to form the exhaust port, and the foot portion rises in conjunction with the lid portion to separate from the floor surface. ..
The moving body according to claim 2.
A filter that purifies the air that has passed through
It is provided with an air intake port provided on the side surface of the main body facing the rotating brush.
A moving body having an air purifying function of generating an air flow from the lower part of the main body to the upper part of the main body by driving the fan, purifying the air sucked from the intake port with the filter, and discharging the air into the room.
It is a control method for moving objects that clean the floor while autonomously traveling indoors.
A method for controlling a moving body, which comprises controlling two drive wheels in a predetermined control cycle so that the main body is vertical to the floor surface based on information from an attitude sensor when the moving body is moving.
The method for controlling a moving body according to claim 8.
When the moving body is moving, it is grounded to the floor only by the two driving wheels and the rotating brush arranged between them.
A method for controlling a moving body, which comprises moving while maintaining the front-rear balance of the moving body by controlling an inverted pendulum by the two driving wheels.
The method for controlling a moving body according to claim 9.
A method for controlling a moving body, characterized in that, when the moving body moves, the grounding surfaces of the two drive wheels that touch the floor and the grounding surface of the rotating brush that touches the floor are located substantially in a straight line. ..