JP3094547B2 - Step detecting device for self-propelled vacuum cleaner - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a step detecting device for a self-propelled vacuum cleaner.

[0002]

2. Description of the Related Art The structure of a conventional step detecting device for a self-propelled vacuum cleaner will be described with reference to FIG.

In FIG. 1, reference numeral 10 denotes a main body of a vacuum cleaner, in which an electric motor blower 11, a dust collecting unit 12, a secondary battery 13, a control circuit 14 and the like are provided, and a traveling roller 15 and a caster 1 are provided on the lower surface.
6 and a floor nozzle 17. An ultrasonic sensor 18 for measuring a distance from a floor surface is provided on a bottom surface of a front portion of the main body 10.

[0004]

In the conventional ultrasonic sensor 18 for detecting a step, the timing of detecting a step in front is when the front portion of the main body 10 is located directly above the step. Therefore, when the traveling speed is high, the distance between the ultrasonic sensor 18 and the casters 16 is short, so that even if the brake is applied at the time of detection, it is not enough to hit the step. Also, if the front is not a step but a stair, there is a risk that the vacuum cleaner itself may fall. In particular, there is a problem that the danger increases as the vacuum cleaner becomes smaller.

An object of the present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a step detecting device for a self-propelled vacuum cleaner capable of performing a safe and smooth cleaning operation.

[0006]

According to the present invention, in order to achieve the above object, the present invention is provided on a cleaner main body, and is arranged so as to move forward.
A light source for irradiating a vertical slit-shaped light that spreads out;
The above-mentioned slit shape is provided on the cleaner body located above the source.
A detecting device for detecting reflected light of the light, wherein the detecting device
Then, the presence or absence of the discontinuity of the reflected light is detected to detect the presence or absence of a step in the traveling direction.

[0007]

As DETAILED DESCRIPTION OF THE INVENTION The present invention described above, by the presence or absence of discontinuity of the reflected light of the vertical slit-shaped light was to detect the presence or absence of the step of detecting and traveling direction detecting device, the traveling direction of the The step can be detected with a margin in the braking distance.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIG.

As shown in the figure, an electric blower 2 and a rechargeable battery 3 are provided inside a cleaner body 1, and a driving wheel 4, a caster 5, and a floor nozzle 6 are provided below. . The light source 7 for irradiating the longitudinal slit-like light to the front is disposed on the front face, a vertical slit above the light source 7
Detecting the presence or absence of discontinuity of the reflected light shaped for light and sensing device
The camera 8 is disposed Te. Reference numeral 9 denotes a control unit that determines the presence or absence of a step based on the discontinuity detected by the camera 8, calculates the distance to the step, and controls the speed of the main body 1 in accordance with the calculated distance.

In the above configuration, when there is a stair in front, when the reflected light of the vertical slit light emitted from the light source 7 is viewed by the camera 8, the reflected light is projected on the floor A in front of the stair and on the wall B in back of the stair. Discontinuity C between vertical slit- shaped light
Appears. Then, when this discontinuous portion C is detected, it is determined that there is a stair, and when it is not detected, it is determined that there is no stair. Also, as the cleaner body 1 approaches the wall B (stairs),
Since the continuous portion C becomes large, this phenomenon is used to decelerate as approaching the stairs, and stop or change direction before the stairs.

Although the above operation has been described for the case where there is a staircase in front, the operation for a mere step is also the same. In this case, the impact due to the step is prevented by decelerating.

[0012]

As is clear from the above description of the embodiment, according to the present invention, the vertical swath which expands toward the front is obtained.
A light source that emits lit light, and a light source positioned above the light source.
A detecting device for detecting the reflected light of the slit-shaped light.
The detection device detects the presence or absence of the discontinuity of the reflected light to detect the presence or absence of a step in the traveling direction, so that the step in the traveling direction of the cleaner body can be detected quickly, so that there is no step. Cleans at a higher speed, and when the step is in the direction of travel, performs smooth and decelerate cleaning at an appropriate speed, preventing falling off the stairs, and performing safe and efficient cleaning work A level difference detection device for a self-propelled vacuum cleaner can be provided.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a step detecting device of a self-propelled vacuum cleaner according to an embodiment of the present invention.

FIG. 2 is a configuration diagram of a conventional step detecting device of a self-propelled vacuum cleaner.

[Explanation of symbols]

 1 Vacuum cleaner body 7 Light source of slit light 8 Camera C Discontinuous part

Claims (2)

(57) [Claims] Claims: 1. A cleaner disposed on a main body of a vacuum cleaner , and
A light source for irradiating a vertical slit-like light that spreads,
The slit provided above the light source and provided in the cleaner body.
A detecting device for detecting reflected light of the shape of light, wherein the detecting device
Step detecting apparatus of the self-propelled vacuum cleaner for detecting the presence or absence of a step in the traveling direction by detecting the presence or absence of discontinuity of the reflected light at location. 2. A discontinuous portion of reflected light detected by a detecting device.
The step detecting device for a self-propelled vacuum cleaner according to claim 1 , wherein the self-propelled speed is reduced as the size of the self-propelled vacuum cleaner is increased .