JP3339185B2 - Mobile work robot - Google Patents

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 having a self-propelled function in a main body and automatically performing operations such as floor cleaning and floor finishing.

[0002]

2. Description of the Related Art In recent years, mobile work robots have been developed which add a self-propelled function to work equipment such as a vacuum cleaner and a floor cleaning machine, and which are equipped with a microcomputer and various sensors to automate work. Have been.

[0003] For example, a floor cleaning robot has a working device such as an electric blower or a floor nozzle in its main body, has a running wheel including a driving wheel and a driven wheel driven by a running motor as a running function, and has an obstacle during running. It is provided with an obstacle detecting means for detecting an object and a position recognizing means for recognizing a running position, and cleans a floor surface while traveling by itself.

[0004] In such a mobile work robot, if there is a large recessed step such as a staircase or a sill in the self-propelled area, there is a danger of the body falling over or falling down. Means are required. For example, as a conventional step detecting means, a detector having a roller or a brush attached to a lower end is provided on a main body so as to be vertically movable, and the vertical movement of the detector is detected by a limit switch or the like. The step detecting means is provided in front of the main body traveling direction, and when the roller or the brush falls into the concave step in front of the main body during traveling, the limit switch is operated to detect the concave step.

[0005]

However, in such a mobile work robot provided with such a conventional step detecting means, the front of the main body tends to be lifted when the main body rides on a slightly convex portion of the floor during traveling. As a result, the detector will operate and the limit switch will operate and stop, and when moving between places before or after work, the step detecting means will catch on the floor and easily break down. There was a problem.

Further, since such a step detecting means must be disposed at a position at least a certain distance from the traveling wheel due to the stop distance after the detection, the provision of the step makes the body length longer than necessary. There was a case.

The present invention solves the above-mentioned conventional problems. Even if there is no step detecting means which causes such malfunctions and failures, and causes the body length to increase, the main body of the main body can be recessed during traveling. It is a primary object of the present invention to provide a mobile work robot capable of stopping without falling down.

In addition to the first object, a second object is to provide a mobile work robot which can stop without falling down to the recessed step even in a state where the traveling floor surface easily slides.

[0009] Similarly, in addition to the first object, a third object is to provide a mobile work robot capable of stopping without falling down to a recessed step even when the traveling floor has an inclination or unevenness.

It is a fourth object of the present invention to provide a mobile work robot which can stop more reliably without falling down to the concave step, does not damage the traveling floor surface at the time of stop, and has less impact on the main body.

It is a fifth object of the present invention to provide a mobile work robot with higher safety by stopping the traveling motor at the same time when the vehicle stops without falling down to the concave step.

In addition to the fifth object, the present invention provides a mobile work robot having a floor nozzle, which can stop a traveling motor with a simpler configuration when stopped without falling down to a concave step. It has a sixth purpose.

[0013]

According to a first aspect of the present invention, there is provided a vehicle having three or more running wheels including a driving wheel driven by a running motor. A flat surface that is located inside the ground point of all running wheels and that is located on the side of the center of gravity near the outer periphery of the running wheels and lower than the center of rotation of the running wheels and that faces the running surface and spans substantially the entire width of the body <br> A contact member having a surface portion is provided.

A second means of the present invention for achieving the second object is that, in addition to the first means, the present invention is arranged near the running wheels.
The running wheel side of the flat part of the contact member faces upward from the horizontal
It is those provided to be inclined.

According to a third means of the present invention for achieving the third object, in addition to the first means, the contact member is rotatable about a rotation axis parallel to the rotation axis of the running wheel. It is a mobile work robot provided.

A fourth means of the present invention for achieving the fourth object is, in addition to the first means, the second means or the third means, a flat portion opposed to the running surface of the contact member. And a projection made of a different material.

According to a fifth aspect of the present invention, a fifth object of the present invention, in addition to the first means, the second means or the third means, is a contact member, A switch means is provided which operates when a plane portion facing the surface comes into contact with the running surface.

A sixth means of the present invention for achieving the sixth object is, in addition to the first means, the second means or the third means, a floor mounted on the main body so as to be vertically movable. It is provided with a nozzle and a switch means that operates when the floor nozzle moves below a predetermined position during traveling.

[0019]

In the mobile work robot according to the first aspect of the present invention, when the main body approaches the recessed step and the running wheel comes off during running, the center of gravity remains on the running surface side and the flat portion of the contact member is moved to the running surface. As a result, the running of the main body is stopped in contact with the main body, so that the main body can be stopped without falling down to the concave step.

According to the second means of the present invention, when the main body approaches the recessed step and the running wheel comes off during running, the center of gravity remains on the running surface side and the flat portion of the contact member contacts the running surface. Stopping the running of the main body by contact is the same as that of the first means, but in front of the flat portion of the contact member disposed near the running wheel.
Since the running wheel side is inclined upward from the horizontal direction, the flat part of the abutment member abuts more parallel to the running surface when the running wheel is released, so even if the running floor surface is easy to slip, it is reliable. It can be stopped without falling down to the concave step.

According to the third means of the present invention, when the main body approaches the recessed step during running and the running wheel comes off, the center of gravity remains on the running surface side and the flat portion of the contact member contacts the running surface. Stopping the running of the main body by contacting is the same as in the first means, but since the contact member is provided rotatably with respect to a rotation axis parallel to the rotation axis of the traveling wheel, the traveling wheel Regardless of the size of the body angle with respect to the running surface when the wheel is released, the flat part of the contact member always contacts the running surface in parallel, so even if the running floor surface is inclined or uneven, it will fall down to the recessed step. It can be stopped without having to.

According to the fourth aspect of the present invention, when the main body approaches the recessed step during running and the running wheel comes off, the center of gravity remains on the running surface side and another material provided on the flat portion of the contact member The protruding body comes into contact with the running surface to stop the running of the main body. By forming the protruding body with a soft material such as rubber, the frictional force with the running surface increases, so that the main body can be stopped more. As a result, the running surface is not damaged when the vehicle stops, and the impact on the main body is reduced.

Further, according to the fifth aspect of the present invention, when the main body approaches the recessed step and the running wheel comes off during running, the center of gravity remains on the running surface side and the flat portion of the contact member is moved to the running surface. Stopping the running of the main body by contacting the contact member is the same as the above-described means, but the contact member is provided with a switch means that operates when the flat portion facing the traveling surface of the contact member contacts the traveling surface. Thus, when the traveling wheel is released, the switch means operates to stop the traveling motor, so that idling of the driving wheel can be prevented.

According to the sixth aspect of the present invention, when the main body approaches the recessed step during running and the running wheel comes off,
It is the same as the above-mentioned means that the center of gravity remains on the running surface and the flat part of the contact member contacts the running surface to stop the running of the main body, but the main body can move up and down when the running wheel comes off. Since the floor nozzle attached to the vehicle moves downward from a predetermined position and the switch means operates to stop the traveling motor, idling of the drive wheels can be prevented, and there is no need to provide a plurality of switch means. This is an easy configuration.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (Embodiment 1) Hereinafter, an embodiment according to the first means of the present invention will be described with reference to the accompanying drawings, taking a floor cleaning robot as an example.

FIGS. 1 and 2 show the overall configuration of the floor cleaning robot of this embodiment. In the figure, reference numeral 1 denotes a main body of a floor cleaning robot, and 2 denotes left and right driving wheels provided in front of the main body 1, which are independently driven by a traveling motor 3 on the left and right sides. Reference numeral 4 denotes a follower wheel composed of a free caster rotatably provided behind the main body 1. The left and right driving wheels 2 and the driven wheels 4 constitute three traveling wheels as shown in the bottom view of FIG. Reference numeral 5 denotes an electric blower, 6 denotes a dust collection chamber, and 7 denotes a filter formed of a paper bag provided therein. Reference numeral 8 denotes a floor nozzle provided in front of the bottom of the main body 1 and has a rotary agitator 9 for scraping dust on the floor surface. The floor nozzle 8 is connected to the dust collecting chamber 6 via a telescopic hose 11 including a connecting pipe 10 and a bellows hose,
The dust on the floor is sucked by the electric blower 5 and collected in the filter 7. Reference numeral 12 denotes a floor nozzle suspension lever, which is rotatably supported by a lever rotation shaft 13, whereby the floor nozzle 8 is attached to the main body 1 so as to be vertically movable.
The electric blower 5, the dust collecting chamber 6, the filter 7, the floor nozzle 8, the connection pipe 10, and the telescopic hose 11 constitute a working device for performing a dust collecting operation.

Numeral 14 denotes switch means such as a limit switch attached to the floor nozzle suspension lever 12 and connected thereto. The switch means 14 operates when the floor nozzle 8 moves downward from a predetermined position, and controls the left and right traveling motors 3. Stop. Reference numeral 15 denotes a distance measuring sensor including an ultrasonic sensor and the like provided around the main body 1, and an obstacle detecting device that detects an obstacle by measuring a distance to an object located in front of, right, left, and right of, and behind the main body 1. Is composed. Reference numeral 16 denotes a bumper made of an elastic body attached around the main body 1. Reference numeral 17 denotes a travel control device for controlling the travel of the main body 1, which controls the travel motor 3 based on data from position recognition means (not shown) such as a gyro, an obstacle detection device, etc. Controls actions such as reversing, turning, and stopping. Reference numeral 18 denotes an operation unit for operating the main body 1 through an operation panel 19 provided with various switches and an indicator such as an LED and a buzzer.

Reference numeral 20 denotes a main body handle which is used for manual cleaning or movement between locations. Reference numeral 21 denotes a power supply including a storage battery or the like for supplying power to the whole. Point G indicates the true center of gravity of the entire floor cleaning robot (the arrow a indicates the main body 1).
, The main body is arranged such that the weight point on the running surface A is substantially at the center between the ground point P of the drive wheel 2 and the ground point Q of the driven wheel 4. Reference numeral 22 denotes a contact member provided on the main body weight G side near the outer periphery of the drive wheel 2 and has a flat portion 23 opposed to the running surface A at a position lower than the radius of the drive wheel 2. The abutment member 22 has a single beam configuration across the entire width of the bogie unit 1 of the main body 1 behind the left and right drive wheels 2. Reference numeral 24 denotes contact members provided near the outer periphery of the driven wheel 4 on the side of the center of gravity G and on the left and right sides, and has a flat portion 25 opposed to the running surface A at a position lower than the radius of the driven wheel 4.

The floor cleaning robot has several operation modes. For example, when the main body 1 is placed at a right angle to the reference wall of the cleaning area and the start button on the operation panel 19 is pressed, the electric blower 5 is activated. It operates and starts straight ahead. During traveling, the distance to the surrounding obstacle is always measured by the distance measuring sensor 15 while the dust collecting work is performed by the working device, and the traveling distance is measured by the position recognition means. When the main body 1 approaches the front wall by a predetermined distance, it temporarily stops, swings the main body angle by a predetermined angle, changes its direction, and then travels straight back. While the vehicle is moving backward and straight ahead, the previously measured forward distance is set as the target distance, and the vehicle stops when the travel distance measured by the position recognition means becomes equal to this. At this time, if there is an obstacle before reaching the target traveling distance, the vehicle stops so as not to collide with the obstacle. After the stop, the main body angle is changed again to change the direction, and the vehicle starts to move straight forward.
In the same manner, the traveling surface A is cleaned while traveling the entire cleaning area while repeating the same operation, such as temporarily stopping and then changing direction and moving backward and then temporarily stopping and then changing direction and moving forward.

The operation of the first means of the present invention in the floor cleaning robot configured as described above will be described with reference to FIG.

When the main body 1 approaches a step B such as a stair while traveling forward on the running surface A, the floor nozzle 8 first jumps out of the step B, and then the left and right driving wheels 2 come off. ). Even if the driving wheel 2 is removed, the flat portion 23 of the contact member 22 provided in the vicinity of the rear of the driving wheel 2 abuts on the traveling surface A, and the real center of gravity G remains on the traveling surface A. Is forcibly stopped by the friction between the flat portion 23 and the running surface A, and at the same time, the main body 1 does not fall to the step B because the flat portion 23 and the driven wheel 4 support the running on the running surface A.

The contact member 22 is connected to the left and right traveling motors 3.
And attached below the floor nozzle suspension lever 12,
Since these components are covered, the traveling motor 3 and the floor nozzle suspension lever 12 also serve as a guard cover for preventing the traveling motor A and the floor nozzle suspension lever 12 from damaging or damaging the traveling surface A when the driving wheel 2 is released. I have.

Similarly, when the main body 1 approaches a step C such as a stair while the vehicle 1 is traveling backward on the traveling surface A, the rear follower wheel 4 comes off, and
The state shown in FIG. When the driven wheel 4 comes off, the flat portion 2 of the contact member 24 provided near the front of the driven wheel 4
5 is in contact with the running surface A and the body weight G also remains on the running surface A, so that the main body 1 is forcibly stopped running by friction between the flat portion 25 and the running surface A, and The main body 1 does not fall down to the step C because it is supported on the running surface A by the drive wheels 25 and the drive wheels 2.

During the direction change, the main body 1 rotates about the left and right drive wheels 2 and swings the driven wheel 4 so that the driven wheel 4 faces sideways. Even if the follower wheel 4 comes off, the main body 1 does not fall down to the step as described above because the contact members 24 are also provided on the left and right sides of the follower wheel 4.

As described above, even if there is a recessed step on the running surface of the main body 1 and the running wheel comes off, the running of the main body 1 is forcibly stopped and is always supported on the running surface. However, there is no danger of falling on a step.

(Embodiment 2) Next, an embodiment according to the second means of the present invention will be described.

FIG. 4 is a side sectional view of the floor cleaning robot in the above embodiment, which differs from the embodiment of the first means only in the configuration of the contact members 22 and 24. That is, as shown in the figure, the flat portion 26 of the contact member 22 is provided to be inclined toward the drive wheel 2 by an angle α from the horizontal plane. Touch Therefore, while the main body 1 is traveling forward on the traveling surface A, a step B such as a stair
When the driving wheel 2 comes off, the running surface A is in contact with the flat surface 26 and the running surface A in a wide area even if the running surface A is made of a hard material or easily slippery, so that the frictional force increases. ,
Since the traveling is more reliably stopped, the main body 1 does not fall to the step B.

Further, the flat portion 27 of the contact member 24 is provided so as to be inclined toward the driven wheel 4 from the horizontal plane, so that the flat portion 27 comes into contact with the running surface A in parallel when the driven wheel 4 is removed. Accordingly, even when the running surface A is in a state of being made of a hard material or slippery when the follower wheel 4 is removed, the running of the main body 1 is reliably stopped, and the main body 1 does not fall down to the step.

(Embodiment 3) Next, an embodiment according to the third means of the present invention will be described.

FIG. 5 is a side sectional view of the floor cleaning robot in the above embodiment, which differs from the embodiment according to the first means only in the configuration of the contact members 22 and 24. That is, a movable body 29 having a flat portion 28 is attached to the contact member 22 so as to be rotatable about a rotation axis 30 parallel to the rotation axis of the drive wheel 2. A movable body 32 having a flat portion 31 is attached to the contact member 24 so as to be rotatable about a rotation shaft 33 parallel to the rotation axis of the driven wheel 4.

For example, when the main body 1 approaches the step B such as a stair while traveling forward on the running surface A and the drive wheel 2 comes off, the state shown in the figure is reached, and the movable body 29 of the contact member 22 runs when the wheel is released. The plane portion 28 rotates in accordance with the inclination of the surface A, and the plane portion 28 always comes into contact with the traveling surface A in parallel. Therefore, the main body 1 is
And the traveling surface A contact with a large area, so that traveling is reliably stopped and the vehicle does not fall to the step B.

Similarly, when the trailing wheel 4 is released during reverse running, the movable body 32 of the contact member 24 is rotated in accordance with the inclination of the running surface A, and the flat portion 31 is always parallel to the running surface A. In contact with the main body 1, the running of the main body 1 is reliably stopped, and the main body 1 can be prevented from falling.

As described above, even when the running wheels of the main body 1 are derailed and the running surface has unevenness or inclination, the running of the main body 1 is forcibly stopped, so that there is no danger of falling on a step.

(Embodiment 4) Next, an embodiment according to the fourth means of the present invention will be described.

FIG. 6 is a bottom view of the floor cleaning robot in the above embodiment, and shows the contact member 22 of the embodiment according to the first means.
And 24 are provided with projections 34, 35 and 36 made of another material having a large friction coefficient such as rubber or resin material and having elasticity. One protrusion 34 is provided at each of the width center positions of the left and right driving wheels 2, and the protrusion 35 is formed at the center of the width of the driven wheel 4 (center of the main body).
One at the position and one protrusion 36 are attached to each of the left and right sides of the driven wheel 4.

FIG. 7 shows an operation example in the case where the main body 1 approaches the step B such as a stair while traveling forward on the running surface A, in which the left and right drive wheels 2 are separated from the step B. When the drive wheel 2 is released, first, the projection 34 provided on the contact member 22 behind the drive wheel 2 comes into contact with the running surface A, and the main body 1 is reliably driven by the deformation of the projection 34 and a large frictional force. The vehicle is stopped and does not fall to the step B. Further, the running surface A is not damaged by the elastic force of the projection 34 when the wheel is released, and the main body 1 is not damaged.
The impact on

Similarly, when the driven wheel 4 is released during reverse running, the projection 35 of the contact member 24 comes into contact with the running surface A,
The main body 1 is reliably stopped running, can be prevented from falling down, and does not damage the running surface A at the time of derailing.
There is little shock to. Further, even if the follower wheel 4 comes off the step on the running surface A during the direction change, the left and right side protrusions 36 of the follower wheel 4 operate in the same manner as described above, and the same effect is obtained.

(Embodiment 5) Next, an embodiment according to the fifth means of the present invention will be described.

FIG. 8 is a bottom view of the floor cleaning robot in the above embodiment, which differs from the first embodiment in the following points. That is, two driven wheels 4 are provided on the left and right rear of the main body 1, and four running wheels are provided, and the contact member 24 is a T-shaped beam configuration provided near the front of the left and right driven wheels 4 and on the left and right sides. It has become. In addition, the contact members 22 and 24 are provided with switch means 37, 38, 39 comprising limit switches.
And the respective switch actuators 37 ', 3'
8 ′ and 39 ′ are provided so as to protrude from the flat portion 23 of the contact member 22 and the flat portion 25 of the contact member 24. One switch means 37 is provided at each of the width center positions of the left and right drive wheels 2, one switch means 38 is provided at the lateral center position of the left and right driven wheels 4, and a switch means 39 is provided at the left and right driven wheels 4.
Each is attached to the width center position of each. In addition, all the switch means 37, 38, and 39 correspond to the travel control device 1
7, and when any of them operates, the left and right traveling motors 3 are stopped.

FIG. 9 shows an example of the operation when the main body 1 approaches the step C such as a staircase while the vehicle 1 is traveling backward on the running surface A, in which the left and right driven wheels 4 are separated from the step C. When the driven wheel 4 comes off, first, the switch actuator 39 'of the switch means 39 provided on the contact member 24 in front of the driven wheel 4 causes the running surface A
After the switch means 39 is actuated by contact with the contact member 24, the flat portion 25 of the contact member 24 contacts the traveling surface A. At this time, similarly to the embodiment according to the first means, the main body 1 is forcibly stopped running due to friction between the flat surface portion 25 and the running surface A, and is stopped on the running surface A by the flat surface portion 25 and the driving wheels 2. The main body 1 does not fall down to the step C because of the support of the main body 1 and the traveling motor 3 is stopped by operating the switch means 39, so that the driving wheels 2 run idle and rub on the traveling surface A. Does not suddenly start moving.

Similarly, when the drive wheel 2 is released during forward running, the switch actuator 37 'of the switch means 37 provided on the contact member 22 behind the drive wheel 2 first comes into contact with the running surface A. After the switch means 37 is operated, the flat portion 23 of the contact member 22 comes into contact with the traveling surface A, and the main body 1 does not fall down to a step. The actuation of the switch means 37 stops the traveling motor 3. So drive wheel 2
However, there is no adverse effect of idling. Furthermore, when the wheel 4 is disengaged from the step on the running surface A during the direction change, the switch means 38 provided on the abutting member 24 is operated, and operates in the same manner as described above to obtain the same effect. .

In the above-described embodiment, the actuator of the limit switch is configured to protrude from the contact member as the switch means. However, for example, the limit switch is operated by moving the entire contact member, or the limit switch is used instead of the limit switch. Needless to say, the same effect can be obtained by using another switch such as a contact switch.

Next, an embodiment according to the sixth means of the present invention will be described with reference to FIG.

As described above, the floor nozzle 8 is attached to the main body 1 so as to be movable up and down. When the floor nozzle 8 moves downward from a predetermined position, the switch means 14 is operated to stop the left and right traveling motors 3. It has become. Accordingly, as shown in FIG. 3 (a), when the main wheel 1 approaches the step B such as a stair while the main body 1 moves forward on the running surface A and the drive wheel 2 comes off, the floor nozzle 8 moves in the direction of arrow b. The switch means 14 is operated to stop the left and right traveling motors 3.

Further, as shown in FIG. 3 (b), when the main body 1 approaches the step C such as the stairs while traveling backward on the running surface A,
Also, when the main wheel 1 is removed, the horizontal angle of the main body 1 is changed by the de-wheeling of the follower wheel 4 and the front is lifted.
Moves downward relative to. Therefore, also in this case, the switch means 14 is operated, and the left and right traveling motors 3 are driven.
Stops.

As described above, even if one of the driving wheels 2 or the driven wheels 4 is released by one switch means 14,
This operates to stop the traveling motor 3 and prevent the driving wheels 2 from idling.

[0057]

As described above, according to the first means of the present invention, when the main body approaches the concave step during running and the running wheel comes off, the center of gravity remains on the running surface side and the flat surface of the contact member. As the part comes into contact with the running surface and stops running of the main body,
It can be stopped without falling down to the recessed step, and the fall of the body can be prevented without the conventional step difference detection means, so there are few malfunctions and breakdowns during traveling, and the body length needs to be longer than necessary. This makes it possible to realize a mobile work robot which is no longer necessary and inexpensive.

According to the second means of the present invention, in addition to the effect of the first means, the flat surface of the contact member abuts more parallel to the running surface when the running wheel is released, so that the running surface is reduced. It is possible to realize a mobile robot with higher safety that can be stopped without falling down to the recess step even in a state in which it is easy to slip.

According to the third means of the present invention, in addition to the effect of the first means, the flat portion of the abutting member has a flat surface regardless of the size of the body angle with respect to the running surface when the running wheel comes off. Since the robot always contacts the traveling surface in parallel, even if the traveling floor surface has an inclination or unevenness, it is possible to realize a more secure mobile work robot capable of stopping without falling down to the concave step.

Further, according to the fourth means of the present invention, in addition to the effect of the first means, by providing a projection made of a different material on the flat portion of the contact member, friction with the running surface is improved. The mobile work robot can be realized in which the force is increased, the stopping of the main body is more reliable, and the safety is improved, and the running surface is not damaged at the time of stopping and the impact on the main body is small.

Further, according to the fifth means of the present invention, in addition to the effect of the first means, the running motor is stopped when the running wheel comes off and the idling of the drive wheel can be prevented, so that the safety can be further improved. An excellent mobile work robot can be realized.

Further, according to the sixth means of the present invention, in addition to the effect of the first means, the floor nozzle mounted on the main body so as to be movable up and down when the running wheel comes off is lower than a predetermined position. Since the traveling motor is moved in the direction and the switch means is operated to stop the traveling motor, idling of the driving wheels can be prevented, and a mobile work robot having a simpler configuration without providing a plurality of switch means can be realized. .

[Brief description of the drawings]

FIG. 1 is a side sectional view of a floor cleaning robot showing an embodiment according to a first means of the present invention.

FIG. 2 is a bottom view of the floor cleaning robot of the embodiment.

FIG. 3 is an explanatory view of the operation of the floor cleaning robot of the embodiment.

FIG. 4 is a side sectional view of a floor cleaning robot according to a second embodiment.

FIG. 5 is a side sectional view of a floor cleaning robot according to a third embodiment.

FIG. 6 is a bottom view of a floor cleaning robot according to a fourth embodiment.

FIG. 7 is an explanatory diagram of the operation of the floor cleaning robot of the embodiment.

FIG. 8 is a bottom view of a floor cleaning robot according to a fifth embodiment.

FIG. 9 is an explanatory diagram of an operation of the floor cleaning robot of the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 2 Drive wheel 3 Traveling motor 4 Follower wheel 5 Electric blower 6 Dust collection chamber 7 Filter 8 Floor nozzle 10 Connection pipe 11 Telescopic hose 12 Floor nozzle suspension lever 14 Switch means 17 Travel control device 22, 24 Contact member 23, 25, 26, 27, 28, 31 Planar part 29, 32 Movable body 30, 33 Rotating shaft 34, 35, 36 Projecting body 37, 38, 39 Switch means

──────────────────────────────────────────────────の Continued on the front page (72) Inventor Mitsuyasu Ogawa 1006 Kadoma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. In-house (72) Inventor Osamu Eguchi 1006 Kadoma, Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. Person Yoshifumi Takagi 1006 Kazuma Kadoma, Kadoma City, Osaka Prefecture (72) Inside the Matsushita Electric Industrial Co., Ltd. 1006 Kadoma, Ichidai-shi Matsushita Electric Industrial Co., Ltd. (56) References JP-A-1-207806 (JP, A) JP-A-62-295633 (JP A) JP-A-60-240563 (JP, A) JP-A-5-108151 (JP, A) JP-A 1-120215 (JP, U) JP-A-59-33511 (JP, U) (58) Survey Field (Int.Cl. ⁷ , DB name) G05D 1/02

Claims (6)

(57) [Claims] 1. A vehicle including a driving wheel driven by a traveling motor.
The main body is provided with running wheels equal to or more than a wheel, a running control device for controlling a running motor, and a working device for performing operations such as cleaning. Of the running wheel on the side of
At a position lower than the center of rotation , facing the running surface and
A mobile work robot provided with an abutment member having a flat portion extending across a width . 2. A flat portion of an abutment member disposed near a traveling wheel.
The mobile work robot according to claim 1 , wherein the traveling wheel side is inclined upward from a horizontal direction . 3. A mobile work robot rotatably claim 1 or 2, wherein providing the abutting member with respect to the rotation axis parallel to the pivot shaft of the running wheels. 4. A flat portion facing the running surface of the contact member,
The mobile work robot according to any one of claims 1 to 3, further comprising a projection made of a different material. 5. A contact member, according to any one of claims 1 to 4 provided a switch means which operates when the flat portion of the running surface facing the contact member is in contact with the travel surface Mobile work robot. 6. The apparatus according to claim 1, further comprising a floor nozzle mounted on the main body so as to be movable up and down, and a switch means that operates when the floor nozzle moves downward from a predetermined position during traveling.
The mobile work robot according to any one of claims 1 to 5 .