JP3396977B2 - Mobile work robot - Google Patents
Mobile work robotInfo
- Publication number
- JP3396977B2 JP3396977B2 JP29658594A JP29658594A JP3396977B2 JP 3396977 B2 JP3396977 B2 JP 3396977B2 JP 29658594 A JP29658594 A JP 29658594A JP 29658594 A JP29658594 A JP 29658594A JP 3396977 B2 JP3396977 B2 JP 3396977B2
- Authority
- JP
- Japan
- Prior art keywords
- main body
- traveling
- contact member
- wheel
- mobile work
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000004140 cleaning Methods 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 6
- 239000000428 dust Substances 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Description
【発明の詳細な説明】Detailed Description of the Invention
【０００１】[0001]
【産業上の利用分野】本発明は、本体に自走機能を有
し、床面清掃や床面仕上げ等の作業を自動的に行なう移
動作業ロボットに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile work robot having a main body having a self-propelled function and automatically performing work such as floor cleaning and floor finishing.
【０００２】[0002]
【従来の技術】近年、掃除機や床面洗浄機等の作業機器
に自走機能を付加し、これにマイクロコンピュータや各
種センサ類を搭載することにより作業の自動化を図った
移動作業ロボットが開発されている。2. Description of the Related Art In recent years, a mobile work robot has been developed which has a self-propelled function added to a work device such as a vacuum cleaner or a floor washer and which is equipped with a microcomputer and various sensors to automate work. Has been done.
【０００３】例えば床面清掃ロボットは、電動送風機や
床ノズル等の作業装置を本体に有し、走行機能として走
行モータで駆動される駆動輪や従輪からなる走行輪を備
えるとともに走行時の障害物を検知する障害物検知手段
や走行中の位置を認識する位置認識手段を備えて、自走
しながら床面の清掃を行なうものである。For example, a floor cleaning robot has a working device such as an electric blower and a floor nozzle in its main body, has traveling wheels driven by a traveling motor and traveling wheels as a traveling function, and has obstacles during traveling. It is equipped with an obstacle detecting means for detecting the position and a position recognizing means for recognizing the position while the vehicle is traveling, and cleans the floor surface while traveling by itself.
【０００４】このような移動作業ロボットでは、自走領
域に階段や敷居等の大きな凹部段差がある場合には、本
体の転倒や転落の危険性が生じるため、凹部段差を事前
に検知し停止する手段が必要となる。例えば、従来の段
差検知手段としては、ローラーまたはブラシを下端に取
り付けた検知子を本体に上下動自在に設け、検知子の上
下動をリミットスイッチ等で検出するように構成してい
た。この段差検知手段を本体走行方向の前方に設け、走
行中に上記ローラーまたはブラシが本体前方の凹部段差
に落ち込むと上記リミットスイッチが作動し凹部段差を
検知するものであった。In such a mobile work robot, if there is a large stepped portion such as a staircase or a threshold in the self-propelled area, there is a risk of the main body falling or falling. Therefore, the stepped portion is detected in advance and stopped. Means are needed. For example, as the conventional step detecting means, a detector having a roller or a brush attached to the lower end is provided in the 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 running direction of the main body, and when the roller or the brush falls into the step of the recess in front of the main body during running, the limit switch operates to detect the step of the recess.
【０００５】[0005]
【発明が解決しようとする課題】しかしながら、このよ
うな従来の段差検知手段を備えた移動作業ロボットで
は、走行中に本体が床面のわずかな凸部に乗り上げたと
きなどに本体前方が持ち上がり気味になって検知子が動
作しリミットスイッチが作動して停止したり、作業開始
前や作業終了後の場所間の移動時に段差検知手段が床面
に引掛かかって故障する等の課題があった。However, in such a conventional mobile work robot equipped with the step detecting means, the front part of the main body tends to be lifted up when the main body rides on a slight convex portion on the floor during traveling. Then, there are problems that the detector operates and the limit switch operates and stops, and that the step detecting means is caught on the floor surface and breaks down during movement between places before starting work and after finishing work.
【０００６】本発明は、上記従来の課題を解決するもの
で、このような誤動作や故障の原因となる段差検知手段
を備えずとも、走行中に本体が凹部段差に転落すること
なく停止できる移動作業ロボットを提供することを第一
の目的としている。The present invention solves the above-mentioned problems of the prior art. Even if the step detecting means that causes such malfunction or failure is not provided, the main body can be stopped without falling into the step of the recess during traveling. The primary purpose is to provide a work robot.
【０００７】また、第一の目的と関連して、凹部段差に
転落することなく停止したときに、同時に走行モータを
停止してより安全性の高い移動作業ロボットを提供する
ことを第二の目的としている。Further, in relation to the first object, the second object is to provide a mobile work robot with higher safety by stopping the traveling motor at the same time when the vehicle stops without falling on the step of the recess. I am trying.
【０００８】また、第一の目的に関連して、走行床面が
すべり易い状態でも確実に凹部段差に転落することなく
停止でき、しかも停止時に走行床面を傷つけることがな
く、本体に対する衝撃が少ない移動作業ロボットを提供
することを第三の目的としている。Further, in relation to the first object, even when the traveling floor surface is slippery, the traveling floor surface can be reliably stopped without falling into the stepped portion of the recess, and the traveling floor surface is not damaged at the time of stopping, and the main body is not impacted. The third purpose is to provide a small number of mobile work robots.
【０００９】[0009]
【課題を解決するための手段】上記第一の目的を達成す
るための本発明の第一の手段は、本体を移動させる走行
モータ、駆動輪、従輪を有する駆動装置と、清掃等の作
業を行なう作業装置と、前記駆動装置の駆動輪または従
輪の外周近傍に走行床面と対向する平面部を有する当接
部材とを本体底部に備え、上記当接部材の平面部は上下
方向に回動自在でかつバネで下方に付勢して水平に保持
されている移動作業ロボットとするものである。[Means for Solving the Problems] A first means of the present invention for achieving the above-mentioned first object is to perform a work such as a traveling motor for moving a main body, a drive device having drive wheels and driven wheels, and cleaning. A work device for performing the operation and an abutting member having a flat surface portion facing the running floor surface in the vicinity of the outer periphery of the drive wheel or the driven wheel of the drive device are provided on the bottom of the main body, and the flat surface portion of the abutting member rotates in the vertical direction. The mobile work robot is freely movable and is urged downward by a spring to be held horizontally .
【００１０】第二の目的を達成するための本発明の第二
の手段は、第一の手段に加えて当接部材の平面部が上方
に回動したときに作動するスイッチ手段を設けた移動作
業ロボットとするものである。A second means of the present invention for attaining the second object is a movement provided with a switch means which operates in addition to the first means when the flat surface portion of the contact member is rotated upward. It is a work robot.
【００１１】第三の目的を達成するための本発明の第三
の手段は、第一の手段に加えて当接部材の平面部は透孔
を有した板材よりなり、その両面に弾性体を配設した移
動作業ロボットとするものである。A third means of the present invention for achieving the third object is, in addition to the first means, a flat portion of the contact member is made of a plate material having a through hole, and elastic bodies are provided on both surfaces thereof. This is a mobile work robot provided.
【００１２】[0012]
【作用】本発明の第一の手段による動作業ロボットで
は、走行中に本体が凹部段差に差しかかり駆動輪または
従輪が脱輪すると、水平に付勢保持された当接部材の平
面部が回動しながら走行面と平行に当接し本体の走行を
停止するので凹部段差に転落することなく停止できるも
のである。In the motion robot according to the first means of the present invention, when the main body comes into the stepped portion of the recess during running and the drive wheel or the follower wheel comes off, the plane portion of the abutting member horizontally biased is rotated. On the other hand, the main body stops traveling by making contact with the traveling surface in parallel, so that the main body can be stopped without falling into the recessed step.
【００１３】本発明の第二の手段によれば、駆動輪また
は従輪が脱輪すると当接部材の平面部が上方に回動して
スイッチ手段が作動することにより走行モータを即停止
できるので、駆動輪と走行面との接触による本体の移動
が停止できるとともに駆動輪の空転が防止できるもので
ある。According to the second means of the present invention, when the driving wheel or the driven wheel is removed, the plane portion of the contact member is rotated upward and the switch means is actuated so that the traveling motor can be immediately stopped. It is possible to stop the movement of the main body due to the contact between the drive wheel and the traveling surface and prevent the drive wheel from idling.
【００１４】本発明の第三の手段によれば、当接部材の
平面部に弾性体を配設することにより駆動輪または従輪
が脱輪して走行面と当接したときの摩擦力が増大するの
で本体の停止がより確実になるとともに、停止時に走行
面を傷つけることがなくなり本体に対する衝撃も少なく
なるものであり、透孔を有した板材で平面部を構成して
その両面から弾性体を配設することにより弾性体の脱落
が防止できるものである。According to the third means of the present invention, by disposing the elastic body on the flat surface of the abutting member, the frictional force when the driving wheel or the subordinate wheel derails and comes into contact with the running surface is increased. As a result, the stopping of the main body becomes more reliable, and the traveling surface is not damaged at the time of stopping, and the impact on the main body is reduced, and the flat part is made of a plate material having a through hole and the elastic body is formed from both sides. The disposition of the elastic body can be prevented by disposing the elastic body.
【００１５】[0015]
【実施例】（実施例１）
以下、本発明の一実施例を床面清掃ロボットを例にとっ
て添付図面に基づいて説明する。(Embodiment 1) An embodiment of the present invention will be described below with reference to the accompanying drawings, taking a floor cleaning robot as an example.
【００１６】図１・図２は本実施例の床面清掃ロボット
の全体構成を示す。図において、１は床面清掃ロボット
の本体、２は本体１の前方に設けた左右の駆動輪で、走
行モータ３により左右独立に駆動される。４は、本体１
の後方に回転自在に設けたフリーキャスタからなる従輪
である。この左右の駆動輪２、走行モータ３、従輪４
は、本体１を移動させるための駆動装置を構成してい
る。1 and 2 show the entire construction of the floor cleaning robot of this embodiment. In the figure, reference numeral 1 is a main body of the floor cleaning robot, and 2 is left and right drive wheels provided in front of the main body 1, which are independently driven by a traveling motor 3. 4 is the main body 1
It is a follower wheel composed of a free caster rotatably provided at the rear of the. The left and right driving wheels 2, the traveling motor 3, the driven wheels 4
Constitute a drive device for moving the main body 1.
【００１７】５は電動送風機、６は集塵室、７はその内
部に設けた紙袋からなるフィルタである。８は本体１の
底部前方に設けた床ノズルで、床面上のごみをかき上げ
る回転アジテータ９を有する。床ノズル８は、接続パイ
プ１０及び蛇腹ホース等からなる伸縮ホース１１を介し
て集塵室６と接続し、床面上のごみは電動送風機５で吸
引されフィルタ７内に集塵される。１２は、床ノズル懸
架レバーで、レバー回動軸１３により回動自在に支持さ
れ、これにより床ノズル８は本体１に対して上下動自在
に取り付けられている。電動送風機５・集塵室６・フィ
ルタ７・床ノズル８・接続パイプ１０・伸縮ホース１１
は集塵作業を行なう作業装置を構成している。Reference numeral 5 is an electric blower, 6 is a dust collecting chamber, and 7 is a filter made of a paper bag provided therein. A floor nozzle 8 is provided at the bottom front of the main body 1 and has a rotary agitator 9 for scraping up dust on the floor surface. The floor nozzle 8 is connected to the dust collection chamber 6 via a connecting pipe 10 and an elastic hose 11 such as a bellows hose, and dust on the floor is sucked by the electric blower 5 and collected in the filter 7. A floor nozzle suspension lever 12 is rotatably supported by a lever pivot shaft 13, whereby the floor nozzle 8 is attached to the main body 1 so as to be vertically movable. Electric blower 5, dust collection chamber 6, filter 7, floor nozzle 8, connecting pipe 10, telescopic hose 11
Constitutes a working device for performing dust collecting work.
【００１８】１４は本体１の周囲に設けられた超音波セ
ンサ等からなる測距センサで、本体１の前方・左右側方
および後方にある物体までの距離を測定して障害物を検
出する障害物検知装置を構成している。１５は本体１の
周囲に取り付けた弾性体からなるバンパーである。１６
は上記駆動装置の走行制御を行なう走行制御装置で、ジ
ャイロ等からなる位置認識手段（図示せず）や障害物検
知装置等からのデータに基づいて走行モータ３を制御
し、本体１の前進・後退・方向転換・停止等の動作を制
御する。１７は操作部で、各種スイッチ類およびＬＥＤ
・ブザー等の表示器を備えた操作パネル１８により本体
１の操作を行なう。１９は本体ハンドルで、手動清掃ま
たは場所間移動時にこれを用いる。２０は全体に電力を
供給する蓄電池等からなる電源である。２１は駆動輪２
の外周近傍後方に設けた当接部材で、走行面Ａに対向す
る平面部にはゴム板よりなる弾性体２２を有する。Reference numeral 14 is a distance-measuring sensor including an ultrasonic sensor or the like provided around the main body 1, which is an obstacle for measuring obstacles by measuring the distances to the objects in front, left and right sides and rear of the main body 1. It constitutes an object detection device. Reference numeral 15 is a bumper made of an elastic body attached to the periphery of the main body 1. 16
Is a travel control device for controlling the travel of the drive device, and controls the travel motor 3 based on data from a position recognition means (not shown) such as a gyro, an obstacle detection device, etc. Controls movements such as backwards, turning, and stopping. Reference numeral 17 denotes an operation unit, which includes various switches and LEDs
The main body 1 is operated by the operation panel 18 provided with a display such as a buzzer. Reference numeral 19 denotes a main body handle, which is used for manual cleaning or when moving between places. Reference numeral 20 is a power source including a storage battery or the like for supplying electric power to the whole. 21 is drive wheel 2
An elastic member 22 made of a rubber plate is provided on a flat surface portion facing the traveling surface A, which is an abutting member provided on the rear side in the vicinity of the outer circumference.
【００１９】この当接部材２１は回動軸２３に対して上
下方向に回動自在に取り付けられ、付勢バネ２４により
下方に付勢された状態で本体１の台車部１’に取り付け
られたストッパ２５により水平に保持されている。２６
は従輪４の外周近傍前方に設けた当接部材で、上記当接
部材２１と同様に走行面Ａに対向する平面部にゴム板よ
りなる弾性体２７を有し、回動軸２３に対して上下方向
に回動自在に取り付けられ、付勢バネ２４により下方に
付勢された状態で本体１の台車部１’に取り付けられた
ストッパ２９により水平に保持されている。The contact member 21 is attached to the rotating shaft 23 so as to be rotatable in the vertical direction, and is attached to the trolley portion 1'of the main body 1 while being urged downward by the urging spring 24. It is held horizontally by the stopper 25. 26
Is a contact member provided near the outer periphery of the driven wheel 4 and has an elastic body 27 made of a rubber plate on a flat surface portion facing the traveling surface A as with the contact member 21. It is rotatably attached in the vertical direction and is horizontally held by a stopper 29 attached to the trolley portion 1 ′ of the main body 1 while being urged downward by the urging spring 24.
【００２０】この床面清掃ロボットはいくつかの動作モ
ードを有するが、例えば、本体１を清掃領域の基準壁面
にほぼ直角に向けて置き、操作パネル１８のスタートボ
タンを押すと電動送風機５が作動し前方へ直進走行を開
始する。走行中は作業装置により集塵作業を行ないなが
ら常に測距センサ１４により周囲の障害物までの距離を
測定するとともに位置認識手段により走行距離を測定し
ている。This floor cleaning robot has several operation modes. For example, when the main body 1 is placed on the reference wall of the cleaning area at a substantially right angle and the start button on the operation panel 18 is pressed, the electric blower 5 is activated. Then, drive straight ahead. While traveling, dust collection work is performed by the work device, and the distance measuring sensor 14 constantly measures the distance to surrounding obstacles and the position recognition means measures the traveling distance.
【００２１】本体１が前方の壁まで所定距離だけ接近す
ると一旦停止後、所定角度だけ本体角度を振って方向変
換し、次に後方へ直進走行を行なう。後退直進中は、前
回測定した前進距離を目標距離に設定して、位置認識手
段で測定している走行距離がこれと等しくなると停止す
る。When the main body 1 approaches the front wall by a predetermined distance, the main body 1 is stopped, then the main body angle is swung by a predetermined angle to change the direction, and then the vehicle travels straight backward. While the vehicle is moving backward and straight, the previously measured forward distance is set as the target distance, and the vehicle stops when the traveling distance measured by the position recognition means becomes equal to this.
【００２２】このとき、目標走行距離に達する以前に障
害物があれば、これに衝突しないように停止する。停止
後は、再び本体角度を振って方向変換し、前進直進を開
始する。以下同様に、一旦停止後方向変換して後退直
進、一旦停止後方向変換して前進直進という具合に同じ
動作を繰り返しながら清掃領域全体を走行しつつ走行面
Ａの清掃を行なうものである。At this time, if there is an obstacle before reaching the target travel distance, the obstacle is stopped so as not to collide with it. After stopping, the body angle is swung again to change the direction, and the vehicle goes straight forward. Similarly, the traveling surface A is cleaned while traveling in the entire cleaning area by repeating the same operation, such as once stopping and then changing direction and then going straight backward, and once stopping and changing direction and then going forward and going straight.
【００２３】以上のように構成された床面清掃ロボット
において、本発明の第一の手段の動作について図３を用
いて説明する。The operation of the first means of the present invention in the floor cleaning robot constructed as described above will be described with reference to FIG.
【００２４】本体１が走行面Ａ上を前進走行している途
中に階段等の段差Ｂがあった場合は、図３に示すよう
に、先ず床ノズル８が段差Ｂより飛び出し、次に左右の
駆動輪２が脱輪することとなる。この駆動輪２の脱輪時
には、駆動輪２の後方で水平に付勢保持されていた当接
部材２１は走行面Ａに当接して付勢バネ２４に抗して上
方に力を受けるので矢印ａの方向に回動軸２３を支点に
ストッパ２５（図４参照）の上限位置まで回動する。If there is a step B such as a stairway while the main body 1 is traveling forward on the traveling surface A, as shown in FIG. The drive wheel 2 will be derailed. When the drive wheel 2 is released, the contact member 21 that is horizontally biased and held behind the drive wheel 2 contacts the traveling surface A and receives an upward force against the biasing spring 24. The rotation shaft 23 is rotated in the direction of "a" up to the upper limit position of the stopper 25 (see FIG. 4).
【００２５】このとき、当接部材２１の平面部に設けた
弾性体２２は走行面Ａと平行に当接するので、本体１は
走行面Ａとの摩擦により強制的に走行が停止させられる
と同時に当接部材２１と従輪４により走行面Ａ上で支持
されるから本体１が段差Ｂに転落することがない。この
ように、当接部材２１を上下方向に回動自在に取り付け
ることにより、駆動輪２の脱輪時に当接部材２１の平面
部は走行面Ａと平行に当接するから当接面積は最大とな
り十分な摩擦力が確保できるものである。また、当接部
材２１を付勢バネ２４で下方に付勢して水平保持するこ
とにより、脱輪時の本体１の落下エネルギーを付勢バネ
２４で吸収できるからより転落の危険性が少なくなる。At this time, since the elastic body 22 provided on the flat surface of the contact member 21 abuts on the running surface A in parallel, the main body 1 is forcibly stopped from running due to friction with the running surface A. Since the contact member 21 and the driven wheels 4 support the traveling surface A, the main body 1 does not fall on the step B. In this way, by attaching the contact member 21 so as to be rotatable in the vertical direction, the flat surface portion of the contact member 21 comes into contact with the traveling surface A in parallel when the drive wheel 2 is removed, so that the contact area becomes maximum. A sufficient frictional force can be secured. Further, by biasing the contact member 21 downward by the biasing spring 24 and holding it horizontally, the falling energy of the main body 1 at the time of derailment can be absorbed by the biasing spring 24, and the risk of falling is further reduced. .
【００２６】さらに、当接部材２１の平面部に弾性体２
２を貼設することにより、脱輪時に本体１の走行は弾性
体２２の変形と大きな摩擦力により確実に停止させら
れ、かつ走行面Ａを傷つけることがなく、本体１に対す
る衝撃も少なくなる。Further, the elastic member 2 is provided on the flat surface of the contact member 21.
By attaching 2 to the main body 1, the traveling of the main body 1 is surely stopped by the deformation of the elastic body 22 and the large frictional force at the time of derailing, the traveling surface A is not damaged, and the impact on the main body 1 is reduced.
【００２７】本体１が走行面Ａ上を後退走行している途
中に階段等の段差があった場合は、従輪４が脱輪する。
この従輪４の脱輪時には、今度は従輪４の前方で水平に
付勢保持されている当接部材２６が走行面Ａに当接して
付勢バネ２８に抗して上方に力を受け回動軸２３を支点
にストッパ２９の上限位置まで回動することとなり、上
記前進走行時と同様の作用により本体１が段差に転落す
ることがなくなるものである。If there is a step such as stairs while the main body 1 is traveling backward on the traveling surface A, the follower wheel 4 is derailed.
When the driven wheel 4 is released, the contact member 26, which is horizontally biased and held in front of the driven wheel 4, contacts the running surface A and resists the biasing spring 28 to rotate upward. Since the shaft 29 is rotated to the upper limit position of the stopper 29 with the fulcrum as the fulcrum, the main body 1 does not fall to the step due to the same action as during the forward traveling.
【００２８】また、方向変換中は、本体１は左右の駆動
輪２を中心に回転し従輪４を振り回すような動作となり
従輪４は側方を向くが、このときに走行面Ａの段差に従
輪４が脱輪したとしても、従輪４の左右側方にも当接部
材２７があるから上記同様に本体１が段差に転落するこ
とはない。During the direction change, the main body 1 rotates about the left and right drive wheels 2 and swings the driven wheels 4, so that the driven wheels 4 face to the side. Even if the wheel 4 derails, the main body 1 does not fall into the step like the above because the contact members 27 are provided on the left and right sides of the driven wheel 4.
【００２９】このように、本体１の走行面上に凹部段差
があり走行輪が脱輪したとしても、本体１の走行は強制
的に停止させられ必ず走行面上に支持されるから本体１
が段差に転落する危険性がなくなるものである。As described above, even if there is a stepped recess on the running surface of the main body 1 and the running wheels come off, the running of the main body 1 is forcibly stopped and is supported on the running surface without fail.
This eliminates the risk of falling on a step.
【００３０】なお、本実施例では、前進走行中に駆動輪
２が脱輪したときの当接部材２１と後退走行中に従輪４
が脱輪したときの当接部材２６とを別個に独立して設け
ているが、例えばこれらを一体にして一つの当接部材と
し、回動軸を中心にして前後の付勢バネの釣合いによっ
て水平保持するようにしても同様に効果が得られる。In this embodiment, the abutment member 21 when the drive wheel 2 is disengaged during forward traveling and the follower wheel 4 during reverse traveling.
Is provided separately and independently from the contact member 26 when the wheel is derailed. For example, these are integrated into one contact member and the front and rear urging springs balance each other about the rotation axis. Even if it is held horizontally, the same effect can be obtained.
【００３１】また、本実施例では回動軸２３は当接部材
２１と当接部材２６との回動軸を兼ねているが、これら
を別個に独立して設けてもよく、また軸棒ではなく例え
ば蝶番等を用いて回動軸としても同様の効果が得られる
ことはいうまでもない。Further, in the present embodiment, the rotating shaft 23 also serves as the rotating shafts of the abutting member 21 and the abutting member 26, but these may be provided separately and independently, and in the case of the shaft rod. Needless to say, the same effect can be obtained by using, for example, a hinge as the rotating shaft.
【００３２】（実施例２） 次に、本発明の第二の手段について説明する。(Example 2) Next, the second means of the present invention will be described.
【００３３】図４は、第二の実施例における当接部材の
詳細図で、当接部材の平面部が上方に回動したときに作
動するスイッチ手段を設けた点で第一の実施例と異な
る。すなわち、図に示すようにストッパ２５の上部にリ
ミットスイッチからなるスイッチ手段３０を備え、当接
部材２１が回動軸２３を中心に矢印ａの方向に回動する
と当接部材２１のフランジ部２１’がスイッチ手段３０
のスイッチアクチュエータを押圧して動作させる構成に
なっている。図には示していないが、このようなスイッ
チ手段３０が本体１前方の当接部材２１の左右に２箇
所、後方の当接部材２６の左右に２箇所に設けられてい
る。FIG. 4 is a detailed view of the contact member according to the second embodiment, which differs from the first embodiment in that a switch means is provided which operates when the flat surface of the contact member is rotated upward. different. That is, as shown in the drawing, a switch means 30 composed of a limit switch is provided above the stopper 25, and when the contact member 21 rotates about the rotation shaft 23 in the direction of the arrow a, the flange portion 21 of the contact member 21. 'Is switch means 30
The switch actuator is pressed to operate. Although not shown in the figure, such switch means 30 are provided at two positions on the left and right sides of the contact member 21 at the front of the main body 1 and at two positions on the left and right sides of the rear contact member 26.
【００３４】そしてこれらのスイッチ手段３０は走行制
御装置１６と接続しており、このどれかが作動すると左
右の走行モータ３を停止する。These switch means 30 are connected to the traveling control device 16, and when any one of them operates, the left and right traveling motors 3 are stopped.
【００３５】例えば、本体１が前進走行中に走行面上に
階段等の段差がある場合は、図３に示した状態と同様
に、駆動輪２が脱輪し当接部材２１が回動軸２３を支点
に回動し始めると当接部材２１のフランジ部２１’がス
イッチアクチュエータを押圧してスイッチ手段３０を動
作させることにより走行モータ３が停止するので、本体
１は駆動輪２が脱輪する前に停止状態に移行できるとと
もに、脱輪後に駆動輪２と走行面とが接触して本体１が
動揺する等の駆動輪２の空転による悪影響を防止するこ
とができる。For example, when there is a step such as a stair on the traveling surface of the main body 1 while the main body 1 is traveling forward, the drive wheel 2 is disengaged and the abutment member 21 is rotated about the rotation axis as in the state shown in FIG. When rotation starts from 23 as a fulcrum, the flange portion 21 ′ of the abutting member 21 presses the switch actuator to operate the switch means 30 to stop the traveling motor 3, so that the drive wheel 2 is removed from the main body 1. It is possible to make a transition to a stopped state before the operation, and it is possible to prevent adverse effects due to idling of the drive wheel 2 such as the drive wheel 2 coming into contact with the traveling surface after the wheel is removed and the main body 1 swings.
【００３６】なお、上記実施例ではスイッチ手段３０を
リミットスイッチにより構成しているが、例えばリミッ
トスイッチの代わりに接触スイッチ等の他のスイッチを
用いても同様の効果が得られることはいうまでもない。Although the switch means 30 is constituted by the limit switch in the above embodiment, it goes without saying that the same effect can be obtained by using other switches such as a contact switch instead of the limit switch. Absent.
【００３７】次に、本発明の第三の手段について図４・
５に基づいて説明する。Next, the third means of the present invention will be described with reference to FIG.
It will be described based on 5.
【００３８】図に示すように、本実施例の当接部材２１
は板材よりなり平面部の周囲に透孔３１を有し、その両
面に弾性体２２および弾性体３２を貼設している。すな
わち、当接部材２１の平面部の下面にはゴム板よりなる
弾性体２２が実施例１と同様に接着剤等で貼付され、さ
らに平面部の上面からもゴム板よりなる弾性体３２が透
孔３１の部分に接着剤等で貼付されている。As shown in the figure, the contact member 21 of this embodiment is
Is made of a plate material and has a through hole 31 around the flat portion, and elastic bodies 22 and 32 are attached to both surfaces thereof. That is, the elastic body 22 made of a rubber plate is attached to the lower surface of the flat surface of the contact member 21 with an adhesive or the like as in the first embodiment, and the elastic body 32 made of a rubber plate is also transparent from the upper surface of the flat surface portion. It is attached to the hole 31 with an adhesive or the like.
【００３９】このように平面部の両面に透孔３１を介し
て弾性体２２および弾性体３２を貼着することにより、
弾性体２２と弾性体３２とは直接密着して同材質同士で
あれば完全に接着されるので、なんらかの理由で万一弾
性体２２が当接部材２１より剥がれたとしても弾性体２
２が脱落してその機能を損なうことがなくなるものであ
り、また、弾性体２２の透孔３１の部分にできたディン
プル状のくぼみ２２’は本体１が脱輪して走行面に当接
したときのブレーキ効果を増加することが分かってい
る。In this way, by attaching the elastic body 22 and the elastic body 32 to both surfaces of the flat surface portion through the through holes 31,
The elastic body 22 and the elastic body 32 are directly adhered to each other and completely adhered if they are made of the same material. Therefore, even if the elastic body 22 is separated from the contact member 21 for some reason, the elastic body 2
2 does not fall off and impairs its function. Moreover, the dimple-shaped recess 22 'formed in the through hole 31 of the elastic body 22 makes the main body 1 derail and abut on the running surface. It has been found to increase the braking effect when.
【００４０】[0040]
【発明の効果】以上のように本発明の第一の手段によれ
ば、走行中に本体が凹部段差に差しかかり駆動輪または
従輪が脱輪すると、水平に付勢保持された当接部材の平
面部が回動しながら走行面と平行に当接し本体の走行を
停止するので本体が凹部段差に転落することなく確実に
停止できるものであり、従来のような段差検知手段を備
えずに本体の転落が防止できるから走行中の誤動作や故
障が少なく、かつコスト面でも安価な移動作業ロボット
が実現できるものである。As described above, according to the first means of the present invention, when the driving wheel or the driven wheel comes off when the main body comes into the stepped portion of the recess during traveling, the plane of the abutting member that is horizontally biased and held. Since the main body stops running while the part abuts in parallel with the traveling surface while rotating, the main body can be reliably stopped without falling into the stepped portion of the concave portion. Since the fall can be prevented, there are few malfunctions and failures during traveling, and a low cost mobile work robot can be realized.
【００４１】本発明の第二の手段によれば、第一の手段
の効果に加えて、駆動輪または従輪が脱輪すると当接部
材の平面部が上方に回動してスイッチ手段が作動するこ
とにより走行モータを即停止できるので、駆動輪と走行
面との接触による本体の移動が停止できるとともに駆動
輪の空転が防止でき、より安全性にすぐれた移動作業ロ
ボットが実現できる。According to the second means of the present invention, in addition to the effect of the first means, when the driving wheel or the driven wheel is removed, the flat surface portion of the contact member is rotated upward to operate the switch means. Since the traveling motor can be stopped immediately by this, the movement of the main body due to the contact between the driving wheel and the traveling surface can be stopped and the idling of the driving wheel can be prevented, so that a mobile work robot with higher safety can be realized.
【００４２】本発明の第三の手段によれば、第一の手段
の効果に加えて、当接部材の平面部に弾性体を配設する
ことにより駆動輪または従輪が脱輪して走行面と当接し
たときの摩擦力が増大し本体の停止がより確実になると
ともに、停止時に走行面を傷つけることがなく本体に対
する衝撃も少なくなるものである。また、透孔を有した
板材で平面部を構成してその両面から弾性体を配設する
ことにより弾性体の脱落が防止でき、しかもより安全に
走行停止できるすぐれた移動作業ロボットが実現でき
る。According to the third means of the present invention, in addition to the effect of the first means, by disposing the elastic body on the flat surface portion of the abutting member, the driving wheels or the driven wheels are released from the running surface. The frictional force when it comes into contact with the main body is increased, so that the main body can be stopped more reliably, and the traveling surface is not damaged when the main body is stopped, and the impact on the main body is reduced. Further, by constructing a plane portion with a plate material having a through hole and disposing elastic bodies on both sides of the plane portion, it is possible to realize an excellent mobile work robot which can prevent the elastic body from falling off and stop traveling more safely.
【図１】本発明の一実施例における床面清掃ロボットの
側断面図FIG. 1 is a side sectional view of a floor cleaning robot according to an embodiment of the present invention.
【図２】同床面清掃ロボットの底面図[Figure 2] Bottom view of the same floor cleaning robot
【図３】同床面清掃ロボットの動作説明図[Fig. 3] Operation explanatory diagram of the floor cleaning robot
【図４】本発明の第二の実施例における当接部材の斜視
図FIG. 4 is a perspective view of a contact member according to a second embodiment of the present invention.
【図５】同当接部材の断面図FIG. 5 is a sectional view of the contact member.
１ 本体 ２ 駆動輪 ３ 走行モータ ４ 従輪 ５ 電動送風機 ８ 床ノズル ２１・２６ 当接部材 ２２・２７ 弾性体 ２３ 回動軸 ２４・２８ 付勢バネ ２５・２９ ストッパ ３０ スイッチ手段 ３１ 透孔 1 body 2 drive wheels 3 traveling motor 4 followers 5 electric blower 8 floor nozzle 21 ・ 26 Abutment member 22 ・ 27 Elastic body 23 rotation axis 24/28 bias spring 25 ・ 29 Stopper 30 switch means 31 through hole
───────────────────────────────────────────────────── フロントページの続き (72)発明者 小川 光康 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 藤原 俊明 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 江口 修 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 乾 弘文 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 高木 祥史 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 石橋 崇文 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 黒木 義貴 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 妹尾 裕之 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (56)参考文献 特開 平２−190277（ＪＰ，Ａ) 特開 昭54−108307（ＪＰ，Ａ) 特開 平７−334242（ＪＰ，Ａ) 実開 昭59−33511（ＪＰ，Ｕ) 実開 平１−120215（ＪＰ，Ｕ) 実開 昭61−33106（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.7，ＤＢ名) G05D 1/02 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsuyasu Ogawa 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Toshiaki Fujiwara 1006 Kadoma, Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd. Company (72) Inventor Osamu Eguchi 1006 Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor Hirofumi Inui 1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric Industrial Co., Ltd. (72) Invention Satoshi Takagi 1006, Kadoma, Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor Takafumi Ishibashi 1006 Kadoma, Kadoma City, Osaka Pref. Matsushita Electric Industrial Co., Ltd. (72) Inventor Yoshiki Kuroki Kadoma, Osaka Matsuda Electric Industry Co., Ltd. 1006, Kadoma, Ichi, Japan (72) Inventor: Hiroyuki Senoo, 1006 Kadoma, Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. In-house (56) Reference JP-A-2-190277 (JP, A) JP-A-54-108307 (JP, A) JP-A-7-334242 (JP, A) Actual development Sho-59-33511 (JP, U) ) Actual development 1-120215 (JP, U) Actual development Sho 61-33106 (JP, U) (58) Fields investigated (Int.Cl. 7 , DB name) G05D 1/02
Claims (3)
従輪を有する駆動装置と、清掃等の作業を行なう作業装
置と、前記駆動装置の駆動輪または従輪の外周近傍に走
行床面と対向する平面部を有する当接部材とを本体底部
に備え、上記当接部材の平面部は上下方向に回動自在で
かつバネで下方に付勢して水平に保持されている移動作
業ロボット。1. A traveling motor for moving a main body, drive wheels,
A drive device having a follower wheel, a work device for performing work such as cleaning, and an abutting member having a flat portion facing the running floor surface near the outer periphery of the drive wheel or the follower wheel of the drive device are provided at the bottom of the main body. A mobile work robot in which a flat portion of the contact member is vertically rotatable and is urged downward by a spring to be held horizontally .
に作動するスイッチ手段を設けた請求項１記載の移動作
業ロボット。2. The mobile work robot according to claim 1, further comprising a switch means that operates when the flat surface portion of the contact member rotates upward.
りなり、その両面に弾性体を配設した請求項１又は２記
載の移動作業ロボット。3. The mobile work robot according to claim 1, wherein the flat portion of the contact member is made of a plate material having a through hole, and elastic bodies are provided on both surfaces of the plate member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29658594A JP3396977B2 (en) | 1994-11-30 | 1994-11-30 | Mobile work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29658594A JP3396977B2 (en) | 1994-11-30 | 1994-11-30 | Mobile work robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08152916A JPH08152916A (en) | 1996-06-11 |
| JP3396977B2 true JP3396977B2 (en) | 2003-04-14 |
Family
ID=17835456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP29658594A Expired - Fee Related JP3396977B2 (en) | 1994-11-30 | 1994-11-30 | Mobile work robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3396977B2 (en) |
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|---|---|---|---|---|
| JPS5852243B2 (en) * | 1978-02-15 | 1983-11-21 | 株式会社日立製作所 | Mobile trolley protection device |
| JPS5933511U (en) * | 1982-08-24 | 1984-03-01 | 三菱電機株式会社 | Safety device for self-driving trolleys |
| JPS6133106U (en) * | 1984-07-31 | 1986-02-28 | 小松フオ−クリフト株式会社 | Obstacle detection device for automated guided vehicles |
| JPH0755612Y2 (en) * | 1988-02-10 | 1995-12-20 | 神鋼電機株式会社 | Three-wheel unmanned vehicle |
| JP2695892B2 (en) * | 1989-01-19 | 1998-01-14 | 豊田工機株式会社 | Fall prevention device for self-propelled robot |
| JP3339185B2 (en) * | 1994-06-06 | 2002-10-28 | 松下電器産業株式会社 | Mobile work robot |
-
1994
- 1994-11-30 JP JP29658594A patent/JP3396977B2/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| JPH08152916A (en) | 1996-06-11 |
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