JPH10117973A - Autonomous moving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous moving vehicle which improves cleaning effects of a cleaner mounted thereon. SOLUTION: An autonomous moving vehicle 1 carries a domestic vacuum cleaner 40 and exhaust is emitted from the domestic vacuum cleaner 40. The exhaust air 50 exhausted from an exhaust port 42 of the domestic vacuum cleaner 40 is pointed upward than the horizontal plane because of the inclination of a mount floor surface 26 of a mount part 20 for the autonomous moving vehicle 1. This constitution eliminates dust, etc., on a working surface 60 from being blown up into air by the exhaust air 50 from the domestic vacuum cleaner 40.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous mobile vehicle that moves autonomously, and more particularly to an autonomous mobile vehicle that carries a cleaning device and moves autonomously.

[0002]

2. Description of the Related Art Hitherto, various cleaning robots have been developed which perform a cleaning operation while moving autonomously, but all of them have a moving mechanism and a cleaning mechanism integrated.

However, as one form of the cleaning robot, a method of using a conventional household vacuum cleaner as a dust collecting mechanism and providing a traveling cart having an autonomous movement function as an adapter of the vacuum cleaner can be considered. According to this method, the traveling trolley having the autonomous movement function is equipped with a vacuum cleaner, and realizes an autonomous cleaning operation while moving autonomously.

[0004]

However, in many conventional home vacuum cleaners, the exhaust port is provided on the rear vertical surface opposite to the suction hose, and the exhaust air is exhausted from a work surface such as a floor or a tatami mat. Sprays the dust on the work surface into the air.

[0005] These dusts not only pollute the air,
After the cleaning operation, the dust soared over time falls on the work surface, so that there is a problem that the cleaning effect is not sufficient.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide an autonomous mobile vehicle capable of improving the cleaning effect of a mounted cleaning device.

[0007]

The invention according to claim 1 is an autonomous mobile vehicle that autonomously moves while performing a cleaning operation with exhaust.

[0008] The autonomous mobile vehicle includes mounting means for mounting a cleaning device for performing a cleaning operation with exhaust, and means for directing the exhaust of the cleaning device above a horizontal plane.

According to the first aspect of the present invention, the exhaust of the mounted cleaning device is directed above the horizontal plane. As a result, the exhaust is not blown to the work surface and dust and the like on the work surface do not fly into the air due to the exhaust as in the related art, and the cleaning effect of the installed cleaning device can be enhanced.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a cleaning robot according to an embodiment of the present invention will be described with reference to the drawings.

The cleaning robot comprises an autonomous mobile trolley 1 and a home vacuum cleaner 40. FIG. 1 is a diagram showing an autonomous mobile trolley 1 (partial cross section) equipped with a household vacuum cleaner 40 according to a first embodiment of the present invention, and FIG. FIG. FIG. 3 is a schematic sectional view for explaining the configuration of the autonomous mobile trolley 1.

The autonomous mobile trolley 1 autonomously travels on the work surface 60 and performs a cleaning operation by the following schematic configuration and control by the control unit.

The autonomous mobile trolley 1 includes a traveling unit 10 having drive wheels traveling on a work surface 60 and a home vacuum cleaner 40.
And a home vacuum cleaner 40 for mounting the
And a holding unit 30 for holding the nozzle pipe 41 of FIG.

The traveling unit 10 includes a front caster 11, a rear caster 12, a right driving motor 13, a left driving motor 14, a right traveling wheel 15, a left traveling wheel 16, a right encoder 17, and a left encoder. 18.

Right drive motor 13, Left drive motor 14
Drives the right traveling wheel 15 and the left traveling wheel 16, respectively, so that the autonomous mobile trolley 1 can travel straight and rotate. The moving distance in the straight traveling and the rotation angle in the rotating traveling are calculated by the right encoder 17 and the left encoder 18. The front casters 11 and the rear casters 12 support the weight of the autonomous mobile trolley 1 together with the right traveling wheels 15 and the left traveling wheels 16.

The traveling unit 10 includes a gyro sensor 25.
, A bumper sensor 26, a front distance measurement sensor 27, a right distance measurement sensor 28, and a left distance measurement sensor 29.

The gyro sensor 25 is a rate gyro, and measures a rotational angular velocity of the traveling unit 10. By using the gyro sensor 25, the direction in which the autonomous mobile vehicle tries to rotate and the rotational angular velocity thereof are measured. The bumper sensor 26 detects contact with an obstacle in the traveling direction, and a front distance measuring sensor 27, a right distance measuring sensor 28,
The left ranging sensor 29 measures the distance from the autonomous mobile trolley 1 to the front, right and left obstacles, respectively.

The mounting section 20 includes a mounting base floor surface 21, a power cord 22, and a power supply section 23.

The mounting platform floor 21 is inclined so as to become lower toward the rear of the autonomous mobile trolley 1, and the home vacuum cleaner 40 is provided.
Are mounted along the slope of the mounting base floor surface 21 with the exhaust port side raised. The power supply unit 23 includes the household vacuum cleaner 4.
0 power cord is connected, and electric power is supplied to the household vacuum cleaner 40. The power of the autonomous mobile trolley 1 is supplied via a power cord 22.

The holding section 30 holds the nozzle pipe 41 of the household vacuum cleaner 40 so as to be inserted therebetween, and the spring 31 is provided to insert the nozzle pipe 41 with an appropriate force. Further, the holding unit 30 is configured so that the nozzle 43 of the household vacuum cleaner 40 is grounded to the work surface 60 so that the cleaning operation can be appropriately performed.

A home vacuum cleaner 40 having an exhaust port 42 on the rear surface is mounted on the autonomous mobile trolley 1 as described above with the front side lowered.

According to the autonomous mobile trolley 1 described above,
The exhaust air 50 of the installed household vacuum cleaner 40 is directed upward from a horizontal plane, so that dust and the like on the work surface 60 are not soared into the air by the exhaust air. Can be enhanced.

FIG. 4 is a view showing the appearance of an autonomous mobile trolley 1 having a home vacuum cleaner 40 according to a second embodiment of the present invention. FIG. 4 corresponds to FIG. 1, and the same reference numerals are used for parts having the same functions.

In the present autonomous mobile trolley 1, the mounting platform floor 21 is not inclined, but as shown in FIG.
The inner wall of the mounting unit 20 is configured to enclose the household vacuum cleaner 40 so that a flow path through which the exhaust air 50 from the exhaust port 42 flows upward is formed.

According to such an autonomous mobile trolley 1, the exhaust of the installed household vacuum cleaner 40 is directed above the horizontal plane, so that dust and the like on the work surface 60 are not soared into the air by the exhaust. In addition, the cleaning effect of the household vacuum cleaner 40 can be enhanced.

[Brief description of the drawings]

FIG. 1 is a view showing an autonomous mobile trolley 1 (partly in section) equipped with a household vacuum cleaner 40 according to a first embodiment of the present invention.

FIG. 2 is a view showing an autonomous mobile trolley 1 (partial cross section).

FIG. 3 is a schematic sectional view for explaining the configuration of the autonomous mobile trolley 1;

FIG. 4 is a view showing the appearance of an autonomous mobile trolley 1 equipped with a household vacuum cleaner 40 according to a second embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Autonomous mobile trolley 20 Mounting part 40 Household vacuum cleaner 42 Exhaust port 50 Exhaust air

Claims (1)

[Claims] 1. An autonomous mobile vehicle that autonomously moves while performing a cleaning operation with an exhaust, wherein mounting means for mounting a cleaning device for performing the cleaning operation with the exhaust, and the cleaning device Means for directing the exhaust of the vehicle above a horizontal plane.