CN109645887A - Autonomous traveling type dust catcher and autonomous traveling type cleaner system and moving body - Google Patents
Autonomous traveling type dust catcher and autonomous traveling type cleaner system and moving body Download PDFInfo
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- CN109645887A CN109645887A CN201810180159.4A CN201810180159A CN109645887A CN 109645887 A CN109645887 A CN 109645887A CN 201810180159 A CN201810180159 A CN 201810180159A CN 109645887 A CN109645887 A CN 109645887A
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- Prior art keywords
- barrier
- dust catcher
- autonomous traveling
- type dust
- traveling type
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Electric Suction Cleaners (AREA)
Abstract
The present invention provides a kind of autonomous traveling type dust catcher and autonomous traveling type cleaner system and moving body, efficiently carries out the return of autonomous traveling type dust catcher (moving body) Xiang Jizhan.Autonomous traveling type dust catcher has the receiving unit that can detect return signal, detects the obstacle sensor of barrier and can store or recall the control unit for receiving the place of return signal, and execute: direction to place of the operation relative to the current location of autonomous traveling type dust catcher, and the traveling step advanced towards the direction；And during advancing towards place in the case that obstacle sensor detects barrier, the wall edge driving mode that is travelled along the outer rim of the barrier detected.
Description
Technical field
It is moved the present invention relates to autonomous traveling type dust catcher and autonomous traveling type cleaner system and in floor
Moving body.
Background technique
The autonomous traveling type dust catcher of cleaning work is independently driven and carried out as carrying rechargeable battery, it is known that is had
Following function: when the residual capacity of battery of rechargeable battery tails off, the base station auto-returned of Xiang Chengwei charger.
Patent document 1 discloses downward driving such as and controls: storage has carried out logical with the communication of external recharging apparatus (base station)
Believe place, in the case where being intended to returning to external recharging apparatus, setting direction of travel, then to before the communication locations straight line of storage
Into.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2006-236333 bulletin
Summary of the invention
Problems to be solved by the invention
But patent document 1 is for detecting the barriers such as wall towards the midway for the position for receiving return signal
In the case of how to correspond to and do not carry out any record, that is, do not record and do not imply yet and advance even if to the communication position of storage, but
In the case where detecting barrier before arrival, how to travel efficiently to be returned.
Solution for solving the problem
The present invention researched and developed in view of the foregoing provides a kind of autonomous traveling type dust catcher or moving body, includes and connects
Receipts portion can detect return signal；Obstacle sensor detects barrier；Control unit can store or spread out of reception
To the place of above-mentioned return signal, independently traveling type dust catcher or moving body are characterized in that for this, execute: operation relative to this from
The direction towards above-mentioned place of the current location of main traveling type dust catcher or moving body, and the progressive step advanced to the direction
Suddenly；During advancing to above-mentioned place, when above-mentioned obstacle sensor detects barrier, along the barrier of detection
The wall edge driving mode that outer rim is travelled.
Detailed description of the invention
Fig. 1 is the perspective view that the autonomous traveling type dust catcher of embodiment 1 is overlooked from left front.
Fig. 2 is the bottom view of the autonomous traveling type dust catcher of embodiment 1.
Fig. 3 is the A-A cross-sectional view of Fig. 1.
Fig. 4 is the buffer internal structure for having unloaded buffer cover for indicating the autonomous traveling type dust catcher of embodiment 1
Perspective view.
Fig. 5 is the control unit for indicating the autonomous traveling type dust catcher of embodiment 1 and the structure for the equipment for being connected to control unit
Figure.
Fig. 6 is to indicate the autonomous traveling type dust catcher of embodiment 1 in the case where room is to reflect driving mode traveling
The figure of an example of track.
Fig. 7 is to indicate the autonomous traveling type dust catcher of embodiment 1 in the case where room is to return to driving mode traveling
The figure of an example of track.
Fig. 8 is the figure for indicating the structure of the first receiving unit of embodiment 1.
Fig. 9 is the figure for indicating the structure of the second receiving unit of embodiment 1.
Figure 10 is the main view of the base station 25 of embodiment 1.
Figure 11 is the control flow chart of the return traveling control of embodiment 1.
Figure 12 is the skeleton diagram for indicating to execute an example of the track after the return traveling control of embodiment 1.
Figure 13 is the control flow chart of the return traveling control of embodiment 2.
In figure:
The autonomous traveling type dust catcher of S-, 1-main body shell, 2-buffers, 3-right driving wheels, 4-left driving wheels, 9-
Rechargeable battery, 18-driving motors encoders, 19-buffer sensors (an example of obstacle sensor), 21-rangings pass
Sensor (an example of obstacle sensor), 23-microcomputers, 25-base stations, the 26-the first receiving unit, 27-the second receives
Portion, 50-gyro sensors.
Specific embodiment
Hereinafter, explaining the embodiment of the present invention in detail referring to attached drawing.
Embodiment 1
Fig. 1 is the perspective view of the autonomous traveling type dust catcher S of the present embodiment from left front.By independently traveling type dust suction
The direction that device S usually advances is set as front, in addition, vertical to be set as to top upwards, by the drive in the opposed direction of driving wheel 3,4
3 side of driving wheel is set as right, and 4 side of driving wheel is set as left.Front and back, upper and lower, left and right directions are defined as shown in Fig. 1 etc..
Fig. 2 is the bottom view of the autonomous traveling type dust catcher S of the present embodiment.Fig. 3 is the A-A cross-sectional view of Fig. 1.Fig. 4 is
Depending on the perspective view of a part of the buffer 2 of the autonomous traveling type dust catcher S of the present embodiment.Fig. 5 is oneself for indicating the present embodiment
The control unit of main traveling type dust catcher S and the structure chart for the equipment for being connected to control unit.
Autonomous traveling type dust catcher S is in the one side scheduled purging zone (for example, the floor Y in room) autonomous one
The electrical equipment of side automatic cleaning.
[construction of autonomous traveling type dust catcher S]
Autonomous traveling type dust catcher S has main body shell 1, the buffer 2 for being set to side wall, a pair of of the drive for being set to bottom surface
Driving wheel 3,4, auxiliary wheel 5 and rotating brush 6, rechargeable battery 9, control unit 10, attract fan 11, dust-collecting box 12, display at side brush 8
Panel 17, operation button 20 and the first receiving unit 26 and the second receiving unit 27 that detect return signal.
Driving wheel 3,4 is the wheel rotated by the rotary force of driving motors 3m, 4m, and can be along independently
Direction rotates.Using driving wheel 3,4, autonomous traveling type dust catcher S can be made to advance, retreated, the revolution (circle centered on certain point
Movement.Certain point can be overlapped with a part of autonomous traveling type dust catcher S, can not also be overlapped.) and cast (feelings
Under condition, rotation.Circular motion centered on the centroid for independently travelling type dust catcher S.).
Auxiliary wheel 5 is the driven wheel (Caster) rotated freely.
Brush 8a, 8b are set to the front side of autonomous traveling type dust catcher S and the outside of left and right directions on side, such as the arrow α of Fig. 2
Shown in 1, revolved in such a way that edge is cleaned from the region on the outside of the front of autonomous traveling type dust catcher S towards the direction on the inside of front
Turn, the dust in floor is concentrated on to 6 side of rotating brush in center.
Rotating brush 6 is set to rear relative to the driving wheel 3,4 of autonomous traveling type dust catcher S, is rotation with horizontal direction
Axis is rotated.The dust in the anterior approach of autonomous traveling type dust catcher S can be recycled, the dust that 8 bullets come is brushed by side.It is provided with
The region of rotating brush 6 generates the negative pressure produced by attraction fan 11.Dust-collecting box 12 be located at rotating brush 6 and attract fan 11 it
Between, accumulate dust.
Rechargeable battery 9 is, for example, the secondary cell that can be recycled by charging, and residual capacity of battery can be by remaining battery
It measures the measurement of test section 22 or infers.Come the power supply of self-charging battery 9 to control unit 10, display panel 17, driving motors 3m,
The autonomous component required for traveling type dust catcher S of the drivings such as 4m.
Control unit 10 comprehensively controls autonomous traveling type dust catcher S, for example, by installing microcomputer on substrate
(Microcomputer) 23 and peripheral circuit and constitute.The reading of microcomputer 23 is stored in ROM (Read Only Memory)
Control program and RAM (Random Access Memory) be unfolded, CPU (Central Processing Unit) carry out
It executes, to realize various processing.There is peripheral circuit A/DD/A converter, the driving circuit of various motors, sensor to drive
Dynamic circuit, charging circuit of rechargeable battery 9 etc..
The operation for the operation button 20 that control unit 10 is carried out according to user and from various obstacle detection mechanisms (buffer
Sensor 19, floor distance measuring sensor 22, distance measuring sensor 21) input signal execute calculation process, and with it is various
Input/output signal between motor.
Dust-collecting box 12 is formed with suction inlet 12i as entrance in the top of rotating brush 6.In addition, dust-collecting box 12 is pacified in outlet
Equipped with dust-collecting filter 13.In addition, fan 11 is attracted to be driven by fan motor 11m.
[sensor]
Autonomous traveling type dust catcher S includes barrier, step, the return signal from cradle in detection anterior approach
Deng floor distance measuring sensor 22, buffer 2 (buffer sensor 19), distance measuring sensor 21, receiving unit 26,27.
Floor is the bottom surface for being set to autonomous traveling type dust catcher S with distance measuring sensor 22 (22a, 22b, 22c, 22d)
, can distinguish in preset distance whether there is floor sensor.As floor distance measuring sensor 22, as long as energy
It enough realizes that this function is just not particularly limited, is also able to use specific distance of the infrared rays survey at a distance of floor.This implementation
The floor distance measuring sensor 22 of example is set to four positions all around of bottom surface.For example, passing through floor ranging
For sensor 22 in the case where the step of 30mm degree or more is detected in front, control unit 10 can control driving wheel 3,4, make certainly
Main traveling type dust catcher S is retreated, and converts direction of travel later.
Buffer 2 is linked to the sensor for detecting the collision of the barriers such as autonomous traveling type dust catcher S and wall.2 quilt of buffer
Pair of right and left buffer spring (not shown) exerts a force outward relative to main body shell 1.Active force warp when being collided with barrier
When acting on buffer spring by buffer 2, buffer spring is deformed in a manner of shrinking inwardly in the case where overlooking visual angle, to slow
It rushes device 2 to exert a force outward, and allows buffer 2 mobile to the interior direction of main body shell 1.When buffer 2 is from barrier
It leaves and above-mentioned active force when disappearing, by the elastic force of buffer spring, buffer 2 restores to initial position.
The movement (it is, contact with barrier) of the buffer 2 is detected by the buffers such as photo-coupler sensor 19.
When buffer 2 is since with the contact of barrier etc. and when retreating, sensor light is blocked, and to the output of control unit 10 and the variation
Corresponding detectable signal has occurred and the contact of barrier etc. so as to detect.Then, control unit 10 controls driving wheel 3,4,
It as needed retreats autonomous traveling type dust catcher S, changes direction of travel later.
Distance measuring sensor 21 is to be able to detect barrier etc. to whether there is in the infrared sensor in preset distance, can
It is configured at the side wall of for example autonomous traveling type dust catcher S.In the present embodiment, three are distinguished at a positive position and left and right side
Position amounts to seven positions and is provided with distance measuring sensor.Distance measuring sensor 21 can also detect in more detail at a distance of obstacle
The distance of object etc..As the structure of distance measuring sensor 21, such as can be set as with the illumination region (not shown) for issuing infrared ray
The acceptance part (not shown) of the reflected light returned with receiving infrared-ray by barrier reflection.
The driving motors that autonomous traveling type dust catcher S has are to detect turning for driving motors 3m, 4m with encoder 18R, 18L
The detector of speed rotation angle, and calculate the movement speed moving distance of autonomous traveling type dust catcher S.In addition, autonomous row
The gyro sensor 50 that sailing type dust catcher S has detects the rotation angle of autonomous traveling type dust catcher S, that is, traveling side
To.
Operation button 20 is to export the operation corresponding operation signal with user to the button of control unit 10, can be indicated
Beginning/end of cleaning returns to cradle.
There is display panel 17 multiple LED (Light Emitting Diode: not shown) and Seven pieces digital displaying screen (not to scheme
Show), and show the operating condition etc. of autonomous traveling type dust catcher S.
Control unit 10 executes calculation process according to from operation button 20a, 20b and the signal of sensor class, and to each
Motor output instruction signal.
[traveling]
Fig. 6 is to indicate the autonomous traveling type dust catcher S of the present embodiment in the case where room A is to reflect driving mode traveling
Track an example figure.Fig. 7 is to indicate the autonomous traveling type dust catcher S of the present embodiment in room A to return to driving mode row
The figure of an example of the track in the case where sailing.
The autonomous traveling type dust catcher S that A is travelled in room is in addition to travelling mould as the reflection of an example for cleaning traveling control
Other than formula, wall edge driving mode, can independently it be travelled by exploring the return traveling control of the base station 25 as cradle.Clearly
Sweep traveling control makes side brush 8a, 8b rotation on one side, and the dust in floor is obtained by rotating brush 6, passes through air blower
11 attract and are recycled to dust-collecting box 12, travel autonomous traveling type dust catcher S independently.
Reflect driving mode be detect with wall or barrier 24 (frame, sofa etc.) in contact with or close in the case where,
Autonomous traveling type dust catcher S changes the mode that direction of travel is travelled, the cleaning suitable for entire room A.According to from buffering
In the case where the detection signal detection to the barriers such as wall 24 that device sensor 19, distance measuring sensor 21 input, control unit 10 can
By making driving motors 3m, 4m make autonomous traveling type dust catcher S cast (situation and rotation to mutually opposite direction
Under, rotation), change direction of travel, or turned round and keeping the revolving speed of driving motors 3m, 4m different, to change row
Into direction.Autonomous traveling type dust catcher 1 can be mobile to the direction far from the barrier 24 detected etc. as a result,.
Clean the cleaning under traveling control have passed through the set time in the case where, the residual capacity of battery of rechargeable battery 9 reaches
The operation instruction of the button 20b carried out in predetermined value situation below or by user etc. returns to the feelings of driving mode
Under condition, executes and return to traveling control.
[return signal]
Base station 25 has the emission part 25c of transmitting return signal.The receiving unit 26,27 of autonomous traveling type dust catcher S can
Return signal is detected, autonomous traveling type dust catcher S is returned by exploring the emission source of return signal to base station 25.
Autonomous traveling type dust catcher S has the first receiving unit 26 and the second receiving unit 27.
First receiving unit 26 is set to the upper surface of autonomous traveling type dust catcher S, and the wider range of horizontal direction (is bowed
In plane depending in the case where), such as 300 ° or more, preferably 360 ° of range be set as the range that can be detected.In base station 25
In the case where being placed in flat floor Y, first in the autonomous traveling type dust catcher S of identical floor Y traveling is received
It is roughly the same with the height of return signal that emission part 25c emits that the height in portion 26 is designed as.Therefore, regardless of autonomous traveling type is inhaled
How are the direction of dirt device S and the positional relationship of base station 25, as long as between them without barrier 24 etc., it will be able to pass through first
Receiving unit 26 easily detects the return signal of emission part 25c.In addition, first receiving unit 26 of the present embodiment is fixed on autonomous row
Sail the substantial middle of the left and right width of type dust catcher S and the upper surface of buffer 2.
Second receiving unit 27 is set to the side wall of autonomous traveling type dust catcher S, and the relatively narrow range of horizontal direction (is overlooked
In the case where plane in), range at least narrower than the first receiving unit 26, such as 45 ° of ranges below are set as capable of detecting
Range.
Fig. 8 is the figure for indicating the structure of the first receiving unit 26 of the present embodiment, and Fig. 9 is to indicate that the second of the present embodiment receives
The figure of the structure in portion 27.
First receiving unit 26 includes the light receiving element 26a for receiving the return signal such as infrared ray of emission part 25c transmitting；
Surround the sensitive lens 26b of the substantially cylindrical shape of light receiving element 26a；And the upper table of the upper surface of covering sensitive lens 26b
Cover 26c.Light receiving element 26a will be solid upward by light direction in the position of the height roughly the same with 12 upper surface of buffer
It is fixed.The canister portion of sensitive lens 26b is made by the resin material that infrared ray can penetrate, and can obtain the complete cycle from canister portion periphery
Or the return signal of substantially complete cycle.In addition, in the inside of sensitive lens 26b canister portion, in the mortar shape setting towards downside constriction
Periphery reflects the return signal got from canister portion periphery downwards on the boundary of the periphery with the mortar shape.It is configured to,
The light receiving element 26a of lower section in sensitive lens 26b receives the return signal reflected in this way, can be in the horizontal plane from larger
Range reception return signal.In addition, what upper surface lid 26c was passed through by the light for the wave band that light receiving element 26a cannot be enable to detect
Resin production, has interdicted such as illumination light, the remote signal of other equipment of the top from autonomous traveling type dust catcher S.
Second receiving unit 27 is set to the position higher than the central location of the short transverse of buffer 2 and the first receiving unit of ratio
The position that left and right directions position where 26 leans on left or right, for example leaves about 30mm.Second receiving unit 27 has will be by light direction
It is set as approximate horizontal light receiving element 27a and the gabarit from buffer 2 rearward extends and with the cylinder towards rear and constriction
Portion 27b, and have with respect to the horizontal plane and the range of receiving of vertical plane become about 30 degree as directive property.
[base station 25]
Figure 10 is the main view of the base station 25 of the present embodiment.Base station 25 has generally perpendicularly stretches relative to floor
The backrest portion 25a and basal part 25b extended in parallel to front side with floor.The height of backrest portion 25a is inhaled than autonomous traveling type
The height of dirt device 1 is high, has three opening portion 25c of transmission return signal 29 on the top of backrest portion 25a.In each opening portion
25c is configured with the LED for for example issuing infrared ray.In addition, base station 25 have power supply line 25e, can be obtained from source power supply etc. for
Electric power required for making LED shine.
Basal part 25b has the power supply terminal 25h for the rechargeable battery 9 that can be electrically connected to autonomous traveling type dust catcher S.For
Receiving end of the electric terminal 25h when autonomous traveling type dust catcher S is back to base station 25, with the bottom surface of autonomous traveling type dust catcher S
Son 28 contacts, so as to power to rechargeable battery 9.
The transmission of return signal 29 from this base station 25 is illustrated.Firstly, return signal is to make infrared LEDs
High speed scintillation (between about 50~100ms, tens ON/OFF are repeated) and make code.
It is transmitted towards the region transmission right side return signal 29R in front of right side towards the region in front of left side left base station 25
Side return signal 29L, and central return signal 29C is transmitted towards the region in front of center.Return signal 29R, 29L, 29C are from base
It stands 25 and is transmitted to forwards at a distance of the region of about 6m, the width of the transit area of return signal 29R, 29L becomes left and right to about
The range in 30 degree of directions.In addition, the width of the transit area of return signal 29C is narrower than return signal 29R, 29L.Each return signal
29R, 29L, 29C can be set as respectively different code, and autonomous traveling type dust catcher S, which can distinguish which kind of is received and is returned, to be believed
Number.
[return signal follow running mode]
The autonomous traveling type dust catcher S for executing return driving mode is travelled as follows: identifying these return signals 29
Code, judge autonomous traveling type dust catcher S relative to base station 25 which region (position) travel, then determine traveling side
To Xiang Jizhan 25 is returned.The autonomous traveling type dust catcher S of the present embodiment transmits the region of central return signal 29C not depart from
Mode advance, return base station 25.
[exploration of return signal]
The autonomous traveling type dust catcher S that return signal is detected in returning to driving mode is returned and pursuing return signal
Base station 25 is gone back to, but is not limited to receive return signal at the time of starting and returning to traveling control.It is therefore preferable that returning to traveling control
At the beginning of or the initial stage, be able to carry out effectively explore return signal 29 traveling.If return signal 29 cannot be received
Ground constant quest, then before completing to return, rechargeable battery 9 generates dead battery, stops traveling.
In order to effectively explore return signal, the autonomous traveling type dust catcher S of the present embodiment is used according to driving motors first
Encoder (a right left side) 18R, 18L, gyro sensor 50 value infer the position of autonomous traveling type dust catcher S, and clear
It sweeps in the case where receiving return signal 29 in traveling, which is stored in control unit 10 (such as microcomputer 23).
By using gyro sensor 50, the direction that autonomous traveling type dust catcher S advances can conclude that, by utilizing row
Motor encoder (a right left side) 18R, 18L is sailed, can conclude that the length that autonomous traveling type dust catcher S has advanced.It stores as a result,
Receive the position of return signal 29 in cleaning traveling, it is more that the place with the storage has been that point processing has advanced to which direction
The youthful and the elderly's degree, so as to return traveling control at the beginning of or the initial stage infer the place of the storage relative to current location
Direction and distance.By keeping autonomous traveling type dust catcher S mobile to the place being inferred to, it can be accessible to receive and return
The region of letter in reply number.
But if in the place being inferred to and start there is no any barrier between the mobile place in the deduction place
24 etc., then it reaches the place being inferred to and is easier, but with barrier 24 etc., how to continue traveling becomes
Problem.
[return comprising the travel phase to the place deduced travels process]
Figure 11 is the control flow chart of the return traveling control of the present embodiment, and Figure 12 is after indicating to execute return traveling control
Track an example skeleton diagram.As shown in figure 12, it is assumed that following situations: autonomous traveling type dust catcher S, which is executed, cleans traveling mould
Formula, in the stage of the traveling place of arrival P31 of the track shown in the dotted arrow, into returning to driving mode.Moreover, going cleaning
It sails in mode, place P30 is the position that can receive return signal, and the autonomous traveling type dust catcher S storage of the present embodiment should
Period newest place P30a.It is assumed that following situations: infer the position of place P30a, starts to advance towards place P30a, but
It is the wide barrier of width as the narrow barrier of width, wall 42 as the leg in the anterior approach with desk 41.
As described in detail below, autonomous traveling type dust catcher S is in the case where detecting narrow barrier 41 of width, by executing back
Turn, cast and avoiding barrier 41, and continues to be generally parallel or offset from predetermined angular to the direction of travel before detection
The traveling in the direction of (such as 5 ° or less) below.In addition, being able to carry out edge in the case where detecting wide barrier 42 of width
Barrier 42 extending direction advance wall edge driving mode.
Referring to attached drawing, illustrate above-mentioned traveling stream.Firstly, entering the autonomous traveling type for returning to traveling control in place P31
Whether dust catcher S confirmation can receive return signal (step S1) in place P31.
In the case where that can receive return signal (step S1, Yes), execution is pursued return signal 29C and is returned to base station 25
The return signal follow running mode (step S2) returned.In the case where return signal cannot be received (step S1, No), confirmation control
Whether portion 10 processed stores the newest place (step S3) for receiving return signal.In the case where not storing (step S3,
No), autonomous traveling type dust catcher S is to direction running (step S4) appropriate.This can be in the same manner as such as reflection driving mode
Anterior approach is determined, after return signal capable of being detected under steam, into return signal follow running.
In the case where storing (step S3, Yes), the newest storage that operation is observed from current location, that is, P31
Point is the direction (step S31) of P30a, and advances (step S32) to the direction.
Autonomous traveling type dust catcher S in traveling confirms whether return signal (step can be detected in current location
S33).In the case where that can detect (step S33, Yes), execute return signal follow running mode (step S2).Not
In the case where capable of detecting (step S33, No), moves on one side, be confirmed whether to detect barrier (step S35) on one side.
(step S35, No), return step S33 in the case where not detecting barrier.The case where detecting barrier
Under (step S35, Yes), confirm the barrier whether wider width (step S36).
In the present embodiment, the judgement of the width of barrier etc. is more using being provided in the front of autonomous traveling type dust catcher S
A distance measuring sensor 21 and buffer sensor 19 carry out.Autonomous traveling type dust catcher S is in distance measuring sensor 21 or buffer
In the case that sensor 19 works, detection barrier etc. is in front, below the first predetermined number in distance measuring sensor 21
In the case that the distance measuring sensor 21 of (such as one (including 0)) reacts and (is judged as that barrier is closer), it is judged as obstacle
Object is thinner.This is because in the thinner situation of barrier, the transmitting light of distance measuring sensor 21 encounter barrier and reflect can
Energy property is smaller.One in distance measuring sensor 21 in the case where can not detect barrier, the autonomous traveling of the present embodiment
Type dust catcher S is moved on, to contact with buffer 2, is reacted by buffer sensor 19, can be detected obstacle
Object.
Detect be the thinner situation of barrier under (step S36, No), around barrier revolution etc. and hide (step
Rapid S37).During this is hidden, the preferably direction of travel before obstacle detection and the direction of travel after obstacle detection is substantially parallel.This
Sample can be efficiently close to place 30a.For example, it is preferable to detect returning for the state of barrier with one distance measuring sensor 21 of maintenance
Turn substantially 180 ° of radius revolution.After hiding thinner barrier in this way, return step S33 is moved on.In addition, for example
Can be after avoiding barrier, advance route is corrected according to the direction in the direction of operation storage location P30a.That is, can also be with structure
Become, after step S36, step S37 is replaced by the movement of simple avoiding barrier, then after step S37, is returned
Return step S31.
Furthermore, if avoiding barrier for example can also be by any distance measuring sensor 21 towards direction of travel all not
Barrier is detected, advance after obstacle detection and/or has turned round preset distance to judge.
It on the other hand, is more than the distance measuring sensor of the first predetermined number (such as more than two) in distance measuring sensor 21
In the case that 21 have occurred reaction, it is judged as the wider width (step S26, Yes) of barrier.In this case, autonomous traveling
Type dust catcher S executes the wall edge lines that direction of travel is changed to the direction substantially parallel with the extending direction of barrier and is travelled
Sail mode (step S6).For example, (being advanced with being set in distance measuring sensor 21 with the front direction of independently traveling type dust catcher S
Direction) substantially orthogonal direction distance measuring sensor 21 and than the distance measuring sensor 21 towards other distance measuring sensors 21 in front
The mode for detecting barrier carries out cast, then, in such a way that these distance measuring sensors 21 persistently detect barrier before
Into or turning.As needed (for example, other distance measuring sensors 21 become detection less than barrier state, and with traveling
The substantially orthogonal distance measuring sensor 21 in direction becomes the case where detection is less than barrier.In this case, autonomous traveling type dust suction
Device S is inferred as reaching the terminal of the barriers such as wall.), execute lesser revolution of radius of curvature etc..
In the case where detecting return signal during wall edge driving mode (step S61, Yes), executes and return to letter
Number follow running (step S7).In the state of not detecting return signal (step S61, No), continuing predetermined time wall
When edge driving mode, when detecting the terminal of one or more barrier, anterior approach is changed into direction appropriate
And advance (step S8).
Execute the solid arrow that this example for returning to the track in the case that traveling controls is Figure 12.
It can also be carried out cast (such as 360 ° or less) before entering step S8, thereby executing being confirmed whether really
The step of detection is less than detectable signal.
In addition it is also possible to not use distance measuring sensor 21, and video camera is used, according to the width of its image disturbance in judgement object
Degree.In addition, in the present embodiment, the width of barrier is judged in two stages, but can also in two stages more than
Judged.
In the present embodiment, autonomous traveling type dust catcher S per predetermined time attempts the detection for carrying out receiving signal, and storing should
Period newest place.This is because if attempting, the frequency stored is higher, and the load becomes large for microcomputer, such as
Each second is stored.It is preferred that interval t considers the movement speed V of autonomous traveling type dust catcher, the return letter near cradle
Number width h, also can be set to h/V < t.Such as in the case where V=about 300mm/s h=300mm, preferably t < 1s.This
Outside, the place being replaced especially by record return signal, additionally it is possible to grasp the direction of cradle, more preferably.
In addition, if detecting the feelings of thinner barrier to for example keeping right among the above relative to autonomous traveling type dust catcher S
Movement under condition is illustrated, then autonomous traveling type dust catcher S by cast towards left side, later in the case where overlooking visual angle
It substantially turns round clockwise.Can also be after avoiding barrier, direction before direction of travel to be set to obstacle detection,
Can again operation storage place P30a direction, thus towards the direction.
Then, wall 42 becomes barrier, becomes the situation that cannot be moved on.Wall 42 is wider, and in distance measuring sensor 21
Such as two distance measuring sensors 21 react, therefore, barrier is judged as wider object.Autonomous traveling type dust catcher
S such as cast clockwise, makes the left side of autonomous traveling type dust catcher S close to wall.As a result, autonomous traveling type
Dust catcher S and wall are substantially parallel, therefore, by advancing, are able to carry out wall edge driving mode.It moves, is visiting along wall
After the terminal for measuring wall, the terminal is pursued in a manner of slipping into.In position, P32 receives return signal, therefore, believes into returning
Number follow running, Xiang Jizhan 25 are returned.
In addition, in the present embodiment, return is executed towards the place P30a finally stored, but also can store returning of detecting
The place that the type (29R, 29L, 29C) of letter in reply number changes.In this case, the place of storage easily becomes close to base station 25
Therefore substantially positive position can more efficiently return.
Alternatively, it is also possible to be returned receiving close to setting at the time of should terminating to clean traveling control
After letter in reply number, the position for receiving return signal is not left farther out.For example, it is also possible to which the position traveling received apart is pre-
Set a distance (such as 2m) or after the predetermined time (such as 1 minute) executes the return for receiving position traveling towards storage and prepares row
Sail control.In the case where alternatively, it is also possible at the time of approaching should terminate to clean traveling control, after receiving return signal,
Cleaning traveling control is terminated in advance, into return signal follow running.Survey can be passed through by whether terminating in advance cleaning traveling control
Amount, which considers to rotate into, travels residual capacity of battery at the time of control into return to infer.
The present embodiment can also be replaced, obstacle sensor is made to cannot distinguish between the width of barrier.In this case, may be used
To be configured to, in the case where detecting barrier during the place P30a towards storage advances, wall edge lines are executed always
Mode is sailed, so that the outer rim along barrier moves.
Embodiment 2
The structure of the present embodiment is formed similarly to Example 1 in addition to following point.
Figure 13 is the flow chart of the return traveling control of the present embodiment.The autonomous traveling type dust catcher S of the present embodiment is constituted
For step of replacing S31 not only arrives the direction in the place of storage, but also being capable of operation distance (step S310).Then, measure to
The place traveling distance, when detection for advanced the distance calculated or than its it is long apart from when (step S34, Yes), progress
Cast (step S5).The angle of the cast is preferably substantially 360 °.As a result, in the sensitivity root of the first receiving unit 26
It is different according to direction and in the case where difference, can the comprehensive direction best towards sensitivity therefore can more reliably judge
The presence or absence of return signal, and by utilizing the second receiving unit 27, it can more reliably judge the direction of return signal.
The technical idea returned to base station 25 recorded in this specification is not limited to autonomous traveling type dust catcher S, Neng Goushi
To contain the base station for issuing return signal and the movable body system for the moving body for detecting return signal.
Control unit 10 stores in this specification, the information of operation is scheduled in autonomous traveling type dust catcher S without one and executes, example
If being also configured to, it is stored in server, memory that autonomous traveling type dust catcher S can be communicated, is adjusted as needed
Out, operation can be requested to server.
Claims (8)
1. a kind of autonomous traveling type dust catcher, includes
Receiving unit can detect return signal；
Obstacle sensor detects barrier；And
Control unit can store or recall the place for receiving above-mentioned return signal,
Above-mentioned autonomous traveling type dust catcher is characterized in that, is executed:
Traveling step, direction to above-mentioned place of the operation relative to the current location of the autonomous traveling type dust catcher, and direction
The direction is advanced；And
Wall edge driving mode, during advancing towards above-mentioned place, above-mentioned obstacle sensor detects the feelings of barrier
Under condition, travelled along the outer rim of the barrier detected.
2. autonomous traveling type dust catcher according to claim 1, which is characterized in that
The width subregion of barrier can be two more than the stage by above-mentioned obstacle sensor,
In the case that above-mentioned obstacle sensor detects barrier during advancing towards above-mentioned place, according to detecting
The barrier width determine traveling form.
3. autonomous traveling type dust catcher according to claim 2, which is characterized in that
Wall edge driving mode is executed, under the wall edge driving mode,
When the narrower width of above-mentioned barrier, by the direction of travel before the hiding of the barrier and after hiding be set as it is substantially parallel and
It advances, or
When the wider width of above-mentioned barrier, advance along the extending direction of the barrier.
4. autonomous traveling type dust catcher according to claim 2, which is characterized in that
Wall edge driving mode is executed, under the wall edge driving mode,
When the narrower width of above-mentioned barrier, by the direction of travel before the hiding of the barrier and after hiding be set as it is substantially parallel and
It advances, and
When the wider width of above-mentioned barrier, advance along the extending direction of the barrier.
5. the autonomous traveling type dust catcher according to any one of claim 2~4, which is characterized in that
It executes following steps: when the narrower width of above-mentioned barrier, being turned round around the barrier and hide the barrier, then
The step of executing towards above-mentioned site setting direction of travel.
6. autonomous traveling type dust catcher according to any one of claims 1 to 5, which is characterized in that
Above-mentioned receiving unit can distinguish the type of return signal,
The autonomous traveling type dust catcher storage or the changed place of type for recalling above-mentioned return signal.
7. a kind of autonomous traveling type cleaner system comprising:
Autonomous traveling type dust catcher according to any one of claims 1 to 6；And
Emit the base station of above-mentioned return signal.
8. a kind of moving body, is moved in floor, and is included
Receiving unit can detect return signal；
Obstacle sensor detects barrier；And
Control unit can store or recall the place for receiving above-mentioned return signal,
Above-mentioned moving body is characterized in that, is executed:
Traveling step, direction to above-mentioned place of the operation relative to the current location of the moving body, and advance towards the direction；
And
Wall edge driving mode, during advancing towards above-mentioned place, above-mentioned obstacle sensor detects the feelings of barrier
Under condition, travelled along the outer rim of the barrier detected.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017197329A JP7107658B2 (en) | 2017-10-11 | 2017-10-11 | AUTONOMOUS RUNNING VACUUM CLEANER, AUTONOMOUS RUNNING TYPE VACUUM CLEANER SYSTEM, AND MOVING OBJECT |
| JP2017-197329 | 2017-10-11 |
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| CN109645887A true CN109645887A (en) | 2019-04-19 |
| CN109645887B CN109645887B (en) | 2021-10-08 |
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| CN201810180159.4A Active CN109645887B (en) | 2017-10-11 | 2018-03-05 | Autonomous traveling vacuum cleaner, autonomous traveling vacuum cleaner system, and moving body |
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| Country | Link |
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| JP (1) | JP7107658B2 (en) |
| CN (1) | CN109645887B (en) |
| TW (1) | TWI689278B (en) |
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| CN112748725B (en) * | 2019-10-31 | 2022-04-01 | 珠海一微半导体股份有限公司 | Robot universal recharging control method, chip and robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2019070984A (en) | 2019-05-09 |
| CN109645887B (en) | 2021-10-08 |
| TW201914513A (en) | 2019-04-16 |
| JP7107658B2 (en) | 2022-07-27 |
| TWI689278B (en) | 2020-04-01 |
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