CN109744946A - Autonomous formula electric vacuum cleaner - Google Patents
Autonomous formula electric vacuum cleaner Download PDFInfo
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- CN109744946A CN109744946A CN201811025772.5A CN201811025772A CN109744946A CN 109744946 A CN109744946 A CN 109744946A CN 201811025772 A CN201811025772 A CN 201811025772A CN 109744946 A CN109744946 A CN 109744946A
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Abstract
The present invention provides the autonomous formula electric vacuum cleaner that can set purging zone corresponding with the hobby of user.The autonomous formula electric vacuum cleaner includes: the driving wheel for keeping the machine mobile；Be able to detect the ground distance measuring sensor to the distance on ground relative to the length of the threshold value of setting, testing result based on ground distance measuring sensor changes track route, and in the autonomous formula electric vacuum cleaner, threshold value can be changed.
Description
Technical field
The present invention relates to autonomous formula electric vacuum cleaners.
Background technique
The electric vacuum cleaner on the ground of dust is fallen as cleaning, it is known that the self-propelled electric vacuum cleaner independently driven.It is self-propelled
Electric vacuum cleaner wants to room above between thoroughly cleaning one, because may deposit between the inside, room and room in room
In step, it requires, which can step on more step, continues the structure cleaned.
Patent document 1 is capable of providing electric vacuum cleaner 11, and can accurately detect could step on more step D, can be high-precision
Prevent from hanging on the step D that can not step on convex more or fall into degree can not step on concave step D (0047).
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2014-226266 bulletin
Summary of the invention
The invention technical task to be solved
Patent document 1 could step on more step etc. using the detection of step sensor 21 to be made when more step can be stepped on by being judged as
The other side of electric vacuum cleaner arrival step.Decision is stepped on the more step or is not stepped on more the boundary of the step (threshold value) is fixed
, therefore the range (energy that can be reached from the autonomous formula electric vacuum cleaner that the ground for starting autonomous driving (autonomous to clean) is lighted
The region enough cleaned) it may be bigger than the original idea of user.But think to be not intended to autonomous row within the family etc. there are user
The case where walking the region of formula electric vacuum cleaner entrance, it is clear therefore, it is desirable to correspondingly limit or expand with the hobby of such user
Sweep region.
A technical solution to solve project
The present invention proposed in view of the foregoing provides a kind of autonomous formula electric vacuum cleaner comprising: keep the machine mobile
Driving wheel；Be able to detect the ground distance measuring sensor to the distance on ground relative to the length of the threshold value of setting, be based on
The testing result of the ground distance measuring sensor changes track route, and the threshold value can change.
Detailed description of the invention
Fig. 1 is the perspective view of the autonomous formula electric vacuum cleaner of the embodiments of the present invention in terms of left front.
Fig. 2 is the bottom view of the autonomous formula electric vacuum cleaner of embodiment.
Fig. 3 is the Section A-A figure of Fig. 1.
Fig. 4 is the solid for indicating the internal structure after removing the shell of the autonomous formula electric vacuum cleaner of embodiment
Figure.
The run trace of autonomous formula electric vacuum cleaner when Fig. 5 is the cleaning of embodiment.
Fig. 6 is the figure acted in detail rotated in place for indicating embodiment.
Fig. 7 is the figure for indicating the velocity variations of the right wheel in the rotating in place of embodiment.
Fig. 8 is the figure for indicating the go to action of embodiment.
Fig. 9 is the figure acted in detail for indicating the steering of embodiment.
Figure 10 is the figure for indicating the velocity variations of the right wheel in steering.
The run trace of autonomous formula electric vacuum cleaner when Figure 11 is the cleaning of embodiment.
Figure 12 is the figure for indicating the details of embodiment walked along wallflow.
Figure 13 is the figure of the velocity variations of the left wheel in the steering for indicate embodiment.
Figure 14 is to indicate that the step of embodiment steps on the figure of more situation.
Specific embodiment
Hereinafter, referring to the attached drawing appropriate embodiment that the present invention will be described in detail.Fig. 1 is reality of the invention in terms of left front
Apply the perspective view of the autonomous formula electric vacuum cleaner of mode.In addition, by autonomous formula electric vacuum cleaner S advance direction in, set
The side for being equipped with side brush 7 is known as front, and vertical upwardly direction is known as top, will be in the opposite direction of driving wheel 2,3
2 side of driving wheel is known as left, and 3 side of driving wheel is known as right.That is definition front and back, upper and lower, right and left as shown in Fig. 1 etc.
To.
Fig. 2 is the bottom view of autonomous formula electric vacuum cleaner.
Autonomous formula electric vacuum cleaner S is in defined cleaning region (such as the ground Y in room) autonomous and automatic
The electrical equipment of cleaning.
Autonomous formula electric vacuum cleaner S has the (ginseng of a pair of driving wheels 2,3 of the shell 1 (1u, 1s), lower part that form gabarit
According to Fig. 2) and auxiliary wheel 4.In addition, autonomous formula electric vacuum cleaner S has round brush 5, guidance brush 6 and side brush 7 in lower part, in week
It encloses and is provided with front as detection of obstacles mechanism with distance measuring sensor 8 (referring to Fig. 2, Fig. 3, Fig. 4).
Driving wheel 2,3 be for by the rotation of driving wheel 2,3 itself make autonomous formula electric vacuum cleaner S advance, after
The wheel move back, turned to.The configuration of driving wheel 2,3 is utilized respectively and is made of traveling motor and speed reducer in the diametrically left and right sides
Wheel unit 20,30 and be driven in rotation.Auxiliary wheel 4 is driven wheel and the castor to rotate freely.The setting of driving wheel 2,3 is certainly
The outside of the center side in the front-back direction of main walking electric vacuum cleaner S, left and right directions, auxiliary wheel 4 are arranged before in the front-back direction
Square side, left and right directions center side.
The outside of the front side of autonomous formula electric vacuum cleaner S, left and right directions is arranged in side brush 7, such as the arrow α 1 of Fig. 1
It is shown, it is carried out with the region on the outside of the front to autonomous formula electric vacuum cleaner S in the direction on the outside of left and right directions inwardly
The mode swept rotates, and the dust on ground is made to focus on round brush 5 (referring to Fig. 2) side in center.2 guidance brushes 6 are difference phases
For the setting of driving wheel 2,3 inside in left and right directions, to being guided by 7 dust that gathers of side brush, so that it will not from round brush 5
The fixed brush fled from of width direction Inside To Outside.
Round brush 5 is arranged relative to the driving wheel 2,3 of autonomous formula electric vacuum cleaner S at rear.The right and left end of round brush 5
Left and right directions position can be located at driving wheel 2,3 inside or guidance brush 6 inside.For example, shown in present embodiment
Autonomous formula electric vacuum cleaner S main body width and lengthwise be about 250mm, body height is about 90mm.
Fig. 3 is the Section A-A figure of Fig. 1.Fig. 4 is the internal structure after the shell for indicating removal autonomous formula electric vacuum cleaner
Perspective view.In addition, Fig. 4 indicates the state of removal dust-collecting box 12.
As shown in figure 3, autonomous formula electric vacuum cleaner S has rechargeable battery 9, control device 10, exhauster(-tor in inside
11 and dust-collecting box 12.Dust-collecting box 12 is formed with suction inlet 12i as entrance in the top of round brush 5.In addition, dust-collecting box 12 is exporting
Dust-collecting filter 13 is installed.
Rechargeable battery 9 is, for example, the secondary cell that can be recycled by charging, is accommodated in battery receiving part 1s6.Charging
The left and right end portions of across the autonomous formula electric vacuum cleaner S of battery 9 configure.Carry out the power supply of self-charging battery 9 to various barriers
Testing agency (8,15,16), control device 10, driving wheel 2,3, the motor of various brushes (5,7) and exhauster(-tor 11 etc..Autonomous row
Walk 10 overall control of formula electric vacuum cleaner S controlled device.
(exhauster(-tor 11)
As shown in figure 4, immediate vicinity of the configuration of exhauster(-tor 11 in lower case 1s.In the air that exhauster(-tor 11 generates
In flow path, by the sequence downstream gone from suction inlet 14 (referring to Fig. 3), it is provided with dust-collecting box 12, dust-collecting filter 13, suction air
Fan 11 and exhaust outlet 1s5 (referring to Fig. 2).Exhaust outlet 1s5 be arranged in the front of round brush 5, driving wheel 2,3 left and right directions on the inside of.
By driving exhauster(-tor 11 (referring to Fig. 3), the air in dust-collecting box 12 is discharged from exhaust outlet 1s5 to outside and is generated negative
Pressure sucks dust in dust-collecting box 12 from ground Y via suction inlet 14.
The round brush 5 for scraping the dust on ground is provided near suction inlet 14 (referring to Fig. 3).Exhauster(-tor 11 is under
Mode between shell 1s across elastomer (not shown) is arranged.By intervening flexible body, the vibration of exhauster(-tor 11 is able to
Decay and be not easy to be transferred to lower case 1s, vibration, noise can be reduced.
When driving exhauster(-tor 11 and round brush motor 5m (referring to Fig. 4), scraped using round brush 5 (referring to Fig. 3) into ground etc.
Dust.The dust scraped is directed in dust-collecting box 12 via suction inlet 14, suction inlet 12i.It is eliminated by dust-collecting filter 13
The air of dust passes through exhaust outlet 1s5 (referring to Fig. 2) discharge.In addition, dust-collecting box 12 is set to the lid of upper housing 1u by opening
1u1 (referring to Fig.1) and can dismount, dust can be abandoned by unloading dust-collecting filter 13.
(the movement summary of autonomous formula electric vacuum cleaner S)
Autonomous formula electric vacuum cleaner S is automatically moved using driving wheel 2,3 and auxiliary wheel 4 (referring to Fig. 2), is able to carry out
Advance, retrogressing, left and right turn, pivot stud etc..Autonomous formula electric vacuum cleaner S will be attached by side brush 7, guidance 6 dusts of brush
The dust around round brush 5, via suction inlet 14 using the inhalation power of exhauster(-tor 11 from the suction inlet of 12 entrance of dust-collecting box
12i is sucked in dust-collecting box 12, is trapped in dust-collecting box 12 using the dust-collecting filter 13 of outlet.
When dust is trapped in dust-collecting box 12, suitably dust-collecting box 12 is taken out from main part Sh by user, dust
Filter 13 is removed, and dust is abandoned.
(shell 1)
Shell 1 is to form gabarit, storage wheel unit 20,30, round brush motor 5m, exhauster(-tor 11, dust-collecting box 12, control
The cabinet of device 10 etc..
Shell 1 includes the upper housing 1u for constituting upper wall, the lower case 1s for constituting bottom wall (and side wall of a part) and setting
In the buffer 1b of the front lower portion of shell 1.
Upper housing 1u is provided with the lid 1u1 (referring to Fig.1) for entering and leaving for dust-collecting box 12 (referring to Fig. 3).
As shown in Fig. 2, being formed with wheel unit incorporating section 1s1, side brush mounting portion 1s3, sucting in lower case 1s
1s4, exhaust outlet 1s5 and battery receiving part 1s6.
Wheel unit incorporating section 1s1, which is formed in Fig. 2, overlooks the center left and right sides for being generally circular lower case 1s.In vehicle
Unit incorporating section 1s1 is taken turns, bearing is accommodated with and drives the wheel unit 20,30 of driving wheel 2,3.
Exhaust outlet 1s5 is located near the center of lower case 1s, in the position that the wheel unit incorporating section 1s1 controlled is clipped
It is formed with multiple.
Battery receiving part 1s6 is formed in the position that front side is leaned at the center than lower case 1s.It is stored in battery receiving part 1s6
There is rechargeable battery 9.The side brush mounting portion 1s3 of installation side brush 7 is formed in the left and right of battery receiving part 1s6.
Sucting 1s4 is provided on rear side of the rear side, that is, exhaust outlet 1s5 and wheel unit incorporating section 1s1 of lower case 1s
(referring to Fig. 2).
Buffer 1b (referring to Fig.1, Fig. 2) is arranged to when colliding with the barriers such as wall can be according to from external action
Power and move in the longitudinal direction.Buffer 1b is exerted a force by pair of right and left buffer spring (diagram is omitted) outward direction.
When active force when colliding across buffer 1b and barrier acts on buffer spring, buffer spring with
The mode toppled over inwardly when vertical view deforms, and buffer 1b outward direction is exerted a force and buffer 1b is allowed to retreat.Work as buffer
1b leaves barrier and active force when disappearing, and the power applied using buffer spring, buffer 1b is restored to origin-location.
In addition, the retrogressing (contact i.e. with barrier) of buffer 1b is by aftermentioned buffer sensor 15 (referring to Fig. 4) detection, inspection
Survey result input control device 10.
(sucting 1s4)
Sucting 1s4 formation shown in Fig. 3 includes a part of the flow path of the air of the dust aspirated by exhauster(-tor 11.
From sucting 1s4 the flow path in downstream successively with dust-collecting box 12, dust-collecting filter 13, exhauster(-tor 11 and exhaust outlet 1s5 (reference
Fig. 2) it is connected to.
It is configured with the round brush 5 scraped into dust in sucting 1s4, and is fixed with the round brush motor 5m (ginseng for driving round brush 5
According to Fig. 4).Sucting 1s4 be formed with by by round brush 5 scrape into dust sucking dust-collecting box 12 suction inlet 14.In addition, 5 (reference of round brush
Fig. 2) there is the length roughly the same with sucting 1s4.
As shown in figure 3, suction inlet 14 is connected to the suction inlet 12i of the opening of dust-collecting box 12, dust is via suction inlet 14, suction inlet
12i is collected in dust-collecting box 12.
It is formed in lower case 1s in sucting 1s4, the round brush incorporating section 14b for storing round brush 5,14b matches in round brush incorporating section
Set above-mentioned round brush 5.Round brush 5 is rotatably mounted in sucting 1s4.Round brush 5 can be removably mounted relative to sucting 1s4.
(dust-collecting box 12)
Dust-collecting box 12 as shown in Figure 3 is sucked for recycling from ground Y via the suction inlet 14 for being formed in sucting 1s4
The container of dust.Dust-collecting box 12 has the left and right directions size roughly the same with round brush 5.
Dust-collecting box 12 includes: the main body of the dust of storage recycling；The lid of the dust of recycling can be taken out；With body top
Folding handle.The lower surface of the main body of dust-collecting box 12 be shape corresponding with the shape on the top of sucting 1s4, have with
Suction inlet 14 is opposite and is the suction inlet 12i of roughly the same opening shape.Lid is opposite with the suction port of exhauster(-tor 11, has above-mentioned
Dust-collecting filter 13.
(detection of obstacles mechanism 8,15,16)
Detection of obstacles mechanism is provided with buffer sensor 15, front distance measuring sensor 8 and ground shown in Fig. 4
Face distance measuring sensor 16.Buffer sensor 15 be according to the retrogressing of buffer 1b (referring to Fig.1) come detection buffer 1b with
The sensor of the case where bar contact, e.g. photo-coupler.When barrier and buffer 1b are contacted, due to buffer 1b's
Retreat and sensor light is blocked.Detection signal corresponding with the variation is exported to control device 10.
The front with distance measuring sensor 8 is measured using infrared ray to the distance measuring sensor of the distance of barrier, setting
In the inside of 5~15mm from the surface of buffer 1b.In addition, red by that can make near the distance measuring sensor 8 of buffer 1b
The resin or glass that outside line penetrates are formed.The front distance measuring sensor 8 is the reflection for perceiving the infrared ray from barrier
The component of light, using reflected light intensitometer ranging from.It is judged as close when the intensity of reflected light is strong, is judged as when weak remote.That is, not
Be the distance away from barrier is judged with 0,1 this 2 value but can be with distance of (simulation) judgement of multiple stages away from barrier
Distance measuring sensor.
By such front with distance measuring sensor 8 in main body front 8a, left side 8b, right side 8c, front and left side
Between left front 8d, front and right side between the total setting 5 of right front 8e.In present embodiment 5 be can
With the distance measuring sensor of measurement of multiple stages " distance " but it is also possible to be any one of at least only left side 8b, right side 8c
It is the distance measuring sensor that " distance " can be measured with multiple stages.
In addition, visible light, ultraviolet light, laser can be used as front distance measuring sensor 8.Furthermore, it is possible to not be meter
The distance measuring sensor for surveying the type of the intensity of infrared ray, is measured in the type of distance by the light receiving position of perceived reflection light,
It can be type of the time progress returned according to reflected light apart from measurement.
Ground distance measuring sensor 16 shown in Fig. 2 is the ranging sensing using infrared ray for measuring the distance away from ground
The lower surface of lower case 1s is arranged in all around (16a, 16b, 16c, 16d) at 4 in device.Ground is with distance measuring sensor 16 when inspection
Measure the distance between ground be threshold value more than (step is big) when, pass through change autonomous formula electric vacuum cleaner S walking road
Line is able to suppress and the case where advancing to the step that can not be stepped on more is fallen or continued from step.Ground distance measuring sensor 16 can
" the downlink step " that detection autonomous formula electric vacuum cleaner S is gone to the position lower than present level, is also able to detect to than current
" the uplink step " that highly high position is gone.Such as when autonomous formula electric vacuum cleaner S advance, the detection of downlink step can lead to
It crosses and detects that the ground distance measuring sensor 16 in front is larger at a distance from ground and detects and obtains.In addition, about uplink step
Detection, autonomous formula electric vacuum cleaner S can tilt when climbing up step, therefore by detecting that the ground at rear is sensed with ranging
Device 16 becomes smaller at a distance from ground, and the ground distance measuring sensor 16 in front becomes larger to be able to detect at a distance from ground and obtains
(referring to Fig.1 4).In present embodiment, the downlink step of track route and upper will be changed to autonomous formula electric vacuum cleaner S greatly
The adjective that row step is subject to " more than threshold value " respectively is stated.
The setting of threshold value can change, and control device 10 can be suitably changed or user's energy in autonomous driving
Its change is enough made by operation button bu.
For example, detecting there is 30mm degree in front by ground distance measuring sensor 16 when setting the threshold to " usual "
When step more than (the first ground threshold value), control device 10 (referring to Fig. 3) control driving wheel 2,3 retreats main part Sh, turns
Change the direction of travel of autonomous formula electric vacuum cleaner S.In addition, will step height corresponding with threshold value be set as " low " when,
When detecting the step of such as 15mm (the second ground threshold value) lower than 30mm degree or more, control device 10 controls driving wheel 2,3
Main part Sh is retreated, the direction of travel of autonomous walking electric vacuum cleaner S is converted.
(control device 10)
Control device 10 shown in Fig. 3 is for example and installing microcomputer (Microcomputer) and peripheral circuit in substrate
It constitutes.Microcomputer reads the control program stored in ROM (Read Only Memory, read-only memory), in RAM (Random
Access Memory, random access memory) expansion, hold CPU (Central Processing Unit, central processing unit)
Row, to realize various processing.Peripheral circuit have A/D, D/A converter, the driving circuit of various motors, sensor circuit,
The charging circuit etc. of rechargeable battery 9.
Control device 10 according to user to the operation of operation button bu and from various detection of obstacles mechanisms (sensor 8,
15,16) signal of input execute calculation process, and the input and output of signal are carried out with various motors, exhauster(-tor 11 etc..
(auxiliary wheel 4)
The center of the left and right directions in the front of lower case 1s is arranged in auxiliary wheel 4 shown in Fig. 2.Auxiliary wheel 4 is and driving
The wheel that main part Sh is maintained at specified altitude together, is used to that autonomous formula electric vacuum cleaner S to be made smoothly to move by wheel 2,3.It is auxiliary
Help wheel 4 using the movement with main part Sh and in the driven rotation of frictional force that it is generated between the Y of ground, in turn, with its court
The mode rotated to 360 ° in the horizontal direction, is pivotally supported in lower case 1s.
Fig. 5 indicates run trace when sweeping.Autonomous formula electric vacuum cleaner S walks in room 50.Room 50 is by wall
51 surround, and lower left side has desk, the leg 55 of desk is described in Fig. 5.Dotted line 52 in room 50 indicates run trace.
Reflection walking is to change to advance after detecting barrier using front distance sensor 8 or buffer sensor 15
The walking in direction.Following run trace: autonomous formula electric vacuum cleaner S P1 from figure are indicated, when close to as barrier
Room 50 wall 51b when (P2), rotate to the left and rotate (pivot stud) in situ and thus change direction of travel, as in wall
51b is reflected.
Also the movement (the angle random change rotated in place) for changing direction of travel is repeated when later close to wall 51, leans on
The leg 55a (P3) of nearly desk.Judge when being thin (small) barrier as the leg 55a of desk, around to from the barrier pole
The mode in close place turns to main body, further sweeps the front of the barrier.
Later, close to wall 51c, change direction of travel, close to wall 51a, further change direction of travel, close to the leg of desk
55c(P4).When being judged as YES thin (small) barrier as the leg 55c of desk, in the place steering extremely close from the barrier
One week or more mode keeps main body mobile.
When in above content when close to the leg 55a of desk and close to 55c, distance (angle) difference, but this implementation are turned to
Change at random in mode, can also make to turn to distance change on the basis of the detection frequency of thin barrier.There are many thin barriers
Hinder the situation of object for example when dining table is inferior there are multiple chairs, the dust around leg in order to sweep chair well preferably makes
It is longer to turn to distance, is swept more.In this way, autonomous formula electric vacuum cleaner S can also rotate in situ other than straight line traveling,
Or it is turned near barrier.
Detailed movement in situ when rotation is as shown in Figure 6.Fig. 6, which simplifies, indicates autonomous formula electric vacuum cleaner S, only indicates
Main body Sh and right driving wheel 2, left driving wheel 3, P11 indicate the front (front, the part of forefront) of main body Sh.In addition, in figure
Dotted line indicate the main body after main body Sh postrotational wheel position in situ, P12 indicate mobile front position.Fig. 6 table
The case where showing widdershins rotation in situ, makes right 2 forward direction of wheel, makes 3 backward directions of left wheel with roughly the same angle
Speed rotation.Angular speed by the wheel when angular speed of the wheel when rotation being made to advance than straight line is fast, can be improved master
The rotation speed of body, is rotated with the short time.
The variation of the angular speed on wheel (right side) is indicated in specifically Fig. 7.Straight line advance when movement speed be
300mm/s, the wheel 2,3 of left and right rotates (wheel diameter 68mm) forward with about 510deg/s (L1), but right vehicle when rotated
Wheel 2 is forward with about 630deg/s (L2), left wheel 3 backward with about 630deg/s rotation.Angle speed when advancing relative to straight line
The angular speed of degree, wheel when rotation is about 1.2 times.
In addition, the movement as main body Sh, the movement speed of main body front P11 rapidly moves when also advancing than straight line,
It is about 550mm/s when rotation.
The angular speed of wheel when wheel velocity and straight line when rotation being made to advance like this substantially on an equal basis or faster, can
Shorten the time.If the angular speed of the wheel when angular speed of wheel when rotating in place is advanced than straight line is slow, such as slows down
When 35%, make the required time about 1.2 seconds of 150 degree of main body rotation, but improves the angle speed of wheel as in the present embodiment
Degree Shi Weiyue 0.6 second, can shorten about 0.6 second time.The reflection in operating is swept in 1 time of autonomous formula electric vacuum cleaner S
Number is about 200 times, travel distance can be made to be about 36m.
In addition, as shown in fig. 7, angular speed when straight line is advanced and when rotating in place is according to the state on ground etc. without being one
It is fixed, when changing over time straight line traveling when L1a~L1b, rotating in place above and below the range of L2a~L2b, when rotating in place
Angular speed L2b is at least above L1a.
Then, the angular speed about the wheel in steering is illustrated using Fig. 8,9.As the example of go to action in Fig. 8
Movement of the subrepresentation around the barrier 61 narrower than body width.
Firstly, main body comes close to or in contact with barrier 61 (the solid line Sh1 of Fig. 8), barrier 61 be located at main body Sh1 left and right which
Side is confirmed by distance measuring sensor 8 and/or buffer sensor 15.It is located at the left side of main body Sh1 in Fig. 8, at this time up time
Needle is rotated in place (arrow A).At this point, monitoring distance measuring sensor 8 on one side, rotated in place on one side until barrier 61 reaches master
The position of the general lateral of body.Later, (arrow B) is turned to counterclockwise as rotation center using than the point of main body periphery in the outer part.
Fig. 9 simplifies the autonomous formula electric vacuum cleaner S indicated when turning to, only indicates main body Sh and right driving wheel 2, left driving
Taking turns 3, P21 indicates the front (front) of main body Sh.In addition, the dotted line in figure indicates the main body after turning to and wheel position, P22 table
The position of the front of main body Sh after showing movement.In counterclockwise turn to, the wheel forward direction rotation of left and right, but right wheel 2
It is rotated with the angular speed faster than left wheel 3.
It is grasped using the distance measuring sensor 8 for the side for being set to main body to the distance of barrier, rotation when deciding to move to
Radius (turning radius) R is turned to while controlling the angular speed of left and right wheels based on the turning radius.Setting turns to half at this time
Diameter R, so that the gap of barrier 61 and main body Sh gabarit is about 5mm degree.
When turning to based on turning radius R, make the angular speed of the wheel (being right wheel 2 in Fig. 9) of steering direction opposite side
The angular speed of right wheel when advancing than straight line is fast, and thus, it is possible to shorten the time needed for turning to.
The movement speed of main body front when the movement speed and straight line for specifically making main body front when turning to are advanced
It is substantially same or be faster speed.The movement speed 300mm/s of main body front when straight line is advanced, in this regard, master when turning to
The movement speed of body front is 320mm/s.The distance of wheel (right wheel 2) from rotation center O to steering direction opposite side with
Distance from rotation center O to main body front P21 is roughly the same or slightly shorter, and the movement speed of right wheel 2 is also about 320mm/s.
The variation of the angular speed of the wheel 2 on right side is indicated in Figure 10.Right wheel 2 when steering is with angular speed about 540deg/s
(L4) (wheel diameter 68mm) is rotated, the angular speed about 510deg/s (L1) of wheel when advancing than straight line is fast.
Movement speed (about 310mm/s) when with shown in 1 Figure 10 B of patent document compared to straight line traveling, when making to turn to
Movement speed slow down (about 150mm/s) the case where compare, can substantially shorten the time.In addition, straight line is advanced as shown in Figure 10
When and turn to when angular speed according to the state on ground etc. might not, with time change straight line advance when L1a~
L1b, when turning to above and below the range of L4a~L4b, angular speed L4b when steering is at least than L1a high.
But the state that is become faster with movement speed of the main body Sh when making to rotate in place and when turning to and bar contact
When, big impact may be caused to barrier.It is then preferred that using the distance measuring sensor being arranged before main body Sh to side
8, detect the barrier near main body Sh.Main body then stops or slows down close to barrier in rotation in situ and steering, can not
With bar contact, or impact when contact can be weakened.
In addition, the go to action as present embodiment, describes the case where wheel forward direction controlled rotates, makes list
The steering of the wheel stopping of side makes unilateral to be also slowly same into the steering of counter-rotating.
In addition, the distance measuring sensor 8 for being set to the side of main body can not be utilized to grasp to barrier as movement when turning to
Hinder the distance of object, and with the steering of defined radius of turn.In addition, can use as movement when turning to and be set to main body
The distance measuring sensor moment of side is grasped to the distance of barrier, and turning radius is made to change and be turned to every time.
The distance measuring sensor 8 that middle use is set to body side is walked along wallflow, keeps the state for separating about 10mm with wall 51
Ground walking.The movement speed of main body Sh when this is walked along wallflow and reflection advance in speed of straight line when advancing it is substantially same or
Faster.
Along wallflow walk ideally straight line is advanced in parallel with wall 51 as the dotted line C of Figure 12, but actually such as
Solid arrow line D wriggles close to wall 51, sometimes far from 51 ground of wall sometimes like that in figure.This is because utilizing distance measuring sensor 8
It measures to the distance of wall 51, is then made it away from close wall 51, carried out from the mode that wall 51 then makes its close far from if
Travelling control.Make the angular speed of the wheel 2,3 of left and right different when close to wall 51 or far from wall 51.Make main body Sh close to main body Sh
Left side wall 51 when, make right side wheel 2 angular speed it is faster than the angular speed of the wheel 3 in left side.In addition, make main body Sh from
Wall 51 far from when, make left side wheel 3 angular speed it is faster than the angular speed of the wheel 2 on right side.
Figure 13 indicates the variation of the angular speed of the wheel 3 in left side.It is same as embodiment, keep main body Sh straight with 300mm/s
When line is advanced, the wheel 2,3 of left and right is forward with about 510deg/s (L1) rotation.Make the vehicle of left and right after being moved near wall 51
The rotation of wheel 2,3 stops, and later, carries out rotating in place the direction for keeping wall 51 substantially parallel with main body direction of travel.From the shape
State is transitted to be walked along wallflow.
In being walked along wallflow, when main body Sh and wall 51 leave the state as the about 10mm of target value, the wheel 2,3 of left and right
Forward with about 510deg/s (V1 of Figure 13) rotation.When close away from wall ratio 10mm (from wall for 5mm more than or lower than 10mm when),
Make the wheel 2 on right side with angular speed 495deg/s, rotate the wheel 3 in left side with angular speed 525deg/s (V2 of Figure 13), with
The turning radius of about 1500mm from wall 51 slowly far from.The movement speed of the front of main body Sh at this time is about 300mm/s, be with
Same speed when straight line is advanced.
In addition, than 10mm far from when, make right side wheel 2 with angular speed 525deg/s, make left side wheel 3 with angle speed
495deg/s (V3 of Figure 13) rotation is spent, with the turning radius of about 1500mm slowly close to wall 51.The front of main body Sh at this time
Movement speed is about 300mm/s, is same speed when advancing with straight line.
In addition, making the wheel 2 on right side with angular speed 440deg/s when closer to wall 51 (when being lower than 5mm away from wall), making a left side
The wheel 3 of side promptly leaves wall 51 with angular speed 580deg/s (V4 of Figure 13) rotation with the turning radius of about 300mm.This
When the movement speed of front of main body Sh be about 330mm/s, be speed fast when advancing than straight line.
In this way, so that the distance away from wall keep certain mode to be controlled the steering walked along wallflow when at least one
The angular speed of the wheel of side is high when advancing than straight line, thus in being walked along wallflow, same fast speed when can be to advance with straight line
Degree movement.Thereby, it is possible to slowly walk unlike straight line traveling speed per hour degree, prevents travel distance from shortening, unsanctioned area can be made
The area in domain tails off.
In addition, according to wall 51, change movement (turns at a distance from main body Sh as described above by using distance measuring sensor 8
To radius), it can prevent from contacting with wall walking along wallflow at high speed.In addition, the autonomous formula electricity of present embodiment is inhaled
Dirt device is expressed as roughly circular, and however, you can also not be roughly circular.As described above, by making to rotate in place, turning to, walked along wallflow
When at least either wheel angular speed and straight line advance when wheel angular speed it is substantially same or higher, can make to go
It walks apart from elongated, large area can be swept, the area in unsanctioned region can be made to tail off.
<<step height selection>>
Autonomous formula electric vacuum cleaner S is able to use ground distance measuring sensor 16 as described above, carry out downlink step, on
The detection of row step.It, can be according to making by being configured to carry out setting change with the threshold value of distance measuring sensor 16 to ground
The fancy setting of user can step on more/can not step on range.
For example, autonomous formula electric vacuum cleaner S is positioned in certain room by user when driving it independently, it is believed that be not intended to
It comes out from the room.At this point, height for example minimum in the difference of height for the entrance that user can measure in advance the room,
The height of the height is set lower than as threshold value.In this way, autonomous formula electric vacuum cleaner S, which is suppressed to execute, steps on going out for the more room
The control of the step of entrance, therefore purging zone (region for being only limitted to the room) needed for can determine user.
In addition, not using the distance to ground to be only limitted to lower than threshold value or threshold value as ground distance measuring sensor 16
The sensor of the difference in above such 2 stages, and using can hold to ground distance type sensor (such as
PSD sensor) when, multiple threshold values can be arranged in the height for allowing to step on upper (lower) step and distinguished.For example, in some room
The user for having loaded autonomous formula electric vacuum cleaner S wishes entire area in the inside to the room other than advanced flannelette blanket
Domain is cleaned.The room is approximate horizontal floor (height 0mm), the minimum difference of height of the entrance in room be 30mm (+
30mm or -30mm.First ground threshold value), the edge of flannelette blanket is+10mm (the second ground threshold value).In such a case, it uses
Person can not allow to step on more the second ground threshold level step below, allow for stepping on more from the second ground threshold level to
The step of one ground threshold level does not allow to step on the step of more the first ground threshold level or more.In such manner, it is possible to meticulously set
The step of allowed/not allowed entrance.
In addition, autonomous formula electric vacuum cleaner S is able to maintain can step on about the mechanical realization based on the machine, maximum speed
The information of height more.Ground makes autonomous formula electric vacuum cleaner S be positioned in approximate horizontal ground with distance measuring sensor 16
State is height 0, by judging the presence from this Distance Judgment step deviateed.In this way, ought such as the long flannelette blanket of villus that
When sample has the hair for planting and extending from ground, which may be judged as step.Therefore, when starting running from flannelette blanket etc.,
Worry that ground distance measuring sensor 16 can react and change track route or stop movement.The worry is especially set in low clearance
It is set to raising when not allowing access into.Then in present embodiment, the stipulated time (such as during 5 seconds) after just starting running is no
Referring to the threshold value of setting, advanced with predetermining the threshold value of (such as being determined by the producer of autonomous formula electric vacuum cleaner S), by
This maintains original safety and the movement after just starting running is inhibited to stop.The threshold value is inhaled preferably adjacent to autonomous formula electricity
Dirt device S can step on maximum height more, because of referred to herein as max-thresholds.
The present invention is not limited to above embodiment, can suitably become in the range for not changing thought of the invention
More.For example, the means of step detection can not be ground distance measuring sensor 16.Furthermore, it is possible to be with Wireless LAN or
Bluetooth (registered trademark) etc. using smart phone carry out step step on more the structure of the change of height, be not provided with suction inlet brush 5,
The structure of round brush 7.
Description of symbols
2,3 driving wheel
5 round brush
Use distance measuring sensor (detection of obstacles mechanism) in 8 fronts
9 rechargeable batteries
11 exhauster(-tors
12 dust-collecting boxes
14 suction inlets
15 buffer sensors (detection of obstacles mechanism)
16 ground are with distance measuring sensor (detection of obstacles mechanism)
S autonomous formula electric vacuum cleaner
Sh main part (non-rotating portion, car body).
Claims (4)
1. a kind of autonomous formula electric vacuum cleaner characterized by comprising
The driving wheel for keeping the machine mobile；With
It is able to detect the ground distance measuring sensor to the distance on ground relative to the length of the threshold value of setting,
Testing result based on the ground distance measuring sensor changes track route,
The threshold value can change.
2. autonomous formula electric vacuum cleaner as described in claim 1, it is characterised in that:
User can change the setting of the threshold value.
3. autonomous formula electric vacuum cleaner as claimed in claim 1 or 2, it is characterised in that:
Multiple threshold values can be set, and the autonomous formula electric vacuum cleaner can be allowed to enter based on the setting of each threshold value
The autonomous formula electric vacuum cleaner is not allowed to enter.
4. autonomous formula electric vacuum cleaner according to any one of claims 1 to 3, it is characterised in that:
Within the stipulated time the autonomous driving since the autonomous formula electric vacuum cleaner, the setting with the threshold value is independently
It is acted with max-thresholds.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017215206A JP6670811B2 (en) | 2017-11-08 | 2017-11-08 | Autonomous traveling vacuum cleaner |
| JP2017-215206 | 2017-11-08 |
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| Publication Number | Publication Date |
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| CN109744946A true CN109744946A (en) | 2019-05-14 |
| CN109744946B CN109744946B (en) | 2021-06-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811025772.5A Active CN109744946B (en) | 2017-11-08 | 2018-09-04 | Self-walking electric vacuum cleaner |
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| Country | Link |
|---|---|
| JP (1) | JP6670811B2 (en) |
| CN (1) | CN109744946B (en) |
| TW (1) | TWI691299B (en) |
Cited By (2)
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| CN111407192A (en) * | 2020-03-20 | 2020-07-14 | 珠海市一微半导体有限公司 | Work control method and system of cleaning robot |
| CN114745999A (en) * | 2019-12-16 | 2022-07-12 | 日立环球生活方案株式会社 | Autonomous walking type dust collector |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113633222B (en) * | 2021-07-14 | 2022-11-01 | 湖南格兰博智能科技有限责任公司 | Obstacle crossing algorithm suitable for sweeper |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2019084094A (en) | 2019-06-06 |
| CN109744946B (en) | 2021-06-11 |
| TWI691299B (en) | 2020-04-21 |
| TW201918212A (en) | 2019-05-16 |
| JP6670811B2 (en) | 2020-03-25 |
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