JP2000202792A - Cleaning robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simply go over a stepped part of a surface to be cleaned by providing a front wheel, a rear wheel which has a larger diameter than the front wheel and is driven in rotation and further providing an auxiliary wheel capable of elevating in front of the front wheel. SOLUTION: A pair of right and left rear wheels driven by a traveling motor 3 are provided in the rear part of the base of a cleaning robot main body 1. A front wheel 4 having a smaller diameter than the rear wheels 2 is provided in the front part of the base. An auxiliary wheel 13 elevated by an elevator 14 is provided in front of the front wheel 4. During running, in the case where a floor surface F has a stepped part, when the front wheel 4 collides with it to stop running of the cleaning robot main body 1, the elevator 14 is driven. By the elevator 14, the auxiliary wheel 13 is lowered to grounded on the upper stage part so that the front wheel 4 is floated and the cleaning robot main body 1 is moved forward by the driving force of the rear wheels 2. When the front wheel 4 moves up to the upper stage part, the auxiliary wheel 13 is raised by the elevator 14 and the front wheel is grounded on the upper stage part. Thus, the cleaning robot can easily go over the stepped part.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning robot that performs automatic cleaning by cleaning.

[0002]

2. Description of the Related Art A conventional cleaning robot is provided with a suction port at the bottom of a main body for sucking dust by driving an electric blower.
A front wheel includes a rear wheel driven by a traveling motor and a universal wheel rotatably supported in a horizontal direction. Then, the vehicle travels while avoiding the obstacle by a detecting means for detecting the distance to the obstacle ahead of the course or the like, and automatically cleans a predetermined range. Further, there is an apparatus in which the distance to an obstacle and the size of the obstacle are detected, the obstacle is moved by being gripped by arm means, and the location can be cleaned.

[0003]

However, according to such a cleaning robot, if there is a step on the surface to be cleaned, the front wheel cannot get over, and the cleaning robot main body stops and cleaning may not be performed. In addition, when the user moves over a step on the surface to be cleaned, the direction of the cleaning robot body changes and the position of the cleaning robot is erroneously recognized, and there is a case where cleaning remains.

[0004] Steps on the surface to be cleaned can be overcome if the diameter is about 1/2 or less of the diameter of the wheel. Therefore, if the diameter of the wheel is increased, the step can be overcome. However, since the front wheel is a freely rotatable horizontally rotatable wheel for smooth running, it is attached to the bottom surface of the cleaning robot body. If the height of the bottom surface of the cleaning robot body provided with the suction port is as low as possible, the dust-absorbing power is improved, so that the diameter of the front wheel is small, and it is not possible to get over even a low step.

Further, in a cleaning robot which can move an obstacle, when there is a large obstacle, the obstacle cannot be moved, and the cleaning robot main body stops or falls over and the cleaning is not performed. was there.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a cleaning robot which can easily overcome a step on a surface to be cleaned. Another object of the present invention is to provide a cleaning robot that does not stop the cleaning operation even when there is a large obstacle.

[0007]

In order to achieve the above object, according to the present invention, there is provided a cleaning robot for performing automatic cleaning by cleaning, comprising: a front wheel; a front wheel having a larger diameter than the front wheel; And a rear wheel that is disposed in front of the front wheel and that can move up and down. According to this configuration, when the front wheel collides with the step, the auxiliary wheel descends to the upper portion of the step to lift the front wheel. Then, the rear wheel is driven to rotate, and the cleaning robot body moves forward by the rear wheel and the auxiliary wheel. After that, the auxiliary wheel rises, the front wheel touches the upper portion of the step, and moves forward, and the large-diameter rear wheel gets over the step.

According to a second aspect of the present invention, in the cleaning robot according to the first aspect, a suction port disposed in front of the cleaning robot body and sucking dust moves up and down together with the auxiliary wheels. It is characterized by. According to this configuration, when the front wheel collides with the step, the auxiliary wheel and the suction port descend to the upper part of the step to lift the front wheel. And
The rear wheel is driven to rotate, and the cleaning robot body moves forward while sucking dust from the suction port by the rear wheel and the auxiliary wheel. Thereafter, the auxiliary wheel and the suction port are raised, the front wheel is grounded on the upper portion of the step and moves forward, and the large-diameter rear wheel passes over the step.

According to a third aspect of the present invention, in the cleaning robot according to the first or second aspect,
The front wheel can be moved up and down. According to this configuration, when the front wheel collides with the step, the front wheel rises and the auxiliary wheel descends to the upper part of the step. Then, the rear wheel is driven to rotate, and the cleaning robot body moves forward by the rear wheel and the auxiliary wheel. After that, the auxiliary wheel goes up and the front wheel goes down, touches the upper part of the step and goes forward,
The large-diameter rear wheel gets over the step.

According to a fourth aspect of the present invention, in the cleaning robot according to the third aspect, a connecting member rotatably supported is provided, and the auxiliary wheel is rotatably provided at one end of the connecting member. And the front wheel is rotatably connected to the other end. According to this configuration, when the front wheel collides with the step, the auxiliary wheel descends to the upper part of the step and the front wheel rises via the connecting member.
Then, the rear wheel is driven to rotate, and the cleaning robot body moves forward by the rear wheel and the auxiliary wheel. Thereafter, the auxiliary wheel is raised, and the front wheel is lowered via the connecting member to be contacted with the upper part of the step and advanced, and the large-diameter rear wheel crosses the step.

According to a fifth aspect of the present invention, there is provided a cleaning robot which performs cleaning by automatically traveling, a distance detecting means for detecting a distance to an obstacle in front of the course, and a size of the obstacle. The apparatus is characterized in that it has a dimension detecting means and an arm means for grasping and moving the obstacle, and at least a part of the cleaning robot main body can be moved up and down by the arm means.

According to this configuration, when the cleaning robot main body collides with the step, the arm means descends to the upper part of the step and is grounded. Then, the front wheel is lifted, and the cleaning robot body moves forward by the rotational drive of the rear wheel. After that, the arm means moves up, the front wheel contacts the upper step of the step and moves forward, and the large-diameter rear wheel passes over the step.

According to a sixth aspect of the present invention, there is provided a cleaning robot for automatically traveling and cleaning, wherein a distance detecting means for detecting a distance to an obstacle in front of the course and a size of the obstacle. The apparatus is characterized in that it comprises a dimension detecting means and an arm means for grasping and moving the obstacle, and avoiding the obstacle when the obstacle is larger than a predetermined size.

According to this structure, when the approach to the obstacle is detected by the distance detecting means, the size of the obstacle is detected by the dimension detecting means. If the size of the obstacle is smaller than the predetermined size, the arm is set in accordance with the detection result. When the means is operated, the obstacle is grasped and moved by the arm means, and the cleaning robot passes through the part to perform the cleaning. If the obstacle is larger than a predetermined size, the cleaning robot advances while avoiding the obstacle.

According to a seventh aspect of the present invention, there is provided a cleaning robot which moves and cleans by moving, and a distance detecting means for detecting a distance to an obstacle in front of the course, and a size of the obstacle. Dimension detecting means, arm means for grasping and moving the obstacle, and load detecting means for detecting a load on the arm means at the time of moving the obstacle, when the load on the arm means is larger than a predetermined value. It is characterized in that the movement of the obstacle is stopped and the obstacle is avoided.

According to this configuration, when the approach to the obstacle is detected by the distance detecting means, the size of the obstacle is detected by the dimension detecting means, and the arm means is operated according to the detection result to activate the obstacle. Is grasped and moved by the arm means. If the weight of the obstacle during the movement is large and the load on the arm means is greater than a predetermined value, the movement of the obstacle is stopped, the obstacle is avoided, and the cleaning robot advances.

According to a further aspect of the present invention, in a cleaning robot that performs automatic cleaning by cleaning, a distance detecting means for detecting a distance to an obstacle ahead of a course and a size of the obstacle are detected. The apparatus is characterized in that it comprises a dimension detecting means and an arm means for grasping and moving the obstacle, and the obstacle moved by the arm means is returned to its original position after cleaning.

According to this configuration, when the approach to the obstacle is detected by the distance detecting means, the size of the obstacle is detected by the dimension detecting means, and the arm means is operated in accordance with the detection result to activate the obstacle. Is moved by being gripped by the arm means, and the cleaning robot passes through the portion to be cleaned. Thereafter, the moved obstacle is moved to the original position by the arm means.

According to a ninth aspect of the present invention, there is provided a cleaning robot which performs cleaning by automatically traveling, wherein a distance detecting means for detecting a distance to an obstacle in front of the course and a size of the obstacle. It is characterized in that it is provided with a dimension detecting means and an arm means for grasping and moving the obstacle, and cleaning is not performed while the obstacle is moving by the arm means.

According to this configuration, when the approach to the obstacle is detected by the distance detecting means, the size of the obstacle is detected by the dimension detecting means. Then, the dust collection is stopped, and the arm means operates according to the detection result, whereby the obstacle is grasped and moved by the arm means. afterwards,
The cleaning robot passes through the portion where the dust removal is resumed and the obstacle is removed to perform cleaning.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic view showing a cleaning robot according to a first embodiment of the present invention. A pair of left and right rear wheels 2 driven by a traveling motor 3 are located behind the bottom of the cleaning robot body 1.
Is provided. A front wheel 4 that is rotatably supported in the horizontal direction and has a smaller diameter than the rear wheel 2 is provided in front of the bottom of the cleaning robot body 1.

A suction port 10 is opened behind the front wheel 4, and a rotary brush 11, which rotates and scrapes the floor surface F, is horizontally provided inside the suction port 10. The suction port 10 communicates with the dust collection chamber 9 via a connection pipe 12, and an electric blower 8 that generates intake air and rotates the rotating brush 11 is disposed behind the dust collection chamber 9. Reference numeral 7 denotes an operation unit for displaying and inputting an operation state, and 6 denotes a battery for supplying electric power to the traveling motor 3 and the electric blower 8 under the control of the control circuit 5.

An auxiliary wheel 13 is provided in front of the front wheel 4 and can be moved up and down by an elevator 14. FIG. 2 shows the details of the elevator 14. When the elevator motor 14 a rotates, the worm gear 14 c that meshes with the worm 14 b attached to the motor shaft 14 g rotates. A pinion 14d integral with the worm gear 14c meshes with a rack 14e provided on the support shaft 14f to form an auxiliary wheel 13 integral with the support shaft 14f.
(See FIG. 1) is adapted to move up and down.

When such a cleaning robot is started to operate by inputting an area to be cleaned or the like through the operation unit 7, an ultrasonic sensor or the like (not shown) provided around the cleaning robot main body 1 causes a wall surface or the like to be cleaned. The vehicle automatically travels by driving the traveling motor 3 while avoiding the obstacle by detecting the presence or absence of the obstacle and the distance to the obstacle.

Then, the rotating brush 1 is driven by the electric blower 8.
While rotating 1, dust is sucked from floor 10 through suction port 10 and collected in dust collection chamber 9. The direction change of the cleaning robot body 1 is performed by controlling the traveling motor 3 so as to change the rotation speed of the left and right rear wheels 2.

When there is a step F1 on the floor F during traveling, if the step F1 is low, it cannot be detected by the ultrasonic sensor or the like. Therefore, as shown in FIG. 3A, the front wheel 4 collides and the traveling of the cleaning robot main body 1 is stopped. At this time, the step F
The elevator 14 is driven upon detecting that the vehicle 1 has collided with the vehicle 1.

As shown in FIG. 3B, when the auxiliary wheel 13 is lowered by the elevator 14 and is grounded on the upper portion F2 and the front wheel 4 is lifted, the cleaning robot body is driven by the driving force of the rear wheel 2 in the B direction. 1 moves in the A direction. Front wheel 4 is upper part F
When it moves up, the elevator 13 raises the auxiliary wheel 13 and the front wheel 4 is grounded to the upper section F2. Further, when the cleaning robot main body 1 advances in the direction A and the rear wheel 2 collides with the step F1, the rear wheel 2 has a larger diameter than the front wheel 4 and gets over the step F1 to perform cleaning.

By arranging the auxiliary wheel 13 that rises and lowers in front of the small-diameter front wheel 4 as described above, the vehicle can easily go over the step F1 and can be cleaned without stopping the traveling. The direction does not change, and the occurrence of uncleaned portions can be prevented.

FIG. 4 is a schematic view showing a cleaning robot according to a second embodiment of the present invention. The same members as those in the first embodiment are denoted by the same reference numerals. In the present embodiment, the suction port 10 can be moved up and down integrally with the auxiliary wheel 13 by the elevator 14. Thereby, a part of the connection pipe 12 is formed by the bellows hose 12a and is expandable and contractible. Other configurations are the same as those of the first embodiment.

FIG. 5 shows the periphery of the suction port 10, and a connecting pipe 12 is mounted so as to be vertically movable by an elevator 14 similar to that of FIG. A rotary brush 11 is provided laterally in a suction port 10 which is attached in communication with a tip of a connection pipe 12. An auxiliary wheel 13 is pivotally supported on a support shaft 10a provided at an end of the suction port 10.

According to such a cleaning robot, if there is a step F1 on the floor F during traveling, the front wheel 4 collides with the step F1 and the traveling of the cleaning robot body 1 is stopped (FIG. 3).
(A)). At this time, the collision with the step F1 is detected by the load of the traveling motor 3, and the elevator 14 is driven. When the auxiliary wheel 13 is lowered by the elevator 14 together with the suction port 10 and touches the upper part F2 to ground the front wheel 4, the driving force of the rear wheel 2 causes the cleaning robot body 1 to move.
Moves forward.

When the front wheel 4 moves above the upper section F2, the auxiliary wheel 13 moves up with the suction port 10 by the elevator 14, and the front wheel 4 is grounded to the upper section F2. Further, when the cleaning robot main body 1 advances and the rear wheel 2 collides with the step F1, the rear wheel 2 has a larger diameter than the front wheel 4 and gets over the step F1 to perform cleaning. Therefore, while the cleaning robot main body 1 is lifted by the auxiliary wheel 13, the upper portion F2 is configured to suck dust by the lowered suction port 10.

According to the present embodiment, the same effect as that of the first embodiment can be obtained, and the suction port 10 can be arranged at the forefront of the cleaning robot main body 1 to prevent the cleaning remaining at the wall or the like. Will be able to

Next, FIGS. 6A and 6B are schematic views showing a cleaning robot according to a third embodiment of the present invention. The same members as those in the first embodiment are denoted by the same reference numerals. In this embodiment, the front wheel 4 can be moved up and down by a front wheel elevator 16 similar to the elevator 14. Other configurations are the same as those of the first embodiment. According to such a cleaning robot, as shown in FIG. 6A, the front wheel 4 collides with the step F1, and the traveling of the cleaning robot body 1 is stopped. At this time, it is detected that the vehicle has hit the step due to the load of the traveling motor 3, and the elevator 14 and the front wheel elevator 16 are driven.

As shown in FIG. 6B, when the auxiliary wheel 13 is lowered by the elevator 14 and grounded on the upper portion F2, and when the front wheel 4 is raised by the front wheel elevator 16, the rear wheel 2 in the direction B is raised. The cleaning robot body 1 moves in the direction A by the driving force. When the front wheel 4 moves above the upper section F2, the auxiliary wheel 13 is raised by the elevator 14 and the front wheel elevator 16, and the front wheel 4 is grounded to the upper section F2. Further, when the cleaning robot main body 1 advances in the direction A and the rear wheel 2 collides with the step F1, the rear wheel 2 has a larger diameter than the front wheel 4 and gets over the step F1 to perform cleaning.

In this embodiment, the same effect as that of the first embodiment can be obtained, and the moving stroke of the elevator 14 can be shortened. Then, the cleaning robot main body 1 can move over the step F1 smoothly with little inclination.

Next, FIGS. 7A and 7B are schematic views showing a cleaning robot according to a fourth embodiment of the present invention. The same members as those in the first embodiment are denoted by the same reference numerals. In the present embodiment, the front wheel 4 is connected to the auxiliary wheel 13 by a connecting member 17 that is rotatable by a support shaft 17a. Other configurations are the same as those of the first embodiment. According to such a cleaning robot, as shown in FIG. 7A, the front wheel 4 collides with the step F1, and the traveling of the cleaning robot main body 1 is stopped. At this time, the collision with the step F1 is detected by the load of the traveling motor 3, and the elevator 14 is driven.

As shown in FIG. 7B, when the auxiliary wheel 13 is lowered by the elevator 14 and grounded on the upper portion F2,
The front wheel 4 rises via the connecting member 17. Then, the cleaning robot main body 1 moves in the A direction by the driving force of the rear wheel 2 in the B direction. When the front wheel 4 moves to above the upper portion F2, the auxiliary wheel 13 is raised by the elevator 14, and the connecting member 17
, The front wheel 4 is grounded to the upper portion F2. Further, when the cleaning robot main body 1 advances in the direction A and the rear wheel 2 collides with the step F1, the rear wheel 2 has a larger diameter than the front wheel 4 so that the step F1
Over the cleaning.

In this embodiment, the same effects as in the third embodiment can be obtained, and the complicated front wheel elevator 16
The moving stroke of the elevator 14 can be shortened with a simple configuration without using a computer. Then, the cleaning robot main body 1 can move over the step F1 smoothly with little inclination.

FIG. 8 is a schematic view showing a cleaning robot according to a fifth embodiment of the present invention. The same members as those in the first embodiment are denoted by the same reference numerals. A pair of left and right rear wheels 2 driven by a traveling motor 3 are provided behind the bottom of the cleaning robot body 1. A front wheel 4 that is rotatably supported in the horizontal direction and has a smaller diameter than the rear wheel 2 is provided in front of the bottom of the cleaning robot body 1.

A suction port 10 is opened behind the front wheel 4, and a rotary brush 11 that rotates and scrapes the floor F is provided horizontally inside the suction port 10. The suction port 10 communicates with the dust collection chamber 9 via the connection pipe 12, and an electric blower 8 that generates intake air and rotates the rotating brush 11 is arranged behind the dust collection chamber 9. The direction change of the cleaning robot main body 1 is performed by controlling the traveling motor 3 so as to change the rotation speed of the left and right rear wheels 2.

An arm 15 for grasping and moving an obstacle is attached to the upper surface of the cleaning robot body 1. As shown in FIG. 9, the arm 15 is attached to the cleaning robot main body 1 by a fixing portion 51, and the four arms 62 to 65 can be rotated by independent arm motors 52 to 55, respectively.

A hand portion 56 is provided at the tip of the arm portion 65, and the finger portion 56a is
1. It can be moved in the G2 direction to grasp or separate an obstacle. Reference numeral 58 denotes an obstacle photographing camera attached to the hand unit 56.

When such a cleaning robot is started by inputting a range to be cleaned or the like through the operation unit 7, an ultrasonic sensor (not shown) provided around the cleaning robot main body 1, etc. The vehicle automatically travels by driving the traveling motor 3 while detecting the presence or absence of an obstacle and the distance to the obstacle.

Then, the electric blower 8 absorbs dust on the floor F from the suction port 10 and travels while collecting dust in the dust collecting chamber. When the obstacle G approaches as shown in FIG. 13A during traveling, the arm 15 is driven, the obstacle G is gripped by the hand unit 56, and the place where the obstacle G is located can be cleaned. It has become. The electric blower 8 is stopped while the arm 15 is being driven to prevent the battery 6 from being consumed.

When the cleaning robot body 1 has advanced a predetermined distance as shown in FIG.
Is rotated to return the obstacle G to the original position as shown in FIG. This prevents the position of an object placed in the room from being changed to prevent the user from locating the object.

As shown in FIG. 10A, when the camera 58 detects that there is a step F1 on which the front wheel 4 cannot climb over the floor F during traveling, the hand unit 56 is lowered by the driving of the arm 15. To the upper part F2. As shown in FIG. 10B, when the front wheel 4 floats, the cleaning robot main body 1 moves in the A direction due to the driving force of the rear wheel 2 in the B direction or the pulling force drawn by the arm 15.

When the front wheel 4 moves above the upper portion F2, the front wheel 4 is grounded to the upper portion F2 by the arm 15, and the hand portion 56 is raised. Furthermore, when the cleaning robot main body 1 advances in the direction A and the rear wheel 2 collides with the step F1, since the rear wheel 2 has a larger diameter than the front wheel 4, the rear wheel 2 gets over the step F1 and is continuously cleaned. When the load on the traveling motor 3 (see FIG. 8) increases when the front wheel 4 collides with the step F1, the step F1 is increased.
1 may be detected and the arm 15 may be driven.

As described above, the arm 1 for moving the obstacle
5 makes it possible to easily go over the step F1 and clean without stopping the traveling.
Therefore, the direction is not changed, and it is possible to prevent the remaining cleaning from occurring. As shown in FIG. 11, it is also possible to provide the arm 15 at two places before and after the cleaning robot main body 1 so that the arm 15 can get over the step F1 only by the pulling force of the arm 15.

FIG. 12 is a block diagram of the control unit 5 of the cleaning robot according to the present embodiment. The control unit 5 controls the traveling motor 3 and the electric blower 8 based on a cleaning range or the like determined by an input of the operation unit 7 and drives the rear wheel 2 to collect dust while traveling. And the ultrasonic sensor 6
The distance to the obstacle is calculated during traveling based on the information obtained by the step (3).

When an obstacle approaches, the obstacle can be photographed by the camera 58 from a plurality of directions by moving the arm 15. The plurality of videos can be subjected to image processing and analyzed by the external information determination means 61 of the control unit 5 to detect the three-dimensional size of the obstacle.

When the size of the obstacle is smaller than the predetermined size, the arm motors 52 to 55 of the arm 15 and the gripping motor 56b of the hand unit 56 are driven to move the obstacle. If the size of the obstacle is larger than a predetermined size, it is determined that the movement by the arm 15 cannot be performed, and the traveling motor 3 is controlled so as to avoid or get over the obstacle.

In this way, when a large obstacle is on the way, the obstacle cannot be moved, and the cleaning robot main body 1 stops or falls and cleaning is not performed. Can be prevented. The predetermined size is a size corresponding to a size that cannot be grasped by the finger portion 56a of the arm 15 or a weight that cannot be lifted by the arm 15 (for example, the width, height, and depth of an obstacle). Sum, product, etc.) are stored in advance.

The control section 5 has load detecting means 62 for detecting the load on the arm motors 52 to 55 for driving the arm 15. In some cases, the obstacle cannot be lifted because the obstacle is heavier than the weight estimated based on the width, height, depth dimension, and the like of the obstacle. At this time, when the load on the arm motors 52 to 55 reaches a predetermined value, the movement of the obstacle by the arm 15 is stopped, and the vehicle travels around the obstacle.

In this way, as described above, when a heavy obstacle is in the middle of the course, the obstacle cannot be moved, and the cleaning robot body 1 stops or falls to perform cleaning. It can be prevented from disappearing.

[0056]

According to the first aspect of the present invention, by arranging the auxiliary wheel to go up and down in front of the small-diameter front wheel, it is possible to easily get over the step, and the cleaning is performed without stopping the traveling. The direction does not change due to the step, and the occurrence of the uncleaned portion can be prevented.

According to the second aspect of the present invention, by disposing the auxiliary wheel that moves up and down in front of the small-diameter front wheel, it is possible to easily get over the step, and the cleaning is performed without stopping the traveling. The direction does not change,
It is possible to prevent the occurrence of the remaining cleaning. Further, the suction port can be arranged at the forefront of the cleaning robot main body, so that it is possible to prevent the cleaning remaining at the wall or the like.

According to the third aspect of the present invention, by disposing the auxiliary wheels to be moved up and down in front of the small-diameter front wheels, it is possible to easily get over the step, and the cleaning is performed without stopping the traveling. The direction does not change,
It is possible to prevent the occurrence of the remaining cleaning. Further, the moving stroke of the elevator can be shortened, and the inclination of the cleaning robot main body is small and the robot can move smoothly to get over a step.

According to the fourth aspect of the present invention, by disposing the auxiliary wheels to be lifted and lowered in front of the small-diameter front wheels, it is possible to easily get over the step, and the cleaning is performed without stopping the traveling. The direction does not change,
It is possible to prevent the occurrence of the remaining cleaning. Furthermore, the moving stroke of the elevator can be shortened with a simple configuration, and the cleaning robot body can move smoothly with little inclination with little inclination.

According to the invention of claim 5, the step can be easily overcome by the arm member for moving the obstacle, and the cleaning is performed without stopping the traveling.
The direction does not change due to the step, and the occurrence of the uncleaned portion can be prevented.

According to the sixth and seventh aspects of the present invention, when there is a large obstacle in the course of the course, the obstacle cannot be moved, and the cleaning robot body stops or falls to perform cleaning. It can be prevented from disappearing.

According to the eighth aspect of the present invention, when an obstacle approaches, the arm is driven to grip the obstacle, clean the place where the obstacle was located, and return the obstacle to its original position. ing. Therefore, it is possible to prevent the position of an object placed in the room from being changed and the location from being lost.

According to the ninth aspect of the present invention, since the electric blower is stopped and cleaning is not performed while the arm member is being driven, the consumption of the battery can be prevented, the electric capacity of the battery can be reduced, and the cost can be reduced. In addition, the weight can be reduced.

[Brief description of the drawings]

FIG. 1 is a schematic view of a cleaning robot according to a first embodiment of the present invention.

FIG. 2 is a view showing an elevator of the cleaning robot according to the first embodiment of the present invention.

FIG. 3 is a diagram illustrating an operation of climbing over a step of the cleaning robot according to the first embodiment of the present invention.

FIG. 4 is a schematic view of a cleaning robot according to a second embodiment of the present invention.

FIG. 5 is a diagram illustrating a suction port of a cleaning robot according to a second embodiment of the present invention.

FIG. 6 is a diagram illustrating an operation of climbing over a step of a cleaning robot according to a third embodiment of the present invention.

FIG. 7 is a diagram illustrating an operation of overcoming a step of a cleaning robot according to a fourth embodiment of the present invention.

FIG. 8 is a schematic view of a cleaning robot according to a fifth embodiment of the present invention.

FIG. 9 is a view showing an arm of a cleaning robot according to a fifth embodiment of the present invention.

FIG. 10 is a diagram illustrating an operation of climbing over a step of a cleaning robot according to a fifth embodiment of the present invention.

FIG. 11 is a schematic view of another cleaning robot according to the fifth embodiment of the present invention.

FIG. 12 is a block diagram of a control unit of a cleaning robot according to a fifth embodiment of the present invention.

FIG. 13 is a diagram illustrating a cleaning operation of a cleaning robot according to a fifth embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Cleaning robot main body 2 Rear wheel 3 Running motor 4 Front wheel 5 Control part 6 Battery 7 Operation part 8 Electric blower 9 Dust collection room 10 Suction port 11 Rotary brush 12 Connection pipe 13 Auxiliary wheel 14 Elevator 15 Arm 56 Hand part 61 External information Judgment means 62 Load detection means F Floor F1 Step

 ──────────────────────────────────────────────────続 き Continued from the front page F term (reference) 3B006 KA02 KA06 3B057 DA00 DE06 3F059 AA12 BA03 BA08 BB07 CA05 CA06 DB05 DC08 DD18 FB12 5H301 AA02 AA10 BB11 CC06 CC10 DD01 GG09 GG10 GG12 HH10 LL01 LL06 LL11

Claims (9)

[Claims] 1. A cleaning robot for automatically traveling and cleaning, comprising: a front wheel; a rear wheel having a larger diameter than the front wheel and being rotationally driven; and an auxiliary wheel disposed in front of the front wheel and capable of moving up and down. A cleaning robot characterized by the following. 2. The cleaning robot according to claim 1, wherein a suction port arranged in front of the cleaning robot main body and sucking dust moves up and down together with the auxiliary wheel. 3. The cleaning robot according to claim 1, wherein the front wheel is movable up and down. 4. A connecting member rotatably supported, comprising:
The cleaning robot according to claim 3, wherein the auxiliary wheel is rotatably connected to one end of the connecting member, and the front wheel is rotatably connected to the other end. 5. A cleaning robot for automatically running and cleaning, wherein a distance detecting means for detecting a distance to an obstacle ahead of a course, a dimension detecting means for detecting a size of the obstacle,
An arm means for grasping and moving the obstacle, wherein the cleaning means can be moved up and down by the arm means. 6. A cleaning robot for performing automatic cleaning by cleaning, a distance detecting means for detecting a distance to an obstacle in front of a course, a dimension detecting means for detecting a size of the obstacle,
An arm means for grasping and moving the obstacle, and avoiding the obstacle when the obstacle is larger than a predetermined size. 7. A cleaning robot that performs cleaning by automatically traveling, a distance detecting unit that detects a distance to an obstacle ahead of a course, a dimension detecting unit that detects a size of the obstacle,
Arm means for grasping and moving the obstacle; and load detecting means for detecting a load on the arm means when the obstacle moves, wherein the movement of the obstacle when the load on the arm means is larger than a predetermined value A cleaning robot for stopping the obstacle and avoiding the obstacle. 8. A cleaning robot for automatically traveling and cleaning, wherein a distance detecting means for detecting a distance to an obstacle in front of a course, a dimension detecting means for detecting a size of the obstacle,
An arm means for gripping and moving the obstacle, wherein the obstacle moved by the arm means is returned to its original position after cleaning. 9. A cleaning robot for performing automatic cleaning by cleaning, a distance detecting means for detecting a distance to an obstacle in front of a course, a dimension detecting means for detecting a size of the obstacle,
An arm means for grasping and moving the obstacle, wherein cleaning is not performed while the obstacle is moving by the arm means.