JP2004303134A - Vehicle - Google Patents

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Publication number
JP2004303134A
JP2004303134A JP2003097875A JP2003097875A JP2004303134A JP 2004303134 A JP2004303134 A JP 2004303134A JP 2003097875 A JP2003097875 A JP 2003097875A JP 2003097875 A JP2003097875 A JP 2003097875A JP 2004303134 A JP2004303134 A JP 2004303134A
Authority
JP
Japan
Prior art keywords
traveling
main body
inclination
detecting
altitude
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
JP2003097875A
Other languages
Japanese (ja)
Inventor
Yumiko Hara
Hiroaki Kako
Hirotsugu Kamiya
Tetsuya Koda
Keiko Noda
洋次 上谷
裕章 加来
由美子 原
哲也 甲田
桂子 野田
Original Assignee
Matsushita Electric Ind Co Ltd
松下電器産業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Matsushita Electric Ind Co Ltd, 松下電器産業株式会社 filed Critical Matsushita Electric Ind Co Ltd
Priority to JP2003097875A priority Critical patent/JP2004303134A/en
Publication of JP2004303134A publication Critical patent/JP2004303134A/en
Application status is Withdrawn legal-status Critical

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Abstract

In a traveling device, there is a problem that a main body inclines to fall over a step and falls, or a traveling wheel comes off a step, or the main body inclines and falls.
A traveling device in which a control unit controls traveling while detecting a distance from a traveling surface by a traveling surface distance detection unit and an inclination to a body gravity direction by a vertical inclination detection unit. Accordingly, it is possible to provide a traveling device that travels while passing over or avoiding a step without falling over.
[Selection diagram] Fig. 1

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
TECHNICAL FIELD The present invention relates to a traveling device that carries an object by traveling, or moves or moves to perform work or the like.
[0002]
[Prior art]
Conventionally, goods are transported by loading on a light truck bed or by pushing a trolley, people mowing the lawn while pushing the lawn mower, people spraying while carrying pesticides, walking with a vacuum cleaner There is a traveling device for carrying or working, such as cleaning while cleaning. Further, there is a vehicle in which the vertical movement range of a drive wheel is increased to make it easy to get over a step (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP 2003-33310 A
[Problems to be solved by the invention]
The conventional traveling apparatus has a problem in that the main body tilts and falls, for example, in order to get over a convex step, or the traveling wheel comes off the concave step or the main body tilts and falls. An object of the present invention is to provide a traveling device that solves the above-mentioned conventional problems.
[0005]
[Means for Solving the Problems]
The present invention solves the above-mentioned conventional problems, comprising: running surface distance detecting means for detecting the distance between the front end bottom surface of the main body and the running surface; vertical inclination detecting means for detecting the inclination of the main body with respect to the direction of gravity; The traveling apparatus includes a control unit that controls traveling by inputting outputs of the distance detection unit and the vertical inclination detection unit.
[0006]
This makes it possible to detect the size of the step on the running surface and check whether it is possible to pass, and also detect the inclination of the main body when riding up or descending, etc. It can be a device.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
The invention described in claim 1 is a running surface distance detecting means for detecting a distance between the bottom surface of the front end of the main body and the running surface, a vertical inclination detecting means for detecting an inclination of the main body with respect to the direction of gravity, and a running surface distance detecting means. By providing the control means for controlling the traveling by inputting the output of the vertical inclination detecting means and detecting the magnitude of the step on the traveling surface and confirming whether or not the vehicle can pass therethrough. A traveling device capable of detecting inclination and traveling while preventing the main body from falling down can be provided.
[0008]
The invention described in claim 2 is a traveling device that can travel while confirming the height of the main body, for example, the floor of the building, by having altitude detection means for detecting the altitude of the main body. can do.
[0009]
The invention described in claim 3 has a friction reducing means for reducing friction between the front or rear bottom portion of the main body and the running surface or an obstacle on the running surface, so that the vehicle can smoothly climb over the step with a small impact. It is possible to provide a traveling device capable of performing the following.
[0010]
According to a fourth aspect of the present invention, by providing a designated inclination input means for inputting that the user has placed the main body at a predetermined inclination (for example, horizontal) with respect to the vertical, the inclination designated by the user can be set to the reference inclination. Thus, it is possible to provide a traveling device capable of correcting a deviation from the inclination detected by the device and traveling while detecting an accurate inclination.
[0011]
The invention described in claim 5 has a designated altitude input means for inputting that the user has placed the main body at the designated altitude, so that the altitude detected by the apparatus is based on the altitude designated by the user. And a traveling device capable of traveling while detecting an accurate altitude.
[0012]
According to a sixth aspect of the present invention, the control means calculates the gradient of the running surface from the distance between the main body and the running surface and the inclination of the main body, and corrects the upward, horizontal, or downward running control, whereby the gravity acting on the main body is corrected. A traveling device capable of traveling at an appropriate speed while confirming the influence of the traveling speed can be provided.
[0013]
The invention according to claim 7 has communication means with an elevating device that connects a plurality of running surfaces by elevating and lowering, and the control means moves the main body on and off the elevating device at a first predetermined altitude, A traveling device that can travel on a designated floor using the lifting device can be provided.
[0014]
In the invention described in claim 8, running surfaces at a plurality of altitudes are connected by a slope, and the control means causes the main body to enter and exit the slope at a second predetermined altitude, thereby using the slope to a designated height. Traveling device capable of traveling on the traveling surface of the vehicle.
[0015]
【Example】
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0016]
(Example 1)
A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a block diagram of the traveling device of the present embodiment. The traveling apparatus according to the present embodiment is an apparatus that stores and uses a traveling route in a place where obstacles are removed from the traveling route in advance or where the obstacle does not enter the route.
[0017]
In FIG. 1, reference numeral 1 denotes running surface distance detecting means for detecting the distance between the bottom surface of the front end of the main body of the running device 10 and the running surface, which is output to the control means 3. The running surface distance detecting means 1 includes a light emitting element that emits light and a light receiving element that receives light reflected on the running surface, a signal amplifier, and the like. Reference numeral 2 denotes a vertical inclination detecting means for detecting the inclination of the main body of the traveling device 10 with respect to the direction of gravity, which is output to the control means 3. The vertical tilt detecting means 2 includes a weight for detecting gravity, a position detecting element for detecting the position of the weight, a signal amplifier, and the like. Reference numeral 5 denotes an altitude detecting means for detecting the altitude of the main body of the traveling device 10 and outputs it to the control means 3. The altitude detecting means 5 includes a pressure detecting element for detecting a change in atmospheric pressure, a signal amplifier, a temperature detecting element for detecting an ambient temperature, and the like. Numeral 4 denotes a running means for running or rotating the apparatus by inputting the output of the control means 3. The traveling means 4 includes wheels, a drive motor, and the like. Reference numeral 6 denotes a designated tilt input unit operated by the user, and outputs an operation result to the control unit 3. Reference numeral 7 designates a designated altitude input means operated by the user to output an operation result to the control means 3. The designated inclination input means 6 and designated altitude input means are constituted by a switch to be operated or a display element such as an LCD for confirming operation contents. Numeral 8 denotes communication means for communicating with an elevating device 9 for ascending and descending a plurality of altitude running surfaces and connecting the traveling device 10 to ascend and descend to and from the control means. The communication means 8 includes a receiving element for receiving a wireless signal, an amplifier, a transmitting element for transmitting a wireless signal, and the like.
[0018]
Hereinafter, the operation of the present embodiment will be described. When the use switch of the traveling device (not shown) is operated to the use side, the control means 3 starts the operation and controls the traveling means 4 to determine the distance to the traveling surface or the level difference of the traveling surface by the traveling surface distance detecting means 1. The vehicle travels while rotating to a pre-stored azimuth while checking the tilt of the main body with the vertical tilt detection means 2 or checking the travel distance stored in advance.
[0019]
For example, if there is a small bump that can be climbed over, such as a sill or a carpet edge, the traveling distance detecting means 1 detects the size of the step, determines it with the control means 3, and checks the inclination of the main body with the vertical inclination detecting means 2. The traveling means 4 is controlled to get over the step. When it is determined that there is a wall or an obstacle and the vehicle cannot get over, the traveling means 4 is controlled to perform the avoidance traveling to avoid the step.
[0020]
Also, if there is a small concave step that can be lowered, such as the edge of a carpet, the size of the step is detected by the running surface distance detecting means, determined by the control means 3, and the inclination of the main body is confirmed by the vertical inclination detecting means 2. The traveling means 4 is controlled while moving down the step. If it is determined that there is a stair or an entrance or the like and it is impossible to descend, the traveling means 4 is controlled to perform avoidance traveling to avoid a step.
[0021]
Therefore, a traveling device capable of traveling while detecting the size of the step on the traveling surface and confirming whether or not the vehicle can pass therethrough, and detecting the inclination of the main body when riding or descending and preventing the main body from tipping over. It can be.
[0022]
In addition, since the apparatus has the altitude detecting means 5, the altitude is detected and compared with the altitude of each floor stored in advance to check on which floor of the building the apparatus is traveling. Therefore, it is possible to provide a traveling device that can travel while checking how many floors of the building are traveling.
[0023]
In addition, since the designated inclination input means 6 is provided, the fact that the user places the traveling device 10 on a horizontal traveling surface is input and used as a reference for inclination. Therefore, it is possible to provide a traveling apparatus that can travel while correcting the deviation from the inclination detected by the traveling apparatus 10 and detecting the accurate inclination.
[0024]
In addition, since the designated altitude input means 7 is provided, the fact that the user has placed the traveling device 10 on the traveling surface of the first floor is input and used as the altitude reference. Therefore, it is possible to provide a traveling apparatus that can travel while correcting the deviation of the altitude detected by the traveling apparatus 10 and detecting an accurate altitude.
[0025]
In addition, since it has communication means for communicating with an elevating device 9 for elevating and lowering a plurality of altitudes and connecting the traveling surfaces and mounting and elevating the traveling device 10, it communicates with the elevating device 9 via the communication means 8 and specifies in advance. The user travels on the designated floor with the elevator 9 stopped at the floor of the altitude specified in advance. Therefore, it is possible to provide a traveling device capable of traveling on traveling surfaces on a plurality of designated floors.
[0026]
FIG. 2 is a configuration diagram of the traveling device of the present invention. In FIG. 2, reference numeral 21 denotes a left drive motor for inputting the output of the control means 14 to rotate the left wheel 20 forward, reverse or stop. Reference numeral 23 denotes a right drive motor which inputs the output of the control means 14 to rotate the right wheel 22 forward, reverse or stop. Reference numeral 19 denotes auxiliary wheels which support the bottom surface of the main body at three points together with the left and right wheels 20, 22.
[0027]
When the right wheel 22 and the left wheel 20 rotate forward (the rotation direction is opposite), the vehicle advances, and when the right wheel 22 rotates forward and the left wheel 20 rotates backward (the rotation direction is the same), the wheel rotates clockwise on the spot. . Reference numerals 27a and 27b denote friction reducing means disposed at the front of the bottom surface of the main body. Numeral 11 denotes a vertical inclination detecting means which is arranged horizontally on the main body, detects the inclination of the main body with respect to the direction of gravity, and outputs an output to the control means. Numeral 26 denotes a running surface distance detecting means arranged at the front end of the main body, which detects a distance from the running surface 25 and outputs an output to the control means 14.
[0028]
FIGS. 3A and 3B are conceptual diagrams when the vehicle gets over a step. As shown in FIG. 3 (a), when there is a small convex step 30 in the traveling direction, the step 30 comes into contact with the friction reducing means 27 arranged at the front portion of the bottom surface of the main body 10, and rides on the step with small friction. As shown in FIG. 3B, even after riding, the convex surface of the step 30 and the friction reducing means 27 come into contact with each other and the vehicle travels with small friction.
[0029]
Therefore, it is possible to provide a traveling device capable of smoothly overcoming a step with a small impact. When the friction reducing means 27 is held rotatably, it becomes rolling friction and the friction is reduced. In addition, if it is made of a soft material, for example, an elastic material, the impact when it collides with the step can be reduced.
[0030]
FIGS. 4A, 4B, and 4C are conceptual diagrams of the operation of the vertical inclination detecting means 51 with respect to the inclination of the running surface. FIG. 4A shows a case where the traveling direction is an upward slope, and the horizontal direction of the main body (parallel to the running surface 55 if the distance between the running surface 55 and the main body is not a predetermined size and the main body is not inclined) is perpendicular to the vertical direction. The angle a ° to be formed becomes an obtuse angle and gravity acts in the direction opposite to the traveling direction, so that the driving torque of the wheels is increased. FIG. 4B shows a case where the running surface is horizontal, and the angle b ° between the horizontal direction and the vertical direction of the main body is a right angle, and the traveling direction is not affected by gravity. FIG. 4C shows a case where the traveling direction is a downward slope, and the angle c ° between the horizontal direction and the vertical direction of the main body becomes an acute angle, and gravity acts in the same direction as the traveling direction, so that the driving torque of the wheels is reduced.
[0031]
Therefore, a traveling device capable of traveling at an appropriate speed while detecting the inclination of the traveling surface and confirming the influence of gravity applied to the main body can be provided.
[0032]
FIG. 5 is an image diagram in which the traveling device 70 communicates with the elevating device 72 and moves to a plurality of traveling surfaces. In FIG. 5, the elevating device 72 connects the running surface 71a having the height Ld, the running surface 71b having the height Le, and the running surface 71c having the height Lf by moving up and down. The traveling device 70 communicates with the traveling device 72 to stop at the current floor, and rides on the elevating device 72 to communicate with the elevating device 72 to perform ascending operation. Next, the vehicle stands by while checking the altitude, and when the altitude reaches a predetermined altitude, for example, Le, stops the elevating device by communicating with the elevating device 72, and travels down the traveling surface 71b.
[0033]
Therefore, it is possible to provide a traveling device capable of traveling on a plurality of designated floors by using the lifting device.
[0034]
FIG. 6 is an image diagram in which a traveling surface 60a of a plurality of altitudes La, a traveling surface 61b of an altitude Lb, and a traveling surface 61c of an altitude Lc are connected by a slope 62a and a slope 62b, and the traveling device 60 moves. In FIG. 6, the traveling device 60 enters the slope 62a from the current traveling surface 61a to move to the traveling surface 61b at the designated altitude, for example, Lb, while checking the altitude, and then climbs the slope 62a when confirming the predetermined altitude Lb. And travels on the running surface 61b.
[0035]
Therefore, it is possible to provide a traveling device capable of traveling on a plurality of traveling surfaces having a designated height using the slope.
[0036]
【The invention's effect】
As described above, according to the inventions described in claims 1 to 8, while detecting the size of the step on the running surface and confirming whether the vehicle can pass, and detecting the inclination of the main body at the time of climbing or descending, etc. A traveling device capable of traveling while preventing the main body from tipping over can be realized.
[Brief description of the drawings]
FIG. 1 is a block diagram of a traveling device according to a first embodiment of the present invention. FIG. 2 is a configuration diagram of the traveling device. FIG. FIG. 4 (a) shows an image of an operation of a vertical inclination detecting means of the traveling device on a traveling surface having a predetermined inclination, and FIG. 4 (b) shows a vertical image of the traveling device. FIG. 5C is an image diagram of an operation of a detecting unit on a traveling surface having another inclination. FIG. 5C is an image diagram of an operation of a vertical inclination detecting unit of the traveling device on a traveling surface having another inclination. Image of moving to a plurality of running surfaces by communicating with an elevating device [FIG. 6] Image of moving the running device to a plurality of running surfaces by connecting running surfaces of a plurality of altitudes with slopes
DESCRIPTION OF SYMBOLS 1 Running surface distance detecting means 2 Vertical inclination detecting means 3 Control means 4 Running means

Claims (8)

  1. The running surface distance detecting means for detecting the distance between the front end bottom surface of the main body and the running surface, the vertical inclination detecting means for detecting the inclination of the main body with respect to the direction of gravity, and the outputs of the running surface distance detecting means and the vertical inclination detecting means are input. And a control means for controlling running.
  2. The traveling device according to claim 1, further comprising altitude detection means for detecting the altitude of the main body.
  3. The traveling device according to claim 1 or 2, further comprising a friction reducing unit configured to reduce friction between a front portion or a rear portion of the bottom surface of the main body and a traveling surface or an obstacle on the traveling surface.
  4. The traveling device according to claim 1, further comprising designated inclination input means for inputting that the user has placed the main body with a predetermined inclination with respect to the vertical.
  5. The traveling apparatus according to claim 2, further comprising a designated altitude input means for inputting that the user has placed the main body at a designated altitude.
  6. The traveling device according to any one of claims 1 to 5, wherein the control means calculates a gradient of the traveling surface from a distance between the main body and the traveling surface and an inclination of the main body, and corrects upward, horizontal, or downward traveling control. .
  7. The traveling device according to claim 2, further comprising a communication unit with a lifting device that connects the plurality of traveling surfaces by lifting and lowering, and wherein the control unit moves the main body on and off the lifting device at a first predetermined altitude.
  8. The traveling apparatus according to claim 2, wherein the running surfaces at a plurality of altitudes are connected by a slope, and the control means causes the main body to enter and exit the slope at a second predetermined altitude.
JP2003097875A 2003-04-01 2003-04-01 Vehicle Withdrawn JP2004303134A (en)

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012022712A (en) * 2005-12-02 2012-02-02 Irobot Corp Autonomous coverage robot
JP2012121571A (en) * 2012-02-06 2012-06-28 Equos Research Co Ltd Vehicle
US8661605B2 (en) 2005-12-02 2014-03-04 Irobot Corporation Coverage robot mobility
CN105813528A (en) * 2013-12-19 2016-07-27 伊莱克斯公司 Sensing climb of obstacle of robotic cleaning device
US9811089B2 (en) 2013-12-19 2017-11-07 Aktiebolaget Electrolux Robotic cleaning device with perimeter recording function
US9939529B2 (en) 2012-08-27 2018-04-10 Aktiebolaget Electrolux Robot positioning system
US9946263B2 (en) 2013-12-19 2018-04-17 Aktiebolaget Electrolux Prioritizing cleaning areas
US10045675B2 (en) 2013-12-19 2018-08-14 Aktiebolaget Electrolux Robotic vacuum cleaner with side brush moving in spiral pattern
US10209080B2 (en) 2013-12-19 2019-02-19 Aktiebolaget Electrolux Robotic cleaning device
US10219665B2 (en) 2013-04-15 2019-03-05 Aktiebolaget Electrolux Robotic vacuum cleaner with protruding sidebrush
US10231591B2 (en) 2013-12-20 2019-03-19 Aktiebolaget Electrolux Dust container
US10433697B2 (en) 2013-12-19 2019-10-08 Aktiebolaget Electrolux Adaptive speed control of rotating side brush
US10448794B2 (en) 2013-04-15 2019-10-22 Aktiebolaget Electrolux Robotic vacuum cleaner
US10499778B2 (en) 2014-09-08 2019-12-10 Aktiebolaget Electrolux Robotic vacuum cleaner
US10518416B2 (en) 2014-07-10 2019-12-31 Aktiebolaget Electrolux Method for detecting a measurement error in a robotic cleaning device
US10534367B2 (en) 2014-12-16 2020-01-14 Aktiebolaget Electrolux Experience-based roadmap for a robotic cleaning device

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012022712A (en) * 2005-12-02 2012-02-02 Irobot Corp Autonomous coverage robot
US8661605B2 (en) 2005-12-02 2014-03-04 Irobot Corporation Coverage robot mobility
US8978196B2 (en) 2005-12-02 2015-03-17 Irobot Corporation Coverage robot mobility
JP2012121571A (en) * 2012-02-06 2012-06-28 Equos Research Co Ltd Vehicle
US9939529B2 (en) 2012-08-27 2018-04-10 Aktiebolaget Electrolux Robot positioning system
US10448794B2 (en) 2013-04-15 2019-10-22 Aktiebolaget Electrolux Robotic vacuum cleaner
US10219665B2 (en) 2013-04-15 2019-03-05 Aktiebolaget Electrolux Robotic vacuum cleaner with protruding sidebrush
US10149589B2 (en) 2013-12-19 2018-12-11 Aktiebolaget Electrolux Sensing climb of obstacle of a robotic cleaning device
US9946263B2 (en) 2013-12-19 2018-04-17 Aktiebolaget Electrolux Prioritizing cleaning areas
US10045675B2 (en) 2013-12-19 2018-08-14 Aktiebolaget Electrolux Robotic vacuum cleaner with side brush moving in spiral pattern
US9811089B2 (en) 2013-12-19 2017-11-07 Aktiebolaget Electrolux Robotic cleaning device with perimeter recording function
US10209080B2 (en) 2013-12-19 2019-02-19 Aktiebolaget Electrolux Robotic cleaning device
JP2017502372A (en) * 2013-12-19 2017-01-19 アクチエボラゲット エレクトロルックス Detection of obstacles in robot cleaners
CN105813528A (en) * 2013-12-19 2016-07-27 伊莱克斯公司 Sensing climb of obstacle of robotic cleaning device
CN105813528B (en) * 2013-12-19 2019-05-07 伊莱克斯公司 The barrier sensing of robotic cleaning device is creeped
US10433697B2 (en) 2013-12-19 2019-10-08 Aktiebolaget Electrolux Adaptive speed control of rotating side brush
US10231591B2 (en) 2013-12-20 2019-03-19 Aktiebolaget Electrolux Dust container
US10518416B2 (en) 2014-07-10 2019-12-31 Aktiebolaget Electrolux Method for detecting a measurement error in a robotic cleaning device
US10499778B2 (en) 2014-09-08 2019-12-10 Aktiebolaget Electrolux Robotic vacuum cleaner
US10534367B2 (en) 2014-12-16 2020-01-14 Aktiebolaget Electrolux Experience-based roadmap for a robotic cleaning device

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