JP2005211362A - Autonomous travel robot cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable a distribution of dust suction force in a lateral direction of a cleaner main body to appropriately vary and make cleaning efficiency not decrease at cleaning a space near an obstacle, e.g., near a wall, in an autonomous travel robot cleaner. <P>SOLUTION: Suction inlets 52, 53 and 54 are opened in a middle position, a left position and a right position respectively inside a suction recess part 51 extendedly provided in the lateral direction of the cleaner main body 2. The suction inlets 52, 53 and 54 are opened and closed by shutter plates 55, 56 and 57 according to a signal from a side obstacle sensor. At cleaning the space near the wall along the same, the suction inlet of the wall side sucks dust much, however, at the same time the suction recess part 51 sucks dust in all the lateral direction as well. Accordingly, although the distribution of the dust suction force in wall side is higher, the force prevails in all the suction recess part 51 extending in the lateral direction of the main body 2, thereby not decreasing the cleaning efficiency. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an autonomous traveling robot cleaner that cleans a room while traveling autonomously.

  In an autonomous mobile robot cleaner, when the vacuum cleaner main body approaches a distance above a certain distance so that it can efficiently absorb dust near obstacles, for example, near the walls, the suction mouth will move to the main body of the vacuum cleaner. It is known to move in a direction orthogonal to the direction (left and right width direction of the device main body) (for example, see Patent Document 1).

In addition, for the same purpose as described above, there is known a nozzle in which a plurality of suction ports are provided in a suction nozzle body connected to a dust suction hose, and an air passage between the suction port and the hose mounting portion is switched by a valve. (For example, refer to Patent Document 2).
JP 2003-52582 A JP 2000-300479 A

  However, in the robot cleaner shown in Patent Document 1, the suction port body has only a part in the left-right width direction of the device main body, and when this moves, the dust is absorbed only in the width range in which the suction port body is located. Since the distribution of the dust absorption force in the left-right width direction is too offset, the cleaning efficiency is not good. Moreover, in the nozzle shown by patent document 2, since a suction inlet will be switched completely, since only a very narrow range can be absorbed at the time of cleaning by the wall, a cleaning efficiency will fall like the above.

  The present invention has been made to solve the above-described problems, and can appropriately change the distribution of the dust absorption force in the width direction of the apparatus body, and is cleaned near an obstacle, for example, when cleaning a wall. An object is to provide an autonomous traveling robot cleaner whose efficiency does not decrease.

  In order to achieve the above object, the invention of claim 1 is directed to an autonomous traveling sensor for autonomous traveling, traveling means for autonomous traveling based on the sensor output, and a cleaning mode in which a floor surface in a cleaning area is set. Cleaning means for cleaning while autonomously traveling according to the above, wherein the autonomous running sensor has at least a front obstacle detection sensor and a side obstacle sensor of the device body, and the cleaning means has a lateral width of the bottom surface of the device body. A plurality of suction ports arranged in a direction, dust suction means for sucking dust from the suction ports, and the device body to a certain distance from the obstacle including the wall based on a signal from the side obstacle sensor In an autonomous mobile robot cleaner having switching means for switching the suction port to the obstacle side when approaching, the suction port is a recess for suction extended in the left-right width direction on the bottom surface of the device body And at least a central position, a left position, and a right position, and the switching means is based on a shutter plate disposed in the vicinity of each opening of the suction port and a signal from the side obstacle sensor. A driving mechanism that controls opening and closing of the shutter plate, and the cleaning means has a rotating brush that has a rotation axis in the left-right width direction of the bottom surface of the device main body and sweeps up dust on the floor surface in the vicinity of the suction recess. In addition.

  According to a second aspect of the present invention, an autonomous traveling sensor for autonomous traveling, traveling means that autonomously travels based on the sensor output, and a floor in the cleaning area are cleaned while autonomously traveling according to a set cleaning mode. Cleaning means, the autonomous running sensor has at least a front obstacle detection sensor and a side obstacle sensor of the device body, and the cleaning means is a plurality of devices arranged in the left-right width direction of the bottom surface of the device body. A suction port, dust suction means for sucking dust from the suction port, and the suction port when the device body approaches a certain distance from the obstacle including the wall based on a signal from the side obstacle sensor In the autonomous traveling robot cleaner having a switching means for switching to the obstacle side, the suction port is opened at a plurality of positions in the suction recess extending in the left-right width direction on the bottom surface of the device body. The switching means includes a shutter plate disposed in the vicinity of each opening of the suction port, and a drive mechanism for controlling opening and closing of the shutter plate based on a signal from the side obstacle sensor. is there.

  According to a third aspect of the present invention, an autonomous traveling sensor for autonomous traveling, traveling means that autonomously travels based on the sensor output, and a floor in the cleaning area are cleaned while traveling autonomously according to a set cleaning mode. Cleaning means, and the autonomous running sensor has at least a front obstacle detection sensor and a side obstacle sensor of the device main body, and the cleaning means is provided to be movable in the lateral width direction of the bottom surface of the device main body. The suction port, dust suction means for sucking dust from the suction port, and the suction port when the device main body approaches a certain distance from the obstacle including the wall based on a signal from the obstacle sensor. In the autonomous mobile robot cleaner having switching means for moving to the obstacle side, the suction port has a leading end opened in a suction recess extending in the left-right width direction of the bottom surface of the device body. It is constituted by an abdominal duct, and this duct is movably inserted through a guide slit of an elastic partition member provided in the suction recess, and the switching means is based on a signal from the obstacle sensor. A driving mechanism for moving the suction port; and the cleaning means further includes a rotating brush that has a rotation axis in the left-right width direction of the bottom surface of the device main body and sweeps up dust on the floor surface in proximity to the suction recess. It is a thing.

  According to the first aspect of the present invention, the suction port is opened at the center position, the left position, and the right position in the suction recess extending in the left-right width direction of the device body, and the signal from the side obstacle sensor. Therefore, when cleaning the side of the wall along the wall, a large amount of dust is absorbed from the suction port on the wall side, but also from the entire left and right width direction of the suction recess. Therefore, although the distribution of the dust absorption force is high on the wall side, it extends over the entire suction recess extending in the left-right width direction of the device body, so that the cleaning efficiency is not reduced. In addition, due to the action of the rotating brush having the rotation axis in the left-right width direction, dust suction from the entire suction recess is efficiently performed.

  According to the invention of claim 2, the same effect as described above can be obtained except for the dust absorption effect by the rotating brush.

  According to the invention of claim 3, the suction port is constituted by a bellows-shaped duct opened in the recess for suction extending in the left-right width direction of the bottom surface of the device body, and is movable by the guide slit of the elastic partition member. Since it is moved based on the signal from the obstacle sensor, when cleaning the wall side along the wall, dust is sucked from the suction port on the wall side, but dust is also sucked from the entire left and right width direction of the suction recess. Therefore, as in the first aspect, dust is sucked from the entire suction recess, and the cleaning efficiency is not lowered.

  Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1 to 4. FIG. 1 shows a schematic configuration of an autonomous mobile robot cleaner. The robot cleaner 1 is a device that cleans the floor surface while autonomously traveling on the floor surface (cleaning area) of a room in a residence. As a traveling means for traveling the device main body 2, a left wheel 3 and a right wheel for steering drive are used. 4 and a driven front wheel 5. The robot cleaner 1 is connected to a suction port and a main brush 7 (rotary brush) that has a rotating shaft 7a in the left-right width direction of the device body 2 and sweeps up dust on the floor surface, and a driven roller 8 as cleaning means. A dust duct 10 is provided for collecting dust and a dust suction fan 28 as dust collecting means. The main brush 7 is driven by the main brush motor 34 and is disposed in the vicinity of the suction recess 51. The dust suction fan 28 is driven by a dust suction motor 35.

  The suction duct 9 is connected to a plurality of suction ports 52, 53, 54 (FIGS. 3 and 4 described later) provided in a suction recess 51 by a partition plate 50 on the bottom surface of the apparatus body. The dust scraped up and the dust transported by the driven roller 8 are sucked and collected in the dust box 10. The suction recess 51 is elongated in the vehicle body left-right width direction perpendicular to the traveling direction on the bottom surface of the device main body 2 facing the floor surface. Note that left and right sub brushes (not shown) driven by a sub brush motor are disposed on the left and right front portions of the device body 2. The device body 2 is provided with various sensors (not shown) to be described later.

  FIG. 2 shows a block configuration of the robot cleaner 1. The robot cleaner 1 is a sensor for detecting obstacles or the like for autonomous running, and includes a front sensor 11 (front obstacle detection sensor), a left step sensor 12 (side obstacle sensor), and a right step sensor. 13 (side obstacle sensor), a ceiling sensor 14, an acceleration sensor 36, and a geomagnetic sensor 38, and further a sensor illumination lamp 15. The front sensor 11, the left step sensor 12, the right step sensor 13, and the ceiling sensor 14 are optical distance measuring sensors, respectively. The front sensor 11 monitors the front side of the device main body 2 obliquely downward and measures the distance to obstacles such as steps, walls, pillars, furniture, tables and bed legs. The left step sensor 12 monitors the slightly left front side of the device body 2 obliquely downward and measures the distance to the obstacle. The right step sensor 13 monitors the right side slightly forward of the device body 2 diagonally downward and measures the distance to the obstacle. The ceiling sensor 14 monitors the front of the device main body 2 obliquely upward, detects an obstacle in the upper front of the device main body 2 (whether it can pass under a table or a bed), and determines the height of the obstacle. Measure the distance to the obstacle. The acceleration sensor 36 independently detects acceleration acting on the device body 2 in the up-down direction, the front-rear direction, and the left-right direction.

  Furthermore, the robot cleaner 1 includes a dust sensor 16 that detects dust sucked from the suction duct 9, a human body sensor 22 that detects a human body, a camera 23 that captures illegal intruders, a camera illumination lamp 24, a wireless And a communication module 25. The dust sensor 16 is a transmissive optical sensor including a light emitting unit and a light receiving unit. The human body sensor 22 detects the presence or absence of a human body around the device body 2 by receiving infrared rays emitted from the human body. The robot cleaner 1 has a security function for wirelessly transmitting an image captured by the camera 23 to the main control device (not shown) via the antenna 26 by the wireless communication module 25 and monitoring illegal intruders and the like. Yes.

  The robot cleaner 1 includes an operation unit 18 operated by a user, an LCD 19 and an LED 20 as a display unit, a speaker 21, a control unit 43 that controls each unit of the apparatus, a map information memory 41, and a battery 42. And. The operation unit 18 is operated to start and stop the cleaning operation by the robot cleaner 1 and to make various other settings. The LCD 19 and the LED 20 display the operation status of the robot cleaner 1 and various messages. The speaker 21 notifies the surrounding people by voice of the operation status of the robot cleaner 1 and various messages. The control unit 43 controls each unit of the apparatus based on signals input from the various sensors and the like, and includes a position / direction determination unit 43a, a travel control unit 43b, and a cleaning mode selection unit 43c.

  The position / direction determination unit 43a cleans the area where the obstacle is present and the cleaning based on the output from the front sensor 11, the left step sensor 12, the right step sensor 13, the ceiling sensor 14 and the travel distance / direction information of the robot cleaner 1. Map information about the completed area is created, and the map information is stored in the map information memory 41. Further, the traveling speed of the robot cleaner 1 is calculated by differentiating the detected acceleration value in the front-rear direction from the acceleration sensor 36 with respect to time, and the traveling distance is calculated based on the traveling speed and the traveling time. Further, the direction in which the device main body 2 faces is determined based on the output value corresponding to the direction of geomagnetism from the geomagnetic sensor 38.

  The traveling control unit 43b controls the traveling of the device body 2 by driving the left wheel motor 31 and the right wheel motor 32 (traveling means) to control the rotation direction and the rotation speed of the left wheel 3 and the right wheel 4. The map information in the map information memory 41 is updated at any time during the cleaning operation, and the robot cleaner 1 proceeds with the cleaning operation with reference to this.

  The cleaning mode selection unit 43c selectively controls the cleaning mode (mode), and controls the driving of the left wheel motor 31 and the right wheel motor 32 according to the selected cleaning mode, The travel speed is adjusted, and the driving force of the sub brush motor 33, the main brush motor 34, and the dust suction motor 35 is controlled to adjust the force for collecting and sucking dust. Details of the operation of each unit of the control unit 43 will be described later.

  Further, the robot cleaner 1 includes a left wheel motor 31 that drives the left wheel 3, a right wheel motor 32 that drives the right wheel 4, a sub brush motor 33, a main brush motor 34, and a dust suction motor 35. In addition, as will be described in detail later, shutter plate drive motors 61, 62, 63 are provided for switching the suction port to the obstacle side when the device main body 2 approaches a certain distance from the obstacle including the wall. Yes.

  The robot cleaner 1 having the above configuration cleans the inside of the cleaning area while autonomously running in a set cleaning mode in accordance with a user instruction. At this time, the control unit 43 mainly uses the obstacle detection signals from the front sensor 11, the left step sensor 12 and the right step sensor 13 and the travel distance information of the robot cleaner 1 as map information on the wall and the cleaned region. Map information is created and stored in the map information memory 41.

  FIG. 3 shows a schematic cross-sectional configuration as viewed from the back side of the robot cleaner 1, and FIG. The suction ports 52, 53, and 54 are opened at a central position, a left position, and a right position in a suction recess 51 that extends in the left-right width direction on the partition plate 50 on the bottom surface of the device body 2. These suction ports 52, 53, 54 are integrated into the suction duct 9 on the downstream side of suction. In addition, shutter plates 55, 56, and 57 are provided in the vicinity of the respective openings of the suction ports 52, 53, and 54 for switching the suction ports to be used as necessary. The shutter plates 55, 56, and 57 are rotated. As drive mechanisms for opening and closing the suction port, shutter plate drive motors 61, 62, 63 and drive gears 61a, 61b, 62a, 62b, 63a, 63b are provided. The shutter plates 55, 56, 57 and the drive mechanism constitute a switching means. During normal use, the shutter plates 55, 56, 57 are in a state where all of the suction ports 52, 53, 54 are open.

  The shutter plates 55, 56, and 57 drive the shutter plate drive motors 61, 62, and 63 by the control unit 43 based on signals from the left step sensor 12 and the right step sensor 13 that are side obstacle sensors shown in FIG. It is controlled to open and close. Here, when an obstacle such as a wall is detected in the vicinity of the side of the device main body 2 and it is determined that the vehicle travels along this wall, only the wall side of the suction ports 52, 53, 54 is opened. The shutter plates 55, 56 and 57 are controlled to be opened and closed so as to close the others. FIG. 4 shows a state where the left shutter plate 57 is rotated in the direction of arrow A and only the suction port 54 is opened. In this state, when there is a wall on the left side in the forward direction of the apparatus main body 2, the suction force at the wall can be increased, and the dust at the wall can be collected efficiently.

  Here, effects unique to the present invention will be described with reference to FIG. FIG. 5A shows a suction pressure distribution in a state where only the left suction port 54 is opened, and FIG. 5B shows a suction pressure distribution in a state where only the right suction port 52 is opened. In the present invention, since the suction ports 52, 53, 54 are opened in the suction recess 51, the distribution of the suction pressure in the left-right direction of the device body 2 in the state where only the left or right suction port is opened is As shown in FIG. That is, the suction pressure is obtained not only on the left or right suction port portion but also on the entire width of the suction recess 51. Therefore, even when the robot cleaner 1 cleans by running near the wall, the cleaning width does not become extremely narrow, so that the cleaning efficiency does not decrease.

  Next, a second embodiment will be described with reference to FIGS. 6 shows a schematic cross-sectional configuration viewed from the back side of the robot cleaner 1, and FIG. 7 shows its schematic plan configuration. In this embodiment, the suction port is not switched by opening and closing the shutter plate as described above, but the suction port is provided so as to be movable in the left-right width direction of the bottom surface of the device body 2 and switched by moving. . That is, the suction port 81 is configured by a bellows-like duct 80 having a tip opened in a suction recess 51 extending in the left-right width direction of the partition plate 50 on the bottom surface of the device body 2. A guide slit 71a of the elastic partition member 71 attached to the opening of the suction recess 51 is movably inserted.

  The suction port 81 of the bellows-shaped duct 80 is moved in the direction of arrow B by a wire 74 stretched between a driving pulley 72 and a pulley 73 driven by a moving motor 75. These drive mechanisms constitute a switching means for the suction port 81. Similarly to the above, the moving motor 75 is driven when the device main body 2 approaches a certain distance from the obstacle including the wall based on the signal from the side obstacle detection sensor, and the suction port 81 is moved. Move to the wall side. FIG. 7 shows a state in which the suction port 81 has been moved to the left side. Also in the present embodiment, the same effect as described above can be obtained.

  The present invention is not limited to the configuration of the above-described embodiment, and various modifications are possible. For example, an example in which the obstruction side suction port on the side of the device body is opened is shown. You may make it open not only an opening | mouth but the suction inlet of the center position side. The suction pressure distribution in this case is flattened more than in the case shown in FIG.

1 is a schematic perspective view of an autonomous mobile robot cleaner according to a first embodiment of the present invention. Block diagram of the robot cleaner. The schematic sectional view seen from the back side of the robot cleaner. A schematic plan view of the robot cleaner. Suction pressure distribution diagram when the suction port of the robot cleaner is switched. The schematic sectional drawing seen from the back side of the autonomous running robot cleaner concerning a 2nd embodiment of the present invention. A schematic plan view of the robot cleaner.

Explanation of symbols

1 Robot cleaner 2 Equipment body 3 Left wheel (traveling means)
4 Right wheel (traveling means)
7 Main brush (Rotating brush: Cleaning means)
9 Suction duct 11 Front sensor (front obstacle detection sensor)
12 Left step sensor (side obstacle sensor)
13 Right step sensor (side obstacle sensor)
28 Garbage suction fan (dust collection means)
43 Control part 51 Suction recess 52, 53, 54 Suction port 55, 56, 57 Shutter plate (switching means)
61, 62, 63 Shutter plate drive motor (drive mechanism for switching means)
61a, 61b, 62a, 62b, 63a, 63b Drive gear (drive mechanism for switching means)
74 wire (switching mechanism drive mechanism)
75 Motor for movement (drive mechanism for switching means)
80 bellows-shaped duct 81 inlet

Claims (3)

A sensor for autonomous traveling for autonomous traveling, traveling means for autonomously traveling based on the sensor output, and cleaning means for cleaning while autonomously traveling according to a set cleaning form on the floor surface in the cleaning area, The autonomous running sensor has at least a front obstacle detection sensor and a side obstacle sensor of the device body, and the cleaning means includes a plurality of suction ports arranged in the left-right width direction of the bottom surface of the device body, and the suction ports. Dust sucking means for sucking dust from the side, and switching to switch the suction port to the obstacle side when the device main body approaches a certain distance from the obstacle including the wall based on the signal from the side obstacle sensor In an autonomous traveling robot cleaner having means,
The suction port is in a recess for suction extending in the left-right width direction on the bottom surface of the device body, and is opened at least at the center position, the left position, and the right position,
The switching means includes a shutter plate disposed in the vicinity of each opening of the suction port, and a drive mechanism that controls opening and closing of the shutter plate based on a signal from the side obstacle sensor,
2. The autonomous traveling robot cleaner according to claim 1, wherein the cleaning means further includes a rotating brush that has a rotation axis in the left-right width direction of the bottom surface of the apparatus main body in the vicinity of the suction recess and sweeps up dust on the floor surface. A sensor for autonomous traveling for autonomous traveling, traveling means for autonomously traveling based on the sensor output, and cleaning means for cleaning while autonomously traveling according to a set cleaning form on the floor surface in the cleaning area, The autonomous running sensor has at least a front obstacle detection sensor and a side obstacle sensor of the device body, and the cleaning means includes a plurality of suction ports arranged in the left-right width direction of the bottom surface of the device body, and the suction ports. Dust sucking means for sucking dust from the side, and switching to switch the suction port to the obstacle side when the device main body approaches a certain distance from the obstacle including the wall based on the signal from the side obstacle sensor In an autonomous traveling robot cleaner having means,
The suction ports are respectively opened at a plurality of positions in a recess for suction that extends in the left-right width direction on the bottom surface of the device body,
The switching means includes a shutter plate disposed in the vicinity of each opening of the suction port, and a drive mechanism that controls opening and closing of the shutter plate based on a signal from the side obstacle sensor. Autonomous traveling robot cleaner. A sensor for autonomous traveling for autonomous traveling, traveling means for autonomously traveling based on the sensor output, and cleaning means for cleaning while autonomously traveling according to a set cleaning form on the floor surface in the cleaning area, The autonomous running sensor has at least a front obstacle detection sensor and a side obstacle sensor of the device body, and the cleaning means includes a suction port provided movably in the left-right width direction on the bottom surface of the device body, and the suction device. Dust suction means for sucking dust from the mouth, and switching to move the suction port to the obstacle side when the device body approaches a certain distance from the obstacle including the wall based on the signal from the obstacle sensor In an autonomous traveling robot cleaner having means,
The suction port is configured by a bellows-like duct having an opening in a suction recess that extends in the left-right width direction on the bottom surface of the device body, and the duct is an elastic partition member provided in the suction recess. The guide slit is movably inserted and provided.
The switching means includes a drive mechanism that moves the suction port based on a signal from the obstacle sensor,
2. The autonomous traveling robot cleaner according to claim 1, wherein the cleaning means further includes a rotating brush that has a rotation axis in the left-right width direction of the bottom surface of the apparatus main body in the vicinity of the suction recess and sweeps up dust on the floor surface.

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