JP2006015048A - Cleaner robot and self-propelled working robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled working robot capable of changing the scope of sight for detecting an obstacle by obstacle sensors depending on the situation of a working space. <P>SOLUTION: In a cleaner robot for cleaning a floor surface while automatically traveling, obstacle sensors 11-13 for detecting an obstacle and the distance to the detected obstacle are arranged on and supported by a supporting member 17. Turning members 18 and 19 are fitted to the obstacle sensors 12 and 13 on both ends, and the turning members 18 and 19 are turnably attached by the attachment members 20 and 21 while being opposed to the supporting member 17. When the turning members 18 and 19 are turned, the fitted obstacle sensors 12 and 13 are turned to change their direction. Therefore, even if the direction of the obstacle sensor 11 is not changed, the overlapping state of the scopes of sight of the obstacle sensors 11-13 with each other is changed and the scope of sight for detecting the obstacle by the three obstacle sensors 11-13 can be increased and reduced. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a mobile work robot such as a vacuum cleaner robot that performs work while automatically moving.

  2. Description of the Related Art Conventionally, autonomous guided mobile work robots that perform work while automatically moving have been developed. As an example of this mobile work robot, there is a vacuum cleaner robot as described in Patent Documents 1 to 4 below. The vacuum cleaner robot includes a cleaning means such as a suction nozzle and a brush, a moving means such as a wheel, and a steering means such as a steering shaft connected to the wheel at the bottom of the main body. And while rotating the wheel by driving the built-in traveling motor, the steering shaft is rotated by driving the built-in steering motor, and the direction of the wheel is changed to travel so as to fill the floor surface of the cleaning place. At the same time, dust is sucked through the nozzle by the suction force generated by the drive of the built-in fan motor, and the floor is cleaned.

The vacuum cleaner robot as described above is provided with an obstacle sensor for detecting an obstacle in order to travel while avoiding contact with obstacles around the main body (see Patent Documents 1 and 2). . In addition, there is an obstacle sensor that detects a distance to the detected obstacle (see Patent Documents 3 and 4). In Patent Document 1, obstacle sensors that are present in the immediate vicinity of the main body are attached to the left and right side surfaces of the main body so that the obstacle sensors can be rotated in the horizontal direction one by one, and the obstacle sensors are rotated and protruded from the main body side surface. Detecting an object and rotating the obstacle sensor when it is in contact with an unexpectedly appearing obstacle or passing through a confined place, and it can be stored inside the main unit to prevent damage to the obstacle sensor. Yes. In Patent Literature 2, six obstacle sensors are arranged side by side in the vertical direction on two plate-like bodies connected to the front face of the main body so that the normal crossing angle is 93.6 °. By configuring and swinging the sensor group in the horizontal direction, obstacles are detected in the range of 180 ° forward. In Patent Document 3, one obstacle sensor is attached to a rotating body that rotates 360 ° in the horizontal direction, and the obstacle sensor is rotated together with the rotating body, thereby detecting the obstacle in the range of 360 ° around. In patent document 4, since the range in which one obstacle sensor detects an obstacle is very narrow, a range in which obstacles are detected can be obtained by mounting a plurality of obstacle sensors in a line in the left-right direction on the front surface of the main body. Widen to reduce blind spots.
JP-A-6-19545 JP-A-6-202732 JP 2003-116756 A JP 2002-366227 A

  Rather than detecting an obstacle with one obstacle sensor as in Patent Documents 1 and 3 described above, it is better to detect an obstacle with a plurality of obstacle sensors as in Patent Documents 2 and 4 described above. Since the range in which obstacles are detected at one time, that is, the visual field for detecting obstacles is widened, many obstacles can be detected at one time. In particular, as in Patent Document 4, when a plurality of obstacle sensors are arranged in a row on the front surface of the main body, many obstacles in front of the main body can be detected at a time. In addition, since the number of data is larger when the distance to the obstacle is detected by a plurality of obstacle sensors than when the distance to the obstacle is detected by one obstacle sensor, the accuracy of the distance to the obstacle is increased. (Perspective accuracy) can be increased. Furthermore, rather than detecting the obstacle at the end of the detection range where the obstacle sensor can detect the obstacle (the boundary portion with the non-detection range) and detecting the distance to the obstacle, the center of the detection range If the obstacle is detected by detecting the distance to the obstacle, the obstacle can be accurately captured, and the accuracy of the distance to the obstacle can be increased.

  Therefore, considering the above characteristics, it is necessary to accurately detect the distance to the obstacle if the place to be cleaned by the vacuum cleaner robot is narrow or there are few obstacles. It is preferable to install the sensors side by side, overlap the detection ranges of the plurality of obstacle sensors, narrow the field of view to some extent, and detect the obstacles at the center of the detection ranges of the plurality of obstacle sensors. Also, if the place where the vacuum cleaner robot cleans is a room where there are many obstacles or many obstacles, it is necessary to detect as many obstacles as possible at the same time. It is preferable to widen the field of view of the plurality of obstacle sensors to detect obstacles in a wide range. However, in the conventional vacuum cleaner robot to which the obstacle sensor is attached as in Patent Documents 1 to 4, the width of the visual field of the obstacle sensor is always constant, and the width of the visual field is changed according to the situation of the cleaning place. I can't.

  The present invention solves the above-mentioned points, and the problem is that the moving work that can change the width of the field of view for detecting the obstacle by the obstacle sensor according to the situation of the work place It is to provide a robot and a vacuum cleaner robot.

  In the present invention, in a mobile work robot that includes an obstacle sensor that detects an obstacle and detects a distance to the obstacle, and performs a work while automatically moving based on an output from the obstacle sensor, These obstacle sensors are arranged side by side, and at least one of the supported obstacle sensors is rotated to change the direction of the obstacle sensor.

  By doing so, the direction of the at least one obstacle sensor is changed by the direction changing mechanism, so that the overlapping state of the detection ranges of the obstacle sensors changes even if the direction of the other obstacle sensors is not changed. Thus, the width of the obstacle detection field of view by the plurality of obstacle sensors can be changed. Therefore, when a mobile work robot is to be operated in a narrow place or a place with few obstacles, by narrowing the obstacle detection field of view by multiple obstacle sensors, it can be used at the center of the detection range of multiple obstacle sensors. It is possible to accurately capture the obstacle and detect the distance to the obstacle with high accuracy. In addition, when a mobile work robot is working in a large area or where there are many obstacles, it is possible to detect many obstacles at once by widening the obstacle detection field of view with multiple obstacle sensors. It becomes. In addition, since the obstacle detection field of view can be widened by changing the direction of the obstacle sensor, it is not necessary to use a large number of obstacle sensors to secure a wide detection field of vision as in Patent Document 4 described above. Costs can be kept low by reducing the number of object sensors used.

  In the embodiment of the present invention, the direction variable mechanism includes a support member that supports a plurality of obstacle sensors side by side, a rotation member that is provided with a fitting portion for fitting the obstacle sensors, and the rotation member. The mounting member is rotatably attached to the support member, and at least one of the plurality of obstacle sensors supported by the support member is fitted into the fitting portion of the rotation member, and the rotation is performed. The moving member is attached to the support member by the attaching member, and the turning member is turned to turn the fitted obstacle sensor to change the direction. By doing in this way, even if the direction of the other obstacle sensor which is not fitted to the fitting part does not change, the turning member is turned so that the overlap of the detection ranges of the obstacle sensors becomes large. Thereby, the direction of the obstacle sensor fitted to the fitting portion is changed, and the obstacle detection field of view by the plurality of obstacle sensors can be narrowed. In addition, by rotating the rotating member so that the overlap of the detection ranges of the obstacle sensors is reduced, the direction of the obstacle sensor fitted in the fitting portion is changed, and the obstacles caused by the plurality of obstacle sensors The detection field of objects can be widened.

  Moreover, in embodiment of this invention, a rotation member consists of a pair of symmetrical rotation members, and the obstacle sensor in one end is made into a rotation member among several obstacle sensors supported by the support member. The rotating member is attached to the support member, the obstacle sensor at the other end is fitted to the other fitting portion of the rotating member, and the rotating member is attached. Is attached to the support member. In this way, when the pair of rotating members are rotated, the direction of the obstacle sensors at both ends is changed, so that the obstacle detection field of view by the plurality of obstacle sensors is set in the direction in which the obstacle sensors are arranged. It can be narrowed or widened with good balance.

  In the embodiment of the present invention, the rotating member is provided with a holding portion that holds another obstacle sensor that is not fitted in the fitting portion supported by the support member, with the support member. By doing in this way, two or more obstacle sensors can be attached to a support member by one rotation member, and it becomes possible to aim at improvement in attachment efficiency.

  Moreover, in embodiment of this invention, a leg part is provided in the surface supported by the support member of an obstruction sensor, and the insertion hole which inserts a leg part is provided in a support member. By doing so, the obstacle sensor can be positioned and supported by the support member, and the obstacle sensor can be made difficult to shift even when an impact or the like is applied.

  In the embodiment of the present invention, the rotating member is provided with a handle for rotating operation. By doing in this way, a handle part can be operated, a rotation member can be rotated easily, and direction of an obstacle sensor fitted to a fitting part can be adjusted to a desired direction. It becomes.

  Furthermore, in an exemplary embodiment of the present invention, an obstacle sensor that detects an obstacle and detects a distance to the obstacle is provided, and the floor surface is automatically traveled based on an output from the obstacle sensor. In a vacuum cleaner robot for cleaning, a plurality of obstacle sensors are supported side by side, and a support member formed with an insertion hole for inserting a leg provided on a surface supported by the obstacle sensor and the obstacle sensor are fitted. A fitting part to be combined, a holding part for holding the obstacle sensor between the support member, a pair of symmetrical turning members provided with a handle part for turning operation, and a pair of turning members are supported respectively. And an attachment member that is rotatably attached to the member. Then, of the plurality of obstacle sensors supported by the support member, the obstacle sensor at one end is fitted into one fitting portion of the rotation member, and the rotation member is attached to the support member by the mounting member. Attach the obstacle sensor at the other end to the other fitting part of the rotation member, attach the rotation member to the support member by the attachment member, and install other obstacle sensors that are not fitted. By holding each rotating member between the holding members and rotating the rotating members, the fitted obstacle sensors are rotated to change their directions.

  By doing the above, when the handle part is operated to rotate the pair of rotating members, the orientations of the obstacle sensors at both ends fitted to the fitting parts of the rotating member change. Even if the direction of the obstacle sensor held by the holding part of each rotating member does not change, the obstacle detection field of view by the multiple obstacle sensors should be narrowed or widened in a balanced manner in the direction in which the obstacle sensors are arranged. Can do. Therefore, when the vacuum cleaner robot cleans a narrow place or a place with few obstacles, narrow the obstacle detection field of view by the multiple obstacle sensors, and at the center of the detection range of the multiple obstacle sensors. It is possible to accurately capture the obstacle and detect the distance to the obstacle with high accuracy. In addition, when a vacuum cleaner robot is used to clean a large place or a place with many obstacles, it is possible to detect many obstacles at once by widening the obstacle detection field of view with multiple obstacle sensors. It becomes.

  According to the present invention, the overlapping state of the detection ranges of the obstacle sensors is changed by changing the direction of at least one of the obstacle sensors by the direction changing mechanism according to the situation of the work place. It is possible to change the width of the visual field for detecting an obstacle by the obstacle sensor.

  FIG. 1 is an electric block diagram of a cleaner robot 1 constituting one embodiment of a mobile work robot and a cleaner robot in the present invention. In FIG. 1, reference numeral 2 denotes a control unit comprising a microcomputer and other control circuits. The controller 2 controls each part of the cleaner robot 1. Reference numeral 3 denotes a memory including a ROM and a RAM. The ROM of the memory 3 stores programs and data for the control unit 2 to control each unit, and the RAM stores data when the control unit 2 controls each unit in a readable / writable manner. The Reference numeral 4 denotes a travel motor that rotates a travel wheel, which will be described later, and reference numeral 5 denotes a travel encoder that detects the rotational speed of the travel wheel. Reference numeral 6 denotes a steering motor that rotates a steering shaft connected to the traveling wheel, and 7 denotes a steering encoder that detects a rotation angle of the steering shaft. Reference numeral 8 denotes a fan motor that generates an intake force to suck in dust and the like. Reference numerals 11 to 13 denote obstacle sensors composed of optical passive sensors that measure the distance based on the phase difference between images incident on a pair of CCDs. An obstacle is detected by these obstacle sensors 11 to 13, and a distance to the obstacle is detected.

  FIG. 2 is a plan view showing the entire cleaner robot 1. FIG. 3 is a diagram illustrating an obstacle detection state by the cleaner robot 1. In FIG. 2, a traveling wheel 14, a driven wheel 15, and a brush-integrated suction nozzle 9 are provided at the bottom of the main body 1 a of the cleaner robot 1. A steering shaft 16 that changes the direction of the traveling wheel 14 is connected to the traveling wheel 14. In the front part of the main body 1a (lower side in FIG. 2), the above-described obstacle sensors 11 to 13 face forward and obliquely downward, from the left side, the second obstacle sensor 12, the first obstacle sensor 11, and the first Three obstacle sensors 13 are attached in this order. The mounting structure of these obstacle sensors 11 to 13 will be described later. In FIG. 3, hatched portions in front of the obstacle sensors 11 to 13 are detection visual fields for detecting the obstacles by the obstacle sensors 11 to 13. F is the floor of the cleaning area. H is an obstacle lower than the floor surface F, such as a concave step, a staircase, a hole, and a groove. W is an obstacle higher than the floor surface F such as a convex step, a wall, an installation on the floor, and the like. Obstacles detected by the obstacle sensors 11 to 13 include the floor surface F as well as the obstacles H and W.

  The control unit 2 rotates the traveling wheel 14 by driving the traveling motor 4 and rolls the traveling wheel 14 and the driven wheel 15 on the floor F, whereby the main body of the cleaner robot 1. Drive 1a. The travel distance is calculated based on the rotational speed of the travel wheel 14 detected by the travel encoder 5 described above. Further, the control unit 2 changes the traveling direction of the main body 1a by rotating the steering shaft 16 by driving the steering motor 6 and changing the direction of the traveling wheel 14. The traveling direction, that is, the direction of the traveling wheel 14 is calculated based on the rotation angle of the steering shaft 16 detected by the steering encoder 7 described above. Further, the control unit 2 cleans the floor F by generating an intake force by driving the above-described fan motor 8 during running and sucking dust and the like through the nozzle 9.

  During traveling and cleaning of the cleaning place, the control unit 2 detects an obstacle in front of the main body 1a by each of the obstacle sensors 11 to 13 described above. And the control part 2 judges the direction with an obstruction based on the output from each obstruction sensor 11-13, and detects the distance from the main body 1a to an obstruction. The distance from the obstacle sensors 11 to 13 to the ground contact surface of the vacuum cleaner robot 1 is measured in advance and stored in the memory 3 as a reference value. For this reason, as shown to Fig.3 (a), when the floor surface F which the cleaner robot 1 has earth | grounded is detected by the obstruction sensors 11-13, detection distance (distance to the floor surface F) Is equal to the reference value, the control unit 2 determines that the detected obstacle is the floor surface F, and there is no risk of falling or colliding, so the vehicle 1a moves forward without changing the traveling direction of the main body 1a. Let it run. And as shown in FIG.3 (b), when the obstacle sensor 11-13 detects the obstacle H lower than the floor F, the detection distance (distance to the obstacle H) is far from a reference value. Therefore, the control unit 2 determines that the detected obstacle is an obstacle H lower than the floor surface F, changes the traveling direction of the main body 1a, and avoids falling to the obstacle H. As shown in FIG. 3C, when the obstacle sensors 11 to 13 detect an obstacle W higher than the floor surface F, the detection distance (distance to the obstacle W) is closer to the reference value. Therefore, the control unit 2 determines that the detected obstacle is an obstacle W higher than the floor surface F, changes the traveling direction of the main body 1a, and avoids a collision with the obstacle W.

  FIGS. 4A and 4B are diagrams showing the mounting structure of the obstacle sensors 11 to 13, wherein FIG. 4A is a plan view and FIG. 4B is a front view. FIG. 5 is a plan view showing another state of the mounting structure. FIGS. 6A and 6B are views showing the support member 17 for attaching the obstacle sensors 11 to 13, wherein FIG. 6A is a plan view and FIG. 6B is a front view. FIGS. 7A and 7B are views showing the rotating members 18 and 19 for attaching the obstacle sensors 11 to 13, wherein FIG. 7A is a plan view thereof and FIG. 7B is a front view thereof.

  The support member 17 shown in FIG. 6 is made of a substantially rectangular sheet metal, and is fixed to the frame (not shown) of the main body 1a so that the longitudinal direction is parallel to the left-right direction of the cleaner robot 1 as shown in FIG. It is fixed by a member (not shown). As shown in FIG. 4, the support member 17 has insertion holes 17 a to 17 f for inserting two legs 11 a, 11 b, 12 a, 12 b, 13 a, 13 b provided at the bottom of each obstacle sensor 11 to 13. Insertion holes 17g and 17h, which are formed at predetermined intervals and through which the attachment members 20 and 21 made of stepped screws are respectively inserted, are formed at predetermined intervals. The insertion holes 17a to 17d are circular and have a diameter substantially equal to the diameter of the leg portions 11a, 11b, 12a, and 13a. The insertion holes 17e and 17f have a shape in which a circle is expanded in an arc shape, and the minor diameter is substantially the same as the diameter of the leg portions 12b and 13b. The insertion holes 17g and 17h are circular and have a diameter substantially equal to the diameter of the mounting members 20 and 21.

  As shown in FIG. 4, the leg portions 11 a and 11 b of the first obstacle sensor 11 are inserted into the insertion holes 17 a and 17 b of the support member 17, and the first obstacle sensor 11 is placed on the upper surface of the support member 17. (By bringing the bottom surface of the first obstacle sensor 11 into contact with the upper surface of the support member 17), the first obstacle sensor 11 faces straight forward of the main body 1 a (downward in FIG. 4 (a)) and obliquely downward, It is supported by the support member 17 so as not to move in parallel with the support member 17. The leg portions 12a and 12b of the second obstacle sensor 12 are inserted into the insertion holes 17c and 17e of the support member 17, and the second obstacle sensor 12 is placed on the upper surface of the support member 17 (second obstacle sensor 12). The second obstacle sensor 12 turns diagonally forward and diagonally downward to the left of the main body 1a and rotates in parallel with the support member 17 about the leg portion 12a. In this way, the support member 17 is supported. The leg portions 13a and 13b of the third obstacle sensor 13 are inserted into the insertion holes 17d and 17f of the support member 17, and the third obstacle sensor 13 is placed on the upper surface of the support member 17 (third obstacle sensor 13 3), the third obstacle sensor 13 turns diagonally forward and diagonally to the right of the main body 1a and rotates in parallel with the support member 17 about the leg portion 13a. In this way, the support member 17 is supported. In other words, the support member 17 supports the obstacle sensors 11 to 13 side by side in the left-right direction so as to face substantially forward and obliquely downward of the main body 1a. The distance between the obstacle sensors 11 to 13 is set so that the detection ranges for detecting the obstacles F, H, and W between the adjacent obstacle sensors 11 to 13 are always partially overlapped with each other while being supported by the support member 17. Has been.

  The pair of rotating members 18 and 19 shown in FIG. 7 are formed so as to be symmetrical with each other by bending a sheet metal. Each support member 18, 19 has fitting portions 18 a, 19 a for fitting the second and third obstacle sensors 12, 13, and a holding portion 18 b for holding the first obstacle sensor 11 between the support members 17. 19b, through-holes 18d and 19d for penetrating the handle portions 18c and 19c for rotating operation and the attachment members 20 and 21, respectively, are formed. The fitting portions 18a and 19a have a width substantially the same as the width of the second and third obstacle sensors 12 and 13, and the height is the height of the second and third obstacle sensors 12 and 13. It is almost the same size. The through holes 18d and 19d are formed by expanding a circle in an arc shape, and the short diameter is substantially the same as the diameter of the mounting members 20 and 21.

  As shown in FIG. 4, the fitting part 18 a of the rotation member 18 is fitted to the second obstacle sensor 12 at the left end supported by the support member 17, and the through hole 18 d of the rotation member 18 and the support member 17 are fitted. By inserting the attachment member 20 through the insertion hole 17g and screwing the attachment member 20 into a screw hole (not shown) formed in the frame of the main body 1a, the rotating member 18 is placed on the upper surface of the support member 17. It is attached so as to be rotatable while facing each other. The fitting part 19a of the rotation member 19 is fitted to the third obstacle sensor 13 at the right end supported by the support member 17, and is attached to the through hole 19d of the rotation member 19 and the insertion hole 17h of the support member 17. By passing the member 21 and screwing the mounting member 21 into a screw hole (not shown) formed in the frame of the main body 1a, the rotating member 19 can rotate while facing the upper surface of the support member 17. It is attached. Further, by attaching the rotation members 18 and 19 to the support member 17, the non-fitted first obstacle sensor 11 supported by the support member 17 is held by the holding portions 18 b and 19 b of the rotation members 18 and 19. Is done. The support member 17, the rotation members 18 and 19, and the attachment members 20 and 21 constitute an embodiment of the direction variable mechanism in the present invention.

  When the attachment members 20 and 21 that attach the rotation members 18 and 19 to the support member 17 are tightened, the rotation members 18 and 19 are fixed to the support member 17, and the obstacle sensors 11 to 13 are connected to the rotation members 18 and 19. And the support member 17. When the attachment members 20 and 21 are loosened and the handle portions 18c and 19c of the rotating members 18 and 19 are pushed in the direction of the arrow in FIG. 4A, the second and third obstacles together with the rotating members 18 and 19 are displayed. The sensors 12 and 13 are rotated so as to open outward, and the directions of the second and third obstacle sensors 12 and 13 are changed. FIG. 5 shows a state in which the rotating members 18 and 19 and the second and third obstacle sensors 12 and 13 are rotated so as to open to the outermost side. In this state, the overlapping of the detection ranges of the adjacent obstacle sensors 11 to 13 is minimized, and the detection visual field (hatched portion) for detecting the obstacles F, H, and W by the three obstacle sensors 11 to 13. Is the maximum angle θ2. Further, when the attachment members 20 and 21 are loosened and the handle portions 18c and 19c of the rotating members 18 and 19 are pulled in the direction of the arrow in FIG. 5, the second and third obstacle sensors 12, It rotates so that 13 may close inside, and the direction of the 2nd, 3rd obstacle sensor 12 and 13 changes. FIG. 4A shows a state in which the rotating members 18 and 19 and the second and third obstacle sensors 12 and 13 are rotated so as to close to the innermost side. In this state, the overlapping of the detection ranges of the adjacent obstacle sensors 11 to 13 is maximized, and the detection visual field (hatched portion) for detecting the obstacles F, H, and W by the three obstacle sensors 11 to 13. Is the minimum angle θ1. That is, when the mounting members 20 and 21 are loosened and the rotating members 18 and 19 are rotated, the directions of the second and third obstacle sensors 12 and 13 are changed, and the direction is adjusted to an appropriate direction for mounting. When the members 20 and 21 are tightened, the second and third obstacle sensors 12 and 13 are fixed in the adjusted direction, and the detection visual field by the three obstacle sensors 11 to 13 has a predetermined width in the range of angles θ1 to θ2. Maintained.

  By doing the above, when the handle portions 18c and 19c are operated and the pair of rotating members 18 and 19 are respectively rotated, the second and second ends of the both ends fitted to the fitting portions 18a and 19a are obtained. Since the directions of the third obstacle sensors 12 and 13 are changed, the obstacles F and H formed by the three obstacle sensors 11 to 13 are not changed even if the direction of the first obstacle sensor 11 held by the holding portions 18b and 19b is not changed. , The width of the W detection field of view can be changed. In particular, when the pair of rotating members 18 and 19 are rotated at equal angles, the width of the visual field of detection by the three obstacle sensors 11 to 13 is well balanced in the direction in which the obstacle sensors 11 to 13 are arranged. It can be narrowed or widened. Therefore, when the mobile work robot 1 cleans a narrow place or a place with few obstacles F, H, and W, the handle parts 18c and 19c are pulled, and the overlap of the detection ranges of the obstacle sensors 11 to 13 is large. By rotating the rotating members 18 and 19 so that the detection visual field by the three obstacle sensors 11 to 13 is narrowed, the end of the detection range of any of the obstacle sensors 11 to 13 (non-detection) The obstacles F, H, W are detected at the center of the detection range of the plurality of obstacle sensors 11-13, not the boundary portion with the range), and based on the outputs from the plurality of obstacle sensors 11-13, It becomes possible to detect the distance to the obstacles F, H, and W with high accuracy. Further, when the mobile work robot 1 is to clean a wide place or a place with many obstacles F, H, and W, the handle portions 18c and 19c are pushed, and the overlap of the detection ranges of the obstacle sensors 11 to 13 is reduced. In this way, by rotating the rotating members 18 and 19 and widening the detection field of view by the three obstacle sensors 11 to 13, many obstacles F, H, and W can be detected at a time. .

  Moreover, since the detection field of the obstacles F, H, and W can be widened by changing the direction of the second and third obstacle sensors 12 and 13, a wide detection field is ensured as in Patent Document 4 described above. There is no need to use a large number of obstacle sensors in an attempt to reduce the number of obstacle sensors used, thereby reducing the cost. Further, leg portions 11a, 11b, 12a, 12b, 13a, 13b are provided on the bottom surface supported by the support member 17 of the obstacle sensors 11-13, and the leg portions 11a, 11b, 12a, 12b, 13a, Since the insertion holes 17a to 17f for inserting 13b are provided, the obstacle sensors 11 to 13 can be positioned and supported on the support member 17, and the obstacle sensors 11 to 13 are hardly displaced even when an impact is applied. It becomes possible. Further, since the holding portions 18b and 19b are provided on the rotating members 18 and 19, the three obstacle sensors 11 to 13 can be attached to the support member 17 by the two rotating members 18 and 19, and the attachment efficiency is improved. Can be achieved. Furthermore, since the handle members 18c and 19c are provided on the rotating members 18 and 19, the handle members 18c and 19c can be operated to easily rotate the rotating members 18 and 19, and the fitting portion 18a. , 19a, the second and third obstacle sensors 12, 13 can be adjusted in a desired direction.

  The present invention can adopt various forms other than the embodiment described above. For example, in the above embodiment, the case where the three obstacle sensors 11 to 13 are attached to the front surface of the main body 1a is taken as an example. However, the present invention is not limited to this, and the number of obstacle sensors to be attached. May be two or four or more. Also, the number of obstacle sensors with which the rotating member is fitted may be one, two, or three or more. Further, the number of obstacle sensors held by one rotating member may be one or two or more.

  Moreover, in the above embodiment, the obstacle member 11 is fixed to the front part of the main body 1a of the vacuum cleaner robot 1 so that the longitudinal direction of the support member 17 and the left-right direction of the main body 1a are parallel to each other. However, the present invention is not limited to this, and a plurality of obstacle sensors are provided by fixing a support member to the side part or the rear part of the main body. May be attached substantially sideward or rearward. In addition, the support member is fixed to the main body so that the longitudinal direction of the support member and the height direction of the main body are parallel, and a plurality of obstacle sensors are attached horizontally, downward from the horizontal direction, or upward from the horizontal direction. You may do it.

  Moreover, in the above embodiment, as shown in FIG. 4A and FIG. 5, the width of the detection visual field of the three obstacle sensors 11 to 13 is variable by angles θ1 to θ2 that are less than 90 °. As an example, the present invention is not limited to this, but the rotation angle of the rotation member is increased so that the detection field of view of the plurality of obstacle sensors is 90 ° or more. It may be variable. Moreover, the rotation angle of the rotation member may be reduced so that the detection field of view of the plurality of obstacle sensors can be varied by an angle smaller than the angles θ1 to θ2.

  Moreover, in the above embodiment, the case where the support interval of the obstruction sensors 11-13 is set as an example so that the detection range of the obstructions of adjacent obstruction sensors 11-13 may always partially overlap is mentioned as an example. However, the present invention is not limited to this. For example, the detection range between adjacent obstacle sensors is completely overlapped when the detection visual field is the narrowest, and is close or separated when the detection visual field is the widest. A support interval of a plurality of obstacle sensors may be set.

  Moreover, in the above embodiment, although the direction variable mechanism was comprised by the supporting member 17, the rotation members 18, 19 and the attachment members 20, 21, this invention is not limited only to this, In addition to this, For example, a structure in which a plurality of obstacle sensors are connected to and supported by rotation shafts of a plurality of motors arranged and fixed on the main body, and the motor is driven by a switch operation to change the direction of at least one obstacle sensor. The direction variable mechanism may be configured as described above. That is, the direction variable mechanism may be a mechanism that supports a plurality of obstacle sensors side by side and can change at least one direction of the obstacle sensors.

  Furthermore, in the above embodiment, the case where the present invention is applied to the vacuum cleaner robot 1 is described as an example. However, the present invention also transfers, for example, an object in a predetermined place to another place. The present invention can be applied to a mobile work robot that performs work while automatically moving, such as an unmanned transfer robot or a security robot that photographs an intruder or the like while moving in a site.

It is an electric block diagram of a vacuum cleaner robot. It is a top view which shows the whole vacuum cleaner robot. It is a figure which shows the detection condition of the obstruction by a cleaner robot. It is a figure which shows the attachment structure of the obstruction sensor to a cleaner robot. It is a figure which shows the other state of the attachment structure. It is a figure which shows the support member for attaching an obstruction sensor. It is a figure which shows the rotation member for attaching an obstacle sensor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vacuum cleaner robot 11 1st obstacle sensor 11a, 11b Leg part 12 2nd obstacle sensor 12a, 12b Leg part 13 3rd obstacle sensor 13a, 13b Leg part 17 Support member 17a-17f Insertion hole 18, 19 Rotation Member 18a, 19a Fitting part 18b, 19b Holding part 18c, 19c Handle part 20, 21 Mounting member F Floor (obstacle)
H Obstacle lower than the floor W W Obstacle higher than the floor

Claims (7)

In a vacuum cleaner robot that includes an obstacle sensor that detects an obstacle and detects a distance to the obstacle, and that automatically cleans the floor surface based on an output from the obstacle sensor,
A support member in which a plurality of the obstacle sensors are supported side by side and an insertion hole for inserting a leg portion provided on a surface supported by the obstacle sensor is formed;
A pair of symmetrical rotating members provided with a fitting part for fitting the obstacle sensor, a holding part for holding the obstacle sensor between the support member, and a handle part for rotating operation. When,
An attachment member that rotatably attaches the pair of turning members to each of the support members,
Of the plurality of obstacle sensors supported by the support member, the obstacle sensor at one end is fitted into one fitting portion of the turning member, and the turning member is attached to the mounting member. The obstruction sensor at the other end is fitted to the other fitting portion of the rotating member, and the rotating member is attached to the supporting member by the attaching member. The other obstacle sensors that are not matched are held between the supporting members by the holding portions of the rotating members, and the rotating obstacle members are rotated to rotate the fitted obstacle sensors. Vacuum cleaner robot characterized by changing direction. In a mobile work robot that includes an obstacle sensor that detects an obstacle and detects a distance to the obstacle, and performs work while automatically moving based on an output from the obstacle sensor,
A mobile work robot comprising a direction variable mechanism that supports a plurality of obstacle sensors side by side and rotates at least one of the supported obstacle sensors to change the direction of the obstacle sensors. The mobile work robot according to claim 2,
The direction variable mechanism includes a support member that supports a plurality of the obstacle sensors side by side, a rotation member provided with a fitting portion for fitting the obstacle sensors, and the rotation member that faces the support member. It is composed of a mounting member that can be pivoted while being
At least one of the plurality of obstacle sensors supported by the support member is fitted into the fitting portion of the rotation member, and the rotation member is attached to the support member by the attachment member. A mobile work robot characterized in that by rotating a moving member, the fitted obstacle sensor is rotated to change its direction. The mobile work robot according to claim 3,
The rotating member comprises a pair of rotating members that are symmetrical,
Of the plurality of obstacle sensors supported by the support member, the obstacle sensor at one end is fitted into one of the fitting portions of the turning member, and the turning member is attached to the supporting member. A mobile work robot, wherein the obstacle sensor at the other end is fitted into the other fitting portion of the turning member, and the turning member is attached to the support member. In the mobile work robot according to claim 3 or 4,
A moving operation characterized in that the rotating member is provided with a holding portion that holds the other obstacle sensor that is not fitted in the fitting portion supported by the support member between the rotation member and the support member. robot. The mobile work robot according to any one of claims 3 to 5,
A mobile work robot characterized in that a leg portion is provided on a surface of the obstacle sensor supported by the support member, and an insertion hole for inserting the leg portion is provided in the support member. The mobile work robot according to any one of claims 3 to 6,
A mobile work robot, wherein the rotating member is provided with a handle for rotating operation.

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