JP2009118995A - Autonomous travelling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an autonomous travelling device enabling a self-propelled device body to travel even after a difference-in-level sensing mechanism senses a difference in level on the floor. <P>SOLUTION: In the autonomous traveling device, the difference-in-level sensing mechanism 7 can be housed in a mechanism housing part 6 provided at the bottom of the self-propelled device body 4 from a position projecting from the bottom of the body 4 after sensing a difference-in-level part B of a floor A. With this constitution, even after the mechanism 7 senses the part B on the floor A, the mechanism 7 never tumbles over the part B, thereby enabling the movement of the body 4 while avoiding the part B, and performing a smooth work. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an autonomous traveling device that autonomously travels on a floor surface having a stepped portion.

  Conventionally, as this type of autonomous traveling device, a substantially flat floor surface is supported by the floor surface in front of the bottom of the self-propelled device body, and if the support is removed from the stepped portion of the floor surface, it moves downward. By providing a step detecting mechanism configured to protrude from the bottom of the self-propelled device main body, there is one that detects the stepped portion of the floor and stops the self-propelled device main body (for example, see Patent Document 1).

As shown in FIG. 5, the drive unit 2 is provided at the bottom of the self-propelled device main body 1, and the step detection mechanism 3 is provided in front of the drive unit 2 at the bottom of the self-propelled device main body 1. The step detection mechanism 3 can move up and down and is supported by the floor surface A on a substantially flat floor surface. However, when the step detection mechanism 3 comes to the step portion of the floor surface, the support is lost and operates downward (arrow direction). Projecting from the bottom of the self-propelled device main body 1. When the step detection mechanism 3 protrudes, the switch 3a operates to detect a step portion on the floor surface and stop the self-propelled apparatus main body 1.
JP-A-8-80277

  However, in the conventional configuration, after the stepped portion of the floor surface A is detected by the stepped detection mechanism 3, when the self-propelled apparatus main body 1 moves backward to avoid the stepped portion of the floor surface A, the stepped detection mechanism 3 detects the stepped portion. Since the protrusion remains, the step detection mechanism 3 may be caught on the step portion and cannot be moved.

  SUMMARY OF THE INVENTION The present invention solves the above-described conventional problems, and an object thereof is to provide an autonomous traveling device capable of moving a self-propelled device main body even after detecting a step portion on a floor surface by a step detection mechanism.

  In order to solve the above-mentioned conventional problems, the autonomous traveling device of the present invention is a self-propelled device in a state in which the step detecting mechanism provided in the self-propelled device main body protrudes from the bottom of the self-propelled device main body after detecting the step portion on the floor surface It can be stored in a mechanism storage section provided at the bottom of the main body.

  As a result, the step detection mechanism does not catch on the step even after the step detection on the floor surface by the step detection mechanism, and the self-propelled device main body can be moved avoiding the step and the work can be performed smoothly. .

  The autonomous traveling device of the present invention can move the body of the self-propelled device while avoiding the stepped portion even after detecting the stepped portion of the floor surface, and can perform the work smoothly.

  The first invention includes a self-propelled device main body, a drive unit that is disposed at the bottom of the self-propelled device main body and moves the self-propelled device main body, and a mechanism storage unit that is provided in front of the drive unit at the bottom of the self-propelled device main body. When the floor surface is supported by the floor surface and stored in the mechanism storage portion and is no longer supported by the stepped portion of the floor surface, it moves downward and starts from the bottom of the self-propelled device body. A step detecting mechanism that protrudes and a step detecting switch that detects a vertical movement of the step detecting mechanism, the step detecting mechanism from the state protruding from the bottom of the self-propelled device main body after detecting the stepped portion of the floor surface to the mechanism housing portion And an autonomous traveling device that can be stored. As a result, the step detection mechanism does not catch on the step even after the step detection on the floor surface by the step detection mechanism, and the self-propelled device main body can be moved avoiding the step and the work can be performed smoothly. .

  According to a second aspect of the invention, in particular, in the first aspect of the invention, the step detection mechanism is configured to be automatically housed in the mechanism housing portion from a state of protruding when the self-propelled body is moved backward. Since the step detection mechanism is housed after the main body moves backward and moves to the operation of reliably moving away from the step portion on the floor surface, the step portion can be avoided and moved more reliably.

  According to a third aspect of the invention, in particular, in the first or second aspect of the invention, the step detection mechanism is configured to be automatically accommodated in the mechanism accommodating portion from the state of protruding when the self-propelled device main body is advanced. In a state where the step detection mechanism protrudes, the step detection mechanism does not advance in the direction of being hooked on the step portion of the floor surface, so that the step portion can be reliably avoided and moved. Further, in the case of this configuration, it can move over the groove-shaped step portion on the floor surface.

  In particular, according to a fourth aspect of the present invention, in any one of the first to third aspects, the step detection mechanism is automatically stored in the mechanism storage portion from a state in which the self-propelled device main body protrudes while stopped by detecting the step portion. With this configuration, it is possible to reliably store the step detection mechanism over time before the self-propelled device main body moves, and thus it is possible to reliably avoid the step portion and move.

  According to a fifth aspect of the invention, in particular, in any one of the first to fourth aspects of the invention, the step detection mechanism is pushed by the stepped portion of the floor surface when the self-propelled device main body is moved and is housed in the mechanism housing portion. As a result, the step detection mechanism can be automatically accommodated without providing a new power source.

  In a sixth aspect of the invention, in particular, in any one of the first to fourth aspects of the invention, the step detection mechanism is configured to be operated by the mechanism drive source and stored in the mechanism storage portion, thereby ensuring the step detection mechanism. Can be stored.

  In the seventh invention, in particular, in the sixth invention, since the step detection mechanism is connected to the mechanism drive source only in the protruding state, the step detection mechanism is in a protruding state or in a stored state. It is no longer necessary to operate the mechanism drive source by detecting whether or not.

  In the eighth aspect of the invention, in particular, in the sixth or seventh aspect of the invention, the mechanism driving source is configured to operate in conjunction with the driving unit, so that the step detection mechanism is automatically provided without newly providing a power source. Can be stored.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
FIG. 1 shows an autonomous traveling device according to Embodiment 1 of the present invention.

  In FIG. 1A, a drive unit 5 such as a wheel is provided at the bottom of the self-propelled device main body 4. In front of the drive unit 5 at the bottom of the self-propelled apparatus main body 4, a mechanism storage unit 6 is provided that is formed of a concave portion recessed inward. The mechanism housing 6 is provided with a step detecting mechanism 7 in which a spherical contact end 7a is in contact with the floor surface A during normal use, and a step detecting switch 8 operated by an operation end 7b of the step detecting mechanism 7. Further, the step detection mechanism 7 is rotatable about the rotation shaft 9 in the middle, and the contact end portion 7a is supported by the floor surface A and stored in the mechanism storage portion 6 during normal use.

  The self-propelled device main body 4 is on a substantially flat floor surface A, and the drive unit 5 and the step detection mechanism 7 are in contact with the floor surface A. The level difference detection mechanism 7 is rotatable about the rotation shaft 9 and the contact end portion 7a in contact with the floor surface A can move up and down. When the step detection mechanism 7 is housed in the mechanism housing portion 6, the operation end 7b is not in contact with the step detection switch 8, and the step detection switch 8 is not operating.

  In FIG. 1B, the self-propelled device main body 4 is located at the stepped portion B of the floor surface A. The drive unit 5 is in contact with the floor surface A, but the contact end portion 7 a of the step detection mechanism 7 is not in contact with the floor surface A. The contact end portion 7 a of the step detection mechanism 7 rotates with its own weight around the rotation shaft 9, moves downward, and protrudes from the bottom of the self-propelled device body 4. In this state, the operation end 7b of the step detection mechanism 7 is in contact with the step detection switch 8, and the step detection switch 8 is pushed in to detect the step B.

  About the autonomous traveling apparatus comprised as mentioned above, the operation | movement and an effect | action are demonstrated below.

  First, when the autonomous traveling device is activated, the drive unit 5 is driven. The autonomous traveling device moves on the substantially planar floor surface A by the drive unit 5 (FIG. 1A).

  When the autonomous mobile device moves and reaches the stepped portion B of the floor surface A, the step detecting mechanism 7 is stored in the mechanism storing portion 6 in front of the driving portion 5 and therefore reaches the stepped portion B earlier than the driving portion 5. Then move away from floor A. Since the contact end portion 7a of the step detection mechanism 7 is supported by the floor surface A and is stored in the mechanism storage portion 6, when the contact end portion 7a is separated from the floor surface A, the contact end portion 7a rotates about the rotation shaft 9 and moves downward. (FIG. 1 (b)).

  The operation end 7b of the step detection mechanism 7 that has not been in contact with the rotation and the step detection switch 8 come into contact with each other, and the step detection switch 8 is pushed in to detect the presence of the step B on the floor surface A. When the step B is detected, the drive unit 5 stops and prevents the self-propelled device main body 4 from falling on the step B.

  The self-propelled device main body 4 starts to move away from the stepped portion B by the drive unit 5 after stopping. Since the contact end portion 7a of the step detection mechanism 7 protrudes from the bottom of the self-propelled device body 4, the step detection mechanism 7 hits the step portion B as it moves. In a state where the contact end portion 7a of the step detecting mechanism 7 is in contact with the stepped portion B, the driving unit 5 further attempts to move the self-propelled device main body 4 backward. Thereby, the level difference detection mechanism 7 receives a force from the level difference part B that is in contact. Since the level difference detection mechanism 7 is configured to be rotatable about the rotation shaft 9, it is rotated by the force received from the level difference part B and is stored in the mechanism storage part 6 (FIG. 1A).

  Moreover, when the level | step-difference part B of the floor surface A is groove shape, an autonomous running apparatus advances as it is. In this case as well, the step detection mechanism 7 protruding from the self-propelled device main body 4 contacts the step B as in the case of the backward movement. Since the level difference detection mechanism 7 receives a force in a direction opposite to that in the backward movement, the step detection mechanism 7 rotates in the reverse direction to that in the backward movement and is stored in the mechanism storage portion 6.

  The way in which the step detection mechanism 7 is housed in the mechanism housing portion 6 differs depending on whether it moves forward or backward. However, since the entire mechanism storage unit 6 is disposed in front of the drive unit 5, the step detection mechanism 7 reaches the stepped part B on the floor surface A rather than the drive unit 5 regardless of how it is stored. A stepped portion B on the floor can be detected.

  Thus, in this embodiment, since the step detection mechanism 7 is stored in the mechanism storage unit 6 so as not to be caught by the step after detecting the step B on the floor surface, the autonomous traveling device is prevented from moving. Can continue to move and work smoothly.

  In the present embodiment, the step detection mechanism 7 is configured to be stored in the mechanism storage portion 6 differently when it moves forward and when it moves backward. However, as shown in FIG. The contact end portion 7a may be configured as an axial object with respect to the rotation shaft 9, and may be configured so that the manner in which the contact end portion 7a is accommodated in the mechanism accommodating portion 6 does not differ depending on whether the contact end portion 7a moves forward or backward. In this case, at the stepped portion B, one of the contact end portions 7 a comes into contact with the stepped detection switch 8.

(Embodiment 2)
FIG. 3 shows an autonomous traveling device according to Embodiment 2 of the present invention. The same elements as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  In FIG. 3A, the level difference detection mechanism 7 of the mechanism housing portion 6 has a contact end portion 7a and an operation end portion 7b, and is movable up and down. And the protrusion auxiliary | assistant spring 10 is provided in the operation end part 7b side, and it is urging | biasing so that the contact end part 7a may always contact the floor surface A. FIG. The mechanism drive source 11 for operating the step detection mechanism 7 is provided in a state of being connected to the step detection mechanism 7. The mechanism drive source 11 includes a motor, a gear, and the like, meshes with a rack 7 c provided in the step detection mechanism 7, and operates when the step detection mechanism 7 is returned to the mechanism storage unit 6.

  In the state of FIG. 3A, the self-propelled device main body 4 is on the substantially planar floor surface A. The drive unit 5 and the step detection mechanism 7 are in contact with the floor surface A. The level difference detection mechanism 7 is supported by the floor surface A and is stored in the mechanism storage unit 6. The protrusion assisting spring 10 is in a contracted state when the step detecting mechanism 7 is housed in the mechanism housing portion 6 and applies a force to push the step detecting mechanism 7 downward. Further, the mechanism drive source 11 is not operating, and the step detection mechanism 7 is not in contact with the step detection switch 8.

  In FIG.3 (b), the self-propelled apparatus main body 4 is located in the level | step-difference part B of a floor surface. The drive unit 5 is in contact with the floor surface A, but the contact end portion 7 a of the step detection mechanism 7 is not in contact with the floor surface A. The step detection mechanism 7 protrudes from the bottom of the self-propelled device main body 4 with the protruding auxiliary spring 10 extended. Further, the operation end 7b of the level difference detection mechanism 7 is in contact with the level difference detection switch 8, and the level difference detection switch 8 is pushed in.

  About the autonomous traveling apparatus comprised as mentioned above, the operation | movement and an effect | action are demonstrated below.

  First, when the autonomous traveling device is activated, the autonomous traveling device is moved on the substantially planar floor surface A by the drive unit 5 (FIG. 3A).

  When the autonomous traveling device moves and reaches the stepped portion B on the floor surface, the step detecting mechanism 7 moves away from the floor surface A. The step detection mechanism 7 is connected to the mechanism drive source 11 and receives resistance even when the mechanism drive source 11 is not operating, so it is difficult to move downward. Therefore, it operates downward (FIG. 3B).

  With the downward movement, the operation end portion 7b of the step detection mechanism 7 pushes the step detection switch 8 to detect that there is a step B on the floor surface. When the step B on the floor surface is detected, the drive unit 5 stops and the self-propelled device main body 4 is prevented from dropping from the step B on the floor surface.

  The self-propelled apparatus main body 4 operates the mechanism drive source 11 after stopping. The mechanism drive source 11 stores the step detection mechanism 7 in the mechanism storage unit 6 while contracting the protrusion assisting spring 10 and maintains the state (FIG. 3A).

  The self-propelled device main body 4 can be moved continuously without being moved because it is accommodated in the mechanism accommodating portion 6 so that the step detecting mechanism 7 is not caught on the stepped portion B after detecting the stepped portion B on the floor surface. The self-propelled device main body 4 starts to move away from the stepped portion B on the floor surface by the driving unit 5 after the stepped detection mechanism 7 is stored. The mechanism drive source 11 is stopped when it is separated from the stepped portion B on the floor surface, and the step detecting mechanism 7 can be moved downward again at the stepped portion B on the floor surface.

  As described above, in the present embodiment, the step detection mechanism 7 is configured to be operated by the mechanism drive source 11 and stored in the mechanism storage unit 6, so that the step detection mechanism 7 can be securely stored.

  Note that the step detection mechanism 7 is configured to be connected to the mechanism drive source 11 only in a protruding state, thereby detecting whether the step detection mechanism 7 is in a protruding state or in a housed state. No need to operate.

(Embodiment 3)
FIG. 4 shows an autonomous traveling device according to Embodiment 3 of the present invention. The same elements as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  In FIG. 4A, the level difference detection mechanism 7 of the mechanism housing portion 6 has a contact end portion 7a, an operation end portion 7b, and an operated end portion 7c extending in an eaves shape, and is movable up and down. As a mechanism drive source 11 for operating the step detection mechanism 7, a drive cam 12 having a convex shape in a certain radial direction is provided. The drive cam 12 is connected to the drive unit 5 with a belt and operates in conjunction with the operation of the drive unit 5, but is not connected to the operated end 7 c of the step detection mechanism 7.

  In the state of FIG. 4A, the self-propelled device main body 4 is on the substantially planar floor surface A. The drive unit 5 and the step detection mechanism 7 are in contact with the floor surface A. The level difference detection mechanism 7 is supported by the floor surface A and is stored in the mechanism storage unit 6. Further, the step detection mechanism 7 is not in contact with the step detection switch 8.

  In FIG. 4B, the self-propelled device main body 4 is located at the stepped portion B of the floor surface A. The drive unit 5 is in contact with the floor surface A, but the contact end portion 7 a of the step detection mechanism 7 is not in contact with the floor surface A and protrudes from the bottom of the self-propelled device main body 4. Further, the operation end 7b of the level difference detection mechanism 7 is in contact with the level difference detection switch 8, and the level difference detection switch 8 is pushed in. The operated end portion 7 c of the step detection mechanism 7 is in contact with the drive cam 12. However, the convex portion of the drive cam 12 does not face upward.

  About the autonomous traveling apparatus comprised as mentioned above, the operation | movement and an effect | action are demonstrated below.

  First, when the autonomous traveling device is activated, the autonomous traveling device is moved on the substantially planar floor surface A by the drive unit 5 (FIG. 4A). The drive cam 12 also starts to rotate in conjunction with the drive unit 5. The level difference detection mechanism 7 is supported by the floor surface A, and the level difference detection mechanism 7 and the drive cam 12 are not connected. The drive cam 12 and the step detection mechanism 7 come into contact with each other only when the convex portion of the drive cam 12 comes directly above due to the rotation of the drive cam 12, but the step detection mechanism 7 does not move.

  When the autonomous mobile device moves and reaches the stepped portion B on the floor surface, the contact end portion 7a of the step detecting mechanism 7 moves away from the floor surface A. The step detecting mechanism 7 loses its support and moves downward so as to protrude from the bottom of the self-propelled apparatus main body 4, and the operated end 7 c of the step detecting mechanism 7 is connected to the drive cam 12 by the operation (FIG. 4). (B)).

  When the drive cam 12 operates to change the direction of the convex portion, the level difference detection mechanism 7 moves up and down via the operated end portion 7c. When the level difference detection mechanism 7 moves to the lowest position, the level difference detection mechanism 7 pushes the level difference detection switch 8 to detect that there is a level difference B on the floor surface. When the step B on the floor surface is detected, the drive unit 5 stops and prevents the self-propelled device main body 4 from falling from the step B on the floor surface.

  The self-propelled device main body 4 starts to move away from the stepped portion B on the floor surface by the driving unit 5 after stopping. Since the drive unit 5 operates, the drive cam 12 is operated, and the step detection mechanism 7 starts to move up and down again. By leaving the stepped portion B on the floor when the stepped detecting mechanism 7 is raised, the stepped detecting mechanism 7 is not caught by the stepped portion B, and the autonomous traveling device can continue to move.

  As described above, in the present embodiment, the mechanism drive source 11 is configured to operate in conjunction with the drive unit 5, so that the step detection mechanism 7 can be automatically accommodated without newly providing a power source. it can.

  Note that the configurations in the first to third embodiments described above can be used in appropriate combinations as needed, and are not limited to the configurations of the respective embodiments.

  As described above, the autonomous mobile device according to the present invention can move the self-propelled device main body by avoiding the stepped portion even after detecting the level difference on the floor surface, and can perform the work smoothly. The present invention can be applied to all devices that autonomously travel, such as other work robots.

(A) Sectional drawing which shows the use condition on the floor surface of the autonomous mobile device in Embodiment 1 of this invention (b) Sectional drawing which shows the use condition in the level | step-difference part of the floor surface Sectional drawing which shows the other structure of the autonomous vehicle (A) Sectional drawing which shows the use condition on the floor surface of the self-propelled cleaner in Embodiment 2 of this invention (b) Sectional drawing which shows the use condition in the level | step-difference part of the floor surface (A) Sectional drawing which shows the use condition on the floor surface of the autonomous mobile device in Embodiment 3 of this invention (b) Sectional drawing which shows the use condition in the level | step-difference part of the floor surface Cross-sectional view of a conventional self-propelled cleaner

Explanation of symbols

DESCRIPTION OF SYMBOLS 4 Self-propelled apparatus main body 5 Drive part 6 Mechanism accommodating part 7 Level difference detection mechanism 8 Level difference detection switch 11 Mechanism drive source A Floor surface B Level difference part

Claims (8)

A self-propelled device main body, a drive unit that is arranged at the bottom of the self-propelled device main body and moves the self-propelled device main body, a mechanism storage unit provided in front of the drive unit at the bottom of the self-propelled device main body, and a mechanism storage unit A step detecting mechanism that is supported by the floor surface and stored in the mechanism storage portion on the floor surface, and moves downward when the step portion of the floor surface is lost and protrudes from the bottom of the self-propelled device main body. A step detecting switch for detecting the vertical movement of the step detecting mechanism, and the step detecting mechanism is capable of being stored in the mechanism storing portion from the state protruding from the bottom of the self-propelled device main body after detecting the step portion on the floor surface. Traveling device. The autonomous traveling device according to claim 1, wherein the step detection mechanism is configured to be automatically accommodated in the mechanism accommodating portion from a state of protruding when the self-propelling device main body moves backward. The autonomous traveling device according to claim 1, wherein the step detection mechanism is configured to be automatically accommodated in the mechanism accommodating portion from a state where the step detecting mechanism protrudes when the self-propelling device main body advances. The autonomous traveling device according to any one of claims 1 to 3, wherein the step detection mechanism is configured to be automatically stored in the mechanism storage portion from a state in which the main body of the self-propelled device protrudes while stopped by detecting the step portion. The autonomous traveling device according to any one of claims 1 to 4, wherein the step detection mechanism is configured to be pushed by the stepped portion of the floor surface and accommodated in the mechanism accommodating portion when the self-propelled device main body moves. The autonomous traveling device according to any one of claims 1 to 4, wherein the step detection mechanism is configured to be operated by a mechanism drive source and stored in a mechanism storage unit. The autonomous traveling device according to claim 6, wherein the step detection mechanism is configured to be connected to the mechanism drive source only in a protruding state. The autonomous traveling device according to claim 6 or 7, wherein the mechanism drive source is configured to operate in conjunction with the drive unit.

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