JP2009142652A - Dust collector for floor cleaning - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a dust collector for floor cleaning which improves a floor cleaning type dust collector of a kind in more constructive and simple composition from the viewpoint of obstacle detection. <P>SOLUTION: This dust collector for floor cleaning 1 of an independent running type equipped with a motor drive mechanism includes a dust collection container and a cover 3. An obstacle sensor 5 is provided which has at least a contact displacement element 6 arranged ahead. In the dust collector for floor cleaning 1, one or more of the turning and movement of the contact displacement element 6 is used for detecting an obstacle 4. In order to improve this kind of floor cleaning type dust collector in more constructive and simple composition from the viewpoint of obstacle detection, a composition is provided that the movement on a floor side of the contact displacement element 6 is detected through the sensor. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention is a self-propelled floor cleaning dust collecting device including a motor drive mechanism, a dust collecting container, and a cover, and includes an obstacle sensor having a contact displacement element disposed at least in front of the contact displacement element. The present invention relates to a dust collector for floor cleaning in which at least one of the rotation and movement of the floor is used for detecting an obstacle.

This type of dust collector for floor cleaning is known from US Pat. Therefore, regarding the operation and control method in fault detection, the contents of this patent application are sufficiently included in the publication of the invention related to the previous application, and the object and features of this patent application are also related to the invention related to the previous application. Within the scope of the following claims. Furthermore, this kind of floor cleaning dust collector is known from US Pat. In some embodiments, this includes a plurality of contact sensors at the tip, through which the object and the spatial direction are detected, so that the device responds in an appropriate manner of detour and avoidance movement. As a result, obstacle detection is realized through contact of the contact sensor.
German Application Publication No. 10242257A1 International Publication WO2005 / 087071A2

  In view of the present state of the above technology, an object of the present invention is to improve this kind of floor cleaning type dust collecting apparatus to a more constructive and simple configuration from the viewpoint of obstacle detection.

  This problem is solved almost and fundamentally by the subject matter of claim 1. Here, it is proposed that the movement of the contact displacement element in the floor direction is detected via a sensor. With this configuration, a constructive and simple solution for obstacle detection in this type of dust collector is realized. The movement of the at least one contact displacement element is detected farther in the floor direction, more preferably at the portion of the contact displacement element that is farthest from the obstacle contact portion. For example, the contact displacement element may be fixed in the floor surface direction, more preferably in the housing, and the end in the floor surface direction may be detected. By such tensioning of the contact displacement element in the direction of the floor, rotation (movement) due to contact with the obstacle itself takes place in the floor part in a manner of movement or expansion or compression, for example by means of dilatometer lines or It may be detected via a similar one. By detecting displacement in the floor direction, it is possible to limit the obstacle detection element of the dust collector to only the contact displacement element that extends widely on the outer periphery of the dust collector in the normal running direction. is there. Each group of sensors arranged in the floor direction is associated with identifiable data via a later evaluation electronic circuit, and the direction of the obstacle collision from this data to the contact displacement element is determined. Detected.

  Further features are described. These are preferably important in combination with the features of claim 1, but in principle can also be important in combination with only some features of claim 1 or alone.

  In a typical configuration of the object of the present invention, the contact displacement element is fixed to the dust collector so as to be rotatable (movable) in the floor direction, and the movement from the tip of the contact displacement element is an axis (fulcrum). It is proposed to be at least partially detected on the opposite side of Correspondingly, the contact displacement element further extends toward the inside of the dust collector beyond the axis (fulcrum) on the surface along the floor. Here, the rotation (movement) is detected at a portion that enters the housing beyond this axis (fulcrum), particularly at its end. The sensor detection portion of the contact displacement element acts on a sensor group like a needle of an instrument by means of a translational shaft (fulcrum) of the contact displacement element. The shaft support that can translate the contact displacement element to the dust collector is a simple mode so that the contact displacement element exiting from the shaft can escape in any direction in the horizontal plane when it collides with an obstacle. It has been solved. Furthermore, however, the shaft may also be configured in such a way that the escape movement in the event of a collision is realized in the vertical direction as well as in the plane of the contact displacement element. By associating with the corresponding sensor group, it is possible to detect an obstacle that is located away from the floor on which the dust collector travels and causes a danger when the device sinks. As a result, in this case, the sensor group detects a collision with an obstacle from the upper right, for example.

  Furthermore, the contact displacement element may be configured in the shape of a jade lobe, and correspondingly more preferably connected to the dust collector only at one fixed point. Further preferably, the movement of the contact displacement element may be detected by only one sensor, and this may constitute one of a plurality of individual sensors. In the meaning of the present invention, the sensor is preferably a sensor in which a plurality of measurement points for detecting individual rotations (movements) of only the needle-like protrusions of the instrument of the contact displacement element are arranged in a concentrated manner.

  In the preferred configuration of the object of the present invention, the Jagged Robe-like fixation is achieved via a leaf spring. Through this, it is possible to achieve the autonomous return of the contact displacement element to the basic position after the collision with the obstacle. The spring correspondingly determines this movement start position of the contact displacement element. Further, the leaf spring is fixed to the housing of the apparatus preferably in a dot shape, particularly at the longitudinal center of the leaf spring, while the leaf spring portion extending in a bridge shape from the fixed point to both sides is a contact displacement element. Realization of fixing to support As a result, fixing of the contact displacement element and restoration of the spring support are achieved. In this connection, it is further proposed that the leaf springs extend horizontally, more preferably parallel to the floor on which the dust collector runs independently. Further in this connection, the leaf spring is attached to the chassis housing of the dust collector from the outside, and for example, attached to the cover from the outside. Moreover, the structure fixed ahead with respect to the driving | running | working direction of the housing | casing stand in which the driving | running | working drive part was provided through the leaf | plate spring is also possible. The contact displacement element may form part of the cover in such a configuration, or alternatively may be configured as a bumper-shaped tip portion formed at an interval with respect to the running direction.

  The contact displacement element is formed in a T shape in one configuration, and forms a contact surface where the bar of the T element contacts the obstacle. On the other hand, the leg of the T-shaped element protruding at a right angle from this (bar) is configured so that its end side enters the device in the shape of a needle of the instrument and functions integrally with the sensor group. In one configuration of the subject of the present invention, the leaf spring is connected to the contact displacement element at the bar portion of the T-shaped element, more preferably at the end of the leaf spring. Thus, the leaf spring is fixed to the housing at the center, thereby achieving a jaderobe-like spring-elastic connection of the contact displacement elements. Alternatively or in combination, the leaf spring may be connected to the contact displacement element at the leg portion of the T-shaped element.

  The proposed Yajirobe-like fixation allows the displacement of the contact displacement element, and as a result also the movement of the needle-like part of the instrument of the contact displacement element which preferably enters the housing also in all three directions, in particular With respect to the horizontal plane, it is possible from the basic position to the left side, the right side, the opposite side of the normal traveling direction of the device.

  As a sensor for detecting the movement of the contact displacement element in the floor direction, one or a plurality of proximity sensors, for example, an electromagnetic induction type, electrostatic induction type, magnetic type or optical type proximity sensor may be provided. Further, in this regard, an optical path blocking type, ultrasonic type or electromagnetic type proximity sensor may be used. The electromagnetic type is realized when one or a plurality of detectors, for example, three detectors are provided as a sensor. Here, one detector detects the movement of the contact displacement element to the left or right each time, while the third detector detects the pushing of the contact displacement element in the direction opposite to the normal traveling direction. Here, at least one sensor or detector or switch is actuated for each collision direction. However, usually two sensors or detectors or switches are activated, in particular sensors that detect lateral deflection, forward displacement and reverse displacement. As a result, the detected collision is not limited to just from the front or from just the individual lateral ends of the contact displacement element. Rather, the configuration of the sensor group enables the position of the obstacle to be measured via the contact displacement element and the entire operation unit via the configuration transmitted to the evaluation circuit via the sensor.

  According to the first aspect of the present invention, there is provided a self-propelled floor cleaning dust collecting device including a motor drive mechanism, a dust collecting container, and a cover, and at least an obstacle sensor having a contact displacement element disposed in front. A floor cleaning dust collector in which at least one of the rotation and movement of the contact displacement element is used for detecting an obstacle, the movement of the contact displacement element on the floor side via the sensor Therefore, it is possible to realize a floor cleaning dust collector that can improve this kind of floor cleaning dust collector to a more constructive and simple configuration from the viewpoint of obstacle detection. With respect to the subsequent claims, the problem can be solved in the same manner as in claim 1, and a simpler configuration can be realized as described above.

Hereinafter, embodiments of the present invention will be described in more detail with reference to the drawings showing two examples.
A cleaning robot type floor cleaning dust collector 1 having a chassis 2 is shown and described. Below this 2 are attached a motor-driven running roller (not shown) facing the floor to be cleaned and a brush which is driven from the bottom of the chassis and is motor-driven if necessary. The chassis 2 is covered with an apparatus housing-like cover 3, and the floor cleaning dust collector 1 has a circular outline. The device 1 may however have a contour deformed from a circle. Here, this may be combined with a shape portion that further has, for example, a semicircular cross-sectional shape and becomes a rectangular shape connected thereto.

  In this type of cleaning robot, it is necessary to detect the obstacle 4 and specify the position. Furthermore, according to the present invention, the obstacle sensor 5 having high detection sensitivity is provided, through which contact with the obstacle 4 is detected, and at the same time before the obstacle is misaligned, overturned or broken, The dust collector 1 for cleaning stops. The floor cleaning dust collector 1 does not malfunction due to disturbance such as vibration caused by traversing the floor irregularities or the like. High impact detection sensitivity is realized with low instability.

  The obstacle sensor 5 has a contact displacement element 6 assigned to the cover 3 at the tip position of the chassis 2. This 6 is attached to the front end side in a bumper shape with respect to the normal operation direction r. Corresponding to the outer shape of the circular device 1, the contact displacement element 6 has an arcuate contact displacement bar 7, which extends concentrically with the chassis 2 with respect to the outer shape.

  The contact displacement bar 7 forms an overall T-shaped contact displacement element bar 8 at the outer shell. Here, the contact displacement bar 7 extends over about a quarter of the outer periphery of the apparatus. A leg 9 of a T-shaped element protruding substantially perpendicularly from the contact displacement bar 7 is formed on the contact displacement bar 7 in the longitudinal center in the radial direction. This 9 protrudes toward the device 1 in the shape of a needle of the instrument, passes through the corresponding cover opening 10 and enters the chassis 2.

  The contact displacement element 6 is fixed via a leaf spring 11. This 11 extends horizontally and consequently parallel to the floor 12 on which the device 1 travels.

  Both ends of the leaf spring 11 are connected to the contact displacement element 6 and the bar 8 portion of the T-shaped element, respectively. At the center in the longitudinal direction of the leaf spring 11, for example, the connection to the chassis 2 is realized via a rivet 13 shown in FIG. The leaf spring 11 is slightly concavely curved outward as shown in FIG.

  The contact displacement element 6 is fixed to the chassis 2 via a rivet 13 in the shape of a jirobeee. As a result, the rivet 13 forms a deflection point (fulcrum) with respect to the contact displacement element 6.

  The leg 9 of the T-shaped element that enters the needle shape of the instrument into the chassis 2 is perpendicular to the rivet 13 at the connecting portion of the contact displacement element 6 in the basic state shown in FIG. Pass to cover in the direction. As a result, the leg 9 of the T-shaped element covers the rivet on the chassis base 14 in the projection.

  The open end 15 of the leg 9 of the T-shaped element facing the inside of the chassis is detected by the sensor S. This sensor S is constituted by three key switches 16, 17, 18 in the first embodiment shown in FIGS. 1 to 8, and these 16 to 18 are intensively held on a rectangular metal plate 19. And switching. Information is transmitted to an evaluation electronic circuit (not shown) via these key switches 16 to 18 or the sensor S, and corresponding travel control of the device is performed via this electronic circuit when an obstacle is detected.

  The three key switches 16-18 serve to detect each deflection of the leg 9 of the T-shaped element from among three directions in the horizontal plane. For example, if the key switch 16 is pressed by the leg 9 of the T-shaped element, the contact displacement element 6 hits the obstacle 4 on the right side in the traveling direction r (see FIG. 6). The key switch 17 facing the key switch 16 correspondingly detects a collision with an obstacle from the left (see FIG. 5). The third key switch 18 is located on the extension of the leg 9 of the T-shaped element, serves to detect a collision from the front of the contact displacement element 6, and operates opposite to the traveling direction r (see FIG. 7). .

  For example, as can be understood from the drawing of FIG. 8, signal overlap from the second key switch 16, 18 or 17 also occurs. This occurs when the contact displacement element 6 collides with an obstacle from the front right, for example.

  For the signals output to the evaluation electronic circuit via the key switches 16 to 18, for example, the direction in which the collision of the contact displacement element 6 occurs from the left, from the front, from the right, from the left front, or from the right front is notified. Data can be associated. This makes it possible to identify the direction of the collision via different detection signals.

  FIG. 9 shows another embodiment. Even in this configuration, the movement of the leg 9 of the needle-like T-shaped element of the instrument of the contact displacement element 6 that is pivotally supported (moved) is detected via the key switches 16-18. The difference from the above-described first embodiment is that the contact-displacement element 6 is fixed in a different manner by fixing the contact displacement element 6. In this embodiment, the leaf spring 11 is loosely supported on the opposite surface of the chassis 2 without a further fixing member. The fixing of the contact displacement element 6 is realized in the chassis 2 at the leg 9 portion of the T-shaped element, which 9 has a shaft 20 on the lower side for this purpose. This 20 engages with a bearing opening 21 provided in the chassis 2, and here, too, the possibility of free rotation to the left and right and the possibility of entering in the direction opposite to the traveling direction r is secured. A pivoting (moving) bearing of the contact displacement element 6 is achieved via the. Here, furthermore, a collision stop is formed in the running direction and in the reverse direction via the shaft-bearing connection. The bearing opening 21 may be formed in the leg 9 of the T-shaped element, and the shaft 20 may be formed in the chassis.

  Further, alternatively, the leg 9 of the T-shaped element itself may be used as part of the sensor S, as depicted in FIG. In this sensor, for example, in the collision of the contact displacement element 6 with the obstacle 4, it rotates (moves) through this 9, and contacts with the existing sensor elements 22 to 24 according to this, thereby weakly The current circuit is turned on, which is detected by the built-in evaluation electronics.

  In addition to the contact sensor described above, for example, an approach detector may be provided.

  All the disclosed features (by themselves) form part of the invention. Accordingly, the published contents of the enclosed / attached priority basic document (a copy of the previous application) are also fully incorporated into the disclosure of the present application. It is included in the range.

  The dust collector for floor cleaning according to the present invention can be used in the home appliance manufacturing industry, the electronic component manufacturing industry, and the like which manufacture the floor cleaning dust collector, and enhances the usefulness of such products.

It is a perspective view of the dust collector for floor cleaning. FIG. 2 is a perspective view corresponding to FIG. 1, but showing a state in which a part of the cover is removed with respect to the first embodiment. It is sectional drawing of a dust collector when a part of cover is removed, Comprising: It is related with the top view of a contact displacement element. FIG. 4 is an enlarged view of a part IV in FIG. 3. It is drawing corresponding to FIG. 3, It is related with the thing when a contact displacement element collides with an obstacle from the running direction left of a dust collector. FIG. 6 corresponds to FIG. 5, but at the time of a collision from the right. Although it is drawing corresponding to FIG. 5, it is a thing at the time of the collision from the front in the front end side. Although it is drawing corresponding to FIG. 5, it is a thing at the time of the collision from the diagonal front in the side surface side. FIG. 5 is an enlarged cross-sectional view corresponding to FIG. 4 but relates to the second embodiment. Although it is drawing corresponding to FIG. 3, it is related with the 3rd Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Dust collector for floor cleaning 2 Chassis 3 Cover 4 Obstacle 5 Obstacle sensor 6 Contact displacement element 7 Contact displacement bar 8 T-shaped element bar 9 T-shaped element leg 10 Cover opening 11 Leaf spring 12 Floor 13 Rivet 14 Chassis base 15 Open end 16-18 Key switch 19 Rectangular metal plate 20 Shaft 21 Bearing opening 22-24 Sensor element S Sensor

Claims (13)

A self-propelled floor cleaning dust collecting device (1) having a motor drive mechanism, a dust collecting container and a cover (3), and an obstacle sensor having a contact displacement element (6) disposed at least in front 5), wherein one or more of the rotation and movement of the contact displacement element (6) is used for detection of an obstacle (4),
A floor cleaning dust collector, wherein movement of the contact displacement element (6) on the floor side is detected via a sensor.   The contact displacement element (6) is fixed to the dust collector (1) so as to be rotatable on the floor side, and movement from the tip of the contact displacement element (6) is at least partially detected on the opposite side of the shaft. The dust collector for floor cleaning according to claim 1.   The dust-collecting apparatus for floor cleaning according to claim 1 or 2, wherein the contact displacement element is configured in a shape of a jirobeee.   The dust collector for floor cleaning according to any one of claims 1 to 3, wherein the movement of the contact displacement element (6) is detected only by the sensor (S).   The dust collection for floor cleaning according to any one of claims 1 to 4, wherein the contact displacement element (6) is fixed in the form of a javelous via a leaf spring (11). apparatus.   The dust collector for floor cleaning according to any one of claims 1 to 5, wherein the leaf spring (11) extends horizontally.   The dust collector for floor cleaning according to any one of claims 1 to 6, wherein the leaf spring is attached to the chassis (2) of the dust collector (1) from the outside. .   The floor cleaning dust collector according to any one of claims 1 to 7, wherein the contact displacement element (6) is formed in a T-shape.   The leaf spring (11) is connected to the contact displacement element (6) at the bar (8) portion of the T-shaped element, according to any one of the preceding claims. Dust collector for floor cleaning.   The leaf spring (11) is connected to the contact displacement element (6) at the leg (9) portion of the T-shaped element, according to any one of the preceding claims. Dust collector for floor cleaning.   The dust collecting apparatus for floor cleaning according to any one of claims 1 to 10, wherein the fixing in the shape of a jirobeee enables movement in all three directions.   The dust collector for floor cleaning according to any one of claims 1 to 11, wherein one or a plurality of proximity sensors are provided as the sensor (S).   The dust collector for floor cleaning according to any one of claims 1 to 12, wherein one or a plurality of key switches (16 to 18) is provided as the sensor (S). .

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