JP2014137694A - Self-propelled electronic apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a configuration and control of a contact sensor capable of detecting a contact in various directions with a simple configuration in a self-propelled electronic apparatus.SOLUTION: The self-propelled electronic apparatus includes: a self-propelled housing; a bumper 2C disposed on an outer periphery of the housing in an energized state to the housing; a contact sensor for detecting the displacement of the bumper caused against the energization by contact with an obstacle; and a control section for controlling the housing so that the housing is self-propelled while avoiding the obstacle in response to the detection of the displacement. The housing includes one or a plurality of connection parts for displaceably connecting the bumper to it, and connects the bumper rotatably about, as a fulcrum, one or any one connection part.

Description

  The present invention relates to a self-propelled electronic device including a bumper that is displaced by contact.

2. Description of the Related Art In a self-propelled cleaner that is an aspect of a self-propelled electronic device, an ultrasonic sensor that is a non-contact sensor and a contact sensor are used together to detect an obstacle. (For example, refer to Patent Document 1). Non-contact sensors have a narrow detection range and are expensive, so they are used together with contact sensors.
Also, a laterally displaceable suction port and a main body to which the suction port is connected are provided, and a belt-like contact sensor in which a large number of contacts are distributed on the side surfaces of the suction port and the main body is provided. There has been proposed one that detects a wall or an obstacle around a room (for example, see Patent Document 2).

JP-A-5-46246 JP 2004-148021 A

  It is preferable to provide a non-contact sensor so that the self-propelled electronic device avoids and touches the walls and obstacles of the room. However, since the detection range is limited, it is practical to use the sensor with a contact sensor. . For example, in the case of a self-propelled cleaner, it is preferable to run as close as possible to the side of the wall or around the object placed in the room so that there is no leftover. It is preferable to clean the corner while detecting the approach to the vehicle and decelerating and lightly contacting the wall or obstacle with the contact sensor. In order to run a room having a shape complicated with walls and obstacles while lightly contacting the walls and obstacles, it is necessary that the contact sensor can detect contact in various directions.

  Even if you consider a self-propelled electronic device other than a vacuum cleaner, such as a self-propelled air cleaner, it is necessary to turn, turn or reverse to avoid walls and obstacles while traveling to various places in the room. is there. In order to avoid a strong collision with a wall or an obstacle, the contact sensor needs to be able to detect contact in various directions. It is preferable that the self-propelled electronic device can detect not only the front side but also side contact such as diagonally forward or diagonally backward. The diagonally backward direction considers the case where the self-propelled electronic device moves backward while changing its direction or moves backward after turning.

However, if a large number of contact points are distributed and arranged on the outer peripheral portion, the structure is structurally and electrically complicated.
The present invention has been made in consideration of the above circumstances, and provides a configuration and control of a contact sensor capable of detecting contact in various directions with a simple configuration in a self-propelled electronic device. is there.

  The present invention resists the biasing by contact with a self-propelled housing, a bumper disposed on the outer periphery of the housing in a state of being biased with respect to the housing, and an obstacle. A contact sensor for detecting the displacement of the bumper, and a control unit for controlling the bumper to avoid self-propulsion in response to the detection of the displacement, and the housing is connected to connect the bumper. There is provided a self-propelled electronic device characterized in that the bumper is connected so as to be rotatable about the connecting portion as a fulcrum.

  In the self-propelled electronic device according to the present invention, the casing has a connecting portion for connecting the bumper, and the bumper is connected to be rotatable with the connecting portion as a fulcrum. Can be detected. That is, a forward contact along the biasing direction can be detected as a displacement that occurs against the biasing of the bumper, and a lateral contact such as diagonally forward or diagonally backward is one or any one of the bumpers. It can be detected as a displacement that rotates around the connecting portion.

It is a block diagram showing a schematic structure of a self-propelled cleaner concerning this invention. It is an external view which shows one Embodiment of the self-propelled cleaner concerning this invention. (Plan view) It is an external view which shows one Embodiment of the self-propelled cleaner concerning this invention. (Side view) It is an external view which shows one Embodiment of the self-propelled cleaner concerning this invention. (Front view) It is a disassembled perspective view of the self-propelled cleaner shown in FIGS. It is AA arrow sectional drawing of FIG. It is explanatory drawing which shows the connection state of the bumper and top plate of the self-propelled cleaner which concerns on this invention. It is explanatory drawing which shows a mode that the bumper shown in FIG. 7 is displaced by the front contact. It is explanatory drawing which shows a mode that the bumper shown in FIG. 7 displaces by the contact of the left side seeing from upper direction. It is explanatory drawing which shows a mode that the bumper shown in FIG. 7 displaces by the contact of the right side seeing from upper direction. It is explanatory drawing which shows the connection aspect from which the bumper and top plate of a self-propelled cleaner concerning this invention differ. In the self-propelled electronic device of this invention, it is explanatory drawing which shows typically the mechanism which detects the contact of a convex-shaped part and an obstruction. It is an external appearance perspective view which shows the example of the radio | wireless signal transmitter which concerns on this embodiment. It is a block diagram which shows the electrical schematic structure of the radio | wireless signal transmitter which concerns on this embodiment.

  Hereinafter, the present invention will be described in more detail with reference to the drawings. In addition, the following description is an illustration in all the points, Comprising: It should not be interpreted as limiting this invention.

(Embodiment 1)
≪Specific modes of self-propelled electronic devices≫
A “self-propelled cleaner” will be described as an example of the self-propelled electronic device of the present invention. This self-propelled cleaner is a housing having an air inlet on the bottom and a dust collecting portion inside, a drive wheel for running the housing, a control unit for controlling rotation, stop and rotation direction of the drive wheel, etc. And a vacuum cleaner that autonomously performs a cleaning operation after leaving the user's hand, and an example is shown by an embodiment using the drawings described later.

  Note that the present invention is not limited to a self-propelled cleaner, but also a self-propelled air purifier that sucks air and exhausts the purified air, a self-propelled ion generator that generates ions, and others In addition, a robot or the like that presents necessary information or the like to the user and that can satisfy the user's desires is included.

≪Configuration of self-propelled vacuum cleaner≫
FIG. 1 is a block diagram showing a schematic configuration of an embodiment of a self-propelled cleaner according to the present invention. As shown in FIG. 1, the self-propelled cleaner according to the present invention mainly includes a rotary brush 9, a side brush 10, a control unit 11, a rechargeable battery 12, an obstacle detection unit 14, and a dust collection unit 15. Furthermore, a power unit 21, a right drive wheel 22R, a left drive wheel 22L, an intake port 31, an exhaust port 32, an electric blower 115 and an ion generation unit 117, an audio signal generation unit 221, a speaker 223, and a communication unit 225 are provided.

The self-propelled cleaner according to the present invention cleans the floor surface by sucking air containing dust on the floor surface and exhausting the air from which the dust is removed while self-propelled on the floor surface at the place where it is installed. It is a self-propelled vacuum cleaner. The self-propelled cleaner according to the present invention has a function of autonomously returning to a charging stand (not shown) when cleaning is completed.
2 to 4 are external views showing an embodiment of the self-propelled cleaner according to the present invention. 2 is a plan view, FIG. 3 is a side view, and FIG. 4 is a front view.
FIG. 5 is an exploded perspective view of the self-propelled cleaner shown in FIGS. 6 is a cross-sectional view taken along arrow AA in FIG.

As shown in FIGS. 2-6, the self-propelled cleaner 1 has a disk-shaped appearance.
The self-propelled cleaner 1 includes a bottom plate 2a on which an internal mechanism of the cleaner is mounted, and a top plate 2b in which a concave portion 213 that accommodates the dust collecting portion 15 is formed and a pair of left and right support columns 215 are formed in front. . The edge of the rear half of the bottom plate 2a is surrounded by the rear side plate 2d. On the top plate 2b, a lid 3 that covers the upper opening of the recess 213 is disposed so as to be openable and closable. The bottom plate 2a and the top plate 2b correspond to the housing of the present invention.

  The outer peripheral portion of the self-propelled cleaner 1 and the upper edge portion from the outer peripheral portion to the lid portion are covered with an annular bumper 2c in plan view. As shown in FIG. 5, the diameter of the circular opening at the center of the bumper 2c is larger than the diameter of the lid 3, but smaller than the diameter of the top plate 2b. The bumper 2c is covered from above the top plate 2b and is connected to the top plate 2b by four bumper support screws 203 and flat washers from below. However, the bumper 2c is fixed in a state where it can be displaced to some extent in the horizontal direction with respect to the top plate 2b. The top plate 2b is fixed to the bottom plate 2a with a top plate fixing screw 205. In FIG. 5, corresponding portions are connected by a two-dot chain line so that a correspondence relationship between the connected or fixed portions can be understood. Two top plate fixing screws 205 for fixing the top plate 2b and the bottom plate 2a are illustrated in FIG. 5 as being easy to see, but may be used in other locations.

  FIG. 7 is an explanatory view showing a connected state of the bumper 2c and the top plate 2b of the self-propelled cleaner according to the present invention. The state when the two members of the bumper 2c and the top plate 2b are viewed from below is shown. The bumper 2c has bosses formed at four locations downward. Two front bosses 207L and 207R and two rear bosses 208L and 208R. The top plate 2b is formed with holes corresponding to these four bosses. The holes into which the front bosses 207L and 207R are fitted have shapes that allow the front bosses to be displaced in the front-rear direction and the left-right direction. On the other hand, the holes into which the rear bosses 208L and 208R are fitted are elongated holes that can be displaced in the front-rear direction but hardly displaced in the left-right direction.

  The four bosses are fitted into these holes in the top plate 2b from above, and the bumper support screws 203 are screwed into the boss holes from below. Bumper springs 201L and 201R are mounted on a pair of left and right support columns 215 formed in front of the top plate 2b. The bumper 2c is urged forward with respect to the top plate 2b by a pair of left and right bumper springs 201L and 201R, and rests with the rear bosses 208L and 208R in contact with the front end of the long hole.

  A left contact sensor 14CL and a right contact sensor 14CR are provided slightly forward of the front bosses 207L and 207R, and are fixed to the bumper 2c. In this embodiment, the left contact sensor 14CL and the right contact sensor 14CR are micro switches. The switch levers 209L and 209R of each microswitch protrude toward the center side, that is, the side where the top plate 2b is located. In the top plate 2b, lever pressing portions 211L and 211R are formed at positions near the tips of the switch levers 209L and 209R. The lever pressing portion 211L corresponds to the left contact sensor 14CL, and the lever pressing portion 211R is on the side corresponding to the right contact sensor 14CR. In a state where the self-propelled cleaner 1 is not in contact with an obstacle, the bumper 2c is urged forward with respect to the top plate 2b, and the lever pressing portion 211L does not contact the switch lever 209L of the left contact sensor 14CL. The lever pressing portion 211R does not contact the switch lever 209R of the right contact sensor 14CR.

A front ultrasonic sensor 14F is arranged in front of the bumper, and a left ultrasonic sensor 14L is arranged in front of the left. Further, a right ultrasonic sensor 14R is disposed on the right front side.
In this embodiment, as for the lower edge part from the outer peripheral part of the self-propelled cleaner to the bottom plate 2a, the rear half is the rear side plate 2d, and the front half is the skirt portion 2e integrated with the bumper 2c. Above the rear side plate 2d, a bumper 2c is disposed substantially flush with the rear side plate 2d. The skirt portion 2e may be disposed so as to slightly protrude from the rear side plate 2d so that an obstacle such as a wall can be easily detected.
As a modified example, a mode in which the rear side plate 2d portion is also a skirt portion of the bumper 2c similarly to the front half can be considered. In this way, even when there is an obstacle that is less than the height of the outer peripheral portion on the backward path, the obstacle can be detected by the displacement of the bumper 2c.

  A radio signal receiving unit 217 is disposed on the upper front portion of the bumper 2c so as to protrude upward. The wireless signal receiving unit 217 receives a wireless signal from a wireless signal transmitter such as an operation remote controller (not shown), a charging stand or a virtual wall. The control unit 11 is a microcomputer and a peripheral circuit mounted on the circuit board, and controls traveling and other operations of the self-propelled cleaner 1 in response to an instruction indicated by the wireless signal. In this embodiment, since the radio signal receiving unit 217 is attached to the bumper 2c, when the radio signal receiving unit 217 comes into contact with an obstacle, the radio signal receiving unit 217 is displaced integrally with the bumper 2c and the left contact sensor 14CL and / or the right contact sensor 14CR is The displacement is detected.

  The bottom plate 2a is formed with a plurality of holes that expose the right drive wheel 22R, the left drive wheel 22L, and the rear wheel 26 from the bottom plate 2a and project downward. Further, an intake port 31 is formed, and a rotary brush 9 is formed in the back thereof, a side brush 10 is provided on the left and right sides of the intake port 31, a front floor surface detection sensor 18 is provided at the front end portion, a left wheel floor surface detection sensor 19L is provided in front of the left drive wheel 22L, A right wheel floor surface detection sensor 19R is disposed in front of the right drive wheel 22R.

The self-propelled cleaner 1 travels in the direction in which the right driving wheel 22R and the left driving wheel 22L rotate forward in the same direction and moves forward, and the front ultrasonic sensor 14F is disposed. Further, the left and right drive wheels rotate backward in the same direction and move backward, and turn by rotating in opposite directions. For example, when the self-propelled cleaner 1 reaches the periphery of the cleaning area by each sensor of the obstacle detection unit 14 and when an obstacle is detected on the course, the left and right drive wheels are decelerated and then stopped. Thereafter, the left and right drive wheels are rotated in opposite directions to turn and change directions. In this way, the self-propelled cleaner 1 self-propels while avoiding obstacles over the entire installation location or the entire desired range.
Here, the front means the forward direction of the self-propelled cleaner 1 (upward along the plane of the paper in FIG. 2), and the rear means the backward direction of the self-propelled cleaner 1 (the plane of paper in FIG. 2). Along the bottom).

Hereinafter, each component shown in FIG. 1 will be described.
The control unit 11 in FIG. 1 is a part that controls the operation of each component of the self-propelled cleaner 1, and mainly includes a CPU, a rewritable non-volatile memory ROM, a RAM, an I / O controller, a timer, and the like. It is realized by a microcomputer consisting of
The CPU organically operates each hardware based on a control program stored in advance in the ROM and expanded in the RAM to execute the cleaning function, the traveling function, and the like of the present invention.

The rechargeable battery 12 is a part that supplies power to each functional element of the self-propelled cleaner 1, and is a part that mainly supplies power for performing a cleaning function and travel control. For example, a rechargeable battery such as a lithium ion battery, a nickel metal hydride battery, or a Ni—Cd battery is used. The rechargeable battery 12 is hidden in the control unit 11 in FIG.
The rechargeable battery 12 is charged by bringing the exposed charging terminals into contact with each other in a state where the self-propelled cleaner 1 is brought close to a charging stand (not shown).

The obstacle detection unit 14, particularly the left, front, and right sensors 14L, 14F, and 14R, contact or approach obstacles such as indoor walls, desks, and chairs while the self-propelled cleaner 1 is traveling. This is the part that detects this. The obstacle detection unit 14 detects proximity to the obstacle using an ultrasonic sensor. Instead of the ultrasonic sensor or together with the ultrasonic sensor, other types of non-contact sensors such as an infrared distance measuring sensor may be used.
The left contact sensor 14CL and the right contact sensor 14CR are disposed inside the bumper 2c in order to detect that the self-propelled cleaner 1 has come into contact with an obstacle during traveling. The CPU knows that the bumper 2c has collided with the obstacle and its direction based on the output signals from the left contact sensor 14CL and the right contact sensor 14CR.

The front floor surface detection sensor 18, the left wheel floor surface detection sensor 19L, and the right wheel floor surface detection sensor 19R detect steps such as descending stairs.
Based on the signal output from the obstacle detection unit 14, the CPU recognizes the position where an obstacle or a step exists. Based on the recognized obstacle and step position information, the next direction to travel is determined while avoiding the obstacle and step. The left wheel floor surface detection sensor 19L and the right wheel floor surface detection sensor 19R detect a step on the left front or right front in the traveling direction outside the detection range of the front floor surface detection sensor 18. This detects the downstairs and prevents the self-propelled cleaner 1 from falling onto the downstairs.

  The power unit 21 is a part that realizes traveling by a drive motor that rotates and stops the left and right drive wheels of the self-propelled cleaner 1. By configuring the drive motor so that the left and right drive wheels can be rotated independently in both forward and reverse directions, the traveling state of the self-propelled cleaner 1 such as advancing, retreating, turning, and acceleration / deceleration is realized.

The intake port 31 and the exhaust port 32 are portions that perform intake and exhaust of air for cleaning, respectively.
The dust collection part 15 is a part which performs the cleaning function which collects indoor garbage and dust, and is mainly provided with the dust collection container which is not shown in figure, the filter part, and the cover part which covers a dust collection container and a filter part. Further, an inflow path communicating with the intake port 31 and an exhaust path communicating with the exhaust port 32 are provided. An electric blower 115 is disposed in the discharge path. The electric blower 115 sucks air from the intake port 31, guides the air into the dust collecting container via the inflow passage, and discharges the air after dust collection from the exhaust port 32 to the outside via the discharge passage. Is generated.

A rotary brush 9 that rotates about an axis parallel to the bottom surface is provided at the back of the intake port 31, and a side brush 10 that rotates about a rotational axis perpendicular to the bottom surface is provided on the left and right sides of the intake port 31. Is provided. The rotating brush 9 is formed by implanting a brush spirally on the outer peripheral surface of a roller that is a rotating shaft. The side brush 10 is formed by providing a brush bundle radially at the lower end of the rotating shaft. The rotating shaft of the rotating brush 9 and the rotating shaft of the pair of side brushes 10 are pivotally attached to a part of the bottom plate 2a of the housing 2, and a brush motor 119 provided in the vicinity thereof, a pulley, a belt, etc. It is connected via a power transmission mechanism that includes it.
This configuration is merely an example, and a dedicated drive motor that rotates the side brush 10 may be provided.

Moreover, the self-propelled cleaner 1 according to this embodiment has an ion generation function as an additional function. An ion generation unit 117 is provided in the discharge path. When the ion generation unit 117 operates, the airflow discharged from the exhaust port includes ions generated by the ion generation unit 117 (for example, plasma cluster ions (registered trademark) or negative ions may be used). The air containing the ions is exhausted from an exhaust port 32 provided on the upper surface of the housing 2. Indoor air sterilization and deodorization are performed by the air containing the ions. In the case of negative ions, it is also known to give a relaxing effect to humans. At this time, air is exhausted from the exhaust port 32 obliquely upward to the rear, so that the dust on the floor surface is prevented from being rolled up, and the cleanliness of the room can be improved. In addition, the dust can be gradually discharged, and the collected dust can be reliably discarded.
A part of the ions generated by the ion generator 117 may be guided to the inflow path. In this way, since ions are included in the airflow guided from the intake port 31 to the inflow path, it is possible to sterilize and deodorize a dust collection container and a filter (not shown) of the dust collection unit 15.

The audio signal generation unit 221 generates an audio signal using audio data stored in advance in the ROM under the control of the CPU of the control unit 11. The generated audio signal is sent to the speaker 223 and output as audio. The voice is used to prompt the user for an operation, inform the state of the self-propelled cleaner 1, and perform other communications.
The communication unit 225 is an interface that communicates with an external device via a network. Preferably, wireless communication conforming to the IEEE802.11 wireless LAN standard or Bluetooth (registered trademark) standard is used to communicate with a mobile communication terminal such as a personal computer or a smartphone used by the user.
The above is a specific configuration example of the robot cleaner, but the configuration example of the self-propelled air cleaner is obtained by changing a part of the self-propelled cleaner 1 shown in FIGS. Specifically, instead of the rotating brush 9, the dust collecting unit 15, the ion generating unit 117, and the brush motor 119, an air purifying unit having an air purifying filter is provided, and the position where the intake port 31 is provided is the bottom plate of the housing. It is changed from 2a to the top plate 2b. In addition, the configuration example of the self-propelled ion generator includes a position where the intake port 31 is provided except for the rotating brush 9, the dust collecting unit 15, and the brush motor 119 from the self-propelled cleaner 1 shown in FIGS. The body bottom plate 2a is changed to the top plate 2b.

≪Bumper and contact sensor operation≫
Next, the displacement of the bumper 2c with respect to contact in various directions and the state of the left contact sensor 14CL and the right contact sensor 14CR that detect the displacement will be described.
8-10 is explanatory drawing which shows a mode that the bumper 2c shown in FIG. 7 displaces with respect to the top plate 2b by the contact of various directions. FIG. 8 shows the displacement when contact is made on the front, FIG. 9 shows the left side when viewed from above, and FIG. 10 shows the displacement when contact is made on the right side when viewed from above. 7 to 10 are views of the bumper 2c and the top plate 2b as viewed from below, so that the left and right when viewing each figure and the symbols L and R attached to the drawings are reversed. In the following description, the left side when the self-propelled cleaner 1 is viewed from above, that is, the side to which L is attached, and the right side when viewing FIGS. Is called the R side.
As shown in FIG. 7, in the self-propelled cleaner 1, the bumper 2c surrounding the top plate 2b is urged forward by the bumper springs 201L and 201R in the traveling direction, that is, upward along the drawing sheet. When there is no contact, the rear bosses 208L and 208R are stationary with the front end of the long hole in contact. In the stationary state, the left lever pressing portion 211L of the bumper 2c does not contact the switch lever 209L of the left contact sensor 14CL, and the right lever pressing portion 211R does not contact the switch lever 209R of the right contact sensor 14CR.

  As indicated by an arrow F in FIG. 8, when the front side of the bumper 2c comes into contact with an obstacle, a pressing force is applied to the bumper 2c to push the bumper 2c to the rear of the top plate 2b against the urging force. The four bosses of the bumper 2c are fitted in the holes of the top plate 2b, but are connected with a margin to slide backward. When the bumper 2c slides backward, the lever pressing portion 211L of the top plate 2b comes into contact with the switch lever 209L of the left contact sensor 14CL, and the lever pressing portion 211R comes into contact with the switch lever 209R of the right contact sensor 14CR so as to press the switch levers. Press each one. Therefore, the left contact sensor 14CL and the right contact sensor 14CR detect the displacement of the bumper 2c. The control unit 11 recognizes the pressed state of the left contact sensor 14CL and the right contact sensor 14CR, and determines that the front of the bumper 2c has contacted the obstacle. Based on the determination, the control unit 11 controls the self-propelled cleaner 1 to stop and retreat, and further turn to avoid an obstacle.

  Further, as indicated by arrows RF and LR in FIG. 9, when the RF side of the bumper 2c comes into contact with an obstacle, a pressing force is applied to press the bumper 2c in the direction of the arrow RF. Further, when the LR side comes into contact with an obstacle, a pressing force is applied to the bumper 2c to press the bumper 2c in the arrow LR direction against the urging force. The two front bosses 207L and 207R of the bumper 2c are connected to the top plate 2b with a margin to slide to the L and R sides, respectively, but the two rear bosses 208L and 208R are both L and R. There is almost no room to slide to the side. Therefore, when a pressing force is applied in the direction of arrow RF, the rear boss 208R slides to the rear of the long hole of the top plate 2b in which it is fitted. On the other hand, the rear boss 208L remains in contact with the front end of the long hole by the urging force. Further, when a pressing force is applied in the direction of the arrow LR, the rear boss 208L rotates while contacting the front end of the long hole of the top plate 2b in which it is fitted, and the rear boss 208R is the length of the top plate 2b in which it is fitted. Slide to the back of the hole. In any case, the bumper 2c rotates in a direction in which the R side is moved backward with the rear boss 208L as a fulcrum. When the R side of the bumper 2c rotates in the retreating direction, the lever pressing portion 211R of the top plate 2b contacts the switch lever 209R of the right contact sensor 14CR and presses the switch lever. On the other hand, the lever pressing portion 211L does not contact the switch lever 209L of the left contact sensor 14CL. Therefore, only the right contact sensor 14CR detects the displacement of the bumper 2c. The control unit 11 recognizes that only the right contact sensor 14CR is pressed and determines that the RF side or the LR side of the bumper 2c is in contact with the obstacle. Based on the determination, the control unit 11 changes the direction or turns to the L side when the self-propelled cleaner 1 is moving forward or stops moving forward and moves backward, and moves backward to the R side when moving backward. The vehicle is controlled so as to avoid obstacles by turning around or turning or moving backward and moving forward.

  Furthermore, as indicated by arrows LF and RR in FIG. 10, when the LF side of the bumper 2c comes into contact with an obstacle, a pressing force is applied to press the bumper 2c in the direction of the arrow LF. Further, when an obstacle comes into contact with the RR side, a pressing force is applied to the bumper 2c to press the bumper 2c in the direction of the arrow RR against the urging force. The two front bosses 207L and 207R of the bumper 2c are connected to the top plate 2b with a margin to slide to the L and R sides, respectively, but the two rear bosses 208L and 208R are both L and R. There is almost no room to slide to the side. Therefore, when a pressing force is applied in the direction of the arrow LF, the rear boss 208L slides to the rear of the long hole of the top plate 2b in which it is fitted. On the other hand, the rear boss 208R remains in contact with the front end of the long hole by the urging force. When a pressing force is applied in the direction of the arrow RR, the rear boss 208R rotates while contacting the front end of the long hole of the top plate 2b in which it is fitted, and the rear boss 208L is the length of the top plate 2b in which it is fitted. Slide to the back of the hole. In any case, the bumper 2c rotates in the direction in which the L side moves backward with the rear boss 208R as a fulcrum. When the L side of the bumper 2c is rotated backward, the lever pressing portion 211L of the top plate 2b contacts the switch lever 209L of the left contact sensor 14CL and presses the switch lever. On the other hand, the lever pressing portion 211R does not contact the switch lever 209R of the right contact sensor 14CR. Therefore, only the left contact sensor 14CL detects the displacement of the bumper 2c. The control unit 11 recognizes that only the left contact sensor 14CL is pressed and determines that the LF side or the RR side of the bumper 2c is in contact with an obstacle. Based on the determination, the control unit 11 changes the direction or turns to the R side when the self-propelled cleaner 1 is moving forward or stops moving forward and moves backward, and moves backward to the L side when moving backward. The vehicle is controlled so as to avoid obstacles by turning around or turning or moving backward and moving forward.

  As described above, in this embodiment, it is possible to detect a wide range of contact including the front side, the front side, the front side, and the rear side by using only the left and right contact sensors. It should be noted that the contact of the rear region sandwiched between the two rear bosses 208R and 208L cannot be detected. When the bumper 2c comes into contact with an obstacle in that region, the bumper 2c cannot be displaced because a pressing force is applied to the bumper 2c in a direction substantially along the urging force. However, the control unit 11 works in principle while moving the self-propelled cleaner 1 forward, and in order to avoid obstacles, in principle, the direction is changed or turned, so that the control unit 11 is not often moved backward. For example, there are cases where the front floor surface detection sensor finds a step that cannot be advanced and moves backward, but in most cases, the front floor surface detection sensor moves backward on the path that has been advanced up to that point. As described above, it is rare if there is an obstacle in the direction close to the back and there is no possibility of collision, and it is considered that it will not cause a major obstacle.

(Embodiment 2)
In the first embodiment, the rotation fulcrum differs between the rear bosses 208L and 208R when the L side is in contact with the R side, and the region where contact cannot be detected behind the region sandwiched between the fulcrums, In other words, a dead area occurs. This insensitive area can be narrowed by bringing the rear bosses 208L and 208R closer to each other, but a further improved configuration is shown below.

  FIG. 11 is an explanatory view showing different connection modes of the bumper and the top plate of the self-propelled cleaner according to the present invention. Similarly to FIG. 7, the two members of the bumper 2 c and the top plate 2 b are shown as viewed from below. In addition, the bumper 2c shown in FIG. 11 has a shape different from that in FIGS. 7 to 10, and the rear half also has a skirt. The bottom plate 2a corresponding to this does not have a rear side plate unlike the shape of FIG.3 and FIG.5. In addition, the positions of the front bosses 207L and 207R, the positions of the left contact sensor 14CL and the right contact sensor 14CR, the shapes of the lever pressing portions 211L and 211R, and the mounting positions and shapes of the bumper springs 201L and 201R are slightly different. The same reference numerals as in FIGS. 7 to 10 denote the same parts.

As in FIG. 7, the bumper 2c has four bosses formed downward. Two front bosses 207L and 207R and two rear bosses 208L and 208R. The top plate 2b is formed with holes corresponding to these four bosses. The holes into which the front bosses 207L and 207R are fitted are the same as in FIG. 7 in that the front bosses can be displaced in the front-rear direction and the left-right direction. On the other hand, the holes into which the rear bosses 208L and 208R are fitted are elongated holes having a dimensional allowance so that the rear bosses can be displaced in the front-rear direction and also can be displaced in the left-right direction unlike FIG.
Similarly to FIG. 7, the bumper 2c is urged forward with respect to the top plate 2b by a pair of left and right bumper springs 201L and 201R, and rests with the rear bosses 208L and 208R in contact with the front ends of the long holes.

7 is different from FIG. 7 in that an elongated fulcrum boss through hole 206 is formed in the skirt portion below the rear end of the bumper 2c. A fulcrum boss (not shown) that fits in the fulcrum boss through hole 206 is fixed to the bottom plate 2a. In a state where the fulcrum boss through hole 206 of the bumper 2c is fitted to the fulcrum boss, the bumper 2c can be displaced in the front-rear direction with respect to the fulcrum boss, but hardly in the left-right direction.
As in FIG. 5, the bumper support screw 203 connects the bumper 2 c to the top plate 2 b, and when the top plate 2 b is fixed to the bottom plate 2 a with the top plate fixing screw 205, the fulcrum boss opens the fulcrum boss through-hole 206. The bumper 2c is connected to the bottom plate 2a which is a housing in a state where it penetrates from below.

When the front side of the bumper 2c comes into contact with an obstacle, a pressing force is applied to the bumper 2c to press the bumper 2c to the rear of the top plate 2b against the urging force. The four bosses of the bumper 2c are fitted in the holes of the top plate 2b, but are connected with a margin to slide backward. Further, the fulcrum boss through-hole 206 of the bumper 2c is fitted to the fulcrum boss, but is connected to the bottom plate 2a with a margin to slide backward.
When the bumper 2c slides backward, the lever pressing portion 211L of the top plate 2b comes into contact with the switch lever 209L of the left contact sensor 14CL, and the lever pressing portion 211R comes into contact with the switch lever 209R of the right contact sensor 14CR so as to press the switch levers. Press each one. Therefore, the left contact sensor 14CL and the right contact sensor 14CR detect the displacement of the bumper 2c.

  Further, when the L side of the bumper 2c comes into contact with an obstacle, a pressing force is applied to the bumper 2c to push the bumper 2c to the R side against the urging force. The front bosses 207L and 207R and the rear bosses 208L and 208R of the bumper 2c are all connected to the top plate 2b with a margin to slide to the R side. However, the fulcrum boss through-hole 206 has little room to slide to the R side with respect to the fulcrum boss. As a result, the bumper 2c rotates to the R side with the fulcrum boss as a fulcrum. When the bumper 2c rotates to the R side, the lever pressing portion 211L of the top plate 2b contacts the switch lever 209L of the left contact sensor 14CL and presses the switch lever. On the other hand, the lever pressing portion 211R does not contact the switch lever 209R of the right contact sensor 14CR. Therefore, only the left contact sensor 14CL detects the displacement of the bumper 2c. The control unit 11 recognizes that only the left contact sensor 14CL is pressed and determines that the L side of the bumper 2c has touched the obstacle.

Similarly, when the R side of the bumper 2c comes into contact with the obstacle, the bumper 2c rotates to the L side with the fulcrum boss as a fulcrum, and only the right contact sensor 14CR is pressed. The control unit 11 recognizes that only the right contact sensor 14CR is pressed and determines that the R side of the bumper 2c has touched the obstacle.
According to this aspect, the rotation fulcrum at the time of the L-side contact coincides with the rotation fulcrum at the time of the R-side contact. Contact can be detected.

(Embodiment 3)
As shown in FIG. 3, the radio signal receiver 217 protrudes above the top plate 2b and the lid 3 so that radio signals can be easily detected from radio signal transmitters such as an operation remote controller, a charging stand and a virtual wall. Yes. For example, when the self-propelled cleaner 1 enters a gap between the floor of the lower part of the sofa, the wireless signal receiving unit 217 may collide with the lower end of the sofa.
2 to 5, the radio signal receiving unit 217 is fixed to the bumper 2c. Therefore, when the radio signal receiving unit 217 collides with an obstacle, the bumper 2c is displaced and the left contact sensor 14CL and / or the right Contact is detected by the contact sensor 14CR.

However, a mode in which the wireless signal receiving unit 217 is fixed to the housing instead of the bumper 2c is also conceivable. In this embodiment, when the self-propelled cleaner 1 has a convex portion that protrudes upward from the housing like the above-described wireless signal receiving portion 217, it is configured to detect contact between the convex portion and an obstacle. Will be explained. The present embodiment can also be applied when the radio signal receiving unit 217 is fixed to the bumper 2c. Also in this case, when the radio signal receiving unit 217 collides with an obstacle, an excessive force is applied to the radio signal receiving unit 217 until the bumper 2c is displaced and the left contact sensor 14CL and / or the right contact sensor 14CR is pressed. It is possible to join.
FIG. 12 is an explanatory view schematically showing a mechanism for detecting contact between the wireless signal receiving unit 217 as a convex portion and an obstacle in the self-propelled electronic device of the present invention. 12 (a) and 12 (b) show a mechanism for detecting a front contact, and FIG. 12 (c) shows a mechanism for detecting a contact in any of the front, rear, left and right directions.
As shown in FIG. 12A, the wireless signal receiving unit 217 is supported to be rotatable about an axis by a tiltable shaft 217a fixed to the housing. And it is urged | biased by the spring 217b toward the upper direction from the downward direction. A receiver contact sensor 219 is arranged below the radio signal receiver 217. In this embodiment, the receiver contact sensor 219 is a micro switch.

As shown in FIG. 12B, when the self-propelled cleaner 1 moves forward and contacts the obstacle 300, the wireless signal receiver 217 is rotated around the retractable shaft 217a against the urging force of the spring 217b. Power works. With this force, the bottom of the radio signal receiving unit 217 descends downward and pushes the receiving unit contact sensor 219. When the control unit 11 detects that the receiving unit contact sensor 219 has been pressed, the control unit 11 temporarily stops the self-propelled cleaner 1 based on the detection, moves it backward, and further turns to avoid the obstacle 300 and travel. Control to do.
FIG. 12C shows a configuration example in which contact not only in front of the wireless signal receiving unit 217 but also in four directions can be detected. In (c), the wireless signal receiving unit 217 is urged from below to above by a self-supporting spring 217c. Four receiver contact sensors 219a, 219b, 219c, and 219d are arranged on the front, rear, left, and right around the self-supporting spring 217c. In (c), the right-side receiver contact sensor 219c is hidden by the left-side receiver contact sensor 219d and the self-supporting spring 217c.

  When the wireless signal receiving unit 217 comes into contact with an obstacle in front as in (b), the wireless signal receiving unit 217 falls backward with the front as a fulcrum against the urging force of the self-supporting spring 217c. When the wireless signal receiving unit 217 falls backward and the bottom part descends, the left receiving unit contact sensor 219a disposed behind the self-supporting spring 217c is pressed to detect contact. Based on the detection, the control unit 11 controls the self-propelled cleaner 1 so as to travel while avoiding obstacles.

When the wireless signal receiving unit 217 comes in contact with an obstacle on the left side in the forward direction, the radio signal receiving unit 217 falls to the right side, so the right-side receiving unit contact sensor 219c (not shown) detects contact. When the wireless signal receiving unit 217 contacts an obstacle on the right side in the forward direction, the radio signal receiving unit 217 falls to the left side, so that the left receiving unit contact sensor 219d detects the contact. When the vehicle touches an obstacle behind the vehicle while retreating, the vehicle falls forward, so the front receiving unit contact sensor 219b detects the contact.
As described above, when a part of the housing has a convex portion protruding upward, the contact between the convex portion and the obstacle is detected, and the control unit avoids the obstacle based on the detection. By controlling the travel, damage to the convex portion and damage on the obstacle side can be prevented.

(Embodiment 4)
≪Control by radio signal from radio signal transmitter≫
The wireless signal receiving unit 217 receives an instruction from the user sent as a wireless signal from the operation remote controller, and the control unit 11 controls the operation of the self-propelled cleaner 1 in response to the received instruction. Further, the wireless signal receiving unit 217 receives a wireless signal emitted from the charging stand, and returns the wireless signal to the charging stand as a target.

  In addition, the radio signal receiving unit 217 receives a radio signal from a control signal transmitter installed in the traveling area. An example of the function of the wireless signal transmitter is a virtual wall function. The virtual wall functions as an invisible wall. When there is a place where the user does not want to enter the area where the self-propelled cleaner 1 can physically travel, a radio signal transmitter for the virtual wall is arranged at that place to form an invisible boundary. To do. In this embodiment, infrared light is used as a radio signal. As the signal format, for example, a so-called home-made cooperative format determined by the Home Appliances Association is applicable. However, the communication may be performed using radio waves or other media instead of light, and the signal format is not limited to the above-mentioned home-made cooperative format.

  The manufacturer of the self-propelled cleaner 1 predetermines an identification code used for the virtual wall signal. When the wireless signal receiving unit 217 receives the optical signal of the identification code, the control unit 11 recognizes that the signal is from the virtual wall. And the driving | running | working of the self-propelled cleaner 1 is controlled so that it may not enter the other side beyond the signal.

  As another function of the wireless signal transmitter, there is a navigation function that divides the traveling area into a plurality of blocks and makes the self-propelled cleaner 1 recognize which block. In this case, one or more radio signal transmitters are arranged to divide the traveling area into two or more blocks. A navigation signal ID and an identification code unique to each radio signal transmitter are determined in advance. The unique identification code only needs to be identified when a plurality of wireless signal transmitters are installed in an area where the self-propelled cleaner 1 travels. The unique identification code may be set so that the identification code of each wireless signal transmitter does not overlap when the wireless signal transmitter is provided with a changeover switch and a plurality of wireless signal transmitters are installed, for example. .

  A user arranges a radio signal transmitter in an area where the self-propelled cleaner 1 travels. Then, in which order the blocks delimited by the radio signal transmitter are to be traveled or not to travel, the control unit 11 travels according to the setting. The control part 11 identifies the block divided based on the specific identification code which each radio signal transmitter emits. Preferably, the manufacturer of the self-propelled cleaner 1 is provided with an operation menu for performing the setting by the user's hand. The operation menu is provided as an application of a personal computer or a smartphone that can communicate via the communication unit 225.

  FIG. 13 is an external perspective view showing an example of a radio signal transmitter according to this embodiment. As shown in FIG. 13, the radio signal transmitter 231 has a substantially rectangular parallelepiped shape, and a power switch 233 for turning on / off the power, an operation indicator 235 indicating the power on / off and a battery state, and emission intensity are switched on the upper surface. A sensor distance changeover switch 237 is disposed. Further, an omnidirectional radiation portion 239a that irradiates optical signals in all directions is disposed. A directional radiation portion 239b that irradiates in one direction is disposed on the side. Inside the wireless signal transmitter 231 is a battery chamber that houses a battery that is a signal generation circuit and a power source, and the battery can be taken in and out by opening a lid (not shown) at the bottom.

FIG. 14 is a block diagram showing an electrical schematic configuration of an embodiment of the radio signal transmitter 231. As shown in FIG. 14, the radio signal transmitter 231 includes a power switch 233, an operation indicator 235, a sensor distance changeover switch 237, an omnidirectional radiation unit 239a, and a directional radiation unit 239b. They have the appearance shown in FIG. Further, the wireless signal transmitter 231 includes a battery 243 housed in the battery chamber, a battery remaining amount detection unit 241 that detects the remaining capacity of the battery, a storage unit 242 that stores an identification code in advance, and a transmitter control that controls each unit. The unit 240 is provided. The transmitter control unit 240 detects the operation of the power switch 233 and the sensor distance switch 237. Further, referring to the identification code stored in the storage unit 240, the omnidirectional radiation unit 239a and the directional radiation unit 239b are caused to output an optical signal including the identification code.

An optical signal reaching the vicinity of the wireless signal transmitter 231 is irradiated from the omnidirectional radiating unit 239a so that the self-propelled cleaner 1 does not approach and come into contact with the omnidirectional radiating unit 239a. On the other hand, a highly directional optical signal reaching far away from the directional radiation portion 239b is irradiated to the side. An irradiation range of 2 meters and 4 meters can be selected by the sensor distance changeover switch 237. For applications where the irradiation range is 2 meters or less, the longer battery life of 2 meters may be selected.
The operation indicator 235 is an LED lamp, and is turned off when the power switch 233 is turned off and turned on when the power switch 233 is turned on. Lights up green when the remaining battery capacity is sufficient, and lights up red when the remaining capacity decreases and the replacement time approaches.

  In this embodiment, the wireless signal transmitter 231 functions as a virtual wall. The built-in signal generation circuit emits an optical signal of identification code defined for the virtual wall and identification code information unique to the wireless signal transmitter 231. Further, the signal generation circuit adds battery information indicating the remaining battery level to the optical signal. The battery information may correspond to a signal for switching the lighting color of the operation indicator 235 between green and red, or may represent the remaining battery level in multiple stages from the operation indicator 235.

  When the self-propelled cleaner 1 receives the optical signal emitted by the wireless signal transmitter 231, the control unit 11 analyzes the information placed on the received signal. That is, it is recognized as a virtual wall signal based on the identification code, and further, it is recognized from which radio signal transmitter 231 it is a signal. And the driving | running | working of the self-propelled cleaner 1 is controlled so that it may not enter the other side beyond the signal. Further, based on the battery information added to the signal, it is determined whether or not the replacement time has come because the remaining battery level of the wireless signal transmitter 231 has decreased.

  When it is determined that the replacement time has arrived, the control unit 11 may cause the audio signal generation unit 221 to generate an audio signal and issue a message from the speaker 223. The message may be issued when an optical signal is received from the wireless signal transmitter 231, but there may be no user nearby. Therefore, it is preferable to store the state and issue a message when an operation is performed by the user, such as when a signal is received from the operation remote controller. A unique identification code may be notified so that the user can know which radio signal transmitter 231 battery should be replaced. For example, when informing that “No. 1”, the user can search for the wireless signal transmitter 231 in which the switch for setting a unique identification code is in the “No. 1” position and replace the battery. Alternatively, a position where the corresponding wireless signal transmitter 231 is stored may be stored, and after a message is issued, the user may travel to a place where the wireless signal transmitter 231 is placed to guide the user.

In addition to the voice message, information that prompts the user to replace the battery may be transmitted via the communication unit 225 to a mobile communication terminal such as a smartphone used by the user.
In this way, even when the user overlooks the red lighting of the operation indicator 235, the battery replacement time of the wireless signal transmitter 231 can be known by a voice message or notification to the mobile communication terminal.

As mentioned above,
(I) A self-propelled electronic device according to the present invention includes a self-propelled housing, a bumper disposed on the outer periphery of the housing in an urged state with respect to the housing, and an obstacle. A contact sensor for detecting the displacement of the bumper caused by the contact against the bias, and a control unit for controlling the vehicle so as to avoid the obstacle and respond to the detection of the displacement. The body has a connecting portion for connecting the bumper, and the bumper is connected to the connecting portion so that the bumper can be rotated about the connecting portion.

In this invention, the housing is an outer shell containing a drive mechanism, a rechargeable battery, a control circuit, and the like of a self-propelled electronic device, that is, a cabinet. In the above-described embodiment, the casing corresponds to a bottom plate and a top plate.
Moreover, an outer peripheral part is a part surrounding the side of a self-propelled electronic device. It is not always necessary to have the entire circumference, and a mode in which a part of the circumference is included but a part of the circumference is included is also included.

  A connection part connects a housing | casing and a bumper so that a displacement is possible. In the above-described embodiment, the boss formed on the bumper and the hole formed on the top plate as the casing and having a diameter larger than that of the boss are connected to be displaceable. The connecting portion of the housing corresponds to the hole. However, it is not limited to this. For example, as shown in FIG. 11, there is a mode in which a hole (fulcrum boss through-hole 206) is formed on the bumper side, and the housing side has a boss (fulcrum boss) as a connecting portion. Further, the coupling mechanism is not limited to the boss and the hole.

Furthermore, the preferable aspect of this invention is demonstrated.
(Ii) The contact sensor may include a first contact sensor that detects contact from the front and right sides of the housing and a second contact sensor that detects contact from the front and left sides of the housing. Good.
If it does in this way, a front and a side contact can be detected with the 1st and 2nd contact sensors. The side includes diagonally rear.

(Iii) The urging direction is along the forward direction of the casing, and the control unit avoids an obstacle on the right front side when the first contact sensor detects contact while the casing is moving forward. 2 When the contact sensor detects contact, control is performed so as to avoid an obstacle on the left side of the front, and when the first contact sensor detects contact while the housing is moving backward, avoid an obstacle on the left side of the rear, When the second contact sensor detects contact, control may be performed so as to avoid an obstacle on the right rear side.
If it does in this way, the said control part will judge the direction with an obstruction according to whether it is moving forward or retreating, and which of the 1st and 2nd contact sensors has detected contact, and the determination The traveling direction can be determined based on the above.

(Iv) The bumper may be disposed on at least an outer peripheral portion and an upper edge portion of the device.
In this way, it is possible to detect contact between the outer peripheral part or upper edge part of the self-propelled electronic device and the obstacle. The outer peripheral portion is, for example, contact with a side wall, and the upper edge portion is, for example, contact when attempting to enter a gap that is lower than the height of a self-propelled electronic device such as under a sofa and cannot be submerged.

  (V) The outer periphery of the bumper may be substantially annular in plan view. In this way, since there is no protruding portion on the outer peripheral portion, there is no fear that the protruding portion is caught on an obstacle or wall during turning or traveling.

  (Vi) a tiltable convex portion protruding upward from the housing, and a convex portion contact sensor that detects a state in which the convex portion touches an obstacle and falls down, and the control unit includes: In response to detection by the convex portion contact sensor, control may be performed so as to avoid the obstacle and to run on its own. If it does in this way, the damage of the said convex-shaped part and the damage by the side of an obstruction can be prevented. The convex portion corresponds to the radio signal receiving unit in the third embodiment, and the convex portion contact sensor corresponds to the receiving unit contact sensor in the third embodiment.

(Vii) A radio signal receiving unit for receiving a radio signal for driving control from an external radio signal transmitter is further provided, and the radio signal transmitter is battery-driven to add battery information indicating the remaining battery level to the radio signal. The control unit may control the traveling based on the received radio signal and notify the user of the arrival of the battery replacement time based on the battery information.
(Viii) The self-propelled electronic device may be a device that performs cleaning while self-propelled, that is, a self-propelled cleaner. For example, the specific aspect in the case of a self-propelled cleaner is shown in Drawings 1-6.
Preferred embodiments of the present invention include combinations of any of the plurality of embodiments described above.
In addition to the embodiments described above, there can be various modifications of the present invention. These modifications should not be construed as not belonging to the scope of the present invention. The present invention should include the meaning equivalent to the scope of the claims and all modifications within the scope.

DESCRIPTION OF SYMBOLS 1: Self-propelled cleaner, 2a: Bottom plate, 2b: Top plate, 2c: Bumper, 2d: Back side plate, 2e: Skirt part, 3: Cover part, 9: Rotating brush, 10: Side brush, 11: Control part , 12: rechargeable battery, 14: obstacle detection unit, 14CL: left contact sensor, 14CR: right contact sensor, 14F: front ultrasonic sensor, 14L: left ultrasonic sensor, 14R: right ultrasonic sensor, 15: Dust collector, 18: Front floor detection sensor, 19L: Left wheel floor detection sensor, 19R: Right wheel floor detection sensor, 21: Power unit, 22L: Left drive wheel, 22R: Right drive wheel, 26: Rear wheel 31: Inlet port, 32: Exhaust port, 115: Electric blower, 117: Ion generator, 119: Brush motor, 201L, 201R: Van -Spring, 203: Bumper support screw, 205: Top plate fixing screw, 206: Support boss through hole, 207L, 207R: Front boss, 208L, 208R: Rear boss, 209L, 209R: Switch lever, 211L, 211R: Lever holding part , 213: recessed portion, 215: support portion, 217: wireless signal receiving portion, 217a: tiltable shaft, 217b: spring, 217c: self-supporting spring, 219, 219a, 219b, 219c, 219d: receiving portion contact sensor, 221: sound Signal generation unit, 223: speaker, 225: communication unit, 231: wireless signal transmitter, 233: power switch, 235: operation indicator, 237: sensor distance selector switch, 239a: omnidirectional radiation unit, 239b: directional radiation Part 2 0: transmitter controller, 241: battery remaining amount detecting section, 242: storage unit, 243: cell, 300: obstacle

Claims (5)

A self-propelled housing,
A bumper disposed on the outer periphery of the casing in a state of being biased with respect to the casing;
A contact sensor that detects displacement of the bumper that occurs against the bias by contact with an obstacle;
A control unit that controls to avoid the obstacle and to run in response to the detection of the displacement,
The case has a connecting part for connecting the bumper, and the bumper is connected to the bumper so as to be rotatable about the connecting part as a fulcrum.   The said contact sensor is provided with the 1st contact sensor which detects the contact from the front and right side of the said housing | casing, and the 2nd contact sensor which detects the contact from the front and left side of the said housing | casing. Self-propelled electronic equipment. The biasing direction is along the forward direction of the housing,
The controller is
When the first contact sensor detects contact while the housing is moving forward, control is performed so as to avoid an obstacle on the right front side, and when the second contact sensor detects contact, control is performed so as to avoid an obstacle on the left front side. ,
When the first contact sensor detects contact while the housing is retracting, control is performed so as to avoid an obstacle on the left rear side, and to avoid an obstacle on the rear right side when the second contact sensor detects contact. The self-propelled electronic device according to claim 2.   The self-propelled electronic device according to any one of claims 1 to 3, wherein an outer peripheral portion of the bumper has a substantially annular shape in a plan view.   The self-propelled electronic device according to any one of claims 1 to 4, wherein the self-propelled electronic device performs cleaning while self-propelled.