JP2015043136A - Self-propelled cleaning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a self-propelled cleaning device having simple structure that can clean to the verge of an obstacle.SOLUTION: A self-propelled cleaning device determines a contact position with an obstacle in its own device on the basis of: detection results made by contact detection sensors (29a and 29b) which detect contact with the obstacle on a front side of the device in a moving direction and contact with the obstacle on a lateral side of the device in the moving direction; and a detection result made by a laser range finder 4 which detects the obstacle existing around the device in a non-contact manner.

Description

  The present invention relates to a self-propelled cleaning device having an automatic traveling function and a cleaning function.

  In recent years, a self-propelled cleaning machine having an automatic traveling function has been developed, and depending on the cleaning environment, it is possible to perform unattended cleaning using a self-propelled cleaning device.

  By the way, some self-propelled cleaning devices measure the distance from the device to obstacles such as walls using obstacle detection means such as an ultrasonic sensor, and keep the distance between the device and the obstacle constant. Some move along the obstacles while keeping them to clean the vicinity of the obstacles.

  However, in this type of self-propelled cleaning device, when moving along an obstacle, it moves while avoiding a collision with the obstacle according to the convex shape of the obstacle. It was necessary to set a certain margin. For this reason, the distance between the self-propelled cleaning device and the obstacle cannot be made zero, and the position is moved away from the obstacle by a predetermined distance or more. As a result, in the conventional self-propelled cleaning device, a region (for example, near the wall) where the suction nozzle does not pass between the self-propelled cleaning device and the obstacle occurs, and the dust in the region cannot be removed. was there.

  On the other hand, Patent Document 1 includes a traveling unit and a cleaning unit that can move in the left-right direction with respect to the traveling unit, and a bumper provided on the outer peripheral portion of the cleaning unit comes into contact with an obstacle such as a wall. A self-propelled work robot is disclosed in which an obstacle is detected by a sensor disposed in a bumper and a cleaning unit is moved in a direction to avoid the obstacle so that the robot can be cleaned to the middle of the obstacle.

Patent No. 4391364 (published March 23, 2006)

  However, in the technique of Patent Document 1, it is necessary to provide a total of 8 contact sensors in the bumper in order to detect the contact position of the obstacle with respect to the self-propelled work robot. There is a problem of inviting an increase.

  The present invention has been made in view of the above problems, and an object of the present invention is to realize a self-propelled cleaning device having a simple configuration capable of cleaning up to the middle of an obstacle.

  A self-propelled cleaning device according to an embodiment of the present invention is a self-propelled cleaning device having a self-propelled function and a cleaning function, and is a contact of an obstacle with respect to a front side in a moving direction of the self-device and a side surface. A contact detection unit that detects a contact of an obstacle by a common detection means, an obstacle detection unit that detects an obstacle present around the device without contact, a detection result of the contact detection unit, and the obstacle And a contact position determination unit that determines a contact position of an obstacle with respect to the apparatus based on a detection result of the detection unit.

  According to said structure, since a contact detection part detects the contact of the obstruction with respect to the moving direction front side of an own apparatus, and the obstruction contact with respect to the moving direction side surface by a common detection means, the obstruction with respect to each surface Compared to a configuration in which contact of an object is detected by separate detection means, the configuration of the contact detection unit can be simplified. In addition, since the contact position determination unit determines the contact position of the obstacle with respect to the own device based on the detection result of the obstacle detection unit and the detection result of the contact detection unit, the contact position of the obstacle with respect to the own device is accurately determined. Can be judged. Thereby, since the contact position of an obstacle can be determined with a simple configuration, a self-propelled cleaning device with a simple configuration capable of cleaning up to the middle of the obstacle can be realized.

It is a perspective schematic diagram showing a schematic structure of a self-propelled cleaning device according to an embodiment of the present invention. It is a cross-sectional schematic diagram of the self-propelled cleaning device shown in FIG. It is a cross-sectional schematic diagram of the suction head with which the self-propelled cleaning apparatus shown in FIG. 1 is equipped. It is explanatory drawing which shows operation | movement of the bumper with which the suction head shown in FIG. 3 is equipped. It is explanatory drawing which shows operation | movement of the laser range finder with which the self-propelled cleaning apparatus shown in FIG. 1 is equipped. It is explanatory drawing which shows the structure of the control system in the self-propelled cleaning apparatus shown in FIG. It is a flowchart which shows the flow of the determination process which determines the contact position of the obstruction with respect to the suction head in the self-propelled cleaning apparatus shown in FIG. It is explanatory drawing which shows the example of the contact position of the obstruction with respect to the suction head in the self-propelled cleaning apparatus shown in FIG. It is a perspective schematic diagram which shows schematic structure of the self-propelled cleaning apparatus concerning other embodiment of this invention. It is explanatory drawing which shows the structure of the control system in the self-propelled cleaning apparatus shown in FIG.

Embodiment 1
An embodiment of the present invention will be described.

(1-1. Configuration of self-propelled cleaning device 100)
FIG. 1 is a schematic perspective view illustrating a schematic configuration of a self-propelled cleaning device 100 according to the present embodiment.
FIG. 2 is a schematic cross-sectional view of the self-propelled cleaning device 100 as viewed from above.

  As shown in FIG. 1, a self-propelled cleaning device 100 includes a traveling device 1, a suction head (cleaning unit) 2, a swing arm (connecting unit) 3, and a laser range finder (optical sensor, obstacle detecting unit) 4. I have.

  As shown in FIG. 2, the traveling device 1 includes wheels 7 a to 7 c placed on the floor surface. A part or all of these wheels 7a to 7c are rotationally driven around a rotation axis parallel to the floor surface by a movement drive unit 63 (see FIG. 6 to be described later), whereby the traveling device 1 is shown on the floor surface. 1 and moves in the straight movement direction shown in FIG. Further, some or all of the wheels 7a to 7c are steered by a steered drive unit 64 (see FIG. 6 described later) so that the rotational axis direction of the wheels is rotated in a plane parallel to the floor surface. Thereby, the moving direction of the traveling device 1 is changed. In addition, the structure of the movement drive part 63 and the steering drive part 64 is not specifically limited, For example, the conventionally well-known drive means which consists of a motor (or engine), a gear, etc. can be used, for example. Further, the power generation source of the movement drive unit 63 and the power source of the steering drive unit 64 may be common.

  The suction head 2 has a cylindrical shape (a shape having a hollow portion inside) extending in a direction substantially parallel to the linear movement direction of the traveling device 1, and is connected to the traveling device 1 by a swing arm 3. Yes. Specifically, one end side of the swing arm 3 is connected to the traveling device 1 so as to be rotatable about a rotation axis 6 in a direction parallel to the floor surface (in the direction of arrow A shown in FIG. 2). Is fixed to the suction head 2.

  In the present embodiment, a configuration in which the suction head 2 is disposed on the front side in the linear movement direction with respect to the traveling device 1 (a configuration in which the traveling device 1 pushes the suction head 2) will be described. The configuration may be such that the traveling device 1 is disposed on the rear side in the straight movement direction (the configuration in which the traveling device 1 pulls the suction head 2).

  In the present embodiment, the length of the suction head 2 in the extending direction is longer than the width of the traveling device 1 in the direction, and the swing arm 3 is attached to the suction head 2 at substantially the center of the extending direction. ing. Thereby, the suction head 2 can clean the area | region wider than the area | region through which the traveling apparatus 1 passes.

  The swing arm 3 has one end fixed to the traveling device 1 and the other end attached to the swing arm 3 with a spring (elastic member) 5 in a state where no obstacle is in contact with the suction head 2 (suction head). 2), the swing arm 3 is urged so that the extending direction of the swing arm 3 is directed in a direction substantially parallel to the linear movement direction of the traveling device 1.

Thereby, when the suction head 2 comes into contact with an obstacle (object) such as a wall due to the movement of the traveling device 1, the suction head 2 and the swing arm 3 are subjected to an urging force (restoring force) applied by the elastic force of the spring 5. It overcomes and rotates relative to the traveling device 1 in a direction parallel to the floor surface. As a result, the suction head 2 moves along an obstacle such as a wall, and the suction head 2 can be moved to the middle of the obstacle to perform cleaning.
When the contact of the obstacle with the suction head 2 is released, the swing arm 3 is swung so that the extending direction of the swing arm 3 is substantially parallel to the linear movement direction of the traveling device 1 by the biasing force (restoring force) of the spring 5. The arm 3 rotates.

  FIG. 3 is a schematic cross-sectional view of the suction head 2 as viewed from above. As shown in FIG. 3, the suction head 2 includes a main body (unit main body) 21, bumpers (buffer members) 22a and 22b, brackets (support parts) 23a and 23b, bars (support parts) 24a and 24b, links. Parts (support parts) 25aa, 25b, rotating shafts (support parts) 26a1, 26a2, 26b1, 26b2, springs 27a, 27b, stoppers 28a, 28b, and contact detection switches (contact detection sensors) 29a, 29b And.

  The main body 21 has a hollow portion (not shown) that extends in a direction that is parallel to the floor surface and substantially perpendicular to the linear movement direction of the self-propelled cleaning device 100 and that is open on the floor surface side. The hollow portion of the main body portion 21 communicates with the hollow portion of the swing arm 3. The hollow portion of the swing arm 3 is connected to a suction motor 65 (see FIG. 6 described later) provided in the traveling device 1. Thereby, when the suction motor 65 is driven, the dust on the floor surface is sucked together with air from the main body 21 of the suction head 2, and the dust container (see FIG. 5) provided in the traveling device 1 via the swing arm 3. (Not shown). The air sucked together with the dust is discharged to the outside of the traveling device 1 through a filter (not shown).

  The bumper 22a is disposed so as to cover the corner portion on the right front side of the main body portion 21 when viewed from the traveling device 1 side. Specifically, the bumper 22a has a side buffer portion in which a cross section viewed from a direction perpendicular to the floor surface is opposed to a part of the right side surface (right side surface when viewed from the traveling device 1 side) of the main body portion 21. And a front buffer portion disposed opposite to a region including a right end portion (a right end portion when viewed from the traveling device 1 side) on the front surface (surface on the straight movement direction side) of the main body portion 21. It is the shape of.

  Further, the bumper 22b is disposed so as to cover a corner portion on the left front side of the main body portion 21 when viewed from the traveling device 1 side. Specifically, the bumper 22b has a side buffer portion in which a cross section viewed from a direction perpendicular to the floor surface is opposed to a part of the left side surface (the left side surface when viewed from the traveling device 1 side) of the main body 21. And a front buffer portion disposed opposite to a region including a left end portion (a left end portion when viewed from the traveling device 1 side) on the front surface (surface on the straight movement direction side) of the main body portion 21. It is the shape of.

  The bumper 22a and the bumper 22b are separated from each other, and are symmetrical with respect to each other about the straight line passing through the center in the extending direction of the suction head 2 and parallel to the linear movement direction of the traveling device 1 (mirror symmetry). It is provided to become.

  The bar 24a has a shape extending in a direction substantially parallel to the extending direction of the main body 21, and is fixed to the bumper 22a by a bracket 23a. One end side of the bar 24a is rotationally connected to the link portion 25a1 along a direction parallel to the floor surface, and the other end side can be rotated along a direction parallel to the floor surface to the link portion 25a2. It is connected to the.

  One end side of the link portion 25a1 is connected to the bar 24a, and the other end side is connected to the main body portion 21 so as to be rotatable in a direction parallel to the floor surface about the rotation shaft 26a1. In addition, one end side of the link portion 25a2 is connected to the bar 24a, and the other end side is connected to the main body portion 21 so as to be rotatable in a direction parallel to the floor surface about the rotation shaft 26a2.

  The spring 27a is wound around the rotation shaft 26a1 so that the link portion 25a1 is urged in the direction in which the connecting portion with the bar 24a rotates to the right side of the main body portion 21 (right side as viewed from the traveling device 1). Has been placed.

  The stopper 28a is disposed at a position where it abuts against one end of the bar 24a, and the bar 24a is pressed against the stopper 28a by the urging force of the spring 27a when no object such as an obstacle is in contact with the bumper 22a. Thereby, the bumper 22a is positioned at a predetermined position facing the main body 21 in a state where an object such as an obstacle is not in contact with the bumper 22a.

  The contact detection switch 29a is disposed at a position facing the link portion 25a2.

  When the self-propelled cleaning device 100 moves as shown in FIG. 4A and an object such as an obstacle comes into contact with the front surface of the bumper 22a, and as shown in FIG. When an object such as an obstacle comes into contact with the right side surface of the bumper 22a due to the movement of the device 100, a force in the direction opposite to the linear movement direction acts on the bumper 22a, the bracket 23a, and the bar 24a, and is connected to the bar 24a. The link portions 25a1 and 25a2 thus made overcome the urging force of the spring 27a and rotate around the rotation shaft 26a1 (rotate counterclockwise when viewed from above). Thereby, the contact detection switch 29a is pushed by the link portion 25a2, and it is detected that an object such as an obstacle is in contact with the bumper 22a.

  The bar 24b has a shape extending in a direction substantially parallel to the extending direction of the main body 21, and is fixed to the bumper 22b by a bracket 23b. One end side of the bar 24b is rotationally connected to the link portion 25b1 along a direction parallel to the floor surface, and the other end side is rotatable relative to the link portion 25b2 along a direction parallel to the floor surface. It is connected to the.

  One end side of the link portion 25b1 is connected to the bar 24b, and the other end side is connected to the main body portion 21 so as to be rotatable in a direction parallel to the floor surface about the rotation shaft 26b1. The link portion 25b2 has one end connected to the bar 24b and the other end connected to the main body 21 so as to be rotatable in a direction parallel to the floor surface about the rotation shaft 26b2.

  The spring 27b is wound around the rotary shaft 26b1, and biases the link portion 25b1 in the direction in which the connecting portion with the bar 24b rotates to the left side of the main body 21 (left side when viewed from the traveling device 1). Has been placed.

  The stopper 28b is disposed at a position where it comes into contact with one end of the bar 24b, and the bar 24b is pressed against the stopper 28b by the urging force of the spring 27b when an object such as an obstacle is not in contact with the bumper 22b. Thereby, the bumper 22b is positioned at a predetermined position facing the main body 21 in a state where an object such as an obstacle is not in contact with the bumper 22b.

  The contact detection switch 29b is disposed at a position facing the link portion 25b2. Thereby, when an object such as an obstacle comes into contact with the front side (front side in the straight movement direction) or the side surface (side side in the straight movement direction) of the bumper 22b due to the movement of the self-propelled cleaning device 100, As in the case of the contact detection switch 29a described above, the contact detection switch 29b is pushed by the link portion 25b2, and it is detected that an object such as an obstacle has contacted the bumper 22b.

  The laser range finder 4 is disposed on the surface of the traveling device 1 on the side of the straight movement direction, and detects the distance to an obstacle existing around the self-propelled cleaning device 100. Specifically, as shown in FIG. 5, the laser range finder 4 irradiates an infrared laser toward a predetermined distance measuring range 41, detects reflected light of the irradiated infrared laser, and converts the detected reflected light into the detected reflected light. Based on this, the position of the obstacle (the direction in which the obstacle exists and the distance to the obstacle) is measured. In addition to the position of the obstacle, the shape of the obstacle may be detected by the laser range finder 4.

(1-2. Configuration of control system of self-propelled cleaning device 100)
FIG. 6 is an explanatory diagram showing a schematic configuration of a control system of the self-propelled cleaning device 100. As shown in this figure, the self-propelled cleaning device 100 includes a control unit 50, a movement drive unit 63, a steering drive unit 64, a suction motor 65, contact detection switches 29a and 29b, a laser range finder 4, and a map data storage unit. 61, and an instruction input unit 62.

  The control unit 50 operates each part of the self-propelled cleaning device 100 in accordance with an instruction from the user input via the instruction input unit 62 or detection results of various sensors provided in the self-propelled cleaning device 100. And includes a contact position determination unit 51, a movement path setting unit 52, a movement control unit 53, and a suction control unit 54.

  The contact position determination unit 51 determines the contact position of the object with respect to the suction head 2 (or the suction head 2 based on the detection result of the contact detection switches 29a and 29b provided in the suction head 2 and the detection result of the laser range finder 4). The position of the contacted object) is determined. Details of this determination process will be described later.

  The movement path setting unit 52 cleans the designated cleaning area according to the instruction from the user input via the instruction input unit 62 and the map information of the cleaning area stored in the map data storage unit 61 in advance. The movement path | route of the self-propelled cleaning apparatus 100 for performing this, or the movement path | route for moving the self-propelled cleaning apparatus 100 from the present position to a target position is set.

  The map data storage unit 61 is a storage unit for storing map information of an area to be cleaned by the self-propelled cleaning device 100. The configuration of the map data storage unit 61 is not particularly limited. For example, a conventionally known storage unit such as a hard disk or a semiconductor memory can be used. In addition, it may replace with the map data storage part 61, and may provide the map information acquisition part which acquires map information by communication from the outside.

  Further, when the suction head 2 contacts an object such as an obstacle, the movement path setting unit 52 moves the self-propelled cleaning device 100 along the object based on the determination result of the contact position determination unit 51. However, the movement path of the self-propelled cleaning device 100 is changed so that the cleaning is performed until just before the object.

  The movement control unit 53 recognizes its own position by collating the detection result of the laser range finder 4 with the map information of the cleaning area (movement area) stored in the map data storage unit 61, and the movement path setting unit 52. By controlling the operation of the movement drive unit 63 and the steering drive unit 64 provided in the traveling device 1 so as to move the self-propelled cleaning device 100 along the movement path set by the The self-running function of the cleaning device 100 is realized.

  In addition, when a defect occurs between the detection result of the laser range finder 4 and the map information stored in the map data storage unit 61 (for example, when a new obstacle that is not assumed when the map information is created is installed) The movement control unit 53 (or the movement route setting unit 52) may correct the map information stored in the map data storage unit 61 according to the detection result of the laser range finder 4.

  In response to an instruction from the movement control unit 53, the movement driving unit 63 rotates the drive device 1 by rotating some or all of the wheels 7 a to 7 c. The steered drive unit 64 changes the traveling direction of the traveling device 1 by rotating some or all of the rotation axis directions of the wheels 7 a to 7 c in accordance with an instruction from the movement control unit 53.

  The suction control unit 54 controls the operation of the suction motor 65 and sucks dust or the like on the floor surface through the suction head 2, thereby realizing the cleaning function of the self-propelled cleaning device 100.

  The instruction input unit 62 is a user interface that receives various instructions from the user and transmits them to the control unit 50. The configuration of the instruction input unit 62 is not particularly limited, and for example, various key buttons, a keyboard, a touch panel, or a combination thereof can be used. The instruction input unit 62 may receive user instruction information transmitted from the outside.

(1-3. Contact position determination processing)
FIG. 7 is a flowchart showing the flow of the determination process of the contact position of an object such as an obstacle with respect to the suction head 2.

  First, the contact position determination unit 51 determines whether an obstacle has contacted the bumper 22a (right bumper) based on the detection result of the contact detection switch 29a (S1).

  When it is determined in S1 that the obstacle has contacted the bumper 22a, the contact position determination unit 51 determines from the suction head 2 on the right front of the suction head 2 (front of the bumper 22a) based on the detection result of the laser range finder 4. It is determined whether or not an obstacle exists in an area within a predetermined distance (S2). The predetermined distance is not particularly limited, and may be set as appropriate in consideration of, for example, the distance measurement accuracy of the laser range finder 4 and the dimensional tolerance of the arrangement position of the suction head 2.

  When it is determined in S2 that there is an obstacle on the right front side of the suction head 2, the contact position determination unit 51 determines that the obstacle has contacted the front side of the bumper 22a (S3).

  On the other hand, when it is determined in S2 that there is no obstacle right in front of the suction head 2, the contact position determination unit 51 determines that an obstacle has contacted the side surface of the bumper 22a (S4). When it is determined in S2 that there is no obstacle right in front of the suction head 2, the contact position determination unit 51 determines the suction head 2 on the right side of the suction head 2 based on the detection result of the laser range finder 4. It may be further determined whether or not there is an obstacle in a region within a predetermined distance from the vehicle, and when it is determined that the obstacle exists, it may be determined that the obstacle has contacted the side surface of the bumper 22a.

  When it is determined in S1 that the obstacle is not in contact with the bumper 22a, the contact position determination unit 51 determines whether or not the obstacle is in contact with the bumper 22b (left bumper) (S5).

  When it is determined in S5 that the obstacle has contacted the bumper 22b, the contact position determination unit 51 determines whether the suction head 2 from the left front of the suction head 2 (front of the bumper 22b) is based on the detection result of the laser range finder 4. It is determined whether an obstacle exists in an area within a predetermined distance (S6).

  When it is determined in S6 that there is an obstacle on the left front side of the suction head 2, the contact position determination unit 51 determines that an obstacle has contacted the front side of the bumper 22b (S7).

  On the other hand, when it is determined in S6 that there is no obstacle on the left front side of the suction head 2, the contact position determination unit 51 determines that an obstacle has contacted the side surface of the bumper 22a (S4). If it is determined in S2 that there is no obstacle on the left front side of the suction head 2, the contact position determination unit 51 determines the suction head 2 on the left side of the suction head 2 based on the detection result of the laser range finder 4. It may be further determined whether or not an obstacle exists in a region within a predetermined distance from, and when it is determined that an obstacle exists, it may be determined that an obstacle has contacted the side surface of the bumper 22b.

  After determining the contact position of the obstacle in S3, S4, S7, or S8, the contact position determination unit 51 determines whether or not the movement of the self-propelled cleaning device 100 is completed (S9), and is completed. If it is determined, the process returns to S1. If it is determined that the process is completed, the contact position determination process is terminated.

  Thereby, for example, when the contact of the obstacle with the bumper 22a is detected, and the obstacle A1 is present on the right front side of the suction head 2 as shown in FIG. 8A, the front surface of the bumper 22a. It is determined that the obstacle A1 has come into contact with the side. Further, when the contact of the obstacle with the bumper 22a is detected and the obstacle A2 exists on the right side of the suction head 2 as shown in FIG. 8B, the obstacle is present on the side of the bumper 22a. It is determined that the object A2 has come into contact.

  Similarly, when an obstacle contact with the bumper 22b is detected, and an obstacle A3 is present on the left front side of the suction head 2 as shown in FIG. 8C, the front side of the bumper 22b It is determined that the obstacle A3 has come into contact. Further, when the contact of the obstacle with the bumper 22b is detected and the obstacle A4 is present on the left side of the suction head 2 as shown in FIG. 8D, the obstacle is present on the side of the bumper 22b. It is determined that the object A4 has come into contact.

  As described above, in the self-propelled cleaning device 100 according to the present embodiment, the bumpers 22a and 22b are supported by the support mechanisms including the brackets 23a and 23b, the bars 24a and 24b, and the link portions 25a1, 25a2, 25b1, and 25b2. The bumpers 22a and 22b are supported so as to perform a common operation when an obstacle comes into contact with the front side of the bumper 22a and 22b and when an obstacle comes into contact with the side surface. Further, the contact of the obstacle to the front side of the bumpers 22a and 22b and the contact of the obstacle to the side surface are detected by the common contact detection switches 29a and 29b. And the contact position determination part 51 determines the contact position of the obstruction with respect to an own apparatus based on the detection result of the contact detection switches 29a and 29b and the detection result of the laser range finder 4.

  Thereby, the structure of a contact detection means can be simplified rather than the case where the contact of the obstruction with respect to the front side and the contact of the obstruction with respect to a side surface are detected using a separate contact detection means.

  Further, by determining the contact position based on the detection results of the contact detection switches 29a and 29b and the detection result of the laser range finder 4, the contact position can be determined regardless of the use of contact detection means having a simple configuration. It can be determined accurately. That is, when the contact to the front side and the contact to the side surface are detected by a common contact detection switch, it is not possible to determine whether the contact has been made to the front side or the side by the detection result of the contact detection switch. In order to avoid the obstacles or to move along obstacles such as walls, it is not possible to determine which movement route should be used. Therefore, in this embodiment, the detection result of the laser range finder 4 provided for recognizing the self-position when moving along the set movement path and the detection result of the contact detection switches 29a and 29b. Based on this, the contact position of the obstacle is determined. Thereby, the contact position of the obstacle, that is, which surface of the bumpers 22a and 22b can be accurately determined.

  In the present embodiment, the contact of the obstacle with respect to the suction head 2 is detected by detecting the movement of the link portions 25a2 and 25b2 using the contact detection switches 29a and 29b. However, the present invention is not limited to this. For example, the contact detection switches 29a and 29b detect movement of members other than the link portions 25a2 and 25b2, such as bumpers 22a and 22b, brackets 23a and 23b, bars 24a and 24b, or link portions 25a1 and 25b1. May be. In addition to the switch, for example, position detection means such as an optical sensor, a proximity sensor, and an encoder can be used to detect the movement and rotation of the bumpers 22a and 22b or the support members that support the bumpers 22a and 22b. You may make it detect the contact of an object.

  Further, in the present embodiment, the swing arm 3 is urged so that the relative position of the suction head 2 with respect to the traveling device 1 becomes a predetermined position when the obstacle is not in contact with the suction head 2 by the restoring force of the spring 5. However, it is not limited to this. For example, the swing arm 3 may be biased by winding a spring of the rotary shaft 6 so that the position of the suction head 2 when the obstacle is not in contact is the predetermined position. Further, by arranging an elastic member such as a spring between the suction head 2 and the traveling device 1, the suction head 2 is positioned so that the position of the suction head 2 when no obstacle is in contact with the predetermined position. It may be energized.

[Embodiment 2]
Another embodiment of the present invention will be described. For convenience of explanation, members having the same functions as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and description thereof is omitted.

  In the first embodiment, the spring 5 is attached to the swing arm 3 that connects the traveling device 1 and the suction head 2 to give a restoring force to the suction head 2 so that the suction head 2 operates passively. That is, when the obstacle is not in contact with the suction head 2, the spring 5 defines the relative position of the suction head 2 with respect to the traveling device 1.

  On the other hand, in this embodiment, it replaces with the spring 5 and is provided with the drive means which drives the swing arm 3 so that the relative position with respect to the traveling apparatus 1 of the swing arm 3 may be changed, and this drive means of the swing arm 3 is provided. The relative position with respect to the traveling device 1, that is, the relative position of the suction head 2 with respect to the traveling device 1 is actively changed.

  FIG. 9 is a schematic cross-sectional view showing a schematic configuration of the self-propelled cleaning device 100b according to the present embodiment. Moreover, FIG. 10 is explanatory drawing which shows the structure of the control system of the self-propelled cleaning apparatus 100b.

  As shown in FIG. 9, the self-propelled cleaning device 100 b includes a head drive motor (cleaning unit drive unit) 66 instead of the spring 5 in the self-propelled cleaning device 100 according to the first embodiment. As shown in FIG. 10, the self-propelled cleaning device 100 b includes a head position control unit 55 in addition to the configuration of the control system according to the first embodiment.

  The head drive motor 66 rotates the swing arm 3 in the direction parallel to the floor surface about the rotation shaft 6 under the control of the head position control unit 55. The configuration of the head drive motor 66 is not particularly limited as long as the swing arm 3 can be rotationally driven. For example, a conventionally known motor can be used.

  The head position control unit 55 avoids the obstacle or moves the suction head 2 along the obstacle when the obstacle comes into contact with the suction head 2 according to the detection result of the contact position determination unit 51. The swing arm 3 is rotated by controlling the operation of the head drive mode 66. Further, when the traveling device 1 is movable in the straight movement direction without the suction head 2 being in contact with an obstacle, the head drive mode is set so that the relative position of the suction head 2 to the traveling device 1 is a predetermined position. Is controlled to adjust the direction of the swing arm 3.

  In addition, the movement path | route setting part 52 is a relative position with respect to the traveling apparatus 1 of the moving path | route of the self-propelled cleaning apparatus 100b and the suction head 2 according to the determination result of the contact position determination part 51 and / or the detection result of the laser range finder 4. And the head position control unit 55 may control the operation of the head drive mode 66 in accordance with the relative position set by the movement path setting unit 52.

[Embodiment 3]
In each of the above-described embodiments, the configuration using the laser range finder 4 as a detection unit (obstacle detection unit) that detects an obstacle existing around the device in a non-contact manner has been described, but the configuration of the obstacle detection unit However, the present invention is not limited to this, and for example, an ultrasonic sensor or a different type of optical sensor from the laser range finder may be used.

[Embodiment 4]
In each of the above embodiments, the self-propelled cleaning device 100 including the suction head 2 that sucks dust or the like on the floor surface has been described. However, the configuration of the self-propelled cleaning device 100 is not limited thereto.

  For example, instead of the suction head 2, a wiping head (cleaning unit) for wiping and cleaning the floor surface, a polishing head (cleaning unit) for polishing the floor surface, and applying wax or paint to the floor surface There may be provided a coating head (cleaning unit) for performing cleaning, a sterilizing head (cleaning unit) for performing sterilization processing of the floor surface by ultraviolet irradiation or chemical spraying, and the like. With these configurations, the self-propelled cleaning device 100 capable of cleaning the floor surface just before an obstacle can be realized with a simple configuration as in the above-described embodiments.

[Embodiment 5]
The control unit 50 of the self-propelled cleaning device 100 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or realized by software using a CPU (Central Processing Unit). May be.

  In the latter case, the self-propelled cleaning apparatus 100 includes a CPU that executes instructions of a program that is software that realizes each function, and a ROM (Read Only) in which the above-described program and various data are recorded so as to be readable by the computer (or CPU). Memory) or a storage device (these are referred to as “recording media”), a RAM (Random Access Memory) for expanding the program, and the like. And the objective of this invention is achieved when a computer (or CPU) reads the said program from the said recording medium and runs it. As the recording medium, a “non-temporary tangible medium” such as a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. The present invention can also be realized in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.

[Summary]
The self-propelled cleaning device (100, 100b) according to aspect 1 of the present invention is a self-propelled cleaning device (100, 100b) having a self-propelled function and a cleaning function, and is a front side in the moving direction of the self-device. A contact detection unit that detects the contact of the obstacle with respect to the side and the contact of the obstacle with the side surface by common detection means (contact detection sensors 29a and 29b), and detects the obstacle present around the device without contact. An obstacle detection unit (laser range finder 4), a contact position determination unit (51) for determining the contact position of the obstacle with respect to the own device based on the detection result of the contact detection unit and the detection result of the obstacle detection unit It is characterized by having.

  According to said structure, a contact detection part detects the contact of the obstruction with respect to the moving direction front side of an own apparatus, and the contact of the obstruction with respect to the moving direction side surface by a common detection means (contact detection sensors 29a and 29b). Therefore, the configuration of the contact detection unit can be simplified as compared with the configuration in which the contact of the obstacle to each surface is detected by separate detection means. The contact position determination unit (51) determines the contact position of the obstacle with respect to the own device based on the detection result of the obstacle detection unit (laser range finder 4) and the detection result of the contact detection unit. It is possible to accurately determine the contact position of the obstacle with respect to. Thereby, since the contact position of an obstacle can be determined with a simple configuration, it is possible to realize a self-propelled cleaning device (100, 100b) having a simple configuration capable of cleaning up to the middle of the obstacle. .

  The self-propelled cleaning device (100, 100b) according to aspect 2 of the present invention includes the cleaning unit (suction head 2) for cleaning the floor surface in aspect 1, and the cleaning unit (suction head 2) is a unit. A main body part (main body part 21), a front buffer part arranged on the front side in the movement direction of the device relative to the unit main body part (main body part 21), and a side buffer part arranged on the side surface side in the movement direction; And a support member (23a, 23b bracket 23a) that supports the buffer member (bumpers 22a, 22b) movably relative to the unit main body (main body 21). , 23b, bars 24a, 24b, link portions 25a1, 25a2, 25b1, 25b2, and rotating shafts 26a1, 26a2, 26b1, 26b2). The buffer member (so that the movement direction of the buffer member when the obstacle comes into contact with the front buffer part by movement and the movement direction of the buffer member when the obstacle comes into contact with the side buffer part are common) The bumper 22a, 22b) is supported, and the contact detection unit is configured so that the buffer member (bumper 22a, 22b) or the support unit moves relative to the unit main body (main body 21). The detection means (contact detection switches 29a and 29b) detects the obstacle contact with the front buffer part and the obstacle contact with the side buffer part.

  According to said structure, since the contact of the obstruction with respect to a front buffer part and the contact of the obstruction with respect to a side buffer part can be detected with a common detection means (contact detection switch 29a, 29b), it is with respect to a front buffer part. The configuration of the contact detection unit can be simplified as compared with the case where the contact of the obstacle and the contact of the obstacle with respect to the side buffer portion are detected by separate detection means.

  The self-propelled cleaning device (100, 100b) according to aspect 3 of the present invention is the traveling device (1) for moving on the floor surface and the cleaning unit (suction head) for cleaning the floor surface in the above-described aspect 1. 2), a connecting portion (swing arm 3) for connecting the cleaning unit (suction head 2) to the traveling device (1) so as to be movable or rotatable in a direction substantially parallel to the floor surface, and the cleaning unit When the obstruction is not in contact with the (suction head 2), the connecting portion (swing arm 3) or the above-mentioned so that the relative position of the cleaning unit (suction head 2) to the traveling device (1) is a predetermined position. Relative position of the elastic member (spring 5) for applying an elastic force to the cleaning unit (suction head 2) or the traveling unit (1) of the cleaning unit (suction head 2) in a direction substantially parallel to the floor surface. A Configurations that a said connecting portion so as to vary the (swing arm 3) or the cleaning unit cleaning unit driving section for (suction head 2) is operated (head drive motor 66).

  According to said structure, when an obstruction contacts with respect to the cleaning unit (suction head 2), a cleaning unit (suction head 2) is made relative to the said traveling apparatus (1) according to the shape of the said obstruction. Therefore, the cleaning unit (suction head 2) can be prevented from being damaged by contact with the obstacle, and the floor surface can be cleaned to the middle of the obstacle by the cleaning unit (suction head 2). It can be carried out.

  The self-propelled cleaning device (100, 100b) according to aspect 4 of the present invention includes the movement route setting unit (52) that sets the movement route of the own device in any one of the aspects 1 to 3, and the movement route setting described above. Based on the contact position determined by the contact position determination unit (51), the unit (52) cleans up to the middle of the obstacle while moving the apparatus along the obstacle in contact with the apparatus. The above-mentioned movement route is set.

  According to the above configuration, the moving path setting unit (52) moves the own device along the obstacle contacting the own device based on the contact position determined by the contact position determination unit (51), while cleaning the unit. The moving path of the own apparatus is set so that the cleaning can be performed up to the point of the obstacle by the (suction head 2). Thereby, it is possible to perform cleaning until just before the obstacle.

  The self-propelled cleaning device according to aspect 5 of the present invention is configured in any one of aspects 1 to 4, wherein the obstacle detection unit is an optical sensor (laser range finder 4) or an ultrasonic sensor.

  According to the above configuration, the obstacle to the own device is detected by detecting the contact of the obstacle with the own device by the contact detecting unit and detecting the distance to the obstacle existing around the own device by the obstacle detecting unit. The contact position of the object can be appropriately determined with a simple configuration.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

  The present invention can be applied to a self-propelled cleaning device having a self-propelled function and a cleaning function.

1 Traveling device 2 Suction head (cleaning unit)
3 Swing arm (connection part)
4 Laser range finder (obstacle detection unit)
5 Spring (elastic member)
6 Rotating shafts 7a to 7c Wheel 21 Main body (unit main body)
22a, 22b Bumper (buffer member, contact detection unit)
23a, 23b Bracket (support part, contact detection part)
24a, 24b Bar (support part, contact detection part)
25a1, 25a2, 25b1, 25b2 Link part (support part, contact detection part)
26a1, 26a2, 26b1, 26b2 Rotating shaft (supporting part, contact detecting part)
27a, 27b Spring (contact detection part)
28a, 28b Stopper (contact detection part)
29a, 29b Contact detection switch (detection means, contact detection unit)
DESCRIPTION OF SYMBOLS 50 Control part 51 Contact position determination part 52 Movement route setting part 53 Movement control part 54 Suction control part 55 Head position control part 61 Map data storage part 62 Instruction input part 63 Movement drive part 64 Steering drive part 65 Suction motor 66 Head drive Motor (cleaning unit drive)
100,100b Self-propelled cleaning device

Claims (5)

A self-propelled cleaning device having a self-propelled function and a cleaning function,
A contact detection unit for detecting the contact of the obstacle to the front side in the moving direction of the own device and the contact of the obstacle to the side surface by a common detection means;
An obstacle detection unit for detecting obstacles around the device without contact;
A self-propelled cleaning device comprising: a contact position determination unit that determines a contact position of an obstacle with respect to the own device based on a detection result of the contact detection unit and a detection result of the obstacle detection unit . It has a cleaning unit that cleans the floor,
The cleaning unit
The unit body,
A buffer member having a front buffer portion disposed on the front surface side in the movement direction of the device relative to the unit main body portion and a side buffer portion disposed on the side surface side in the movement direction;
A support portion that supports the buffer member so as to be relatively movable with respect to the unit main body portion;
The support part has a common movement direction of the buffer member when an obstacle comes into contact with the front buffer part due to movement of its own device and a movement direction of the buffer member when an obstacle comes into contact with the side buffer part. Support the buffer member so that
The contact detection unit detects that the buffer member or the support unit moves relative to the unit main body unit with the common detection unit, thereby causing the obstruction contact with the front buffer unit and the contact detection unit. The self-propelled cleaning device according to claim 1, wherein contact of an obstacle with the side buffer portion is detected. A traveling device for moving on the floor;
A cleaning unit for cleaning the floor;
A connecting portion for connecting the cleaning unit to the traveling device so as to be movable or rotatable in a direction substantially parallel to the floor surface;
An elastic member for applying an elastic force to the connecting portion or the cleaning unit so that a relative position of the cleaning unit to the traveling device is a predetermined position when no obstacle is in contact with the cleaning unit, or the cleaning unit 2. A cleaning unit driving unit that operates the coupling unit or the cleaning unit so as to change a relative position in a direction substantially parallel to the floor surface with respect to the traveling device. Self-propelled cleaning device as described in 1. It has a movement route setting unit that sets the movement route of its own device,
The movement path setting unit is configured to perform cleaning up to the middle of the obstacle while moving the own device along the obstacle in contact with the own device based on the contact position determined by the contact position determination unit. The self-propelled cleaning device according to any one of claims 1 to 3, wherein a moving route is set.   The self-propelled cleaning device according to any one of claims 1 to 4, wherein the obstacle detection unit is an optical sensor or an ultrasonic sensor.

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