JP2016045598A - Autonomous traveling body device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vacuum cleaning device capable of more securely connecting a charging terminal of a vacuum cleaner to a charging terminal of a charging device by more securely detecting the charging device by a vacuum cleaner body.SOLUTION: Control means has a feedback mode in which actions of driving wheels 25, 25 are so controlled that once reception means 33 detects feedback signals Ba, Bb, a main body case 15 is put closer to a charging device 12 while positioned relative to the charging device 12. On detecting a collision prevention signal S by the reception means 33, the control means controls actions of the driving wheels 25, 25 so as to make the main body case 15 travel away from the charging device 12, and then to make the main body case 15 turn back at a distance from the charging device 12 and then travel. The control means searches for a radio signal output from feedback signal output means 55 by the reception means 33.SELECTED DRAWING: Figure 1

Description

  Embodiments of the present invention relate to an autonomous traveling body device including a base device including a connection receiving portion and an autonomous traveling body capable of autonomous traveling having a connection portion connectable to the connection receiving portion in a main body case.

  2. Description of the Related Art Conventionally, a so-called autonomous traveling type vacuum cleaner (cleaning robot) that performs cleaning while autonomously traveling on a surface to be cleaned while detecting an obstacle using a sensor or the like is known. Such a vacuum cleaner searches for a predetermined base device installed, for example, a charging device (charging stand) when the cleaning of the room is completed. The charging device transmits a beacon that guides the vacuum cleaner, and the vacuum cleaner that has received the beacon travels toward the charging device along the beacon, and then connects (docks) to the charging device. The cleaning is completed, and the built-in secondary battery is charged.

  Thus, when the vacuum cleaner searches for and connects the charging device, the vacuum cleaner and the charging device are accurately connected in order to securely connect the charging terminal of the vacuum cleaner and the charging terminal of the charging device. It is necessary to align well. In particular, the vacuum cleaner is provided with a pair of left and right beacon receiving means, and the vacuum cleaner is gradually approached (approached) to the charging device while receiving the pair of left and right beacons output from the charging device and aligning the left and right. In this case, a sufficient distance is required between the vacuum cleaner and the charging device for this alignment. Therefore, when the vacuum cleaner is searching for the charging device and detects that the charging device is located in the vicinity of the vacuum cleaner, the vacuum cleaner temporarily takes a distance from the charging device. Therefore, it is necessary to perform the approach operation as described above.

JP 2012-178162 A

  The problem to be solved by the present invention is to provide an autonomous traveling body device that can more reliably detect a base device by an autonomous traveling body and more reliably connect a connection portion of the autonomous traveling body to a connection receiving portion of the base device. It is to be.

  The autonomous traveling body device of the embodiment includes a base device and an autonomous traveling body. The base apparatus includes a connection receiving unit, a collision prevention signal output unit, and a feedback signal output unit. The collision prevention signal output means outputs a collision prevention radio signal within a predetermined distance range. The feedback signal output means outputs a wireless signal for feedback. The autonomous traveling body includes a main body case, a connection portion, drive wheels, feedback signal detection means, collision prevention signal detection means, and control means. The connecting portion is provided in the main body case and can be connected to the connection receiving portion. The drive wheel allows the main body case to travel on the travel surface. The feedback signal detection means is provided in the main body case and can detect the radio signal output from the feedback signal output means. The collision prevention signal detection means is provided in the main body case and can detect the radio signal output from the collision prevention signal output means. The control means makes the main body case autonomously travel by controlling the operation of the drive wheels based on the detection results of the feedback signal detection means and the collision prevention signal detection means. And when this control means detects the radio signal output from the feedback signal output means by the feedback signal detection means, it aligns the main body case with the base apparatus along this radio signal so as to approach the base apparatus. Is provided with a feedback mode for controlling the operation of the drive wheels. In addition, the control means detects the radio signal output from the collision prevention signal output means by the collision prevention signal detection means, and then causes the main body case to travel in a direction away from the base apparatus and is located away from the base apparatus. Then, the operation of the drive wheels is controlled so that the main body case is turned while being turned. Thereby, the control means searches for the radio signal output from the feedback signal output means by the feedback signal detection means.

It is explanatory drawing which shows typically the approach preparation operation | movement of the autonomous traveling body of the autonomous traveling body apparatus of one Embodiment in order of (a) thru | or (e). It is explanatory drawing which shows typically the approach driving | running | working operation | movement and connection operation | movement to the base apparatus of an autonomous mobile body same as the above in order of (a) thru | or (c). It is a perspective view which shows an autonomous traveling body apparatus same as the above. It is a top view which shows the autonomous running body of an autonomous running body apparatus same as the above from the top. It is a top view which shows an autonomous running body same as the above from the lower part. (a) is a block diagram showing the internal structure of the autonomous traveling body, and (b) is a block diagram showing the internal structure of the base device of the autonomous traveling body apparatus.

  The configuration of one embodiment will be described below with reference to the drawings.

  In FIG. 1 thru | or FIG. 3, 10 shows the vacuum cleaner as an autonomous traveling body apparatus, This vacuum cleaner 10 is the vacuum cleaner main body 11 as an autonomous traveling body, and a base apparatus of this vacuum cleaner main body 11 And a charging device (charging stand) 12 for charging.

  As shown in FIG. 1 to FIG. 5 and FIG. 6 (a), the vacuum cleaner main body 11 in this embodiment is a floor while autonomously running (self-propelled) on the floor surface to be cleaned as a running surface. It is a so-called self-propelled robot cleaner (cleaning robot) that cleans the surface. And this electric vacuum cleaner main body 11 includes a hollow main body case 15, a traveling unit 16 for running the main body case 15 on the floor, a cleaning unit 17 for cleaning dust such as the floor, and a charging device 12. A communication unit 18 that communicates with an external device, a display unit 19 that displays various information, a traveling unit 16, a cleaning unit 17, a control unit 20 that controls the communication unit 18 and the display unit 19, and these traveling units 16, A cleaning unit 17, a communication unit 18, a display unit 19, a secondary battery 21 that supplies power to the control means 20, and the like are provided. Hereinafter, the direction along the traveling direction of the vacuum cleaner main body 11 (main body case 15) is the front-rear direction (directions of arrows FR and RR shown in FIGS. 3 to 5), and intersects (perpendicular) with the front-rear direction. In the following description, the horizontal direction (both sides) is assumed to be the width direction. Moreover, the direction which the arrow X shown in FIG. 1 etc. points to represents the front side of the vacuum cleaner main body 11 (main body case 15).

  The main body case 15 is formed, for example, in a flat columnar shape (disc shape) with synthetic resin or the like, and a suction port 22 and an exhaust port 23 are opened on the lower surface facing the floor surface, respectively.

  The traveling unit 16 includes drive wheels 25 and 25 as a plurality of (a pair of) drive units, motors 26 and 26 as drive units that drive the drive wheels 25 and 25, and a turning wheel 27 for turning. And a sensor unit 28 having various sensors.

  Each drive wheel 25 is for traveling (autonomous traveling) the vacuum cleaner body 11 (main body case 15) in the forward and backward directions on the floor surface, that is, for traveling, not shown along the left-right width direction. It has a rotation axis and is arranged symmetrically in the width direction.

  Each motor 26 is disposed, for example, corresponding to each drive wheel 25, and can drive each drive wheel 25 independently.

  The swivel wheel 27 is a driven wheel that is positioned at the front and substantially at the center of the lower surface of the main body case 15 in the width direction, and can swivel along the floor surface.

  The sensor unit 28 includes an object detection means 31 that is an obstacle detection means for detecting the presence or absence of an object (obstacle) such as a wall or furniture within a predetermined distance, a feedback signal (infrared signal) from the charging device 12, and the like. A feedback signal detecting means such as a phototransistor for receiving the collision prevention signal, and a receiving means 33 having a function of the collision prevention signal detecting means. In addition to this sensor unit 28, for example, turning angle detecting means such as an optical encoder that detects the turning angle of the main body case 15 by measuring the rotation speed of the left and right motors 26 (drive wheels 25), the floor surface Step detection means (not shown) such as an infrared sensor that detects a step, etc., object detection means that is a non-contact sensor such as an ultrasonic sensor that detects the presence or absence of an object within a predetermined distance, and the amount of dust on the floor surface are detected. You may provide the dust amount detection means etc. which are not shown in figure.

  In the present embodiment, the object detection means 31 includes a bumper 35 that is a movable arc-shaped contact that forms the front half of the main body case 15, and a switch 36 that is operated by the movement of the bumper 35. This is a contact sensor that detects contact between the bumper 35 and an object. That is, the object detection means 31 of the present embodiment detects an object that is in contact with the main body case 15 (positioned at zero distance).

  The bumper 35 is movable along the radial direction of the main body case 15, and is urged in a direction protruding from the main body case 15 by an urging means such as a spring (not shown). The bumper 35 may have a semicircular arc shape that is continuous from one side of the main body case 15 to the other side through the front portion, or may be a half arc from one side of the main body case 15 to the other side through the front portion. It is good also as circular arc shape which divided | segmented the circular arc area | region into plurality. In this way, when the bumper 35 is divided into a plurality of parts, it is preferably arranged symmetrically, for example, it is divided into three parts, such as the front part and the left and right sides.

  The switch 36 is switched between operation and on / off by contact with the bumper 35 that is relatively retracted by contact with an object, and is disposed opposite to the back side of the bumper 35 at least on both sides of the main body case 15. . Then, when any of these switches 36 is switched on and off, the contact of the bumper 35 with the object and the contact position (contact direction) can be detected. In the present embodiment, for example, the front side region including the center position in the left-right direction of the main body case 15 (bumper 35) and the front side region extending substantially at a predetermined angle, and the right side of the front side region are adjacent to the right side of the front case 15 ) On the right side of the right angle over the right side of the right side and the left side of the left side of the left side of the main body case 15 (bumper 35) adjacent to the left side of the front side region. It is possible to detect whether the object has been touched.

  The receiving means 33 estimates the position of the charging device 12 by detecting a feedback signal that is a radio signal from the charging device 12, and the vacuum cleaner main body 11 (main body case 15) is more than necessary to the charging device 12, etc. This is used when the control means 20 determines whether or not the vehicle is approaching. In this receiving means 33, for example, at least a left front receiving means 33a and a right front receiving means 33b as front receiving parts (one and the other) located at the front part of the main body case 15 are set. These left front receiving means 33a and right front receiving means 33b are located on both sides of the front part of the outer peripheral surface of the main body case 15 with the central part in the left-right direction interposed therebetween. Further, in the present embodiment, the receiving means 33 further includes a left front receiving means 33c and a right front receiving means 33d, which are located at a predetermined angle on the outer peripheral surface of the main body case 15 on the front left and right, for example, approximately 45 ° or approximately 60 ° The left rear receiving means 33e and the right rear receiving means 33f, which are located at a predetermined angle on the outer peripheral surface of the main body case 15 in the rear left and right direction, for example, approximately 45 ° direction or approximately 60 ° direction, The rear receiving means 33g located in the rear part including the central part is set. Therefore, the receiving means 33 is arranged symmetrically, for example. Among the receiving means 33, the receiving means 33a and 33b used for the approaching operation (approach) to the charging device 12 and the rear receiving means 33g used for positioning before the connecting operation to the charging device 12 have directivity. For example, radio signals from a predetermined angular range in a direction in which the receiving means 33a, 33b, and 33g in a predetermined direction are directed are mainly detected. Of the receiving means 33, the receiving means 33c, 33d, 33e, 33f have a relatively wide directivity in order to prevent oversight of radio signals. For example, the receiving means 33c, 33d, 33e, 33f are directed. A radio signal from within a predetermined angle range wider than the direction receiving means 33a, 33b, 33g is detected. Hereinafter, the receiving unit 33 refers to at least one or all of the receiving units 33a to 33g unless otherwise specified.

  The cleaning unit 17 is, for example, an electric blower 37 that is located in the main body case 15 and sucks dust, a rotary brush 38 that is rotatably attached to the suction port 22 and scrapes up the dust, and the rotary brush. A brush motor 39 to be driven, a side brush 40 as auxiliary cleaning means as a swivel cleaning unit that is rotatably attached to both sides such as the front side of the main body case 15 and scrapes dust, and a side brush motor that drives the side brush 40 41, a dust collecting part 42 for collecting dust, and the like. The electric blower 37, the rotating brush 38 and the brush motor 39, and the side brush 40 and the side brush motor 41 may be provided with at least one of them.

  The communication unit 18 includes a transmission means 46 such as an infrared light emitting element that transmits a signal (infrared signal) to the charging device 12 or the like. The transmission means 46 is disposed at the upper front end of the main body case 15, for example. The communication unit 18 may include a wireless LAN device that transmits / receives a signal (wireless signal) to / from an external device via an access point, for example.

  The display unit 19 displays time and time or various information related to the electric vacuum cleaner main body 11, and is disposed, for example, on the upper part of the main body case 15. The display unit 19 may be, for example, a touch panel that also has a function of an input operation unit that allows a user to directly input various settings.

  The control means 20 is, for example, a microcomputer including a CPU, a timer, a counter, and the like. Based on the detection result by the sensor unit 28, the cleaning unit 17 searches for a cleaning mode in which the cleaning unit 17 performs cleaning while autonomously running, and the charging device 12. A return mode for returning to the charging device 12, a charging mode for charging the secondary battery 21 via the charging device 12, and a standby mode for standby operation. Then, during the cleaning mode and the return mode, for example, the vacuum cleaner main body 11 (main body case 15) changes the direction every time the object is detected within the predetermined distance by the object detection means 31 (collision with the object) in the room. Travel mode that goes straight (substantially straight) while changing, or the vacuum cleaner main body 11 (main body case 15) repeatedly bounces in an arch shape along the outer edge of the room such as an object (wall) detected by the object detection means 31 A plurality of travel modes such as a travel mode for traveling on the vehicle are set.

  Further, the secondary battery 21 is electrically connected to charging terminals 48 and 48 as connecting portions exposed on both sides of the rear portion of the lower surface of the main body case 15, for example, and the charging terminals 48 and 48 are connected to the charging device 12 side. Are electrically and mechanically connected to each other to be charged via the charging device 12.

  On the other hand, the charging device 12 is disposed at a position that does not interfere with cleaning, such as near the wall. As shown in FIGS. 1 to 3 and FIG. 6 (b), the charging device 12 includes a charging circuit 52 for charging the secondary battery 21 (FIG. 6 (a)). Charging terminals 53 and 53 as connection receiving portions electrically connected to 52 and a power supply cord 54 for power supply connected to a commercial power source are provided, and for example, the vacuum cleaner body 11 is connected to the charging device 12. Feedback signal output means 55 such as an infrared light emitting element that outputs a feedback wireless signal (infrared signal) to guide, and a wireless signal (infrared signal) around the charging device 12 so that the vacuum cleaner body 11 does not collide with the charging device 12. Signal preventing means output means 56 such as an infrared light emitting element that outputs a signal), signal receiving means 57 such as a phototransistor that receives a radio signal (infrared signal) from the transmission means 46 of the vacuum cleaner body 11, and charging these Circuit 52, feedback signal output means 55, collision prevention signal output The apparatus control means 58 etc. which respectively control operation | movement of the force means 56, the signal receiving means 57, etc. are provided.

  The feedback signal output means 55 outputs a feedback signal that is a radio signal (infrared signal) with a relatively narrow directivity. In the present embodiment, left signal output means 55a and right signal output means 55b that are separated from each other in the horizontal direction, for example, are set in the feedback signal output means 55, and output from these output means 55a and 55b. The feedback signals Ba and Bb overlap each other by a predetermined width (for example, about 10 to 20 cm). These feedback signals Ba and Bb can be received by the receiving means 33 of the vacuum cleaner main body 11. Hereinafter, the feedback signal output means 55 refers to at least one or all of the output means 55a and 55b unless otherwise specified.

  The collision prevention signal output means 56 outputs a collision prevention signal S, which is a radio signal (infrared signal), in a circular or semicircular shape within a predetermined distance range including the charging device 12, for example, within a radius of 30 cm. It is supposed to be. That is, the collision prevention signal output means 56 outputs the collision prevention signal S with a relatively wide directivity. The collision prevention signal S is for preventing the vacuum cleaner body 11 from accidentally colliding with the charging device 12 during cleaning or returning to the charging device 12. Can be received by the receiving means 33.

  The signal receiving means 57 detects the radio signal (infrared signal) emitted from the transmission means 46 of the vacuum cleaner main body 11, thereby providing the feedback signals Ba and Bb from the feedback signal output means 55 and the collision prevention signal output means 56. The anti-collision signal S is output from each.

  The device control means 58 generates, for example, a signal to be transmitted from the signal output means 55 and processes a signal from the transmission means 46 of the electric vacuum cleaner main body 11 received by the signal receiving means 57. The device control means 58 includes an induction mode for guiding the vacuum cleaner body 11 toward the charging device 12, a charging mode for charging the secondary battery 21 via the charging circuit 52, and an operation standby mode. The signal output means 55 is configured to transmit a radio signal in the guidance mode.

  Next, the operation of the one embodiment will be described.

  Generally, the electric vacuum cleaner 10 is roughly divided into a cleaning operation for cleaning by the electric vacuum cleaner main body 11 and a charging operation for charging the secondary battery 21 by the charging device 12. Then, the cleaning work includes a detaching operation in which the electric vacuum cleaner main body 11 is detached from the charging device 12, a cleaning operation in which the cleaning unit 17 performs cleaning after the detaching operation, a charging device after the cleaning operation or during the cleaning operation. Search operation to search for 12, approach (approach) operation in which the vacuum cleaner body 11 travels toward the charging device 12 detected by this search operation, and the vacuum cleaner body 11 approaching the charging device 12 is the charging device It consists of a connection operation that connects (docks) with 12.

(Cleaning work)
The main body of the vacuum cleaner 11 switches the cleaning unit 17 and the traveling unit 16 from the standby mode to the cleaning mode at the cleaning start timing, for example, when a preset cleaning start time is reached. The battery is driven and detached from the charging device 12, for example, in a straight line (separation operation). The charging device 12 receives a radio signal (infrared signal) requesting feedback after a predetermined time has elapsed after the vacuum cleaner body 11 is detached or from the transmission means 46 of the vacuum cleaner body 11. When received by the means 55, the apparatus control means 58 switches from the standby mode to the guidance mode.

  Next, the control means 20 drives the drive wheels 25 and 25 (motors 26 and 26) in response to the detection from the sensor unit 28, thereby avoiding obstacles and steps, etc. Case 15) is cleaned and collected by the cleaning unit 17 while traveling on the floor surface using any of the travel modes or using them in a predetermined order for a predetermined time ( Cleaning operation).

  Then, the cleaning of the cleaning area is completed, or the capacity of the secondary battery 21 is insufficient to complete the cleaning by decreasing to a predetermined amount (the voltage of the secondary battery 21 decreases to near the discharge end voltage). In the vacuum cleaner main body 11, the control means 20 switches to the feedback mode, and the driving means 25 and 25 (motors 26 and 26) are driven by the control means 20 so that the charging device 12 is Search (search operation).

  In this search operation, the vacuum cleaner main body 11 first turns the feedback signal Ba by the receiving means 33 (at least one of the left front receiving means 33a and the right front receiving means 33b) while making one turn (super turning). , Bb is not detected, and the receiving means 33 determines whether the collision prevention signal S is not detected, that is, whether the charging device 12 is not found. When it is determined that the charging device 12 has not been found during this turn, it is determined whether the charging device 12 is not found while traveling in the area while switching the traveling mode.

  When it is determined that the charging device 12 has been found, an approaching action is performed to bring the vacuum cleaner body 11 (main body case 15) closer to the charging device 12. In addition, when not finding the charging device 12 by the vacuum cleaner body 11 within a predetermined time (for example, 30 minutes), when not finding the charging device 12 by the vacuum cleaner body 11 while repeating this search operation a predetermined number of times, When the remaining battery level of the secondary battery 21 drops below a predetermined level, or when it is detected that the wheel is removed or the dust collecting unit 42 is detached, for example, the vacuum cleaner body 11 stops the search operation and In addition, the operation of each unit is stopped at a predetermined position or the like, and an error is displayed on the display unit 19. Accordingly, the secondary battery 21 can be prevented from deteriorating without using up the remaining amount of the secondary battery 21. Further, for example, when a stop is input by the user via the display unit 19 or a remote controller during the search operation, the search operation is terminated, and then the display unit 19 or the remote controller is operated by the user. When the start is input through the operation, the process proceeds to the cleaning operation. That is, in the present embodiment, the search operation is not paused and resumed.

  Then, the approaching operation described above includes an approach preparation operation for causing the vacuum cleaner main body 11 (main body case 15) to travel to a predetermined position, and the vacuum cleaner main body 11 (main body case 15) approaching the charging device 12 in a straight line. It is comprised by approaching movement operation to be made.

  Basically, the approach preparation operation is performed when the collision prevention signal S is detected by the receiving means 33 in the search operation and in the search operation by the receiving means 33 (at least one of the left front receiving means 33a and the right front receiving means 33b). ) To detect at least one of the feedback signals Ba and Bb and to guide the vacuum cleaner main body 11 (main body case 15) toward the charging device 12 along the feedback signals Ba and Bb, that is, an approachable range This is performed when the collision prevention signal S is detected by the receiving means 33 before the electric vacuum cleaner main body 11 (main body case 15) travels to A. Therefore, when the vacuum cleaner main body 11 (main body case 15) can travel to the approachable range A without detecting the collision prevention signal S by the receiving means 33, this approach preparation operation is not necessary.

  Here, the approachable range A is, for example, an output range of the feedback signals Ba and Bb having a predetermined distance, for example, about 60 cm to 300 cm (receivable) in the direction (front direction) in which the feedback signals Ba and Bb are output from the charging device 12. (Within range). Therefore, this approachable range A is a substantially trapezoidal range that becomes wider as the distance from the charging device 12 increases.

  Then, in general, the approach preparation operation is as follows. First, the control means 20 of the vacuum cleaner main body 11 confirms the detection direction of the collision prevention signal S by the receiving means 33, and the vacuum cleaner main body 11 (main body case 15) is moved. Decide the direction to turn (super-spinning). Next, in order to leave the collision prevention signal S, the vehicle travels in a direction away from the collision prevention signal S by a predetermined distance, for example, the length of the radius of the main body case 15 (FIG. 1 (a)). That is, the electric vacuum cleaner main body 11 (main body case 15) moves backward when, for example, the collision prevention signal S is detected by the receiving means 33, and moves forward when it is detected by the rear receiving means 33g. Thereafter, the control means 20 controls the operation of the motors 26, 26 (drive wheels 25, 25) to turn the vacuum cleaner body 11 (main body case 15) in the determined direction (super turning). (FIG. 1 (b)). Then, a predetermined distance L1 assumed to intersect with the approachable range A, specifically, for example, an approachable position AP that is closest to the charging device 12 in the approachable range A (for example, the feedback signal Ba, It moves forward (straight forward) by a predetermined distance so as to pass through a direction in which Bb is output (front direction), for example, a position separated by about 60 cm to 100 cm (FIG. 1 (c)). At this time, the vacuum cleaner main body 11 (main body case 15) reaches the position where the vacuum cleaner main body 11 (main body case 15) is separated (predetermined distance) from the charging device 12 in the output direction of the feedback signals Ba and Bb. If possible, the traveling direction and the traveling route can be arbitrarily set, and the traveling direction may be changed or folded until the position is reached. Thereafter, the vehicle travels 180 ° with a predetermined radius from a position (predetermined distance) away from the charging device 12 (revolution turn) (FIG. 1 (d)), that is, turns (turns) while turning, and a feedback signal. While searching for Ba and Bb, the robot moves forward (straight) at a speed slower than before turning back and a predetermined distance L2 shorter than before turning back (FIG. 1 (e)).

  The direction in which the vacuum cleaner main body 11 (main body case 15) is turned and turned is the direction facing the output direction of the feedback signals Ba and Bb from the signal output means 55 of the charging device 12 (intersection angle with this output direction) In the direction in which the charging device 12 moves away, in other words, the direction in which the front side (front side) of the vacuum cleaner body 11 (main body case 15) is directly facing the charging device 12. . That is, the control means 20 controls the operation of the motors 26 and 26 (drive wheels 25 and 25), and the vacuum cleaner main body 11 (main body case 15) moves forward a predetermined distance while facing the charging device 12 on the right side. Is turned to the left and is turned back, and when it is moved forward by a predetermined distance while looking at the charging device 12 to the left, it is turned to the right while turning. As a result, the control means 20 controls the operation of the motors 26 and 26 (drive wheels 25 and 25), and the direction in which the vacuum cleaner main body 11 (main body case 15) intersects with the feedback signals Ba and Bb. Run in a U shape.

  Then, at least one of the feedback signals Ba and Bb was detected by the receiving means 33 (at least one of the left front receiving means 33a and the right front receiving means 33b) by the approach preparation operation, that is, the charging device 12 was found (approaching) When the preparation operation is successful), the operation moves to the approaching movement operation. Further, when at least one of the feedback signals Ba and Bb is not detected by the receiving means 33 (at least one of the left front receiving means 33a and the right front receiving means 33b) by the approach preparation operation or in the approachable range A If an object (obstacle) or level difference is detected by the sensor unit 28 (object detection unit 31, reception unit 33 and level difference detection unit) before traveling, the control unit 20 determines that the approach preparation operation has failed. To do. If the number of failures exceeds a predetermined number, the process returns to the search operation.

  In the approaching traveling operation, in the approachable range or approachable position, for example, when it is first determined that only the feedback signal Ba is received by the left front receiving means 33a of the receiving means 33, the control means 20 26 (drive wheels 25, 25) is controlled to make the vacuum cleaner body 11 (main body case 15) turn relatively to the left (the number of revolutions of the left motor 26 (drive wheel 25)) Is relatively larger than the rotational speed of the right motor 26 (drive wheel 25)). For example, when it is determined that only the feedback signal Bb is first received by the right front receiving means 33b of the receiving means 33, the control means 20 controls the operation of the motors 26 and 26 (drive wheels 25 and 25). The vacuum cleaner main body 11 (main body case 15) turns relatively to the right (the number of rotations of the right motor 26 (drive wheel 25) is set to the number of rotations of the left motor 26 (drive wheel 25)). Relatively larger). As a result, the vacuum cleaner main body 11 (main body case 15) is oriented so that the front side, that is, the front side (left front receiving means 33a and right front receiving means 33b) faces the charging device 12 (return signals Ba and Bb). Change (centering).

  Then, the control means 20 receives the feedback signal Ba by the left front receiving means 33a, and runs the motors 26, 26 (26 (26) so as to travel the position where it is determined that the feedback signals Ba, Bb have been received by the right front receiving means 33b. By controlling the operation of the drive wheels 25, 25), the vacuum cleaner main body 11 (main body case 15) meanders slightly to the left and right along the region where the feedback signals Ba, Bb overlap each other to the charging device 12. While being aligned with the charging device 12, it approaches a substantially straight line (FIG. 2 (a)).

  Further, when the vacuum cleaner main body 11 (main body case 15) approaches the charging device 12 to a predetermined distance, for example, a position where the receiving means 33 receives the collision prevention signal S by the approaching operation (approaching traveling operation) ( If it succeeds), move to connection operation. In this connection operation, the control means 20 controls the operation of the motors 26 and 26 (drive wheels 25 and 25) to turn the vacuum cleaner main body 11 (main body case 15) by 180 ° (super turning). The rear charging terminals 48 and 48 (rear receiving means 33g) are turned toward the charging device 12 (FIG. 2 (b)) and receded from the position toward the charging device 12 (FIG. 2 (b)). c)).

  Then, the control means 20 determines the success or failure of the connection depending on whether the connection between the charging terminals 48 and 48 and the charging terminals 53 and 53 is detected. When it is determined that the connection is successful (the charging terminals 48 and 48 and the charging terminals 53 and 53 are connected), the control means 20 stops the cleaning unit 17 and the traveling unit 16 and performs cleaning work. finish. If it is determined that the connection has failed (the charging terminals 48, 48 and the charging terminals 53, 53 are not connected), the position of the vacuum cleaner body 11 (main body case 15) is slightly shifted. Therefore, it is not necessary for the control means 20 to return the vacuum cleaner body 11 (main body case 15) to the approachable range A (approachable position AP), and the vacuum cleaner body 11 The operation of the motors 26 and 26 (drive wheels 25 and 25) is controlled so that the (main body case 15) moves forward by a predetermined distance and the connection operation is performed again.

(Charging work)
After the electric vacuum cleaner main body 11 (charging terminals 48, 48) is connected to the charging device 12 (charging terminals 53, 53), when a predetermined timing, for example, a preset charging start time comes, or the electric vacuum cleaner When a predetermined time elapses after the machine body 11 is connected to the charging device 12, the control means 20 and the device control means 58 shift to the charging mode to drive the charging circuit 52 and charge the secondary battery 21, respectively. To start. When it is determined that the voltage of the secondary battery 21 has increased to a predetermined usable voltage, the control means 20 and the device control means 58 stop the charging by the charging circuit 52 and finish the charging operation, and the control means 20 and the device Each of the control means 58 enters the standby mode.

  In the embodiment described above, when the collision prevention signal S is detected by the receiving means 33, the control means 20 controls the operation of the motors 26 and 26 (drive wheels 25 and 25) so as to be separated from the charging device 12. The vacuum cleaner main body 11 (main body case 15) travels in the direction of travel, and the electric vacuum cleaner main body 11 (main body case 15) is turned and turned from the position separated from the charging device 12 by this travel. In other words, by making the vehicle travel in a U-shape, an approach preparation operation for searching for the feedback signals Ba and Bb is performed by the receiving means 33 (the left front receiving means 33a or the right front receiving means 33b). Therefore, even when the vacuum cleaner body 11 is located in the vicinity of the charging device 12 and it is not easy to detect the feedback signals Ba and Bb, the approach preparation operation more reliably detects the feedback signals Ba and Bb, In addition, the vacuum cleaner main body 11 can be moved to the approachable range A with a distance from the charging device 12. Then, when the receiving means 33 detects the feedback signals Ba and Bb, the control means 20 controls the operation of the motors 26 and 26 (drive wheels 25 and 25), and the electric vacuum cleaner along the feedback signals Ba and Bb. In order to bring the main body 11 (main body case 15) closer to the charging device 12 while aligning with the charging device 12, the charging terminals 48, 48 of the vacuum cleaner main body 11 are connected to the charging terminals 53, 53 of the charging device 12. Can be connected more reliably.

  Further, in the approach preparation operation, the control means 20 travels at a reduced speed when the vacuum cleaner main body 11 (main body case 15) is turned straight and then travels straight, so that the reception means 33 (left front reception means 33a). The right front receiving means 33b) can more reliably detect the feedback signals Ba and Bb.

  Furthermore, the control means 20 is a direction opposite to the output direction of the feedback signals Ba and Bb output from the signal output means 55 of the charging device 12 in the direction in which the vacuum cleaner body 11 (main body case 15) is turned and turned. By doing so, the front portion of the vacuum cleaner main body 11 (main body case 15) can be more reliably opposed to the feedback signals Ba and Bb. For this reason, the left front receiving means 33a and the right front receiving means 33b located at the front part of the vacuum cleaner main body 11 (main body case 15) detect the return signals Ba and Bb, that is, the probability of finding the charging device 12. The charging terminals 48 and 48 of the vacuum cleaner body 11 can be more reliably connected to the charging terminals 53 and 53 of the charging device 12.

  The return signals Ba and Bb can be detected more reliably by the approach preparation operation, and the vacuum cleaner main body 11 (main body case 15) can be easily moved to the approachable range A (approachable position AP) as it is. Transition to operation is easy, the operation is smooth, and the cost required for the design change is small, so that it can be manufactured at low cost.

  In the above embodiment, the base device is the charging device 12 that charges the secondary battery 21. However, for example, any base device such as a dust station for discarding the dust collected in the dust collector 42. It can be. In this case, for example, a dust discharge port provided in communication with the dust collecting portion 42 on the lower surface of the vacuum cleaner main body 11 or the like is used as a connection portion, and the dust is connected to the dust discharge port provided in the charging device 12 and receives dust. By using the receiving port as a connection receiving portion, it can be configured in the same manner as in the above-described embodiment, and the same operational effects can be achieved.

  In addition to starting from the charging device 12, the cleaning operation can be set at an arbitrary position in the cleaning area.

  Furthermore, as the object detecting means 31, for example, a non-contact type distance measuring sensor such as an ultrasonic sensor or an infrared sensor may be used to detect an object located within a predetermined distance without touching.

  And although the electric vacuum cleaner main body 11 was given the function of an autonomous traveling body, as an autonomous traveling body, it is not limited to what cleans.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

10 Electric vacuum cleaner as an autonomous vehicle
11 The main body of the vacuum cleaner as an autonomous vehicle
12 Charging equipment as base equipment
15 Body case
20 Control means
25 Drive wheels
33 Receiving means having functions of feedback signal detecting means and collision prevention signal detecting means
48 Charging terminal as connection
53 Charging terminal as connection receiver
55 Feedback signal output means
56 Collision prevention signal output means

Claims (2)

A base device comprising: a connection receiving unit; a collision prevention signal output unit that outputs a radio signal for collision prevention within a predetermined distance range; and a feedback signal output unit that outputs a radio signal for feedback;
A main body case, a connection portion provided in the main body case and connectable to the connection receiving portion, a drive wheel that allows the main body case to travel on a traveling surface, and the feedback signal output means provided in the main body case Feedback signal detection means capable of detecting a radio signal output from the vehicle, a collision prevention signal detection means provided in the main body case and capable of detecting a radio signal output from the collision prevention signal output means, and Comprising an autonomous traveling body comprising a control means for autonomously traveling the main body case by controlling the operation,
When the control means detects the radio signal output from the feedback signal output means by the feedback signal detection means, the control means approaches the base apparatus while aligning the main body case with the base apparatus along the radio signal. A feedback mode for controlling the operation of the drive wheels to detect the radio signal output from the collision prevention signal output means by the collision prevention signal detection means, and then in a direction away from the base device. The feedback signal detecting means controls the operation of the drive wheels so that the main body case travels, and the main body case is turned and turned from a position away from the base device. An autonomous mobile device characterized by searching for a radio signal output from an output means. The autonomous traveling body according to claim 1, wherein the control means turns the main body case in a turning direction so as to face the output direction of the radio signal output from the feedback signal output means of the base device. apparatus.

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