JP2017134697A - Moving body moving on floor face - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving body, which moves on a floor face, capable of further reliably detecting an obstacle.SOLUTION: A moving body, which moves on a floor face, comprises a light emission element 52, a light receiving element 53 and a front distance measurement sensor 8 provided in a housing. The front distance measurement sensor 8 is fixed so that the light emission element 52 is positioned below the light receiving element 53. When the moving body is installed on a floor face, a main direction of the light emission element 52 is horizontal or upward, so that an obstacle having a surface 58s, which specularly reflects light, such as a full-length mirror can be effectively detected.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a moving body that moves on a floor surface.

  As a mobile body that moves autonomously, for example, an autonomously traveling vacuum cleaner that cleans the floor surface of a room is known. The autonomously traveling vacuum cleaner may include a sensor that senses the presence or absence of a nearby obstacle and the distance to the obstacle. Patent Document 1 includes a light emitting element 52 that emits infrared light, a light projecting lens that converges so that the infrared light travels straight, a light receiving lens that converges infrared light, and a light receiving element 55 that forms an image of the infrared light converged by the light receiving lens. A position sensing device 51 in which the light emitting element 52 is located above the light receiving element 55 is disclosed (0023, FIG. 3, etc.). The position sensing device 51 is attached obliquely downward.

JP 2006-3000927 A

  In the configuration of Patent Document 1, it is desirable to perform, for example, erroneous signal processing in order to prevent the sensor from erroneously detecting that an obstacle or the like exists in the vicinity when infrared rays are reflected on the floor surface (0040-0045). etc). When such processing is desired for obstacle detection, it takes some time to determine how to actually drive the moving body after the sensor detects some signal. For this reason, it is necessary to suppress the speed of the moving body or introduce a higher performance computing unit.

  In addition, an object that specularly reflects light, such as a figure, may be installed on the floor surface on which the autonomous traveling cleaner moves. Since the specular reflection has a smaller light reflection angle range than the diffuse reflection, it is difficult to be incident (reflected) on the light receiving element of the sensor even if it is exposed to light such as infrared rays emitted from the sensor. For this reason, the structure which can detect the obstruction which produces specular reflection more reliably is desired.

  A first aspect of the present invention made in view of the above circumstances is a moving body that includes a sensor in which a light emitting element and a light receiving element are arranged in a housing and moves on a floor surface, and the light emitting element is the light receiving element. When the sensor is mounted so as to be positioned further downward and the movable body is installed on a floor surface, the main direction of the light emitting element is horizontal or upward.

  In addition, the second aspect of the present invention made in view of the above circumstances is a moving body that includes a sensor in which a light emitting element and a light receiving element are arranged in a housing, and moves on a floor surface. The sensor is mounted so that the light receiving element is positioned at substantially the same height, and the main direction of the light emitting element is horizontal or downward when the movable body is installed on the floor surface. .

  ADVANTAGE OF THE INVENTION According to this invention, the moving body which moves the floor surface which can perform an obstacle detection more reliably can be provided.

The perspective view which looked at the autonomous running type vacuum cleaner concerning Embodiment 1 from the left front. FIG. 2 is a bottom view of the autonomous traveling vacuum cleaner according to the first embodiment. AA sectional drawing of FIG. The perspective view which shows the internal structure which removed the case of the autonomous running type vacuum cleaner which concerns on Embodiment 1. FIG. FIGS. 5a to 5d are diagrams illustrating scenes in which an autonomous traveling type vacuum cleaner that employs a distance measuring sensor using the position detection element according to the first embodiment tries to detect appearance. FIGS. 5A and 5B are diagrams showing a case where the surface on the side where specular reflection of the appearance is facing the distance measuring sensor using the position detection element. FIGS. 5c and 5d are diagrams showing a case where a surface on the side where diffuse reflection of appearance is caused faces a distance measuring sensor using a position detection element. 6a to 6d: FIGS. 6A to 6D are diagrams illustrating scenes in which an autonomous traveling type vacuum cleaner adopting a distance measuring sensor using the position detection element according to the second embodiment tries to detect appearance. FIGS. 6A and 6B: FIGS. 6A and 6B are diagrams illustrating a case in which a surface on the side where specular reflection occurs is facing a distance measuring sensor using a position detection element. FIGS. FIGS. 6c and 6d are diagrams showing a case where a surface on the side where diffuse reflection of appearance is caused is opposed to a distance measuring sensor using a position detection element. FIGS. 7a to 7d are diagrams showing scenes in which a detection of appearance is attempted when a distance measuring sensor attached to an autonomous traveling vacuum cleaner according to a comparative example is used. FIGS. 7A and 7B: FIGS. 7A and 7B are diagrams illustrating a case where a specular reflection-side surface of a figure is facing a distance measuring sensor. FIGS. FIGS. 7c and 7d are diagrams showing a case where the surface on the side where diffuse reflection of the appearance is generated faces the distance measuring sensor. FIGS. 8A and 8B are diagrams showing a scene where the specular reflection side surface of the appearance is attempted when the front distance measuring sensor attached to the autonomous traveling vacuum cleaner according to the third embodiment is used. FIG. 8a: A diagram showing a case where the appearance is substantially perpendicular to the floor surface. FIG. 8b: A diagram showing a case where the appearance is upward with respect to the floor surface. FIG. 9 is a perspective view of a front distance measuring sensor 8 according to a fourth embodiment. FIG. 10a and FIG. 10b: Detection of the specular reflection side surface of the appearance provided upward with respect to the floor surface when the front distance measuring sensor attached to the autonomous traveling vacuum cleaner according to the fourth embodiment is used. The figure which showed the scene which tries. FIG. 10a: side view. FIG. 10b: Top view.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Similar components are denoted by the same reference numerals, and the same description will not be repeated.
The various components of the present invention do not necessarily have to be independent of each other. A plurality of components are formed as a single member, and a single component is formed of a plurality of members. It is allowed that a certain component is a part of another component, a part of a certain component overlaps a part of another component, and the like.

[Embodiment 1]
In the present embodiment, as an example of a moving body that can detect an obstacle and moves on the floor surface, an autonomous traveling type vacuum cleaner S that is mounted with a sensor and moves along the floor surface by drive wheels will be described. The moving body is not necessarily moved by the drive wheel, and may be a moving body that moves by, for example, a crawler, walking with one or more feet, or flying near the floor, for example.

<Autonomous vacuum cleaner S>
(Overview)
1 is a perspective view of the autonomous traveling cleaner S according to the present embodiment as viewed from the left front side, FIG. 2 is a bottom view of the autonomous traveling cleaner S, and FIG. 3 is a cross-sectional view taken along line AA in FIG. FIG. 3 is a perspective view showing the internal configuration of the autonomous traveling cleaner S with the upper case 1u removed. FIG. 4 shows a state where the dust collecting case 12 is removed.

  The autonomously traveling vacuum cleaner S has a case 1 (upper case 1u, lower case 1s) that constitutes an outer shell, and includes various sensors therein. In the autonomously traveling cleaner S, the drive wheels 2 and 3 provided on the lower case 1s side are grounded to the floor surface Y, and the wheel units 20 and 30 rotate the drive wheels 2 and 3 in the front-rear direction. It is movable. Of the directions in which the autonomously traveling cleaner S travels, the side on which the side brush 7 is provided is the front. Further, the vertical upward direction is the upper direction, the driving wheels 2 and 3 are facing each other, the driving wheel 2 side is the left side, and the driving wheel 3 side is the right side. That is, as shown in FIG.

  The autonomous traveling cleaner S includes a pair of driving wheels 2 and 3, an auxiliary wheel 4, a rotating brush 5, a side brush 7, and a floor surface ranging sensor 16 on the lower case 1 s side. The autonomously traveling cleaner S moves autonomously by the driven auxiliary wheels 4 in addition to the drive wheels 2 and 3 that rotate by receiving rotational force from the motor. Autonomous traveling type vacuum cleaner S can move forward, backward, turn left and right, turn in super trust, etc. by changing the rotational speeds of drive wheels 2 and 3 to different values or by turning the rotation direction the same or reverse. It is.

  The autonomously traveling cleaner S includes a front distance measuring sensor 8 between the upper case 1u and the lower case 1s, that is, on the side surface. One or two or more front ranging sensors 8 can be provided on the front side of the autonomously traveling cleaner S. The autonomously traveling vacuum cleaner S of the present embodiment has a front ranging sensor 8a that detects the presence or absence of an obstacle present on the front side or a distance to the obstacle as the front ranging sensor 8, and an obstacle present on the side surface. Side ranging sensors 8b and 8c that detect the presence or absence of an object or the distance to an obstacle, the front of the side and the side, that is, the presence or absence of an obstacle that exists in front of the diagonal or the front of the diagonal that detects the distance to the obstacle Distance sensors 8d and 8e are provided. These front ranging sensors 8 can perform sensing using light such as infrared rays and visible light. Light can pass inside and outside the case 1 through a window 6 provided on the front side surface of the autonomously traveling cleaner S. Details of the front distance measuring sensor 8 will be described later. In addition, the window 6 is provided in the bumper 1b on the side surface of the autonomous traveling type cleaner S.

  The floor ranging sensor 16 can be a ranging sensor using infrared rays for measuring the distance to the floor, and one or more ranging sensors can be provided on the lower surface of the lower case 1s so as to face downward. . The autonomously traveling vacuum cleaner S of the present embodiment has floor surface ranging sensors 16a, 16b, 16c, and 16d on the front, rear, left and right of the lower surface of the lower case 1s. When the floor distance measuring sensor 16 detects a level difference of, for example, about 30 mm or more, the control device 10 can control the drive wheels 2 and 3 to move the autonomous traveling cleaner S backward or the like. In this way, by detecting a large step such as a staircase by the floor surface ranging sensor 16, the autonomous traveling cleaner S can be prevented from falling.

(Dust collection)
As shown in FIG. 3 and the like, the autonomously traveling cleaner S includes a rotating brush 5 and a side brush 7 on the lower case 1s side, and a rechargeable battery 9, a control device 10 (control board), and suction inside the case 1. A fan 11 and a dust collection case 12 are provided.

  The electric power from the rechargeable battery 9 is obtained by using a front distance measuring sensor 8, a bumper sensor 15, a floor surface distance measuring sensor 16, a control device 10, a motor for driving the drive wheels 2 and 3 and various brushes 5 and 7, and a suction fan 11. Etc.

  The rotating brush 5 can scrape dust existing on the floor surface Y and send it to the dust collecting case 12 in the case 1. The side brush 7 can blow away dust existing on the floor surface Y toward the rear. The rotating brush 5 is located behind the side brush 7 and easily scrapes dust that is blown off by the side brush 7.

  The dust collection case 12 has a suction port 12 i connected to a suction port 14 located above the rotary brush 5. The dust collection case 12 has an opening different from the suction port 12i, and a dust collection filter 13 is attached thereto. The dust collection filter 13 suppresses dust from leaking out of the dust collection case 12.

  The suction fan 11 is disposed between the upper case 1u and the lower case 1s in the vicinity of the center of the autonomous traveling cleaner S in the front-rear direction and the left-right direction. When the suction fan 11 is driven, a flow can be generated in which air is sucked into the dust collecting case 12 from the floor surface Y through the suction port 14 and discharged to the outside through the exhaust port 1s5. The dust is sent into the dust collection case 12 together with the air, and the dust is stored in the dust collection case without passing through the dust collection filter 13. The air flows in order from the suction port 14 toward the downstream side through the suction port 12i, the dust collection case 12, the dust collection filter 13, the suction fan 11, and the exhaust port 1s5 illustrated in FIG. The exhaust port 1s5 can be provided within the range of the suction fan 11 in the front-rear direction and inside the drive wheels 2 and 3 in the left-right direction. Thereby, the flow path from the suction fan 11 to the exhaust port 1s5 can be shortened. The suction port 14 is provided on the upper rear side of the rotating brush 5 that scrapes dust on the floor surface. The rotary brush 5 receives a rotational force from the rotary brush motor 5m.

(Detection of obstacle collision)
Among the side surfaces of the autonomously traveling cleaner S, the front side is a bumper 1b and is movable rearward. The bumper 1b is urged outward by a pair of left and right bumper springs (not shown). When the autonomously traveling cleaner S receives a force behind and the bumper 1b moves backward, the bumper sensor 15 detects this. As the bumper sensor 15, for example, a photocoupler can be used. When an obstacle comes into contact with the bumper 1b, the sensor light is blocked by the backward movement of the bumper 1b. A detection signal corresponding to this change is output to the control device 10.
In addition, the autonomously traveling vacuum cleaner S is comprehensively controlled by the control device 10.

(Floor distance measuring sensor 16)
In front of the driving wheels 2 and 3 of the lower case 1s, floor surface ranging sensors 16b and 16c are provided. Also, floor surface ranging sensors 16a and 16d are provided in front of the auxiliary wheel 4 of the lower case 1s and behind the rotating brush 5, respectively. The floor surface ranging sensor 16 detects whether or not an object (for example, the floor surface Y) exists within a predetermined distance below itself. This will be described by exemplifying the floor surface distance measuring sensors 16b and 16c. The floor surface distance measuring sensors 16b and 16c emit infrared rays to the light emitting elements 18 and reflect the infrared rays reflected by the objects. The determination can be made by whether or not the light receiving elements 17 of 16b and 16c detect.

  As the floor surface ranging sensor 16, the same sensor as the front ranging sensor 8 described later can be used. The light emitting element 18 of the distance measuring sensor 16 for floor is installed outside the autonomously traveling cleaner S as compared with the light receiving element 17. By setting the light emitting element 18 to the outside, when there is a step in the traveling direction of the autonomously traveling cleaner S, the emitted light reaches the outside more than the extension of the object relatively quickly. It will not be incident on. For this reason, the level | step difference of a floor surface, etc. can be detected at an early stage. In particular, the light emitting elements 18 of the floor surface ranging sensors 16b and 16c provided in front of the wheels 2 and 3 are also used to detect a step of the floor surface Y at an early stage when the autonomous traveling cleaner S moves forward. It is desirable to provide the front side as compared with the light receiving element 17.

  Further, in order to detect the step earlier, the light projecting direction of the light emitting element of the floor surface ranging sensor 16 is set obliquely downward toward the outside of the autonomously traveling cleaner S main body as compared with the direct downward direction. ing. The positions and light projecting directions of the light emitting elements 18 of these floor surface ranging sensors 16 are particularly effective when the main body is small and the distance between the driving wheels 2 and 3 and the floor ranging sensor 16 is short.

(Forward distance measuring sensor 8)
The front distance measuring sensor 8 is a distance measuring sensor that measures the distance to an obstacle using light such as infrared rays and visible light. As described above, the front distance measuring sensor 8 according to the present embodiment includes the front distance measuring sensor 8a provided on the front face of the main body, the left side distance measuring sensor 8b provided on the left side surface as the side distance measuring sensor, and the right side surface. The provided right side distance measuring sensor 8c, the oblique left distance measuring sensor 8d provided between the front distance measuring sensor 8a and the left side distance measuring sensor 8b as the oblique front distance measuring sensor, the front distance measuring sensor 8a and the right side surface. There are a total of five oblique right distance measuring sensors 8e provided between the distance measuring sensors 8c.

  These can be provided at a predetermined distance, for example, a position of 5 to 15 mm, from the window 6 on the surface of the main body. The front distance measuring sensor 8 according to the present embodiment senses light from an obstacle, for example, infrared reflected light. Therefore, if the obstacle is too close to the front distance measuring sensor 8, it is difficult to receive the reflected light. Therefore, it is installed inside 5 to 15 mm from the window 6. The window 6 can be formed of resin or glass that transmits light, for example, infrared rays. The light emitted from the front distance measuring sensor 8 may be an ultraviolet ray or a laser.

  The front distance measuring sensor 8a, the left side distance measuring sensor 8b, and the right side distance measuring sensor 8c can be, for example, distance measuring sensors using position detection elements. The oblique left distance measuring sensor 8d and the oblique right distance measuring sensor 8e can be, for example, distance measuring sensors using phototransistors. In view of the fact that the position detecting element is more expensive than the phototransistor, the position detecting element is used for the front distance measuring sensor 8a, the left side distance measuring sensor 8b, and the right side distance measuring sensor 8c that are relatively easy to use. This is because phototransistors are used for the other oblique left distance measuring sensor 8d and the oblique right distance measuring sensor 8e.

  The position detection element is provided with a light receiving surface whose output can be changed depending on the position where light hits, whereby the distance to the light source can be measured. By providing the distance measuring sensor in the autonomously driven vacuum cleaner S in the manner described below, it is possible to effectively detect the obstacle 58 having a mirror-reflecting surface 58s such as a look. Hereinafter, detection of an obstacle (appearance) 58 provided with a surface 58s mainly having specular reflection and a surface 58d mainly having diffuse reflection on the opposite side will be described as the obstacle 58.

(Structure and operating principle of distance sensor using position detector)
FIGS. 5a to 5d are views showing scenes in which an autonomous traveling type vacuum cleaner S employing the distance measuring sensor 8 using the position detection element 53 according to the present embodiment tries to detect the appearance 58. FIG. 5a and 5b are diagrams showing a case in which the surface 58s on the side of the spectacle 58 that causes specular reflection faces the distance measuring sensor 8 using the position detection element 53. FIGS. FIG. 6 is a diagram showing a case where a surface 58d on the side where diffuse reflection occurs faces the distance measuring sensor 8 using the position detection element 53. In either case, the light from the light emitting element 52 is indicated by a broken line, and the reflected light reflected by the obstacle 58 is indicated by a two-dot broken line.

  As the obstacle, it is possible to envisage a figure 58 or the like in which one surface side is formed with a mirror and is specularly reflected, and the other surface side is formed with, for example, wood and diffusely reflects. Since the figure 58 is usually used for a person to view and confirm his / her whole body, the figure 58 is installed so that the surface 58s that is substantially perpendicular to the floor surface Y or mirror-reflected faces upward. Is normal. That is, even when the figure 58 is provided substantially perpendicular to the floor surface Y as shown in FIGS. 5a and 5c, the surface 58s on the side that causes specular reflection with respect to the floor surface Y as shown in FIGS. In some cases, it may be provided. According to this embodiment, even if the appearance 58 is installed in any of these modes, the presence can be detected effectively.

  The distance measuring sensor 8 using the position detection element 53 includes a substrate 51 including a light emitting element 52 and a position detection element 53, and a light receiving lens 55 inside the sensor housing 50. Reflected light is incident on the position of the position detection element 53 according to the positional relationship between the distance measuring sensor 8 and the obstacle 58 by the light receiving lens 55.

  The light emitting element 52 can emit light. The position detecting element 53 can distinguish and output to which position on the light receiving surface of the position detecting element 53 the light having the wavelength of the light emitted from the light emitting element 52 is irradiated. As the light emitting element 52, for example, an infrared LED can be used, but an LED that emits visible light, ultraviolet light, laser, or the like may be used.

  The sensor housing 50 has a surface erected in a direction perpendicular to the surface of the substrate 51 around the substrate 50, and similarly between the surface of the substrate 51 and the light emitting element 52 and the position detection element 53. It has the partition member 56 standingly arranged in the perpendicular direction. The partition member 56 can prevent light emitted from the light emitting element 52 from directly entering the position detecting element 53.

  A light receiving lens 55 is provided in front of the position detection element 53. Light that approaches the light receiving lens 55 from the opposite side of the position detecting element 53 via the light receiving lens 55 is converged linearly by the light receiving lens 55 and irradiated to the position detecting element 53. Therefore, when the light emitted from the light emitting element 52 is reflected on the surface of the obstacle 57, the reflected light is converged linearly by the light receiving lens 55. This light is applied to the light receiving surface of the position detection element 53. Which position on the light receiving surface is irradiated is determined according to the positional relationship between the sensor housing 50 and the obstacle 58. Using the output of the distance measuring sensor 8, the autonomous traveling cleaner S can measure the distance from the distance measuring sensor 8 for itself or the front distance measuring sensor 8 to the obstacle 58.

(Relationship between the light emitting element 52 and the light receiving element 53 of the distance measuring sensor 8 using the position detecting element)
The distance measuring sensor 8 of this embodiment is attached to the autonomous traveling cleaner S so that the light emitting element 52 is below the position detecting element 53, that is, the position detecting element 53 is above the light emitting element 52. Thus, the obstacle 58 such as the appearance can be detected more reliably. Details will be described below.

  First, the case where the autonomously traveling cleaner S approaches the surface 58s on the specular reflection side of the figure 58 (FIGS. 5a and 5b) will be described.

  For example, when the specular reflection side surface 58s is substantially vertical as shown in FIG. 5a, the light reflected by the light emitted from the light emitting element 52 obliquely upward and forward is reflected obliquely upward and is a light receiving lens positioned above the light emitting element 52. 55 is incident. As shown in FIG. 5b, when the surface on the specular reflection side is upward, the light is similarly incident on the light receiving lens 55. In this case, however, the light reflected by the light emitted from the light emitting element 52 is also incident on the light receiving lens 55. Cheap.

  Further, as shown in FIGS. 5c and 5d, the surface 58d on the diffuse reflection side is easier to detect because it has a wider reflection range than the specular reflection, and thus the appearance 58 can be detected.

  At this time, since the light emitting element 52 is on the lower side and the light receiving element 53 is on the upper side, even if the light emitted from the light emitting element 52 obliquely downward and forward is reflected by the floor surface Y, it may enter the light receiving element 53. Relatively small. Further, in this embodiment, since the relationship between the vertical positions of the light emitting element 52 and the light receiving element 53 is set in this way, as described later, the distance measuring sensor 8 may be horizontal or upward rather than downward. preferable. In this case, since the light emitted from the light emitting element 52 does not easily reach the floor surface Y, erroneous detection can be suppressed. That is, the possibility of erroneously detecting the presence of an obstacle with the reflected light from the floor surface Y can be reduced. The light emitting element 52 may emit light having substantially the same intensity in any direction, but has the highest intensity in a certain direction (hereinafter, this direction is referred to as a main direction). It is preferable to use the one whose light intensity decreases as the distance from the object increases. In the present embodiment, as the light emitting element 52, an element provided so that the direction perpendicular to the substrate 51 is the main direction is used. That is, the light emitted so that the light emitted in the direction perpendicular to the substrate 51, which is the main direction, is the strongest and the light becomes relatively weaker as it deviates from the main direction. Such a light emitting element 52 can be realized by using a known LED or the like. Usually, the main direction of the LED or the like is the center of the surface as in the light emitting element 52 of the present embodiment, that is, the direction perpendicular to the substrate 51 when attached to the substrate 51, but as described above, An LED or the like whose direction is the main direction may be created and used. Note that the light emitting element 52 is not necessarily attached directly to the substrate 51. In this case, the main direction of the light emitting element 52 may be fixed so as to be horizontal or upward as described later.

(Mounting direction of the distance measuring sensor 8 using the position detecting element)
The distance measuring sensor 8 using the position detecting element is attached to the autonomous traveling type cleaner S so that the main direction of the light emitting element 52 is horizontal or upward with respect to the floor surface Y. That is, in the present embodiment, the distance measuring sensor 8 is attached so that the substrate 51 faces horizontally or upward. As a result, it is possible to suppress erroneous detection caused by the light emitted from the light emitting element 52 being reflected by the floor surface Y and entering the light receiving element 53.

  In other words, the distance measuring sensor 8 may be attached so that the main direction of the light emitting element 52 is 0 ° (horizontal) with respect to the floor surface. For example, it is easy to detect the appearance 58 that is substantially perpendicular to the floor surface. From the viewpoint of reducing the possibility of erroneous detection of the floor surface Y, it is preferable that the floor surface Y is mounted upward. The upward angle can be 1 ° or more with respect to the horizontal floor surface Y, but is preferably 5 ° or more, 10 ° or more, and more preferably 15 ° or more. The upper limit of the upward angle is preferably 25 ° or less in consideration of the angle (5 ° to 15 °) at which the appearance 58 is normally placed.

  In addition, as a moving body, the thing by which the distance of the ranging sensor 8 with respect to the floor surface Y is maintained substantially constant is preferable. This is because with such a moving body, an appropriate installation angle of the distance measuring sensor 8 can be easily determined. That is, the moving body is preferably one that moves along the shape of the floor surface Y, such as the drive wheels 2 and 3 and the crawler.

  In addition, the sensor housing 50 may have a shape in which the distance measuring sensor 8 is an independent member as in the present embodiment, or a space provided with a recess in the case 1 of the self-supporting vacuum cleaner S as a moving body. It is good.

[Embodiment 2]
The configuration of the present embodiment can be the same as that of the first embodiment except for the following points.
6a to 6d are diagrams showing a scene in which an autonomous traveling type vacuum cleaner S employing the distance measuring sensor 8 using the position detection element 53 according to the present embodiment tries to detect the appearance 58. FIG. 6a and 6b are diagrams showing a case where the surface 58s on the side of the spectacle 58 that causes specular reflection faces the distance measuring sensor 8 using the position detection element 53, and FIGS. 6c and 6d are diffuse reflections of the spectacle 58. FIG. 6 is a diagram showing a case where a surface 58d on the side where the light is generated is opposed to the distance measuring sensor 8 using the position detection element 53. In either case, the light from the light emitting element 52 is indicated by a broken line, and the reflected light reflected by the obstacle 58 is indicated by a two-dot broken line.

  In the present embodiment, a light projection lens 54 is provided in front of the light emitting element 52. The light emitted from the light emitting element 52 converges linearly by the light projecting lens 54 and travels outside the sensor housing 50. Thereby, the possibility that the light emitted from the light emitting element 52 travels obliquely downward and forward and is reflected on the floor surface Y can be reduced. In the present embodiment, since the light emitted from the light emitting element 52 is converged, in order to effectively detect the surface 58s on the side where specular reflection occurs, the distance measuring sensor 8 is attached upward rather than horizontally. Is preferred.

[Comparative example]
FIG. 7 is a diagram illustrating a scene in which the detection of the appearance 58 is attempted when the distance measuring sensor 80 as a comparative example is attached to the autonomous traveling type cleaner S. FIGS. 7 a and 7 b show a case where the surface 58 s on the side of the appearance 58 that causes specular reflection faces the distance measuring sensor 80. 7c and 7d show a case where the surface 58d on the side of the appearance 58 that causes diffuse reflection faces the distance measuring sensor 80. FIG.

  The distance measuring sensor 80 in the comparative example is attached to the autonomously driven cleaner S so that the light emitting element 520 is located on the upper side and the light receiving element 530 is located on the lower side. For this reason, the light reflected by the floor surface Y is likely to enter the light receiving element 53 and erroneous detection is likely to occur.

  Further, as described above, the appearance 58 is usually installed so that the specular reflection side surface 58s is substantially vertical or upward. Then, in the case of the comparative example, at least when approaching the specular reflection side surface 58s (FIGS. 7a and 7b), the light emitted from the light emitting element 520 is difficult to enter the light receiving element 530. This is particularly noticeable when the distance measuring sensor 8 is mounted upward. Therefore, it is difficult to detect the appearance 58. The same applies when the projection lens 540 is not provided.

[Embodiment 3]
The configuration of this embodiment can be the same as that of Embodiment 1 or 2 except for the following points.
FIGS. 8a and 8b are diagrams showing a scene in which the detection of the surface 58s on the specular reflection side of the appearance 58 is attempted when the distance measuring sensor 8 of the present embodiment attached to the autonomous traveling cleaner S is used. . FIG. 8a shows a case where the appearance 58 is substantially perpendicular to the floor surface Y, and FIG. 8b shows a case where it is upward.

  The light emitting element 52 of the present embodiment is attached to the sensor housing 50 at an angle. More specifically, it is attached so as to be inclined in the direction facing the light receiving element 53 and the light receiving lens 55. The light projecting lens 54 is provided so as to be inclined at substantially the same angle as the inclination angle of the light emitting element 52.

  If the distance measuring sensor 8 is configured in this way, the same effect as in the first or second embodiment can be obtained without attaching the sensor housing 50 to the autonomously driven vacuum cleaner S with the sensor housing 50 inclined. It is difficult to cause a dead space when arranging the members.

  Further, even when the distance measuring sensor 8 is attached downward with respect to the autonomous traveling cleaner S, the same effect can be obtained as long as the light emitting element 52 is horizontal or upward with respect to the floor surface. The angle of the light emitting element 52 with respect to the floor surface may be horizontal (0 °). For example, it is preferable that the light emitting element 52 is mounted upward from the viewpoint of easy detection of the appearance 58 that is substantially perpendicular to the floor surface. The upward angle can be 1 ° or more with respect to the floor surface, but is preferably 5 ° or more, 10 ° or more, and more preferably 15 ° or more. The upper limit of the upward angle is preferably 25 ° or less in consideration of the angle (5 ° to 15 °) at which the appearance 58 is normally placed.

  In addition, since only the light emitting element 52 is inclined and attached, the distance measuring sensor 8 itself can be attached horizontally. For this reason, the angle of the light receiving lens 55 can be made closer to the horizontal than the light emitting element 52. . As a result, external light from illumination or the like is less likely to be incident from the front surface of the light receiving lens, and the influence on the measurement value can be reduced. In this case, the angles of the light receiving lens 55 and the light receiving element 53 are not particularly limited as long as they are closer to the horizontal than the light emitting element 52. However, from the viewpoint of reducing the possibility of erroneous detection of the floor surface Y, the angle is not horizontal but horizontal or upward. Preferably there is.

  In the present embodiment, the light emitting element 52 is attached to be inclined with respect to the substrate 51, but the substrate 51 itself may be inclined and the light emitting element 52 may be disposed substantially perpendicular to the substrate 51. Further, the light projection lens 54 may be adjusted in order to incline the main direction of light emission from the sensor 8. Moreover, the light of the light emitting element 52 may be specularly reflected in the sensor 8 to change the light projecting direction. The direction of light in which the main direction of light emission from the sensor 8 is inclined as described above can be confirmed by measuring the light distribution or measuring the direction in which the output is increased by a photodiode or the like.

  For example, when the autonomous traveling cleaner S having a substantially circular case 1 is used as the moving body, the components are relatively likely to concentrate on the left side and the right side. For this reason, from the viewpoint of component layout, the distance measuring sensor 8 of the present embodiment is more preferably employed as the left side distance measuring sensor 8b or the right side distance measuring sensor 8c.

[Embodiment 4]
The configuration of the present embodiment can be the same as that of the first embodiment except for the following points.
FIG. 9 is a perspective view of the distance measuring sensor 8 according to the present embodiment, and FIGS. 10A and 10B illustrate the floor surface when the front distance measuring sensor 8 according to the present embodiment attached to the autonomous traveling cleaner S is used. It is the figure which showed the scene which tries detection of the surface 58s by the side of the specular reflection of the figure 58 provided facing upwards. 10a is a side view and FIG. 10b is a top view.

  The distance measuring sensor 8 of this embodiment senses, for example, infrared rays by a phototransistor. A sensor substrate 51 is built in a sensor housing 50 having a substantially rectangular parallelepiped shape. The sensor substrate 51 is provided with a light emitting element 52 and a phototransistor 73 as a light receiving element arranged in the horizontal direction. A partition member 56 is provided between the light emitting element 52 and the phototransistor 73.

  In the distance measuring sensor 8 of the present embodiment, the light emitting element 52 and the light receiving element 73 are arranged in the horizontal direction. Therefore, it is preferable that the distance measuring sensor 8 is attached so that the main direction of the light emitting element 52 is horizontal or downward.

  A light projection lens is not provided in front of the light emitting element 52, and the light from the light emitting element 52 travels at a wide angle. As a result, even when the obstacle is specularly reflected, the light from the light emitting element 52 is projected over a wide range, so that the light easily enters the phototransistor 53. The light receiving lens may or may not be provided. It is preferable to use light emitted from the light emitting element 52 such that the light is strongest in the horizontal direction and becomes relatively weak as it deviates from the horizontal direction. Thereby, even if the light reflected on the floor surface enters the phototransistor 73, the intensity thereof is small, so that the possibility of erroneous detection can be reduced. As in the first embodiment, an isotropic light source, that is, a light source that has no main direction or can interpret the front direction as the main direction may be used.

  The distance measuring sensor 8 is attached to the autonomously traveling cleaner S so that the light emitting element 52 and the phototransistor 73 are located at substantially the same height. The main direction of the light emitting element 52 is directed to the floor surface side, that is, obliquely downward. By doing in this way, it can project light substantially perpendicularly to the mirror surface of the appearance that is installed inclined upward. For this reason, the reflected light is reflected toward the phototransistor 73 located at substantially the same height as the light emitting element 52. When the appearance is substantially perpendicular to the floor surface, the light emitting element 52 projects light at a wide angle, so that the reflected light can enter the light receiving element 73 as well.

  Since the light receiving element 73 is substantially the same height as the light emitting element 53, the possibility of erroneous detection due to reflection on the floor surface Y can be reduced as compared with the comparative example.

  Therefore, the present embodiment can provide the same effects as those of the first embodiment. The distance measuring sensor 8 may be horizontal, but it is preferable to incline downward, for example, in the range of 1 ° to 25 °. The light receiving element 73 may be a photodiode instead of a phototransistor.

  Note that the light emitting element 52 may be inclined with respect to the housing 50 in the same manner as in the third embodiment. Further, similarly to the first embodiment, the distance measuring sensor 8 using the position detecting element 53 may be adopted, and the light emitting element 52 and the light receiving element 53 may be attached so as to have substantially the same height.

DESCRIPTION OF SYMBOLS 1 Case 2, 3 Driving wheel 4 Auxiliary wheel 5 Rotating brush 6 Window 7 Side brush 8 Front ranging sensor 9 Rechargeable battery 11 Suction fan 12 Dust collection case 14 Suction mouth 15 Bumper sensor 16 Floor surface ranging sensor 52 Infrared LED (light emission) element)
53 Position detection element (light receiving element)
54 Projection lens 55 Light reception lens 58 Obstacle having a surface mainly reflecting specular reflection and a surface mainly reflecting diffuse reflection 58s A surface mainly reflecting specular reflection 58d A surface mainly indicating diffuse reflection 73 Phototransistor (light receiving element)
S autonomous running type vacuum cleaner

Claims (6)

A moving body that includes a sensor in which a light emitting element and a light receiving element are arranged in a housing and moves on a floor surface,
The sensor is attached so that the light emitting element is located below the light receiving element,
A moving body characterized in that when the moving body is installed on a floor surface, the main direction of the light emitting element is horizontal or upward. When the moving body is installed on the floor, the main direction of the light emitting element is upward by 1 ° or more,
The moving body according to claim 1, further comprising a light projecting lens in front of the light emitting element. The light emitting element is attached in a direction that is substantially perpendicular to the substrate to which the light emitting element is attached and is inclined in a direction facing the light receiving element,
The moving body according to claim 1 or 2, wherein the light receiving element or a light receiving lens provided in front of the light receiving element is attached in a horizontal direction as compared to a direction in which the light emitting element faces. . A moving body that includes a sensor in which a light emitting element and a light receiving element are arranged in a housing and moves on a floor surface,
The sensor is attached so that the light emitting element and the light receiving element are located at substantially the same height,
The moving body characterized in that a main direction of the light emitting element is horizontal or downward when the moving body is installed on a floor surface.   The moving body according to claim 4, wherein the light emitted from the light emitting element travels outside the sensor without passing through a light projecting lens.   The moving body according to any one of claims 1 to 5, wherein the moving body moves along a shape of a floor surface.

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