JP2018078222A - Detector, self-propelled vacuum cleaner using the same and optical sensor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a detector capable of accurately detecting a floor material.SOLUTION: Disclosed is a detector 1 for detecting the surface of an object to be detected. The detector includes: a housing 2 movable along the surface of the object to be detected; and an optical sensor 4 attached to the housing 2 including a light-emitting element 31 which emits light toward the object to be detected and a light receiving element 13 for receiving the light 34 reflected by the object to be detected. The optical sensor 4 includes plural units for at least either one of the light-emitting element 31 and the light receiving element 13.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a detector that detects a material of a floor surface.

  Conventionally, there has been known a detector that includes a sensor in a casing movable on the floor surface and detects the material of the floor surface.

Japanese Patent Laying-Open No. 2005-211364

  However, the conventional detector described in Patent Document 1 does not have sufficient detection accuracy of the floor material.

  An object of the present disclosure is to provide a detector that solves the above-described problems and can detect the material of the floor surface with high accuracy.

  In order to solve the above problems, a detector according to the present disclosure is a detector that detects a surface of a detection target, a casing that is movable along the surface of the detection target, and a detector that is attached to the casing. And a light sensor including a light emitting element that emits light toward the detected object and a light receiving element that receives light reflected by the detected object, wherein the light sensor includes, among the light emitting element and the light receiving element, It was set as the structure provided with two or more at least any one.

  With this configuration, the present disclosure can detect the floor surface with high accuracy.

Top view of the detector of the first embodiment Side sectional view of the detector Side sectional view of the optical sensor of the detector Mounting view from the bottom side of the board built in the optical sensor Schematic diagram of the same optical sensor A graph showing the relationship between the installation angle of the light receiving element and the amount of received light when the object to be detected is a surface close to specular reflection. Graph showing the relationship between the installation angle of the light receiving element and the amount of light received when the object to be detected is a diffuse reflection surface The figure which shows the modification of the detector of Embodiment 1. FIG. Schematic diagram of the optical sensor of the second embodiment A graph showing the relationship between the installation angle of the position detection element and the amount of received light when the object to be detected is a surface close to specular reflection. Graph showing the relationship between the installation angle of the position detection element and the amount of received light when the object to be detected is a diffuse reflection surface A graph showing the difference in output of the position detection element depending on the hardness of the object to be detected Side sectional view of the optical sensor according to the third embodiment. Mounting view from the bottom side of the board built in the optical sensor Schematic diagram of the same optical sensor Schematic diagram of the optical sensor of the fourth embodiment Schematic diagram of the optical sensor of the fifth embodiment A graph showing the relationship between the installation angle of the position detection element and the amount of received light when the object to be detected is a surface close to specular reflection. Graph showing the relationship between the installation angle of the position detection element and the amount of received light when the object to be detected is a diffuse reflection surface Schematic diagram of the optical sensor of the sixth embodiment Top view of self-propelled cleaner of embodiment 7. Side view of the self-propelled vacuum cleaner

  Below, the detector concerning an embodiment and the vacuum cleaner using the same are explained using a drawing. In addition, in each drawing, about the same structure, the same code | symbol is attached | subjected and description is abbreviate | omitted. In addition, each component in each embodiment may be arbitrarily combined within a consistent range. The configuration in each embodiment can be changed without departing from the scope of the invention.

(Embodiment 1)
Hereinafter, the detector 1 according to the first embodiment will be described with reference to the drawings.

  1 is a top view of the detector 1 according to the first embodiment, FIG. 2 is a side sectional view of the detector 1, FIG. 3 is a side sectional view of the optical sensor 4 of the detector 1, and FIG. FIG. 5 is a schematic diagram of the optical sensor 4 of the detector 1. FIG. For convenience of explanation, FIG. 5 shows that the light emitting element and the light receiving element are located below the lower surface.

  As shown in FIGS. 1 and 2, the detector 1 processes a housing 2, a wheel 3 provided in the housing 2, a light sensor 4 attached to the housing 2, and an output signal of the light sensor 4. It has ASIC5. Since the detector 1 has the wheels 3, the detector 1 can travel on the surface of the floor 6 that is the detection target of the detector 1. The wheel 3 includes two drive wheels 7 and auxiliary wheels 8. In the following description, the movement direction of the detector 1 will be described as the X-axis direction, the direction orthogonal to the X-axis direction and parallel to the floor surface as the Y-axis direction, and the normal direction of the floor surface as the Z-axis direction. The description will be made with the Z-axis direction + side as the upper side and the Z-axis direction-side as the lower side.

  The housing 2 is formed in a cylindrical shape, and an optical sensor 4 is provided below the housing 2. The optical sensor 4 is provided at the central portion of the housing 2 in the Y-axis direction. The shape of the housing 2 may be another shape such as a rectangular parallelepiped shape depending on the application of the detector 1.

The optical sensor 4 includes a case 9, a substrate 10, a first light emitting element 11, a second light emitting element 12, and a light receiving element 13. The first light emitting element 11, the second light emitting element 12 and the light receiving element 13 are arranged on the substrate 10. The case 9 is provided with a wall 15, the first light emitting element 11 and the second light emitting element 12 are provided on one side of the wall 15, and the light receiving element is on the other side of the wall 15. 13 is provided. The first light emitting element 11, the second light emitting element 12, and the light receiving element 13 are all arranged on a straight line. Even if the first light emitting element 11, the second light emitting element 12, and the light receiving element 13 are not arranged on a straight line, the light sensor 4 can detect the floor surface. The size of the mounting surface of the sensor 4 can be reduced. Case 9 is formed of a resin material. Lenses are respectively provided in front of the first light emitting element 11, the second light emitting element 12, and the light receiving element 13 of the case 9. An LED (Light Emitting Diode) is used as the light-emitting element, and a photodiode (PD: Photodiode) is used as the light-receiving element 13. The first light emitting element 11 is disposed in the housing 2 facing the light emitting surface is a first direction D _1, to emit a first light 16 in a first direction D _1. The second light emitting element 12 is disposed in the housing 2 so that the light emitting surface faces the second direction D _2, emit second light 17 in the second direction D _2. The first light 16 and the second light 17 is reflected at the reflection point _{P 1.} The first direction _{D 1} and the second direction _{D 2} intersect at the intersections _{P 2.} If the detector 1 by the weight of the bed 6 is harder detector 1 does not sink to the floor, the reflection point P ₁ and the intersection P ₂ coincide. Thereafter it will be described as the reflection point P ₁ and the intersection P ₂ are coincident. The first direction D ₁ is inclined by an angle θ ₁ in the XZ plane direction with respect to the normal line _DF of the lower surface 18 on the Z-axis direction − side on the floor surface of the optical sensor 4 passing through the intersection P ₂ . Second direction _D in the XZ plane direction ₂ is inclined by an angle theta ₂ with respect to the intersection point _{P 2.} Since the light emitting surface of the first light emitting element 11 and the light emitting surface of the second light emitting element 12 are arranged to be inclined with respect to the normal direction of the lower surface 18, the first light emitting element 11 and the second light emitting element 12 are arranged. There is no need to provide a member for changing the optical axis, and the detector 1 can be miniaturized. The first light emitting element 11 and the second light emitting element 12 emit light in a time division manner, and the first light 16 and the second light 17 are alternately received by the light receiving element 13 without overlapping. The first light 16 and the second light 17 are reflected at the reflection point P on the floor surface and enter the light receiving element 13. The first light 16 is specularly reflected at the reflection point P and enters the light receiving element 13. An angle θ ₁ formed by the first direction D ₁ and the normal line _DF of the lower surface 18 of the optical sensor 4, and an angle θ ₂ formed by the second direction D ₂ and the normal line _DF of the lower surface 18 of the optical sensor 4. The angle difference Φ ₁ = θ ₂ −θ ₁ is 5 °.

The floor has a surface close to specular reflection and a diffuse reflection surface. Floors such as flooring are close to mirror reflection. Floors such as carpets and tatami mats are diffuse reflection surfaces. FIG. 6 is a graph showing the relationship between the installation angle of the light receiving element 13 and the amount of received light when the object to be detected is a surface close to specular reflection. FIG. 7 is a graph showing the relationship between the installation angle of the light receiving element 13 and the amount of received light when the object to be detected is a diffuse reflection surface. In the graphs of FIGS. 6 and 7, the maximum value of the amount of light received by the light receiving element is standardized as 1. As shown in FIG. 6, when light is reflected on a surface close to specular reflection, the output of the light receiving element 13 has an angle dependency, and as shown in FIG. Has little dependency. Since the first direction D ₁ and the second direction D ₂ are different, the light receiving element when the received light quantity V ₁ and the second light 17 of the light receiving element 13 when the first light 16 is incident is incident If 13 received light amount V ₂ of different floor a surface close to a mirror reflection, when V ₁ and V ₂ are approximately equal, it can be determined that the floor surface is diffuse reflective surface. By determining whether the floor surface is close to specular reflection or a diffuse reflection surface, the material of the floor 6 can be determined. When the floor surface is a surface close to specular reflection, the angle Φ ₁ formed by the first direction D ₁ and the second direction D ₂ is 5 °, and thus the difference between the received light amount V ₁ and the received light amount V ₂ becomes large. Therefore, the floor surface can be detected with high accuracy. If the angle Φ ₁ formed by the first direction D ₁ and the second direction D ₂ is 5 ° or more, it is possible to accurately detect whether the surface is close to specular reflection or a diffuse reflection surface.

  Since the detector 1 travels in the X-axis direction-side and the optical sensor 4 is disposed in front of the detector 1 in the traveling direction, the change in the material of the floor 6 can be detected before the detector 1 passes. it can.

  Since the detector 1 can detect the material of the floor 6 before the detector 1 passes, it is preferable to apply the detector 1 to a vacuum cleaner. By applying the detector 1 to the vacuum cleaner, it is possible to perform control such as notification to the user of the vacuum cleaner and changing the suction force of the vacuum cleaner according to the change in the material of the floor 6. Thereby, since it becomes possible to perform the optimal cleaning for the material of the floor 6, the efficiency of cleaning can be improved, and the user can clean comfortably.

  The detector 1 is not limited to a vacuum cleaner, and may be applied to a moving body that can travel on a floor such as a wheeled chair. Even when the detector 1 is applied to a wheeled chair, the wheeled chair can be moved more safely by notifying the user of a change in the material of the floor 6. Further, for example, the present invention may be applied to a flying object such as a drone that can fly in parallel with the floor surface, even if it does not travel on the floor surface.

  In addition, although the 1st light emitting element 11 and the 2nd light emitting element 12 were demonstrated as LED, it is not restricted to LED, For example, you may use the infrared light emitting element whose wavelength is 800 nm-1000 nm. By using the infrared light emitting element, the influence of natural light around the detector 1 can be reduced. For this reason, the detection accuracy of the detector 1 can be improved.

Incidentally, the detector 1 is arranged so that the light emitting surface of the first light-emitting element 11 is disposed such that the first direction D _1, the light emitting surface of the second light-emitting element 12 faces the second direction D ₂ However, the light emitting surface and the light emitting surface are arranged in the Y-axis direction, and the angle of the optical axis is set by a lens arranged in front of the first light emitting element 11, the second light emitting element 12, and the light receiving element 13. You may make it change. In this way, mounting of the first light emitting element 11, the second light emitting element 12, and the light receiving element 13 is facilitated. Further, instead of the lens, an optical axis changing member such as a mirror or a prism may be provided in front of the first light emitting element 11, the second light emitting element 12, and the light receiving element 13 to change the optical axis. Even in this case, the first light emitting element 11, the second light emitting element 12, and the light receiving element 13 can be easily mounted. Further, when a lens is used as the optical axis changing member, the diffused light can be collected, and the amount of light incident on the light receiving element 13 can be increased.

  A filter may be provided in front of the first light emitting element 11, the second light emitting element 12, and the light receiving element 13 of the detector 1. By providing the filter, the first light emitting element 11, the second light emitting element 12, and the light receiving element 13 can be prevented from being contaminated by dust or the like.

  In the first embodiment, the case where the detection target is the floor 6 and the detector 1 travels on the floor surface has been described as an example. However, the detection target is not limited to the floor 6, but may be, for example, a desk or the ground. The detector 1 may have a flat surface capable of detecting the material.

Note that the difference in floor surface can be accurately detected when the angle difference Φ ₁ is 5 ° or more, but the floor surface can be identified even when the angle difference Φ ₁ is less than 5 °.

(Modification of Embodiment 1)
FIG. 8 shows a modification of the detector 1. As shown in FIG. 8, in the detector 1 according to the modification, each of the two optical sensors 4 is disposed on the X-axis direction − side in front of the two drive wheels 7 provided in the housing 2. As a result, the change in the material of the floor 6 can be detected before the wheels 3 pass, and the detection range of the optical sensor 4 is expanded compared to the case where the optical sensor 4 is one, so that the floor 6 can be detected with higher accuracy. Changes in material can be detected.

(Embodiment 2)
The detector according to the second embodiment will be described below with reference to the drawings. The detector of the second embodiment has the same configuration as that of the first embodiment, and the optical sensor is different from that of the first embodiment, so that the optical sensor will be described in detail. FIG. 9 shows a schematic diagram of the optical sensor 20.

  The optical sensor 20 includes a first light emitting element 11, a second light emitting element 12, and a light receiving element 21. The first light emitting element 11 and the second light emitting element 12 are LEDs. The light receiving element 21 is a position detecting element (PSD: Position Sensitive Detector). The position detection element is formed by forming a uniform resistance layer on one side or both sides of a high-resistance semiconductor substrate, and generates a photocurrent by the photovoltaic effect. Unlike the photodiode, the position detection element can determine the incident position of light. The first light emitting element 11, the second light emitting element 12, and the light receiving element 21 are all arranged on a straight line.

The first light emitting element 11 emits the first light 16 in a first direction _{D 1.} The first direction D ₁ in the XZ plane direction is inclined by an angle θ _{1 with} respect to the normal _{DF of the} lower surface 18. Second light emitting element 12
Emits a second light 17 in the second direction _{D 2.} In the XZ plane direction, the second direction D ₂ is inclined by an angle θ _{2 with} respect to the normal _{DF of the} lower surface 18. The first light 16 is regularly reflected at the reflection point P and enters the light receiving element 21. The angle difference Φ ₁ between the angle θ ₁ formed by the first direction D ₁ and the normal _DF of the lower surface 18 and the angle θ ₂ formed by the second direction D ₂ and the normal _{DF of the} lower surface 18 is 5 °. That's it. The first light emitting element 11 and the second light emitting element 12 emit light alternately without overlapping in a time division manner.

FIG. 10 shows the relationship between the installation angle of the position detection element and the amount of received light when the object to be detected is a surface close to specular reflection. FIG. 11 shows the relationship between the installation angle of the position detection element and the amount of received light when the object to be detected is a diffuse reflection surface. FIG. 12 shows the relationship between the installation angle of the position detection element and the distance from the position detection element to the floor surface. As shown in FIGS. 10 and 11, the light receiving amount V ₃ of the first light receiving element and the light receiving amount V ₄ of the second light receiving element have an angle dependency on the surface close to the specular reflection, and the angle on the diffuse reflection surface. Has little dependency. Similarly to the photodiode, the position detection element can determine whether the floor surface is close to specular reflection or a diffuse reflection surface from the presence or absence of angle dependency. In the position detection element, the hardness of the floor 6 can be determined from the distance from the position detection element to the floor surface. An example of the hard material floor 6 will be described using flooring and tatami, and an example of the soft material floor 6 will be described using a carpet. When the material of the floor 6 is hard, the detector does not sink into the floor 6 due to the weight of the detector, but when the material of the floor 6 is soft, the detector sinks into the floor 6 due to the weight of the detector. . In the example of FIG. 12, the carpet is submerged by about 0.4 mm. For this reason, as shown in FIG. 12, the output that the distance of the floor 6 made of a hard material is longer than that of the floor 6 made of a soft material can be obtained. Thereby, the hardness of the material of the floor 6 can be determined. Since it is possible to determine whether the floor surface is close to specular reflection or diffuse reflection surface based on the presence or absence of the angle dependency of the floor surface, whether the floor 6 is flooring or tatami mated with the result of the hardness determination of the material of the floor 6 Or carpet.

  Further, when the distance increases from the output of the light receiving element 21, there is a step that may drop the detector in front of the detector, and when the distance becomes shorter, the detector may ride up. It can be determined that a certain level difference exists in front of the detector.

Note that the difference in floor surface can be accurately detected when the angle difference Φ ₁ is 5 ° or more, but the floor surface can be identified even when the angle difference Φ ₁ is less than 5 °.

(Embodiment 3)
The detector according to the third embodiment will be described below with reference to the drawings. The detector of the third embodiment has the same configuration as that of the first embodiment, and the optical sensor is different from that of the first embodiment, so that the optical sensor will be described in detail.

FIG. 13 is a side sectional view of the optical sensor 30 according to the third embodiment, FIG. 14 is a mounting view of the substrate 10 built in the optical sensor 30 from the lower surface side in FIG. 13, and FIG. 15 is a schematic diagram of the optical sensor 30. Indicates. The optical sensor 30 includes a light emitting element 31, a first light receiving element 32, and a second light receiving element 33. The light emitting element 31 is an LED. The first light receiving element 32 and the second light receiving element 33 are photodiodes. The light emitting element 31, the first light receiving element 32, and the second light receiving element 33 are all arranged on a straight line. The light 34 emitted from the light emitting element 31 is reflected by the reflection point P on the floor surface and enters the first light receiving element 32 and the second light receiving element 33. The light 34 reflected at the reflection point P enters the first light receiving element 32 from the _third direction D3, and the light 34 reflected at the reflection point P enters the second light receiving element 33 from the _fourth direction D4. To do. In the XZ plane direction, the third direction D ₃ is inclined by an angle θ _{3 with} respect to the normal _{DF of the} lower surface 18. The fourth direction D ₄ in the XZ plane direction is inclined by an angle θ _{4 with} respect to the normal _{DF of the} lower surface 18. The light 34 is specularly reflected at the reflection point P and enters the second light receiving element 33. The angle difference Φ ₂ = θ ₄ between the angle θ ₃ formed by the third direction D ₃ and the normal line _DF of the lower surface 18 and the angle θ ₂ formed by the fourth direction D ₄ and the normal line _{DF of the} lower surface 18 - [theta] ₃ is less than 5 °. And received light amount V ₃ of the first light-receiving element 32 received light amount V ₄ of the second light receiving element 33 is, in terms close to specular reflection at an angle dependent, the diffuse reflection surface has substantially an angle-dependent Absent. Therefore, different light receiving quantity V ₄ of the surface close to the specular reflection and the light receiving amount V ₃ of the first light-receiving element 32 and the second light receiving element 33, the light receiving amount V ₃ of the first light-receiving element 32 is a reflecting diffuser And the received light amount V ₄ of the second light receiving element 33 is substantially equal. By measuring the received light amount V ₃ of the first light-receiving element 32 received light amount V ₄ of the second light receiving element 33, the floor surface can determine whether surface or diffuse reflecting surface close to the specular reflection. Further, the angle difference Φ ₂ between the angle θ ₃ formed by the third direction D ₃ and the normal line _DF of the lower surface 18 and the angle θ ₄ formed by the fourth direction D ₄ and the normal line _{DF of the} lower surface 18 is since there more than 5 °, the received light amount V ₄ between the light-receiving amount V ₃ of the first light-receiving element 32 in a plane close to the specular reflection second light receiving element 33 varies greatly. Thereby, it can be accurately determined that the floor surface is a surface close to specular reflection.

  Note that although the light sensor 30 is described as having one light emitting element 31, two light emitting elements 31 may be provided as in the first embodiment. In this case, the material of the floor 6 can be detected with higher accuracy.

Note that the difference in floor surface can be accurately detected when the angle difference Φ ₁ is 5 ° or more, but the floor surface can be identified even when the angle difference Φ ₁ is less than 5 °.

(Embodiment 4)
The detector according to the fourth embodiment will be described below with reference to the drawings. The detector of the fourth embodiment has the same configuration as that of the third embodiment, and the optical sensor is different from that of the third embodiment, so that the optical sensor will be described in detail.

FIG. 16 shows a schematic diagram of the optical sensor 40 of the detector according to the fourth embodiment. The optical sensor 40 includes a light emitting element 31, a first light receiving element 41, and a second light receiving element 42. The light emitting element 31 is an LED. The first light receiving element 41 is a photodiode. The second light receiving element 42 is a position detection element. The light emitting element 31, the first light receiving element 41, and the second light receiving element 42 are all arranged on a straight line. The light emitted from the light emitting element 31 is specularly reflected at the reflection point P and enters the second light receiving element 42. Third and angle theta ₃ formed by the direction _{D 3} of the fourth direction of connecting the normal _{D F} and the second light receiving element 42 of the lower surface 18 connecting the normal _{D F} and the first light receiving element 41 of the lower surface 18 The angle difference Φ ₂ between the angle θ ₄ formed by D ₄ is 5 ° or more.

  On the diffuse reflection surface, the amount of light received by the first light receiving element 41 and the second light receiving element 42 is substantially constant regardless of the irradiation angle of the light 34, but on the surface close to specular reflection, the first light receiving element 41 and the second light receiving element 42 The amount of light received by the two light receiving elements 42 has an angle dependency with respect to the irradiation angle of the light 34. For this reason, it is possible to determine whether the floor surface is a surface close to specular reflection or a diffuse reflection surface from the amount of light received by the first light receiving element 41 and the second light receiving element 42. Further, since the second light receiving element 42 is a position detection element, the hardness of the material of the floor 6 can be determined based on the distance from the position detection element detected by the position detection element to the floor surface. For this reason, the optical sensor 40 can determine whether the floor 6 is flooring, tatami mat, or carpet. Further, since the photodiode is smaller than the position detection element, it can be made smaller than using two position detection elements.

  Further, since the second light receiving element 42 is a position detection element, the distance from the reflection point P to the position detection element is longer than when the first light receiving element 41 is a position detection element. For this reason, the sensitivity of the position detection element is improved.

Note that the difference in floor surface can be accurately detected when the angle difference Φ ₁ is 5 ° or more, but the floor surface can be identified even when the angle difference Φ ₁ is less than 5 °.

(Embodiment 5)
The detector according to the fifth embodiment will be described below with reference to the drawings. The detector of the fifth embodiment has a configuration in which the first embodiment and the fourth embodiment are combined, and the optical sensor is different from the first and fourth embodiments, so the optical sensor will be described in detail.

FIG. 17 is a schematic diagram of the optical sensor 50 according to the fifth embodiment. The optical sensor 50 includes a first light emitting element 11, a second light emitting element 12, a first light receiving element 51, and a second light receiving element 52. The first light emitting element 11 and the second light emitting element 12 are LEDs. The first light receiving element 51 is a photodiode. The second light receiving element 52 is a position detection element. The first light-emitting element 11, the second light-emitting element 12, the first light-receiving element 51, and the second light-receiving element 52 are all arranged on a straight line. The first light emitting element 11 is disposed in the housing 2 facing the light emitting surface is a first direction D _1, to emit a first light 16 in a first direction D _1. The second light emitting element 12 is disposed in the housing 2 so that the light emitting surface faces the second direction D _2, emit second light 17 in the second direction D _2. The first light 16 is specularly reflected at the reflection point P and is incident on the first light receiving element 51, and the second light 17 is specularly reflected at the reflection point P and is incident on the second light receiving element 52. The first light emitting element 11 and the second light emitting element 12 emit light in a time-sharing manner. The angle difference Φ ₁ between the angle θ ₁ formed by the first direction D ₁ and the normal _DF of the lower surface 18 and the angle θ ₂ formed by the second direction D ₂ and the normal _{DF of the} lower surface 18 is 5 °. That's it. A normal _{D F} and the third angle theta ₃ formed by the direction _{D 3} of connecting the first light receiving element 51 of the lower surface 18, a fourth direction connecting the normal _{D F} and the second light receiving element 52 of the lower surface 18 The angle difference Φ ₂ between the angle θ ₄ formed by D ₄ is 5 ° or more.

FIG. 18 is a graph showing the relationship between the installation angle of the light receiving element 13 and the amount of received light when the detected object is a surface close to specular reflection. FIG. 19 is a graph showing the relationship between the installation angle of the light receiving element 13 and the amount of received light when the object to be detected is a diffuse reflection surface. 18 and 19, the sum of the received light amount of the first light receiving element 51, the received light amount of the second light receiving element 52, and the received light amounts of the first light receiving element 51 and the second light receiving element 52 is used as the received light amount. Show. In the first light receiving element 51, a light receiving amount V ₁ of the when the first light 16 is incident received light amount V ₂ when the second light 17 is incident is substantially constant in the diffuse reflection surface, the specular reflection Since it changes in the near surface, it can be determined whether the floor surface is a diffuse reflection surface or a surface close to specular reflection. Since the optical sensor 50 detects the floor surface by the sum of the amounts of light received by the first light receiving element 51 and the second light receiving element 52, the amounts of light received by the first light receiving element 51 and the second light receiving element 52 change. The amount of change will increase. For this reason, it is possible to accurately detect whether the floor surface is a surface close to a specular reflection surface or a diffuse reflection surface. When there are a plurality of light receiving elements, the number of combinations of light receiving elements increases. Therefore, the angle dependency of the amount of received light varies depending on the combination and number of light receiving elements. Whether the floor surface is detected by the amount of light received by each light receiving element or the floor surface is detected by the sum of the amounts of light received by all the light receiving elements depends on the detector application and usage environment. You only need to select the one that appears prominently. However, in the second light receiving element 52, when the detector 1 is on a carpet or the like which is a soft material, compared to the case where the detector 1 is on a flooring or tatami or the like where the floor 6 is a hard material. The output that the distance is shorter can be obtained. As described above, the detector determines the diffuse reflection surface and the surface close to the specular reflection from the output of the first light receiving element 51, and determines the hardness of the material of the floor 6 from the output of the second light receiving element 52. Therefore, it can be determined whether the floor 6 is flooring, tatami mat, or carpet. The detection accuracy of the detector 6 is improved as compared with the first to fourth embodiments.

Note that the difference in floor surface can be accurately detected when the angle difference Φ ₁ is 5 ° or more, but the floor surface can be identified even when the angle difference Φ ₁ is less than 5 °.

(Embodiment 6)
The detector according to the sixth embodiment will be described below with reference to the drawings. The detector of the sixth embodiment has the same configuration as that of the third embodiment, and the optical sensor is different from that of the third embodiment. Therefore, the optical sensor will be described in detail.

FIG. 20 shows a schematic diagram of the optical sensor 60 of the sixth embodiment. The optical sensor 60 includes a light emitting element 31, a first light receiving element 61, a second light receiving element 62, and a third light receiving element 63. The light emitting element 31 is an LED. The first light receiving element 61 and the second light receiving element 62 are photodiodes. The third light receiving element 63 is a position detection element. The light emitting element 31, the first light receiving element 61, the second light receiving element 62, and the third light receiving element 63 are all in a straight line, and the light emitted from the light emitting element 31 is regularly reflected at the reflection point P, and the second light receiving element. 62 is incident. Light 34 reflected at the reflection point P from the third direction D ₃ enters the first light receiving element 61, the fourth direction D ₄ enters the second light receiving element 62, the fifth direction D ₅ To the third light receiving element 63. In the XZ plane direction, the third direction D ₃ is inclined by an angle θ _{3 with} respect to the normal _{DF of the} lower surface 18. The fourth direction D ₄ in the XZ plane direction is inclined by an angle θ _{4 with} respect to the normal _{DF of the} lower surface 18. Direction _D of the fifth in the XZ plane direction ₅ is inclined by an angle theta ₅ with respect to the normal _{D F} of the lower surface 18. The angle difference Φ ₂ = θ ₄ between the angle θ ₃ formed by the third direction D ₃ and the normal _DF of the lower surface 18 and the angle θ ₄ formed by the fourth direction D ₄ and the normal _{DF of the} lower surface 18 - [theta] ₃ is less than 5 °. The angle theta ₄ normals D _F of the reflection point P of the fourth direction D ₄ and the floor surface is formed, the angle theta ₄ normals D _F of the reflection point P in the fifth direction D ₅ and the floor of the forms The angle difference Φ ₃ = θ ₅ −θ ₄ is 5 ° or more.

  On the diffuse reflection surface, the amount of light received by the first light receiving element 61 and the second light receiving element 62 is substantially constant regardless of the irradiation angle of the light 34, but on the surface close to specular reflection, the first light receiving element 61 and the second light receiving element 62 are substantially constant. The amount of light received by the two light receiving elements 62 has an angle dependency with respect to the light irradiation angle. For this reason, it is possible to determine whether the floor surface is a surface close to specular reflection or a diffuse reflection surface from the amount of light received by the first light receiving element 61 and the second light receiving element 62. Further, since the third light receiving element 63 is a position detection element, the hardness of the material of the floor 6 can be determined based on the distance from the position detection element detected by the position detection element to the floor surface. Therefore, the detector can determine whether the floor 6 is flooring, tatami mat, or carpet. Further, since the photodiode is smaller than the position detection element, it can be made smaller than using two position detection elements.

  Since the detector uses a position detection element and two photodiodes, the determination system of the floor 6 is improved as compared with the first to fifth embodiments.

Note that the difference in floor surface can be accurately detected when the angle difference Φ ₁ is 5 ° or more, but the floor surface can be identified even when the angle difference Φ ₁ is less than 5 °.

(Embodiment 7)
The self-propelled cleaner 70 according to the seventh embodiment will be described below with reference to the drawings.

  FIG. 21 is a top view of the self-propelled cleaner 70 according to the seventh embodiment, and FIG. 22 is a side sectional view of the self-propelled cleaner 70.

  The self-propelled cleaner 70 according to the seventh embodiment includes a detector according to the sixth embodiment, a control unit (not shown) that controls the travel of the self-propelled cleaner 70, and a power brush 71 that brushes the floor surface. A suction fan 72 that generates a suction force, and a nozzle 73 that sucks dust on the floor and cleans the traveling path. One end of the nozzle 73 opens toward the power brush 71, and the other end of the nozzle 73 is connected to the dust box 74. The dust box 74 is disposed above the suction fan 72. The power brush 71 is driven by a brush motor (not shown) and brushes the floor to scrape dust. The nozzle 73 sucks out the conveyed dust and stores it in the box 74. The suction fan 72 is connected to the dust box via a filter (not shown). In addition, although a detector is demonstrated using the detector of Embodiment 6, it is not restricted to this, You may use the detector of Embodiment 1-5.

  The self-propelled cleaner 70 travels while detecting the material of the floor 6 with a detector. The optical sensor 60 determines whether the floor surface is a diffuse reflection surface or a surface close to specular reflection, and further determines whether the material of the floor 6 is hard or soft. Thus, it is determined whether the floor 6 is flooring, tatami mat or carpet. Note that the hardness of the floor 6 may first be determined by the position detection element, and then it may be determined by the photodiode whether the floor 6 is a diffuse reflection surface or a surface close to specular reflection.

  Next, the control method of the self-propelled cleaner 70 based on the difference in the material of the floor 6 will be described.

  When it is determined from the determination result of the floor 6 that the self-propelled cleaner 70 is traveling on the flooring, cleaning is performed in the normal mode.

  Next, when it is determined that the self-propelled cleaner 70 is traveling on the carpet, the suction force of the suction fan 72 is strengthened because it becomes difficult to suck up dust compared to flooring. Thereby, it is possible to suck more dust on the carpet than when cleaning in the normal mode. Instead of increasing the suction force of the suction fan 72, the traveling speed of the self-propelled cleaner 70 may be reduced, or the same place may be controlled to be cleaned many times. Even in this case, since the suction time of the self-propelled cleaner 70 per unit area of the floor 6 becomes longer, more dust can be sucked than in the normal mode.

  Next, when it is determined that the self-propelled cleaner 70 is traveling on the tatami, it is cleaned in the normal mode, but the tatami texture is recognized and the self-propelled cleaner along the tatami texture. 70 is controlled to travel. By controlling in this way, it becomes easy to suck dust, mites, and the like that have fallen into the gap between the tatami mats. Moreover, the risk of damaging the texture of the tatami mat is reduced by cleaning along the texture of the tatami mat.

  In addition, when the self-propelled cleaner 70 determines that there is a step that may drop in the traveling direction or a step that may ride up, the self-propelled cleaner 70 is set to avoid the step. Control. Thereby, the possibility that the self-propelled cleaner 70 will be unable to travel can be reduced.

  Since the detector of the present disclosure can detect the floor surface with high accuracy, it can be applied to a vacuum cleaner or a movable chair.

DESCRIPTION OF SYMBOLS 1 Detector 2 Case 3 Wheel 4, 20, 30, 40, 50, 60 Optical sensor 5 ASIC
6 Floor 7 Driving wheel 8 Auxiliary wheel 9 Case 10 Substrate 11 First light emitting element 12 Second light emitting element 13, 21 Light receiving element 14 Lens 15 Wall 16 First light 17 Second light 18 Lower surface 31 Light emitting element 32 , 41, 51, 61 First light receiving element 33, 42, 52, 62 Second light receiving element 34 Light 63 Third light receiving element 70 Self-propelled cleaner 71 Power brush 72 Suction fan 73 Nozzle 74 Dust box

Claims (25)

A detector for detecting the surface of a detected object,
A housing movable along the surface of the object to be detected;
A light sensor that is attached to the housing and includes a light emitting element that emits light toward the detected object and a light receiving element that receives light reflected by the detected object;
The optical sensor is a detector including a plurality of at least one of the light emitting element and the light receiving element. The detector according to claim 1, wherein the light receiving element is a photodiode. The detector according to claim 1, wherein the light receiving element is a position detecting element that detects an incident position of the light. The said optical sensor is a detector in any one of Claims 1-3 provided with the 1st light emitting element and the 2nd light emitting element. The first light emitting element is disposed such that the light emitting surface faces the first direction, and the second light emitting element is disposed such that the light emitting surface faces the second direction different from the first direction,
The light sensor has a lower surface;
An angle formed between the normal line of the lower surface of the photosensor passing through the intersection of the first direction and the second direction and the first direction, and the normal line passing through the intersection and the second direction. The detector according to claim 4, wherein the difference in angle formed is 5 degrees or more. The detector according to claim 1, wherein the optical sensor includes a first light receiving element and a second light receiving element. The first light receiving element is a photodiode;
The detector according to claim 6, wherein the second light receiving element is a position detecting element. The light is reflected at a reflection point of the detected object,
An angle formed between a normal direction of the detection object at the reflection point and a direction connecting the first light receiving element and the reflection point, and a connection between the normal direction, the second light receiving element, and the reflection point. The detector according to claim 6 or 7, wherein a difference from an angle with the direction is 5 degrees or more. The detector according to claim 1, wherein all of the light emitting element and the light receiving element are arranged on a straight line. The detector according to claim 1, wherein the light emitting element emits infrared light. The detector according to claim 1, wherein the optical sensor further includes an optical axis changing member that changes an optical axis of light emitted from the light emitting element. The detector according to claim 11, wherein the optical axis changing member is a lens. The photosensor is disposed outside the housing,
The detector according to claim 1, wherein the casing moves in a direction in which the optical sensor is arranged. The housing further comprises wheels,
The detector according to claim 1, wherein the detector is capable of traveling on the surface of the detection object. At least two wheels are provided,
The detector according to claim 14, wherein the optical sensor is disposed in front of the two wheels. The detector according to any one of claims 1 to 15,
A self-propelled cleaner provided with a power brush that brushes the floor surface, a suction fan that generates suction force, and a nozzle that sucks dust on the floor surface and cleans a traveling path. The self-propelled cleaner according to claim 16, wherein when the floor surface detection result is carpet, the suction force is increased. The self-propelled cleaner according to claim 16 or 17, further comprising a control unit that controls autonomous traveling of the casing. 19. The vehicle according to claim 18, wherein when the detection result of the floor surface is a carpet, the traveling speed of the housing is slowed down, and when the detection result is a tatami mat, the housing is traveled along the texture of the tatami mat. Traveling vacuum cleaner. An optical sensor that receives light reflected by the detection object and detects the detection object,
A substrate,
A light emitting element provided on the substrate for emitting light;
A photodiode provided on the substrate for receiving the light;
A position detection element provided on the substrate for detecting the position of the light;
A cover that covers the substrate, the light emitting element, the photodiode, and the position detecting element;
An optical sensor for detecting a material of the detected object from outputs of the photodiode and the position detection element. 21. The optical sensor according to claim 20, wherein the light emitting element, the photodiode, and the position detecting element are all arranged on a straight line. The optical sensor according to claim 20 or 21, further comprising a second light emitting element. The light is reflected at a reflection point of the detected object,
An angle formed between a normal line direction of the detected object at the reflection point and a direction connecting the photodiode and the reflection point, and an angle formed between the normal line direction and a direction connecting the position detection element and the reflection point. The detector according to any one of claims 20 to 22, wherein the difference between the detector and the detector is 5 degrees or more. The optical sensor according to any one of claims 20 to 23, wherein the light emitting element is disposed such that a light emitting surface is inclined with respect to the substrate so that light is incident on the photodiode and the position detecting element. The optical sensor according to any one of claims 20 to 23, further comprising an optical axis changing member that changes an optical axis of light emitted from the light emitting element.