JP2018096101A - Opening/closing body system for building - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an opening/closing body system for a building to allow a self-propelled cleaner to appropriately perform an indoor cleaning.SOLUTION: A building 10 is provided with a living room 11 arranged with a wall 16 around the living room 11. The wall 16 is provided with an entrance 18, the entrance 18 is arranged with a sliding door 19. Also, the living room 11 is provided with a baseboard 17 along an abutting line formed with the wall 16 and a floor 15. The baseboard 17 is provided with a collision detecting sensor 23 detecting a collision of an object to the baseboard 17. Further, the wall 16 is provided with a projected device 25 projecting to a sliding door 19 side to actuate the sliding door 19 to move to an open side. A controller actuates the projected device 25 to drive the sliding door 19 to the open side through the device 25 based on a detected result from the detecting sensor 23.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a building opening and closing body system.

  In recent years, in a building such as a house, a self-propelled cleaner (cleaning robot) may be used to clean a room. Patent Document 1 discloses a technique in which a self-propelled cleaner performs cleaning while autonomously traveling in a building (a plurality of rooms) while referring to floor plan information stored in a memory.

JP 2008-129614 A

  However, in the technique of the above-mentioned Patent Document 1, if the door of the room is closed, the self-propelled cleaner cannot go back and forth between adjacent rooms through the entrance / exit. Therefore, in that case, there is a possibility that a plurality of rooms cannot be cleaned by the self-propelled cleaner.

  Moreover, when the door of a room is a hinged door, when a hinged door is opened, a hinged door and a wall oppose, and by that, the case where a self-propelled cleaner cannot enter between them is assumed. In that case, the space between them may not be able to be cleaned.

  As described above, in the above technique, when the indoor cleaning is performed by the self-propelled cleaner, a range in which the cleaning can be performed is limited by the door. Therefore, it is considered that the above technique still has room for improvement in that respect.

  This invention is made | formed in view of the said situation, and makes it the main objective to provide the opening-closing body system of the building which enables it to perform indoor cleaning suitably with a self-propelled cleaner. .

  In order to solve the above problems, a building opening / closing body system according to a first aspect of the present invention is an indoor space surrounded by a wall and a floor, an entrance / exit formed in a part of the wall, and an opening / closing body for opening / closing the entrance / exit. And a drive unit that is applied to a building including a parting material provided along a boundary between the wall and the floor, and that operates the opening / closing body to at least one of an open side and a closed side; and Collision detection means for detecting that an object has collided with the parting material, and control means for controlling the drive unit to operate the open / close body to the open side or the close side based on the detection result of the collision detection means; It is characterized by providing.

  When cleaning an indoor space with a self-propelled cleaner, the self-propelled cleaner may be cleaned while colliding with a parting material provided at the boundary between the wall and the floor around the indoor space. . Therefore, in the present invention, focusing on this point, a collision detection means for detecting that an object has collided with the parting material is provided, and the opening / closing body is operated to open or close based on the detection result of the collision detection means. The drive unit is controlled so that In this case, when the self-propelled cleaner collides with the parting material, the opening / closing body can be operated to the open side or the closed side, so the travel range of the self-propelled cleaner is limited by the opening / closing body. Can be suppressed. Thereby, the indoor cleaning with a self-propelled cleaner can be performed suitably.

  In the building opening and closing body system according to a second aspect of the present invention, in the first invention, the drive unit operates the opening and closing body at least on the open side, and the control means detects the detection result of the collision detection means. Based on this, the drive unit is controlled to operate the opening / closing body to the open side.

  ADVANTAGE OF THE INVENTION According to this invention, when a self-propelled vacuum cleaner collides with a parting material, an opening-closing body can be operated to an open side. Thereby, even if the opening / closing body is closed at the start of cleaning, the self-propelled cleaner can be moved to the adjacent indoor space through the doorway by operating the opening / closing body to the open side. Therefore, it becomes possible to clean a plurality of indoor spaces.

  The opening / closing body system for a building according to a third invention is the protruding device according to the second invention, wherein the opening / closing body is a sliding door, and the driving unit protrudes toward the sliding door to push the sliding door to the opening side. It is characterized by that.

  According to the present invention, the sliding door is opened by the protruding device being pushed to the open side. In this case, as compared with the case where an opening / closing mechanism (such as an automatic door mechanism) capable of opening and closing the sliding door is provided as the driving unit, the driving unit (projecting device) can be installed in the building relatively easily. Therefore, it can be said that it is a practically preferable configuration for introducing this system into a building.

  In the building opening and closing body system according to a fourth aspect of the present invention, in the second aspect of the invention, the opening and closing body is a sliding door, and the driving unit pulls the sliding door to the open side to operate the sliding door to the open side. It is characterized by being.

  According to the present invention, the sliding door is opened by the pulling device being pulled to the open side. In this case, like the third aspect of the invention, the drive unit (tensioning device) can be installed in the building relatively easily. Therefore, it can be said that this is a practically preferable configuration for introducing the system into the building.

  The building opening / closing body system according to a fifth aspect of the present invention is the system according to any one of the second to fourth aspects, wherein when the collision detection unit detects a collision of an object with the parting material, the elapsed time from the detection. Measuring means, and the control means, when the measured elapsed time exceeds a predetermined time, based on the detection result of the collision detection means, to operate the opening and closing body to the open side The drive unit is controlled.

  By the way, immediately after the cleaning of the indoor space by the self-propelled vacuum cleaner is started, if the open-close body is opened by the collision of the self-propelled vacuum cleaner with the parting material, the cleaning of the indoor space has not yet finished. Nevertheless, it is assumed that the self-propelled cleaner moves from the doorway to the outside of the indoor space. Therefore, in the present invention, in view of this point, the elapsed time from the detection of the collision of the object with the parting material is measured, in other words, the elapsed time from the start of cleaning by the self-propelled cleaner is measured, and the When the measured elapsed time exceeds a predetermined time, the opening / closing body is opened. In this case, since the opening / closing body can be opened after the cleaning of the indoor space by the self-propelled cleaner is completed, the self-propelled cleaner is It is possible to prevent the situation of moving out of the room.

  The building opening / closing body system according to a sixth aspect of the present invention is the opening / closing body system according to the first aspect, wherein the opening / closing body is a hinged door that is opened by rotating to the indoor space side, and the drive unit includes at least the hinged door. The control means controls the drive unit so as to operate the hinged door to the close side.

  When the hinged door is in an open state, it is assumed that the self-propelled cleaner cannot enter between the hinged door and the wall of the indoor space, and cleaning between the two cannot be performed. In this respect, in the present invention, since the hinged door is operated to the closed side based on the detection result of the collision detection means, the movable door is operated to the closed side when the self-propelled cleaner collides with the parting material. be able to. Thereby, even if the hinged door is in the open state at the start of cleaning, it is possible to clean the gap between the hinged door and the wall by operating the hinged door to the closed side.

  The opening / closing body system for a building of a seventh invention is characterized in that, in the sixth invention, the drive unit is a protruding device that protrudes toward the hinged door to push the hinged door toward the closed door.

  According to the present invention, the hinged door is closed by the protruding device being pushed to the closed side. In this case, as compared with the case where an opening / closing mechanism (such as an automatic door mechanism) capable of opening and closing the hinged door is provided as the driving unit, the driving unit (projecting device) can be installed in the building relatively easily. Therefore, it can be said that it is a practically preferable configuration for introducing this system into a building.

  The opening / closing body system for a building according to an eighth invention is characterized in that, in the seventh invention, the projecting device is constituted by or provided at the door of the hinged door.

  The floor of the indoor space may be provided with a door stop to which the hinged door hits when the hinged door is opened. Therefore, in the present invention, paying attention to this door stop, the protruding device is configured by the door stop or provided at the door stop. In this case, since the hinged door can be pushed toward the closed side from the vicinity of the opened hinged door, the hinged door can be suitably pushed toward the closed side. For this reason, it can be set as a preferable structure when implement | achieving the said 7th invention.

  The building opening and closing body system according to a ninth aspect of the present invention is the system according to any one of the first to eighth aspects, wherein the control means detects the collision of the object a plurality of times within a predetermined time by the collision detection means. The drive unit is controlled to operate the opening / closing body in an open side or a closed side.

  When cleaning an indoor space with a self-propelled cleaner, it is conceivable that the self-propelled cleaner performs cleaning while repeatedly colliding with surrounding parting materials. Therefore, in the present invention, attention is paid to this point, and the opening / closing body is moved to the open side or the close side when the collision with the parting material is detected a plurality of times within a predetermined time. Thereby, when a collision with a parting material is detected, for example, when a foot hits the parting material, it is possible to prevent the opening / closing body from unintentionally operating to the open side or the closing side. That is, in this case, erroneous detection can be prevented.

  In the building opening and closing body system according to a tenth aspect of the present invention, in any one of the first to ninth aspects, the parting material is provided on each of the plurality of walls surrounding the indoor space. The collision detection means is provided on at least one of the parting materials, and the control means is configured to operate the opening / closing body to open or close based on a detection result of each collision detection means. The drive unit is controlled.

  When an indoor space is cleaned by a self-propelled cleaner, it is conceivable that the self-propelled cleaner performs cleaning while colliding with each parting material provided in the vicinity in order. Therefore, in the present invention, paying attention to this point, at least one of the parting materials provided around the indoor space is provided with a collision detection means, and the opening and closing is performed based on the detection result of each of the collision detection means. The body is operated to open or close. In this case, for example, when the collision of an object with a plurality of parting materials is detected, the opening / closing body can be moved to the open side or the closed side. Thereby, when a collision with a parting material is detected, for example, when a foot hits the parting material, it is possible to prevent the opening / closing body from unintentionally operating to the open side or the closing side. That is, in this case, it is possible to prevent erroneous detection as in the ninth aspect.

  The building opening and closing body system according to an eleventh aspect of the present invention is that, in any one of the first to tenth aspects, of the plurality of walls surrounding the indoor space, the parting material of the wall provided with the entrance is provided. The collision detection means is not provided, and the collision detection means is provided on the parting material on a wall different from the wall.

  According to the present invention, since the parting material on the wall provided with the entrance / exit is not provided with the collision detection means, the collision detection means may falsely detect when the entrance / exit through the entrance / exit causes the foot to hit the parting material. Can be avoided.

The top view which shows the floor plan in the building in 1st Embodiment. The perspective view which shows the entrance / exit periphery in a living room. It is a front view which shows the structure of a protrusion apparatus periphery, (a) has shown the initial state of the protrusion apparatus, (b) has shown the protrusion state of the protrusion apparatus. The figure which shows the electrical constitution of a sliding door system. The flowchart which shows the flow of the control processing in a sliding door system. The flowchart which shows the flow of a sliding door opening process. The top view which shows the floor plan in the building in 2nd Embodiment. The perspective view which shows the entrance / exit periphery in a living room. It is a top view which shows the structure around a door stop, (a) shows the initial state of a door stop, (b) has shown the protrusion state of the door stop. The figure which shows the electrical constitution of a hinged door system. The flowchart which shows the flow of the control processing in a hinged door system. The front view which shows the structure of the tension device periphery in other embodiment. (A) is a perspective view which shows a hinged door, (b) is a longitudinal cross-sectional view. The figure which shows a mode when a self-propelled cleaner passes the opening part of a hinged door.

[First Embodiment]
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In addition, FIG. 1 is a top view which shows the floor plan in a building, and FIG. 2 is a perspective view which shows the entrance / exit periphery in a living room.

  As shown in FIG. 1, a building 10 such as a house is provided with a living room 11, a corridor 12, a bedroom 13, and the like as an indoor space. The living room 11 is provided adjacent to the hallway 12 and the bedroom 13.

  As shown in FIGS. 1 and 2, the living room 11 is provided with a floor 15. The floor portion 15 is, for example, a flooring floor, and the floor surface is set to the same height as the floor surface of other indoor spaces such as the hallway 12 and the bedroom 13. The living room 11 is surrounded by a wall 16 at the periphery. That is, a wall portion 16 is provided in each of the four sides of the living room 11, and among these wall portions 16, the wall portion 16 a partitions the living room 11 and the hallway 12, and the wall portion 16 b includes the living room 11 and the bedroom 13. A partition wall for partitioning and the other wall portions 16c and 16d are outer walls that partition the living room 11 from the outside.

  In the living room 11, a baseboard 17 is provided for each wall 16. The baseboard 17 is a parting material that extends along the boundary between the wall 16 and the floor 15. A boundary portion between the wall portion 16 and the floor portion 15 is covered with the baseboard 17.

  An entrance / exit 18 that connects the living room 11 and the hallway 12 is formed in the wall 16a. The entrance / exit between the living room 11 and the corridor 12 can be made through this doorway 18. The doorway 18 is provided with a sliding door 19 as an opening / closing body. The sliding door 19 opens and closes the doorway 18. The sliding door 19 is a single sliding door, and is arranged so as to overlap the wall portion 16a in the opened state. In more detail, the sliding door 19 is arrange | positioned so that it may overlap with the living room 11 side of the wall part 16a in the open state.

  The building 10 is provided with a self-propelled cleaner 21 (cleaning robot) that automatically cleans an indoor space. The self-propelled cleaner 21 has a rechargeable battery (not shown), and performs cleaning while traveling (self-propelled) in an indoor space using electric power stored in the battery. . In the present embodiment, it is assumed that a plurality of indoor spaces including the living room 11, the hallway 12, and the bedroom 13 are cleaned by the self-propelled cleaner 21. In addition, although illustration is abbreviate | omitted, self-propelled (vacuum) cleaner 21 has a suction part which attracts | sucks garbage, a waste accommodating part etc. which accommodates the waste attracted | sucked from the suction part. Moreover, in this embodiment, the self-propelled cleaner 21 has a flat circular shape.

  When a plurality of indoor spaces are cleaned by the self-propelled cleaner 21, the self-propelled cleaner 21 performs cleaning while going back and forth between the indoor spaces through the entrance / exit (for example, the entrance / exit 18). For example, when the room 11 is cleaned by the self-propelled cleaner 21, the self-propelled cleaner 21 moves from the doorway 18 to the corridor 12 and cleans the corridor 12. However, if the sliding door 19 is closed in this case, the self-propelled cleaner 21 cannot move to the hallway 12 through the doorway 18. Therefore, in this case, there is a possibility that a plurality of indoor spaces cannot be cleaned.

  Therefore, in the present embodiment, in view of this point, the building 10 is provided with a sliding door system capable of operating the sliding door 19 to the open side. Hereinafter, this sliding door system will be described.

  As shown in FIGS. 1 and 2, the baseboard 17 of the living room 11 is provided with a collision detection sensor 23 as a collision detection means. The collision detection sensor 23 is a sensor that detects that an object has collided with the baseboard 17, and is provided on the back side of the baseboard 17. As a result, when the self-propelled cleaner 21 is being cleaned by the self-propelled cleaner 21, when the self-propelled cleaner 21 collides with the baseboard 17, the collision is detected by the collision detection sensor 23. ing. Further, the collision detection sensor 23 is provided on the baseboard 17 of each wall portion 16b to 16d, but is not provided on the baseboard 17 of the wall portion 16a.

  In the skirting board 17 of each wall part 16b-16d, the collision detection sensor 23 is provided over the longitudinal direction whole region of the skirting board 17, respectively. Thereby, even if the self-propelled cleaner 21 collides at any position in the longitudinal direction of the baseboard 17, the collision detection sensor 23 detects the collision. In FIG. 1 and FIG. 2, for convenience, the collision detection sensor 23 of each baseboard 17 is indicated by a dot hatch. The collision detection sensor 23 is not necessarily provided over the entire longitudinal direction of the baseboard 17, and may be provided only in a part of the baseboard 17 in the longitudinal direction.

  The wall portion 16a is provided with a protruding device 25 (corresponding to a driving portion) for moving the sliding door 19 to the open side. FIGS. 3A and 3B are front views showing the configuration around the protruding device 25, where FIG. 3A shows the initial state of the protruding device 25, and FIG. 3B shows the protruding state of the protruding device 25. Hereinafter, the configuration of the protruding device 25 will be described with reference to FIG. In FIG. 2, the protruding device 25 is shown in an initial state for convenience.

  As shown in FIGS. 3A and 3B, the protruding device 25 is embedded in the sliding door 19 closing side with respect to the entrance / exit 18 in the wall portion 16 a and is disposed at the same height as the upper end portion of the sliding door 19. ing. The protruding device 25 includes a cylindrical accommodating portion 25a and a rod-shaped protruding portion 25b accommodated inside the accommodating portion 25a. The protruding portion 25b can be operated between a storage position (see FIG. 3A) housed in the housing portion 25a and a protruding position (see FIG. 3B) protruding from the housing position toward the sliding door 19 side. It is said that. The accommodating portion 25a incorporates a driving device (not shown) such as a motor, and the projecting portion 25b is moved from the accommodating position to the projecting position by driving the driving portion. Then, when the protruding portion 25b is moved to the protruding position, the sliding door 19 (specifically, the end surface on the closed side of the sliding door 19) is pushed to the open side by the protruding portion 25b (the front end portion thereof), whereby the sliding door 19 is It is designed to be actuated open (ie, opened).

  Note that the sliding door 19 does not necessarily need to be opened to a position where the doorway 18 is fully opened, and may only be opened to a position where a part of the doorway 18 is opened. In short, the sliding door 19 may be opened so that the self-propelled cleaner 21 can move from the living room 11 to the corridor 12 through the doorway 18.

  Further, in the protrusion device 25, the protrusion 25b is moved from the storage position to the protrusion position by driving the drive device. However, the drive device is driven to move from the protrusion position to the storage position. is not. For this reason, when returning the protrusion part 25b from a protrusion position to an accommodation position, it is necessary to return by manual operation.

  Next, the electrical configuration of the sliding door system will be described with reference to FIG. FIG. 4 is a diagram showing an electrical configuration of the sliding door system.

  As shown in FIG. 4, the sliding door system includes a controller 30 as control means. The controller 30 includes a known microcomputer having a CPU and the like. Each collision detection sensor 23 is connected to the controller 30. The controller 30 sequentially receives detection results from each of the collision detection sensors 23.

  Further, a protrusion device 25 is connected to the controller 30. Based on the detection result from each collision detection sensor 23, the controller 30 drives the protruding device 25 and causes the sliding door 19 to move to the open side by the device 25.

  Next, the flow of control processing executed by the controller 30 will be described. FIG. 5 is a flowchart showing the flow of the control process. This process is repeatedly executed at a predetermined cycle. Moreover, below, the case where the cleaning of the living room 11 by the self-propelled cleaner 21 is started in the state where the sliding door 19 is closed is assumed. For example, it is assumed that the cleaning of the living room 11 by the self-propelled cleaner 21 is started when the preset cleaning start time is reached.

  As shown in FIG. 5, first, in step S11, it is determined whether or not an open flag (set in step S30 in FIG. 6 described later) is set. If the open flag is set, the process is terminated. If the open flag is not set, the process proceeds to step S12.

  In step S12, it is determined whether or not a cleaning timer (a timer set in step S13 described later) is being executed. If the cleaning timer is being executed, the process proceeds to step S15, and if not, the process proceeds to step S13.

  In step S13, based on the detection result from each collision detection sensor 23, it is determined whether an object, that is, the self-propelled cleaner 21 has collided with any of the baseboards 17. That is, it is determined here whether or not the cleaning of the living room 11 by the self-propelled cleaner 21 has been started. If the self-propelled cleaner 21 does not collide with any baseboard 17, that is, if the cleaning of the living room 11 by the self-propelled cleaner 21 has not yet started, this processing is terminated, When the self-propelled cleaner 21 collides with the baseboard 17, that is, when the cleaning of the living room 11 by the self-propelled cleaner 21 is started, the process proceeds to step S14.

  In step S14, a cleaning timer is set. Thereby, timing is started by the cleaning timer.

  In step S15, it is determined whether or not an elapsed time since the start of time measurement by the cleaning timer, that is, an elapsed time from the start of cleaning by the self-propelled cleaner 21 exceeds a predetermined time. Here, the predetermined time is set to a time necessary and sufficient for cleaning the living room 11 by the self-propelled cleaner 21, and is set to, for example, 15 to 30 minutes. If the elapsed time from the start of timing by the cleaning timer does not exceed the predetermined time, this process ends. On the other hand, if the elapsed time from the start of timing by the cleaning timer exceeds the predetermined time, the process proceeds to step S16, and the sliding door opening process is executed. Then, after the sliding door opening process, various timers are reset in step S17, and then this process is terminated.

  Then, the sliding door opening process of step S16 is demonstrated based on FIG. FIG. 6 is a flowchart showing the flow of the sliding door opening process.

  As shown in FIG. 6, first, in step S21, a timer is set, and time measurement using the timer is started. In the subsequent step S22, the collision counter i is set to 0 (i ← 0).

  In step S23, based on the detection result from each collision detection sensor 23, it is determined whether the self-propelled cleaner 21 has collided with any of the baseboards 17. When the self-propelled cleaner 21 does not collide with any baseboard 17, the process proceeds to step S27, and when the self-propelled cleaner 21 collides with any baseboard 17, the process proceeds to step S24.

  In step S24, it is determined whether or not the collision of the self-propelled cleaner 21 determined in step S23 is the first collision after the timer starts counting. If it is the first collision, the process proceeds to step S26, and if it is the second or later collision, the process proceeds to step S25.

  In step S25, it is determined whether the baseboard 17 that collided this time is different from the baseboard 17 that collided last time. If the baseboard 17 that collided this time is the same as the baseboard 17 that collided last time, this processing is terminated. If the baseboard 17 that collided this time is different from the baseboard 17 that collided last time, the process proceeds to step S26, and the collision counter i is incremented by 1 (i ← i + 1).

  In a succeeding step S27, it is determined whether or not an elapsed time from the start of timing by the timer exceeds a predetermined time. Here, the predetermined time is sufficiently longer than the time required for the self-propelled cleaner 21 to collide with the baseboard 17 three times when the room 11 is being cleaned by the self-propelled cleaner 21. For example, it is set to 30 to 60 seconds. If the elapsed time from the start of timing by the timer exceeds a predetermined time, this process is terminated, and if the predetermined time has not been exceeded, the process proceeds to step S28.

  In step S28, it is determined whether or not the collision counter i is set to 3. If the collision counter i is not set to 3, that is, if the collision counter i is set to 1 or 2, the process returns to step S23, and the processes of steps S23 to S28 are performed again. On the other hand, if the collision counter i is set to 3, the process proceeds to step S29. That is, when the self-propelled cleaner 21 collides with the baseboard 17 three times (a plurality of times) within a predetermined time, specifically when the self-propelled cleaner 21 collides with a plurality of baseboards 17 within a predetermined time. Advances to step S29.

  In step S29, an open signal is output to the protruding device 25, and the protruding portion 25b of the device 25 is moved from the housed position to the protruding position. Thereby, the sliding door 19 is pushed to the open side by the protrusion 25b, and the sliding door 19 is operated to the open side. In this case, since the doorway 18 is opened, the self-propelled cleaner 21 can move from the living room 11 to the hallway 12 through the doorway 18. Thereafter, this process is terminated.

  In the subsequent step S30, an open flag is set. Thereafter, this process is terminated. The open flag is reset when the protruding portion 25b of the protruding device 25 is returned from the protruding position to the accommodation position.

  As mentioned above, according to the structure of this embodiment explained in full detail, the following outstanding effects are acquired.

  A collision detection sensor 23 that detects that an object has collided with the baseboard 17 of the living room 11 (corresponding to an indoor space) is provided, and the sliding door 19 protrudes to open based on the detection result of the collision detection sensor 23. The device 25 was controlled. In this case, when the self-propelled cleaner 21 collides with the baseboard 17, the sliding door 19 can be operated to the open side. For this reason, even if the sliding door 19 is closed at the start of cleaning by the self-propelled cleaner 21, by operating the sliding door 19 to the open side, the self-propelled cleaner 21 is connected to the corridor 12 (adjacent indoor space through the doorway 18). Can be moved. Therefore, it becomes possible to clean a plurality of indoor spaces.

  As the drive unit, a protruding device 25 that pushes the sliding door 19 to the open side by protruding to the sliding door 19 side is provided. In this case, as compared with the case where an opening / closing mechanism (such as an automatic door mechanism) capable of opening and closing the sliding door 19 is provided as the driving unit, the driving unit (the protruding device 25) can be installed in the building 10 relatively easily. Therefore, it can be said that it is a practically preferable configuration when the sliding door system is introduced into the building 10.

  The elapsed time after the collision detection of the object by the collision detection sensor 23 (in other words, the elapsed time from the start of cleaning by the self-propelled cleaner 21) is measured by a cleaning timer (corresponding to a time measuring means), and the measured progress When the time exceeds a predetermined time, the sliding door 19 is moved to the open side by the protruding device 25. In this case, since the sliding door 19 can be opened after the cleaning of the living room 11 by the self-propelled cleaner 21 is completed, the self-propelled cleaner 21 is not cleaned yet. Can be prevented from moving out of the living room 11 through the doorway 18.

  When the collision detection of the object by the collision detection sensor 23 is performed a plurality of times (specifically, three times) within a predetermined time, the sliding door 19 is moved to the open side by the protruding device 25. In this case, it is possible to prevent the sliding door 19 from unintentionally moving to the open side when a collision with the skirting board 17 is detected by hitting the skirting board 17 or the like. That is, in this case, erroneous detection can be prevented.

  A plurality of (three) baseboards 17 provided around the living room 11 are each provided with a collision detection sensor 23, and the sliding door 19 is moved to the open side by the protruding device 25 based on the detection result of each of the collision detection sensors 23. I tried to make it. Specifically, the sliding door 19 is moved to the open side when an object collision is detected on the plurality of baseboards 17. In this case, it is possible to prevent erroneous detection as in the case described above.

  Specifically, the sliding door 19 is moved to the open side when an object collision with a plurality of baseboards 17 is detected within a predetermined time. In this case, it is possible to reliably prevent erroneous detection.

  The collision detection sensor 23 is not provided on the baseboard 17 of the wall portion 16a where the doorway 18 is provided, and the collision detection sensor 23 is provided on the baseboard 17 of the other wall portions 16b to 16d. In this case, it is possible to avoid a situation in which the collision detection sensor 23 makes a false detection due to a foot hitting the baseboard 17 when entering or exiting through the doorway 18.

  Moreover, when the collision detection sensor 23 is provided in the baseboard 17 of the wall part 16a, when the sliding door 19 (one-sided sliding door) closes because the self-propelled cleaner 21 collides with the said baseboard 17, the sliding door 19 is closed. There is a possibility that the self-propelled cleaner 21 may be sandwiched between the wall portion 16a and the wall portion 16a. In that respect, it is possible to avoid such a situation by providing the collision detection sensor 23 on the baseboard 17 other than the baseboard 17 of the wall portion 16a.

[Second Embodiment]
In the said 1st Embodiment, although the sliding door 19 was provided in the entrance / exit 18 of the living room 11, the hinged door is provided in the entrance / exit 18 in this embodiment. In this relation, in this embodiment, the control process executed by the controller is different from that of the first embodiment, and hereinafter, the configuration of this embodiment will be described focusing on the difference. In the following description, the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted. FIG. 7 is a plan view showing a floor plan in the building 10 in the second embodiment, and FIG. 8 is a perspective view showing the vicinity of the entrance / exit 18 in the living room 11.

  As shown in FIGS. 7 and 8, the door 18 of the living room 11 is provided with a hinged door 35 as an opening / closing body. The hinged door 35 is configured to be in an open state by rotating toward the living room 11 side. Further, the floor portion 15 of the living room 11 is provided with a door stop 36 that contacts the hinged door 35 when the hinged door 35 is opened. This door stop 36 restricts the hinged door 35 from rotating further to the open side.

  When the hinged door 35 is in the open state, the hinged door 35 faces the wall portion 16d. In this facing state, the distance between the hinged door 35 and the wall portion 16d is smaller than the diameter (width) of the self-propelled cleaner 21. For this reason, when the living room 11 is cleaned by the self-propelled cleaner 21 in the open state of the hinged door 35, the self-propelled cleaner 21 cannot enter between the hinged door 35 and the wall portion 16d. It is assumed that no cleaning is performed between 16d and 35.

  Therefore, in the present embodiment, in view of this point, the building 10 is provided with a hinged door system capable of operating the hinged door 35 to the closed side. Below, the hinged door system is demonstrated.

  The door stop 36 of the hinged door 35 is configured as a protruding device that protrudes toward the hinged door 35 to push the hinged door 35 toward the closed side. FIG. 9 is a plan view showing the configuration around the door stop 36, where (a) shows the initial state of the door stop 36, and (b) shows the protruding state of the door stop 36. FIG. Hereinafter, the door stop 36 is also referred to as a protruding device 36. Further, the protruding device 36 corresponds to a drive unit.

  As shown in FIGS. 9A and 9B, the door stop 36 (protruding device 36) is accommodated in a cylindrical main body 36a fixed on the floor 15 and inside the main body 36a. And a columnar protrusion 36b. The protruding portion 36b is operable between a receiving position (see FIG. 9A) accommodated in the main body 36a and a protruding position (see FIG. 9B) protruding from the housing position toward the hinged door 35. It is said that. The main body portion 36a incorporates a driving device such as a motor, and the driving device drives the protruding portion 36b from the housing position to the protruding position. Then, when the projecting portion 36b is moved to the projecting position, the hinged door 35 is pushed to the closed side by the projecting portion 36b (the tip thereof), and thereby the hinged door 35 is operated to the closed side. .

  The hinged door 35 does not necessarily need to be closed to the position where the doorway 18 is closed (fully closed), and may be only closed to a position where a part of the doorway 18 is opened. In short, the hinged door 35 only needs to be closed so that the self-propelled cleaner 21 can enter the space between the hinged door 35 (in the open state) and the wall portion 16d.

  Further, in the present projecting device 36, the projecting portion 36b is moved from the housed position to the projected position by driving the drive device. is not. For this reason, when returning the protrusion part 36b from a protrusion position to an accommodation position, it is necessary to return by manual operation.

  Next, the electrical configuration of the hinged door system will be described with reference to FIG. FIG. 10 is a diagram illustrating an electrical configuration of the hinged door system.

  As shown in FIG. 9, the hinged door system includes a controller 40 as control means, as in the first embodiment. Each collision detection sensor 23 is connected to the controller 40, and detection results are sequentially input from the collision detection sensors 23 to the controller 40. In addition, a protrusion device 36 is connected to the controller 40. Based on the detection result from each collision detection sensor 23, the controller 40 drives the protruding device 36 and causes the hinged door 35 to move to the closed side by the device 36.

  Next, the flow of control processing executed by the controller 40 will be described. FIG. 11 is a flowchart showing the flow of the control process. This process is repeatedly executed at a predetermined cycle. Moreover, below, the case where the cleaning of the living room 11 by the self-propelled cleaner 21 is started in the state where the hinged door 35 is opened is assumed.

  As shown in FIG. 11, first, in step S41, it is determined whether or not a closing flag (set in step S50 described later) is set. If the close flag is set, the process is terminated. If the close flag is not set, the process proceeds to step S42. In step S <b> 42, based on the detection result from each collision detection sensor 23, it is determined whether or not the self-propelled cleaner 21 has collided with any baseboard 17. When the self-propelled cleaner 21 does not collide with any baseboard 17, this process is terminated, and when the self-propelled cleaner 21 collides with any baseboard 17, the process proceeds to step S43. .

  In step S43, a timer is set and time measurement by the timer is started. In the subsequent step S44, the collision counter is set to 0 (i ← 0).

  In step S45, as in step S42, it is determined whether or not the self-propelled cleaner 21 has collided with any of the baseboards 17. If no self-propelled cleaner 21 collides with any baseboard 17, the process proceeds to step S47. On the other hand, when the self-propelled cleaner 21 collides with any of the baseboards 17, the process proceeds to step S46, and the collision counter i is incremented by 1 (i ← i + 1).

  In a succeeding step S47, it is determined whether or not the elapsed time from the start of timing by the timer exceeds a predetermined time. Here, the predetermined time is sufficiently longer than the time required for the self-propelled cleaner 21 to collide with the baseboard 17 three times when the room 11 is being cleaned by the self-propelled cleaner 21. For example, it is set to 30 to 60 seconds. If the elapsed time from the start of timing by the collision timer exceeds a predetermined time, the present process is terminated, and if the predetermined time is not exceeded, the process proceeds to step S48.

  In step S48, it is determined whether or not the collision counter i is set to 3. When the collision counter i is not set to 3, that is, when the collision counter is set to 1 or 2, the process returns to step S45, and the processes of steps S45 to S48 are performed again. On the other hand, if the collision counter i is set to 3, the process proceeds to step S49. That is, when the self-propelled cleaner 21 collides with the baseboard 17 three times within a predetermined time, the process proceeds to step S49.

  In step S49, a closing signal is output to the protruding device 36, and the protruding portion 36b of the device 36 is moved from the housed position to the protruding position. Thereby, the hinged door 35 is pushed by the protrusion part 36b to the closing side, and the hinged door 35 is operated to the closing side. In this case, the self-propelled cleaner 21 can enter the space between the hinged door 35 and the wall portion 16d where the self-propelled cleaner 21 cannot enter in the opened state of the hinged door 35.

  In the subsequent step S50, the close flag is set. Thereafter, this process is terminated. The closed flag is reset when the protruding portion 36b of the protruding device 36 is returned from the protruding position to the accommodation position.

  As mentioned above, according to the structure of this embodiment explained in full detail, the following outstanding effects are acquired.

  Based on the detection result of the collision detection sensor 23, the protruding device 36 was controlled so as to move the hinged door 35 to the closed side. In this case, when the self-propelled cleaner 21 collides with the baseboard 17, the hinged door 35 can be operated to the closed side. For this reason, even if the hinged door 35 is in the open state at the start of cleaning, it is possible to clean the gap between the hinged door 35 and the wall portion 16d by operating the hinged door 35 to the closed side.

  As the drive unit, a protruding device 36 that pushes the hinged door 35 toward the closed side by protruding toward the hinged door 35 is provided. In this case, as compared with the case where an opening / closing mechanism (such as an automatic door mechanism) that can open and close the hinged door 35 is provided as the driving unit, the driving unit (projecting device 36) can be installed in the building 10 relatively easily. Therefore, it can be said that it is a practically preferable configuration when introducing the hinged door system into the building 10.

  Moreover, since the protrusion apparatus 36 was comprised by the door stop of the opening door 35, the opening door 35 can be pushed to the close side from the vicinity of the opening door 35 of the open state. For this reason, the hinged door 35 can be suitably pushed toward the closed side, and a preferable configuration can be obtained when the protruding device 36 is used as the drive unit.

  Moreover, it can suppress that an external appearance is impaired compared with the case where a protrusion apparatus is provided in the upper part etc. of the door stop 36 by comprising the protrusion apparatus by the door stop 36. FIG.

  When the collision detection of the object by the collision detection sensor 23 is performed a plurality of times (specifically, three times) within a predetermined time, the hinged door 35 is moved to the closing side by the protruding device 36. In this case, it is possible to prevent the hinged door 35 from moving unintentionally to the closed side when a collision with the baseboard 17 is detected by hitting the baseboard 17 or the like. That is, in this case, erroneous detection can be prevented.

[Other Embodiments]
The present invention is not limited to the above embodiment, and may be implemented as follows, for example.

  (1) In the first embodiment, the sliding door opening process (step S16) is performed when a predetermined time has elapsed after the collision of the object with the baseboard 17 is detected. The sliding door opening process may be performed immediately after the collision is detected. However, in that case, the sliding door 19 is opened and the self-propelled cleaner 21 moves from the doorway 18 to the outside of the living room 11 even though the cleaning of the living room 11 by the self-propelled cleaner 21 is not yet finished. There is a risk of it. Therefore, in view of this point, it is desirable to perform the sliding door opening process after a predetermined time elapses from the collision detection as in the first embodiment.

  Further, when the sliding door opening process is performed immediately after the collision detection to the baseboard 17, for example, the following incidental effects can be obtained.

  When the resident opens the sliding door 19 and moves from the living room 11 to the hallway 12, if the occupant is obstructed by holding an object in both hands, the skirting board 17 is pushed with three feet. (Kicking) or the like can be used to open the sliding door 19.

  In addition, when the patient suddenly feels bad in the living room 11, the sliding door 19 can be opened by pushing the baseboard 17 three times by hand or the like, and it is possible to ask for help from a family member in another room.

  (2) In the first embodiment, the sliding device 19 is moved to the open side by the protruding device 25 when the collision detection by the collision detection sensor 23 is performed three times within the predetermined time. When the collision detection is performed twice or four times or more, the sliding door 19 may be moved to the open side. In this case, the greater the number of collision detections, the more reliably false detection can be prevented. Further, when there is one collision detection, the sliding door 19 may be moved to the open side.

  Similarly, in the second embodiment, the hinged door 35 may be moved to the open side when the collision is detected twice or four times or more within a predetermined time. Further, when the collision is detected once, the hinged door 35 may be moved to the open side.

  (3) In the first embodiment, the sliding door 19 is moved to the open side when an object collision with the plurality of baseboards 17 is detected. When a collision of an object is detected at 17, the sliding door 19 may be moved to the open side. Also in the second embodiment, similarly, the hinged door 35 may be moved to the closed side when an object collision is detected on any of the baseboards 17.

  (4) In each of the above embodiments, the collision detection sensor 23 is not provided on the baseboard 17 of the wall portion 16a where the doorway 18 is provided, but the collision detection sensor 23 may be provided on the baseboard 17. In that case, the collision detection sensor 23 is provided in the baseboard 17 of each wall part 16a-16d surrounding the living room 11, respectively. Moreover, you may make it provide the collision detection sensor 23 only in any one wall part 16 among each wall parts 16a-16d.

  (5) In the first embodiment, the sliding door 19 is moved to the open side by pushing the sliding door 19 to the open side by the projecting device 25 (corresponding to the drive unit), but the sliding door 19 is moved to the open side. The driving unit is not necessarily limited to this. For example, a pulling device that moves the sliding door 19 to the open side by pulling the sliding door 19 to the open side may be used as the drive unit. An example is shown in FIG.

  In the example of FIG. 12, the sliding door 19 is a sliding door that enters and closes the wall portion 16a. A tensioning device 41 is embedded in the wall portion 16 a on the opening side of the sliding door 19 with respect to the entrance 18. The tension device 41 has a wire 41a connected to the sliding door 19 (specifically, its open side end surface) and a winding portion 41b capable of winding the wire 41a. The winding portion 41b is disposed on the open side with respect to the sliding door 19 and is fixed in the wall portion 16a.

  The winding portion 41b has a drive device (not shown) that drives winding of the wire 41a. When the wire 41a is wound up by the winding portion 41b using the driving device, the sliding door 19 is pulled to the open side, and thereby the sliding door 19 is operated to the open side. In the tension device 41, the wire 41a is wound by the driving device, but the wire 41a is not pulled out by the driving device. For this reason, when pulling out the wire 41a, it is pulled out by closing the sliding door 19.

  The pulling device 41 can be installed in the building 10 relatively easily as compared with the case where an opening / closing mechanism such as an automatic door is provided, similarly to the protruding device 25 of the first embodiment. Therefore, a practically preferable configuration can be obtained when the sliding door system is introduced into the building 10.

  (6) In the second embodiment, the protruding device 36 is configured by the door stop 36 of the hinged door 35, but the protruding device may be separately provided on the upper portion of the door stopper 36. Even in that case, since the hinged door 35 can be pushed by the protruding device from the vicinity of the opened hinged door 35, the hinged door 35 can be favorably pushed toward the closed side. Moreover, you may provide the protrusion apparatus 36 in members other than the door stop 36, such as the wall part 16d and a ceiling.

  (7) In the said 1st Embodiment, the protrusion apparatus 25 which can operate the sliding door 19 only to an open side is used as a drive part, and in the said 2nd Embodiment, the hinged door 35 is closed as a drive part. The projecting device 36 that can be operated only on the side is used, but this is changed, and in each of the above embodiments, the sliding door 19 (the hinged door 35) is set as either the open side or the closed side as the drive unit. An opening / closing device such as an automatic door device that can be operated may also be used. However, when such a switchgear is provided in the building 10, it is considered that the installation work becomes large. In view of this point, the projecting devices 25 and 36 as in the first and second embodiments are not provided. It may be desirable to use it as a drive unit.

  (8) For example, you may make it provide the opening part which self-propelled cleaner 21 can pass in the lower end side of a hinged door. In that case, even when the hinged door is closed, the self-propelled cleaner 21 can go in and out between the living room 11 and the hallway 12 through the opening, so that a plurality of indoor spaces can be cleaned. It becomes.

  However, when the above-mentioned opening is provided on the lower end side of the hinged door, there is a possibility that a problem may occur in terms of airtightness and design of the living room 11. In view of this point, for example, it is conceivable to configure the hinged door as shown in FIG. Hereinafter, the structure of this hinged door is demonstrated based on FIG. FIG. 13A is a perspective view showing a hinged door, and FIG. 13B is a longitudinal sectional view.

  As shown in FIGS. 13A and 13B, the hinged door 45 covers the hinged door main body 46, the opening 47 formed between the hinged door main body 46 and the floor, and the opening 47. And a cover 48. The hinged door body 46 includes a pair of facing surface materials 51 and a core material 52 sandwiched between the surface materials 51, and is formed by a so-called flash method (frame core structure). The surface material 51 is made of plywood or the like, and the core material 52 is made of a wooden square material assembled in a frame shape. A decorative sheet 53 is attached to the front side of each surface material 51. The decorative sheet 53 is made of, for example, a wood grain sheet.

  The decorative sheet 53 extends downward from the hinged door main body 46, and a soft sheet 55 made of a rubber material is attached to the back side of the extended portion 53a. The soft sheet 55 and the extended portion 53a constitute the cover portion 48 described above. In this case, a pair of cover portions 48 are provided in a state of facing each other, and a space is formed between the cover portions 48. Moreover, the cover part 48 is arrange | positioned in the state which made the lower end contact the floor surface, and, thereby, airtightness and sound insulation are ensured.

  FIG. 14 shows a state in which the self-propelled cleaner 21 passes through the opening 47 in the above-described hinged door 45. FIGS. 14A and 14B show a state where the self-propelled cleaner 21 moves from the corridor 12 side to the living room 11 side through the opening 47. In this case, the self-propelled cleaner 21 passes through the opening 47 while pushing the cover 48 into the living room 11 side. Specifically, the self-propelled cleaner 21 first hits the cover 48 and elastically deforms the cover 48 toward the living room 11 (see FIG. 14A), and then lifts the cover 48 above the self-propelled cleaner 21. Then, it passes under the lifted cover 48 (see FIG. 14B). In addition, when the self-propelled cleaner 21 moves from the living room 11 side to the corridor 12 side through the opening 47, it moves while pushing the cover 48 into the corridor 12 side as described above (see FIG. 14C).

  As described above, according to the above configuration, the design of the vicinity of the hinged door 45 is impaired because the cover 47 that can be elastically deformed (in other words, has flexibility) is provided in the opening 47. The self-propelled cleaner 21 can be made to enter and exit through the opening 47 when the hinged door 45 is closed.

  (9) Although the collision detection sensor 23 is provided on the baseboard 17 in each of the above embodiments, the collision detection sensor 23 may be provided on a parting material other than the baseboard.

  (10) In each of the above embodiments, the opening / closing body system of the present invention is applied to the opening / closing body (sliding door 19, hinged door 35) of the living room 11, but the present invention is applied to the opening / closing body of other indoor spaces such as the bedroom 13. May be. For example, it is conceivable to apply the sliding door system of the first embodiment to the bedroom 13. In this case, even if the sliding door of the bedroom 13 is closed at the start of cleaning by the self-propelled cleaner 21, the self-propelled cleaner 21 can be moved to the next room of the bedroom 13 by operating the sliding door to the open side. It becomes. Further, when the sliding door system is applied to the bedroom 13, as an incidental effect, when the room air is to be replaced at bedtime, the sliding door can be opened by reaching from the bed and pushing the baseboard 17. be able to.

  DESCRIPTION OF SYMBOLS 10 ... Building, 11 ... Living room as indoor space, 15 ... Floor part as floor, 16 ... Wall part as wall, 17 ... Baseboard as parting material, 18 ... Entrance / exit, 19 ... Sliding door as opening / closing body, 21 DESCRIPTION OF SYMBOLS ... Self-propelled cleaner, 23 ... Collision detection sensor as collision detection means, 25 ... Projection device as drive part, 30 ... Controller as control means, 35 ... Open door as opening / closing body, 36 ... Door stop, 40 ... Controller as control means.

Claims (11)

An indoor space surrounded by walls and floors,
An entrance / exit formed in a part of the wall;
An opening and closing body for opening and closing the doorway;
Applied to a building comprising a parting material provided along a boundary between the wall and the floor;
A drive unit for operating the opening / closing body on at least one of an open side and a closed side;
Collision detection means for detecting that an object has collided with the parting material;
Based on the detection result of the collision detection means, control means for controlling the drive unit to operate the opening / closing body to the open side or the closed side;
A building opening and closing body system characterized by comprising: The drive unit is for operating the opening / closing body at least on the open side,
2. The building opening / closing body system according to claim 1, wherein the control unit controls the driving unit to operate the opening / closing body to an open side based on a detection result of the collision detection unit. The opening and closing body is a sliding door;
3. The building opening / closing body system according to claim 2, wherein the driving unit is a protruding device that protrudes toward the sliding door to push the sliding door toward the open side. The opening and closing body is a sliding door;
3. The building opening and closing body system according to claim 2, wherein the driving unit is a tension device that moves the sliding door to the open side by pulling the sliding door to the open side. When a collision of an object to the parting material is detected by the collision detection unit, the timer includes a time measuring unit that measures an elapsed time from the detection,
The control means controls the drive unit to operate the opening / closing body to the open side based on a detection result of the collision detection means when the measured elapsed time exceeds a predetermined time. The building opening and closing body system according to any one of claims 2 to 4. The opening and closing body is a hinged door that is opened by rotating to the indoor space side,
The drive unit is for operating the hinged door at least on the closed side,
The building control system according to claim 1, wherein the control unit controls the drive unit to move the hinged door to a closed side.   The building opening / closing body system according to claim 6, wherein the driving unit is a protruding device that protrudes toward the hinged door to push the hinged door toward the closed side.   The building opening / closing body system according to claim 7, wherein the protruding device is configured by a door stop of the hinged door or provided at the door stop.   The control unit controls the driving unit to operate the opening / closing body to the open side or the close side when the collision detection unit detects the collision of the object a plurality of times within a predetermined time. The building opening / closing body system according to any one of claims 1 to 8. Each of the walls surrounding the indoor space is provided with the parting material,
The collision detection means is provided in at least one of the parting materials among the parting materials,
10. The control unit according to claim 1, wherein the control unit controls the drive unit to operate the opening / closing body to an open side or a close side based on a detection result of each of the collision detection units. The building opening and closing body system described in the item.   Of the plurality of walls surrounding the indoor space, the parting material of the wall provided with the doorway is not provided with the collision detection means, and the collision detection is performed on the parting material of a wall different from the wall. The building opening / closing body system according to any one of claims 1 to 10, wherein a means is provided.

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