JP2019145145A - Base station and autonomously running vacuum cleaner system - Google Patents

Abstract

To provide a system in which a base station can transfer a right signal and a left signal and an autonomously running vacuum cleaner can be reliably returned to the base station without duplicating signals.SOLUTION: A base station 25 for an autonomously running vacuum cleaner repeatedly transmits a plurality of signals including a first signal 29R and a second signal 29L transferred following the first signal, is adapted such that a region where only one of the first signal and the second signal is transferred can be discriminated by the autonomously running vacuum cleaner from a region where both are transferred, and is provided with transfer stop time until start of transferring the subsequent second signal after the transfer of the first signal.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a base station and an autonomous traveling type vacuum cleaner system.

  An autonomous traveling type vacuum cleaner is a device that is equipped with a rechargeable battery and that moves autonomously with the power of the rechargeable battery and simultaneously cleans it. For this reason, when the remaining battery level of the rechargeable battery decreases, cleaning becomes impossible and charging is required. In recent years, many autonomously traveling vacuum cleaners have a function of automatically returning to a base station serving as a charger when the remaining battery level of the rechargeable battery decreases.

  Regarding such a system that automatically returns to a base station, Patent Document 1 discloses a method of following a route defined by signal overlap partially between a right signal and a left signal transmitted from a base station.

JP 2007-149115 A

  The right and left signals transmitted from the base station are often made up of infrared codes that repeat HIGH / LOW at a high speed as shown in FIG. 1, which is the same type of signal used for the remote control of devices such as televisions and air conditioners. belongs to. Various operations (for example, ON / OFF of a television and channel operation) are performed by these devices discriminating this signal. Therefore, remote control signal codes are allocated in advance according to manufacturers, devices, and operations.

  In order to create a path defined by signal duplication shown in Document 1, a right signal and a left signal are simultaneously transmitted and duplicated, and a signal having another code different from the code of the two signals (duplicate signal) Must be generated. The code of the overlapping signal is a code that becomes HIGH when one of the right signal code and the left signal code is HIGH, and becomes LOW when both signals are LOW. For this reason, the overlapping signal is a signal that differs depending on the transmission timing of the two signals. If two signals are transmitted at the same timing each time, the duplicate signal becomes a signal with the same code each time. However, if the timing is deviated, the signal (code) is disturbed, resulting in different codes. Since the duplicate signal with the shifted transmission timing is different from the assumed duplicate signal, the autonomously traveling cleaner cannot recognize it as a signal for returning to the base station. In particular, in the case of a code in which both the right signal and the left signal repeat HIGH / LOW at high speed, even if the timing is slightly shifted, a large difference is likely to appear in the duplicate signal, and the duplicate signal can be traced back to the base station. It becomes difficult.

  In addition, because the generated duplicate signal has a different code than expected, not only can it not be returned to the base station, but if it matches the code of the signal that operates another device, it will erroneously operate another device. It is possible.

  Therefore, the present invention has been made in view of the above-described conventional problems. The base station transmits a right signal and a left signal and creates a route for returning each signal to the base station without overlapping each other. The purpose is to reliably return the traveling vacuum cleaner to the base station.

The present invention made to solve the above problems
A region in which only one of the first signal and the second signal is transmitted by repeatedly transmitting a plurality of signals including a first signal and a second signal transmitted following the first signal; , Allowing the autonomous cleaner to distinguish between the areas where both are transmitted,
It is a base station of an autonomous traveling type cleaner that provides a transmission stop time after the transmission of the first signal and before the transmission of the subsequent second signal starts.

  According to the present invention, while the transmission of one feedback signal of two feedback signals is stopped, the other feedback signal is transmitted, that is, the feedback signal is transmitted by completely shifting the transmission timing. The right feedback signal and the left feedback signal do not overlap, and an unexpected signal is not generated. In addition, by transmitting a part of the left feedback signal so as to overlap with a part of the base station center side of the area where the right feedback signal is transmitted, the area where only the right feedback signal is transmitted, the left side Four regions can be created: a region where only the feedback signal is transmitted, a region where both feedback signals are transmitted, and a region where neither feedback signal is transmitted. By following the area in which both feedback signals are transmitted, the autonomously traveling cleaner can surely return to the base station.

It is the figure which showed an example of the code | symbol of the feedback signal transmitted from a base station. It is the perspective view which looked down at the autonomous running type vacuum cleaner concerning the embodiment of the present invention from the left front. It is the perspective view which looked up at the autonomous running type vacuum cleaner from the left front. It is a block diagram which shows the apparatus connected to the control apparatus of an autonomous running type vacuum cleaner, and a control apparatus. It is explanatory drawing which shows the driving | running locus | trajectory of the reflective driving | running | working pattern which is an example of cleaning driving | running | working control. It is explanatory drawing which shows the driving | running | working locus | trajectory of feedback driving | running | working control. It is a perspective view which shows the structure of a center receiver. It is sectional drawing which shows the structure of a right receiver and a left receiver. It is a perspective view which shows the external appearance which looked down at the base station from the front upper direction. It is a figure which shows the transmission area | region of a feedback signal with the upper cross section cut | disconnected by the broken line C of FIG. It is a schematic diagram which shows the transmission pattern of a feedback signal. It is a timing chart which shows the transmission pattern of a feedback signal. It is a timing chart which shows another transmission pattern of a feedback signal.

  Embodiments of the present invention will be described in detail with reference to the drawings as appropriate. Note that the direction in which the autonomously traveling cleaner 1 (see FIGS. 2 and 3) mainly travels is defined as forward and the vertically upward direction is defined as upward, and front and rear, up and down, and left and right are defined as shown in FIGS.

FIG. 2 is a perspective view of the autonomously traveling cleaner 1 according to the present embodiment as viewed from the left front.
FIG. 3 is a perspective view of the autonomously traveling vacuum cleaner 1 as viewed from the left front. FIG. 4 is a configuration diagram illustrating a control device for an autonomous traveling vacuum cleaner and devices connected to the control device.

  The autonomously traveling cleaner 1 is a cleaner that cleans while moving autonomously in a predetermined cleaning area (for example, a room). The autonomous traveling type vacuum cleaner 1 mainly includes a main body 2, driving wheels 3R and 3L (see FIG. 3), traveling motors 4R and 4L (see FIG. 4), auxiliary wheels 5 (see FIG. 3), and a blower. 6, sensors (ranging sensor 7 and the like: see FIG. 3), side brushes 8 </ b> R and 8 </ b> L, and a control device 9 (see FIG. 4).

  The main body 2 is a housing that houses various motors, the control device 9 and the like, and has an outer shape of a thin column. The main body 2 includes an upper case 10 that is an upper wall, a lower case 11 that is a bottom wall (and some side walls), and a bumper 12 that is installed at the front. The upper case 10 is provided with a lid 10a for taking in and out a dust collection case 13 (see FIG. 3) described later.

  The lower case 11 is formed with a hole H1 for exposing the driving wheels 3R and 3L, a hole H2 for exposing the auxiliary wheel 5, and a suction port H3 for taking dust into the dust collecting case 13. . A suction port H3 is formed in the vicinity of the center of the lower case 11 having a circular shape in plan view, and the above-described hole portions H1 are formed on both sides of the suction port H3 in the left-right direction. In addition, two notches V1 for exposing the side brushes 8R and 8L are formed in the front portion of the lower case 11.

  The bumper 12 is installed so as to be movable in an inward / outward direction (a center side of the main body 2 is an inner side in a plan view) according to a pressing force acting from the outside. The bumper 12 is urged outward by a pair of left and right bumper springs (not shown).

  The drive wheels 3R and 3L are wheels for causing the main body 2 to move forward, backward, and turn by rotating itself. The drive wheels 3R and 3L are disposed on both sides of the suction port H3 in the left-right direction. The right driving wheel 3R is installed so that the driving force of the traveling motor 4R acts via a speed reducer (not shown) composed of a plurality of stages of gears. The same applies to the left driving wheel 3L.

  The travel motor 4R is a motor for rotating the right drive wheel 3R, and its rotation shaft is connected to a speed reducer. The other traveling motor 4L is a motor for rotating the left driving wheel 3L, and its rotating shaft is connected via a left speed reducer. These travel motors 4R and 4L can be driven at the same or different rotational speeds according to a command from the control device 9. That is, by controlling the rotational speeds of the traveling motors 4R and 4L, the autonomous traveling cleaner 1 can be moved forward, backward, and turned.

  The auxiliary wheel 5 is a wheel for smoothly moving the autonomous traveling cleaner 1 while keeping the main body 2 at a predetermined height. The auxiliary wheel 5 is pivotally supported so as to rotate by a frictional force generated between the auxiliary wheel 5 and the floor surface as the main body 2 moves.

  A blower 6 is mounted on the rear side of the main body 2. The blower 6 has a function of driving itself to discharge the air in the dust collecting case 13 to the outside to generate a negative pressure and suck dust from the floor through the suction port H3.

  The air path from the suction port H3 toward the downstream side includes a dust collection case 13, a dust collection filter (not shown), a blower 6, and an exhaust port (not shown) at the rear of the main body. In the vicinity of the suction port H3, a suction brush 14 that scrapes dust on the floor is provided. The suction brush 14 is rotatably supported around an axis extending in the left-right direction, and is connected to a suction brush motor 15 (see FIG. 4).

  When the blower 5 and the suction brush motor 15 are driven, the dust on the floor is sucked through the suction port H <b> 3, scraped by the suction brush 14, and guided to the dust collecting case 13. The air from which the dust has been removed by the dust collection filter is discharged through the exhaust port. The dust collection case 13 can be attached and detached by opening the lid 10 a provided on the upper case 10.

  Moreover, the side brushes 8R and 8L shown in FIG. 2 are brushes that guide the dust outside the main body 2 to the suction port H3 by being driven to rotate. A part of the side brushes 8R and 8L protrudes from the main body 2 in plan view. Yes. The side brushes 8R and 8L have three bundles of brushes that extend radially at 120 ° intervals in plan view, and are arranged in the left and right cutouts V1 of the lower case 11 in front of the suction port H3.

  The brush of the side brush 8R is inclined downward so as to approach the floor surface as it goes toward the tip, and the vicinity of the tip is in contact with the floor surface. The same applies to the left side brush 8L.

  The side brushes 8R and 8L are respectively connected to side brush motors 16R and 16L (see FIG. 4), and the side brush motors 16R and 16L are driven clockwise and counterclockwise as viewed from the bottom of the main body 2. As a result, dust is collected in front of the suction port H3.

  The bumper sensors 12R and 12L (see FIG. 4: obstacle detection means) are micro switches that detect the backward movement of the bumper 12 (that is, contact with the obstacle). The bumper sensors 12R and 12L are fixed to the back side of the bumper 12 so as to be divided into a right side and a left side on the front side of the main body 2 (near the periphery of the lower case 11). For example, when an obstacle comes into contact with the right side (or near the center) of the bumper 12, the bumper 12 moves backward, and the bumper sensor 12R is operated to output a detection signal to the control device 9. The same applies to the left bumper sensor 12L.

  The distance measuring sensor 7 (obstacle detection means) is an infrared sensor that detects the distance to the obstacle. In this embodiment, five distance measuring sensors 7 are provided in the vicinity of the periphery of the lower case 11, one on the front and two on the left and right sides (see FIGS. 2 and 3). In the bumper 12, at least the vicinity of the distance measuring sensor 7 is made of resin or glass that transmits infrared rays. Note that other types of sensors (for example, an ultrasonic sensor and a visible light sensor) may be used as the distance measuring sensor 7.

  The floor surface ranging sensor 17 is an infrared sensor that measures the distance to the floor surface, and is installed on the lower surface of the lower case 11 (see FIG. 3). By providing the floor surface ranging sensor 17, when there is a large step such as a staircase, the step can be detected and the autonomous traveling cleaner 1 can be prevented from falling. For example, when a level difference of about 30 mm is detected below the front side of the main body 2 by the distance measuring sensor 17 for the floor surface, the control device 9 controls the traveling motors 4R and 4L to move the main body 2 backward to change the traveling direction. .

  The travel motor encoders 18R and 18L shown in FIG. 4 are detectors that detect the rotation speed and rotation angle of the travel motors 4R and 4L. The control device 9 determines the moving speed / movement of the main body 2 based on the rotation speed / rotation angle detected by the traveling motor encoders 18R / 18L, the reduction gear ratio of the reduction gear, and the diameters of the drive wheels 3R / 3L. Calculate the distance.

  The operation buttons 19a, 19b, and 19c are buttons for outputting an operation signal corresponding to the user's operation to the control device 9 (see FIG. 2). The power button 19a, the cleaning start / end button 19b, and the cleaning mode are set. And a cleaning mode selection button 19c for changing.

  The display panel 20 shown in FIG. 4 has a plurality of LEDs (Light Emitting Diodes: not shown) and a 7-segment display (not shown). indicate.

  The rechargeable battery 21 is a secondary battery that can be reused by charging, and is housed on the front side inside the main body 2. The electric power from the rechargeable battery 21 is supplied to each sensor, each motor, and the control device 9. Moreover, it has the battery remaining charge detection apparatus 22 which detects battery remaining charge. The battery remaining amount detection device 22 includes a method for measuring the terminal voltage of the rechargeable battery 21 and a method for comparing the amount of electric power flowing into the rechargeable battery 21 with the amount of electric power flowing out, and any method may be used.

  The control device 9 is, for example, a microcontroller 23, reads out a program stored in a flash ROM (Read Only Memory) in which the program can be rewritten, develops the program in a RAM (Random Access Memory), and various types of CPU (Central Processing Unit). Processing is to be executed.

  The control device 9 executes arithmetic processing according to the signals from the operation buttons 19a, 19b, 19c and the above-described sensors, and outputs a command signal to each of the motors described above.

  Such an autonomous traveling type vacuum cleaner 1 is mainly used in the room A (see FIGS. 5 and 6), and autonomously travels in the room A by two main traveling controls of cleaning traveling control and return traveling control. To do. In the cleaning traveling control, the side brushes 8 </ b> R and 8 </ b> L are rotated, and dust on the floor surface is taken in by the suction brush 14, sucked by the blower 5, and collected autonomously while being collected in the dust collecting case 13. As an example of cleaning travel control, a reflective travel pattern is shown below.

  FIG. 5 is an explanatory diagram illustrating a travel locus of the reflective travel pattern. The reflective traveling pattern is a traveling pattern in which the autonomous traveling cleaner 1 travels while changing its traveling direction when it touches or approaches a wall or an obstacle 24 (shelf, sofa, etc.), and is suitable for cleaning the entire room A. Yes. When the obstacle 24 is detected by the detection signals input from the bumper sensors 12R and 12L and the distance measuring sensor 7, the control device 9 rotates the traveling motors 4R and 4L in opposite directions to make the main body 2 super Turn (turn on the spot) to change the direction of travel. As a result, the autonomously traveling vacuum cleaner 1 changes its direction as if the main body 2 is reflected by an obstacle or the like.

  When the cleaning by such cleaning traveling control has passed for a certain period of time or when the remaining battery level of the rechargeable battery 21 has reached a predetermined value or less, the cleaning traveling control is automatically shifted to the feedback traveling control. Alternatively, the return travel control is performed when the return travel mode is instructed by the cleaning mode selection button 19c.

  Return traveling control is traveling control in which the autonomous traveling cleaner 1 is moved to the base station 25 as shown in FIG. When the autonomous mobile vacuum cleaner 1 returns to the base station 25, the rechargeable battery 21 is charged.

  In performing this return traveling control, the base station 25 transmits a feedback signal for guiding the autonomous traveling cleaner 1 to the base station 25. The autonomous traveling cleaner 1 receives this feedback signal, and the controller 9 estimates the position of the base station 25 (or estimates the position of the autonomous traveling cleaner 1 relative to the base station 25) and determines the traveling direction. Then, the drive wheels 3R and 3L are driven. Hereinafter, the feedback traveling control, the feedback signal transmission system, and the reception system will be described in detail.

  First, a feedback signal receiving system in the main body 2 will be described with reference to FIGS.

  The bumper 12 of the main body 2 is provided with a central receiving device 26, a right receiving device 27R, and a left receiving device 27L in order to receive a feedback signal.

  The central receiver 26 is fixed to the upper surface of the bumper 12 at the approximate center of the left and right width of the main body 2. The internal structure of the central receiver 26 is shown in FIG. The central receiver 26 includes a light receiving element 26a that receives infrared rays, a substantially cylindrical light receiving lens 26b that surrounds the light receiving element 26a, and an upper surface cover 26c that covers the upper surface of the light receiving lens 26b. The light receiving element 26a is fixed at a position substantially the same height as the upper surface of the bumper 12 with the light receiving direction facing upward. The body of the light receiving lens 26b is made of a resin material that transmits infrared light, and can receive an infrared feedback signal from any direction on the outer periphery of the body. The inner side of the light receiving lens 26b is provided with a mortar-shaped space whose bottom is sunk, and the infrared feedback signal taken from the outer periphery of the trunk portion is reflected downward at the boundary surface with the mortar-shaped space. . The light receiving element 26a below the light receiving lens 26b receives the reflected signal reflected in this way, and can receive the feedback signal from all directions (forward, backward, right, left) on the horizontal plane. It is like that. The top cover 26c is made of a resin that does not allow infrared rays to pass therethrough, and blocks infrared rays from above the main body 2, for example, illumination light and remote control signals of other devices.

  The right receiving device 27R and the left receiving device 27L are higher than the center position in the height direction of the main body 2, and the receiving direction is set at a position about 30mm to the right and 30mm to the left from the approximate center of the left and right width of the main body 2, respectively. The bumper 12 is fixed substantially forward. The internal structures of the right receiving device 27R and the left receiving device 27L are shown in FIG. The left and right receivers 27 are composed of a light receiving element 27a whose light receiving direction is substantially horizontal, and a horn-shaped tube 27b having a length of about 20 mm extending rearward from the outline of the bumper 12. It has the directivity to be a degree.

  That is, the central receiver 26 receives feedback signals from various directions on the horizontal plane, while the right receiver 27R and the left receiver 27L have a narrower receiving range than the central receiver 26, and return from the front of the main body 2. It is configured to receive only the signal. Thereby, it is possible to determine whether the main body 2 is facing forward or backward with respect to the base station 25. That is, if the right receiving device 27R and the left receiving device 27L are receiving the feedback signal, it is forward-facing, and if only the central receiving device 26 is receiving the feedback signal, it is facing backward.

Next, the transmission system of the base station 25 and the feedback signal 29 will be described with reference to FIGS.
FIG. 9 is an external perspective view of the base station 25 as viewed from above the front. FIG. 10 shows the surface of the base station 25 taken along the broken line C in FIG. 9 from above, and the transmission regions B1 to B4 of the feedback signal 29. FIG.

  The base station 25 is composed of a backrest portion 25a extending substantially perpendicular to the floor surface and a base portion 25b extending parallel to the floor surface to the front side. The height of the backrest part 25a is slightly higher than the height of the autonomous traveling type vacuum cleaner 1, and two openings 25c for transmitting a feedback signal 29 are provided above the backrest part 25a. The opening 25c has a horizontally long shape with a height of about 10 mm and a width of about 20 mm, and a window plate 25d made of a material that transmits infrared rays is provided inside thereof. Moreover, when the backrest part 25a is viewed from above, it has a substantially trapezoidal shape, with a wide rear side and a narrow front side. With this shape, when the autonomously traveling cleaner 1 traveling near the wall comes into contact with the base station 25 installed with the back of the wall, a force toward the wall side is generated with respect to the base station 25, The station 25 can be pressed against the wall to make it difficult to move.

  Further, as shown in FIG. 10, the inner side of the backrest portion 25 a includes two infrared LEDs 25 i, 25 j that transmit a feedback signal 29, a light emitting circuit for causing these infrared LEDs 25 i, 25 j to emit light, and the autonomous traveling cleaner 1. An electronic board 25f including a charging circuit for supplying power to the rechargeable battery 21 is provided.

  The base station 25 has a power cord 25e and supplies power to the electronic board 25f.

  The two infrared LEDs 25i and 25j are provided at a position about 50 mm rearward from the opening 25c in a state of being about 5 mm apart from the left and right about the approximate center of the left and right width of the base station 25. A partition plate 25g extending to the window plate 25d is provided between the two infrared LEDs 25i and 25j, and the transmission range of the feedback signal 29 is limited. The partition plate 25g is black, suppresses reflection of infrared rays, and suppresses infrared rays from spreading in an unintended direction.

  Moreover, the base part 25b is provided with the electric power feeding terminal 25h when charging the rechargeable battery 21 of the autonomous running type vacuum cleaner 1. FIG. The power supply terminal 25h has two poles, a positive electrode and a negative electrode, and is divided into a left and a right centering on a substantially horizontal center of the base portion 25b, and is provided on the top of the base portion 25b that is raised.

  The power supply terminal 25 h can contact the power receiving terminal 28 provided on the bottom surface of the lower case 11 when the autonomous mobile vacuum cleaner 1 returns to the base station 25, and can thereby supply power to the rechargeable battery 21. Both power supply terminals 25h are provided so as to be pushed up from below the base portion 25b by a spring, and are depressed when a force is applied from above. With this configuration, at the time of charging, the power supply terminal 25h can be brought into contact with the power receiving terminal 28 so as to push up the power receiving terminal 28 of the autonomous traveling cleaner 1, and the terminals can be firmly in contact with each other. The power receiving terminal 28 is wider than the power feeding terminal 25h, and can supply power to the rechargeable battery 21 even if the center of the left-right width of the base station 25 and the center of the left-right width of the main body 2 are slightly shifted. Specifically, the width of the power feeding terminal 25h is about 5 mm, and the width of the power receiving terminal 28 is about 20 mm.

  Further, the front edge of the base portion 25b travels to the front side in the vicinity of the power supply terminal 25h, and conversely, it is recessed toward the backrest portion 25a between the two power supply terminals 25h. With this shape, when the autonomously traveling vacuum cleaner 1 automatically returns, when the auxiliary wheel 5 of the main body 2 comes into contact with the base portion 25b, the direction of the auxiliary wheel 5 changes, the traveling direction of the main body 2 changes, and the power supply terminal 25h It is possible to prevent the power receiving terminal 28 from being contacted. That is, even if the autonomously traveling cleaner 1 returns to the base station 25, a part of the front edge of the base portion 25b to which the auxiliary wheel 5 approaches is notched so that the auxiliary wheel 5 does not substantially contact the base portion 25b. It has become a shape.

  The transmission of the feedback signal 29 from the base station 25 will be described. First, the feedback signal is a code generated by blinking the infrared LEDs 25i and 25j at high speed (repeating ON / OFF several tens of times in about 50 to 100 ms) as shown in FIG. Such a feedback signal 29 is transmitted from the left and right infrared LEDs 25i, 25j. The right and left feedback signal codes are different.

As shown in FIG. 10, the right infrared LED 25 i transmits a right feedback signal 29 R from the approximate center of the left and right width of the base station 25 toward the front area on the right side, and the left infrared LED 25 j is approximately the left and right width of the base station 25. The left feedback signal 29L is transmitted from the center toward the left front area.
Specifically, both feedback signals 29R and 29L are transmitted to an area about 6 m away from the base station 25, and the width of the transmission area of the right feedback signal 29R is about 1 m ahead of the base station. The width of the transmission area of the feedback signal 29L on the left side is substantially the same as the width of the left and right sides of the base station 25. The range is from about 25 mm on the right side of the center to about 30 degrees on the left side. Therefore, both the right feedback signal 29R and the left feedback signal 29L are transmitted in a range of approximately 50 mm in front of the center of the left and right width of the base station 25. However, in the vicinity of the base station 25 (within about 50 mm in front), the area where both the left and right feedback signals 29 are transmitted becomes narrow and has a width of about 20 mm.

  Thus, in the area around the base station 25, the area B1 where only the right feedback signal 29R is transmitted, the area B2 where only the left feedback signal 29L is transmitted, and both the right feedback signal 29R and the left feedback signal 29L are transmitted. Region B3 can be divided into four regions, region B4 in which neither is transmitted. The autonomously traveling cleaner 1 receives these feedback signals 29, identifies the code, determines which area (position) the autonomously traveling cleaner 1 is traveling with respect to the base station 25, and proceeds. Decide the direction. In particular, the region B3 in which both the right feedback signal 29R and the left feedback signal 29L are transmitted is important. As will be described later, the autonomous mobile vacuum cleaner 1 moves forward so as not to deviate from the region B3, and reaches the base station 25. Return.

  Therefore, it is desirable that the area B3 where both the right feedback signal 29R and the left feedback signal 29L are transmitted is narrower than the areas B1 and B2 where only the left and right feedback signals 29 are transmitted.

  The two feedback signals 29R and 29L are transmitted so that they partially overlap each other. However, if these two feedback signals 29R and 29L are transmitted simultaneously, the signals themselves overlap each other, the signals are disturbed, and the right feedback signal 29R. However, the left feedback signal 29L is lost. Another signal in which two signals overlap is HIGH when either signal is HIGH, and LOW when both signals are LOW. Therefore, this separate signal is a signal that differs depending on the transmission timing of the two signals. If two signals are transmitted each time at the same timing, this separate signal will be the same code signal each time. However, if the timing shifts, the signal (code) will be disturbed, resulting in a different code. 1 cannot be recognized as a feedback signal. In particular, when the infrared LEDs 25i and 25j are blinking fast as in the present embodiment, a completely different signal is generated if the light emission timing is slightly shifted.

  If the signals are different, the autonomous running cleaner 1 cannot be recognized as a feedback signal, and may cause malfunctions to other devices. A signal (for example, a remote control signal) of household electrical appliances using infrared rays is assigned a remote control signal code by each company, each product, and each operation. Therefore, if it differs from the code of the assumed signal, it may be the same code as the code of the remote control signal of other household appliances, and it is possible to cause other devices to malfunction.

  Therefore, the two feedback signals 29R and 29L of the present invention are transmitted while the other feedback signals 29R and 29L are not transmitted as shown in FIGS. I am doing so. FIG. 11 is a schematic diagram showing how the feedback signal 29 is transmitted, and FIG. 12 is a timing chart showing the transmission pattern of the feedback signal 29. After transmitting the right feedback signal 29R of about 80 ms, after a time of about 70 ms (after stopping the transmission of both feedback signals 29 for about 70 ms), the left feedback signal 29L of about 80 ms is transmitted. Thereafter, after 70 ms (after stopping the transmission of both feedback signals 29 for about 70 ms), the transmission is repeated at the same timing from the right feedback signal 29R. As a result, the two feedback signals 29R and 29L can be transmitted without overlapping.

  As described above, the two feedback signals 29R and 29L are alternately transmitted. When the feedback signal 29 on one side is viewed, the code of the feedback signal 29 of about 80 ms is repeatedly transmitted at intervals of about 300 ms. That is, the time during which the transmission of the feedback signal 29 is stopped is 220 ms, which is longer than the time during which it is transmitted. This is because it does not hinder the remote control operation of household electrical appliances such as televisions, air conditioners, and lighting devices using infrared signals used in the home. Specifically, since the code of the remote control signal of household appliances is generally transmitted at an interval of about 100 to 130 ms, the time for stopping the transmission of the code of the feedback signal 29 should be secured for 130 ms or more. It is desirable that

  FIG. 13 shows a timing chart of another transmission pattern. In this case, after transmitting the right feedback signal 29R of about 80 ms, a time of about 10 ms is released (after transmission of both the feedback signals 29R and 29L is stopped for about 10 ms), and the left feedback signal 29L of about 80 ms is transmitted. Is transmitted. Thereafter, after a time of about 130 ms (after stopping transmission of both feedback signals 29R and 29L for about 130 ms), the transmission is repeated at the same timing from the right feedback signal 29R. A feature of this transmission pattern is that the lengths of the two times during which transmission of both feedback signals 29R and 29L is stopped are made different. In particular, one of the times during which the transmission of both feedback signals 29R and 29L is stopped is made shorter than the transmission time of the feedback signal 29, and the transmission of both of the other feedback signals 29R and 29L is stopped. The transmission time of the feedback signal 29 is made longer than the transmission time of the feedback signal 29, so that the transmission of both the feedback signals 29R and 29L is stopped for a long time without increasing the time of one cycle of the transmission pattern. Can be made. Thereby, it is possible to prevent the remote control operation of other household appliances from being disturbed for the region B3 that transmits both the right feedback signal 29R and the left feedback signal 29L.

  Further, as in these transmission patterns, it is desirable that the right feedback signal 29R and the left feedback signal 29L are transmitted alternately. If the right feedback signal 29R or the left feedback signal 29L is continuously transmitted twice or more without being transmitted alternately, it takes a long time to complete transmission of both the left and right feedback signals 29R and 29L (one cycle). In order not to miss the feedback signal 29, it is necessary to reduce the moving speed of the main body 2. When the moving speed of the main body 2 is lowered, the time until returning to the base station 25 becomes longer, and there is a possibility that the remaining battery level of the rechargeable battery 21 is further lowered. Therefore, by alternately transmitting the left and right feedback signals 29R and 29L, it is possible to shorten the time until the feedback to the base station 25 compared to the case where the left and right feedback signals 29R and 29L are not transmitted alternately. This is desirable because it can be suppressed.

  Return travel control in such a feedback signal transmission system and reception system will be described with reference to FIG.

  The main purpose of the return running control is to return the autonomous running type vacuum cleaner 1 to the base station 25, and the remaining battery level of the rechargeable battery 21 is extremely low, so that it cannot run and cannot return to the base station 25. In order to prevent this, the rotational speed of the side brushes 8R and 8L, the rotational speed of the suction brush 14, and the suction force of the blower 5 are reduced or stopped, and the autonomous running is performed while suppressing power consumption.

  First, in the state where the central receiver 26 or the left and right receivers 27 have not received the feedback signal 29 from the base station 25, the obstacle is detected when an obstacle is detected, as in the case of the reflection traveling pattern. A traveling pattern that changes the direction of travel by turning the ground is performed. The traveling speed at that time is made to travel at a speed slower than the maximum speed during the cleaning traveling control so that the feedback signal 29 is not missed during the traveling.

  When the central receiver 26 or the left and right receivers 27 receive the feedback signal 29 from the base station 25 while traveling in the reflective traveling pattern, the main body 2 is moved so as to draw a large arc from the straight-ahead operation (S1). The main body 2 is moved to a region B3 where both the right feedback signal 29R and the left feedback signal 29L are transmitted. At this time, when the main body 2 receives the right feedback signal 29R, the main body 2 is moved so as to draw a large arc on the left side, and when the left feedback signal 29L is received, a large arc is drawn on the right side. The main body 2 is moved. However, when only the central receiver 26 is receiving the feedback signal 29, the main body 2 is facing rearward with respect to the base station 25, and the main body 2 is turned in a super-reflex and the right receiver 27R. Alternatively, after the left receiving device 27L receives the feedback signal 29, the left receiving device 27L shifts to the forward movement drawing the large arc (S2). Further, in the forward movement (S2) that draws a large arc, since the region B3 in which both the right feedback signal 29R and the left feedback signal 29L can be received is small, the forward speed is further reduced in order not to miss the feedback signal 29. It is better to let

  After the central receiving device 26 or the left and right receiving devices 27 receive both the right feedback signal 29R and the left feedback signal 29L, the main body 2 is moved forward by a distance of the radius of the main body 2 so that the substantially central portion of the main body 2 is both left and right. Is moved to the region B3 where the feedback signal 29 is transmitted (S3). Since the central receiving device 26 and the left and right receiving devices 27 are provided on the front side of the main body 2, in the state where both the right feedback signal 29R and the left feedback signal 29L start to be received, both the left and right feedback signals 29R, 29L are Since only the front side of the main body 2 is located in the transmission area B3, the travel control S3 is performed. However, when the main body 2 is moved forward in this way, the receiving devices 26 and 27 of the main body 2 are temporarily removed from the region B3 in which both the left and right feedback signals 29R and 29L are transmitted.

After that, the main body 2 is turned in a super-confident manner and stopped when the central receiver 26 or the left and right receivers 27 receive both the right feedback signal 29R and the left feedback signal 29L (S4).
In the traveling control S4, when the central receiver 26 receives the right feedback signal 29R at the time of turning the main body 2 in a super-confidential manner, the main body 2 is rotated counterclockwise when viewed from above the main body 2, When the left feedback signal 29L is received, both the right feedback signal 29R and the left feedback signal 29L can be received earlier by rotating the main body 2 clockwise as viewed from above the main body 2 (both This is desirable because the receiving devices 26 and 27 provided on the front side of the main body 2 can be quickly positioned in the region B3 where the feedback signals 29R and 29L are transmitted. By this operation, both the front side of the main body 2 provided with the receiving devices 26 and 27 and the approximate center of the main body 2 can be positioned in the region B3 where both the right and left feedback signals 29R and 29L are transmitted. That is, the substantially central front surface (front surface) of the left and right width of the base station 25 and the substantially central front surface (front surface) of the left and right width of the main body 2 face each other.

  Thereafter, the central receiver 26 is directed toward the base station 25 so as to keep the right and left feedback signals 29R and 29L received so that the front of the main body 2 does not deviate from the front of the base station 25, that is, the range of the area B3. (S5). This traveling control S5 is necessary to bring the power supply terminal 25h of the base station 25 into contact with the power receiving terminal 28 of the main body 2, and when the main body 2 approaches the vicinity of the base station 25, it shifts from the front of the base station 25, The power feeding terminal 25h and the power receiving terminal 28 are prevented from being out of contact with each other. Specifically, when the central receiver 26 receives only the right feedback signal 29R, the main body 2 is moved forward to the left, and when the central receiver 26 receives only the left feedback signal 29L, By controlling the main body 2 to move forward to the right, even if the front surface of the main body 2 deviates from the area B3 where both the left and right feedback signals 29R and 29L are transmitted, it can be returned to the area B3.

  Further, in order to prevent the front surface of the main body 2 from deviating from the front surface of the base station 25, the right receiving device 27R receives only the right feedback signal 29R, and the left receiving device 27L receives only the left feedback signal 29L. It is desirable to add control that moves forward to maintain the state. With this control, even when the left and right receiving devices 27 enter the region 3, the traveling direction of the main body 2 can be changed, and the front of the main body 2 is prevented from greatly deviating from the region B3. For this purpose, it is desirable that the distance between the right receiving device 27R and the left receiving device 27L is slightly longer than the distance between the left and right widths of the region where both the left and right feedback signals are transmitted. Therefore, it is desirable that at least the interval between the right receiving device 27R and the left receiving device 27L is wider than the interval between the left and right infrared LEDs 25i, 25j provided in the base station 25.

  When the autonomous traveling type vacuum cleaner 1 moves forward toward the base station 25 while performing the traveling control S <b> 5, the bottom surface of the main body 2 rides on the base portion 25 b of the base station 25 in the vicinity of the base station 25. When the power receiving terminal 28 provided on the bottom surface of the main body 2 and the power supply terminal 25h of the base station 25 come into contact with each other and the electrical continuity is confirmed, the autonomous traveling cleaner 1 stops traveling and the side brushes 8R and 8L. Then, the rotation of the suction brush 14 and the operation of the blower 5 are stopped, and the return traveling control is ended. Thereafter, the base station 25 starts to supply power to the rechargeable battery 21 of the main body 2.

  In the above-described feedback traveling control, the region B3 in which both the left and right feedback signals 29 are transmitted is important, and it is required that no erroneous determination of the feedback signal occurs in the region B3. Therefore, the present invention provides an automatic feedback system to the base station 25 that suppresses disturbance of the feedback signal 29 and prevents erroneous determination by transmitting the left and right feedback signals 29R and 29L alternately without overlapping.

DESCRIPTION OF SYMBOLS 1 Autonomous traveling type vacuum cleaner 2 Main body 3 Drive wheel 12 Bumper 21 Rechargeable battery 25 Base station 25h Power supply terminal 25i Right side infrared LED
25j Left infrared LED
26 Central receiver 27R Right receiver 27L Left receiver 28 Power receiving terminal 29R Right feedback signal 29L Left feedback signal B3 Area where both left and right feedback signals are transmitted

Claims (2)

A region in which only one of the first signal and the second signal is transmitted by repeatedly transmitting a plurality of signals including a first signal and a second signal transmitted following the first signal; , Allowing the autonomous cleaner to distinguish between the areas where both are transmitted,
The base station of the autonomous traveling type vacuum cleaner which provides transmission stop time after transmission of the said 1st signal and transmission start of the said following 2nd signal. An autonomous traveling cleaner system comprising the base station according to claim 1 and the autonomous traveling cleaner.
The autonomous traveling cleaner is an autonomous traveling cleaner system having a receiving device that detects the first signal and the second signal.

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