JP2022039153A - Autonomous travel type cleaner and autonomous travel type cleaner system and moving body - Google Patents

Abstract

To efficiently return an autonomous travel type cleaner (a movable body) to a base station.SOLUTION: An autonomous travel type cleaner includes: a reception unit capable of detecting a return signal; a reception unit that measures a distance from a charging stand based on a signal from a beacon terminal, wherein the charging stand is incorporated with the beacon terminal for measuring distance; a reception unit that measures a direction of the charging stand, based on the signal from the beacon terminal; a drive unit that moves a body; and a control unit that controls travel of the body. The autonomous travel type cleaner performs: an advancement step of approaching the charging stand while periodically determining a distance and a direction from the charging stand; and a step of connecting itself to the charging stand, based on the return signal.SELECTED DRAWING: Figure 11

Description

The present invention relates to an autonomous traveling vacuum cleaner, an autonomous traveling vacuum cleaner system, and a moving body moving on a floor surface.

As an autonomous driving type vacuum cleaner equipped with a rechargeable battery and autonomously driving for cleaning work, there is a vacuum cleaner that has a function to automatically return to the base station that becomes a charger when the remaining battery level of the rechargeable battery is low. Are known. Considering the convenience of the user, it is desirable that the return success rate is high and the return can be performed in a short time.

Japanese Patent Application No. 2017-535572

In an autonomous vacuum cleaner or a mobile body, when returning to the charging stand and connecting to the charging stand, it is necessary to approach the vicinity of the charging stand in order to receive the return signal before following the return signal to carry out the charging stand connection. If the travel time until the feedback signal is received is long, the total feedback time will be extended accordingly. Therefore, considering the convenience of the user, it is important to move to the vicinity of the charging stand where the feedback signal can be received in a short time.

Further, when the charging stand connection process using the feedback signal is performed, if the starting position is too close to the charging stand, it becomes difficult to adjust the connection position, and there is a high possibility that the charging stand connection fails. Therefore, it is important to secure a distance between the charging stand and the main body when starting the charging stand connection process.

In view of the above problems, in the present invention, a receiving unit capable of detecting a feedback signal and a beacon terminal for measuring the distance are incorporated in the charging stand, and the distance to the charging stand is measured based on the signal from the beacon terminal. An autonomous vacuum cleaner having a receiving unit, a receiving unit that measures the direction of the charging stand based on a signal from the beacon terminal, a driving unit for moving the main body, and a control unit that controls the running of the main body. It is characterized by a progress step of approaching the charging stand while periodically determining the distance and direction from the charging stand, and a step of performing a connection process to the charging stand based on the feedback signal.

According to the present invention, regarding the return to the charging stand, it is possible to shorten the time until the charging stand is connected and improve the success rate of the connection.

It is a perspective view which looked down on the autonomous traveling type vacuum cleaner of Example 1 from the left front. It is a bottom view of the autonomous traveling type vacuum cleaner of Example 1. FIG. 1 is a sectional view taken along the line AA of FIG. It is a perspective view which shows the bumper internal structure which removed the bumper shade of the autonomous traveling type vacuum cleaner of Example 1. FIG. It is a block diagram which shows the control part of the autonomous traveling type vacuum cleaner of Example 1, and the apparatus connected to the control part. The figure which shows an example of the locus when the autonomous traveling type vacuum cleaner of Example 1 travels in a room in the reflection traveling mode. The figure which shows an example of the locus when the autonomous traveling type vacuum cleaner of Example 1 travels in a room in the return driving mode. The figure which shows the structure of the 1st receiver of Example 1. The figure which shows the structure of the 2nd receiver of Example 1. Front view of the base station 25 of the first embodiment Operation flowchart of the charging stand search process of the first embodiment Operation flowchart of the charging stand connection process of the first embodiment An example of the trajectory of the return run of the first embodiment An example of the trajectory of the return run of the first embodiment

Hereinafter, examples will be described with reference to the drawings.

FIG. 1 is a perspective view of the autonomous traveling type vacuum cleaner S of the present embodiment as viewed from the left front. The direction in which the autonomous traveling type vacuum cleaner S normally travels is the front, the vertical upward direction is upward, the drive wheels 3 and 4 are facing each other, the drive wheel 3 side is the right side, and the drive wheel 4 side is the left side. do. That is, as shown in FIG. 1 and the like, the front-back, up-down, and left-right directions are defined. FIG. 2 is a bottom view of the autonomous traveling type vacuum cleaner S of this embodiment. FIG. 3 is a cross-sectional view taken along the line AA of FIG. FIG. 4 is a perspective view showing a part of the bumper 2 of the autonomous traveling type vacuum cleaner S of this embodiment. FIG. 5 is a configuration diagram showing a control unit of the autonomous traveling type vacuum cleaner S of this embodiment and a device connected to the control unit. The autonomous traveling type vacuum cleaner S is an electric device that automatically cleans a predetermined cleaning area (for example, the floor surface Y of a room) while autonomously moving.

[Structure of autonomous vacuum cleaner S]
The autonomous traveling type vacuum cleaner S includes a main body case 1, a bumper 2 provided on the side circumference, a pair of drive wheels 3 and 4 provided on the bottom surface, training wheels 5, a rotary brush 6, a side brush 8, a rechargeable battery 9, and a control unit. A suction fan 11, a dust collecting case 12, a display panel 17, an operation button 20, and a first receiving unit 26 and a second receiving unit 27 for detecting a feedback signal are provided.

The drive wheels 3 and 4 are wheels that rotate by the rotational force of the traveling motors 3 m and 4 m, and can rotate in independent directions. The drive wheels 3 and 4 move the autonomous traveling vacuum cleaner S forward, backward, and turn (circular motion around a certain point. At a certain point, it may overlap or overlap a part of the autonomous traveling vacuum cleaner S. It does not have to be.) And super-credit turning (in-situ rotation. Circular motion around the center of the autonomous traveling type vacuum cleaner S) can be performed.
The training wheels 5 are driven wheels (casters) that rotate freely.

The side brushes 8a and 8b are provided on the front side of the autonomous traveling type vacuum cleaner S and on the outer side in the left-right direction, and as shown by the arrow α1 in FIG. Rotate to sweep in the direction toward, and collect dust on the floor surface toward the central rotating brush 6.
The rotary brush 6 is provided behind the drive wheels 3 and 4 of the autonomous traveling type vacuum cleaner S, and rotates about the horizontal direction as a rotation axis. It is possible to collect dust on the path of the autonomous traveling type vacuum cleaner S and dust repelled by the side brush 8. Negative pressure is generated by the suction fan 11 in the area where the rotary brush 6 is installed. A dust collecting case 12 is located between the rotating brush 6 and the suction fan 11, and dust is stored.

The rechargeable battery 9 is, for example, a secondary battery that can be reused by charging, and the remaining battery level can be measured or estimated by the battery remaining amount detecting unit 22. The electric power from the rechargeable battery 9 is supplied to the members necessary for driving the autonomous traveling type vacuum cleaner S such as the control unit 10, the display panel 17, and the traveling motors 3m and 4m.

The control unit 10 comprehensively controls the autonomous traveling type vacuum cleaner S. For example, a microcomputer 23 and peripheral circuits are mounted on a substrate and configured. The microcomputer 23 reads a control program stored in a ROM (Read Only Memory), expands it into a RAM (Random Access Memory), and executes it by a CPU (Central Processing Unit) to realize various processes. The peripheral circuit includes an A / D / D / A converter, a drive circuit for various motors, a sensor drive circuit, a charging circuit for the rechargeable battery 9, and the like.
The control unit 10 executes arithmetic processing according to the operation of the operation button 20 by the user and the signals input from various obstacle detecting means (bumper sensor 19, floor distance measuring sensor 22, distance measuring sensor 21). Then, signals are input and output to and from various motors.

The dust collecting case 12 has a suction port 12i formed above the rotating brush 6 as an inlet. Further, a dust collecting filter 13 is attached to the outlet of the dust collecting case 12. The suction fan 11 is driven by a fan motor 11m.

[Sensor]
The autonomous traveling type vacuum cleaner S has a floor distance measuring sensor 22, a bumper 2 (bumper sensor 19), a distance measuring sensor 21, a receiving unit 26, which detects obstacles and steps on the path, a return signal from the charging stand, and the like. Has 27.

The floor surface measuring sensor 22 (22a, 22b, 22c, 22d) is a sensor provided on the bottom surface of the autonomous traveling type vacuum cleaner S and can distinguish whether or not the floor surface exists within a predetermined distance. The floor distance measuring sensor 22 is not particularly limited as long as such a function can be realized, but it may be possible to use infrared rays or measure a specific distance to the floor surface. The floor distance measuring sensors 22 of this embodiment are installed at four locations on the front, back, left, and right of the bottom surface. For example, when the floor distance measuring sensor 22 detects a step of about 30 mm or more in front, the control unit 10 controls the drive wheels 3 and 4 to retract the autonomous traveling type vacuum cleaner S, and then moves in the traveling direction. Can be converted.

The bumper 2 is connected to a sensor that detects that the autonomous traveling vacuum cleaner S has collided with an obstacle such as a wall. The bumper 2 is urged outward with respect to the main body case 1 by a pair of left and right bumper springs (not shown). When the acting force when colliding with an obstacle through the bumper 2 acts on the bumper spring, the bumper spring is deformed so as to fall inward in a plan view, and the main body case of the bumper 2 is urged outward while the bumper 2 is urged outward. Allows 1 to move inward. When the bumper 2 separates from the obstacle and loses the above-mentioned acting force, the bumper 2 returns to the original position by the urging force of the bumper spring.

The movement of the bumper 2 (that is, contact with an obstacle) is detected by a bumper sensor 19 such as a photocoupler. When the bumper 2 retracts due to contact with an obstacle or the like, the sensor light is blocked, and a detection signal corresponding to this change is output to the control unit 10, so that it is possible to detect that contact with the obstacle or the like has occurred. Then, the control unit 10 controls the drive wheels 3 and 4, retreats the autonomous traveling type vacuum cleaner S as necessary, and then changes the traveling direction.

The distance measuring sensor 21 is an infrared sensor capable of detecting whether or not an obstacle or the like exists within a predetermined distance, and can be arranged, for example, on the side circumference of the autonomous traveling type vacuum cleaner S. In this embodiment, distance measuring sensors are provided at a total of 7 locations, one on the front and three on the left and right sides. The distance measuring sensor 21 may be able to detect the distance to an obstacle or the like in more detail. The configuration of the distance measuring sensor 21 includes, for example, a light emitting unit (not shown) that emits infrared rays and a light receiving unit (not shown) that receives reflected light that is reflected by an obstacle and returned. Can be.

The traveling motor encoders 18R and 18L of the autonomous traveling type vacuum cleaner S are detectors that detect the rotation speed and rotation angle of the traveling motors 3m and 4m, and calculate the moving speed and moving distance of the autonomous traveling type vacuum cleaner S. do. Further, the gyro sensor 50 included in the autonomous traveling type vacuum cleaner S detects the rotation angle, that is, the traveling direction of the autonomous traveling type vacuum cleaner S.

The operation button 20 is a button that outputs an operation signal corresponding to the user's operation to the control unit 10, and can instruct the start / end of cleaning and the return of the charging stand.

The display panel 17 has a plurality of LEDs (Light Emitting Diode: not shown) and a 7-segment display (not shown), and displays the operating state of the autonomous traveling vacuum cleaner S and the like.

The control unit 10 executes arithmetic processing according to the signals from the operation buttons 20a and 20b and the sensors, and outputs a command signal to each motor.

[Running]
FIG. 6 is a diagram showing an example of a locus when the autonomous traveling type vacuum cleaner S of this embodiment travels in the room A in the reflection traveling mode. FIG. 7 is a diagram showing an example of a locus when the autonomous traveling type vacuum cleaner S of this embodiment travels in the room A in the return traveling mode.

The autonomous traveling type vacuum cleaner S traveling in the room A can autonomously travel by the reflection traveling mode and the wall-side traveling mode as an example of the cleaning traveling control, as well as the return traveling control for searching the base station 25 as a charging stand. In the cleaning running control, the side brushes 8a and 8b are rotated, and the dust on the floor surface is taken in by the rotating brush 6, sucked by the blower fan 11 and collected in the dust collecting case 12, and is autonomously run.

In the reflection driving mode, when it is detected that the wall or the obstacle 24 (shelf, sofa, etc.) is touched or approached, the autonomous traveling type vacuum cleaner S changes the traveling direction and travels, and cleans the entire room A. Suitable for. When an obstacle 24 such as a wall is detected by a detection signal input from the bumper sensor 19 or the distance measuring sensor 21, the control unit 10 rotates the traveling motors 3m and 4m in opposite directions to autonomously travel the vacuum cleaner S. You can change the direction of travel by turning (rotating on the spot), or you can change the direction of travel by turning at different rotation speeds of the traveling motors 3m and 4m. As a result, the autonomous traveling type vacuum cleaner 1 can move in a direction away from the detected obstacle 24 or the like.

Return driving control when cleaning by cleaning driving control has elapsed for a certain period of time, when the remaining battery level of the rechargeable battery 9 reaches a predetermined value or less, or when the returning driving mode is instructed by the operation of the button 20b or the like by the user. To execute.

[Feedback signal]
The base station 25 has an emission unit 25c that emits a feedback signal. The receiving units 26 and 27 of the autonomous traveling type vacuum cleaner S can detect the feedback signal, and the autonomous traveling type vacuum cleaner S tries to return to the base station 25 by searching for the emission source of the feedback signal.

The autonomous traveling type vacuum cleaner S has a first receiving unit 26 and a second receiving unit 27.
The first receiving unit 26 is provided on the upper surface of the autonomous traveling type vacuum cleaner S, and can detect a wide range in the horizontal direction (in a plane when viewed from above), for example, a range of 300 ° or more, preferably 360 °. It is in the range. When the base station 25 is placed on a flat floor surface Y, the height of the first receiving unit 26 of the autonomous traveling type vacuum cleaner S traveling on the same floor surface Y is the height of the feedback signal emitted by the emitting unit 25c. It is designed to be almost the same. Therefore, the first receiving unit 26 detects the feedback signal of the emitting unit 25c if there is no obstacle 24 or the like between them regardless of the positional relationship between the direction of the autonomous traveling vacuum cleaner S and the base station 25. Cheap. The first receiving unit 26 of this embodiment is fixed to the upper surface of the bumper 2 at substantially the center of the left-right width of the autonomous traveling type vacuum cleaner S.

The second receiving unit 27 is provided on the side circumference of the autonomous traveling type vacuum cleaner S, and has a relatively narrow range in the horizontal direction (in a plane when viewed from above), at least a narrow range than the first receiving unit 26. For example, the range of 45 ° or less is set as the detectable range.

FIG. 8 is a diagram showing the configuration of the first receiving unit 26 of the present embodiment, and FIG. 9 is a diagram showing the configuration of the second receiving unit 27 of the present embodiment.
The first receiving unit 26 includes a light receiving element 26a that receives a feedback signal emitted by the emitting unit 25c, for example, 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. And have. 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 light receiving lens 26b has a cylinder portion made of a resin material that transmits infrared rays, and can capture a feedback signal from the entire circumference or substantially the entire circumference of the cylinder portion. Further, inside the light receiving lens 26b cylinder, an outer circumference is provided in a mortar-shaped shape that is recessed toward the lower side, and the feedback signal captured from the outer circumference of the cylinder portion is downward at the boundary surface with the outer circumference of the mortar-shaped portion. It is reflected toward. The light receiving element 26a below the light receiving lens 26b receives the reflected feedback signal in this way, and the feedback signal can be received from a wide range on a horizontal plane. Further, the upper surface cover 26c is made of a resin that does not allow light in the wavelength range that can be detected by the light receiving element 26a to pass through, and blocks, for example, illumination light and remote control signals of other devices from above the autonomous traveling vacuum cleaner S. is doing.

The second receiving unit 27 is provided at a position higher than the center position in the height direction of the bumper 2 and to the left or right of the position in the left-right direction where the first receiving unit 26 is located, for example, at a position about 30 mm away. The second receiving unit 27 has a light receiving element 27a whose light receiving direction is substantially horizontal, and a tubular portion 27b that extends rearward from the outer shell of the bumper 2 and dents toward the rear, and has a receiving range for a horizontal plane and a vertical surface. It has a directivity of about 30 degrees.

[Base station 25]
FIG. 10 is a front view of the base station 25 of this embodiment. The base station 25 has a backrest portion 25a extending substantially perpendicular to the floor surface and a base portion 25b extending forward in parallel with the floor surface. The height of the backrest portion 25a is higher than the height of the autonomous traveling type vacuum cleaner 1, and the upper part of the backrest portion 25a has three openings 25c for transmitting the feedback signal 29. An LED that emits infrared rays, for example, is arranged in each opening 25c. Further, the base station 25 has a power cord 25e, and the electric power required for causing the LED to emit light can be obtained from a commercial power source or the like.

The base portion 25b is provided with a power supply terminal 25h that can be electrically connected to the rechargeable battery 9 of the autonomous traveling type vacuum cleaner S. When the autonomous traveling type vacuum cleaner S returns to the base station 25, the power feeding terminal 25h can supply power to the rechargeable battery 9 by coming into contact with the power receiving terminal 28 on the bottom surface of the autonomous traveling type vacuum cleaner S.

The transmission of the feedback signal 29 from the base station 25 will be described. First, the feedback signal is a code created by blinking the infrared LED at high speed (repeating ON / OFF several tens of times in about 50 to 100 ms).

The base station 25 transmits the right side feedback signal 29R toward the area in front of the right side, transmits the left side feedback signal 29L toward the area in front of the left side, and transmits the center feedback signal 29C toward the area in front of the center. The feedback signals 29R, 29L, 29C are transmitted to a region about 6 m forward from the base station 25, and the width of the transmission region of the feedback signals 29R, 29L is in a range of about 30 degrees to the left and right. Further, the width of the transmission region of the feedback signal 29C is narrower than that of the feedback signals 29R and 29L. Each feedback signal 29R, 29L, 29C can have a different code, and the autonomous traveling type vacuum cleaner S can distinguish which feedback signal is being received. The beacon terminal 25K transmits a wireless signal, and the autonomous traveling vacuum cleaner S can measure the relative distance and direction from the base station 25.

[Overall return run]
The autonomous traveling vacuum cleaner S that executes the return traveling mode identifies the charging stand search process until the charging platform connection process is started after receiving the feedback signal, and identifies the code of the feedback signal, and is an autonomous traveling vacuum cleaner. There is a charging stand connection process that determines which area (position) S is traveling with respect to the base station 25 and travels so as to connect to the base station 25. The autonomous traveling type vacuum cleaner S of this embodiment advances so as not to deviate from the region where the central feedback signal 29C is transmitted (return signal follow-up traveling), and returns to the base station 25.

[Charging stand search process]
FIG. 11 shows the operation flow of the charging stand search process of this embodiment.

When the charging stand search process is started, the initial setting of the feedback process is first performed (FIGS. 11-S11). In the charging stand search process, the vehicle travels while determining the presence or absence of a feedback signal, and when the feedback signal is received, the charging stand search process is terminated and the process proceeds to the charging stand connection process (G2) (Fig. 11-S12). ..

When the feedback signal is not received, the distance and direction to the charging stand are measured (Fig. 11-S13). If the distance / direction cannot be measured, the vehicle travels randomly to search for a feedback signal (Fig. 11-S14). If the distance and direction can be measured, the orientation of the main body with respect to the charging stand is determined (Fig. 11-S15), and if the orientation of the main body is not the direction of the charging stand, the rotation operation is performed toward the charging stand (Fig. 11-). S16). If the main body is facing the charging stand, move forward (Fig. 11-S17) to drive closer to the charging stand.

FIG. 13 shows the traveling locus of the charging stand search process. At the start of the charging stand search, the distance and orientation with the charging stand are determined, and since the main body is not facing the direction of the charging stand, rotation is performed (Fig. 13-71), and the main body is turned toward the charging stand. After that, a forward operation is performed (Fig. 13-72), and the charging stand is approached.

[Charging stand connection process]
FIG. 12 shows an operation flow of the charging stand connection process of this embodiment.

When the charging stand connection process is started, the initial setting of the charging stand connection process is first performed (Fig. 12-S21). After that, it is determined whether or not the distance to the charging stand is a certain distance or more (FIG. 12-S22). Here, it is assumed that the distance threshold value with the charging stand can be arbitrarily determined.

If the distance to the charging stand is more than a certain distance (when a sufficient distance for adjusting the charging stand can be secured), normal feedback signal follow-up running is performed. While determining the connection with the charging stand (Fig. 12-S26), the vehicle follows the feedback signal (Fig. 12-S27) and travels to the charging stand connection.

If the distance to the charging stand is not more than a certain distance (when the distance that can be adjusted for connecting the charging stand is not sufficiently secured), the vehicle is driven to secure the distance from the charging stand. Rotate the main unit so that it faces the opposite direction of the charging stand (Fig. 12-S23), and while determining the distance to the charging stand (Fig. 12-S24), drive forward (Fig. 12-S25) and use the charging stand. Drive until the distance is equal to or greater than a certain distance. After the distance to the charging stand exceeds a certain distance, the vehicle follows the feedback signal and travels to the charging stand connection (Figs. 12-S26, S27).

FIG. 14 shows the travel trajectory of the charging stand connection process, and FIG. 14-60 is the boundary of the distance for the feedback signal follow-up travel. At the start of the charging stand connection process, the distance to the charging stand is determined, and since the distance to the charging stand cannot be secured more than a certain distance (because it is inside from Fig. 14-60), rotation is performed (Fig. 14-81). Turn the main unit in the opposite direction to the charging stand. After that, a forward operation is performed (Fig. 14-82) to secure a distance from the charging stand. After that, it is connected to the charging stand by normal feedback signal follow-up running.

As described above, regarding the return to the charging stand, it is possible to shorten the time until the charging stand is connected and improve the success rate of the connection.

S Autonomous driving type vacuum cleaner 1 Main body case 2 Bumper 3 Right drive wheel 4 Left drive wheel 9 Rechargeable battery 18 Encoder for traveling motor 19 Bumper sensor (an example of obstacle sensor)
21 Distance measurement sensor (an example of an obstacle sensor)
23 Microcomputer 25 Base station 26 1st receiver 27 2nd receiver 50 Gyro sensor

Claims (2)

A receiver that can detect the feedback signal and
A beacon terminal for measuring the distance is built into the charging stand, and a receiving unit that measures the distance to the charging stand based on the signal from the beacon terminal and a receiving unit that measures the direction of the charging stand based on the signal from the beacon terminal. Department and
A drive unit for moving the main body, a control unit for controlling the running of the main body,
It is an autonomous vacuum cleaner that has
An autonomous traveling type vacuum cleaner characterized by a progress step of approaching the charging stand while periodically determining the distance and direction to the charging stand, and a step of performing connection processing to the charging stand based on the feedback signal. A receiver that can detect the feedback signal and
A beacon terminal for measuring the distance is built into the charging stand, and a receiving unit that measures the distance to the charging stand based on the signal from the beacon terminal.
A drive unit for moving the main body, a control unit for controlling the running of the main body,
It is an autonomous vacuum cleaner that has
Based on the progress step that progresses while periodically determining the distance to the charging stand, the step that runs to secure the distance to the charging stand based on the feedback signal and the distance information, and the feedback signal. An autonomous vacuum cleaner featuring a step to carry out the connection process to the charging stand.

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