JP3339185B2 - Mobile work robot - Google Patents

Mobile work robot

Info

Publication number
JP3339185B2
JP3339185B2 JP12362194A JP12362194A JP3339185B2 JP 3339185 B2 JP3339185 B2 JP 3339185B2 JP 12362194 A JP12362194 A JP 12362194A JP 12362194 A JP12362194 A JP 12362194A JP 3339185 B2 JP3339185 B2 JP 3339185B2
Authority
JP
Japan
Prior art keywords
running
main
contact
wheel
traveling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP12362194A
Other languages
Japanese (ja)
Other versions
JPH07334242A (en
Inventor
秀隆 藪内
昌弘 木村
保道 小林
光康 小川
俊明 藤原
修 江口
弘文 乾
祥史 高木
崇文 石橋
義貴 黒木
Original Assignee
松下電器産業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 松下電器産業株式会社 filed Critical 松下電器産業株式会社
Priority to JP12362194A priority Critical patent/JP3339185B2/en
Publication of JPH07334242A publication Critical patent/JPH07334242A/en
Application granted granted Critical
Publication of JP3339185B2 publication Critical patent/JP3339185B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION
【0001】[0001]
【産業上の利用分野】本発明は、本体に自走機能を有
し、床面清掃や床面仕上げ等の作業を自動的に行なう移
動作業ロボットに関するものである。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile work robot having a self-propelled function in a main body and automatically performing operations such as floor cleaning and floor finishing.
【0002】[0002]
【従来の技術】近年、掃除機や床面洗浄機等の作業機器
に自走機能を付加し、これにマイクロコンピュータや各
種センサ類を搭載することにより作業の自動化を図った
移動作業ロボットが開発されている。
2. Description of the Related Art In recent years, mobile work robots have been developed which add a self-propelled function to work equipment such as a vacuum cleaner and a floor cleaning machine, and which are equipped with a microcomputer and various sensors to automate work. Have been.
【0003】例えば床面清掃ロボットは、電動送風機や
床ノズル等の作業装置を本体に有し、走行機能として走
行モータで駆動される駆動輪や従輪からなる走行輪を備
えるとともに、走行時の障害物を検知する障害物検知手
段や走行中の位置を認識する位置認識手段を備えて、自
走しながら床面の清掃を行なうものである。
[0003] For example, a floor cleaning robot has a working device such as an electric blower or a floor nozzle in its main body, has a running wheel including a driving wheel and a driven wheel driven by a running motor as a running function, and has an obstacle during running. It is provided with an obstacle detecting means for detecting an object and a position recognizing means for recognizing a running position, and cleans a floor surface while traveling by itself.
【0004】このような移動作業ロボットでは、自走領
域に階段や敷居等の大きな凹部段差がある場合には、本
体の転倒や転落の危険性が生じるため、凹部段差を事前
に検知し停止する手段が必要となる。例えば、従来の段
差検知手段としては、ローラーまたはブラシを下端に取
り付けた検知子を本体に上下動自在に設け、検知子の上
下動をリミットスイッチ等で検出するように構成してい
た。この段差検知手段を本体走行方向の前方に設け、走
行中に上記ローラーまたはブラシが本体前方の凹部段差
に落ち込むと上記リミットスイッチが作動し凹部段差を
検知するものであった。
[0004] In such a mobile work robot, if there is a large recessed step such as a staircase or a sill in the self-propelled area, there is a danger of the body falling over or falling down. Means are required. For example, as a conventional step detecting means, a detector having a roller or a brush attached to a lower end is provided on a main body so as to be vertically movable, and the vertical movement of the detector is detected by a limit switch or the like. The step detecting means is provided in front of the main body traveling direction, and when the roller or the brush falls into the concave step in front of the main body during traveling, the limit switch is operated to detect the concave step.
【0005】[0005]
【発明が解決しようとする課題】しかしながら、このよ
うな従来の段差検知手段を備えた移動作業ロボットで
は、走行中に本体が床面のわずかな凸部に乗り上げたと
きなどに本体前方が持ち上がり気味になって検知子が動
作しリミットスイッチが作動して停止しまったり、作業
開始前や作業終了後の場所間の移動時に段差検知手段が
床面に引掛かかって故障しやすい等、信頼性の面で課題
があった。
However, in such a mobile work robot provided with such a conventional step detecting means, the front of the main body tends to be lifted when the main body rides on a slightly convex portion of the floor during traveling. As a result, the detector will operate and the limit switch will operate and stop, and when moving between places before or after work, the step detecting means will catch on the floor and easily break down. There was a problem.
【0006】また、このような段差検知手段は、検知後
の停止距離の関係から走行輪より一定距離以上離れた位
置に配置しなければならないため、これを設けることに
よって本体長が必要以上に大きくなる場合があった。
Further, since such a step detecting means must be disposed at a position at least a certain distance from the traveling wheel due to the stop distance after the detection, the provision of the step makes the body length longer than necessary. There was a case.
【0007】本発明は、上記従来の課題を解決するもの
で、このような誤動作や故障の原因となり、本体長が大
きくなる要因となる段差検知手段を備えずとも、走行中
に本体が凹部段差に転落することなく停止できる移動作
業ロボットを提供することを第一の目的としている。
The present invention solves the above-mentioned conventional problems. Even if there is no step detecting means which causes such malfunctions and failures, and causes the body length to increase, the main body of the main body can be recessed during traveling. It is a primary object of the present invention to provide a mobile work robot capable of stopping without falling down.
【0008】また、第一の目的に加え、走行床面がすべ
り易い状態でも確実に凹部段差に転落することなく停止
できる移動作業ロボットを提供することを第二の目的と
している。
In addition to the first object, a second object is to provide a mobile work robot which can stop without falling down to the recessed step even in a state where the traveling floor surface easily slides.
【0009】同様に、第一の目的に加え、走行床面に傾
斜や凹凸がある場合でも確実に凹部段差に転落すること
なく停止できる移動作業ロボットを提供することを第三
の目的としている。
[0009] Similarly, in addition to the first object, a third object is to provide a mobile work robot capable of stopping without falling down to a recessed step even when the traveling floor has an inclination or unevenness.
【0010】また、より確実に凹部段差に転落すること
なく停止でき、しかも停止時に走行床面を傷つけること
がなく、本体に対する衝撃が少ない移動作業ロボットを
提供することを第四の目的としている。
It is a fourth object of the present invention to provide a mobile work robot which can stop more reliably without falling down to the concave step, does not damage the traveling floor surface at the time of stop, and has less impact on the main body.
【0011】さらに、凹部段差に転落することなく停止
したときに、同時に走行モータを停止してより安全性の
高い移動作業ロボットを提供することを第五の目的とし
ている。
It is a fifth object of the present invention to provide a mobile work robot with higher safety by stopping the traveling motor at the same time when the vehicle stops without falling down to the concave step.
【0012】また、第五の目的に加え、床ノズルを備え
た移動作業ロボットにおいて、凹部段差に転落すること
なく停止したときに、より容易な構成により走行モータ
の停止ができる移動作業ロボットを提供することを第六
の目的としている。
In addition to the fifth object, the present invention provides a mobile work robot having a floor nozzle, which can stop a traveling motor with a simpler configuration when stopped without falling down to a concave step. It has a sixth purpose.
【0013】[0013]
【課題を解決するための手段】上記第一の目的を達成す
るための本発明の第一の手段は、走行モータで駆動され
る駆動輪を含む3輪以上の走行輪を備え、本体重心を全
走行輪の接地点より内側に配置するとともに、この走行
輪の外周近傍の本体重心側でかつ走行輪の回転中心より
低い位置に、走行面と対向しかつ本体の略全幅に跨ぐ
面部を有する当接部材を設けたものである。
According to a first aspect of the present invention, there is provided a vehicle having three or more running wheels including a driving wheel driven by a running motor. A flat surface that is located inside the ground point of all running wheels and that is located on the side of the center of gravity near the outer periphery of the running wheels and lower than the center of rotation of the running wheels and that faces the running surface and spans substantially the entire width of the body <br> A contact member having a surface portion is provided.
【0014】第二の目的を達成するための本発明の第二
の手段は、第一の手段に加えて走行輪近傍に配された当
接部材の平面部の前記走行輪側を,水平方向より上向き
傾けて設けたものである。
A second means of the present invention for achieving the second object is that, in addition to the first means, the present invention is arranged near the running wheels.
The running wheel side of the flat part of the contact member faces upward from the horizontal
It is those provided to be inclined.
【0015】第三の目的を達成するための本発明の第三
の手段は、第一の手段に加えて当接部材を走行輪の回転
軸と平行な回動軸に対して回動自在に設けた移動作業ロ
ボットとするものである。
According to a third means of the present invention for achieving the third object, in addition to the first means, the contact member is rotatable about a rotation axis parallel to the rotation axis of the running wheel. It is a mobile work robot provided.
【0016】第四の目的を達成するための本発明の第四
の手段は、第一の手段または第二の手段または第三の手
段に加えて、当接部材の走行面と対向する平面部に、別
材質よりなる突起体を設けたものである。
A fourth means of the present invention for achieving the fourth object is, in addition to the first means, the second means or the third means, a flat portion opposed to the running surface of the contact member. And a projection made of a different material.
【0017】また第五の目的を達成するための本発明の
第五の手段は、第一の手段または第二の手段または第三
の手段に加えて、当接部材に、当接部材の走行面と対向
する平面部が走行面に当接したときに動作するスイッチ
手段を設けたものである。
According to a fifth aspect of the present invention, a fifth object of the present invention, in addition to the first means, the second means or the third means, is a contact member, A switch means is provided which operates when a plane portion facing the surface comes into contact with the running surface.
【0018】さらに第六の目的を達成するための本発明
の第六の手段は、第一の手段または第二の手段または第
三の手段に加えて、本体に上下動自在に取付けられた床
ノズルを備え、走行中に床ノズルが所定の位置より下方
向に移動したときに動作するスイッチ手段を設けたもの
である。
A sixth means of the present invention for achieving the sixth object is, in addition to the first means, the second means or the third means, a floor mounted on the main body so as to be vertically movable. It is provided with a nozzle and a switch means that operates when the floor nozzle moves below a predetermined position during traveling.
【0019】[0019]
【作用】本発明の第一の手段による移動作業ロボットで
は、走行中に本体が凹部段差にさしかかり走行輪が脱輪
すると、本体重心は走行面側に残るとともに当接部材の
平面部が走行面と当接して本体の走行を停止するので凹
部段差に転落することなく停止できるできるものであ
る。
In the mobile work robot according to the first aspect of the present invention, when the main body approaches the recessed step and the running wheel comes off during running, the center of gravity remains on the running surface side and the flat portion of the contact member is moved to the running surface. As a result, the running of the main body is stopped in contact with the main body, so that the main body can be stopped without falling down to the concave step.
【0020】本発明の第二の手段によれば、走行中に本
体が凹部段差にさしかかり走行輪が脱輪すると、本体重
心は走行面側に残るとともに当接部材の平面部が走行面
と当接して本体の走行を停止するのは第一の手段と同様
であるが、走行輪近傍に配された当接部材の平面部の前
記走行輪側を,水平方向より上向きに傾けて設けている
ので、走行輪の脱輪時に当接部材の平面部は走行面とよ
り平行に近く当接するから走行床面がすべり易い状態で
も確実に凹部段差に転落することなく停止できるもので
ある。
According to the second means of the present invention, when the main body approaches the recessed step and the running wheel comes off during running, the center of gravity remains on the running surface side and the flat portion of the contact member contacts the running surface. Stopping the running of the main body by contact is the same as that of the first means, but in front of the flat portion of the contact member disposed near the running wheel.
Since the running wheel side is inclined upward from the horizontal direction, the flat part of the abutment member abuts more parallel to the running surface when the running wheel is released, so even if the running floor surface is easy to slip, it is reliable. It can be stopped without falling down to the concave step.
【0021】本発明の第三の手段によれば、走行中に本
体が凹部段差にさしかかり走行輪が脱輪すると、本体重
心は走行面側に残るとともに当接部材の平面部が走行面
と当接して本体の走行を停止するのは第一の手段と同様
であるが、当接部材を走行輪の回転軸と平行な回動軸に
対して回動自在に設けているので、走行輪が脱輪したと
きの走行面に対する本体角度の大きさにかかわらず当接
部材の平面部は必ず走行面と平行に当接するから走行床
面に傾斜や凹凸がある場合でも確実に凹部段差に転落す
ることなく停止できるものである。
According to the third means of the present invention, when the main body approaches the recessed step during running and the running wheel comes off, the center of gravity remains on the running surface side and the flat portion of the contact member contacts the running surface. Stopping the running of the main body by contacting is the same as in the first means, but since the contact member is provided rotatably with respect to a rotation axis parallel to the rotation axis of the traveling wheel, the traveling wheel Regardless of the size of the body angle with respect to the running surface when the wheel is released, the flat part of the contact member always contacts the running surface in parallel, so even if the running floor surface is inclined or uneven, it will fall down to the recessed step. It can be stopped without having to.
【0022】本発明の第四の手段によれば、走行中に本
体が凹部段差にさしかかり走行輪が脱輪すると、本体重
心は走行面側に残るとともに当接部材の平面部に設けた
別材質よりなる突起体が走行面と当接して本体の走行を
停止するものであり、この突起体をゴム等の柔らかい材
質で構成することにより走行面との摩擦力が増大するの
で本体の停止がより確実になるとともに、停止時に走行
面を傷つけることがなくなり本体に対する衝撃も少なく
なるものである。
According to the fourth aspect of the present invention, when the main body approaches the recessed step during running and the running wheel comes off, the center of gravity remains on the running surface side and another material provided on the flat portion of the contact member The protruding body comes into contact with the running surface to stop the running of the main body. By forming the protruding body with a soft material such as rubber, the frictional force with the running surface increases, so that the main body can be stopped more. As a result, the running surface is not damaged when the vehicle stops, and the impact on the main body is reduced.
【0023】さらに、本発明の第五の手段によれば、走
行中に本体が凹部段差にさしかかり走行輪が脱輪する
と、本体重心は走行面側に残るとともに当接部材の平面
部が走行面と当接して本体の走行を停止するのは上記手
段と同様であるが、当接部材の走行面と対向する平面部
が走行面に当接したときに動作するスイッチ手段を当接
部材に設けることにより、走行輪が脱輪した時にこのス
イッチ手段が動作して走行モータを停止するので、駆動
輪の空転が防止できるものである。
Further, according to the fifth aspect of the present invention, when the main body approaches the recessed step and the running wheel comes off during running, the center of gravity remains on the running surface side and the flat portion of the contact member is moved to the running surface. Stopping the running of the main body by contacting the contact member is the same as the above-described means, but the contact member is provided with a switch means that operates when the flat portion facing the traveling surface of the contact member contacts the traveling surface. Thus, when the traveling wheel is released, the switch means operates to stop the traveling motor, so that idling of the driving wheel can be prevented.
【0024】また、本発明の第六の手段によれば、走行
中に本体が凹部段差にさしかかり走行輪が脱輪すると、
本体重心は走行面側に残るとともに当接部材の平面部が
走行面と当接して本体の走行を停止するのは上記手段と
同様であるが、走行輪が脱輪した時に本体に上下動自在
に取付けられた床ノズルが所定の位置より下方向に移動
してスイッチ手段が動作して走行モータを停止するから
駆動輪の空転が防止できるものであり、複数のスイッチ
手段を設ける必要がなくより容易な構成となるものであ
る。
According to the sixth aspect of the present invention, when the main body approaches the recessed step during running and the running wheel comes off,
It is the same as the above-mentioned means that the center of gravity remains on the running surface and the flat part of the contact member contacts the running surface to stop the running of the main body, but the main body can move up and down when the running wheel comes off. Since the floor nozzle attached to the vehicle moves downward from a predetermined position and the switch means operates to stop the traveling motor, idling of the drive wheels can be prevented, and there is no need to provide a plurality of switch means. This is an easy configuration.
【0025】[0025]
【実施例】(実施例1) 以下、本発明の第一の手段に係る実施例を床面清掃ロボ
ットを例にとって添付図面に基づいて説明する。
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (Embodiment 1) Hereinafter, an embodiment according to the first means of the present invention will be described with reference to the accompanying drawings, taking a floor cleaning robot as an example.
【0026】図1、図2は本実施例の床面清掃ロボット
の全体構成を示す。図において、1は床面清掃ロボット
の本体、2は本体1の前方に設けた左右の駆動輪で、走
行モータ3により左右独立に駆動される。4は本体1の
後方に回転自在に設けたフリーキャスタからなる従輪で
ある。この左右の駆動輪2と従輪4とは、図2の底面図
に示すように、3輪の走行輪を構成している。5は電動
送風機、6は集塵室、7はその内部に設けた紙袋からな
るフィルタである。8は本体1の底部前方に設けた床ノ
ズルで、床面上のごみをかき上げる回転アジテータ9を
有する。床ノズル8は、接続パイプ10及び蛇腹ホース
等からなる伸縮ホース11を介して集塵室6と接続し、
床面上のごみは電動送風機5で吸引されフィルタ7内に
集塵される。12は床ノズル懸架レバーで、レバー回動
軸13により回動自在に支持され、これにより床ノズル
8は本体1に対して上下動自在に取り付けられている。
電動送風機5、集塵室6、フィルタ7、床ノズル8、接
続パイプ10、伸縮ホース11は集塵作業を行なう作業
装置を構成している。
FIGS. 1 and 2 show the overall configuration of the floor cleaning robot of this embodiment. In the figure, reference numeral 1 denotes a main body of a floor cleaning robot, and 2 denotes left and right driving wheels provided in front of the main body 1, which are independently driven by a traveling motor 3 on the left and right sides. Reference numeral 4 denotes a follower wheel composed of a free caster rotatably provided behind the main body 1. The left and right driving wheels 2 and the driven wheels 4 constitute three traveling wheels as shown in the bottom view of FIG. Reference numeral 5 denotes an electric blower, 6 denotes a dust collection chamber, and 7 denotes a filter formed of a paper bag provided therein. Reference numeral 8 denotes a floor nozzle provided in front of the bottom of the main body 1 and has a rotary agitator 9 for scraping dust on the floor surface. The floor nozzle 8 is connected to the dust collecting chamber 6 via a telescopic hose 11 including a connecting pipe 10 and a bellows hose,
The dust on the floor is sucked by the electric blower 5 and collected in the filter 7. Reference numeral 12 denotes a floor nozzle suspension lever, which is rotatably supported by a lever rotation shaft 13, whereby the floor nozzle 8 is attached to the main body 1 so as to be vertically movable.
The electric blower 5, the dust collecting chamber 6, the filter 7, the floor nozzle 8, the connection pipe 10, and the telescopic hose 11 constitute a working device for performing a dust collecting operation.
【0027】14は床ノズル懸架レバー12と接続して
取り付けられたリミットスイッチ等からなるスイッチ手
段で、床ノズル8が所定の位置より下方向に移動したと
きに作動し、左右の走行モータ3を停止する。15は本
体1の周囲に設けられた超音波センサ等からなる測距セ
ンサで、本体1の前方・左右側方および後方にある物体
までの距離を測定して障害物を検出する障害物検知装置
を構成している。16は本体1の周囲に取り付けた弾性
体からなるバンパーである。17は本体1の走行制御を
行なう走行制御装置で、ジャイロ等からなる位置認識手
段(図示せず)や障害物検知装置等からのデータに基づ
いて走行モータ3を制御し、本体1の前進・後退・方向
転換・停止等の動作を制御する。18は操作部で、各種
スイッチ類およびLED・ブザー等の表示器を備えた操
作パネル19により本体1の操作を行なう。
Numeral 14 denotes switch means such as a limit switch attached to the floor nozzle suspension lever 12 and connected thereto. The switch means 14 operates when the floor nozzle 8 moves downward from a predetermined position, and controls the left and right traveling motors 3. Stop. Reference numeral 15 denotes a distance measuring sensor including an ultrasonic sensor and the like provided around the main body 1, and an obstacle detecting device that detects an obstacle by measuring a distance to an object located in front of, right, left, and right of, and behind the main body 1. Is composed. Reference numeral 16 denotes a bumper made of an elastic body attached around the main body 1. Reference numeral 17 denotes a travel control device for controlling the travel of the main body 1, which controls the travel motor 3 based on data from position recognition means (not shown) such as a gyro, an obstacle detection device, etc. Controls actions such as reversing, turning, and stopping. Reference numeral 18 denotes an operation unit for operating the main body 1 through an operation panel 19 provided with various switches and an indicator such as an LED and a buzzer.
【0028】20は本体ハンドルで、手動清掃または場
所間移動時にこれを用いる。21は全体に電力を供給す
る蓄電池等からなる電源である。点Gは、この床面清掃
ロボット全体の本体重心を示しており(矢印aは本体1
の重量方向)、走行面Aに対する重量点が駆動輪2の接
地点Pと従輪4の接地点Qとのほぼ中央になるように本
体配置がなされている。22は駆動輪2の外周近傍の本
体重心G側に設けた当接部材で、駆動輪2の半径より低
い位置で走行面Aに対向する平面部23を有する。この
当接部材22は左右の駆動輪2の後方で本体1の台車部
1の全幅を跨ぐ1本の梁構成となっている。24は従輪
4の外周近傍の本体重心G側および左右側方に設けた当
接部材で、従輪4の半径より低い位置で走行面Aに対向
する平面部25を有する。
Reference numeral 20 denotes a main body handle which is used for manual cleaning or movement between locations. Reference numeral 21 denotes a power supply including a storage battery or the like for supplying power to the whole. Point G indicates the true center of gravity of the entire floor cleaning robot (the arrow a indicates the main body 1).
, The main body is arranged such that the weight point on the running surface A is substantially at the center between the ground point P of the drive wheel 2 and the ground point Q of the driven wheel 4. Reference numeral 22 denotes a contact member provided on the main body weight G side near the outer periphery of the drive wheel 2 and has a flat portion 23 opposed to the running surface A at a position lower than the radius of the drive wheel 2. The abutment member 22 has a single beam configuration across the entire width of the bogie unit 1 of the main body 1 behind the left and right drive wheels 2. Reference numeral 24 denotes contact members provided near the outer periphery of the driven wheel 4 on the side of the center of gravity G and on the left and right sides, and has a flat portion 25 opposed to the running surface A at a position lower than the radius of the driven wheel 4.
【0029】この床面清掃ロボットはいくつかの動作モ
ードを有するが、例えば、本体1を清掃領域の基準壁面
にほぼ直角に向けて置き、操作パネル19のスタートボ
タンを押すと、電動送風機5が作動し前方へ直進走行を
開始する。走行中は作業装置により集塵作業を行ないな
がら常に測距センサ15により周囲の障害物までに距離
を測定するとともに、位置認識手段により走行距離を測
定している。本体1が前方の壁まで所定距離だけ接近す
ると一旦停止後、所定角度だけ本体角度を振って方向変
換し、次に後方へ直進走行を行なう。後退直進中は、前
回測定した前進距離を目標距離に設定して、位置認識手
段で測定している走行距離がこれと等しくなると停止す
る。このとき、目標走行距離に達する以前に障害物があ
れば、これに衝突しないように停止する。停止後は、再
び本体角度を振って方向変換し、前進直進を開始する。
以下同様に、一旦停止後方向変換して後退直進、一旦停
止後方向変換して前進直進という具合に同じ動作を繰り
返しながら清掃領域全体を走行しつつ走行面Aの清掃を
行なうものである。
The floor cleaning robot has several operation modes. For example, when the main body 1 is placed at a right angle to the reference wall of the cleaning area and the start button on the operation panel 19 is pressed, the electric blower 5 is activated. It operates and starts straight ahead. During traveling, the distance to the surrounding obstacle is always measured by the distance measuring sensor 15 while the dust collecting work is performed by the working device, and the traveling distance is measured by the position recognition means. When the main body 1 approaches the front wall by a predetermined distance, it temporarily stops, swings the main body angle by a predetermined angle, changes its direction, and then travels straight back. While the vehicle is moving backward and straight ahead, the previously measured forward distance is set as the target distance, and the vehicle stops when the travel distance measured by the position recognition means becomes equal to this. At this time, if there is an obstacle before reaching the target traveling distance, the vehicle stops so as not to collide with the obstacle. After the stop, the main body angle is changed again to change the direction, and the vehicle starts to move straight forward.
In the same manner, the traveling surface A is cleaned while traveling the entire cleaning area while repeating the same operation, such as temporarily stopping and then changing direction and moving backward and then temporarily stopping and then changing direction and moving forward.
【0030】以上のように構成された床面清掃ロボット
において、本発明の第一の手段の動作について図3を用
いて説明する。
The operation of the first means of the present invention in the floor cleaning robot configured as described above will be described with reference to FIG.
【0031】本体1が走行面A上を前進走行中に階段等
の段差Bに近づくと、先ず床ノズル8が段差Bより飛び
出し、次に左右の駆動輪2が脱輪し、図3(a)に示す
状態となる。駆動輪2が脱輪しても、駆動輪2の後方近
傍に設けた当接部材22の平面部23が走行面Aに当接
し、かつ本体重心Gは走行面A上に残るので、本体1は
平面部23と走行面Aとの摩擦により強制的に走行が停
止させられると同時に平面部23と従輪4により走行面
A上で支持されるから本体1が段差Bに転落することは
ない。
When the main body 1 approaches a step B such as a stair while traveling forward on the running surface A, the floor nozzle 8 first jumps out of the step B, and then the left and right driving wheels 2 come off. ). Even if the driving wheel 2 is removed, the flat portion 23 of the contact member 22 provided in the vicinity of the rear of the driving wheel 2 abuts on the traveling surface A, and the real center of gravity G remains on the traveling surface A. Is forcibly stopped by the friction between the flat portion 23 and the running surface A, and at the same time, the main body 1 does not fall to the step B because the flat portion 23 and the driven wheel 4 support the running on the running surface A.
【0032】また、当接部材22は左右の走行モータ3
および床ノズル懸架レバー12の下方に取り付けられ、
これらを覆っているので、駆動輪2の脱輪時に走行モー
タ3および床ノズル懸架レバー12が走行面Aと衝突し
てこれらが破損したり走行面Aを傷つけるのを防止する
ガードカバーの役割も果たしている。
The contact member 22 is connected to the left and right traveling motors 3.
And attached below the floor nozzle suspension lever 12,
Since these components are covered, the traveling motor 3 and the floor nozzle suspension lever 12 also serve as a guard cover for preventing the traveling motor A and the floor nozzle suspension lever 12 from damaging or damaging the traveling surface A when the driving wheel 2 is released. I have.
【0033】同様に、本体1が走行面A上を後退走行中
に階段等の段差Cに近づくと、後方の従輪4が脱輪し、
図3(b)に示す状態となる。従輪4が脱輪すると、今
度は従輪4の前方近傍に設けた当接部材24の平面部2
5が走行面Aに当接し、かつ本体重心Gはやはり走行面
A上に残るので、本体1は平面部25と走行面Aとの摩
擦により強制的に走行が停止させられると同時に、平面
部25と駆動輪2により走行面A上で支持されるから本
体1が段差Cに転落することはない。
Similarly, when the main body 1 approaches a step C such as a stair while the vehicle 1 is traveling backward on the traveling surface A, the rear follower wheel 4 comes off, and
The state shown in FIG. When the driven wheel 4 comes off, the flat portion 2 of the contact member 24 provided near the front of the driven wheel 4
5 is in contact with the running surface A and the body weight G also remains on the running surface A, so that the main body 1 is forcibly stopped running by friction between the flat portion 25 and the running surface A, and The main body 1 does not fall down to the step C because it is supported on the running surface A by the drive wheels 25 and the drive wheels 2.
【0034】また、方向変換中は、本体1は左右の駆動
輪2を中心に回転し、従輪4を振り回すような動作とな
り、従輪4は側方を向くが、このときに走行面Aの段差
に従輪4が脱輪したとしても、従輪4の左右側方にも当
接部材24があるから上記同様に本体1が段差に転落す
ることはない。
During the direction change, the main body 1 rotates about the left and right drive wheels 2 and swings the driven wheel 4 so that the driven wheel 4 faces sideways. Even if the follower wheel 4 comes off, the main body 1 does not fall down to the step as described above because the contact members 24 are also provided on the left and right sides of the follower wheel 4.
【0035】このように、本体1の走行面上に凹部段差
があり走行輪が脱輪したとしても、本体1の走行は強制
的に停止させられ、必ず走行面上に支持されるから本体
1が段差に転落する危険性がなくなるものである。
As described above, even if there is a recessed step on the running surface of the main body 1 and the running wheel comes off, the running of the main body 1 is forcibly stopped and is always supported on the running surface. However, there is no danger of falling on a step.
【0036】(実施例2) 次に、本発明の第二の手段に係る実施例について説明す
る。
(Embodiment 2) Next, an embodiment according to the second means of the present invention will be described.
【0037】図4は上記実施例における床面清掃ロボッ
トの側断面図であり、第一の手段に係る実施例と当接部
材22と24の構成のみが異なる。すなわち、図に示す
よう当接部材22の平面部26は水平面より角度αだけ
駆動輪2の方に傾けて設けてあり、駆動輪2の脱輪時に
は平面部26は走行面Aと平行に当接する。したがっ
て、本体1が走行面A上を前進走行中に階段等の段差B
に近づき駆動輪2が脱輪したときに、走行面Aが硬い材
質やすべり易い状態であっても、本体1は平面部26と
走行面Aとは広い面積で当接するので摩擦力が増大し、
より確実に走行が停止させられるから本体1が段差Bに
転落することがない。
FIG. 4 is a side sectional view of the floor cleaning robot in the above embodiment, which differs from the embodiment of the first means only in the configuration of the contact members 22 and 24. That is, as shown in the figure, the flat portion 26 of the contact member 22 is provided to be inclined toward the drive wheel 2 by an angle α from the horizontal plane. Touch Therefore, while the main body 1 is traveling forward on the traveling surface A, a step B such as a stair
When the driving wheel 2 comes off, the running surface A is in contact with the flat surface 26 and the running surface A in a wide area even if the running surface A is made of a hard material or easily slippery, so that the frictional force increases. ,
Since the traveling is more reliably stopped, the main body 1 does not fall to the step B.
【0038】また、当接部材24の平面部27は水平面
より従輪4の方に傾けて設けてあり、従輪4の脱輪時に
は平面部27は走行面Aと平行に当接するようになって
いるから、同様に従輪4が脱輪したときに走行面Aが硬
い材質やすべり易い状態であっても、本体1は確実に走
行が停止させられ、本体1が段差に転落することがなく
なる。
Further, the flat portion 27 of the contact member 24 is provided so as to be inclined toward the driven wheel 4 from the horizontal plane, so that the flat portion 27 comes into contact with the running surface A in parallel when the driven wheel 4 is removed. Accordingly, even when the running surface A is in a state of being made of a hard material or slippery when the follower wheel 4 is removed, the running of the main body 1 is reliably stopped, and the main body 1 does not fall down to the step.
【0039】(実施例3) 次に、本発明の第三の手段に係る実施例について説明す
る。
(Embodiment 3) Next, an embodiment according to the third means of the present invention will be described.
【0040】図5は上記実施例における床面清掃ロボッ
トの側断面図であり、第一の手段に係る実施例と当接部
材22と24の構成のみが異なる。すなわち、当接部材
22には平面部28を有する可動体29が駆動輪2の回
転軸と平行な回動軸30に対して回動自在に取り付けら
れている。また、当接部材24には平面部31を有する
可動体32が従輪4の回転軸と平行な回動軸33に対し
て回動自在に取り付けられている。
FIG. 5 is a side sectional view of the floor cleaning robot in the above embodiment, which differs from the embodiment according to the first means only in the configuration of the contact members 22 and 24. That is, a movable body 29 having a flat portion 28 is attached to the contact member 22 so as to be rotatable about a rotation axis 30 parallel to the rotation axis of the drive wheel 2. A movable body 32 having a flat portion 31 is attached to the contact member 24 so as to be rotatable about a rotation shaft 33 parallel to the rotation axis of the driven wheel 4.
【0041】例えば、本体1が走行面A上を前進走行中
に階段等の段差Bに近づき駆動輪2が脱輪すると図に示
す状態となり、脱輪時に当接部材22の可動体29が走
行面Aの傾斜に合わせて回動し平面部28は必ず走行面
Aと平行に当接する。したがって、本体1は平面部28
と走行面Aとは広い面積で当接するので確実に走行が停
止させられ段差Bに転落することはない。
For example, when the main body 1 approaches the step B such as a stair while traveling forward on the running surface A and the drive wheel 2 comes off, the state shown in the figure is reached, and the movable body 29 of the contact member 22 runs when the wheel is released. The plane portion 28 rotates in accordance with the inclination of the surface A, and the plane portion 28 always comes into contact with the traveling surface A in parallel. Therefore, the main body 1 is
And the traveling surface A contact with a large area, so that traveling is reliably stopped and the vehicle does not fall to the step B.
【0042】また、後退走行中の従輪4の脱輪時にも同
様に、当接部材24の可動体32が走行面Aの傾斜に合
わせて回動し平面部31は必ず走行面Aと平行に当接
し、本体1は確実に走行が停止させられ転落を防止でき
る。
Similarly, when the trailing wheel 4 is released during reverse running, the movable body 32 of the contact member 24 is rotated in accordance with the inclination of the running surface A, and the flat portion 31 is always parallel to the running surface A. In contact with the main body 1, the running of the main body 1 is reliably stopped, and the main body 1 can be prevented from falling.
【0043】このように、本体1の走行輪が脱輪し、走
行面上に凹凸や傾斜がある場合でも、本体1の走行は強
制的に停止させられるので段差に転落する危険性がなく
なる。
As described above, even when the running wheels of the main body 1 are derailed and the running surface has unevenness or inclination, the running of the main body 1 is forcibly stopped, so that there is no danger of falling on a step.
【0044】(実施例4) 次に、本発明の第四の手段に係る実施例について説明す
る。
(Embodiment 4) Next, an embodiment according to the fourth means of the present invention will be described.
【0045】図6は上記実施例における床面清掃ロボッ
トの底面図で、第一の手段に係る実施例の当接部材22
と24にゴムや樹脂材料等の摩擦係数が大きく弾性力の
ある別材質からなる突起体34、35、36を設けてい
る。突起体34は左右の駆動輪2の幅中心位置にそれぞ
れ1個ずつ、突起体35は従輪4の幅中心(本体中心)
位置に1個、突起体36は従輪4の左右側方に1個ずつ
取り付けている。
FIG. 6 is a bottom view of the floor cleaning robot in the above embodiment, and shows the contact member 22 of the embodiment according to the first means.
And 24 are provided with projections 34, 35 and 36 made of another material having a large friction coefficient such as rubber or resin material and having elasticity. One protrusion 34 is provided at each of the width center positions of the left and right driving wheels 2, and the protrusion 35 is formed at the center of the width of the driven wheel 4 (center of the main body).
One at the position and one protrusion 36 are attached to each of the left and right sides of the driven wheel 4.
【0046】図7は本体1が走行面A上を前進走行中に
階段等の段差Bに近づいた場合の動作例を示し、左右の
駆動輪2が段差Bに脱輪した状態である。駆動輪2が脱
輪すると、先ず駆動輪2の後方の当接部材22に設けた
突起体34が走行面Aに当接し、突起体34の変形と大
きな摩擦力により本体1は確実に走行が停止させられ段
差Bに転落することはない。また、突起体34の弾性力
により脱輪時に走行面Aを傷つけることがなく、本体1
に対する衝撃も少なくなる。
FIG. 7 shows an operation example in the case where the main body 1 approaches the step B such as a stair while traveling forward on the running surface A, in which the left and right drive wheels 2 are separated from the step B. When the drive wheel 2 is released, first, the projection 34 provided on the contact member 22 behind the drive wheel 2 comes into contact with the running surface A, and the main body 1 is reliably driven by the deformation of the projection 34 and a large frictional force. The vehicle is stopped and does not fall to the step B. Further, the running surface A is not damaged by the elastic force of the projection 34 when the wheel is released, and the main body 1 is not damaged.
The impact on
【0047】また、後退走行中の従輪4の脱輪時にも同
様に、当接部材24の突起体35が走行面Aと当接し、
本体1は確実に走行が停止させられ転落を防止できると
ともに脱輪時に走行面Aを傷つけることがなく、本体1
に対する衝撃も少ない。また、方向変換中に走行面Aの
段差に従輪4が脱輪したとしても、従輪4の左右側方の
突起体36が上記と同様に作用し同様の効果が得られ
る。
Similarly, when the driven wheel 4 is released during reverse running, the projection 35 of the contact member 24 comes into contact with the running surface A,
The main body 1 is reliably stopped running, can be prevented from falling down, and does not damage the running surface A at the time of derailing.
There is little shock to. Further, even if the follower wheel 4 comes off the step on the running surface A during the direction change, the left and right side protrusions 36 of the follower wheel 4 operate in the same manner as described above, and the same effect is obtained.
【0048】(実施例5) 次に、本発明の第五の手段に係る実施例について説明す
る。
(Embodiment 5) Next, an embodiment according to the fifth means of the present invention will be described.
【0049】図8は上記実施例における床面清掃ロボッ
トの底面図で、以下の点で第一の手段に係る実施例と異
なる。すなわち、従輪4を本体1の左右後方に2個備
え、走行輪を4輪構成とするとともに、当接部材24は
左右の従輪4の前方近傍および左右側方に設けたT字型
の梁構成となっている。また、当接部材22と24にリ
ミットスイッチからなるスイッチ手段37、38、39
を備え、それぞれのスイッチアクチュエータ37’、3
8’、39’は当接部材22の平面部23および当接部
材24の平面部25より突出するように設けられてい
る。スイッチ手段37は左右の駆動輪2の幅中心位置に
それぞれ1個ずつ、スイッチ手段38は左右の従輪4の
側方中央位置に1個、スイッチ手段39は左右の従輪4
の幅中心位置にそれぞれ1個ずつ取り付けている。ま
た、全スイッチ手段37、38、39は走行制御装置1
7と接続しており、これらのどれかが作動すると左右の
走行モータ3を停止する。
FIG. 8 is a bottom view of the floor cleaning robot in the above embodiment, which differs from the first embodiment in the following points. That is, two driven wheels 4 are provided on the left and right rear of the main body 1, and four running wheels are provided, and the contact member 24 is a T-shaped beam configuration provided near the front of the left and right driven wheels 4 and on the left and right sides. It has become. In addition, the contact members 22 and 24 are provided with switch means 37, 38, 39 comprising limit switches.
And the respective switch actuators 37 ', 3'
8 ′ and 39 ′ are provided so as to protrude from the flat portion 23 of the contact member 22 and the flat portion 25 of the contact member 24. One switch means 37 is provided at each of the width center positions of the left and right drive wheels 2, one switch means 38 is provided at the lateral center position of the left and right driven wheels 4, and a switch means 39 is provided at the left and right driven wheels 4.
Each is attached to the width center position of each. In addition, all the switch means 37, 38, and 39 correspond to the travel control device 1
7, and when any of them operates, the left and right traveling motors 3 are stopped.
【0050】図9は本体1が走行面A上を後進走行中に
階段等の段差Cに近づいた場合の動作例を示し、左右の
従輪4が段差Cに脱輪した状態である。従輪4が脱輪す
ると、先ず従輪4の前方の当接部材24に設けたスイッ
チ手段39のスイッチアクチュエータ39’が走行面A
に当接してスイッチ手段39を作動させたのち当接部材
24の平面部25が走行面Aに当接する。このとき、第
一の手段に係る実施例と同様に、本体1は平面部25と
走行面Aとの摩擦により強制的に走行が停止させられて
平面部25と駆動輪2により走行面A上で支持されるか
ら本体1が段差Cに転落することはなく、しかもスイッ
チ手段39を作動させることにより走行モータ3が停止
するので、駆動輪2が空回りして走行面Aをこすった
り、本体1が突然動き出したりすることがない。
FIG. 9 shows an example of the operation when the main body 1 approaches the step C such as a staircase while the vehicle 1 is traveling backward on the running surface A, in which the left and right driven wheels 4 are separated from the step C. When the driven wheel 4 comes off, first, the switch actuator 39 'of the switch means 39 provided on the contact member 24 in front of the driven wheel 4 causes the running surface A
After the switch means 39 is actuated by contact with the contact member 24, the flat portion 25 of the contact member 24 contacts the traveling surface A. At this time, similarly to the embodiment according to the first means, the main body 1 is forcibly stopped running due to friction between the flat surface portion 25 and the running surface A, and is stopped on the running surface A by the flat surface portion 25 and the driving wheels 2. The main body 1 does not fall down to the step C because of the support of the main body 1 and the traveling motor 3 is stopped by operating the switch means 39, so that the driving wheels 2 run idle and rub on the traveling surface A. Does not suddenly start moving.
【0051】また、前進走行中の駆動輪2の脱輪時にも
同様に、先ず駆動輪2の後方の当接部材22に設けたス
イッチ手段37のスイッチアクチュエータ37’が走行
面Aに当接してスイッチ手段37を作動させたのち、当
接部材22の平面部23が走行面Aに当接し、本体1が
段差に転落することはなく、スイッチ手段37を作動さ
せることにより走行モータ3が停止するので、駆動輪2
が空回りして悪影響を及ぼすことがない。さらに、方向
変換中に走行面Aの段差に従輪4が脱輪した場合は、当
接部材24に設けたスイッチ手段38が作動し、上記と
同様に作用し同様の効果が得られるものである。
Similarly, when the drive wheel 2 is released during forward running, the switch actuator 37 'of the switch means 37 provided on the contact member 22 behind the drive wheel 2 first comes into contact with the running surface A. After the switch means 37 is operated, the flat portion 23 of the contact member 22 comes into contact with the traveling surface A, and the main body 1 does not fall down to a step. The actuation of the switch means 37 stops the traveling motor 3. So drive wheel 2
However, there is no adverse effect of idling. Furthermore, when the wheel 4 is disengaged from the step on the running surface A during the direction change, the switch means 38 provided on the abutting member 24 is operated, and operates in the same manner as described above to obtain the same effect. .
【0052】なお、上記実施例ではスイッチ手段として
リミットスイッチのアクチュエータを当接部材より突出
させて構成しているが、例えば当接部材全体を可動にし
てリミットスイッチを作動させたり、リミットスイッチ
の代わりに接触スイッチ等の他のスイッチを用いても同
様の効果が得られることはいうまでもない。
In the above-described embodiment, the actuator of the limit switch is configured to protrude from the contact member as the switch means. However, for example, the limit switch is operated by moving the entire contact member, or the limit switch is used instead of the limit switch. Needless to say, the same effect can be obtained by using another switch such as a contact switch.
【0053】次に、本発明の第六の手段に係る実施例を
図3に基づいて説明する。
Next, an embodiment according to the sixth means of the present invention will be described with reference to FIG.
【0054】前述したように、床ノズル8は本体1に対
して上下動自在に取り付けられ、所定の位置より下方向
に移動したときにスイッチ手段14が作動し左右の走行
モータ3を停止するようになっている。したがって、図
3(a)に示すように、本体1が走行面A上を前進走行
中に階段等の段差Bに近づき駆動輪2が脱輪すると、床
ノズル8は矢印bの方向に移動してスイッチ手段14を
作動させ、左右の走行モータ3が停止する。
As described above, the floor nozzle 8 is attached to the main body 1 so as to be movable up and down. When the floor nozzle 8 moves downward from a predetermined position, the switch means 14 is operated to stop the left and right traveling motors 3. It has become. Accordingly, as shown in FIG. 3 (a), when the main wheel 1 approaches the step B such as a stair while the main body 1 moves forward on the running surface A and the drive wheel 2 comes off, the floor nozzle 8 moves in the direction of arrow b. The switch means 14 is operated to stop the left and right traveling motors 3.
【0055】また、図3(b)に示すように本体1が走
行面A上を後退走行中に階段等の段差Cに近づき従輪4
が脱輪した場合も、従輪4の脱輪により本体1の水平角
度が変化し前方が持ち上がるため、床ノズル8は本体1
に対して相対的に下方向に移動する。したがって、この
場合もスイッチ手段14が作動し、左右の走行モータ3
が停止する。
Further, as shown in FIG. 3 (b), when the main body 1 approaches the step C such as the stairs while traveling backward on the running surface A,
Also, when the main wheel 1 is removed, the horizontal angle of the main body 1 is changed by the de-wheeling of the follower wheel 4 and the front is lifted.
Moves downward relative to. Therefore, also in this case, the switch means 14 is operated, and the left and right traveling motors 3 are driven.
Stops.
【0056】このように、1つのスイッチ手段14によ
り駆動輪2または従輪4のどちらが脱輪した場合でも、
これが作動して走行モータ3を停止し駆動輪2の空転が
防止できるものである。
As described above, even if one of the driving wheels 2 or the driven wheels 4 is released by one switch means 14,
This operates to stop the traveling motor 3 and prevent the driving wheels 2 from idling.
【0057】[0057]
【発明の効果】以上のように本発明の第一の手段によれ
ば、走行中に本体が凹部段差にさしかかり走行輪が脱輪
すると、本体重心は走行面側に残るとともに当接部材の
平面部が走行面と当接して本体の走行を停止するので、
凹部段差に転落することなく停止できるものであり、従
来のような段差検知手段を備えずに本体の転落が防止で
きるから走行中の誤動作や故障が少なく、本体長を必要
以上に大きくする必要がなくなり、かつコスト面でも安
価な移動作業ロボットが実現できるものである。
As described above, according to the first means of the present invention, when the main body approaches the concave step during running and the running wheel comes off, the center of gravity remains on the running surface side and the flat surface of the contact member. As the part comes into contact with the running surface and stops running of the main body,
It can be stopped without falling down to the recessed step, and the fall of the body can be prevented without the conventional step difference detection means, so there are few malfunctions and breakdowns during traveling, and the body length needs to be longer than necessary. This makes it possible to realize a mobile work robot which is no longer necessary and inexpensive.
【0058】本発明の第二の手段によれば、第一の手段
の効果に加えて、走行輪の脱輪時に当接部材の平面部は
走行面とより平行に近く当接するから走行面がすべり易
い状態でも確実に凹部段差に転落することなく停止でき
るより安全性にすぐれた移動作業ロボットが実現でき
る。
According to the second means of the present invention, in addition to the effect of the first means, the flat surface of the contact member abuts more parallel to the running surface when the running wheel is released, so that the running surface is reduced. It is possible to realize a mobile robot with higher safety that can be stopped without falling down to the recess step even in a state in which it is easy to slip.
【0059】本発明の第三の手段によれば、第一の手段
の効果に加えて、走行輪が脱輪したときの走行面に対す
る本体角度の大きさにかかわらず当接部材の平面部は必
ず走行面と平行に当接するから、走行床面に傾斜や凹凸
がある場合でも確実に凹部段差に転落することなく停止
できるより安全性にすぐれた移動作業ロボットが実現で
きる。
According to the third means of the present invention, in addition to the effect of the first means, the flat portion of the abutting member has a flat surface regardless of the size of the body angle with respect to the running surface when the running wheel comes off. Since the robot always contacts the traveling surface in parallel, even if the traveling floor surface has an inclination or unevenness, it is possible to realize a more secure mobile work robot capable of stopping without falling down to the concave step.
【0060】また、本発明の第四の手段によれば、第一
の手段の効果に加えて、当接部材の平面部に別材質より
なる突起体を設ることにより、走行面との摩擦力が増大
して本体の停止がより確実になり安全性にすぐれるとと
もに、停止時に走行面を傷つけることがなく、本体に対
する衝撃も少ない移動作業ロボットが実現できる。
Further, according to the fourth means of the present invention, in addition to the effect of the first means, by providing a projection made of a different material on the flat portion of the contact member, friction with the running surface is improved. The mobile work robot can be realized in which the force is increased, the stopping of the main body is more reliable, and the safety is improved, and the running surface is not damaged at the time of stopping and the impact on the main body is small.
【0061】さらに、本発明の第五の手段によれば、第
一の手段の効果に加えて、走行輪が脱輪した時に走行モ
ータを停止して駆動輪の空転が防止できるより安全性に
すぐれた移動作業ロボットが実現できるものである。
Further, according to the fifth means of the present invention, in addition to the effect of the first means, the running motor is stopped when the running wheel comes off and the idling of the drive wheel can be prevented, so that the safety can be further improved. An excellent mobile work robot can be realized.
【0062】また、本発明の第六の手段によれば、第一
の手段の効果に加えて、走行輪が脱輪した時に本体に上
下動自在に取付けられた床ノズルが所定の位置より下方
向に移動してスイッチ手段が作動して走行モータを停止
するから、駆動輪の空転が防止できるものであり、複数
のスイッチ手段を設ける必要がなくより容易な構成とな
る移動作業ロボットが実現できる。
Further, according to the sixth means of the present invention, in addition to the effect of the first means, the floor nozzle mounted on the main body so as to be movable up and down when the running wheel comes off is lower than a predetermined position. Since the traveling motor is moved in the direction and the switch means is operated to stop the traveling motor, idling of the driving wheels can be prevented, and a mobile work robot having a simpler configuration without providing a plurality of switch means can be realized. .
【図面の簡単な説明】[Brief description of the drawings]
【図1】本発明の第一の手段に係る実施例を示す床面清
掃ロボットの側断面図
FIG. 1 is a side sectional view of a floor cleaning robot showing an embodiment according to a first means of the present invention.
【図2】同実施例の床面清掃ロボットの底面図FIG. 2 is a bottom view of the floor cleaning robot of the embodiment.
【図3】同実施例の床面清掃ロボットの動作説明図FIG. 3 is an explanatory view of the operation of the floor cleaning robot of the embodiment.
【図4】第二の実施例における床面清掃ロボットの側断
面図
FIG. 4 is a side sectional view of a floor cleaning robot according to a second embodiment.
【図5】第三の実施例における床面清掃ロボットの側断
面図
FIG. 5 is a side sectional view of a floor cleaning robot according to a third embodiment.
【図6】第四の実施例における床面清掃ロボットの底面
FIG. 6 is a bottom view of a floor cleaning robot according to a fourth embodiment.
【図7】同実施例の床面清掃ロボットの動作説明図FIG. 7 is an explanatory diagram of the operation of the floor cleaning robot of the embodiment.
【図8】第五の実施例における床面清掃ロボットの底面
FIG. 8 is a bottom view of a floor cleaning robot according to a fifth embodiment.
【図9】同実施例の床面清掃ロボットの動作説明図FIG. 9 is an explanatory diagram of an operation of the floor cleaning robot of the embodiment.
【符号の説明】[Explanation of symbols]
1 本体 2 駆動輪 3 走行モータ 4 従輪 5 電動送風機 6 集塵室 7 フィルタ 8 床ノズル 10 接続パイプ 11 伸縮ホース 12 床ノズル懸架レバー 14 スイッチ手段 17 走行制御装置 22、24 当接部材 23、25、26、27、28、31 平面部 29、32 可動体 30、33 回動軸 34、35、36 突起体 37、38、39 スイッチ手段 DESCRIPTION OF SYMBOLS 1 Main body 2 Drive wheel 3 Traveling motor 4 Follower wheel 5 Electric blower 6 Dust collection chamber 7 Filter 8 Floor nozzle 10 Connection pipe 11 Telescopic hose 12 Floor nozzle suspension lever 14 Switch means 17 Travel control device 22, 24 Contact member 23, 25, 26, 27, 28, 31 Planar part 29, 32 Movable body 30, 33 Rotating shaft 34, 35, 36 Projecting body 37, 38, 39 Switch means
───────────────────────────────────────────────────── フロントページの続き (72)発明者 小川 光康 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 藤原 俊明 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 江口 修 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 乾 弘文 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 高木 祥史 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 石橋 崇文 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (72)発明者 黒木 義貴 大阪府門真市大字門真1006番地 松下電 器産業株式会社内 (56)参考文献 特開 平1−207806(JP,A) 特開 昭62−295633(JP,A) 特開 昭60−240563(JP,A) 特開 平5−108151(JP,A) 実開 平1−120215(JP,U) 実開 昭59−33511(JP,U) (58)調査した分野(Int.Cl.7,DB名) G05D 1/02 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Mitsuyasu Ogawa 1006 Kadoma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. In-house (72) Inventor Osamu Eguchi 1006 Kadoma, Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. Person Yoshifumi Takagi 1006 Kazuma Kadoma, Kadoma City, Osaka Prefecture (72) Inside the Matsushita Electric Industrial Co., Ltd. 1006 Kadoma, Ichidai-shi Matsushita Electric Industrial Co., Ltd. (56) References JP-A-1-207806 (JP, A) JP-A-62-295633 (JP A) JP-A-60-240563 (JP, A) JP-A-5-108151 (JP, A) JP-A 1-120215 (JP, U) JP-A-59-33511 (JP, U) (58) Survey Field (Int.Cl. 7 , DB name) G05D 1/02

Claims (6)

    (57)【特許請求の範囲】(57) [Claims]
  1. 【請求項1】 走行モータで駆動される駆動輪を含む3
    輪以上の走行輪と、走行モータを制御する走行制御装置
    と、清掃等の作業を行なう作業装置とを本体に備え、本
    体重心を上記全走行輪の接地点より内側に配置するとと
    もに、走行輪の外周近傍の本体重心側でかつ走行輪の回
    転中心より低い位置に、走行面と対向しかつ本体の略全
    幅に跨ぐ平面部を有する当接部材を設けた移動作業ロボ
    ット。
    1. A vehicle including a driving wheel driven by a traveling motor.
    The main body is provided with running wheels equal to or more than a wheel, a running control device for controlling a running motor, and a working device for performing operations such as cleaning. Of the running wheel on the side of
    At a position lower than the center of rotation , facing the running surface and
    A mobile work robot provided with an abutment member having a flat portion extending across a width .
  2. 【請求項2】 走行輪近傍に配された当接部材の平面部
    の前記走行輪側を,水平方向より上向きに傾けて設けた
    請求項1記載の移動作業ロボット。
    2. A flat portion of an abutment member disposed near a traveling wheel.
    The mobile work robot according to claim 1 , wherein the traveling wheel side is inclined upward from a horizontal direction .
  3. 【請求項3】 当接部材を走行輪の回転軸と平行な回動
    軸に対して回動自在に設けた請求項1又は2記載の移動
    作業ロボット。
    3. A mobile work robot rotatably claim 1 or 2, wherein providing the abutting member with respect to the rotation axis parallel to the pivot shaft of the running wheels.
  4. 【請求項4】 当接部材の走行面と対向する平面部に、
    別材質よりなる突起体を設けた請求項1〜3のいずれか
    1項に記載の移動作業ロボット。
    4. A flat portion facing the running surface of the contact member,
    The mobile work robot according to any one of claims 1 to 3, further comprising a projection made of a different material.
  5. 【請求項5】 当接部材に、当接部材の走行面と対向す
    る平面部が走行面に当接したときに動作するスイッチ手
    段を設けた請求項1〜のいずれか1項に記載の移動作
    業ロボット。
    5. A contact member, according to any one of claims 1 to 4 provided a switch means which operates when the flat portion of the running surface facing the contact member is in contact with the travel surface Mobile work robot.
  6. 【請求項6】 本体に上下動自在に取付けられた床ノズ
    ルを備え、走行中に床ノズルが所定の位置より下方向に
    移動したときに動作するスイッチ手段を設けた請求項1
    のいずれか1項に記載の移動作業ロボット。
    6. The apparatus according to claim 1, further comprising a floor nozzle mounted on the main body so as to be movable up and down, and a switch means that operates when the floor nozzle moves downward from a predetermined position during traveling.
    The mobile work robot according to any one of claims 1 to 5 .
JP12362194A 1994-06-06 1994-06-06 Mobile work robot Expired - Fee Related JP3339185B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP12362194A JP3339185B2 (en) 1994-06-06 1994-06-06 Mobile work robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP12362194A JP3339185B2 (en) 1994-06-06 1994-06-06 Mobile work robot

Publications (2)

Publication Number Publication Date
JPH07334242A JPH07334242A (en) 1995-12-22
JP3339185B2 true JP3339185B2 (en) 2002-10-28

Family

ID=14865124

Family Applications (1)

Application Number Title Priority Date Filing Date
JP12362194A Expired - Fee Related JP3339185B2 (en) 1994-06-06 1994-06-06 Mobile work robot

Country Status (1)

Country Link
JP (1) JP3339185B2 (en)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3396977B2 (en) * 1994-11-30 2003-04-14 松下電器産業株式会社 Mobile work robot
DE19805140A1 (en) * 1998-02-09 1999-08-12 Paul Andrae Kg Reinigungssyste Device preventing fall of stairs cleaning machine from one or more stair steps
JP3346417B1 (en) * 2001-06-05 2002-11-18 松下電器産業株式会社 Moving equipment
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
JP4838978B2 (en) * 2002-12-16 2011-12-14 アイロボット コーポレイション Autonomous floor cleaning robot
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
KR101108049B1 (en) * 2004-11-01 2012-01-25 엘지전자 주식회사 Robot Cleaner
JP5457485B2 (en) * 2012-03-02 2014-04-02 アイロボット コーポレイション Cleaning device with debris sensor
US10391637B2 (en) 2014-06-25 2019-08-27 Miraikikai, Inc. Self-propelled robot
JP6486255B2 (en) * 2015-09-30 2019-03-20 シャープ株式会社 Self-propelled vacuum cleaner
JP2018068825A (en) * 2016-11-01 2018-05-10 三菱電機株式会社 Self-propelled vacuum cleaner
JP6856485B2 (en) * 2017-09-28 2021-04-07 日立グローバルライフソリューションズ株式会社 Vacuum cleaner mouthpiece
CN110353570A (en) * 2018-04-09 2019-10-22 光宝电子(广州)有限公司 Autonomous actions device and its avoidance method
CN110946513B (en) * 2018-09-27 2021-08-06 广东美的生活电器制造有限公司 Control method and device of sweeping robot

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