JP6670811B2 - Autonomous traveling vacuum cleaner - Google Patents

Description

  The present invention relates to an autonomous traveling vacuum cleaner.

  2. Description of the Related Art A self-propelled vacuum cleaner that is driven autonomously is known as a vacuum cleaner that cleans a floor surface on which dust is falling. Self-propelled vacuum cleaners are required to be able to clean one or more rooms evenly.However, there may be a step inside the room or between rooms. A configuration that can continue cleaning is required.

  Patent Literature 1 can accurately detect whether or not the vehicle can climb over the step D, so that it can accurately prevent the vehicle from being caught on the convex step D that cannot be climbed over or falling into the concave step D that cannot be climbed. It is stated that the vacuum cleaner 11 can be provided (0047).

JP 2014-226266 A

  Patent Document 1 uses the step sensor 21 to detect whether or not a person can get over a step. However, if it is determined that the person can get over the step, the driver attempts to reach the other side of the step. Since the boundary (threshold) between whether or not to go over this step is fixed, the range in which the autonomous traveling vacuum cleaner can reach from the point where autonomous driving (autonomous cleaning) is started (cleanable area) May be wider than the user's intention. However, there are cases where the user considers an area where the autonomous vacuum cleaner does not want to enter, such as at home, so that the cleaning area is limited or expanded in accordance with the user's preference. Is desired.

The present invention has been made in view of the above circumstances, comprising a driving wheel to move itself, a floor distance measuring sensor capable of detecting the length of the distance to the floor with respect to a set threshold, the floor surface a self running type vacuum cleaner to change the course in accordance with the detection result of the distance measuring sensor, said threshold value Ri changeable der, the autonomous vacuum cleaner is a predetermined time from the start of autonomous driving, the threshold value It operates at the maximum threshold value regardless of the setting of .

The perspective view which looked at the autonomous traveling type vacuum cleaner concerning the embodiment of the present invention from the left front. The bottom view of the autonomous traveling type vacuum cleaner in an embodiment. AA sectional drawing of FIG. The perspective view which shows the internal structure which removed the case of the autonomous traveling vacuum cleaner in embodiment. 4 is a traveling locus of the autonomous traveling vacuum cleaner during cleaning according to the embodiment. The figure which shows the detail operation | movement of in-situ rotation in embodiment. The figure which shows the speed change of the right wheel in in-place rotation in embodiment. The figure which shows the turning operation | movement in embodiment. The figure which shows the detailed operation | movement of the turning in embodiment. The figure which shows the speed change of the right wheel in turning. 4 is a traveling locus of the autonomous traveling vacuum cleaner during cleaning according to the embodiment. The figure which shows the detail of the wall running in the embodiment. FIG. 4 is a diagram illustrating a change in speed of a left wheel during a turn in the embodiment. FIG. 4 is a diagram showing a step over in the embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate. FIG. 1 is a perspective view of an autonomous traveling vacuum cleaner according to an embodiment of the present invention as viewed from the front left. In the direction in which the autonomous traveling vacuum cleaner S travels, the side on which the side brush 7 is provided is forward, the vertically upward direction is upward, and the drive wheels 2 and 3 are opposite and the drive wheel 2 side is leftward. , Drive wheel 3 side to the right. That is, front and rear, up and down, and left and right directions are defined as shown in FIG.

  FIG. 2 is a bottom view of the autonomous traveling vacuum cleaner.

  The autonomous traveling vacuum cleaner S is an electric device that automatically cleans a predetermined cleaning area (for example, a floor Y in a room) while moving autonomously.

  The autonomous traveling vacuum cleaner S includes a case 1 (1u, 1s) forming an outer shell, a pair of lower drive wheels 2, 3 (see FIG. 2), and an auxiliary wheel 4. In addition, the autonomous traveling vacuum cleaner S includes a rotating brush 5, a guide brush 6, and a side brush 7 at a lower portion, and a forward distance measuring sensor 8 (FIGS. 2, 3, and 4) around the periphery as an obstacle detecting means. Reference).

  The drive wheels 2 and 3 are wheels for causing the autonomous traveling vacuum cleaner S to move forward, backward, and turn as the drive wheels 2 and 3 rotate. The drive wheels 2 and 3 are arranged on the left and right sides in diameter, and are rotationally driven by wheel units 20 and 30 each including a traveling motor and a speed reducer. The auxiliary wheel 4 is a driven wheel and is a caster that rotates freely. The drive wheels 2 and 3 are provided on the center side in the front-rear direction and the outside in the left-right direction of the autonomous traveling vacuum cleaner S, and the auxiliary wheel 4 is provided on the front side in the front-rear direction and the center side in the left-right direction. I have.

  The side brush 7 is provided on the front side of the autonomous traveling vacuum cleaner S and on the outside in the left-right direction. As shown by an arrow α1 in FIG. The dust is rotated so as to sweep in the direction from the outside to the inside, and the dust on the floor is collected on the side of the rotating brush 5 (see FIG. 2) in the center. The two guide brushes 6 are provided on the inner side in the left-right direction with respect to the drive wheels 2 and 3, respectively, and are fixed to guide the dust collected by the side brush 7 so as not to escape from within the width of the rotating brush 5 to the outside. It is a brush.

  The rotating brush 5 is provided behind the driving wheels 2 and 3 of the autonomous traveling vacuum cleaner S. The left and right ends of the rotating brush 5 can be positioned inside the driving wheels 2 and 3 or inside the guide brush 6 respectively. For example, the autonomous traveling vacuum cleaner S shown in the present embodiment has a main body width and a vertical length of about 250 mm, and a main body height of about 90 mm.

  FIG. 3 is a sectional view taken along line AA of FIG. FIG. 4 is a perspective view showing the internal configuration of the autonomous traveling vacuum cleaner with the case removed. FIG. 4 shows a state in which the dust collection case 12 is removed.

  As shown in FIG. 3, the autonomous traveling vacuum cleaner S includes a rechargeable battery 9, a control device 10, a suction fan 11, and a dust collection case 12 inside. The dust collecting case 12 has an inlet 12i formed above the rotary brush 5 as an inlet. The dust collecting case 12 is provided with a dust collecting filter 13 at an outlet.

  The rechargeable battery 9 is, for example, a secondary battery that can be reused by being charged, and is housed in the battery housing unit 1s6. The rechargeable battery 9 is disposed over the left and right ends of the autonomous traveling vacuum cleaner S. The electric power from the rechargeable battery 9 is supplied to various obstacle detecting means (8, 15, 16), the control device 10, the motors of the driving wheels 2, 3 and various brushes (5, 7), the suction fan 11, and the like. . The autonomous traveling vacuum cleaner S is controlled by the control device 10 as a whole.

(Suction fan 11)
As shown in FIG. 4, the suction fan 11 is arranged near the center of the lower case 1s. In the flow path of the air by the suction fan 11, in order from the suction port 14 (see FIG. 3) to the downstream side, the dust collection case 12, the dust collection filter 13, the suction fan 11, and the exhaust port 1s5 (see FIG. 2). Is provided. The exhaust port 1s5 is provided in front of the rotary brush 5 and inside the drive wheels 2, 3 in the left-right direction. By driving the suction fan 11 (see FIG. 3), the air in the dust collection case 12 is discharged to the outside from the exhaust port 1s5 to generate a negative pressure, and the dust is collected from the floor surface Y via the suction port 14. Inhale into 12.

  A rotary brush 5 (see FIG. 3) for rubbing dust on the floor is provided near the suction port 14. The suction fan 11 is disposed between the suction fan 11 and the lower case 1s via an elastic body (not shown). By interposing the elastic body, the vibration of the suction fan 11 is attenuated and hardly transmitted to the lower case 1s, and the vibration and noise can be reduced.

  When the suction fan 11 and the rotary brush motor 5m (see FIG. 4) are driven, the rotary brush 5 (see FIG. 3) scrapes dust on the floor or the like. The scraped dust is guided into the dust collecting case 12 through the suction port 14 and the suction port 12i. The air from which dust has been removed by the dust collecting filter 13 is discharged through the exhaust port 1s5 (see FIG. 2). The dust collecting case 12 is detachable by opening a lid 1u1 (see FIG. 1) provided on the upper case 1u, and the dust collecting filter 13 is removed to discard the dust.

(Operation outline of autonomous traveling vacuum cleaner S)
The autonomous traveling type vacuum cleaner S is autonomously moved by the driving wheels 2 and 3 and the auxiliary wheels 4 (see FIG. 2), and is capable of performing forward, backward, left and right turning, super turning, and the like. Then, the autonomous traveling vacuum cleaner S collects the dust collected by the side brush 7 and the guide brush 6 and adheres around the rotating brush 5 by the suction force of the suction fan 11 through the suction port 14. The dust is sucked into the dust collecting case 12 from the inlet 12i at the inlet of the case 12, and stays in the dust collecting case 12 by the dust collecting filter 13 at the outlet.

  When the dust accumulates in the dust collection case 12, the user appropriately removes the dust collection case 12 from the main body Sh, removes the dust collection filter 13, and discards the dust.

(Case 1)
The case 1 is a housing that forms an outer shell and houses the wheel units 20 and 30, the rotary brush motor 5m, the suction fan 11, the dust collecting case 12, the control device 10, and the like.

  The case 1 includes an upper case 1u serving as an upper wall, a lower case 1s serving as a bottom wall (and some side walls), and a bumper 1b installed at a lower front part of the case 1.

  The upper case 1u is provided with a lid 1u1 (see FIG. 1) for taking in and out the dust collecting case 12 (see FIG. 3).

  As shown in FIG. 2, the lower case 1s is formed with a wheel unit housing portion 1s1, a side brush attachment portion 1s3, a suction portion 1s4, an exhaust port 1s5, and a battery housing portion 1s6.

  The wheel unit housing portions 1s1 are formed on the left and right sides of the center of the lower case 1s having a substantially circular shape in plan view in FIG.

  The wheel units 20 and 30 that support and drive the drive wheels 2 and 3 are housed in the wheel unit housing 1s1.

  The plurality of exhaust ports 1s5 are formed near the center of the lower case 1s and at positions between the left and right wheel unit housings 1s1.

  The battery housing portion 1s6 is formed on the front side of the center of the lower case 1s. A rechargeable battery 9 is stored in the battery storage section 1s6. Side brush attachment portions 1s3 for attaching the side brushes 7 are formed on the left and right of the battery housing portion 1s6.

  A suction part 1s4 (see FIG. 2) is provided on the rear side of the lower case 1s, that is, on the rear side of the exhaust port 1s5 and the wheel unit housing part 1s1.

  The bumper 1b (see FIGS. 1 and 2) is installed so as to be movable in the front-rear direction according to a force applied from the outside when the vehicle collides with an obstacle such as a wall. The bumper 1b is urged outward by a pair of left and right bumper springs (not shown).

  When the acting force at the time of colliding with an obstacle via the bumper 1b acts on the bumper spring, the bumper spring is deformed so as to fall inward in a plan view, and the bumper 1b is retracted while urging the bumper 1b outward. Allow. When the bumper 1b separates from the obstacle and loses the above-described acting force, the bumper 1b returns to the original position by the urging force of the bumper spring. Incidentally, the retreat of the bumper 1b (that is, contact with an obstacle) is detected by a later-described bumper sensor 15 (see FIG. 4), and the detection result is input to the control device 10.

(Suction part 1s4)
The suction portion 1s4 shown in FIG. 3 forms a part of a flow path of air containing dust sucked by the suction fan 11. The flow path downstream from the suction part 1s4 communicates with the dust collecting case 12, the dust collecting filter 13, the suction fan 11, and the exhaust port 1s5 (see FIG. 2) in this order.

  A rotary brush 5 for scraping dust is disposed in the suction portion 1s4, and a rotary brush motor 5m (see FIG. 4) for driving the rotary brush 5 is fixed. The suction portion 1s4 is provided with a suction port 14 for sucking dust scraped by the rotating brush 5 into the dust collection case 12. Note that the rotating brush 5 (see FIG. 2) has substantially the same length as the suction portion 1s4.

  As shown in FIG. 3, the suction port 14 communicates with a suction port 12 i of the opening of the dust collection case 12, and dust is collected in the dust collection case 12 via the suction port 14 and the suction port 12 i.

  In the suction portion 1s4, a rotating brush accommodating portion 14b for accommodating the rotating brush 5 is formed in the lower case 1s, and the rotating brush 5 described above is disposed in the rotating brush accommodating portion 14b. The rotating brush 5 is rotatably attached to the suction portion 1s4. The rotating brush 5 is detachably attached to the suction portion 1s4.

(Dust collection case 12)
The dust collection case 12 illustrated in FIG. 3 is a container that collects dust sucked from the floor surface Y through the suction port 14 formed in the suction portion 1s4. The dust collecting case 12 has substantially the same horizontal dimension as the rotating brush 5.

  The dust collection case 12 includes a main body that stores the collected dust, a lid that allows the collected dust to be taken out, and a foldable handle at the top of the main body. The main body of the dust collecting case 12 has a lower surface having a shape corresponding to the shape of the upper portion of the suction portion 1s4, and includes a suction port 12i having substantially the same opening shape facing the suction port 14. The lid faces the suction port of the suction fan 11 and includes the dust collection filter 13 described above.

(Obstacle detection means 8, 15, 16)
As obstacle detecting means, a bumper sensor 15, a front distance measuring sensor 8, and a floor distance measuring sensor 16 shown in FIG. 4 are provided. The bumper sensor 15 is a sensor for detecting that the bumper 1b (see FIG. 1) has come into contact with an obstacle by retreating the bumper 1b, for example, a photocoupler. When an obstacle comes in contact with the bumper 1b, the sensor light is blocked by the retreat of the bumper 1b. A detection signal corresponding to this change is output to control device 10.

The forward distance measuring sensor 8 is a distance measuring sensor that measures the distance to an obstacle using infrared rays, and is installed 5 to 15 mm inside the surface of the bumper 1b. The vicinity of the distance measuring sensor 8 of the bumper 1b is made of resin or glass that transmits infrared rays.
The forward distance measuring sensor 8 detects infrared reflected light from an obstacle, and measures the distance based on the intensity of the reflected light. When the intensity of the reflected light is high, it is determined that the reflected light is near, and when it is low, it is determined that the reflected light is far. In other words, the distance from the obstacle is not determined by binary values of 0 and 1, but is a distance measuring sensor that can determine the distance from the obstacle in a plurality of stages (in an analog manner).
A total of five such front distance measuring sensors 8 are provided: a main body front face 8a, a left side face 8b, a right side face 8c, a left front face 8d between the front and left side faces, and a right front face 8e between the front and right side faces. I have. In the present embodiment, all five sensors are distance measuring sensors capable of measuring "distance" in a plurality of stages, but at least one of the left side surface 8b and the right side surface 8c is a distance measuring sensor capable of measuring the "distance" in a plurality of stages. A distance sensor may be used.
Note that visible light, ultraviolet light, or laser may be used as the front distance measuring sensor 8. Also, instead of a distance measuring sensor of the type that measures the intensity of infrared rays, a type that measures the distance by sensing the light receiving position of the reflected light or a type that measures the distance from the time when the reflected light returns.

  The distance measuring sensor 16 for the floor surface shown in FIG. 2 is a distance measuring sensor using infrared rays for measuring the distance to the floor surface, and is located at four positions (16a, 16b, 16c, 16d) on the lower surface front, rear, left and right of the lower case 1s. It is installed in. When the floor distance measuring sensor 16 detects that the distance to the floor is equal to or greater than the threshold value (a large step), the path of the autonomous traveling vacuum cleaner S is changed, and It is possible to suppress a situation in which the player does not fall or continues to head on a step that cannot be overcome. The floor distance measuring sensor 16 can also detect a “downward step” in which the autonomous traveling vacuum cleaner S goes to a position lower than the current height, and the “upward step” to a position higher than the current height. Can also be detected. For example, when the autonomous traveling vacuum cleaner S is moving forward, the detection of a step difference can be made by detecting that the distance to the floor is large by the front distance measuring sensor 16 for the floor. Further, the detection of the ascending step is performed because the autonomous traveling vacuum cleaner S inclines to climb on the step, so that the distance measuring sensor 16 for the rear floor has a small distance to the floor and the distance measuring for the floor in front. For example, the sensor 16 can detect that the distance from the floor is large (see FIG. 14). In the present embodiment, each of the descending step and the ascending step, which are so large that the autonomous traveling vacuum cleaner S changes its course, is expressed by attaching an adjective such as “more than a threshold”.

The setting of the threshold value can be changed, and the control device 10 can appropriately change the setting during the autonomous driving, and the user can change the setting through the operation button bu.
For example, when the threshold value is set to “normal”, and when a step difference of about 30 mm or more (first floor threshold value) is detected forward by the floor distance measurement sensor 16, the control device 10 (see FIG. 3) By controlling the drive wheels 2 and 3, the main body Sh is moved backward to change the traveling direction of the autonomous traveling vacuum cleaner S. When the height of the step corresponding to the threshold is set to “low”, and when a step lower than about 30 mm, for example, 15 mm (second floor threshold) or more is detected, the control device 10 controls the driving wheels 2 and 3. To retract the main body Sh, and change the traveling direction of the autonomous traveling vacuum cleaner S.

(Control device 10)
The control device 10 illustrated in FIG. 3 includes, for example, a microcomputer (Microcomputer) and peripheral circuits mounted on a board. The microcomputer reads out a control program stored in a ROM (Read Only Memory), develops the control program in a RAM (Random Access Memory), and executes various processes by a CPU (Central Processing Unit). The peripheral circuit includes an A / D / D / A converter, drive circuits for various motors, a sensor circuit, a charging circuit for the rechargeable battery 9, and the like.

  The control device 10 executes arithmetic processing according to the operation of the operation buttons bu by the user and signals input from various obstacle detection means (sensors 8, 15, 16), and various types of motors, suction fans 11, and the like. And input and output signals.

(Auxiliary wheel 4)
The auxiliary wheel 4 shown in FIG. 2 is provided at the center in the left-right direction in front of the lower case 1s. The auxiliary wheel 4 is a wheel for keeping the main body Sh at a predetermined height together with the driving wheels 2 and 3 to smoothly move the autonomous traveling vacuum cleaner S. The auxiliary wheel 4 is rotatably driven by the frictional force generated between the auxiliary wheel 4 and the floor surface Y with the movement of the main body Sh, and is pivotally supported by the lower case 1s such that the auxiliary wheel 4 rotates 360 ° in the horizontal direction.

  FIG. 5 shows a traveling locus during cleaning. The autonomous traveling vacuum cleaner S is traveling in the room 50. The room 50 is surrounded by a wall 51, and a desk is provided on the lower left side thereof. FIG. 5 shows legs 55 of the desk. A dotted line 52 in the room 50 indicates a running locus.

  The reflection traveling is a traveling that changes the traveling direction when an obstacle is detected by the front distance measuring sensor 8 or the bumper sensor 15. The autonomous traveling vacuum cleaner S starts from P1 in the figure, and when approaching the wall 51b of the room 50 that becomes an obstacle (P2), rotates in the counterclockwise direction (super turning) to change the traveling direction. In other words, the traveling locus as if reflected by the wall 51b is shown.

Thereafter, when the user approaches the wall 51, the operation of changing the traveling direction (the angle of rotation on the spot is randomly changed) is repeated to approach the desk leg 55a (P3). If it is determined that the obstacle is a small (small) obstacle like the leg 55a of the desk, the main body is turned so as to go around a place very close to the obstacle, and the tip of the obstacle is further cleaned.
Thereafter, the user approaches the wall 51c, changes the traveling direction, approaches the wall 51a, further changes the traveling direction, and approaches the desk leg 55c (P4). If it is determined that the obstacle is a small (small) obstacle like the leg 55c of the desk, the main body is moved so as to turn one or more rounds at a location very close to the obstacle.

  In the above description, the turning distance (angle) is different between when approaching the desk leg 55a and when approaching the desk leg 55c. In the present embodiment, the turning distance is changed randomly. Alternatively, the turning distance may be changed. In a situation where there are many narrow obstacles, for example, when there are a plurality of chairs such as under a dining table, it is desirable to make the turning distance longer and make them persistently clean in order to thoroughly clean dust around the legs of the chair.

As described above, the autonomous traveling vacuum cleaner S rotates on the spot or turns near an obstacle in addition to going straight.
FIG. 6 shows the detailed operation when rotating in place. FIG. 6 shows the autonomous traveling vacuum cleaner S in a simplified manner, showing only the main body Sh, the right driving wheel 2, and the left driving wheel 3, and P11 shows the front (front) of the main body Sh. The broken line in the figure indicates the wheel position after the main body Sh rotates on the spot, and P12 indicates the head position of the main body after the movement. FIG. 6 shows a case where the vehicle rotates in the counterclockwise direction on the spot, in which the right wheel 2 is rotated forward and the left wheel 3 is rotated backward at substantially the same angular velocity. By making the angular velocity of the wheel at the time of rotation faster than the angular velocity of the wheel at the time of going straight, the rotational speed of the main body is increased and the main body is rotated in a short time.

  Specifically, FIG. 7 shows a change in the angular velocity of the wheel (right side). The traveling speed when traveling straight is 300 mm / s, and the left and right wheels 2 and 3 are both rotating forward at about 510 deg / s (L1) (wheel diameter 68 mm). 630 deg / s (L2), and the left wheel 3 is rotated backward at about 630 deg / s. The angular velocity of the wheel when rotating is about 1.2 times the angular velocity when traveling straight.

  Further, as the movement of the main body Sh, the moving speed of the main body top P11 also moves faster than when traveling straight, and becomes about 550 mm / s during rotation.

  In this way, the time can be reduced by making the wheel speed during rotation substantially equal to or higher than the angular speed of the wheel when traveling straight. If the angular velocity of the wheel at the time of rotation is reduced from the angular velocity of the wheel at the time of straight traveling, for example, if it is reduced by 35%, the time required to rotate the main body by 150 degrees is about 1.2 seconds. When the angular velocity of the wheel is increased as in the embodiment, the time is about 0.6 seconds, and the time of about 0.6 seconds can be reduced. The number of reflections during one cleaning operation by the autonomous traveling vacuum cleaner S is about 200 times, and the traveling distance can be extended by about 36 m.

  As shown in FIG. 7, the angular velocity at the time of going straight and rotating in place is not constant depending on the condition of the floor surface, etc., and it is up and down in the range of L1a to L1b when going straight and with time at the place L2a to L2b. In this case, the angular velocity L2b during the in-place rotation is set to at least higher than L1a.

  Next, the angular velocity of the turning wheel will be described with reference to FIGS. FIG. 8 shows, as an example of the turning operation, an operation of wrapping around an obstacle 61 narrower than the main body width.

First, the main body approaches or comes into contact with the obstacle 61 (solid line Sh1 in FIG. 8), and the distance measurement sensor 8 and / or the bumper sensor 15 confirm whether the obstacle 61 is on the left or right of the main body Sh1. In FIG. 8, it is on the left side of the main body Sh1, and in that case, it rotates in place clockwise (arrow A). At this time, while monitoring the distance measuring sensor 8, the main body is rotated on the spot until the obstacle 61 is located on a substantially side surface of the main body. Thereafter, the robot rotates counterclockwise around a point outside the outer periphery of the main body (arrow B).
FIG. 9 is a simplified illustration of the autonomous traveling vacuum cleaner S when turning, showing only the main body Sh, the right driving wheel 2 and the left driving wheel 3, and P21 showing the front (head) of the main body Sh. ing. The broken lines in the figure indicate the positions of the main body and the wheels after turning, and P22 indicates the leading position of the main body Sh after the movement. At the time of turning counterclockwise, the left and right wheels are rotated forward, but the right wheel 2 is rotated at a higher angular velocity than the left wheel 3.

  The distance to the obstacle is grasped by the distance measuring sensor 8 provided on the side surface of the main body, the turning radius (turning radius) R at the time of turning is determined, and the turning is performed while controlling the angular velocity of the left and right wheels based on the turning radius. At this time, the turning radius R is set so that the gap between the obstacle 61 and the outer periphery of the main body Sh is about 5 mm.

When turning based on this turning radius R, the time required for turning is reduced by making the angular velocity of the wheel (right wheel 2 in FIG. 9) opposite to the turning direction faster than the angular velocity of the right wheel when traveling straight. Let it.
Specifically, the moving speed of the head of the main body at the time of turning is substantially equal to or faster than the moving speed of the head of the main body at the time of going straight. The moving speed of the head of the main body during turning was 320 mm / s, while the moving speed of the head of the main body during straight traveling was 300 mm / s. The distance from the rotation center O to the wheel (right wheel 2) on the opposite side to the turning direction is almost the same as or slightly shorter than the distance from the rotation center O to the head P21 of the main body, and the moving speed of the right wheel 2 is also about 320 mm / s. It is.

  FIG. 10 shows a change in the angular velocity of the right wheel 2. The angular speed of the right wheel 2 at the time of turning is about 540 deg / s (L4) (wheel diameter 68 mm), and is faster than the angular speed of the wheel at straight traveling of about 510 deg / s (L1).

  As shown in FIG. 10B of Patent Literature 1, it can be seen that the time can be greatly reduced as compared with the case where the traveling speed during turning is reduced (about 150 mm / s) with respect to the traveling speed when traveling straight (about 310 mm / s). . As shown in FIG. 10, the angular velocities at the time of going straight and turning are not constant depending on the condition of the floor surface, etc., and are increasing and decreasing over time in the range of L1a to L1b at the time of going straight and L4a to L4b at the time of turning. The angular velocity L4b during turning is at least higher than L1a.

  However, if the main body Sh contacts the obstacle in a state where the moving speed of the main body Sh is increased at the time of the rotation and the turning, a great impact may be given to the obstacle. Therefore, it is desirable to detect an obstacle near the main body Sh using the distance measuring sensor 8 provided from the front to the side of the main body Sh. When the main body approaches an obstacle during in-situ rotation and turning, the main body can be stopped or decelerated so as not to contact the obstacle or to reduce the impact at the time of contact.

Also, the case where the left and right wheels rotate in the forward direction has been described as the turning operation in the present embodiment, but the same applies to turning in which one wheel is stopped and turning in which one side is slowly rotated in the opposite direction.
As the operation at the time of turning, the turning may be performed at a predetermined radius of rotation without grasping the distance to the obstacle by the distance measuring sensor 8 provided on the side surface of the main body. In addition, as the operation at the time of turning, the turning may be performed while changing the turning radius each time while the distance to the obstacle is grasped every moment by a distance measuring sensor provided on the side surface of the main body.

  The wall travels by using a distance measuring sensor 8 provided on the side surface of the main body so as to keep a state of being about 10 mm away from the wall 51. The moving speed of the main body Sh at the time of traveling on the wall is substantially equal to or faster than the speed at the time of straight traveling during the reflection traveling.

  Ideally, the wall travels in a straight line parallel to the wall 51 as shown by a broken line C in FIG. 12, but actually approaches the wall 51 or moves away from the wall 51 as shown by a solid arrow line D in the figure. , Meandering. This is because the distance to the wall 51 is measured by the distance measuring sensor 8 and the traveling control is performed so that the distance is increased when approaching the wall 51 and the distance is increased when the distance from the wall 51 is increased. When moving closer to or away from the wall 51, the angular velocities of the left and right wheels 2, 3 are different. When bringing the main body Sh closer to the left wall 51 of the main body Sh, the angular velocity of the right wheel 2 is made faster than the angular velocity of the left wheel 3. When the main body Sh is moved away from the wall 51, the angular velocity of the left wheel 3 is made faster than the angular velocity of the right wheel 2.

  FIG. 13 shows a change in the angular velocity of the left wheel 3. Similarly to the embodiment, when the main body Sh is traveling straight at 300 mm / s, both the left and right wheels 2, 3 are rotating forward at about 510 deg / s (L1). After moving to the vicinity of the wall 51, the rotation of the left and right wheels 2 and 3 is stopped, and thereafter, the wheel is rotated on the spot so that the traveling direction of the main body is substantially parallel to the wall 51. The state shifts to wall running from that state.

  When the main body Sh is separated from the wall 51 by about 10 mm, which is the target value, while running on the wall, both the left and right wheels 2, 3 are rotated forward at about 510 deg / s (V1 in FIG. 13). When it is slightly closer than 10 mm from the wall (when it is 5 mm or more and less than 10 mm from the wall), the angular velocity of the right wheel 2 is rotated at 495 deg / s, and the angular velocity of the left wheel 3 is rotated at 525 deg / s (V2 in FIG. 13). With a turning radius of about 1500 mm, it is gently moved away from the wall 51. At this time, the moving speed of the head of the main body Sh is about 300 mm / s, which is almost the same speed as when traveling straight.

  When the distance is more than 10 mm, the angular velocity of the right wheel 2 is rotated at 525 deg / s, and the angular velocity of the left wheel 3 is rotated at 495 deg / s (V3 in FIG. 13). Get closer. Also in this case, the moving speed at the head of the main body Sh is about 300 mm / s, which is almost the same as when traveling straight.

  When the vehicle is closer to the wall 51 (less than 5 mm from the wall), the angular velocity of the right wheel 2 is rotated at 440 deg / s, and the angular velocity of the left wheel 3 is rotated at 580 deg / s (V4 in FIG. 13). It quickly moves away from the wall 51 at about 300 mm. At this time, the moving speed at the head of the main body Sh is about 330 mm / s, which is faster than when traveling straight.

In this way, by making the angular velocity of at least one of the wheels at the time of turning of the wall running to be controlled so as to keep the distance from the wall constant, as compared with that at the time of going straight, even at the time of running through the wall, it is as fast as going straight. Can be moved at speed. This allows the vehicle to travel without lowering the speed than when traveling straight ahead, prevents the traveling distance from becoming shorter, and reduces the area of the unpassed area.
By using the distance measuring sensor 8 to change the operation (turning radius) according to the distance between the wall 51 and the main body Sh as described above, it is possible to prevent the wall 51 from contacting the wall even when traveling at high speed. be able to.
Further, although the autonomous traveling vacuum cleaner of the present embodiment is shown in a substantially circular shape, it does not have to be a substantially circular shape.
As described above, the traveling distance can be increased by making the angular velocity of at least one of the wheels during the on-the-spot rotation, turning, and running on the wall almost equal to or higher than the angular velocity of the wheels when traveling straight. , A large area can be cleaned, and the area of a non-passed area can be reduced.

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The autonomous traveling vacuum cleaner S can detect a downward step or an upward step using the floor distance measuring sensor 16 as described above. By configuring the threshold value of the floor distance measuring sensor 16 so as to be changeable, a range in which exceeding the threshold is permitted / non-permitted can be set according to the user's preference.

  For example, it is assumed that when the user places the autonomous traveling vacuum cleaner S in a certain room and drives it autonomously, he does not want to leave the room. In this case, the user can previously measure, for example, the minimum height among the height differences between the entrances of the room and set a height less than this height as the threshold. Then, the autonomous traveling vacuum cleaner S is suppressed from performing the control over the step at the entrance of the room, so that the cleaning area desired by the user (area limited to this room) can be determined.

  In addition, the floor distance measuring sensor 16 is not a sensor that cannot be distinguished and is limited to two stages in which the distance to the floor is less than or greater than a threshold, and is of a type that can acquire the distance to the floor (for example, PSD). If a sensor is used, a plurality of thresholds may be provided to distinguish the height at which the user is allowed to go up (down) the step. For example, it is assumed that a user who has mounted the autonomous traveling vacuum cleaner S in a certain room wants to clean the entire area of this room except for high-grade carpets. The room is a substantially horizontal flooring (having a height of 0 mm), the minimum height difference between the entrance and exit of the room is 30 mm (+30 mm or −30 mm; first floor threshold), and the edge of the carpet is +10 mm ( (Second floor threshold). In such a situation, the user disallows the user from exceeding a step that is equal to or less than the second floor threshold, and further exceeds the step from the second floor threshold to the first floor threshold. Can be permitted, and exceeding a level difference equal to or more than the first floor threshold can be prohibited. In this way, it is possible to finely set a step for permitting / non-permitting entry.

  In addition, the autonomous traveling vacuum cleaner S can hold information on a height that can be overcome based on its own mechanical structure and the maximum speed. The floor distance measuring sensor 16 determines the presence of a step by determining the state in which the autonomous traveling vacuum cleaner S is placed on a substantially horizontal floor surface at a height of 0 and determining a distance deviated from the height. ing. Then, if there is hair that is planted and extends from the floor surface, such as a carpet with long hairs, the hair may be determined to be a step. For this reason, when the operation is started from a carpet or the like, the distance measuring sensor 16 for the floor surface may react and try to change the course or stop the operation. This danger increases especially when the lower height is set to prohibit entry. Therefore, in the present embodiment, a predetermined time (for example, 5 seconds) immediately after the start of operation does not refer to the set threshold, but a predetermined threshold (for example, determined by the manufacturer of the autonomous traveling vacuum cleaner S). By running, the operation stoppage immediately after the start of operation was suppressed while maintaining the original safety. Since this threshold value is preferably close to the maximum height that the autonomous traveling vacuum cleaner S can get over, it is referred to as a maximum threshold value.

  The present invention is not limited to the above embodiment, and can be appropriately changed without changing the idea of the present invention. For example, the step detecting means may not be the floor distance measuring sensor 16. Further, a configuration in which the height over a step is changed using a smartphone by a wireless LAN or Bluetooth (registered trademark) or a configuration in which the suction brush 5 and the rotating brush 7 are not provided may be adopted.

2, 3 drive wheel 5 rotating brush 8 forward distance measuring sensor (obstacle detecting means)
9 Rechargeable battery 11 Suction fan 12 Dust collection case 14 Suction port 15 Bumper sensor (obstacle detection means)
16 Floor distance measurement sensor (obstacle detection means)
S Autonomous traveling vacuum cleaner Sh Main body (non-rotating part, body)

Claims (3)

A drive wheel that moves itself,
A floor distance measurement sensor capable of detecting the length of the distance to the floor with respect to the set threshold,
An autonomous traveling vacuum cleaner that changes a course according to a detection result of the floor distance measurement sensor,
Ri can be changed der the threshold value,
An autonomous traveling vacuum cleaner characterized in that it operates at a maximum threshold for a predetermined time after the autonomous traveling vacuum cleaner starts autonomous driving, regardless of the setting of the threshold .   The vacuum cleaner according to claim 1, wherein the setting of the threshold is changeable by a user.   3. The autonomous traveling vacuum cleaner according to claim 1, wherein a plurality of the thresholds can be set, and permission and non-permission can be set according to each of the thresholds. 4.

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