JP7398429B2 - self-propelled electronic equipment - Google Patents

Description

The present invention relates to self-propelled electronic equipment.

As a conventional self-propelled electronic device, for example, Patent Document 1 discloses a self-propelled vacuum cleaner in which an electric cleaning device is mounted on a casing that can run on a floor surface.
This conventional self-propelled vacuum cleaner has a main body (bumper) that covers the casing so that it can be moved on the casing, and the main body hits obstacles such as walls and ornaments while moving on the floor. When a collision occurs, it detects the obstacle (collision) and avoids it. Further, a cliff sensor is provided on the bottom surface of the housing, and when the self-propelled vacuum cleaner approaches, for example, a descending staircase, the cliff sensor detects the descending staircase and avoids it.

Japanese Patent Application Publication No. 2015-51336

In a conventional self-propelled electronic device that performs evasive action when a bumper collides with an obstacle, such as the one disclosed in Patent Document 1, for example, the bumper and obstacles (walls, furniture, ornaments, etc.) may be damaged, ornaments (e.g. In order to prevent situations such as knocking over and damaging a plastic bottle or cup with an open lid and spilling the drink inside onto the floor, it is recommended to set the operating force of the bumper as lightly as possible. desirable.

However, the lighter the operating force for the bumper is, the more likely it is that the bumper will malfunction due to the impact on the housing when the self-propelled electronic device climbs over a step. In other words, when the front end of the casing below the bumper collides with a step, the self-propelled electronic device slides over the step and overcomes the step. Therefore, the lighter the operating force for the bumper is, the easier it is for the bumper to operate and detect a bump even when the front end of the housing collides with a step, making it easier to detect a bump, thereby avoiding a step that would normally be able to be climbed over.

The present invention has been made in view of such problems, and an object of the present invention is to provide a self-propelled electronic device that has excellent running performance over steps.

According to the present invention, there is provided a housing, an electric drive wheel that supports the housing and travels on the floor, and a drive wheel that is provided at the front of the housing in the forward direction to prevent obstacles on the floor. an obstacle detection section having a bumper that detects by contact; a step detection section that is provided at the front part of the housing and detects a step rising above the floor; and the obstacle detection section and the step detection section. A self-propelled electronic device is provided, including a control section that controls the drive wheels based on the output.

The step detection section can detect steps raised on the floor (for example, carpets, thresholds, etc.), which suppresses step avoidance actions due to malfunction of the obstacle detection section when climbing over steps, and prevents the vehicle from running over the step. Performance can be improved. Furthermore, since it is possible to distinguish between a collision of the self-propelled electronic device with an obstacle and a collision with a step, it is possible to improve the detection accuracy of the obstacle detection unit.

1 is a front view showing a first embodiment of a self-propelled vacuum cleaner as a self-propelled electronic device of the present invention. It is a bottom view of the self-propelled cleaner of a 1st embodiment. It is a figure explaining the internal structure of the self-propelled cleaner of a 1st embodiment. (A) is a left sectional view of the level difference detection unit in the self-propelled vacuum cleaner of the first embodiment before operation, and (B) is a left sectional view during operation. It is a block diagram explaining the control system of the self-propelled cleaner of a 1st embodiment. (A) is an explanatory diagram showing a pre-operation state, and (B) is an explanatory diagram showing an operating state of the obstacle detection unit in the self-propelled vacuum cleaner of the first embodiment. (A) is an explanatory diagram showing the state before operation, (B) is an explanatory diagram showing the state during operation, and (C) is an explanatory diagram showing the state after operation of the step detection unit in the self-propelled vacuum cleaner of the first embodiment. It is. It is a front view which shows the self-propelled cleaner of 2nd Embodiment. It is a left side sectional view of the level difference detection part in the self-propelled cleaner of a 2nd embodiment.

(First embodiment)
FIG. 1 is a front view showing a first embodiment of a self-propelled vacuum cleaner as a self-propelled electronic device of the present invention, and FIG. 2 is a bottom view of the self-propelled vacuum cleaner of the first embodiment. 3 is a diagram illustrating the internal configuration of the self-propelled vacuum cleaner of the first embodiment. Further, FIG. 4 shows (A) a left sectional view of the level difference detection unit in the self-propelled vacuum cleaner of the first embodiment before operation, and (B) a left side sectional view during operation. Moreover, FIG. 5 is a block diagram explaining the control system of the self-propelled vacuum cleaner of the first embodiment.
In addition, in FIG. 2, the front, rear, left, and right directions of the self-propelled vacuum cleaner are indicated by arrows. Further, in each of the following embodiments including the first embodiment, a case of a self-propelled vacuum cleaner equipped with an electric cleaning device as the self-propelled electronic device will be exemplified, but the present invention It is not limited to. For example, it may be a self-propelled luggage transport device, a self-propelled trunk, or the like.

<About the configuration and operation of the self-propelled vacuum cleaner>
The self-propelled vacuum cleaner A of the first embodiment moves on the floor F of the place where it is installed, sucks in air containing dust on the floor F, and exhausts the air from which the dust has been removed. It is configured to clean the surface F.
This self-propelled vacuum cleaner A includes a disc-shaped housing 1, and inside and outside of this housing 1, a rotating brush 2, a pair of left and right side brushes 3, a dust collection part 4, and an electric blower as a suction part are provided. 5. A motor driver 5a for the electric blower 5, a pair of left and right drive wheels 6 provided on the same axis in the left and right direction, a pair of drive motors 6a for the pair of left and right drive wheels 6, a pair of drive motors 6a for the pair of drive wheels 6, Control including a motor driver 6b, a brush motor 7 that rotates the rotating brush 2 and the pair of left and right side brushes 3, a motor driver 7a for the brush motor 7, a rear wheel 8 as an auxiliary wheel, a battery 9, and a control unit 10 described later. Components such as a control board 10a on which a circuit is mounted and various sensors are provided. Note that the casing 1 is not limited to a disk shape, and may be a substantially triangular or substantially quadrangular shape with rounded corners when viewed from above. Further, the side brush 3 may be provided only on either the left or right side.

The housing 1 includes a bottom plate 1b that is circular in plan view and has a suction port 1a, a top plate 1c that is circular in plan view, and a side plate 1d that is annular in plan view and provided along the outer periphery of the bottom plate 1b and the top plate 1c. It is equipped with The top plate 1c is provided with an opening/closing lid (not shown) and an exhaust port 1ca (see FIG. 3) formed at a rear position of the opening/closing lid.
The bottom plate 1b is provided with a pair of left and right drive wheels 6 and a rear wheel 8 that is swingable about a vertical axis. The side plate 1d has a side plate front part 1da and a side plate rear part 1db which are roughly divided into two parts in the front and rear, and the side plate front part 1da has a bumper function to reduce the impact at the time of a collision. Hereinafter, the "side plate front portion 1da" will be referred to as the "bumper 1da."

Furthermore, inside the housing 1, there are a suction passage 11 that connects the suction port 1a and the dust collecting section 4, a ventilation passage 12 that connects the dust collecting section 4 and the electric blower 5, and an exhaust port 1ca between the electric blower 5 and the electric blower 5. A ventilation passage 13 is provided to connect the two.

The pair of left and right drive wheels 6 are rotatably provided around the same axis X that is parallel to the bottom plate 1b of the housing 1, and when the pair of left and right drive wheels 6 rotate in the same direction, the housing 1 moves forward and backward. , when each of the drive wheels 6 rotates in opposite directions at the same speed, the housing 1 rotates in place.
The rotating shaft of each drive wheel 6 is connected to each drive motor 6a so that rotational force can be obtained individually from each drive motor 6a, and each drive motor 6a is fixed to the bottom plate 1b of the housing 1 directly or via a suspension mechanism. ing.

The rotating brush 2 is provided at the suction port 1a so as to be rotatable around an axis parallel to the bottom plate 1b of the housing 1.
Furthermore, the side brushes 3 that rotate about an axis perpendicular to the bottom plate 1b are provided on both the left and right sides of the suction port 1a on the bottom plate 1b.

The rotating brush 2 is formed by installing a brush spirally on the outer peripheral surface of a roller that is a rotating shaft.
The side brush 3 has a rotating shaft and a plurality of brush bundles radially provided at the lower end of the rotating shaft.
The rotating shaft of the rotating brush 2 and the rotating shaft of the pair of side brushes 3 are pivotally attached to a part of the bottom plate 1b of the housing 1, and include a brush motor 7, a pulley, a belt, etc. provided near the bottom plate 1b. They are independently connected via a power transmission mechanism or the like.

Furthermore, a charging terminal (not shown) for charging the battery 9 is provided at the rear end of the side plate 1d of the housing 1. The self-propelled vacuum cleaner A, which cleans the room by itself, returns to a charging stand (not shown) installed in the room. As a result, the charging terminal comes into contact with the terminal portion provided on the charging stand, and the battery 9 is charged. A charging stand connected to a commercial power source (outlet) is usually installed along the side wall of a room.
The battery 9 is charged from the charging stand via the charging terminal, and supplies power to each element such as the control board 10a, the drive motor 6a for the driving wheels 6, the brush motor 7, the electric blower 5, and various sensors.

The dust collection unit 4 includes a dust collection box 4a having an inlet connected to a suction path 11 and an exhaust port connected to a ventilation path (suction duct) 12 on the upstream side of the electric blower 5, and the exhaust port of the dust collection box 4a. It has a filter 4b which is removably installed in the filter 4b. The dust collection box 4a is normally housed in the casing 1, and when disposing of the dust collected in the dust collection box 4a, open the lid (not shown) of the casing 1 to collect the dust. The box 4a can be taken in and taken out (attached and detached).

As shown in FIG. 5, a control circuit that controls the entire operation of the self-propelled vacuum cleaner A includes a control section 10, an operation panel 31 for inputting setting conditions and operation commands related to the operation of the self-propelled vacuum cleaner A, and a control circuit for controlling the entire operation of the self-propelled vacuum cleaner A. A storage unit 18 that stores program data such as a map 18a, a motor driver 5a for driving the electric blower 5, a motor driver 6b for individually driving each traveling motor 6a of a pair of drive wheels 6 in forward and reverse directions, and a rotation It includes a motor driver 7a for rotating a brush motor 7 that simultaneously drives the brush 2 and the side brush 3 in one direction.

The control circuit also includes a plurality of floor surface detection sensors 14 and their control units 14a provided on the bottom plate 1b of the housing 1, a plurality of ultrasonic transmitters 15A and an ultrasonic wave generator provided alternately in the circumferential direction on the bumper 1da. An ultrasonic sensor 15 having a receiving section 15B and its control unit 15a, a contact sensor 16 as an obstacle detection section that detects an obstacle by collision with the bumper 1da and its control unit 16a, and a bumper 1da at the front of the housing 1. It includes a level difference sensor (level difference detection section) 17 provided at a lower position than the level difference sensor 17, its control unit 17a, and the like.

The control unit 10 includes a microcomputer consisting of a CPU, ROM, and RAM, and stores commands from the operation panel 31, outputs from the floor detection sensor 14, ultrasonic sensor 15, contact sensor 16, and step sensor 17, and the storage unit 18. Based on the program data stored in advance, control signals are sent to the motor drivers 5a, 6b, and 7a individually to drive and control the electric blower 5, travel motor 6a, and brush motor 7 to perform a series of cleaning operations. conduct. Note that the program data includes program data for a normal mode that cleans a wide area of the floor surface, and a wall mode that cleans along the wall.

The control unit 10 receives condition settings related to the operation of the self-propelled vacuum cleaner A by the user from the operation panel 31 and stores them in the storage unit 18. This storage unit 18 can store a travel map 18a around the installation location of the self-propelled vacuum cleaner A. The travel map 18a is information related to travel, such as the travel route and travel speed of the self-propelled vacuum cleaner A, and is stored in the storage unit 18 by the user in advance, or is stored in the storage unit 18 by the user, or when the self-propelled vacuum cleaner A itself is in the process of cleaning. Can be recorded automatically.

In order for the self-propelled vacuum cleaner A to detect a descending step such as a descending staircase, the floor detection sensor 14 is installed, for example, at the front (for example, both left and right sides of the step sensor 17), the rear, and the bottom plate 1b of the housing 1. It is arranged at the position of a pair of left and right side brushes 3. The CPU is connected to the floor detection sensor 14 via the control unit 14a, and obtains information on the presence of a downward step such as a downward staircase around the outside of the housing 1 based on an output signal from the floor detection sensor 14. Note that the floor surface detection sensor 14 may include, for example, a light emitting element that projects light toward the floor surface F and a light receiving element that receives reflected light that is the light from the light emitting element reflected from the floor surface F. .

The ultrasonic sensor 15 is a non-contact obstacle detection unit, and when the ultrasonic waves emitted from the ultrasonic transmitter 15A collide with an obstacle, are reflected, and are received by the ultrasonic receiver 15B, Detect obstacles. The CPU is connected to the ultrasonic sensor 15 (ultrasonic receiver 15B) via the control unit 15a, and receives information on the presence of obstacles around the outside of the housing 1 based on the output signal from the ultrasonic receiver 15B. obtain.

The contact sensors 16 are contact-type obstacle detection units, and are arranged, for example, at left and right positions on the back side of the bumper 1da, in order to detect that the self-propelled cleaner A has come into contact with an obstacle while traveling. The control unit 10 is connected to the contact sensor 16 via the control unit 16a, and obtains information on the presence of obstacles around the outside of the housing 1 based on the output signal from the contact sensor 16. Note that the contact sensor 16 may be a limit switch that detects an obstacle by contacting the part of the bumper 1da that has collided with the obstacle, or an optical sensor that detects the part of the bumper 1da that has collided with the obstacle without contact. etc. can be used. The bumper 1da is urged forward Y1 by, for example, an urging member (for example, a compression coil spring) of a support section that is movably provided in the left and right positions on the back side of the bumper 1da.

The level difference sensor 17 is a contact type level difference detection unit, and detects that the self-propelled vacuum cleaner A has come into contact with a level difference that rises from the floor surface F while traveling. It is arranged at a lower position than the bumper 1da. The control unit 10 is connected to a sensor body 17d of the level difference sensor 17, which will be described later, via the control unit 17a, and obtains information on the presence of obstacles around the outside of the housing 1 based on the output signal from the level difference sensor 17. Note that the step sensor 17 will be described in detail later.

In the self-propelled vacuum cleaner A configured in this way, the electric blower 5, drive wheel 6, rotating brush 2, and side brush 3 are driven in response to a command for cleaning operation. As a result, with the rotating brush 2, side brush 3, driving wheel 6, and rear wheel 8 in contact with the floor surface F, the housing 1 moves within a predetermined range and removes dust from the floor surface F from the suction port 1a. Breathe in the air that contains it. At this time, the rotation of the rotating brush 2 scrapes up the dust on the floor surface F and guides it to the suction port 1a. Furthermore, the rotation of the side brush 3 guides dust on the sides of the suction port 1a to the suction port 1a.

Air containing dust sucked into the housing 1 from the suction port 1a passes through the suction path 11 of the housing 1 and flows into the dust collection box 4a. The airflow that has entered the dust collection box 4a passes through the filter 4b, passes through the ventilation path 12, flows into the electric blower 5, is guided to the ventilation path 13, and is discharged to the outside from the exhaust port 1ca. At this time, since the dust contained in the airflow inside the dust collection box 4a is captured by the filter 4b, the dust accumulates inside the dust collection box 4a.

The self-propelled vacuum cleaner A returns to the charging stand when cleaning is completed or when the remaining battery capacity becomes low. As a result, the charging terminal comes into contact with the terminal portion, and the battery is charged.
An operation panel 31 is provided on the top surface of the self-propelled vacuum cleaner A, and a cleaning operation can be performed using the operation panel 31. Further, a receiving section may be provided in the housing 1, and a transmitter for transmitting a command signal may be provided to the receiving section to enable remote control operation. Alternatively, a command signal may be sent to the self-propelled cleaner A from a mobile terminal such as a smartphone or a mobile phone via an Internet line and a router provided indoors so that the self-propelled cleaner A can be remotely controlled.

<About the configuration of the level difference sensor>
As shown in FIGS. 1, 2, 4(A) and 4(B), the level difference sensor 17 as a level difference detection unit is mounted on the front part of the housing 1 so as to be movable in the front and rear direction and to be able to come into sliding contact with the level difference. a step contact portion 17b provided below the bumper 1da as an obstacle detection portion; a biasing member 17c that urges the step contact portion 17b forward; It includes a sensor main body 17d that detects and outputs the step contact portion 17b that has moved rearward.

The mounting position of the step sensor 17 in the housing 1 is the front end of the bottom plate 1b, and the entire area near the boundary between the bottom plate 1b and the side plate 1d is chamfered in a reverse taper shape. Therefore, the part of the housing 1 where the step sensor 17 is attached is provided with an inclined surface 1e that is inclined toward the floor surface as it goes from the front to the rear.
On the other hand, the step contact portion 17b has a sliding contact slope 17ba (see FIGS. 2, 4(A) and 4(B)) that slopes toward the floor surface as it goes rearward so as to be able to make sliding contact with the step. There is.

In the step sensor 17, when the step contact portion 17b moves forward as shown in FIG. ), the sliding contact slope 17ba is arranged in the same plane as the slope 1e of the housing 1 when the stepped contact portion 17b moves rearward.
The step contact portion 17b includes, for example, a lower recess 17bb with a rear opening into which a plate piece 1ba of a notch provided at the front end of the bottom plate 1b of the housing 1 is inserted, and a compression coil spring as a biasing member 17c is inserted. The bumper has an upper concave portion 17bc in the form of a rear opening, and an abutting step portion 17bd, and the abutting step portion 17bd abuts against the backing plate 1dc of the casing 1 provided on the back side of the bumper 1da to prevent forward movement. It is becoming regulated.

As shown in FIGS. 2 and 4(A), the step contact portion 17b urged forward by the urging member 17c is caused by the contact step portion 17bd coming into contact with the backing plate 1dc of the housing 1. It is designed not to protrude further than 1 da. In this case, even if the bumper 1da moves rearward (as shown by the imaginary line in FIG. 4A), the tip of the step contact portion 17b in the free state does not protrude further forward than the bumper 1da.

A rib 1bb is provided on the bottom plate 1b of the casing 1 at a rear position of the step contact portion 17b toward the inside of the casing, and a biasing member 17c is provided between the rib 1bb and the step contact portion 17b. ing.
Furthermore, a limit switch serving as the sensor main body 17d is fixed at a position above the biasing member 17c on the rib 1bb, and as shown in FIG. 4(B), by moving the step contact portion 17b rearward, The rear end 17be of the step contact portion 17b presses the limit switch to turn it on. Note that an optical sensor capable of detecting the rear end 17be of the step contact portion 17b may be used as the sensor body 17d.

<About obstacle and step detection and driving control>
FIG. 6 is an explanatory diagram (A) showing a pre-operation state and (B) an explanatory diagram showing an operating state of the obstacle detection unit in the self-propelled vacuum cleaner of the first embodiment. In addition, FIG. 7 is an explanatory diagram showing the level difference detection unit in the self-propelled vacuum cleaner of the first embodiment, (A) is an explanatory diagram showing the state before operation, (B) is an explanatory diagram showing the state during operation, and (C) is an explanatory diagram showing the state after operation. It is an explanatory diagram showing a state.

As shown in FIGS. 1 to 5, and FIGS. 6(A) and (B), the self-propelled vacuum cleaner A having the above-mentioned configuration has a bumper 1da that hits an obstacle on the floor F while traveling forward Y1. When the vehicle collides with Q, the bumper 1da moves backward Y2 to buffer the impact. At this time, the contact sensor 16 detects and outputs an obstacle, and the control unit 10 thereby controls the pair of left and right drive wheels 6 to avoid the obstacle Q.
At this time, the tip of the step contact portion 17b of the step sensor 17 does not protrude further forward than the bumper 1da, so the step contact portion 17b of the step sensor 17 does not collide with the obstacle Q. Therefore, the step sensor 17 does not output any output.

As shown in FIGS. 1 to 5, FIGS. 7(A), (B), and (C), the self-propelled vacuum cleaner A with the above configuration cleans carpets, sills, etc. while traveling forward Y1. When approaching a step S lower than the height of the bumper 1da (a step S that can be climbed over) and the step contact portion 17b of the step sensor 17 collides with the step S, the step contact portion resists the urging force of the urging member 17c. 17b moves backward Y2. At this time, the sensor main body (limit switch) 17d is pressed by the step contact portion 17b, so that the step S is detected, and the sensor main body 17d outputs an output (see FIG. 7(B)).

When the step contact portion 17b collides with the step S, if the operating force of the bumper 1da is set to be light, the bumper 1da will operate and the contact sensor 16 will output an output, depending on the impact force transmitted to the housing 1. It is assumed that the bumper 1da does not operate and the contact sensor 16 does not output an output.
When the bumper 1da does not operate and the contact sensor 16 does not output when the step contact portion 17b collides with the step S, the control section 10 controls the pair of left and right drive wheels 6 to continue moving forward. As a result, as shown in FIGS. 7(B) and 7(C), the step contact portion 17b slides over the step S with its sliding inclined surface 17ba in sliding contact with the corner of the step S, and then the pair of left and right drive wheels 6 and the rear wheel 8 get over the step S.

When the bumper 1da is actuated and the contact sensor 16 outputs when the step contact portion 17b collides with the step S, the control section 10 controls a predetermined value from the start of the output of the step sensor 17 while the step sensor 17 maintains the output. When the contact sensor 16 outputs an output for less than a period of time (for example, less than 0.5 to 1 second), the pair of left and right drive wheels 6 are controlled so that the housing 1 moves forward. In other words, in this case, the control unit 10 determines that there is no obstacle near the step S that would come into contact with the bumper 1da (determines that the output of the contact sensor 16 is invalid), continues moving the housing 1 forward, and A pair of left and right drive wheels 6 are controlled so as to overcome S. At this time, even if the bumper 1da is actuated by the impact force when the step contact portion 17b collides with the step S, the bumper 1da returns to the initial position within less than the predetermined time and the output of the contact sensor 16 stops. do.

Further, when the bumper 1da is activated and the contact sensor 16 outputs when the step contact portion 17b collides with the step S, the control section 10 controls when the step sensor 17 starts outputting, while the step sensor 17 maintains the output. When the contact sensor 16 outputs an output for a predetermined period of time or more (for example, one second or more), the pair of left and right drive wheels 6 are controlled so that the housing 1 moves backward. In other words, in this case, the control unit 10 determines that there is an obstacle near the step S that would come into contact with the bumper 1da (determines that the output of the contact sensor 16 is valid), moves the casing 1 backward, and moves the step S. The pair of left and right drive wheels 6 are controlled to avoid this. In addition, such a situation is assumed, for example, when the bumper 1da collides with an obstacle on the step S, and the step contact portion 17b collides with the step S almost at the same time.

(Second embodiment)
FIG. 8 is a front view showing a self-propelled vacuum cleaner according to the second embodiment, and FIG. 9 is a left sectional view of a level difference detection section in the self-propelled vacuum cleaner according to the second embodiment. Note that in FIGS. 8 and 9, elements similar to those in FIGS. 1, 4, and 7(A) to 7(C) are given the same reference numerals.
As shown in FIGS. 8 and 9, the self-propelled vacuum cleaner B of the second embodiment is similar to the first embodiment except that the configuration of the level difference sensor (level difference detection section) 117 is different from that of the first embodiment. The same is true. Hereinafter, differences between the second embodiment and the first embodiment will be mainly described.

In the self-propelled vacuum cleaner B of the second embodiment, the level difference sensor 117 is provided near the inclined surface 1e at the front of the housing 1.
The step sensor 117 includes an imaging section 117a capable of photographing the step S, and a transparent cover 117b disposed in the same plane as the inclined surface 1e at the front of the housing 1.
As the imaging unit 117a, for example, a small camera such as a CCD camera or a CMOS camera can be used.
As the transparent cover 117b, for example, transparent glass or transparent plastic that can withstand a collision with the step S can be used.

In the case of the second embodiment, the imaging unit 117a and the transparent cover 117b are housed in a case 117c. This case 117c has a shape in which the opening of a bottomed cylindrical body is cut diagonally.
The transparent cover 117b is fitted and fixed into the diagonally cut opening of the case 117c.

According to this self-propelled vacuum cleaner B, the imaging section 117a of the step sensor 117 can photograph the vicinity of the floor surface F in the forward direction and output the image data to the control section 10. In this case, for example, the following driving control can be performed.
The control unit 10 compares the image data with pre-stored determination data, and determines whether the image data is image data of the step S.

If it is determined that the image data is image data obtained by photographing a step S, this means that the step S has been detected by the step sensor 117, and the same driving control as in the first embodiment is performed.
That is, while the level difference sensor 117 detects the level difference S, the control unit 10 controls the contact sensor 16 (see FIG. ), the pair of left and right drive wheels 6 are controlled so that the housing 1 moves forward. In other words, in this case, the control unit 10 determines that there is no obstacle near the step S that would come into contact with the bumper 1da (determines that the output of the contact sensor 16 is invalid), continues moving the housing 1 forward, and A pair of left and right drive wheels 6 are controlled so as to overcome S.

In addition, while the step sensor 117 detects the step S, the control unit 10 also controls whether the contact sensor 16 (see FIG. 5) outputs the At this time, the pair of left and right drive wheels 6 are controlled so that the housing 1 moves backward. In other words, in this case, the control unit 10 determines that there is an obstacle near the step S that would come into contact with the bumper 1da (determines that the output of the contact sensor 16 is valid), moves the casing 1 backward, and moves the step S. The pair of left and right drive wheels 6 are controlled to avoid this.

Further, if the contact sensor 16 is not outputting while the step sensor 117 is detecting the step S, the control section 10 determines that there is a step S in the forward direction but there is no obstacle, and detects the step S. The pair of left and right drive wheels 6 are controlled so as to overcome the problem.
Further, when the contact sensor 16 outputs an output while the step sensor 117 does not detect the step S, the control unit 10 determines that there is an obstacle in the forward direction and controls the pair of left and right drive wheels 6 to avoid it. .

(Third embodiment)
In the first embodiment, a self-propelled vacuum cleaner A is illustrated in which one level difference sensor 17 is provided at the front part of the housing 1, but a plurality of level difference sensors 17 may be provided. For example, level difference sensors having a similar configuration may be provided on both left and right sides of the level difference sensor 17 shown in FIG.

(Fourth embodiment)
In the first embodiment, a self-propelled vacuum cleaner B is illustrated in which one level difference sensor 117 is provided at the front part of the housing 1, but a plurality of level difference sensors 117 may be provided. For example, level difference sensors having a similar configuration may be provided on both left and right sides of the level difference sensor 117 shown in FIG.

(summary)
The self-propelled electronic device of the present invention includes a casing, an electric drive wheel that supports the casing and runs on the floor, and a drive wheel that is provided at the front of the casing in the forward direction and that is mounted on the floor. an obstacle detection section having a bumper that detects an obstacle by contact; a step detection section that is provided on the front part of the housing and detects a step raised above the floor surface; and a control section that controls the driving wheels based on the output of the step detection section.
According to this configuration, it is possible to detect a step (for example, a carpet, a threshold, etc.) raised on the floor surface by the step detection section. Therefore, when a step is detected by the step detection section, if the obstacle detection section does not output an output, it goes without saying that the self-propelled electronic device will move forward to get over the step, and the front part of the housing will be able to overcome the step. Even if the obstacle detection unit is activated due to a collision, the self-propelled electronic device will be able to move forward to overcome the bump. As a result, a self-propelled electronic device with excellent running performance can be obtained.
Furthermore, since it is possible to distinguish between a collision of the self-propelled electronic device with an obstacle and a collision with a step that can be climbed over, it is possible to improve the detection accuracy of the obstacle detection unit. Therefore, the detection accuracy of the obstacle detection unit can be increased (the operating force of the bumper can be set to be lighter). It is possible to prevent situations such as overturning and damaging an ornament (for example, a vase), or overturning an open plastic bottle or cup and spilling the drink inside onto the floor.

The self-propelled electronic device of the present invention may be configured as follows, and these may be combined as appropriate.

- The control unit is configured to cause the casing to move forward when the obstacle detection unit outputs an output within a predetermined time from when the level difference detection unit starts outputting, while the level difference detection unit maintains the output. The drive wheel is controlled such that the housing moves backward when the obstacle detection section outputs an output for a predetermined time or more after the step detection section starts outputting the output. Good too.
According to this configuration, the following driving control can be performed.
While the level difference detection unit maintains its output, if the obstacle detection unit outputs an output for less than a predetermined time from the start of output from the level difference detection unit, the control unit detects that there is an obstacle near the level difference that could come into contact with the bumper. It is possible to control the drive wheels so that it is determined that there is no obstacle (the output of the obstacle detection section is determined to be invalid) and the casing moves forward.
In addition, while the level difference detection unit maintains its output, if the obstacle detection unit outputs an output for a predetermined period of time or more from the time when the level difference detection unit starts outputting, the control unit will cause the obstacle detection unit to generate an output that comes into contact with the bumper 1da near the level difference. It is possible to determine that there is an obstacle (determine that the output of the contact sensor is valid) and control the drive wheels so that the housing moves backward.

- The step detection section includes a step contact section provided at a position lower than the obstacle detection section in the front part of the casing so as to be movable in the front-rear direction and to be able to come into sliding contact with the step; comprising a biasing member that biases the portion forward, and a sensor body that detects and outputs the step contact portion that has moved backward against the biasing force of the biasing member,
The step contact portion may be provided at the front portion of the casing so as not to protrude further forward than the bumper.
According to this configuration, it is possible to configure a level difference detection section that mechanically detects a level difference. In addition, by providing a step contact part at the front of the casing so that it does not protrude further forward than the bumper, when the bumper collides with an obstacle, the step contact part collides with the obstacle and activates. detection).

- The casing has an inclined surface that is located below the obstacle detection section in the front portion and that slopes toward the floor as it goes rearward;
The step contact portion has a sliding slope that slopes toward the floor surface as it goes rearward so as to be able to make sliding contact with the step, and when the step contact portion moves forward, the sliding slope is located in front of the inclined surface, and the sliding contact inclined surface is arranged in the same plane as the inclined surface when the step contact portion moves rearward. good.
According to this configuration, the self-propelled electronic device can smoothly overcome steps.

- The step detection section may include an imaging section capable of photographing the step.
According to this configuration, it is possible to configure a level difference detection section that optically detects a level difference.

- The casing has an inclined surface that is located below the obstacle detection section in the front portion and that slopes toward the floor as it goes rearward;
The step detection section may further include a transparent cover disposed in the same plane as the inclined surface.
According to this configuration, the self-propelled electronic device can smoothly overcome steps.

- The device may further include an electric cleaning device that is mounted on the casing and sucks dust from the floor surface.
According to this configuration, a self-propelled electronic device with cleaning performance can be obtained.

Note that the disclosed embodiments should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and it is intended that all changes within the meaning and range equivalent to the claims are included.

1 Housing 1da Bumper (obstacle detection part)
1e Inclined surface 6 Drive wheel 10 Control section 16 Contact sensor (obstacle detection section)
17, 117 Step detection section 17b Step contact section 17c Biasing member 17d Sensor main body 117a Imaging section 117b Transparent cover 17ba Sliding contact slope A, B Self-propelled vacuum cleaner (self-propelled electronic device)
F Floor Q Obstacle S Step

Claims (7)

A housing, an electric drive wheel that supports the housing and travels on the floor, and a bumper that is provided at the front of the housing in the forward direction and detects obstacles on the floor by contact. an obstacle detection section having an obstacle detection section; a step detection section provided at the front part of the casing to detect a step rising above the floor surface; and a control unit that controls the wheels .
The control unit is configured to control the casing to move forward when the obstacle detection unit outputs an output for less than a predetermined time from when the level difference detection unit starts outputting while the level difference detection unit maintains the output. The drive wheel is controlled such that the housing moves backward when the obstacle detection section outputs an output for a predetermined time or more after the step detection section starts outputting the output. Self-propelled electronic equipment. The step detection section includes a step contact section provided at a position below the obstacle detection section in the front part of the casing so as to be movable in the front-back direction and slidably contact the step, and the step contact section. and a sensor body that detects and outputs the step contact portion that has moved backward against the biasing force of the biasing member,
The self-propelled electronic device according to claim 1 , wherein the step contact portion is provided at the front portion of the casing so as not to protrude further forward than the bumper. The self-propelled electronic device according to claim 1 , wherein the step detection section includes an imaging section capable of photographing the step. The casing has an inclined surface that is located below the obstacle detection section in the front part and that slopes toward the floor as it goes rearward,
The step contact portion has a sliding slope that slopes toward the floor surface as it goes rearward so as to be able to make sliding contact with the step, and when the step contact portion moves forward, the sliding slope according to claim 2, wherein the sliding contact slope is positioned in front of the slope, and the sliding contact slope is arranged in the same plane as the slope when the step contact portion moves rearward . self-propelled electronic equipment. The casing has an inclined surface that is located below the obstacle detection section in the front part and that slopes toward the floor as it goes rearward,
The self-propelled electronic device according to claim 3 , wherein the step detection section further includes a transparent cover disposed in the same plane as the inclined surface. The self-propelled electronic device according to any one of claims 1 to 5, wherein a plurality of the step detection sections are provided in the front part of the casing. The self-propelled electronic device according to any one of claims 1 to 6, further comprising an electric cleaning device that is mounted on the housing and sucks dust from a floor surface.

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