200948332 六、發明說明： 【發明所屬之技術領域】 本發明係有關一種自走式吸塵器，包括：電動馬達驅動裝 置、集塵容器、及罩體，該吸塵器設有一個障礙物感測裝置’ 其係由至少一個設在前方的感知元件所構成，由該感知元件 之擺動’可感測障礙物。 【先前技術】 專利DE 1〇2 42 257 A1提出此種吸塵器。該吸塵器之障 礙物感測裝置的工作方式與技術，包含於本發明說明以及本 發明申⑼專利範圍之目的及特徵中。專利Μ _湖7〇71 Α2亦提出此種吸塵器。該吸㈣之實_在前方設有感知 元件’其可感知物件及空間邊界，而使吸塵器做出適當反 應。其障礙物之感測係利用感知元件之接觸。 【發明内容】 本發明之目的在於提供一種吸塵器，其進一步改良了障礙 物感測裝置，而使其結構更簡單。 本目的由申請專利範圍第1項之標的物達成，其中’感知 兀件尾部之動作被-_測！!所_。如此使得 礙物感測裝置的結構簡化。感知元件尾部的動作，亦即，與 感知元件障礙物接觸部距離最遠的部分被偵測。知 兀件尾部’尤其是在殼體内，設置偵測感知元件尾端的威測 器。感知元件與障礙物接觸而產生的尾部___，_ 097146886 Λ 200948332 感測器偵測。尾部動作之偵測’使得吸塵器障礙物感測装置 只需要一個感知元件，其朝吸塵器行駛方向佔據圓周之大部 分。配合尾部設置的感測器可連接一個電子分析裝置，其依 據偵測信號而判定感知元件碰撞障礙物的方向。 以下將說明本發明其他特徵，其可與申請專利範圍第玉 項之特徵組合，但亦可只與申請專利範圍第1項之部分特徵 組合或為獨立。 ❹ 本發明之實施例中，感知元件尾部可擺動地樞設在吸塵器 上，由感知元件前端來看，其動作至少部分在樞接部另一側 被偵測。故感知元件在樞接部後方朝向吸塵器内部延伸。動 作之偵測設在樞接部後方朝向殼體内部延伸的部分，尤其是 末端。感知元件被感測器偵測的部分，由於感知元件之樞 没，而可作用於感測器。實現感知元件對吸塵器可擺動樞設 之最簡單方法為’使感知元件樞接部後方在碰撞到障礙物 © 時，可在一水平面上向兩侧偏移。此外，樞接部亦可使碰撞 到障礙物時感知元件除了偏移動作外，尚進行垂直移動。利 用適當的感測器，亦可定位出與吸塵器行駛地面有一段距離 而會伸人吸塵ϋ底部的障礙物^此處，感知元件例如可偵測 到右前方的障礙物。 感知7G件並可設置成為翹板式，尤其是，只以一個固定點 固疋於吸塵器。感知元件的動作只被_個感測器制，其係 由多個感測件組成。本發明中的感測器是指，_每一動作 097146886 5 200948332 的偵測點皆設在感測器指針式尾部。 本發明之較佳實施例中，翹板式固定係利用一個簧片。該 簧片使得感知元件可在無障礙物時彈回初始位置，故簧片定 義出感知元件之初始位置。簧片固定在吸塵器上，尤其是在 簧片縱向中心，點狀地固定於吸塵器殼體，而簧片在該固定 點兩側的部分則讀住感知元件％同時達職知元件的固 定及彈性支撐，片並為水平延伸，亦即，平行於吸塵器之 行駛地面。簧>1並可設在吸塵器底盤外部，例如，罩 亦可將簧片固定在設有行駛_裝置的域體之行歇方向 上的端部。此處，感知元件可構成罩體的—部分。但亦 感知元件設在行駛方向上有一段距離之 撞桿。 』方而構成一個碰 感知元件設作成T形，T形水平部槿 ,..構成可與障礙物接觸的 感知面，垂直於水平部的T形垂直部 卿 器内部，而與感測器互相作用。在杳J才曰針式地伸入吸塵 元件之ΐ形水平部相連接，尤其是簧片 .片/、感知 定於殼體，而構成趣板式感知元件β J^脊片中〜則固 之T形垂直部相連接。 ，、可使簧片與感知元件 上述翹板式固定，使得感知元件 式地伸入殼财的部分，可在=個 ’故感知元件指針 水平平面上由-基本位置向左H向上移動’亦即，在一 後方移動。 、及向吸塵器行駛方向 097146886 6 200948332 、_感知元件尾部動作之感、測器， 近式感測件，例如，電感式 ^ 接 „ ge會-电谷式、磁性、或光學式接近 開關。亦可使料柵m 禪近 彳b#，#、却奴# + 孑電磁接近開關。採取電磁 或多個電鍵，例如，三個電鍵，其中 兩個電鍵分顧測感知元件之向左及向右 雪 則偵測感知元件相反於行駛方向 一' s,. y ^ 内之向内移動。視碰撞方向， ❻ ^有-個感測件、電鍵、或開關被觸動。但通常會有兩個 感測件、電鍵、或開關被同時觸動，尤其是向偏 移、及:個侧相反於前進方向之移動的感測件 ，故不僅可 债測正前方或感知元件側向末端的碰#;同時，亦可依據該 感測器之信號’利用-個電子分析裝置求出座標而定位出 現於感知元件整個作用範圍的障礙物。 以下將依據附圖詳細說明本發明之兩個實施例。 【實施方式】 本實施例係有關一種機器人吸塵器丨，其包括一個底盤 2，該底盤朝向地板的下側設有可被電動馬達驅動的未示出 的行駛輪、及一個突出於底盤下側而同樣被電動馬達所驅動 的刷子。底盤2被罩體3所覆蓋，而吸塵器1為圓形。但， 吸塵器1亦可非為圓形，而例如由一個半圓形部分與一個矩 形部分組合而成。 此種機器人吸塵器必須能感測及定位障礙物4。為此，本 發明機器人吸塵器設有一個對撞擊敏感的障礙物感測裝置 097146886 7 200948332 5，其可感測障礙物4之接觸，而在障礙物4被推開、被撞 開、或被損傷之前停止吸塵器1。吸塵器1可藉下述之障礙 物感測裝置5而不被干擾信號，例如，因通過不平坦地面而 產生的震動、誤導。故可達到高的撞擊敏感性及低的干擾性。 障礙物感測裝置5具有一個感知元件6，其係位在底盤2 前方，亦可設在罩體3上。以一般行駛方向r來看，該感知 元件設在頂端，而構成一個碰撞桿。配合圓形的吸塵器1， 感知元件6具一個弧形感測桿7，其與底盤2為同心。 感測桿7構成T形的感知元件6之T形水平部8，且約佔 圓周的四分之一。感測桿7之徑向内側之中間連接了與其垂 直的T形垂直部9。該T形垂直部指針式伸入吸塵器1内， 穿過罩體之開口 10而伸至底盤2。 感知元件6被簧片11所支撐。該簧片係水平延伸，而平 行於吸塵器1之行駛地面12。 簧片11兩端與感知元件6的T形水平部8相連接。簧片 縱向之中間連接於底盤2，如圖4之鉚合部13所示。簧片 11在無負荷狀態時如圖3所示略呈凹形。 鉚合部13使得感知元件6被翹板式固定於底盤2。鉚合 部13於是構成感知元件6之擺動點。 如圖3所示，感知元件6在無負荷位置時，伸入底盤2 中的T形垂直部9係垂直覆蓋住感知元件6之鉚合部13。 故T形垂直部9位在底盤底部14上方，而覆蓋鉚合部13。 097146886 8 200948332 T形垂直部9之朝向底盤内部的自由端15，可被感測器s 所感測。在圖1至8所示的第一實施例中，該感測器s由三 個電鍵16、17、及18所構成，彼等係設在電路板19上， 並與之連接。電鍵16至18或感測器S可將感測資料傳輸至 一個未示出的電子分析裝置，其可在感測到障礙物時，進行 適當的行駛動作。 這三個電鍵16至18係用於感測T形垂直部9之擺動，而 〇 設在水平平面上的三個方向。若電鍵16感測到τ形垂直部 9時’則感知元件6以行駛方向r來看的右方碰撞障礙物4 (見圖6)。與電鍵16相對的電鍵17則可感測左方的障礙 物（見圖5)。第三個電鍵18設在T形垂直部9的延長線上， 感知元件6可感測行駛方向r正前方的障礙物（見圖7)。 如圖8所不’亦可有兩個電鍵16、18、或17同時被觸動， 如，感知元件6之右前方碰撞到障礙物。 ❹ 由電鍵16至18傳送至電子分析裝置的信號可推斷，感知 元件6的哪個位置碰撞到障礙物，例如，左方、前方、右方、 左前方、右前方，其可由不同的電鍵信號得知。 圖9顯示另一實施例，此處，可擺動的感知元件6之τ 形垂直部9之動作，亦可被電鍵16至18所感測。不同於第 一實施例’此處，感知元件6之翹板式固定係採用另一種方 式。此實施例中，簧片11係抵靠在底盤2之表面上，而沒 有固定。感知元件6之固定係利用伸入底盤2的τ形垂直部 097146886 9 200948332 9其下方具有插銷20。該插銷插入底盤2之長槽孔21中， 而達成感知元件6之擺動固定’故’感知元件可相對於行驶 方向17而向左及向右擺動；而藉由該插銷長槽孔連接，使得 行敬方向及其相反方向出現制動端 。長槽孔21亦可設在τ 形垂直部9上’而使插銷2G設在底盤上。 如圖1〇所不，T形垂直部9本身亦可構成感測器s的一 4刀例如’可使感知元件6在碰撞障礙物4而擺動時，接 觸到感測件2? $ i 卞“至24，使得一條弱電路被接通，而該電路可 被電子分析装置所判定。 ❹ 除了上述接觸感測器外，亦可使用接近開關。 所有揭示特徵本身皆具有發明性質。本發明揭示之特徵完 全包含於本案之申料利範圍中。 【圖式簡單說明】 圖1係本發明吸塵器之立體圖。 圖2係本發明吸塵器第一實施例如圖1之立體圊，其顯示 ◎ 部分罩體内部。 圖3係本發明吸塵器部分罩體内部中感知元件位在基本 位置的示意圖。 圖4係圖3部分IV之放大圖。 圖5係如圖3之感知元件在吸塵器行駛方向之左方碰撞到 障礙物的示意圖。 圖6係如圖5之障礙物在右方的示意圖。 097146886 10 200948332 圖7係如圖5之障礙物在前方的示意圖。 圖8係如圖5之障礙物在右前方的示意圖。 圖9係本發明吸塵器第二實施例如圖4之放大圖 圖10係本發明吸塵器第三實施例如圖3之示意圖 【主要元件符號說明】200948332 VI. Description of the Invention: [Technical Field] The present invention relates to a self-propelled vacuum cleaner comprising: an electric motor driving device, a dust collecting container, and a cover body, the vacuum cleaner being provided with an obstacle sensing device It is composed of at least one sensing element arranged in the front, and the swing of the sensing element can sense an obstacle. [Prior Art] This type of vacuum cleaner is proposed in the patent DE 1〇2 42 257 A1. The operation mode and technique of the obstacle sensing device of the vacuum cleaner are included in the purpose of the present invention and the object and features of the scope of the invention (9). The patent Μ _ lake 7 〇 71 Α 2 also proposed such a vacuum cleaner. The suction (four) is _ with a sensing element in front of it that senses the object and the spatial boundary, so that the vacuum cleaner makes an appropriate response. The sensing of its obstacles utilizes the contact of the sensing element. SUMMARY OF THE INVENTION An object of the present invention is to provide a vacuum cleaner which further improves an obstacle sensing device and makes the structure simpler. This purpose is achieved by the subject matter of the first paragraph of the patent application, in which the action of the 'feeling the tail of the element is measured by _! !??? This simplifies the structure of the obstacle sensing device. The action of the tail of the sensing element, i.e., the portion furthest from the contact of the sensing element obstacle, is detected. Knowing the tail of the element, especially in the housing, is provided with a detector that detects the end of the sensing element. The tail of the sensing element in contact with the obstacle ___,_097146886 Λ 200948332 Sensor detection. The detection of the tail motion' makes the vacuum cleaner obstacle sensing device only need one sensing element that occupies a large part of the circumference toward the direction of the vacuum cleaner. The sensor provided with the tail can be connected to an electronic analysis device that determines the direction in which the sensing element collides with the obstacle based on the detection signal. Other features of the present invention will be described hereinafter, which may be combined with the features of the first paragraph of the patent application, but may be combined or independent of only some of the features of the first aspect of the patent application. In the embodiment of the present invention, the tail of the sensing element is swingably pivoted on the vacuum cleaner, and the action of the sensing element is detected at least partially on the other side of the pivoting portion. Therefore, the sensing element extends toward the inside of the vacuum cleaner behind the pivoting portion. The detection of the action is provided at a portion of the rear of the pivoting portion that extends toward the interior of the housing, particularly the end. The portion of the sensing element that is detected by the sensor acts on the sensor due to the pivoting of the sensing element. The simplest way to realize that the sensing element can swing and pivot the vacuum cleaner is to make the rear of the sensing element pivoting portion to be offset to the side on a horizontal surface when it collides with the obstacle. In addition, the pivoting portion can also cause the sensing element to move vertically in addition to the offset action when colliding with the obstacle. With an appropriate sensor, it is also possible to locate an obstacle that is at a distance from the ground of the vacuum cleaner and that protrudes from the bottom of the vacuum cleaner. Here, the sensing element detects, for example, an obstacle in the right front. The 7G piece is sensed and can be set to be a rocker type, in particular, it is fixed to the vacuum cleaner with only one fixed point. The action of the sensing element is only made up of _ sensors, which consist of multiple sensing elements. In the sensor of the present invention, the detection points of each action 097146886 5 200948332 are set at the end of the sensor pointer. In a preferred embodiment of the invention, the rocker type fastening system utilizes a reed. The reed allows the sensing element to spring back to its original position when it is unobstructed, so the reed defines the initial position of the sensing element. The reed is fixed on the vacuum cleaner, especially in the longitudinal center of the reed, and is fixed in point to the vacuum cleaner housing, and the portion of the reed on both sides of the fixed point reads the sensing element and simultaneously fixes and elasticizes the component. The support, the piece is horizontally extended, that is, parallel to the driving ground of the vacuum cleaner. The spring > 1 may be provided outside the vacuum cleaner chassis. For example, the cover may also fix the reed to the end portion of the traveling body provided with the traveling device. Here, the sensing element can form part of the cover. However, the sensing element is located at a distance from the traverse in the direction of travel. The square sensing element is formed as a T-shaped, T-shaped horizontal portion 槿, which constitutes a sensing surface that can be in contact with the obstacle, perpendicular to the inside of the T-shaped vertical portion of the horizontal portion, and interacts with the sensor effect. The 杳J 曰 式 伸 伸 伸 伸 伸 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The T-shaped vertical portions are connected. The reed can be fixed to the sensing element by the above-mentioned rocker type, so that the sensing element extends into the shell portion, and can be moved from the - basic position to the left H in the horizontal plane of the pointer of the sensing element. , moving in a rear. And the direction of the vacuum cleaner 097146886 6 200948332 _ Sense of the tail of the sensing element, the detector, the near-sensing part, for example, the inductive type ^ ge ge - electric valley type, magnetic, or optical proximity switch. It can make the grid m zen near 彳b#,#,但奴# + 孑 electromagnetic proximity switch. Take electromagnetic or multiple keys, for example, three keys, two of which separate the left and right snow of the sensing component Then, the detecting sensing element moves inward relative to the traveling direction by one s, y ^. In the direction of the collision, ❻ ^ there is a sensing member, a key, or a switch is touched. However, there are usually two sensings. The component, the electric button, or the switch is simultaneously activated, especially to the offset, and the sensing member that moves opposite to the forward direction, so that not only the front side or the lateral end of the sensing element can be touched; According to the signal of the sensor, an obstacle may be located by using an electronic analysis device to locate an obstacle appearing over the entire range of the sensing element. Two embodiments of the present invention will be described in detail below with reference to the accompanying drawings. 】 This embodiment is A robot cleaner 丨 includes a chassis 2 which is provided with an unillustrated running wheel which can be driven by an electric motor toward the lower side of the floor, and a brush which is also driven by the electric motor and protrudes from the lower side of the chassis. The chassis 2 is covered by the cover 3, and the cleaner 1 is circular. However, the cleaner 1 may not be circular, but may be combined, for example, by a semicircular portion and a rectangular portion. Such a robot cleaner must be capable of being felt. Measuring and locating the obstacle 4. For this reason, the robot vacuum cleaner of the present invention is provided with an impact sensing device 097146886 7 200948332 5 which can sense the contact of the obstacle 4, and the obstacle 4 is pushed open, The vacuum cleaner 1 is stopped before being hit or damaged. The vacuum cleaner 1 can be used by the obstacle sensing device 5 described below without being disturbed by signals, for example, vibration and misleading caused by uneven ground. Impact sensitivity and low interference. The obstacle sensing device 5 has a sensing element 6 that is fastened in front of the chassis 2 and can also be placed on the cover 3. Viewed in the general direction of travel r The sensing element is arranged at the top end to form a collision rod. In conjunction with the circular vacuum cleaner 1, the sensing element 6 has an arc-shaped sensing rod 7 which is concentric with the chassis 2. The sensing rod 7 constitutes a T-shaped sensing element. The T-shaped horizontal portion 8 of 6 and about a quarter of the circumference. The middle of the radially inner side of the sensing rod 7 is connected with a T-shaped vertical portion 9 perpendicular thereto. The T-shaped vertical portion is pointed into the vacuum cleaner 1 Inside, the opening 10 extends through the opening 10 of the cover to the chassis 2. The sensing element 6 is supported by the reed 11. The reed extends horizontally and parallel to the running ground 12 of the vacuum cleaner 1. Both ends of the reed 11 and the sensing element The T-shaped horizontal portions 8 of 6 are connected. The middle of the longitudinal direction of the reed is connected to the chassis 2, as shown by the caulking portion 13 of Fig. 4. The reed 11 is slightly concave as shown in Fig. 3 in the unloaded state. The staking portion 13 causes the sensing element 6 to be pivotally fixed to the chassis 2. The rivet portion 13 then constitutes a pivot point of the sensing element 6. As shown in Fig. 3, when the sensing element 6 is in the unloaded position, the T-shaped vertical portion 9 projecting into the chassis 2 vertically covers the staking portion 13 of the sensing element 6. Therefore, the T-shaped vertical portion 9 is positioned above the bottom portion 14 of the chassis to cover the rivet portion 13. 097146886 8 200948332 The free end 15 of the T-shaped vertical portion 9 facing the interior of the chassis can be sensed by the sensor s. In the first embodiment shown in Figs. 1 to 8, the sensor s is constituted by three electric keys 16, 17, and 18 which are provided on and connected to the circuit board 19. The keys 16 to 18 or the sensor S can transmit the sensing data to an electronic analyzing device not shown, which can perform an appropriate driving action when an obstacle is sensed. These three keys 16 to 18 are used to sense the wobble of the T-shaped vertical portion 9 and are set in three directions on the horizontal plane. If the key 16 senses the τ-shaped vertical portion 9, then the sensing element 6 hits the obstacle 4 in the right direction in the direction of travel r (see Fig. 6). The electric key 17 opposite to the electric key 16 senses the obstacle on the left side (see Fig. 5). The third key 18 is provided on the extension of the T-shaped vertical portion 9, and the sensing element 6 senses an obstacle directly in front of the traveling direction r (see Fig. 7). Alternatively, as shown in Fig. 8, two of the keys 16, 18, or 17 may be simultaneously activated, for example, the right front of the sensing element 6 collides with an obstacle.信号 The signal transmitted by the keys 16 to 18 to the electronic analysis device can infer which position of the sensing element 6 collides with an obstacle, for example, left, front, right, left front, right front, which can be signaled by different keys know. Figure 9 shows another embodiment where the action of the τ-shaped vertical portion 9 of the oscillating sensing element 6 can also be sensed by the keys 16-18. Unlike the first embodiment, here, the rocker type fixing of the sensing element 6 adopts another method. In this embodiment, the reed 11 is abutted against the surface of the chassis 2 without being fixed. The fixing of the sensing element 6 is carried out by means of a pin 20 extending below the τ-shaped vertical portion of the chassis 2, 097146886 9 200948332 9. The pin is inserted into the long slot 21 of the chassis 2, and the swinging of the sensing element 6 is achieved. Therefore, the sensing element can swing to the left and to the right with respect to the direction of travel 17, and the long slot of the pin is connected. The brake end appears in the direction of the line and in the opposite direction. The long slot 21 may also be provided on the τ-shaped vertical portion 9 to provide the latch 2G on the chassis. As shown in FIG. 1 , the T-shaped vertical portion 9 itself can also constitute a 4 knives of the sensor s, for example, such that the sensing element 6 can contact the sensing member 2 when oscillating against the obstacle 4? $ i 卞"To 24, a weak circuit is turned on, and the circuit can be determined by the electronic analysis device." In addition to the above-described contact sensor, a proximity switch can be used. All of the disclosed features are inherent in nature. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view of a vacuum cleaner of the present invention. Fig. 2 is a perspective view of a first embodiment of the vacuum cleaner of the present invention, such as the stereoscopic cymbal of Fig. 1, showing ◎ partial cover Fig. 3 is a schematic view showing the position of the sensing element in the interior of the vacuum cleaner part cover of the present invention in a basic position. Fig. 4 is an enlarged view of a portion IV of Fig. 3. Fig. 5 is a left side collision of the sensing element of Fig. 3 in the traveling direction of the vacuum cleaner. Figure 6 is a schematic view of the obstacle shown in Figure 5. 097146886 10 200948332 Figure 7 is a schematic view of the obstacle in Figure 5 in front. Figure 8 is the obstacle in Figure 5 in the right front Show Figure 9 a second embodiment of the present invention based cleaner, for example, an enlarged view of FIG. 4 line 10 of the third embodiment of the vacuum cleaner of the present invention, a schematic example of FIG. 3 Main reference numerals DESCRIPTION
❹ 1 吸塵器 2 底盤 3 罩體 4 障礙物 5 障礙物感測裝置 6 感知元件 7 感測桿 8 T形水平部 9 T形垂直部 10 開口 11 簧片 12 行駛地板 13 娜合部 14 底盤底部 15 自由端 16 電鍵 17 電鍵 097146886 11 200948332 18 電鍵 19 電路板 20 插銷 21 長槽孔 22 感測件 23 感測件 24 感測件 r 行駛方向 S 感測器 097146886❹ 1 vacuum cleaner 2 chassis 3 cover 4 obstacle 5 obstacle sensing device 6 sensing element 7 sensing rod 8 T-shaped horizontal portion 9 T-shaped vertical portion 10 opening 11 reed 12 running floor 13 nahe 14 bottom bottom 15 Free end 16 Key 17 Key 097146886 11 200948332 18 Key 19 Circuit board 20 Pin 21 Long slot 22 Sensing member 23 Sensing member 24 Sensing member r Driving direction S Sensor 097146886