TW201918211A - Autonomous travel type electric robot vacuum cleaner capable of easily crossing a height difference - Google Patents

Abstract

The subject of this invention is to provide an autonomous travel type electric robot vacuum cleaner that can easily cross a height difference. An autonomous travel type electric robot vacuum cleaner is provided with driving wheels and a ground distance measuring sensor disposed at the front thereof and used to detect the boarder of a height higher than that of the current position, that is, a height difference, and autonomously drives and executes any one of actions selecting from the group consisting of the following : two or more actions of crossing the height difference, and one or more actions of changing the route toward the direction of going away from the height difference after the height difference detection step of detecting the height difference.

Description

Self-discipline walking electric sweeping robot

The present invention relates to an autonomous walking type electric sweeping robot.

As an electric sweeping robot that cleans the dusty ground, a self-propelled electric sweeping robot that is driven autonomously is known. Self-propelled electric sweeping robots are expected to be able to be cleaned in more than one room. However, there is a difference in height between the interior of the room or the room and the room. Therefore, a structure capable of continuously cleaning is required.

Patent Document 1 provides an electric cleaning robot 11 that can accurately detect whether or not the height difference D can be crossed, and can accurately prevent a height difference D that cannot be caught in a convex shape, or fall to an inability to cross The case of the concave height difference D (0047). [Prior Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2014-226266

[Problems to be solved by the invention]

In Patent Document 1, it is detected by the height difference sensor 21 whether or not the height difference can be crossed. However, when it is determined that the height difference cannot be crossed, the height difference is not reached, and it is difficult to expand the cleaning area. Therefore, it is desirable to be able to control the height at which the height difference can be increased. [Means to solve the problem]

The first invention which has been completed in view of the above circumstances is an autonomous walking type electric sweeping robot which has a driving wheel and has a ground test for detecting a boundary which is higher than the current position, that is, a height difference, in front. The sensor is driven by autonomously, and is characterized in that any one of the following groups is selected: after detecting the step of detecting the height difference, two or more types of motions spanning the height difference are performed. The operation of changing the route in the direction away from the height difference is one or more types.

In addition, the second invention which is completed in view of the above-described circumstances is an autonomous walking type electric sweeping robot having a driving wheel and a ground having a height at a height higher than the current position, that is, a height difference. Using a ranging sensor and driving autonomously, the method comprises: detecting a step of detecting the height difference of the height difference, and performing a first step of the first step of the step of the height difference, and the step of the first step After detecting the step, the second step of traversing the second spanning operation is performed when the step is not possible, and the step of the first step and the step of crossing the second step are different from each other.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Fig. 1 is a perspective view of an autonomous walking type electric sweeping robot according to an embodiment of the present invention viewed from the left front side. 2 is a bottom view of the autonomous walking type electric sweeping robot. Further, among the directions in which the autonomous walking type electric sweeping robot S travels, the side on which the side brush 7 is provided is set to the front, the vertical upper side is set to the upper side, and the drive wheel 2 side is set in the direction in which the drive wheels 2, 3 face each other. As the left side, the drive wheel 3 side is regarded as the right side. That is, as shown in FIG. 1 and the like, the front, back, up and down, and left and right directions are defined.

The autonomous walking type electric sweeping robot S is an electric machine that automatically cleans a predetermined cleaning area (for example, the floor Y of the room) while moving autonomously.

The autonomous walking type electric sweeping robot S includes a casing 1 (1u, 1s) which is an outer contour, and drive wheels 2, 3 (see FIG. 2) which are one pair of the lower part, and the auxiliary wheel 4. In addition, the autonomous walking type electric sweeping robot S includes a rotating brush 5, a guide brush 6, and a side brush 7 in the lower portion, and a front distance measuring sensor 8 as an obstacle detecting means is provided around (see FIGS. 2 and 3). ,Figure 4).

The drive wheels 2, 3 are wheels for advancing, retracting, and winding the autonomous walking type electric sweeping robot S by rotating the drive wheels 2, 3 themselves. The drive wheels 2, 3 are disposed on the left and right sides of the diameter, and are respectively driven by the wheel units 20, 30 constituted by the traveling motor and the speed reducer. The auxiliary wheel 4 is a driven wheel, that is, a freely rotating caster. The drive wheels 2 and 3 are provided on the center side in the front-rear direction before and after the autonomous walking electric sweeper S, and are provided on the outer side in the front-rear direction and on the center side in the left-right direction.

The side brush 7 is provided on the front side of the autonomous walking type electric sweeping robot S and is located outside the left-right direction, as in the arrow α1 of FIG. 1 , and the area outside the front side of the autonomous walking type electric sweeping robot S is from the left and right direction. The outer side is swung in the direction of the inner side, and the dust on the ground is concentrated on the side of the rotating brush 5 (see FIG. 2) at the center. The two guide brushes 6 are each fixed to the drive wheels 2, 3 on the inner side in the left-right direction, and are guided so that the dust collected by the side brush 7 does not escape from the range of the rotary brush 5 to the outside. brush.

The rotating brush 5 is provided at the rear of the driving wheels 2, 3 of the autonomous walking type electric sweeping robot S. The left-right direction positions of the right and left end portions of the rotary brush 5 may be inside of the drive wheels 2, 3 or inside the guide brush 6, respectively. For example, the autonomous walking type electric sweeping robot S shown in this embodiment has a main body transverse width and a longitudinal length of about 250 mm, and a main body height of about 90 mm.

Fig. 3 is a cross-sectional view taken along line A-A of Fig. 1; 4 is a perspective view showing an internal structure in which a casing of an autonomous walking type electric sweeping robot is removed. 4 is a view showing a state in which the dust box 12 is detached.

As shown in FIG. 3, the autonomous walking type electric sweeping robot S includes a rechargeable battery 9, a control device 10, a suction fan 11, and a dust collecting case 12. As the inlet of the dust collecting case 12, a suction port 12i is formed above the rotating brush 5. Further, the dust box 12 is provided with a dust collecting filter 13 at the outlet.

The rechargeable battery 9 is, for example, a secondary battery that can be reused by charging, and is housed in the battery housing portion 1s6. The rechargeable battery 9 is disposed over the left and right ends of the autonomous walking type electric sweeping robot S.

The electric power from the rechargeable battery 9 is a motor that is supplied to various obstacle detecting means (8, 15, 16), the control device 10, the drive wheels 2, 3 or various brushes (5, 7), the suction fan 11, and the like.

The autonomous walking type electric sweeping robot S is controlled by the control device 10.

(Aspirating Fan 11) As shown in Fig. 4, the suction fan 11 is disposed near the center of the lower casing 1s. The flow path of the air by the suction fan 11 is sequentially provided from the suction port 14 (see FIG. 3) toward the downstream side: the dust collecting case 12, the dust collecting filter 13, the suction fan 11, and the exhaust port 1s5 (refer to figure 2). The exhaust port 1s5 is provided in front of the rotating brush 5 and on the inner side in the left-right direction of the drive wheels 2, 3. By driving the suction fan 11 (see FIG. 3), the air in the dust box 12 is discharged to the outside from the exhaust port 1s5 to generate a negative pressure, and the dust is sucked into the dust box 12 through the suction port 14 from the floor surface Y.

In the vicinity of the suction port 14, a rotating brush 5 for inspecting dust on the ground is provided (see Fig. 3). The suction fan 11 is provided through the elastic body (not shown) between the lower casing 1s and the lower casing 1s. By interposing an elastic body, the vibration of the suction fan 11 is attenuated and it is difficult to transmit it to the lower case 1s, and vibration and noise can be reduced.

When the suction fan 11 and the rotating brush motor 5m (see FIG. 4) are driven, dust such as the ground is swept by the rotating brush 5 (see FIG. 3). The dust that has been swept is guided into the dust box 12 through the suction port 14 and the suction port 12i. The air after the dust is removed by the dust collecting filter 13 is discharged through the exhaust port 1s5 (see Fig. 2). Moreover, the dust box 12 can be attached and detached by opening the lid 1u1 (see FIG. 1) provided in the upper casing 1u, and the dust collecting filter 13 can be removed to discard the dust.

(Outline of Operation of Self-Driving Walking Type Electric Sweeping Robot S) The autonomous walking type electric Sweeping Robot S is autonomously moved by the driving wheels 2, 3 and the auxiliary wheel 4 (see FIG. 2), and can be moved forward, backward, and left and right. Turn in place and so on. Further, the autonomous walking type electric sweeping robot S is a dust that is adhered to the periphery of the rotating brush 5 by the side brush 7 and the guide brush 6, and is transmitted through the suction port 14 to absorb dust by the suction force of the suction fan 11. The suction port 12i of the inlet of the cartridge 12 is sucked into the dust collecting case 12, and is retained in the dust collecting case 12 by the dust collecting filter 13 at the outlet.

When dust is accumulated in the dust collecting case 12, the user appropriately removes the dust collecting case 12 from the main body portion Sh, and removes the dust collecting filter 13 to discard the dust.

(Shell 1) The casing 1 is an outer casing, and is a casing for accommodating the wheel units 20 and 30, the rotating 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 that becomes an upper wall, a lower case 1s that serves as a bottom wall (and a part of side walls), and a bumper 1b that is provided at a lower portion of the case 1 before.

The upper casing 1u is provided with a cover 1u1 for feeding in and out of the dust collecting case 12 (see Fig. 3) (see Fig. 1).

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

The wheel unit accommodating portion 1s1 is formed on the left and right sides of the center of the casing 1s which is substantially circular below in plan view in Fig. 2 . The wheel unit housing portion 1s1 houses wheel units 20 and 30 for supporting and driving the drive wheels 2 and 3.

The exhaust port 1s5 is formed at a position sandwiched between the left and right wheel unit housing portions 1s1 in the vicinity of the center of the lower case 1s.

The battery housing portion 1s6 is formed on the front side of the center of the lower case 1s. The rechargeable battery 9 is housed in the battery housing portion 1s6. A side brush mounting portion 1s3 for attaching the side brush 7 is formed on the left and right of the battery housing portion 1s6.

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

The bumper 1b (see FIGS. 1 and 2) is provided to be movable in the front-rear direction in response to an obstacle acting on the outside when it collides with an obstacle such as a wall. The bumper 1b is pushed outward by a pair of left and right bumper springs (not shown).

When the force applied to the bumper spring by the bumper 1b and the obstacle is applied to the bumper spring, the bumper spring is deformed downwardly in the plan view, and the bumper 1b is pushed outward to allow the bumper 1b. Back. When the bumper 1b is moved away from the obstacle and the aforementioned force is lost, the bumper 1b is returned to the original position by the spring force of the bumper spring. Further, the retreat of the bumper 1b (that is, the contact with the obstacle) is detected by the bumper sensor 15 (see FIG. 4) which will be described later, and the detection result is input to the control device 10.

(Suction portion 1s4) The suction portion 1s4 shown in Fig. 3 is a part of a flow path for forming air, and the air contains dust sucked by the suction fan 11. The flow path from the suction portion 1s4 to the downstream is sequentially connected to the dust collecting case 12, the dust collecting filter 13, the suction fan 11, and the exhaust port 1s5 (see Fig. 2).

In the suction unit 1s4, a rotating brush 5 for sweeping dust is disposed, and a rotary brush motor 5m for driving the rotating brush 5 is fixed (see FIG. 4). The suction portion 1s4 is formed with a suction port 14 that sucks dust swept in by the rotating brush 5 into the dust box 12. Further, 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 the suction port 12i of the opening of the dust box 12, and the dust is concentrated to the dust box 12 through the suction port 14 and the suction port 12i.

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

(Dust Box 12) The dust box 12 shown in Fig. 3 is a container for collecting dust, and the dust is sucked from the floor Y through the suction port 14 formed in the suction portion 1s4. The dust box 12 has substantially the same size in the left-right direction as the rotating brush 5.

The dust box 12 includes a main body that houses the collected dust, a cover that can take out the collected dust, and a foldable handle on the upper portion of the main body. The main body of the dust collecting case 12 has a shape corresponding to the shape of the upper portion of the suction portion 1s4, and has a suction port 12i having substantially the same opening shape as the suction port 14. The cover is opposed to the suction port of the suction fan 11, and includes the above-described dust collecting filter 13.

(Block Detection Device 8, 15, 16) As the obstacle detecting means, the bumper sensor 15, the front distance measuring sensor 8, and the ground distance measuring sensor 16 shown in Fig. 4 are provided. The bumper sensor 15 is a sensor that detects the contact of the bumper 1b (see FIG. 1) with the obstacle by the retraction of the bumper 1b, and is, for example, a photocoupler. In the case where the obstacle contacts the bumper 1b, the sensor light is blocked by the retreat of the bumper 1b. The detection signal is output to the control device 10 as it should be changed.

The front distance measuring sensor 8 is a distance measuring sensor that measures the distance from the obstacle using infrared rays, and is disposed at a position 5 to 15 mm from the surface of the bumper 1b. Further, the vicinity of the distance measuring sensor 8 of the bumper 1b is formed of resin or glass for infrared rays to penetrate.

The front distance measuring sensor 8 senses the reflected light from the infrared rays of the obstacle and measures the distance by the intensity of the reflected light. The case where the intensity of the reflected light is strong is judged to be relatively close, and the case where the intensity is weak is judged to be far. That is, the distance from the obstacle is not determined by the value of 0 of 1, and the distance sensor that can determine the distance from the obstacle by the complex phase (quasi-class analogy).

The front distance measuring sensor 8 is disposed on the main body front surface 8a, the left side surface 8b, the right side surface 8c, the left front surface 8d between the front surface and the left side surface, and the right front surface 8e between the front surface and the right side surface, for a total of 5 One. In the present embodiment, although five ranging sensors are available for measuring the "distance" in a plurality of stages, it is also possible that at least only one of the left side surface 8b and the right side surface 8c is capable of measuring the "distance" in a plurality of stages. Distance sensor.

Further, as the front distance measuring sensor 8, visible light, ultraviolet light, or laser light can also be used. Moreover, it may not be a type of distance measuring sensor for measuring the intensity of the infrared rays, but by measuring the type of the received light of the reflected light thereby measuring the type of the distance, or measuring the type of the distance from the time when the reflected light returns. .

The ground distance measuring sensor 16 shown in FIG. 2 is a distance measuring sensor using infrared rays for measuring the distance from the ground, and is disposed at four places (16a, 16b, 16c, 16d) on the lower surface of the lower case 1s. ). The large distance difference of the steps and the like is detected by the distance measuring sensor 16 on the ground, whereby the falling of the autonomous walking type electric cleaning robot S can be prevented. For example, when the height difference height is set to "normal", when the ground distance measuring sensor 16 detects a height difference of about 30 mm or more in front, the control device 10 (refer to FIG. 3) controls the driving wheel. 2, 3, the body portion Sh is retracted, and the traveling direction of the autonomous walking type electric sweeping robot S is switched.

(Control Device 10) The control device 10 shown in FIG. 3 is configured by, for example, mounting a microcomputer (Microcomputer) and a peripheral circuit on a substrate. In the microcomputer, a control program stored in a ROM (Read Only Memory) is read and developed in a RAM (Random Access Memory), and is executed by a CPU (Central Processing Unit), thereby realizing various processes. The peripheral circuit includes: an A/D, a D/A converter, a drive circuit of various motors, a sensor circuit, a charging circuit of the rechargeable battery 9, and the like.

The control device 10 performs the arithmetic processing in response to the operation of the operation button bu by the user and the signals input by the various obstacle detecting means (sensors 8, 15, 16), and various motors and suction fans. 11 input and output signals.

(Subsidy wheel 4) The auxiliary wheel 4 shown in Fig. 2 is located at the center in the left-right direction in front of the lower casing 1s. The auxiliary wheel 4 is a wheel for smoothly moving the autonomous walking type electric sweeping robot S while maintaining the main body portion Sh at a predetermined height together with the driving wheels 2 and 3. The auxiliary wheel 4 is driven to rotate by a frictional force with the ground surface Y in accordance with the movement of the main body portion Sh, and is axially supported by the lower casing 1s so as to be capable of rotating 360 degrees in the horizontal direction.

In Fig. 5, the autonomous walking type electric sweeping robot S showing the traveling trajectory during cleaning is traveling in the room 50. The room 50 is surrounded by a wall 51, and has a table on the lower left side thereof, and a table leg 55 is shown in FIG. The dotted line 52 in the room 50 represents the walking trajectory.

The reflection walking is a movement in which the traveling direction is changed by the front distance measuring sensor 8 or the bumper sensor 15 detecting an obstacle. The self-discipline walking electric sweeping robot S is started from P1 in the figure, and when it approaches the wall 51b of the room 50 which becomes an obstacle (P2), it rotates to the left (turns in place) to change the traveling direction, and it seems to be like A walking trajectory reflected on the wall 51b.

Then, the operation of approaching the wall 51 and changing the traveling direction is repeated (the angle of the original rotation is randomly changed), and the table leg 55a (P3) is approached. When it is determined that the obstacle is thin (small) like the leg 55a, the main body is wound around the obstacle so as to further clean the rear of the obstacle. Thereafter, the wall 51c is approached, the traveling direction is changed, the wall 51a is approached, and the traveling direction is changed to approach the table leg 55c (P4). When it is determined that the obstacle is thin (small) like the table foot 55c, the body is moved by winding one or more rounds in the vicinity of the obstacle.

In the above case, the approaching distance between the table legs 55a and the approaching 55c is different, and the present embodiment is randomly changed. However, the winding distance may be changed according to the measured frequency of the thinner obstacle. In the case where there are many thin obstacles, such as a table with a plurality of chairs, it is preferable to clean the garbage around the foot of the chair so that the winding distance becomes longer and densely cleaned. As described above, the autonomous walking type electric sweeping robot S rotates in place or rotates around the obstacle in addition to the straight forward.

The detailed operation when rotating in place is shown in Fig. 6. 6 is a simplified representation of the autonomous walking type electric sweeping robot S, showing only the body Sh, the right drive wheel 2, the left drive wheel 3, and P11 indicating the front (front) of the body Sh. Further, the broken line in the figure indicates the position of the wheel after the body Sh is rotated in situ, and P12 indicates the position of the front of the body after the movement. Fig. 6 is a view showing a state in which the counterclockwise rotation is performed, and the wheel 2 on the right side is turned forward, and the left wheel 3 is rotated in the backward direction at substantially the same angular velocity. The angular velocity of the wheel during the rotation is made faster than the angular velocity of the wheel during the straightening, thereby increasing the rotational speed of the body and rotating in a short time.

Specifically, Fig. 7 shows the change in the angular velocity of the wheel (right side). The moving speed at the time of straight advance is 300 mm/s, and the left and right wheels 2, 3 are all rotated forward by about 510 deg/s (L1) (the wheel diameter is 68 mm), but when rotating, the right wheel 2 is forward at about 630 deg. /s (L2), the left wheel 3 is rotated backward at about 630 deg/s. For the angular velocity at the time of straight forward, the angular velocity of the wheel during rotation is about 1.2 times.

Further, as the action of the body Sh, the moving speed of the front head P11 of the main body is also moved faster than when moving straight, and is about 550 mm/s at the time of rotation.

As described above, the wheel speed at the time of rotation is substantially equal to the angular velocity of the wheel at the time of straight running, or is relatively fast, and the time can be shortened. If the angular velocity of the wheel when rotating in situ is decelerated from the angular velocity of the wheel during straight running, for example, when the speed is reduced by 35%, the time required to rotate the body by 150 degrees is about 1.2 seconds, but as in the present embodiment. The acceleration of the angular velocity of the wheel is about 0.6 seconds, which can be shortened by about 0.6 seconds. The number of reflections in the cleaning operation of the self-regulating walking type electric sweeping robot S is about 200 times, and the walking distance can be increased by about 36 m.

Further, as shown in Fig. 7, the angular velocity at the time of the straight forward movement and the original ground rotation is not necessarily due to the state of the ground, etc., and it is L1a to L1b when running straight in the time of L1a to L1b and L2a to L2b when rotating in situ. The range is up and down, and the angular velocity L2b when rotating in place is at least higher than L1a.

FIG. 8 shows an operation around the obstacle 61 having a narrow body width as an example of the winding operation. First, the body approaches or contacts the obstacle 61 (solid line Sh1 of FIG. 8), and the obstacle 61 is confirmed by the distance measuring sensor 8 and/or the bumper sensor 15 on either side of the body Sh1. In Fig. 8, the left side of the body Sh1 is rotated in the same direction as the clock (arrow A). At this time, while monitoring the distance measuring sensor 8, it rotates in place until the obstacle 61 is positioned on the substantially side surface of the main body. Thereafter, a point outside the outer circumference of the present body is used as a center of rotation, and is rotated counterclockwise (arrow B).

Fig. 9 is a simplified view showing the autonomous walking type electric sweeping robot S at the time of winding, showing only the body Sh, the right drive wheel 2, the left drive wheel 3, and P21 indicating the front (front) of the body Sh. Further, the broken line in the figure indicates the body and the wheel position after the winding, and P22 indicates the front position of the body Sh after the movement. When the counterclockwise winding is performed, the left and right wheels rotate in the forward direction, but the right wheel 2 rotates at an angular velocity faster than the left wheel 3.

The distance measuring device 8 provided on the side of the main body grasps the distance from the obstacle, and determines the radius of rotation (winding radius) R at the time of winding, and rotates while controlling the angular velocity of the left and right wheels according to the winding radius. At this time, the winding radius R is set such that the gap between the obstacle 61 and the outer contour of the body Sh is about 5 mm.

When the winding radius R is wound, the angular velocity of the wheel on the opposite side to the winding direction (the right wheel 2 in FIG. 9) is faster than the angular velocity of the right wheel at the time of straight running, thereby shortening the required rotation. time.

Specifically, the moving speed of the front end of the body when winding is substantially equal to the moving speed of the front head of the body during straight running, or a relatively fast speed. For the moving speed of the front head of the body during straight running is 300 mm/s, the moving speed of the front head of the body during winding is 320 mm/s. The distance from the center of rotation O to the wheel on the side opposite to the winding direction (right wheel 2) is almost the same as or slightly shorter than the distance from the center of rotation O to the front head P21, and the moving speed of the right wheel 2 is also about 320 mm. /s.

Fig. 10 shows the change in the angular velocity of the wheel 2 on the right side. The angular velocity of the right wheel 2 at the time of winding is rotated at about 540 deg/s (L4) (wheel diameter 68 mm), which is faster than the angular velocity of the wheel at the time of straight running by about 510 deg/s (L1).

Compared with the moving speed (about 310 mm/s) at the time of straight running, the moving speed at the time of winding is decelerated (about 150 mm/s) as compared with the case of FIG. 10B of Patent Document 1, it is found that the time can be greatly shortened.

Further, as shown in Fig. 10, the angular velocity at the time of the straight forward and the winding is not necessarily due to the state of the ground, etc., in the case of straight forward, L1a to L1b in the case of straight forward, and up and down in the range of L4a to L4b in the case of the winding. The angular velocity L4b at the time of winding and winding is at least higher than L1a.

However, as in the case of the present embodiment, when the obstacle is touched while the original body is rotated and the moving speed of the body Sh is accelerated during the winding, there is a concern that the obstacle is strongly impacted. Therefore, it is preferable to use the distance measuring sensor 8 provided from the front side of the body Sh to the side surface to detect an obstacle in the vicinity of the body Sh. In the in-situ rotation and winding, if the body approaches the obstacle, it stops or decelerates without touching the obstacle, or the impact at the time of contact can be weakened.

Further, as the winding operation of the present embodiment, the case where the left and right wheels are rotated in the forward direction is described. However, the same is true in the case where the one-side wheel is stopped or the one side is gradually rotated in the reverse direction.

Further, as the operation at the time of winding, the distance from the obstacle is not grasped by the distance measuring sensor 8 provided on the side surface of the main body, and the rotation may be performed at a predetermined radius of rotation. Further, as the operation at the time of winding, the distance measuring sensor is provided at the time of the distance measuring sensor provided on the side surface of the main body, and the winding radius can be changed at any time to be wound.

After the reflection walking is performed plural times, the wall is moved along the wall 51 as shown in FIG. This detailed operation is shown in FIG.

Walking by the wall is performed by using the distance measuring sensor 8 provided on the side of the body to keep the state separated from the wall 51 by about 10 mm. The moving speed of the body Sh when walking against the wall is substantially equal to or faster than the speed at the time of straight running in the reflection walking of the embodiment.

The ideal for walking against the wall is straight in parallel with the wall 51 as shown by the broken line C of Fig. 12, but actually it will follow the solid arrow line D as shown in the figure and approach the wall 51 to go away from the wall 51. This is because the distance measuring sensor 8 measures the distance from the wall 51 so as to be too far away from the wall 51, and the walking control is performed in such a manner as to be too close to the wall 51. When the wall 51 is too close to or too far away from the wall 51, the angular velocities of the left and right wheels 2, 3 are changed. With respect to the wall 51 on the left side of the body Sh, the body Sh is brought close to each other such that the angular velocity of the wheel 2 on the right side is faster than the angular velocity of the wheel 3 on the left side. Further, the case where the body Sh is moved away from the wall 51 is such that the angular velocity of the wheel 3 on the left side is faster than the angular velocity of the wheel 2 on the right side.

Fig. 13 shows the change in the angular velocity of the wheel 3 on the left side. Similarly to the embodiment, when the main body Sh is moved straight at 300 mm/s, the left and right wheels 2 and 3 are both rotated forward by about 510 deg/s (L1). When moving to the vicinity of the wall 51, the rotation of the left and right wheels 2, 3 is stopped, and then the ground is rotated to make the wall 51 substantially parallel to the main body traveling direction. Move from this state to walking against the wall.

When the body Sh is separated from the wall 51 by a target value of about 10 mm, the left and right wheels 2 and 3 are rotated about 510 deg/s (V1 in Fig. 13) toward the front. When the distance from the wall is slightly closer than 10 mm (when the wall is 5 mm or more and less than 10 mm), the angular velocity of the wheel 2 on the right side is 495 deg/s, and the angular velocity of the wheel 3 on the left side is 525 deg/s (V2 in Fig. 13). ) to rotate, and slowly drift away from the wall 51 with a winding radius of about 1500 mm. At this time, the moving speed of the head before the body Sh is about 300 mm/s, which is almost the same speed as the straight forward.

Further, in the case of being further away from 10 mm, the angular velocity of the right wheel 2 is rotated at 525 deg/s, the angular velocity of the left wheel 3 is 495 deg/s (V3 in Fig. 13), and the winding radius is about 1500 mm. Slowly approach the wall 51. In this case, the moving speed of the head before the body Sh is about 300 mm/s, which is almost the same speed as the straight forward.

Further, when it is closer to the wall 51 (when the distance wall is less than 5 mm), the angular velocity of the right wheel 2 is 440 deg/s, and the angular velocity of the left wheel 3 is 580 deg/s (V4 of FIG. 13). Rotate and quickly move away from the wall 51 with a winding radius of about 300 mm. At this time, the moving speed of the head before the body Sh is about 330 mm/s, which is a speed faster than when straightening.

As described above, when the distance between the walls and the wall is controlled to be constant, the angular velocity of at least one of the wheels is higher than that during straight running, thereby allowing the vehicle to travel even when walking against the wall. Move as fast as straight forward. Thereby, it is possible to walk at a speed that is not slower than when straightening, and to prevent the walking distance from becoming short, the area of the unpassed area can be made small.

Further, by using the distance measuring sensor 8, the operation (winding radius) is changed in accordance with the distance between the wall 51 and the body Sh as described above, whereby the contact with the wall can be prevented even if the wall is driven at a high speed. Further, the autonomous walking type electric sweeping robot of the present embodiment is represented by a substantially circular shape, but may not be substantially circular.

As described above, the angular velocity of the wheel of at least one of the in-situ rotation, the winding, and the walking on the wall is almost equal to or higher than the angular velocity of the wheel during the straight-forward movement, and the walking distance can be made longer, and the cleaning can be performed. The wide area reduces the area of the unreached area.

<<High and Low Difference Crossing Movement>> The autonomous walking type electric cleaning robot S uses a ground distance measuring sensor 16 to detect the distance from the ground. For example, when it is continuously detected that a value different from the detection value of the ground-based distance measuring sensor 16 in the normal state (the state in which the autonomous walking electric sweeping robot S is placed on a substantially horizontal ground) is different, it is preferable to drive even. The continuous rotation of the wheels 2 and 3 also continues the detection, and even if the height difference is reached, it can be presumed that the height difference is not climbed.

The autonomous walking type electric sweeping robot S performs the following three types of operations, for example, when it is detected that the height difference has not been climbed. The order of (1), (2), and (3) may be performed in a different order, and only a part may be performed.

(1) Height difference crossing operation 1 As shown in Fig. 14, the autonomous walking type electric cleaning robot S obliquely enters the height difference. First, the "height difference detection" is performed and the autonomous walking type electric sweeping robot S is determined to be straight (the direction in which the height difference is substantially perpendicular to the direction of the autonomous walking type electric sweeping robot S) or the inclination. This is determined by the ground-side ranging sensor 16 on the front right side and the front left side, respectively, which detects the height difference or only one side detected. After the height difference detection, if the height difference is straight, it will be inclined backwards. If the height difference is inclined, it will "reverse" to the rear. In the present embodiment, the drive wheels 2, 3 are retracted by a distance of 5 mm, and the height difference of the main body is 45 degrees. The distance to retreat is arbitrary, but the distance of the side brush 7 that has climbed the height difference does not fall from the height difference.

Thereafter, the drive wheels 2, 3 are rotated to "advance", for example, 500 mm, to try to cross the height difference. If the side brush 7 is in a state of falling from the height difference (a state at a position lower than the height difference) before the advancement, the side brush 7 is pushed up by the height difference with the advancement, and the rotation is stopped. . The side brush 7 is at a position close to the height difference for the ground distance measuring sensor 16 position, so the position when the rotation of the side brush 7 is stopped is within the detection range of the ground distance measuring sensor 16, and there is detection There is a big difference between the height difference and the current height difference. Therefore, in order to suppress the rotation of the side brush 7, it is desirable that the rotational speed or torque of the side brush 7 is higher than usual. In the embodiment, the rotation speed is doubled.

After the "advance", the autonomous walking type electric sweeping robot S is preferably to perform the in-situ steering and to change the route so as to face the height difference. This kind of in-situ steering can be estimated from the angle of the height difference and the direction of the backward direction of the "reverse" when the "height difference detection" is performed.

(2) High and low difference crossing action 2 is shown in Figure 15. After the "height difference detection" similar to the above, the difference between the height and the height is "reverse", for example, 300 mm. After that, since the rotation axis (rotation axis) of the auxiliary wheel 4 is substantially parallel to the height difference, the "swinging head" operation is performed every time, for example, about 10 degrees, and the speed is faster than the normal autonomous driving speed. For example, 1.3 times the speed to "advance" 600mm.

(3) Height difference avoidance operation After the "height difference detection", for example, the rotation is rotated by 180 degrees to advance in the direction away from the height difference.

The present invention is not limited to the above-described embodiments, and can be appropriately changed without departing from the scope of the invention. For example, the means for detecting the height difference may not be used for the ground distance measuring sensor 16. Further, the structure of the mouth brush 5 or the rotating brush 7 may not be provided.

2, 3‧‧‧ drive wheels

5‧‧‧Rotary brush

8‧‧‧Ranging sensor (obstacle detection means)

9‧‧‧Rechargeable battery

11‧‧‧Attraction fan

12‧‧‧ dust box

14‧‧‧ mouthpiece

15‧‧‧ bumper sensor (obstacle detection means)

16‧‧‧Rear distance sensor (obstacle detection means)

S‧‧‧ Self-discipline walking electric sweeping robot

Sh‧‧‧ body part (non-rotating part, car body)

Fig. 1 is a perspective view of an autonomous walking type electric sweeping robot according to an embodiment of the present invention as seen from the left front side. Fig. 2 is a bottom view of the autonomous walking type electric sweeping robot according to the embodiment. Fig. 3 is a cross-sectional view taken along line A-A of Fig. 1; 4 is a perspective view showing an internal structure in which a casing of an autonomous walking type electric sweeping robot according to an embodiment is detached. Fig. 5 is a travel trajectory of the autonomous walking type electric sweeping robot during cleaning in the embodiment. Fig. 6 is a view showing a detailed operation of the in-situ rotation of the embodiment. Fig. 7 is a view showing a change in speed of a right wheel rotated in situ in the embodiment; Fig. 8 is a view showing a winding operation in the embodiment. Fig. 9 is a view showing a detailed operation of the winding in the embodiment. Fig. 10 is a view showing a change in speed of a right wheel wound in the embodiment; Fig. 11 is a travel trajectory of the autonomous walking type electric sweeping robot at the time of cleaning in the embodiment. Fig. 12 is a view showing details of walking along the wall in the embodiment. Fig. 13 is a view showing a change in speed of a left-hand wheel that is wound in the embodiment. Fig. 14 is a schematic view showing a step-down operation 1 of the height difference in the embodiment. Fig. 15 is a schematic view showing a step-down operation 2 of the height difference in the embodiment.

Claims (6)

An autonomous walking type electric sweeping robot having a driving wheel and having a ground distance measuring sensor for detecting a height higher than a current position, that is, a height difference, is autonomously driven, and is characterized in that The operation of selecting one of the following groups is performed: after detecting the step of detecting the height difference, the action of changing the route is performed in a direction that is different from the height difference by two or more types of operations of the height difference More than one type. The autonomous walking type electric sweeping robot according to claim 1, wherein at least one of the above-described steps of the height difference is performed: a step of retreating in a manner that the height difference is at an oblique position, A forward step in which the aforementioned step is advanced obliquely. The autonomous walking type electric sweeping robot according to claim 1 or 2, further comprising a side brush that rotates with a motor in front, wherein the side brush is in a state of climbing up the height difference when the step of retreating is completed. The autonomous walking type electric sweeping robot according to claim 1 or 2, wherein the side brush having a motor rotating on the front side is compared with the rotation speed of the side brush realized between the substantially horizontal ground walking. Next, the rotational speed of the side brush at the time of the advancement step is increased. The autonomous walking type electric sweeping robot according to claim 3, wherein the side brush having the motor rotating in front is compared with the rotational speed of the side brush realized between the substantially horizontal ground walking, The rotation speed of the aforementioned side brush at the aforementioned advancement step is increased. An autonomous walking type electric sweeping robot having a driving wheel and having a ground distance measuring sensor for detecting a height higher than a current position, that is, a height difference, is autonomously driven, and is characterized in that Performing: detecting a step of detecting a height difference of the height difference, a step of crossing a first step of performing a first spanning operation on the height difference, and detecting that the height difference cannot be crossed after the step of crossing the first step is performed The second high and low difference of the action spans the step, and the first step of the first step and the step of the step of the second step are mutually different actions.