Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
  • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means

Definitions

• the present invention relates to a self-propelled mobile body such as a self-propelled vacuum cleaner that autonomously travels to clean a room and an answering robot that captures an image of a room and transmits it to a mobile phone or the like.
• a self-propelled mobile body such as a self-propelled vacuum cleaner that autonomously travels to clean a room and an answering robot that captures an image of a room and transmits it to a mobile phone or the like.
• a method of detecting obstacles with various obstacle detection units is common.
• a non-contact sensor ultrasonic sensor, infrared sensor, etc.
• a contact sensor limit switch, proximity switch, pressure-sensitive switch
• a self-propelled mobile body that detects an obstacle by the obstacle detection unit is disclosed.
• Patent Document 2 a floor discriminating means (CCD element or the like) and a streak detection means (infrared sensor or the like) are provided at the bottom of the main body, and it is detected whether the floor discriminating means is a tatami force flooring, There is disclosed a self-propelled mobile body in which the muscle detection means detects tatami mat or flooring and moves the suction port along the detected muscles for efficient cleaning.
• Patent Document 3 includes several types of obstacle detection units such as an ultrasonic sensor with a wide detection range and an infrared sensor that can detect the exact position of an obstacle, and these obstacle detection units are arranged in the vertical direction.
• a self-propelled moving body that expands the detection range by rotating or moving up and down and detects the size and distance of an obstacle is disclosed.
• Patent Document 1 Japanese Patent Laid-Open No. 5-46239
• Patent Document 2 Japanese Patent No. 3140900 Patent Document 3: Japanese Patent No. 3356275
• the conventional self-propelled moving body includes the non-contact sensor and the contact sensor in order to detect an obstacle existing in the space.
• it is equipped with floor surface discrimination means (CCD elements, etc.) and streak detection means (reflective infrared sensor) to distinguish steps and floor surfaces.
• the ultrasonic transmission element and the ultrasonic reception element make a pair, and the ultrasonic wave transmitted from the ultrasonic transmission element is reflected by the obstacle and returns to the ultrasonic reception element.
• the position of the obstacle is detected from the time at.
• Such an ultrasonic sensor can measure an accurate distance when the obstacle is flat. However, if the obstacle is uneven or curved, the exact position of the obstacle cannot be detected because the ultrasonic waves are irregularly reflected.
• the infrared sensor includes a light emitting element and a light receiving element.
• the light emitting element is provided with a convex lens
• the light receiving element is provided with a concave lens.
• the light transmitted by the light emitting element also reaches the obstacle through the convex lens, and the reflected light enters the element surface of the light receiving element through the concave lens and detects the position of the obstacle from the position incident on the element surface of the light receiving element. .
• Such an infrared sensor in which a light emitting element and a light receiving element are paired can accurately measure a distance even when the obstacle is uneven or curved.
• the viewing angle is narrower than that of an ultrasonic sensor, and the detection range can be obtained only 5 ° in the horizontal direction and 5 ° in the vertical direction. Therefore, if a large number of infrared sensors are not installed, a blind spot can be formed in the detection range.
• An infrared sensor that is a streak detecting means is provided so that light emitted from the light emitting element is reflected perpendicularly to the floor surface. Therefore, since only one point on the floor surface is detected, obstacles such as a front step cannot be detected in advance.
• a contact sensor is a force that detects an obstacle by contacting or colliding with a powerful obstacle that cannot be detected by an ultrasonic sensor or an infrared sensor. is there.
• an obstacle detection unit for detecting an obstacle in a traveling space is provided in a main body having a traveling means for traveling on a floor surface,
• the obstacle detection unit includes a plurality of light emitting elements and at least one light receiving element, and the light emitting elements are arranged in a line so as to widen a detection range in a specific direction.
• the light emitting elements By arranging the light emitting elements in a specific direction, it is possible to widen the detection range than when one light emitting element is provided. Even a few obstacle detection units can detect a wider range of obstacles.
• a plurality of light receiving elements may be provided. By providing a plurality of light receiving elements, the reflected light can be accurately detected.
• the plurality of light emitting elements are arranged in a line. Examples of the specific direction include a horizontal direction and a vertical direction.
• the obstacle detection unit includes a horizontal obstacle detection unit in which a light emitting unit and a light receiving unit are arranged in a horizontal direction, and a vertical obstacle detection unit in which a light emitting unit and a light receiving unit are arranged in a vertical direction.
• a horizontal obstacle detection unit a plurality of light emitting elements constituting the light emitting unit are arranged in a line in a direction perpendicular to the floor surface.
• a vertical obstacle detection unit a plurality of light emitting elements constituting the light emitting unit are arranged in a row in a horizontal direction with respect to the floor surface.
• the horizontal obstacle detection unit has a detection range that is lower than the detection range of the vertical obstacle detection unit.
• the light emitting element of the obstacle detection unit is arranged at a low position. This makes it possible to detect obstacles with low heights that could not be detected in the past, such as steps between the sill and the floor, and the self-propelled mobile object can travel while avoiding the steps.
• the plurality of obstacle detection units are arranged on an arc so as to be able to detect the front and left and right sides in the traveling direction of the self-propelled mobile body.
• obstacles can be detected in a wide range with respect to the traveling direction by a small number of obstacle detection units.
• At least one obstacle detection unit among the plurality of obstacle detection units is arranged in a different direction so that its detection range is different from the detection range of the other obstacle detection units.
• a horizontal obstacle detection unit in which light emitting elements are arranged in a row in a direction perpendicular to the floor surface, and the detection range in the direction perpendicular to the floor surface is widened, and the light emitting elements are arranged in a row in a horizontal direction with respect to the floor surface.
• a vertically placed obstacle detection unit having a wide detection range in the horizontal direction with respect to the floor surface.
• the detection range of the obstacle detection unit extends not only in the horizontal direction but also in the vertical direction with respect to the floor surface. Obstacles at low positions can also be detected. Further, the horizontally placed obstacle detection unit can detect a level difference or unevenness on the floor surface. For example, if an obstacle detection unit having a detection range in the vertical direction is mounted in front of the self-propelled mobile body and directed downward, a step existing in the traveling direction can be detected.
• Each obstacle detection unit is concentrated on the front side of the main body so that adjacent obstacle detection units overlap each other.
• the obstacle detection units arrange the detection ranges of adjacent obstacle detection units to overlap each other.
• it is possible to cover errors in the detection range caused by individual differences such as variations in the attachment of the obstacle detection unit due to the manufacturing process and the inclination of the light emitting element in the obstacle detection unit. Therefore, a blind spot cannot be formed in the detection range of the obstacle detection unit, and detection can be performed without missing the obstacle.
• a control unit that controls the traveling means based on detection results from a plurality of obstacle detection units is provided, and the control unit is configured to detect obstacles for each detection range based on signals from the respective obstacle detection units.
• the control unit when processing the signals from the respective obstacle detection units, the control unit is arranged in each direction such as left side, left side diagonal front, left side front, right side front, right side diagonal front, right side, etc. Determine whether there are obstacles. That is, the control unit makes a determination every time each obstacle detection unit force signal is input, rather than making a comprehensive determination based on signals from all the obstacle detection units. Therefore, the control unit can make a quick decision and can quickly recognize an obstacle. Therefore, even if an obstacle detection unit is added, the control unit can handle it, which is useful for a wide range of detection.
• a main body having a traveling means for traveling on the floor is provided with a plurality of obstacle detection units each having a plurality of light emitting elements and at least one light receiving element.
• a plurality of light emitting elements are arranged in a line perpendicular to the floor surface, the detection range in the direction perpendicular to the floor surface is widened, and the traveling means is controlled based on the detection result from the obstacle detection unit.
• a control unit is provided.
• the control unit has a level difference judging means for judging the presence or absence of a level difference on the floor surface based on a signal from the obstacle detection unit.
• the present invention uses an obstacle detection unit including a plurality of light emitting elements arranged in a specific direction and at least one light receiving element, so that the light emitting elements are arranged in the direction in which the light emitting elements are arranged.
• the viewing angle that is, the detection range can be expanded.
• FIG. 1 is a perspective view of a self-propelled cleaner that is a first embodiment of the present invention.
• FIG. 4 Diagram showing the structure of the obstacle detector, where (a) is a front view, (b) is an A—A cross-sectional view of (a), and (c) is a B—B of (a).
• Cross section
• FIG. 5 is a plan view of a self-propelled cleaner according to a second embodiment of the present invention.
• FIG. 6 is a front view of a self-propelled vacuum cleaner according to a third embodiment of the present invention.
• FIG. 9 is a front view of a self-propelled vacuum cleaner according to another embodiment.
• FIG. 10 is a diagram showing the structure of an obstacle detection unit according to another embodiment, in which (a) is a front view, (b) is a CC cross-sectional view of (a), and (c) is a diagram of (a).
• FIG. 11 is a block diagram of a self-propelled cleaner that is another embodiment. Explanation of symbols
• the self-propelled electric vacuum cleaner is provided with a vacuum cleaner body 10 with an electric blower 13 and dust and dirt on the floor surface. Consists of a suction port body 20 for suction.
• the suction port body 20 is arranged on the bottom surface of the front side of the cleaner body 10 and is connected to the cleaner body 10 by a connecting shaft 10a whose axial direction is vertical, and about 30 degrees around the connecting shaft 10a. It can be rotated in the range.
• the suction port body 20 is connected to a flexible suction hose on the vacuum cleaner body 10 side, and dust, dust and the like are removed from the suction port body 20 by the suction force generated by driving the electric blower 13.
• the dust collector 30 can be sucked.
• the vacuum cleaner main body 10 has a recess 15 for accommodating the capsule dust collector 30 on the upper surface of an oval casing, and collides with an obstacle, a wall surface, etc. on the front side of the casing. Bumper 12 is installed to reduce the impact of the impact. On the rear side of the vacuum cleaner body 10, an electric blower 13 is provided. A power supply unit 16 such as a power battery for supplying power to the central portion of the bottom surface of the vacuum cleaner body 10 is provided.
• driving wheels 41 are provided as traveling means for moving in the cleaning space.
• the control unit 17 including a control board and the like for controlling the driving of the drive wheels 41 and the electric blower 13 is disposed in the lower space portion of the recess 15.
• an obstacle detecting unit 50 for detecting surrounding obstacles is provided.
• the bumper 12 is movable with respect to the cleaner body 10 by means of a panel in order to reduce the impact.
• the traveling means includes a drive wheel 41 that is a pair of left and right wheels driven by the drive motor 18, and an auxiliary wheel provided on the lower surface of the suction port body 20.
• the drive wheels 41 rotate independently on the left and right. For example, when driving forward or backward, both driving wheels 41 rotate simultaneously, and when turning, the driving wheels 41 rotate in different directions. One driving wheel 41 stops and the other driving wheel 41 rotates. To do.
• the auxiliary wheel is supported so as to be rotatable about the vertical axis so that the cleaner body 10 can travel smoothly in accordance with the movement of the drive wheel 41.
• the traveling means is not particularly limited to the drive wheels 41, and any means may be used as long as the cleaner body 10 can travel, such as an endless track or a walking device.
• the suction port body 20 is formed with a main suction port, a front suction port, and a side suction port 21c for sucking dust and the like.
• the main suction port and the front suction port are openings that communicate with a suction path formed inside the suction port body 20, and the side suction port 21c is an L-shaped nozzle made of rubber or the like. .
• the main suction port is formed through a wall surface of a recess provided in the center of the bottom surface of the suction port body 20.
• a rotating brush that removes dust and dirt from the floor surface is rotatably provided. The rotating brush rotates to suck up dust and dirt that are sprinkled up from the main suction port. ing.
• the side suction ports 21c are provided on the left and right sides of the suction port body 20, and communicate with a recess provided in the center of the bottom surface. The main suction of dust, etc. sucked from the side suction ports 21c. It is made to flow into the suction path from the mouth.
• the obstacle detection unit 50 includes a light emitting unit 51 that emits light, a light receiving unit 52 that receives the reflected light, and a box-shaped casing 53 that houses them. .
• the light emitting unit 51 includes a plurality of light emitting elements 5la.
• the light emitting elements 5 la are infrared LEDs and are arranged in parallel to the width direction of the casing 53.
• a convex lens body 5 lb is disposed on the front surface of the light emitting element 51a so that light emitted from the light emitting element 51a spreads over a wide range.
• the light receiving unit 52 includes a light receiving element 52a such as a phototransistor or a photodiode.
• a concave lens body 52b is arranged on the front surface of the light receiving element 52b so that the light reflected from the obstacle is focused on the light receiving element 52a.
• the front surface of the casing 53 is translucent and transmits light from the light receiving element 52b.
• the light emitting part 51 and the light receiving part 52 are arranged side by side in the casing 53 in the forward direction.
• the obstacle detection unit 50 is attached so that the light emitting element 51a is horizontal with respect to the floor surface. Specifically, the obstacle detection unit 50 is placed vertically with respect to the cleaner body 10 so that the light emitting unit 51 is at the upper position and the light receiving unit 52 is at the lower position.
• the vacuum cleaner body 10 has three at the front and two at the left and right sides.
• Each obstacle detection unit 50 is formed on the bumper 12 Attached to the window. As a result, the detection range by each obstacle detection unit 50 is forward and leftward and rightward with respect to the traveling direction.
• the control unit 17 controls the driving of each obstacle detection unit 50. That is, the light emitting unit 51 of the obstacle detecting unit 50 emits light at a certain timing. In each obstacle detection unit 50, the light emission timing is shifted. The light receiving unit 52 does not receive the light reflected from the other obstacle detection unit 50 and reflected.
• the control unit 17 recognizes which obstacle detection unit 50 is operating. Therefore, the control unit 17 calculates the position of the obstacle from the detection result of the obstacle detection unit 50, and controls the drive motor 18 based on the position. That is, the control unit 17 first determines the presence or absence of an obstacle based on the output signal from each obstacle detection unit 50. When there is an obstacle, the control unit 17 calculates the distance and direction to the obstacle. Then, the moving direction and moving speed of the cleaner main body 10 are calculated, and the moving direction and moving speed of the cleaner main body 10 are determined so as to avoid obstacles. In response to this determination, a drive signal is output to the drive motor 18. The drive motor 18 is driven and controlled, and the cleaner body 10 travels while avoiding obstacles.
• the control unit 17 processes the signal from the obstacle detection unit 50, the signal of each obstacle detection unit 50 is also output in time series. Therefore, for example, the control unit 17 checks the input signals in the order of left side, left side forward, left side front, right side front, right side forward, right side, and determines the presence or absence of an obstacle each time.
• the detection results from all the obstacle detection units are not combined to detect the obstacles, and the obstacles in the detection range of one obstacle detection unit 50 are detected and detected. Run control is performed every time. The time required for one detection is shortened and the number of times of adjusting the traveling control is increased. In accordance with this, the travel of the vacuum cleaner body 10 is finely adjusted. Therefore, the cleaner body 10 can travel safely without colliding with an obstacle.
• FIG. 5 shows a self-propelled electric vacuum cleaner according to a second embodiment of the present invention.
• This self-propelled sweeper The difference between the unloader and the self-propelled electric vacuum cleaner of the first embodiment is the arrangement of the obstacle detection unit 50 provided in the bumper 12.
• each obstacle detection unit 50 of the present embodiment is arranged on an arc as viewed from the upper surface of the self-propelled electric vacuum cleaner. Accordingly, the bumper 12 is formed with a plurality of windows. The arrangement of the obstacle detection unit 50 widens the viewing angle on the front and left and right sides of the self-propelled vacuum cleaner. Obstacles can be detected.
• the obstacle detection units 50 adjacent to each other may be arranged so that the detection ranges thereof overlap each other.
• the detection range of the obstacle detection unit 50 overlaps with the traveling speed or turning range of the cleaner body 10. For example, when the traveling speed of the cleaner body 10 is fast, it is necessary to detect the position of the obstacle and control the traveling at an early stage, so that the position away from the cleaner body 10, that is, the obstacle detecting unit 50 The detection ranges should overlap at the maximum distance that can be detected. In this case, since the obstacle detection unit 50 does not detect an obstacle near the cleaner body 10, the obstacle detection units 50 are arranged with a wide interval.
• the detection ranges are overlapped at a position close to the cleaner body 10, that is, at a minimum distance that the obstacle detection unit 50 can detect.
• the intervals between the obstacle detection units 50 are arranged narrowly.
• the blind spots of the obstacle detection unit 50 can be reduced by overlapping the detection ranges of the adjacent obstacle detection units 50. Obstacles can be detected by applying the lateral force of the vacuum cleaner body 10 to the front.
• the obstacle detection unit 50 may be similarly arranged on the rear side.
• the obstacle detection unit 50 of the present embodiment is a horizontal type in which the arrangement direction of the light emitting elements 51a is a vertical direction, that is, the light emitting unit 51 and the light receiving unit 52 with respect to the floor surface.
• Parallel water In the horizontal direction
• the vertical arrangement type in which the arrangement direction is horizontal that is, the light emitting section 51 and the light receiving section 52 are arranged at right angles (vertical direction) to the floor surface. Alternating with the ones arranged in
• the detection range is widened in the vertical direction.
• the detection range is widened in the horizontal direction.
• the position of each light emitting part 51 is different from the floor in the height direction. That is, the light emitting unit 51 of the horizontally placed obstacle detecting unit 60 is positioned lower than the light emitting unit 51 of the vertically placed obstacle detecting unit 70.
• the horizontal obstacle detection unit 60 having a wide detection range in the vertical direction is attached to the front side of the cleaner body 10 so as to be inclined to the floor surface side, thereby detecting the low and step existing in the traveling direction. can do. For example, as shown in FIG. 7, a step A existing in the traveling direction can be detected.
• the control unit determines the presence or absence of a step A on the floor surface based on the output signal from the lateral obstacle detection unit 60. In addition, the presence / absence of an obstacle is determined based on the output signal from the vertical obstacle detection unit 70. And a control part performs driving
• a plurality of light emitting elements 51a are arranged in a direction perpendicular to the floor surface, and a plurality of light receiving elements 52a are perpendicular to the floor surface.
• a case where a plurality of horizontally placed obstacle detection units 90 arranged in the direction are arranged in the horizontal direction can be illustrated. In this case, the detection range becomes wider in the vertical direction, and it is possible to detect a low step existing in the traveling direction.
• the control unit 17 includes a level difference determining unit 80 that determines the presence or absence of a level difference A on the floor surface based on an output signal from the obstacle detection unit 90.
• the step determining means 80 can detect the difference in time received by each of the light receiving elements 52a, so that a plurality of steps A can be detected, and even when there are a plurality of steps A, each step A and the floor can be determined. .
• the control part 17 performs driving
• the light receiving element 52a is an image like a CCD camera. As long as processing is possible, a single light receiving element 52a can determine a plurality of steps and a floor surface.
• the present invention is not limited to the above-described embodiment, and it is needless to say that modifications and changes can be made within the scope of the present invention.
• the obstacle detection unit provided in the self-propelled electric vacuum cleaner has been described.
• the obstacle detection unit may be attached to a moving body such as a robot that runs autonomously.
• the obstruction detection unit may be installed in a slanting direction between vertical and horizontal positions.
• the obstacle detection unit may be moved according to the traveling direction of the self-propelled moving body! For example, the obstacle detecting unit is moved based on the moving direction and moving speed determined by the control unit. As a result, when the self-propelled moving body turns, it is possible to quickly respond to an obstacle that suddenly appears, and it is possible to more reliably avoid the obstacle and travel.
• the obstacle detection units may be moved separately. In this case, it is possible to detect the position of the obstacle in advance by moving the obstacle detection unit in the direction of turning in advance.
• a plurality of light emitting elements may be arranged on an arc to form one light emitting unit, which may be combined with a plurality of light receiving elements. Thereby, a wide range can be detected by one obstacle detection unit.
• the obstacle detection unit When the obstacle detection unit is mounted vertically or horizontally, it may be arranged on an arc as in the second embodiment. As a result, the detection range can be widened not only in the direction perpendicular to the floor surface but also in the horizontal direction relative to the floor surface, and the blind spot in the detection range of the obstacle detection unit can be eliminated. .
• the obstacle detection unit of the present invention By providing the obstacle detection unit of the present invention in a movable body that moves independently, it is possible to safely move in the space without damaging the wall surface or the furniture. In addition, since the obstacle detection unit can detect a wide range within a moving range, the number of installed obstacles can be reduced, and space saving and low cost can be achieved.

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• Physics & Mathematics (AREA)
• Engineering & Computer Science (AREA)
• Electromagnetism (AREA)
• Aviation & Aerospace Engineering (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
• Electric Suction Cleaners (AREA)

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Cited By (7)

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Citations (4)

• 2006
  • 2006-01-18 JP JP2006010480A patent/JP2007193538A/ja active Pending
  • 2006-12-11 WO PCT/JP2006/324654 patent/WO2007083459A1/ja not_active Ceased

Patent Citations (4)

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