WO2015105176A1 - 走行体装置 - Google Patents
走行体装置 Download PDFInfo
- Publication number
- WO2015105176A1 WO2015105176A1 PCT/JP2015/050487 JP2015050487W WO2015105176A1 WO 2015105176 A1 WO2015105176 A1 WO 2015105176A1 JP 2015050487 W JP2015050487 W JP 2015050487W WO 2015105176 A1 WO2015105176 A1 WO 2015105176A1
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- WIPO (PCT)
- Prior art keywords
- charging device
- main body
- unit
- vacuum cleaner
- signal
- Prior art date
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- 230000006698 induction Effects 0.000 claims description 46
- 230000005540 biological transmission Effects 0.000 claims description 22
- 238000004140 cleaning Methods 0.000 abstract description 33
- 239000000428 dust Substances 0.000 description 18
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- 238000012545 processing Methods 0.000 description 3
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- 238000001816 cooling Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
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- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
- A47L9/2815—Parameters or conditions being sensed the amount or condition of incoming dirt or dust using optical detectors
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0003—Home robots, i.e. small robots for domestic use
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- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
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- 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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Definitions
- Embodiments of the present invention relate to a traveling body device including an autonomous traveling body capable of autonomous traveling and a beacon device that guides the autonomous traveling body.
- a so-called autonomous traveling type vacuum cleaner that cleans the floor surface while autonomously traveling on the floor surface as a surface to be cleaned while detecting an obstacle using a sensor or the like.
- a vacuum cleaner is controlled to return autonomously (home) to a charging device in order to charge a built-in secondary battery when cleaning is completed. Therefore, an induction signal such as infrared rays is output from the charging device to guide the vacuum cleaner to the charging device.
- the left side induction signal and the right side induction signal are output from the charging device, and when the left side induction signal is received, the vacuum cleaner is relatively moved to the right side. If the right vacuum induction signal is received and the vacuum cleaner is controlled to move relatively to the left side, the vacuum cleaner moves toward the charging device along the part that can receive both of these induction signals. You can guide the machine.
- the problem to be solved by the present invention is to provide a traveling device that can simplify the configuration, suppress power consumption, and prevent interference with other devices.
- the traveling body device of the embodiment is a traveling body device including an autonomous traveling body capable of autonomous traveling and a beacon device that guides the autonomous traveling body.
- a beacon device has a beacon device side receiving part which can receive a demand signal from an autonomous running body.
- this beacon apparatus is arrange
- this beacon device has a transmission control unit that transmits the same guide signal at different timings from one and other beacon device side transmission units.
- the autonomous traveling body has a main body case. Moreover, this autonomously traveling body has drive wheels that allow the main body case to travel.
- this autonomously traveling body has a control unit that autonomously travels the main body case by controlling driving of the drive wheels. Moreover, this autonomous traveling body has a transmission part which transmits a request signal. Furthermore, this autonomous traveling body has a receiving unit capable of receiving the induction signal transmitted from one and other beacon device side transmitting units. And a control part makes a main body case drive
- FIG. 6 is a timing chart showing control of the traveling body device of one embodiment in (a) to (g). It is a top view which shows typically the guidance principle of the autonomous running body by a beacon apparatus same as the above.
- reference numeral 10 denotes a vacuum cleaner as a traveling body device.
- the vacuum cleaner 10 includes a vacuum cleaner body 11 as an autonomous traveling body and a charging base for the vacuum cleaner body 11. And a charging device (charging base) 12 as a beacon device that guides the vacuum cleaner main body 11.
- the main body 11 of the electric vacuum cleaner is a so-called self-propelled robot cleaner that cleans the floor surface while autonomously traveling (self-propelled) on the floor surface as the surface to be cleaned.
- this electric vacuum cleaner main body 11 has a hollow main body case 20 as a running / cleaning part, an electric blower 21 as an operation part (cleaning part) accommodated in the main body case 20, and an intake of the electric blower 21 Dust collecting unit 22 communicating with the side, for example, driving wheels 23 and 23 as a plurality of (a pair of) driving units for traveling, and a motor as a driving means (driving unit) as an operating unit for driving these driving wheels 23 and 23 24, 24, turning wheel 25 for turning, side brush which is auxiliary cleaning means as a plurality (a pair) of turning cleaning parts (cleaning part), for example, arranged at the lower part of main body case 20 so as to be able to turn along the floor surface 26, 26, side brush motors 27, 27 which are turning drive means (turning drive part) as an operation part (cleaning
- the vacuum cleaner body 11 includes a sensor unit 31 as an operation unit having various sensors as an input / output / control unit, and a light receiving unit serving as a traveling unit side receiving unit (running unit side receiving unit) as a receiving unit (receiving unit).
- Unit 32 light emitting unit 33 which is a traveling body side transmission unit (traveling body side transmission unit) as a transmission unit (transmission unit), a touch panel 34 having functions of an input operation unit (input operation unit) and a display unit (display unit), and And a control unit 37 constituted by a circuit board or the like.
- the vacuum cleaner main body 11 includes a secondary battery 39 in the main body case 20 for supplying power to each of the above parts.
- the direction along the traveling direction of the vacuum cleaner main body 11 is the front-rear direction (arrow FR and RR directions shown in FIG. 1 and the like), and the left and right crossing (orthogonal) with respect to the front-rear direction
- the direction (both sides) will be described as the width direction.
- the main body case 20 is formed into a flat columnar shape (disk shape) by, for example, synthetic resin, etc., and is long in the width direction, that is, horizontally long at a position near the rear portion of the center portion in the width direction of the circular bottom surface.
- the suction port 41 is opened.
- the suction port 41 is in communication with the suction side of the electric blower 21 through the dust collecting unit 22.
- the rotary brush 28 is rotatably disposed in the suction port 41.
- the electric blower 21 generates negative pressure by driving and sucks dust from the suction port 41 to the dust collecting part 22.
- the suction side is directed rearward and the axial direction is the front-rear direction (horizontal direction).
- the electric blower 21 may not be necessary in the case of, for example, a configuration in which dust is scraped up to the dust collection unit 22 by the rotating brush 28 or the like, and is not an essential configuration.
- the dust collecting unit 22 collects dust sucked from the suction port 41 by driving the electric blower 21.
- Each driving wheel 23 is for traveling (autonomous traveling) the vacuum cleaner body 11 (main body case 20) in the forward and backward directions on the floor surface, that is, for traveling, not shown along the left-right width direction. It has a rotation axis and is arranged symmetrically in the width direction.
- Each motor 24 is arranged corresponding to each of the drive wheels 23, for example, and can drive each drive wheel 23 independently.
- the turning wheel 25 is a driven wheel that is located at the front and substantially at the center in the width direction of the main body case 20 and can turn along the floor surface.
- Each side brush 26 has brush hairs 43 as a plurality of (for example, three) cleaning bodies that project radially and come into contact with the floor surface.
- the side brushes 26 and 26 are disposed at positions on both sides of the main body case 20 in front of the drive wheels 23 and 23 and behind the swivel wheel 25.
- Each side brush motor 27 moves each side brush 26 to the center side in the width direction of the body case 20, in other words, the right side brush 26 to the left side, and the left side brush 26 to the right side, that is, each side.
- the brushes 26 can be rotated so as to scrape dust to the suction port 41 side.
- the side brush 26 and the side brush motor 27 are not indispensable as long as they can be sufficiently cleaned by the electric blower 21 or the rotating brush 28.
- the rotary brush 28 is formed in a long shape, and both ends are pivotally supported on both sides in the width direction of the suction port 41 so as to be rotatable.
- the rotating brush 28 protrudes downward from the lower surface of the main body case 20 through the suction port 41, and the lower part contacts the floor surface while the vacuum cleaner main body 11 is placed on the floor surface, and dust is collected. It is configured to scrape.
- the brush motor 29 is accommodated in the main body case 20, and is connected to the rotating brush 28 via a gear mechanism (not shown) as a mechanism portion.
- the rotating brush 28 and the brush motor 29 are not essential components as long as they can be sufficiently cleaned by the electric blower 21 or the side brushes 26 and 26.
- the sensor unit 31 includes obstacle detection means (obstacle sensor (ranging sensor) such as a rotation speed sensor such as an optical encoder that measures the rotation speed of the motor 24, and an infrared sensor that detects obstacles such as walls and furniture. )), Step detection means (step sensor) such as an infrared sensor for detecting a step on the floor, and collision prevention detection means (collision prevention sensor) such as an infrared sensor for preventing collision with the charging device 12 etc. It has a function and is arranged in each part such as an upper part, an outer peripheral part (front part and rear part), and a lower part of the main body case 20.
- obstacle detection means ranging sensor
- Step detection means such as an infrared sensor for detecting a step on the floor
- collision prevention detection means collision prevention sensor
- it has a function and is arranged in each part such as an upper part, an outer peripheral part (front part and rear part), and a lower part of the main body case 20.
- the light receiving unit 32 is for estimating the position of the charging device 12 by detecting infrared light emitted from the charging device 12, for example, with respect to the central portion in the left-right direction of the front portion of the outer periphery of the main body case 20.
- the left light receiving part 32L and the right light receiving part 32R are arranged at positions separated left and right.
- These light receiving portions 32L and 32R are arranged symmetrically, for example.
- the light emitting unit 33 transmits (outputs) a signal such as infrared rays to the charging device 12 or the like, and is disposed, for example, at the upper front side of the main body case 20.
- the touch panel 34 allows the user to directly input various settings, and displays various information related to the vacuum cleaner main body 11, and is disposed, for example, on the upper portion of the main body case 20.
- the control unit 37 includes various memory areas such as a CPU that is a control unit main body, a ROM that is a storage unit that stores fixed data such as a program read by the CPU, and a work area that is a work area for data processing by the program.
- a RAM that is an area storage unit that is dynamically formed, a timer that measures calendar information such as the current date and time, and the like are provided.
- the control unit 37 is electrically connected to the electric blower 21, each motor 24, each side brush motor 27, the brush motor 29, the sensor unit 31, the light receiving unit 32, the light emitting unit 33, the touch panel 34, and the like. Based on the detection result, a cleaning mode for controlling driving of the electric blower 21, each motor 24, each side brush motor 27, the brush motor 29, etc., and a charging mode for charging the secondary battery 39 via the charging device 12. have.
- the secondary battery 39 supplies power to the electric blower 21, the motors 24, the side brush motors 27, the brush motor 29, the sensor unit 31, the light receiving unit 32, the light emitting unit 33, the control unit 37, and the like.
- the secondary battery 39 is electrically connected to, for example, the charging terminals 45 exposed on both sides of the turning wheel 25 on the lower surface of the main body case 20, that is, the front part.
- the charging device 12 includes a charging device case 51 as a beacon device case, a charging circuit 52 accommodated in the charging device case 51, a charging terminal 53 electrically connected to the charging circuit 52, and a commercial power source.
- Power supply cord 54 for example, charging device light-emitting unit 55 as beacon device side transmission means (beacon device side transmission unit) for outputting various signals such as position information of charging device 12 by infrared rays, light emission of vacuum cleaner body 11
- Charging device light-receiving unit 56 as a beacon device-side receiving means (beacon device-side receiving unit) that receives light emitted from unit 33, and transmission for controlling operations of these charging device light-emitting unit 55 and charging device light-receiving unit 56, etc.
- a charging device control unit 58 that is a beacon device control unit (beacon device control unit) as a control unit (transmission control unit) is provided.
- the charging device case 51 is disposed at a position that does not interfere with cleaning, such as in the vicinity of a wall section that divides the room.
- the charging circuit 52 is a constant current circuit for charging the secondary battery 39 of the electric vacuum cleaner main body 11 in which the charging terminal 45 is connected to the charging terminal 53.
- the charging terminal 53 is exposed at a lower portion of the charging device case 51, and is connected mechanically and electrically to the charging terminal 45 of the vacuum cleaner body 11 that has moved (returned) to the charging device 12. .
- the power cord 54 is electrically connected to the charging circuit 52, the charging device light emitting unit 55, the charging device light receiving unit 56, and the charging device control unit 58, and is connected to an outlet installed on a wall or the like. Power can be supplied from a commercial power source.
- the charging device light emitting unit 55 emits infrared rays or the like to the electric vacuum cleaner main body 11. For example, one and other beacon device side transmissions are performed at positions separated from each other at the center of the side portion of the charging device case 51.
- a charging device left side light emitting unit 55L and a charging device right side light emitting unit 55R as means (beacon device transmitting unit) are arranged. That is, the light emitting portions 55L and 55R are arranged at different positions.
- the charging device light emitting unit 55 is configured to emit light when the charging device light receiving unit 56 receives the request signal S from the light emitting unit 33 of the vacuum cleaner body 11.
- the charging device light receiving unit 56 is for grasping the positional relationship between the vacuum cleaner main body 11 and the charging device 12 by detecting infrared light emitted from the light emitting unit 33 of the vacuum cleaner main body 11, for example, Arranged at the top of the charging device case 51.
- the charging device control unit 58 generates, for example, an infrared signal emitted from the charging device light emitting unit 55, or processes the infrared signal received from the charging device light receiving unit 56 from the light emitting unit 33 of the vacuum cleaner body 11. It is.
- the charging device control unit 58 includes an induction mode for guiding the vacuum cleaner body 11 toward the charging device 12, a charging mode for charging the secondary battery 39 via the charging circuit 52, and an operation standby state. In the induction mode, when the request signal S from the light emitting unit 33 of the vacuum cleaner body 11 is received by the charging device light receiving unit 56, the light emitting units 55L and 55R have different timings from each other. The guidance signal is transmitted.
- the autonomously traveling electric vacuum cleaner main body 11 is roughly classified into a cleaning operation in which the electric vacuum cleaner main body 11 performs cleaning and a charging operation in which the secondary battery 39 is charged by the charging device 12.
- the control unit 37 that has changed from the standby mode to the cleaning mode is operated by the electric blower 21, the drive wheels 23 and 23 (motors 24 and 24), and the side brushes 26 and 26. (Side brush motors 27 and 27), rotating brush 28 (brush motor 29), and the like are driven, detached from the charging device 12, for example, and cleaning is started while driving autonomously on the floor surface by the drive wheels 23 and 23.
- the cleaning start position can be set at any place such as the travel start position of the electric vacuum cleaner main body 11 or the entrance / exit of the room.
- the control unit 37 detects, for example, a distance from a wall portion surrounding the cleaning region or an obstacle in the cleaning region, a floor step, and the like through the sensor unit 31 and a vacuum cleaner.
- the control unit 37 detects, for example, a distance from a wall portion surrounding the cleaning region or an obstacle in the cleaning region, a floor step, and the like through the sensor unit 31 and a vacuum cleaner.
- the vacuum cleaner main body 11 collects dust to the suction port 41 by the side brushes 26 and 26 that are driven to rotate, and the suction generated by the negative pressure generated by the driving of the electric blower 21 via the dust collection unit 22 Dust on the floor surface is sucked together with air through the mouth 41.
- the rotary brush 28 that is driven to rotate scrapes off dust on the floor surface to the dust collecting unit 22.
- the dust sucked together with the air from the suction port 41 is separated and collected by the dust collecting unit 22, and the air from which the dust is separated is sucked into the electric blower 21, and after cooling the electric blower 21, it becomes exhaust air.
- the air is exhausted from an exhaust port (not shown) provided in the main body case 20 to the outside.
- the control unit 37 requests that the light emitting unit 33 return to the charging device 12 to end the cleaning mode and shift to the charging mode.
- a signal (request signal) S is transmitted.
- the charging device 12 that has received the request signal S by the charging device light receiving unit 56 guides the charging device control unit 58 to return (move) the vacuum cleaner body 11 from the charging device light emitting unit 55 to the charging device 12.
- An induction signal that is a feedback signal is transmitted.
- derivation signal by the light-receiving part 32 drives the drive wheels 23 and 23 (motors 24 and 24) by the control part 37, and it drive
- the vacuum cleaner main body 11 is gradually approached by repeating transmission and reception between the light receiving unit 32 and the light emitting unit 33 of the vacuum cleaner main body 11 and the charging device light emitting unit 55 and the charging device light receiving unit 56 of the charging device 12.
- the charging terminal 45 is connected (mechanically and electrically) to the charging terminal 53 while being moved (returned) to the charging device 12, and each part is stopped to complete the cleaning operation.
- the electric vacuum cleaner main body 11 includes a request signal S at a certain time T1 by the control unit 37. Is transmitted from the light emitting unit 33 (FIG. 4A).
- the request signal S is preferably output with wide directivity so that the charging device 12 can receive the electric vacuum cleaner body 11 at any position in the room (FIG. 5).
- the charging device control unit 58 first emits the induction signal SL, which is the first induction signal, to the left side of the charging device.
- the signal is transmitted from the unit 55L (FIG. 4 (c)), and then another induction signal SR, which is another induction signal, is transmitted from the right side light emitting unit 55R of the charging device (FIG. 4 (d)).
- This order of transmission may be reversed.
- the induction signal SL and the induction signal SR are the same signal (signal of the same code (symbol)).
- the light emitting unit 55L receives the predetermined time T3 after the predetermined time T2 from the timing of receiving the request signal S. It transmits later from light emission part 55R.
- the charging device 12 transmits the induction signals SL and SR from the light emitting units 55L and 55R at different timings (time division).
- the predetermined time T2 is, for example, less than half of the time T1, for example, 100 msec, and the predetermined time T3 is, for example, twice the predetermined time T2 (T2 ⁇ 2).
- the induction signal SL is output from the left side light emitting unit 55L of the charging device toward the front of the charging device 12 with a relatively narrow directivity in a radial (ellipsoidal) shape on the left side
- the induction signal SR is From the charging device right side light emitting portion 55R toward the front of the charging device 12, the light is output in a radial region (ellipse shape) with a relatively narrow directivity in the right region (FIG. 5).
- the drive wheels 23 and 23 are driven and controlled according to the reception states of the two induction signals SL and SR transmitted at different timings, and the vehicle travels toward the charging device 12. For example, when it is first determined that only the guide signal SL is received by the left light receiving unit 32L of the light receiving unit 32 (FIG. 4 (e)), the drive wheels 23, 23 are driven so as to travel relatively leftward. (Control of the motors 24, 24) is controlled (the rotational speed of the left driving wheel 23 (motor 24) is made relatively larger than the rotational speed of the right driving wheel 23 (motor 24)). Further, when it is determined that the vacuum cleaner main body 11 first receives only the guidance signal SR by the right light receiving unit 32R of the light receiving unit 32 (FIG.
- the main body 11 travels relatively to the right.
- the drive wheels 23 and 23 (motors 24 and 24) are controlled so that the rotational speed of the right drive wheel 23 (motor 24) is relatively higher than the rotational speed of the left drive wheel 23 (motor 24). Enlarge).
- Drive wheels 23 and 23 (motors 24 and 24) are driven and controlled.
- the vacuum cleaner body 11 travels at a position where it is determined that the guidance signal SL is received by the left light receiving unit 32L and the guidance signals SL and SR are received by the right light receiving unit 32R (FIG. 4 (g)).
- the charging signals SL and SR are linearly directed toward the charging device 12 along a region where the induction signals SL and SR overlap each other (for example, a width of about 10 to 20 cm). Can run.
- the induction signal SL and the induction signal SR are the same signal, on the electric vacuum cleaner main body 11 side, for example, the timing at which the request signal S is transmitted from the light emitting unit 33 (timing of transmission completion of the request signal S), etc.
- the timing at which the request signal S is transmitted from the light emitting unit 33 timing of transmission completion of the request signal S
- whether the signal received by the light receiving unit 32 is the induction signal SL or the induction signal SR can be distinguished based on the time from the timing until the signal is received. That is, in this embodiment, the signal received after a predetermined time T2 from the timing when the request signal S is transmitted is the induction signal SL, and is received after the predetermined time T3 (T2 ⁇ 2) from the timing when the request signal S is transmitted.
- the control unit 37 can determine that the signal is the induction signal SR.
- the vacuum cleaner body 11 When the vacuum cleaner body 11 is connected to the charging device 12 (the charging terminal 45 and the charging terminal 53 are mechanically and electrically connected to each other), the vacuum cleaner body 11 receives a request signal from the light emitting unit 33. Then, the charging device 12 stops the transmission of the induction signal from the charging device light emitting unit 55.
- a predetermined time for example, a predetermined time after the electric vacuum cleaner main body 11 is connected to the charging device 12 when a preset charging start time is reached.
- the control unit 37 and the charging device control unit 58 shift to the charging mode, drive the charging circuit 52, and start charging the secondary battery 39.
- the control unit 37 and the charging device control unit 58 stop the charging by the charging circuit 52 to finish the charging operation, and the control unit 37 and The charging device control unit 58 is in the standby mode.
- the charging device control unit 58 when the request signal S from the light emitting unit 33 of the vacuum cleaner body 11 is received by the charging device light receiving unit 56, the charging device control unit 58 is arranged at a position separated from each other.
- the controller 37 By transmitting the same (same code) induction signals SL and SR for guiding the vacuum cleaner body 11 from the light emitting units 55L and 55R at different timings, the controller 37 is controlled by the light receiving unit 32 in the vacuum cleaner body 11.
- the received induction signals SL and SR are the same signal, the main body case can be easily and reliably identified by the difference in reception timing, and the reception state of the two induction signals SL and SR transmitted at these different timings. 20 (electric vacuum cleaner main body 11) can be driven toward the charging device 12.
- the same induction signal is only delayed by, for example, a simple delay circuit without generating different induction signals SL and SR using complicated processing or a complicated configuration in the charging device controller 58 of the charging device 12 and the like.
- a simple delay circuit without generating different induction signals SL and SR using complicated processing or a complicated configuration in the charging device controller 58 of the charging device 12 and the like.
- the vacuum cleaner main body 11 and the charging device 12 (electric cleaning device 10) can be configured at low cost.
- the induction signals SL and SR are transmitted from the light emitting units 55L and 55R only when the request signal S transmitted from the light emitting unit 33 of the vacuum cleaner main body 11 is received by the charging device light receiving unit 56. Compared with the case where the induction signal is always transmitted, power consumption can be suppressed and interference with other devices communicating using infrared rays is less likely to occur.
- the vacuum cleaner main body 11 can be guide
- the vacuum cleaner body 11 has the function of an autonomous traveling body.
- the autonomous traveling body is not limited to the cleaning body, and for example, imaging is performed using an imaging unit such as a camera. It is good also for things to do.
- the charging device 12 has the function of the beacon device for guiding the vacuum cleaner main body 11 (autonomous vehicle) to a predetermined position
- the beacon device may be provided separately from the charging device 12.
- the light receiving unit 32 is configured by the left light receiving unit 32L and the right light receiving unit 32R, it may be configured by only a single light receiving unit 32. Also in this case, by performing the same control as in the above-described embodiment, the same operational effects can be achieved, and the configuration can be further simplified.
- the vacuum cleaner main body 11 changes the request signal transmitted from the light emitting unit 33 according to the desired operation (mode), and transmits the signal in a time division manner from the beacon device that has received the request signal in the same manner as in the above embodiment. By doing so, it is possible to distinguish the signal received by the light receiving unit 32 based on the time difference from the timing with which the request signal is transmitted as a reference without interfering with other signals, and various controls can be performed according to these signals. Become.
- the vacuum cleaner main body 11 is not only travel controlled so as to approach the beacon device, but also travel controlled so as to be guided to a predetermined position, or in the cleaning mode or the like, You can also run control so that the device does not approach and collide within a predetermined distance, or you can run control (virtual guard) so that the vacuum cleaner body 11 does not cross the virtual wall, For example, it is possible to perform any control other than the traveling control such as imaging using an imaging means (camera).
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Electromagnetism (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Business, Economics & Management (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Description
電気掃除機本体11は、予め設定された掃除開始時刻となると、待機モードから掃除モードとなった制御部37が電動送風機21、駆動輪23,23(モータ24,24)、サイドブラシ26,26(サイドブラシモータ27,27)および回転ブラシ28(ブラシモータ29)などを駆動させ、例えば充電装置12から離脱して、駆動輪23,23により床面上を自律走行しながら掃除を開始する。なお、掃除の開始位置は、電気掃除機本体11の走行開始位置、あるいは部屋の出入り口など、任意の場所に設定可能である。
充電装置12に電気掃除機本体11が接続された後、所定のタイミング、例えば予め設定された充電開始時刻となったとき、あるいは電気掃除機本体11が充電装置12に接続されてから所定時間が経過したときなどに、制御部37および充電装置制御部58はそれぞれ充電モードに移行して充電回路52を駆動させ、二次電池39の充電を開始する。そして、二次電池39の電圧が所定の使用可能電圧まで上昇したと判断すると、制御部37および充電装置制御部58が充電回路52による充電を停止させて充電作業を終了し、制御部37および充電装置制御部58がそれぞれ待機モードとなる。
Claims (1)
- 自律走行可能な自律走行体と、この自律走行体を誘導するビーコン装置とを備えた走行体装置であって、
前記ビーコン装置は、
前記自律走行体からの要求信号を受信可能なビーコン装置側受信部と、
互いに離間した位置に配置され、前記自律走行体を誘導する誘導信号をそれぞれ送信する一および他のビーコン装置側送信部と、
前記一および他のビーコン装置側送信部から異なるタイミングで同一の誘導信号を送信させる送信制御部とを備え、
前記自律走行体は、
本体ケースと、
この本体ケースを走行可能とする駆動輪と、
この駆動輪の駆動を制御することで前記本体ケースを自律走行させる制御部と、
前記要求信号を送信する送信部と、
一および他の前記ビーコン装置側送信部から送信された誘導信号を受信可能な受信部とを備え、
前記制御部は、前記一および他のビーコン装置側送信部から異なるタイミングで送信された二つの誘導信号の前記受信部での受信状態によって前記本体ケースを前記ビーコン装置に向けて走行させる
ことを特徴とした走行体装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP15735162.8A EP3093727B1 (en) | 2014-01-09 | 2015-01-09 | Traveling body device |
US15/110,340 US10048695B2 (en) | 2014-01-09 | 2015-01-09 | Traveling device |
CA2935640A CA2935640C (en) | 2014-01-09 | 2015-01-09 | Traveling device |
CN201580004098.0A CN105900033B (zh) | 2014-01-09 | 2015-01-09 | 行驶体装置 |
KR1020167009270A KR101939671B1 (ko) | 2014-01-09 | 2015-01-09 | 주행체 장치 |
Applications Claiming Priority (2)
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JP2014-002708 | 2014-01-09 | ||
JP2014002708A JP6254446B2 (ja) | 2014-01-09 | 2014-01-09 | 走行体装置 |
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WO2015105176A1 true WO2015105176A1 (ja) | 2015-07-16 |
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PCT/JP2015/050487 WO2015105176A1 (ja) | 2014-01-09 | 2015-01-09 | 走行体装置 |
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US (1) | US10048695B2 (ja) |
EP (1) | EP3093727B1 (ja) |
JP (1) | JP6254446B2 (ja) |
KR (1) | KR101939671B1 (ja) |
CN (1) | CN105900033B (ja) |
CA (1) | CA2935640C (ja) |
WO (1) | WO2015105176A1 (ja) |
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US11163311B2 (en) | 2015-12-24 | 2021-11-02 | Partnering 3.0 | Robotic equipment including a mobile robot, method for recharging a battery of such mobile robot, and mobile robot docking station |
FR3046259A1 (fr) * | 2015-12-24 | 2017-06-30 | Partnering 3 0 | Station d'accueil pour robot mobile |
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JP6803281B2 (ja) * | 2017-03-28 | 2020-12-23 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカPanasonic Intellectual Property Corporation of America | 移動体基地複合体、移動体基地及び移動体誘導方法 |
US10918252B2 (en) * | 2017-07-27 | 2021-02-16 | Neato Robotics, Inc. | Dirt detection layer and laser backscatter dirt detection |
KR20210032482A (ko) | 2018-07-20 | 2021-03-24 | 샤크닌자 오퍼레이팅 엘엘씨 | 로봇 청소기 부스러기 제거 도킹 스테이션 |
CN114287827B (zh) * | 2018-09-11 | 2023-04-11 | 原相科技股份有限公司 | 清洁机器人系统及其清洁机器人和充电路径决定方法 |
CN111603096A (zh) * | 2019-02-25 | 2020-09-01 | 江苏美的清洁电器股份有限公司 | 一种充电站及信息处理方法 |
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CN112596519A (zh) * | 2020-12-14 | 2021-04-02 | 京东数科海益信息科技有限公司 | 引导控制方法和装置、充电桩和机器人 |
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- 2015-01-09 US US15/110,340 patent/US10048695B2/en active Active
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JP2015132893A (ja) | 2015-07-23 |
KR20160053996A (ko) | 2016-05-13 |
US10048695B2 (en) | 2018-08-14 |
US20160327954A1 (en) | 2016-11-10 |
KR101939671B1 (ko) | 2019-01-17 |
EP3093727A1 (en) | 2016-11-16 |
JP6254446B2 (ja) | 2017-12-27 |
EP3093727B1 (en) | 2020-07-08 |
CN105900033A (zh) | 2016-08-24 |
CA2935640A1 (en) | 2015-07-16 |
CA2935640C (en) | 2018-07-24 |
EP3093727A4 (en) | 2017-10-11 |
CN105900033B (zh) | 2019-06-18 |
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