WO2019043937A1 - 自走式掃除機 - Google Patents

自走式掃除機 Download PDF

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Publication number
WO2019043937A1
WO2019043937A1 PCT/JP2017/031740 JP2017031740W WO2019043937A1 WO 2019043937 A1 WO2019043937 A1 WO 2019043937A1 JP 2017031740 W JP2017031740 W JP 2017031740W WO 2019043937 A1 WO2019043937 A1 WO 2019043937A1
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WO
WIPO (PCT)
Prior art keywords
self
arm
propelled
cleaner
cleaning
Prior art date
Application number
PCT/JP2017/031740
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
古田　貴之
正裕 友納
秀彰 大和
智章 吉田
清水　正晴
奥村　悠
戸田　健吾
崇 小太刀
清 入江
祥尭 原
一輝 荻原
Original Assignee
学校法人 千葉工業大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 学校法人 千葉工業大学 filed Critical 学校法人 千葉工業大学
Priority to JP2019538902A priority Critical patent/JP6935943B2/ja
Priority to PCT/JP2017/031740 priority patent/WO2019043937A1/ja
Priority to EP17923582.5A priority patent/EP3679847A4/de
Priority to US16/643,934 priority patent/US20200405110A1/en
Priority to CN201780094080.3A priority patent/CN111093451B/zh
Publication of WO2019043937A1 publication Critical patent/WO2019043937A1/ja

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Classifications

    • 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
    • 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
    • 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

  • the present invention relates to a self-propelled cleaner.
  • a traveling means for causing the cleaner body to travel and a main cleaning provided on the lower surface of the cleaner body to absorb dust etc. on the floor surface
  • a means and a peripheral cleaning means provided so as to be laterally protruded from the cleaner body (see, for example, Patent Document 1).
  • the traveling means drives the pair of left and right wheels and the respective wheels in the normal direction and the reverse direction to cause the cleaner body to travel in the front-rear direction and to turn it in any direction.
  • the main cleaning means includes a duct and a suction fan in communication with the main suction port, and dust and the like sucked from the main suction port are sent to the dust collection chamber.
  • the peripheral cleaning means of the self-propelled vacuum cleaner described in Patent Document 1 includes a movable suction member (projector) which can be projected outward from the cleaner body, and a torsion coil spring which biases the movable suction member in the protruding direction. (A biasing means) and a motor with a reduction mechanism (driving means) that accommodates the movable suction body in the cleaner body against the biasing force of the torsion coil spring. The driving force from the motor with a reduction mechanism to the movable suction member is transmitted through the first and second transmission means in the storage direction, and the first and second transmission means are disconnected in the projection direction.
  • the driving force is not transmitted, and only the biasing force of the torsion coil spring acts on the movable suction body. Therefore, when the protruding movable suction body contacts an obstacle or the like, the movable suction body is accommodated in the cleaner body against the urging force of the torsion coil spring, and when separated from the obstacle, the movable suction body is moved again by the urging force of the torsion coil spring.
  • the suction body is configured to protrude.
  • the surrounding cleaning means is provided with a driving means (with a speed reduction mechanism) in which the protruding body (movable suction body) is rotatably supported by the cleaner body.
  • a driving means with a speed reduction mechanism
  • the protruding body movable suction body
  • this protrusion only protrudes in the direction of protrusion by the biasing force of the biasing means (coil spring etc.).
  • the cleaning range by the surrounding cleaning means becomes limited, and it becomes difficult to efficiently clean the periphery of the cleaner body. is there.
  • An object of the present invention is to provide a self-propelled cleaner capable of efficiently cleaning the periphery of a cleaner body.
  • the self-propelled cleaner of the present invention is a self-propelled cleaner that can be cleaned while traveling along a floor surface, comprising: a cleaner body having wheels for self-propelled movement; and a periphery of the cleaner body.
  • An ambient detection means for detecting an obstacle an ambient cleaning means capable of cleaning the periphery of the cleaner body, and a control means for controlling the ambient detection means and the ambient cleaning means, the ambient cleaning means
  • a load detection means for detecting a load acting from the outside on the protrusion, the protrusion capable of projecting outward from the cleaner body, a drive means for driving the protrusion, and a load detection means
  • the drive control of the drive unit is performed based on the presence or absence of the obstacle detected by the surrounding detection unit, and the traveling of the cleaner body is controlled based on the load detected by the load detection unit. Do.
  • the self-propelled cleaner includes the surrounding detection means, the surrounding cleaning means, and the control means, and the surrounding cleaning means includes the driving means for driving the protrusion and the load detecting means.
  • the drive amount is controlled based on the presence or absence of the obstacle detected by the detection means, and the travel of the cleaner body is controlled based on the load detected by the load detection means, so that the protrusion amount of the protrusion and the cleaner body It is possible to finely control the driving of the vehicle. Therefore, according to the presence or absence of an obstacle in a cleaning area, the distance with an obstacle, etc., the cleaning range by surrounding cleaning means can be changed appropriately, and the circumference of a cleaner body can be cleaned efficiently.
  • control means determines that the protrusion can be moved when the load detection means is not detecting the load after the load detection means detects the load, and the driving means is It is preferable to drive and move the protrusion.
  • the drive means is driven to move the protrusion out
  • the protrusion can be moved efficiently while suppressing an excessive load on the drive means.
  • control unit drives the drive unit to move the protrusion
  • the control unit moves the protrusion as approaching the obstacle. It is preferable to control the drive means so as to reduce the speed.
  • the collision of the protrusion with respect to the obstacle is performed by controlling the driving means so that the moving speed of the protrusion becomes slower as the proximity detection unit approaches the obstacle when the surrounding detection unit detects the obstacle. To reduce the load.
  • the surrounding cleaning means includes biasing means for biasing the protrusion in the projecting direction.
  • the protrusion is biased in the protrusion direction by the biasing means, and when the external force acts, the elasticity of the biasing means displaces the protrusion, whereby the protrusion and the cleaner While being able to reduce the load to a main part, damage to a wall, furniture, etc. which a projection abuts can be reduced.
  • the projection is rotatably supported by the cleaner body, and the drive means rotationally drives the projection.
  • the projecting body is rotatably supported by the cleaner body, and is rotationally driven by the drive means, so that the periphery of the cleaner body can be cleaned efficiently.
  • the projection includes a first rotating body whose one end side is rotatably supported by the cleaner body, and a second rotating body rotatably supported at the other end side of the first rotating body. It is preferable to comprise.
  • the cleaning range by the surrounding cleaning means can be expanded, and the second to the corner by the wall or the obstacle The corner can be efficiently cleaned by allowing the rotating body to reach.
  • the drive means is a rotational drive means for rotationally driving the first pivoting body with respect to the cleaner body, and the second pivoting body is a rotation urging means with respect to the first pivoting body. Is preferably biased in the direction of rotation.
  • the first rotary body is rotationally driven by the rotary drive means with respect to the cleaner body, and the second rotary body is urged in the rotational direction by the rotary biasing means with respect to the first rotary body.
  • the second pivoting body is rotationally displaced by the elasticity of the rotation biasing means, thereby reducing the load on the first pivoting body and the rotation drive means, and the second pivoting body It is possible to reduce the damage to the wall, furniture or the like against which the
  • the surrounding cleaning means has a suction cleaning function of sucking dust and the like on the floor surface from a suction port provided in the protrusion.
  • the cleaning range can be expanded more efficiently because the surrounding cleaning means has the suction cleaning function.
  • the perspective view which looked at the self-propelled vacuum cleaner concerning one embodiment of the present invention from the upper part A perspective view of the self-propelled cleaner as viewed from below The perspective view which looked at the projection state of circumference cleaning means in the self-propelled cleaner from the upper part
  • the perspective view which looked at the projection state of circumference cleaning means in the self-propelled cleaner from the bottom The front view which shows the accommodation state of a surrounding cleaning means in the said self-propelled cleaner
  • the right side view which shows the accommodation state of a surrounding cleaning means in the said self-propelled cleaner
  • the left view which shows the accommodation state of a surrounding cleaning means in the said self-propelled cleaner
  • the back view which shows the accommodation state of a surrounding cleaning means in the said self-propelled cleaner
  • FIG. 1 is a perspective view of a self-propelled cleaner according to an embodiment of the present invention as viewed from above
  • FIG. 2 is a perspective view of the self-propelled cleaner as viewed from below
  • FIG. 3 is a perspective view of the self-propelled cleaner as seen from above of the projecting state of the surrounding cleaning means
  • FIG. 4 is a perspective view of the self-propelled cleaner as seen from below the projecting state of the peripheral cleaning means. is there.
  • 5 to 10 are six views (a front view, a top view, a right side view, a left side view, a rear view and a bottom view) showing a storage state of the surrounding cleaning means in the self-propelled cleaner.
  • 11 to 16 are six views (a front view, a top view, a right side view, a left side view, a rear view and a bottom view) showing a projecting state of the surrounding cleaning means in the self-propelled cleaner.
  • FIG. 17 is a bottom view of the self-propelled cleaner in which the protruding state of the surrounding cleaning means is changed.
  • FIG. 18 is a cross-sectional view showing a projecting state of the surrounding cleaning means in the self-propelled cleaner, and a cross-sectional view of a position shown by the line AA in FIG.
  • FIG. 19 is a functional block diagram showing a schematic configuration of a self-propelled cleaner.
  • the self-propelled cleaner 1 is a cleaning robot that cleans the floor surface while traveling along the floor surface, and as shown in FIGS. 1 to 18, the cleaner body 2 and the periphery of the cleaner body 2
  • a rotation cleaning unit 3 as a peripheral cleaning unit (sub-cleaning unit) for cleaning
  • a sensor unit 4 for detecting an obstacle around the cleaner body 2, a cleaner body 2, a rotation cleaning unit 3
  • a control unit 5 (see FIG. 19) as a control unit that drives and controls the sensor unit 4.
  • the cleaner body 2 includes a body 10 having an upper surface portion 101, a front surface portion 102, left and right side surface portions 103, and a rear surface portion 104, a chassis 11 constituting a bottom surface portion 105, and a pair of left and right wheels 121 for self-propelled operation.
  • a lift 13 provided on the upper surface 101 of the body 10 so as to be able to move up and down from the upper surface 101 of the body 10, and a suction provided on the bottom surface 105 of the body 10 to absorb dust and dirt on the floor surface
  • the apparatus includes a unit (main cleaning unit) 14 and a main body operation unit 15 (see FIG. 19) for operating the vacuum cleaner main body 2.
  • the main body operation unit 15 is, for example, a touch sensor type switch (not shown) provided on the upper surface portion 101 of the vacuum cleaner main body 2 and operates the self-propelled cleaner 1 by touch operation by the user to operate The self-propelled cleaner 1 is stopped by the touch operation in the middle.
  • the rotation cleaning unit 3 is provided as a left-right pair at the front of the cleaner main body 2, and protrudes from the cleaner main body 2 to the side to move the arm 21 as a rotatable body (protrusion) and an arm 21.
  • the rotation angle of the arm 21 is represented by a motor 22 (described later) as drive means for rotationally driving, a load sensor 23 (see FIG. 19) as load detection means for detecting a load (torque) acting on the motor 22 from the outside. And an angle sensor 24 (refer to FIG. 19) as an angle detection unit to be described later.
  • the arm 21 has a first arm 21A as a first rotating body rotatably supported at one end side by the cleaner body 2 and a second rotating body rotatably supported at the other end side of the first arm 21A. And a second arm 21B.
  • the sensor unit 4 includes a front sensor 31 provided on the front part 102 of the body 10, a surrounding sensor 32 as a periphery detection means provided on the elevating part 13, and a rear sensor 33 provided on the back part 104 of the body 10. And are configured.
  • the front sensor 31 is formed of an ultrasonic sensor, an infrared sensor, or the like, and detects an obstacle in front of the cleaner body 2.
  • the ambient sensor 32 is a laser scanner (LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging)) which is rotationally driven inside the elevation unit 13 and measures the distance by irradiating a laser beam such as an infrared laser. The distance to the obstacle and the shape of the obstacle are calculated.
  • LIDAR Light Detection and Ranging or Laser Imaging Detection and Ranging
  • the surrounding sensor 32 is not limited to that provided to the elevating unit 13, and may be provided at any position of the body 10.
  • the rear sensor 33 is for detecting the distance and the position with respect to the charging station etc. which are not shown in figure, and performs communication by infrared rays etc. between the charging station etc.
  • the traveling drive unit 12 includes a pair of left and right wheels 121, and a motor (not shown) that rotationally drives the pair of wheels 121 independently.
  • an auxiliary wheel 122 is provided at the rear of the chassis 11.
  • the roller brush 141, the duct 142 (see FIG. 18), a suction fan (not shown), a dust collection chamber and an exhaust port are connected to the suction portion 14 and dust and the like sucked are collected by the filter in the dust collection chamber. The air drawn in is exhausted from the exhaust port.
  • a sub duct 143 serving as a dust collection path communicated with the arm 21 of the rotation cleaning portion 3 is connected to the duct 142 or the dust collection chamber of the suction portion 14.
  • control unit 5 controls a traveling control unit 41 that controls the traveling drive unit 12, a suction control unit 42 that controls the suction unit 14, a front sensor 31 of the sensor unit 4, a surrounding sensor 32, and a rear
  • FIG. 20 is a cross-sectional view showing the rotation cleaning unit 3 in an enlarged manner.
  • 21 and 22 are perspective views showing a cross section of the pivoting cleaning unit 3, respectively.
  • FIG. 23 is an enlarged bottom view of the pivoting cleaning unit 3 as viewed from below.
  • FIGS. 24A to 24 D are bottom views showing the operation of the rotation cleaning unit 3.
  • the first arm 21A of the arm 21 is formed in a hollow shape as a whole.
  • a cylindrical first inner cylinder portion (inner cylinder) 61 which protrudes upward and opens and a cylindrical portion 62 which protrudes downward are formed, and at the other end side, An annular second outer cylinder portion (second outer cylinder) 63 opened downward is formed.
  • the sub duct 143 is formed with an annular first outer cylinder portion (outer cylinder) 144 opened downward.
  • the first inner cylindrical portion 61 is inserted into the first outer cylindrical portion 144 and is rotatably supported by the first outer cylindrical portion 144 via a sliding ring 145 having a small coefficient of friction.
  • an annular bearing portion 11B is formed in the support portion 11A provided on the chassis 11, and the cylindrical portion 62 is inserted through the bearing portion 11B and is received via the sliding ring 11C having a small coefficient of friction. It is rotatably supported by the portion 11B.
  • the first arm 21A is made the cleaner body 2 by the first inner cylindrical portion 61 and the cylindrical portion 62 of the first arm 21A, and the first outer cylindrical portion 144 of the sub duct 143 and the bearing portion 11B of the chassis 11.
  • a rotation support portion rotatably supported is configured.
  • the second arm 21B is formed in a generally elongated bowl shape opened downward, and a cylindrical second inner cylinder portion (second inner cylinder) which protrudes and opens upward at the middle portion of the second arm 21B. 71 is formed.
  • the second inner cylindrical portion 71 is formed with a bent extension 72 extending upward, and the extension 72 is pivotally supported by the pin 73 on the inner surface of the first arm 21A.
  • the second inner cylindrical portion 71 is inserted into the second outer cylindrical portion 63 of the first arm 21A, and is rotatably supported by the second outer cylindrical portion 63 via a sliding ring 64 having a small coefficient of friction.
  • a second rotation support portion rotatably supporting the second arm 21B on the first arm 21A by the second inner cylinder portion 71 of the second arm 21B and the second outer cylinder portion 63 of the first arm 21A. Is configured.
  • the motor 22 is fixed to the inside of the body 10, and the rotation of the motor 22 is decelerated through the drive gear 22A fixed to the output shaft thereof and the driven gear 22B supported inside the body 10 By transmitting to the arm 21A, the first arm 21A is rotationally driven.
  • the motor 22 is provided with a load detection circuit (not shown) for detecting a load (rotational resistance) applied from the first arm 21A, and the load detection circuit constitutes a load sensor 23 (see FIG. 19).
  • the first inner cylindrical portion 61 of the first arm 21A is provided with a magnet holding portion 65 which extends upward and is in sliding contact with the inner surface of the top plate of the sub duct 143, and a permanent magnet 81 as a rotor is formed in the magnet holding portion 65. It is held.
  • a magnetic field sensor 82 for detecting a change in the magnetic field accompanying the rotation of the permanent magnet 81 and a substrate 83 having a detection circuit including the magnetic field sensor 82 are provided outside the top surface of the sub duct 143, that is, the dust collection path. , Is provided.
  • the magnetic field sensor 82 and the substrate 83 constitute an angle sensor 24 (see FIG. 19) as an angle detection unit that detects the rotation angle of the first arm 21A.
  • the second arm 21 B has a suction port 74 that opens downward and sucks dust and the like on the floor surface, and a downwardly concave cover 75 is attached to the inner side of the suction port 74.
  • the suction port 74 is in communication with the internal space of the first arm 21 A through the inside of the second inner cylindrical portion 71, that is, the second suction path 76 is configured by the inside of the second inner cylindrical portion 71.
  • the internal space of the first arm 21A is in communication with the internal space of the sub duct 143, which is the dust collection path, through the inside of the first inner cylindrical portion 61, that is, the suction path 66 is It is configured.
  • a coil spring 77 as a rotation urging means is provided on the upper side of the cover 75 which is the inside of the second arm 21B.
  • the coil spring 77 is a tension spring, and one end thereof is engaged with the projection 78 provided on the tip end side of the second arm 21B, and the other end is the tip end side of the first arm 21A (of the second outer cylindrical portion 63 It is locked to a projection 67 extending downward from the outside).
  • An arc-shaped long hole 79 (see FIG. 23) is formed in the second arm 21B along the outer periphery of the second inner cylindrical portion 71, and the protrusion 67 is inserted into the long hole 79.
  • the protrusions 67 are guided along the circumferential direction. Therefore, the rotation angle of the second arm 21B with respect to the first arm 21A is restricted by the circumferential length (the angle around the center of the second inner cylindrical portion 71) of the long hole 79.
  • the second arm 21B is rotatably supported by the first arm 21A, and is biased by the coil spring 77 toward the initial position shown in FIG. 24 (A). .
  • the protrusion 67 of the first arm 21A abuts on one end edge of the long hole 79 of the second arm 21B, whereby the rotation of the second arm 21B is restricted.
  • FIGS. 24B and 24C When an external force acts on the second arm 21B from the front (upper side in the figure) to the rear side (lower side in the figure), as shown in FIGS. 24B and 24C, the biasing force of the coil spring 77 is resisted.
  • the distal end side of the second arm 21B pivots rearward. Then, when it is rotated to the maximum rotation position shown in FIG.
  • the projection 67 abuts on the other end edge of the long hole 79, whereby the rotation of the second arm 21B is restricted.
  • the second arm 21 B is returned to the initial position by the biasing force of the coil spring 77.
  • the rotation cleaning unit 3 can function as a contact sensor (collision sensor) that uses the second arm 21B as a contactor (bumper).
  • the above-mentioned rotation cleaning part 3 is configured to rotate the arm 21 between the storage state and the projection state as shown in FIG.
  • the second arm 21B is positioned so as to overlap the front of the suction portion 14 as indicated by a phantom line (two-dot chain line) in FIG.
  • the width dimension of the suction portion 14 is W1
  • the width dimension of the second arm 21B is W2
  • the width dimension excluding a portion overlapping the suction portion 14 in the second arm 21B is W2a. Therefore, when the arm 21 is in the stored state, the cleaning width dimension obtained by combining the suction portion 14 and the left and right rotational cleaning portions 3 is (W1 + 2W2a).
  • the width dimension between the side end of the suction portion 14 and the outermost edge of the side surface portion 103 of the body 10 is W1a, and the outer end of the second arm 21B and the outermost edge of the side surface portion 103 of the body 10 The width dimension of and is W3.
  • the second arm 21B when the arm 21 is in the maximum projecting state orthogonal to the front-rear direction, the second arm 21B is positioned with a gap substantially on the side of the suction portion 14 and the width of this gap The dimension is W4.
  • the cleaning width dimension of the suction portion 14 and the left and right second arms 21B is (W1 + 2W2), and the width dimension between the outer end portions of the left and right second arms 21B is (W1 + 2W2 + 2W4).
  • the arm 21 can be further pivoted rearward from the maximum projecting state.
  • the control unit 5 raises the elevating unit 13 to drive the surrounding sensor 32 and drive the front sensor 31 and the rear sensor 33. Furthermore, the traveling control unit 41 of the control unit 5 controls driving of the traveling drive unit 12 according to a traveling program set in advance, and rotates the wheels 121 by a motor to cause the cleaner body 2 to self-propelled. As the cleaner body 2 travels, the suction control unit 42 controls the suction unit 14 to start the suction operation. At the start of the cleaning, the arm 21 of the rotational cleaning unit 3 is in the stored state shown in FIGS.
  • the self-propelled vacuum cleaner 1 having started operation operates while the self-propelled by the traveling drive unit 12 while detecting the presence or absence of an obstacle around and the distance to the obstacle by the front sensor 31 and the surrounding sensor 32 while the suction unit 14 Clean the floor surface. That is, based on detection signals from the front sensor 31 and the surrounding sensor 32, the detection calculation unit 43 calculates the distance to the obstacle to recognize the position and the shape of the obstacle around the cleaner body 2. Can. The position and the shape of the obstacle may be recognized by the calculation of the front sensor 31 or the surrounding sensor 32 regardless of the calculation of the detection calculation unit 43. Thus, while continuing traveling while recognizing the obstacle around the cleaner body 2, the self-propelled cleaner 1 is housed in the storage state of the rotation cleaning unit 3 or rotates the arm 21. Position in a projecting state or perform cleaning.
  • FIGS. 25 and 26 are plan views showing the operation of the self-propelled cleaner.
  • FIGS. 26 (A) to 26 (C) are plan views showing another operation of the self-propelled cleaner, showing an operation at the time of cleaning a wall edge and a corner of the wall.
  • the self-propelled cleaner 1 advances so that the width of the cleaning width dimension (W1 + 2W2a) is the suction portion 14 and It is cleaned by the left and right rotational cleaning units 3.
  • the portion of the width dimension W3 from the outer end of the second arm 21B to the outermost end edge of the body 10 is not cleaned, and even if it approaches the wall in this stored state. There will be an uncleanable band-like area near the wall. Therefore, when the wall surface W (see FIG. 26) is detected by the surrounding sensor 32, the arm 21 is rotated to be in a projecting state as shown in FIG. 25 (B) according to the distance to the wall surface W. .
  • the width dimension W2 of the second arm 21B is larger than the width dimension W3, so cleaning in the stored state It is possible to clean the wall without gaps including the band-like area which was not possible.
  • the self-propelled cleaner 1 drives the travel drive unit 12 to move forward while approaching the wall surface W and travels in parallel with the wall surface W while the arm 21 is pivoted to the maximum projecting state as described above.
  • the distance between the cleaner body 2 and the wall surface W may follow the map of the cleaning area stored in advance in the control unit 5, or may be based on the distance detected by the front sensor 31 or the surrounding sensor 32 It travels along the wall surface W so as to maintain the distance that the tip of the 2 arm 21B abuts on the wall surface W, or the distance that it approaches the closest without contacting the wall surface W.
  • the rotation angle of the first arm 21A is detected by the angle sensor 24 and the motor 22 is used.
  • the first arm 21A is pivoted to a predetermined angle.
  • FIG. 26A when the self-propelled cleaner 1 continues to move forward with the tip of the second arm 21B in contact with the wall surface W, the distance between the wall surface W and the cleaner body 2 approaches In this case, the distal end of the second arm 21B is pushed rearward, so that the second arm 21B pivots rearward against the biasing force of the coil spring 77.
  • the copy cleaning along the wall surface W is performed by the rotation of the second arm 21B.
  • the control unit 5 causes the traveling control unit 41 to drive-control the traveling drive unit 12 to stop it. , Turn away from the wall W on the side (right side of the figure) (left turn).
  • the tip of the second arm 21B separates from the side wall W, and the second arm 21B returns to the initial position by the biasing force of the coil spring 77, and the second arm
  • the load sensor 23 detects that the load on 21 B has disappeared. Based on this detection, the control unit 5 stops the turning by the traveling control unit 41 and then drives the motor 22 by the arm control unit 44 to reciprocate the arm 21 as shown in FIG.
  • the corner portion of the wall surface W is suctioned and cleaned by the rotational cleaning unit 3.
  • the rotation range of the arm 21 is adjusted based on the distance to the wall surface W, and the motor 22 is controlled before the tip of the second arm 21B contacts the wall surface W. Then, the rotational speed of the arm 21 is reduced.
  • the arm control unit 44 stops the motor 22 and fixes the first arm 21A.
  • the control unit 5 drives and controls the traveling drive unit 12 by the traveling control unit 41, changes the direction again, and moves forward, as shown in FIG. 26C, to the front wall W. Perform follow-up cleaning.
  • the drive control of the motor 22 of the rotation cleaning unit 3 is performed based on the presence or absence of the obstacle detected by the surrounding sensor 32, and the drive control of the traveling control unit 41 is performed based on the load detected by the load sensor 23.
  • the amount of protrusion of the arm 21 and the traveling operation of the cleaner body 2 can be finely controlled.
  • the load sensor 23 detects that the load on the second arm 21B is lost, and based on this detection, the turning is stopped and the arm control unit 44 controls the motor
  • the arm control unit 44 controls the motor
  • the motor 22 is controlled such that the pivoting speed of the arm 21 becomes slower as it approaches the obstacle, thereby suppressing the collision of the arm 21 with the obstacle.
  • the load can be reduced.
  • the rotation cleaning unit 3 includes the first arm 21A and the second arm 21B, the arms 21A and 21B are flexibly rotated according to the shape of the obstacle, and the cleaning by the rotation cleaning unit 3 is performed.
  • the range can be expanded, and the second arm 21B can reach the corner due to the wall or obstacle to clean the corner efficiently.
  • the first arm 21A is rotationally driven by the motor 22 with respect to the cleaner body 2, and the second arm 21B is urged in the rotational direction by the coil spring 77 with respect to the first arm 21A.
  • the second arm 21B is rotationally displaced by the elasticity of the coil spring 77, whereby the load on the first arm 21A and the motor 22 can be reduced.
  • the copy cleaning along the wall surface W can be performed without the second arm 21B being separated from the wall surface W even if the distance to the wall surface W is somewhat changed.
  • the rotation cleaning unit 3 By detecting the rotational load acting on the first arm 21A by the load sensor 23, the rotation cleaning unit 3 can be used as a contact type sensor, and the traveling control of the self-propelled cleaner 1 can be performed efficiently. It can be carried out.
  • the rotation cleaning unit 3 Since the rotation cleaning unit 3 has a suction cleaning function of sucking in dust and the like from the suction port 74 of the second arm 21B, the cleaning range can be expanded more efficiently.
  • this corner portion is located near the corner portion by the left and right rotation cleaning portions 3 being provided in the front portion of the cleaner body 2. Even if it is on the left or right, it can be cleaned reliably.
  • a suction passage 66 is formed by the inside of the first inner cylindrical portion 61 in the first arm 21A of the rotation cleaning unit 3, and the suction passage 66 is provided along the rotation axis of the rotation support unit of the first arm 21A.
  • the structure of the rotation support portion of the first arm 21A and the suction path 66 is simplified by communicating the inside of the first arm 21A with the inside of the sub duct 143 (the dust collection path) by the suction path 66. Can. Therefore, the drive load can be reduced and the suction performance can be improved while downsizing of the rotation cleaning unit 3 is achieved.
  • the rotation support portion of the first arm 21A has the first outer cylinder portion 144 of the cleaner body 2 and the first inner cylinder portion 61 of the first arm 21A, and the first inner cylinder portion 61 is the first outside
  • the suction path 66 is formed by the inside of the first inner cylindrical portion 61 while being inserted into the cylindrical portion 144, so that the suctioned dust and the like pass smoothly through the inside of the first inner cylindrical portion 61 to the sub duct 143. It is possible to prevent dust and the like from being caught and remaining in the suction path 66.
  • the second rotation support portion of the second arm 21B has the second outer cylinder portion 63, the second inner cylinder portion 71, and the second suction path 76, and the second inner cylinder is inserted into the second outer cylinder Because the second suction passage 76 is formed by the inside of the second inner cylinder, dust and the like sucked from the suction port 74 smoothly passes through the inside of the second inner cylinder portion 71 and the inside of the first arm 21A. It is possible to prevent dust and the like from being caught and remaining in the second suction path 76.
  • the permanent magnet 81 is provided on the first arm 21A, and the magnetic field sensor 82 and the substrate 83 are provided on the outside of the sub duct 143 of the vacuum cleaner main body 2 so that dust is generated on the magnetic field sensor 82 and the substrate 83 And the like can be prevented. Further, by detecting the rotation angle of the first arm 21A by the angle sensor 24 based on the position of the permanent magnet 81, the state of the rotation cleaning unit 3 can be grasped.
  • the present invention is not limited to the above-described embodiment, and modifications, improvements, and the like as long as the object of the present invention can be achieved are included in the present invention.
  • the left and right rotary cleaning units (peripheral cleaning units) 3 are provided at the front of the cleaner main body 2. It may be provided not only in the front part but also in the side part or the rear part, and may be provided only in one place without being limited to the one provided in the left and right pair, or may be provided in three or more places Good.
  • the pivoting cleaning portion (peripheral cleaning means) 3 has a pivotable arm (rotating body) 21 and the arm 21 is a first arm (first pivoting body) 21A and a second arm (a first pivoting body).
  • the configuration of the surrounding cleaning means is not limited to that of the above embodiment. That is, the protrusion of the surrounding cleaning means is not limited to the pivotable arm 21 but may be provided so as to be able to project and retract linearly or curvilinearly outward from the cleaner body.
  • a protrusion may be comprised by one member not only by what was comprised by two members like the 1st rotation body and the 2nd rotation body, and it is comprised having three or more members. May be
  • the rotational cleaning unit (peripheral cleaning means) 3 is configured to have a suction cleaning function of sucking in dust etc. from the suction port 74 of the second arm 21B.
  • the peripheral cleaning means has a suction cleaning function. It is possible to have a sweeping cleaning function that collects dust and the like on the floor surface with a brush or rubber scraper etc. toward the main cleaning means, or to use a mop or rag (sheet) etc. It may have a wiping and cleaning function to wipe off dirt, and may have a fluid ejection function to blow out air and water to clean the floor surface.
  • the first arm (first rotation body) 21A is rotationally driven by the motor (rotational driving unit) 22 with respect to the cleaner body 2, and the first arm
  • the second arm (second rotating body) 21B is configured to be biased in the rotational direction by the coil spring (rotational biasing means) 77 with respect to 21A
  • the present invention is not limited to such a configuration. That is, the first rotating body may be biased by the rotation biasing means with respect to the cleaner body, and the second rotating body may be rotationally driven by the rotational driving means with respect to the first rotating body. At least one of the rotation biasing means may be omitted.
  • the rotation drive means may be configured by not only the motor but also other suitable drive means, and the rotation biasing means may be configured by not only the coil spring but any other suitable biasing means.
  • the rotation sensor (load detection unit) 23 detects the rotational load applied to the first arm 21A by the rotation cleaning unit (peripheral cleaning unit) 3, and the angle sensor (detects the rotation angle of the first arm 21A) Although it was comprised having angle detection means 24), at least one of a load detection means and an angle detection means may be omitted.
  • the load detection means is not limited to one configured by a load detection circuit that detects a rotational resistance acting on the motor 22, and a load may be detected directly by a strain gauge, a load meter, or the like.
  • the angle detection means is not limited to one including the permanent magnet 81 and the magnetic field sensor 82, and any sensor such as an optical sensor or an electromagnetic sensor can be used.
  • the present invention can be suitably used for a self-propelled cleaner capable of efficiently cleaning the periphery of the cleaner body.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
PCT/JP2017/031740 2017-09-04 2017-09-04 自走式掃除機 WO2019043937A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2019538902A JP6935943B2 (ja) 2017-09-04 2017-09-04 自走式掃除機
PCT/JP2017/031740 WO2019043937A1 (ja) 2017-09-04 2017-09-04 自走式掃除機
EP17923582.5A EP3679847A4 (de) 2017-09-04 2017-09-04 Selbstangetriebener staubsauger
US16/643,934 US20200405110A1 (en) 2017-09-04 2017-09-04 Self-propelled vacuum cleaner
CN201780094080.3A CN111093451B (zh) 2017-09-04 2017-09-04 自走式扫除机

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PCT/JP2017/031740 WO2019043937A1 (ja) 2017-09-04 2017-09-04 自走式掃除機

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EP (1) EP3679847A4 (de)
JP (1) JP6935943B2 (de)
CN (1) CN111093451B (de)
WO (1) WO2019043937A1 (de)

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CN114246511A (zh) * 2020-09-23 2022-03-29 广东美的白色家电技术创新中心有限公司 清洁设备
CN116919260A (zh) * 2022-04-08 2023-10-24 北京石头世纪科技股份有限公司 清洁机器人
CN116269050B (zh) * 2023-03-24 2024-02-13 麦岩智能科技(北京)有限公司 一种贴边清洁装置、清扫机器人以及控制方法

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US20200405110A1 (en) 2020-12-31
JP6935943B2 (ja) 2021-09-15
JPWO2019043937A1 (ja) 2020-04-09
EP3679847A1 (de) 2020-07-15
CN111093451B (zh) 2021-11-02
CN111093451A (zh) 2020-05-01

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