WO2020084985A1 - Self-propelled mobile body system - Google Patents

Self-propelled mobile body system Download PDF

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Publication number
WO2020084985A1
WO2020084985A1 PCT/JP2019/037364 JP2019037364W WO2020084985A1 WO 2020084985 A1 WO2020084985 A1 WO 2020084985A1 JP 2019037364 W JP2019037364 W JP 2019037364W WO 2020084985 A1 WO2020084985 A1 WO 2020084985A1
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WO
WIPO (PCT)
Prior art keywords
locked
hook
cleaner body
cleaner
main body
Prior art date
Application number
PCT/JP2019/037364
Other languages
French (fr)
Japanese (ja)
Inventor
泰成 井口
内山　亘
荻野　弘之
尾関　祐仁
Original Assignee
パナソニックＩｐマネジメント株式会社
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
Priority claimed from JP2018200537A external-priority patent/JP7113352B2/en
Priority claimed from JP2018200535A external-priority patent/JP2020065746A/en
Priority claimed from JP2018200536A external-priority patent/JP2020065747A/en
Priority claimed from JP2018200538A external-priority patent/JP2020065749A/en
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Publication of WO2020084985A1 publication Critical patent/WO2020084985A1/en

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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
    • 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

Definitions

  • the present invention relates to a self-propelled mobile body system including a self-propelled mobile body and a mobile body holding device.
  • the conventional autonomously movable vacuum cleaner described in Patent Document 1 includes a cleaner body and a base station.
  • the base station uses a lifting device to lift from a substantially horizontal operating position of the cleaner body to a substantially vertical parking position. As a result, at the parking position, the floor area (projected area) covered by the vacuum cleaner is reduced to save space.
  • a self-propelled mobile object system includes a main body and a mobile object holding device that holds the main body.
  • the moving body holding device includes a locking portion that locks the main body, and an elevating drive portion that raises and lowers the locking portion.
  • the main body includes a drive unit that is driven to move the main body, and a locked portion that is locked by the locking unit of the moving body holding device when held by the moving body holding device.
  • the locking portion and the locked portion each have a conductive portion having conductivity. The conductive portion of the locking portion and the conductive portion of the locked portion are in contact with each other when the locking portion and the locked portion are locked so that the main body can be lifted, and the locking portion and the locking portion can be lifted. It is configured so as not to come into contact with each other when the locked portion is not locked.
  • FIG. 1 is a functional block diagram showing a schematic configuration of a self-propelled cleaner system according to Embodiment 1 of the present invention.
  • FIG. 2 is a perspective view of the cleaner body of the self-propelled cleaner system seen from above.
  • FIG. 3 is a perspective view of the cleaner body of the self-propelled cleaner system as seen from below.
  • FIG. 4 is a perspective view of a charging station of the self-propelled cleaner system.
  • FIG. 5 is a perspective view showing a state where the cleaner body is held at the charging station.
  • FIG. 6A is a diagram schematically showing how the charging station hoists and stores the cleaner body.
  • FIG. 6B is a diagram schematically showing how the same charging station hoists and stores the cleaner body.
  • FIG. 6A is a diagram schematically showing how the charging station hoists and stores the cleaner body.
  • FIG. 6C is a diagram schematically showing how the charging station hoists and stores the cleaner body.
  • FIG. 6D is a diagram schematically showing how the charging station hoists and stores the cleaner body.
  • FIG. 7: is a flowchart which shows the procedure in which the same charging station hoists and stores a cleaner body.
  • FIG. 8 is a schematic cross-sectional view showing a configuration example of the hook of the charging station and the locked portion of the cleaner body.
  • FIG. 9A is a diagram showing a good locked state of the hook and the locked portion in the configuration example shown in FIG. 8.
  • 9B is a diagram showing a good locked state of the hook and the locked portion in the configuration example shown in FIG. 8.
  • FIG. 9A is a diagram showing a good locked state of the hook and the locked portion in the configuration example shown in FIG. 8.
  • FIG. 10 is a diagram showing an insufficient locked state between the hook and the locked portion in the configuration example shown in FIG.
  • FIG. 11A is a diagram showing a good locked state of the hook and the locked portion in another configuration example of the self-propelled cleaner system.
  • FIG. 11B is a diagram showing a good locked state of the hook and the locked portion in another configuration example of the self-propelled cleaner system.
  • FIG. 12 is a diagram showing an insufficient locking state between the hook and the locked portion in the configuration example shown in FIGS. 11A and 11B.
  • FIG. 13 is a functional block diagram which shows schematic structure of the charging station of the self-propelled (vacuum) cleaner system which concerns on Embodiment 2 of this invention.
  • FIG. 13 is a functional block diagram which shows schematic structure of the charging station of the self-propelled (vacuum) cleaner system which concerns on Embodiment 2 of this invention.
  • FIG. 14 is a functional block diagram which shows schematic structure of the charging station of the self-propelled (vacuum) cleaner system which concerns on Embodiment 3 of this invention.
  • FIG. 15 is a perspective view which shows schematically the structure of the surroundings sensor of the self-propelled (vacuum) cleaner system which concerns on Embodiment 4 of this invention.
  • FIG. 16 is a figure which shows typically the state of a surrounding sensor when the cleaner body of the same self-propelled cleaner system is hold
  • a conductive portion having conductivity is provided in each of the locking portion and the locked portion. Then, when the locked portion and the locking portion come into contact with each other, the conductive portion of the locking portion and the conductive portion of the locked portion are mutually Configure to contact. On the other hand, the conductive portion of the locking portion and the conductive portion of the locked portion do not come into contact with each other when the locking portion does not lock the main body so that the main body can be lifted.
  • the electrical connection between the locking portion and the locked portion it is possible to accurately detect the locked state between the main body of the self-propelled mobile body system and the mobile body holding device. As a result, the safety of the self-propelled vehicle system can be enhanced.
  • a self-propelled cleaner system 1 including a cleaner body 2 and a charging station 6 will be described as an example of a self-propelled moving body system including a self-propelled moving body and a moving body holding device. .
  • the overall configuration and operation of the self-propelled vacuum cleaner system 1 will be described. Further, as the first embodiment, an abnormality in the locking state between the locking portion of the charging station 6 that holds the cleaner body 2 as an example of the body in a suspended state and the locked portion of the cleaner body 2 is detected. The technique for doing so will be described. As a second embodiment, an operation when an abnormality in the locked state of the cleaner body 2 is detected will be described. As a third embodiment, an operation when an abnormality in the installation state of charging station 6 is detected will be described. As a fourth embodiment, a technique of protecting a sensor provided in the cleaner body 2 of the self-propelled cleaner system 1 will be described.
  • FIG. 1 is a functional block diagram showing a schematic configuration of a self-propelled cleaner system 1 according to the first embodiment.
  • FIG. 2 is a perspective view of the cleaner body 2 of the self-propelled cleaner system 1 as seen from above.
  • FIG. 3 is a perspective view of the cleaner body 2 of the self-propelled cleaner system 1 as seen from below.
  • FIG. 4 is a perspective view of the charging station 6 of the self-propelled cleaner system 1.
  • FIG. 5 is a perspective view showing a state where the cleaner body 2 is held by the charging station 6.
  • a self-propelled cleaner system 1 has a cleaner body 2 that is a body, a charging station 6 that functions as a moving body holding device, and the like.
  • the cleaner body 2 is, for example, a cleaning robot that cleans while traveling along the floor surface, and constitutes a self-propelled moving body.
  • the charging station 6 holds one end of the cleaner main body 2 in a suspended state when it is not cleaned, as will be described later.
  • holding the cleaner body 2 in the charging station 6 may be described as “storage” or “storage”.
  • the cleaner main body 2 includes a body 10 (see FIG. 2), a surrounding cleaning unit 3, a sensor unit 4, a control unit 5, a main body operation unit 15, a traveling drive unit 12, a suction unit 14, and the like.
  • the surrounding cleaning unit 3 collects and cleans dust and dirt around the cleaner body 2.
  • the sensor unit 4 detects an obstacle around the cleaner body 2.
  • the control unit 5 drives and controls the cleaner body 2, the surrounding cleaning unit 3, the sensor unit 4, and the like.
  • the main body operation unit 15 receives an input from a user or the like in order to operate the cleaner main body 2.
  • the traveling drive unit 12 has a pair of left and right wheels 121 and allows the cleaner body 2 to travel by itself.
  • the suction unit 14 sucks dust, dust, and the like on the floor collected in the surrounding cleaning unit 3 into the inside.
  • the sensor unit 4 includes a front sensor 31, a surrounding sensor 32, an infrared communication unit 33, and the like.
  • the front sensor 31 is arranged on the front surface portion 102 of the body 10 shown in FIG.
  • the ambient sensor 32 is rotatably provided inside the cover portion 13 protruding upward from the upper surface portion 101 of the body 10.
  • the infrared communication unit 33 is arranged on the front surface portion 102 of the body 10.
  • the front sensor 31 is composed of, for example, an ultrasonic sensor or an infrared sensor, and detects an obstacle existing in front of the cleaner body 2.
  • the ambient sensor 32 is composed of a laser scanner (LIDAR (Light Detection and Ranging or Laser Imaging and Ranging)) that measures a distance by irradiating a laser beam such as an infrared laser, for example, and a distance to an obstacle or an obstacle. Calculate the shape of an object.
  • the ambient sensor 32 is not limited to being arranged inside the cover 13, and may be provided at any position on the body 10.
  • the infrared communication unit 33 communicates with an infrared light emitting unit 53C (see FIG. 4) of the position detecting unit 53 of the charging station 6 described later by infrared rays or the like. Thereby, the position detection unit 53 detects the distance and position of the cleaner body 2 with respect to the charging station 6.
  • the surrounding cleaning unit 3 includes a rotatable brush 21, a motor 22, a load sensor 23, an angle sensor 24, and the like.
  • the brushes 21 are provided on the front portion of the cleaner body 2 in a pair of left and right so as to project from the side of the cleaner body 2 and rotate.
  • the motor 22 rotationally drives the brush 21.
  • the load sensor 23 detects a load or the like acting on the motor 22 from the outside.
  • the angle sensor 24 detects the rotation angle of the brush 21.
  • the control unit 5 includes a traveling control unit 41, a suction control unit 42, a detection calculation unit 43, a brush control unit 44, a sensor control unit 45, and the like.
  • the traveling control unit 41 controls the traveling drive unit 12 that drives the wheels 121.
  • the suction control unit 42 controls the operation of the suction unit 14 (for example, a suction fan).
  • the detection calculation unit 43 calculates and processes information input from the front sensor 31, the surrounding sensor 32, the infrared communication unit 33, the load sensor 23 of the surrounding cleaning unit 3, the angle sensor 24, and the like, which configure the sensor unit 4.
  • the brush control unit 44 drives and controls the motor 22 of the surrounding cleaning unit 3 to rotate the brush 21.
  • the sensor control unit 45 controls the operations of the front sensor 31, the ambient sensor 32, the infrared communication unit 33, the load sensor 23 of the ambient cleaning unit 3, the angle sensor 24, and the like, which configure the sensor unit 4.
  • the main body operation unit 15 includes a touch sensor type switch (not shown) and the like, and is provided, for example, on the upper surface portion 101 of the cleaner main body 2. Specifically, the main body operation unit 15 operates the cleaner main body 2 by a touch operation by the user, and stops the cleaner main body 2 by a touch operation during operation.
  • the charging station 6 functions as a moving body holding device of the self-propelled vacuum cleaner system 1.
  • the charging station 6 includes a lifting drive unit 51, a charging unit 52, a position detection unit 53, a charging control unit 54, and the like.
  • the up-and-down drive section 51 moves up and down the hook 64 (see FIG. 4) that constitutes the locking section.
  • the charging unit 52 supplies power to the battery of the cleaner body 2 to charge it.
  • the position detection unit 53 communicates with the infrared communication unit 33 of the cleaner body 2 that has returned to the charging station 6 to detect the position of the cleaner body 2.
  • the charging control unit 54 controls the power supply to the battery of the cleaner body 2 by the charging unit 52.
  • the charging station 6 is installed in a predetermined position in the room, for example, in an immovable state, and is connected to a power source such as an outlet.
  • the body 10 constitutes a casing of the cleaner body 2 as shown in FIG.
  • the body 10 has a cover portion 13 provided on the upper surface portion 101 so as to project upward, and a surrounding sensor 32 arranged inside the cover portion 13.
  • a front sensor 31, an infrared communication unit 33, and the like are arranged on the front surface portion 102 of the body 10.
  • the side on which the front sensor 31 of the cleaner body 2 is arranged is referred to as the front and the opposite side is referred to as the rear, as shown in, for example, FIG. Further, the left side of the cleaner body 2 as viewed from the front and the right side thereof as the right will be described. Further, the floor side (the side where the brush 21 is arranged) is the lower side, and the opposite side (the upper surface 101 side of the body 10) is the upper side.
  • the cleaner body 2 includes a chassis 11, a traveling drive unit 12, a suction unit 14, a carpet pressing unit 19, an auxiliary wheel 122, a roller unit 123, etc., which are arranged on the bottom surface 105.
  • the traveling drive unit 12 has a pair of left and right wheels 121 and allows the cleaner body 2 to travel by itself.
  • the suction unit 14 sucks in dust and dirt on the floor collected by the surrounding cleaning unit 3.
  • the carpet pressing unit 19 presses a rug such as a carpet laid on the floor surface in front of the cleaner body 2.
  • the auxiliary wheel 122 and the roller portion 123 are provided on the rear side of the chassis 11 and are involved in the movement of the cleaner body 2 together with the traveling drive unit 12.
  • a roller brush is arranged in the suction unit 14, and is connected so as to communicate with, for example, a duct, a suction fan, a dust collection chamber, an exhaust port, and the like. Then, the cleaner body 2 is configured to collect the dust and the like sucked from the suction portion 14 by the filter of the dust collecting chamber (not shown) and exhaust the sucked air from the exhaust port.
  • the charging station 6 includes a base portion 61 placed on the floor surface, a pillar portion 62 rising from the base portion 61, a pair of hooks 64, and the like.
  • the hook 64 functions as a locking portion that lifts the cleaner body 2.
  • the base portion 61 and the pillar portion 62 are provided with the elevating and lowering drive portion 51, the charging portion 52, the charging control portion 54, etc., which are disposed inside, as shown in FIG. 1.
  • the side where the pillar portion 62 of the charging station 6 is arranged is the front side and the opposite side where the base portion 61 is extended is the rear side, as shown in, for example, FIG. Further, the left side of the charging station 6 as viewed from the front and the right side as the right will be described. Furthermore, the floor surface side (base portion 61 side) will be described as a lower side and the opposite side as an upper side.
  • the base 61 has a slope 61C formed in the center of the upper surface.
  • the slope 61C guides the bottom surface portion 105 of the body 10 of the cleaner body 2 so as to smoothly move toward the hook 64.
  • the slope 61C is formed with an upward slope that inclines from the rear side toward the front side.
  • the slope 61C guides the bottom surface portion 105 on the front side of the cleaner body 2 approaching toward the charging station 6 obliquely upward.
  • the cleaner body 2 can be lifted by the hook 64 in a state where the bottom portion 105 on the front side of the cleaner body 2 is tilted upward.
  • the cleaner body 2 can be lifted up more smoothly.
  • the roller portion 123 provided on the bottom surface portion 105 on the rear side of the cleaner body 2 comes into contact with the floor surface and the slope 61C and moves like a roller. Therefore, the end of the bottom surface portion 105 on the rear side of the cleaner body 2 smoothly moves to the front of the charging station 6 (the pillar portion 62) without contacting the floor surface or the slope 61C. Further, when the cleaner main body 2 held in the suspended state is lowered, the roller portion 123 guides the bottom surface part 105 on the rear side of the cleaner main body 2 so as to descend along the slope of the slope 61C. Thereby, the cleaner body 2 can be smoothly lowered. At this time, the roller portion 123 comes into contact with the floor surface or the slope 61C and moves like a roller. Therefore, the cleaner body 2 is smoothly moved to the rear of the charging station 6 by the roller portion 123 without the end portion of the bottom surface portion 105 on the rear side contacting the floor surface or the slope 61C.
  • the pillar portion 62 includes an infrared light emitting portion 53C that is provided on the rear surface side of the pillar portion 62 and that constitutes the position detecting portion 53. Then, the infrared communication unit 33 of the cleaner body 2 receives the infrared light emitted by the infrared light emitting unit 53C. As a result, the cleaner body 2 moves toward the charging station 6 and detects the left-right position and distance of the cleaner body 2 itself with respect to the charging station 6. Then, the cleaner body 2 moves while appropriately adjusting the operation of the traveling drive unit 12 based on the detected position and distance, and reaches a predetermined mounting position (docking position, hoistable position) in the charging station 6. ).
  • the pillar portion 62 includes a pair of left and right slits 62E formed in the vertical direction.
  • the slit 62E guides the hook 64 in the vertical direction.
  • the rear surface of the pillar portion 62 and the slit 62E are provided so as to be inclined forward as they go upward. Due to this inclination, as shown in FIG. 5, the front portion side of the cleaner body 2 is lifted obliquely upward. As a result, the cleaner body 2 can be stably and smoothly hoisted as compared with the case where the cleaner body 2 is hoisted in the vertical direction. That is, the pillar portion 62 of the charging station 6 formed obliquely causes the cleaner body 2 to lean against the charging station 6 (state of FIG. 5), so that the cleaner body 2 can be stably pulled up.
  • the hook 64 is provided so as to be able to move up and down along the slit 62E from the base portion 61 to the column portion 62, and is driven by the lifting drive unit 51.
  • the hook 64 has a hooking position at which the cleaner body 2 can be locked and a lifting position from a retracted position H1 below the upper surface of the slope 61C of the base 61, which will be described later with reference to FIGS. 6A to 6D. It is configured to be able to move up and down through the first storage position H2 on the way to the uppermost second storage position H3.
  • the charging unit 52 has a hook 64 that moves up and down and a plurality of power supply terminals that are in contact with each other at a predetermined position and that can supply power.
  • the power supply terminals of the plurality of charging units 52 are provided, for example, at a locking position before hoisting, a first storage position H2 during hoisting, and a second storage position H3 after hoisting, and the hook 64 and the power feeding terminal at each position. And are electrically connected. That is, the hook 64 for lifting the cleaner body 2 functions as a power supply terminal.
  • the battery of the suspended cleaner main body 2 can be supplied with power to charge the battery at the predetermined position without separately preparing a power supply terminal.
  • the cleaner body 2 has a pair of locked portions 16 provided in the left-right direction on the front side of the bottom surface portion 105.
  • the pair of locked portions 16 are provided at positions corresponding to the pair of hooks 64 of the charging station 6, and are locked by the pair of hooks 64 when the cleaner body 2 is lifted.
  • the locked portion 16 is electrically connected to a battery (not shown) of the cleaner body 2 and functions as a charging terminal of the cleaner body 2.
  • the position detection unit 53 of the charging station 6 further includes a hall sensor 53A arranged on the base 61 in addition to the infrared light emitting unit 53C.
  • the cleaner body 2 includes a magnet (not shown) arranged on the front side of the bottom surface portion 105.
  • the hall sensor 53A detects, for example, a magnetic field of the magnet of the cleaner body 2 when the cleaner body 2 moves on the slope 61C of the base 61 and returns to the docking position where it can be lifted by the hook 64. Thereby, the position detector 53 detects that the cleaner body 2 has returned to the docking position of the charging station 6.
  • the lifting drive unit 51 keeps the hook 64 lowered to the retracted position H1 until the position detection unit 53 detects that the cleaner body 2 has returned to the docking position. That is, the hook 64 and the locked portion 16 do not come into contact with each other while the cleaner body 2 is moving on the slope 61C. As a result, sliding contact between a portion of the cleaner body 2 (for example, the lower portion on the front end side of the bottom surface portion 105) and the hook 64 is prevented. Therefore, it is possible to reduce wear of the bottom surface portion 105 of the cleaner body 2 and the hook 64. Further, even when the cleaner body 2 is not present in the charging station 6, the hook 64 does not protrude from the base 61. As a result, it is possible to prevent the charging station 6 from tipping over, which may occur when, for example, a person's foot or clothes are caught on the hook 64.
  • the lift drive unit 51 raises the hook 64 to the locking position, and the hook 64 is locked by the cleaner body 2. The part 16 is locked. Then, the hook 64 is raised while the hook 64 and the locked portion 16 of the cleaner body 2 are securely locked. Thereby, as shown in FIG. 5, the cleaner body 2 can be stably hung on the charging station 6.
  • FIG. 6A to 6D are diagrams schematically showing the charging station 6 hoisting and storing the cleaner body 2 in chronological order.
  • FIG. 7 is a flowchart showing a procedure in which the charging station 6 hoists and stores the cleaner body 2.
  • the cleaner body 2 After cleaning the floor surface, the cleaner body 2 returns to the vicinity of the charging station 6 and executes an operation for returning to the charging station 6 (step ST1). Specifically, first, the control unit 5 drives the traveling control unit 41 so that the infrared communication unit 33 of the front surface portion 102 of the cleaner body 2 faces the infrared light emitting unit 53C of the charging station 6, for example. Then, the infrared communication unit 33 of the cleaner body 2 receives the infrared light emitted from the infrared light emitting unit 53C of the charging station 6.
  • the control unit 5 detects the distance and the position of the cleaner body 2 with respect to the charging station 6 and calculates the detection unit 43 based on the information on the received infrared rays, and then cleans the charging station 6 toward the charging station 6.
  • the cleaner body 2 approaches the base 61 of the charging station 6, and the cleaner body 2 moves so that the bottom surface 105 of the body 10 rides on the slope 61C of the base 61.
  • the cleaner body 2 is guided obliquely upward along the slope 61C of the base 61.
  • the control unit 5 determines whether or not the cleaner body 2 has reached the docking position of the charging station 6 (step ST2). Specifically, it is determined whether or not the hall sensor 53A of the position detector 53 has detected the magnetic field of the magnet of the cleaner body 2. At this time, when the position detector 53 detects that the cleaner body 2 has moved to the docking position (YES in step ST2), the infrared communication unit 33 of the sensor unit 4 of the cleaner body 2 is received via the infrared light emitting unit 53C. The information is emitted to the cleaner main body 2 and the cleaner main body 2 is notified.
  • the control unit 5 stops driving the traveling drive unit 12 of the cleaner body 2.
  • the elevating / lowering drive unit 51 retracts the hook 64 to the retreat position H1 below the upper surface of the slope 61C. Keep it.
  • the controller 5 causes the cleaner The main body 2 is once retracted from the charging station 6 (step ST20). Then, the control unit 5 performs the returning operation of the cleaner body 2 to the charging station 6 again (step ST1).
  • step ST2 when it is detected that the cleaner body 2 has moved to the docking position (YES in step ST2), the lifting drive unit 51 of the charging station 6 raises the hook 64 from the retracted position H1 to the locking position, and the cleaner body is The locked portion 16 of No. 2 is locked. Then, the charging unit 52 and the battery of the cleaner body 2 are electrically connected via the hook 64 and the locked portion 16. As a result, the battery of the cleaner body 2 is supplied with power from the charging unit 52 and charged by the charging control unit 54.
  • the lifting drive unit 51 lowers the hook 64 to the retracted position H1.
  • the hooked state of the hook 64 of the charging station 6 and the locked portion 16 of the cleaner body 2 is released.
  • the control unit 5 drives the traveling drive unit 12 to separate the cleaner body 2 from the charging station 6, and starts cleaning again.
  • the elevating / lowering drive unit 51 further raises the hook 64 with the hook 64 and the engaged portion 16 of the cleaner body 2 locked. .
  • the hook 64 rises, the front side of the cleaner body 2 is lifted obliquely upward along the inclination of the pillar portion 62 of the charging station 6.
  • the auxiliary wheel 122 of the cleaner body 2 rolls along the floor surface. Further, the auxiliary wheel 122 rides on the slope 61C of the base 61 and rolls along the slope 61C. As a result, the rear end of the cleaner body 2 is smoothly guided along the slope of the slope 61C.
  • the hook 64 moves up from the retracted position H1 to the first stored position H2 via the locking position (not shown). Then, the raising of the hook 64 is stopped (step ST3). Then, the charging control unit 54 supplies power to the battery of the cleaner body 2 from the charging unit 52 of the charging station 6 via the power supply terminal (corresponding to the hook 64). At this time, the charging control unit 54 confirms whether or not the hook 64, which is a power feeding terminal of the charging station 6, and the charging terminal of the locked portion 16 of the cleaner body 2 are electrically connected (step ST4). Thereby, the locked state of the locked portion 16 and the hook 64 can be confirmed.
  • the cleaner body 2 in the first storage position H2, the cleaner body 2 is in a state of being slightly lifted from the mounting position on the slope 61C. At this time, if the locked portion 16 and the hook 64 are aligned with each other, the locked portion 16 is pressed against the hook 64 by the weight of the cleaner body 2, and the hook 64 engages with the locked portion 16. It is in a state of being put in. Therefore, in the mounting position, the locked state can be more accurately confirmed by the presence / absence of conduction than in the case where the user visually checks the locked state between the locked portion 16 and the hook 64.
  • the charging control unit 54 stops the power supply from the charging unit 52. Then, the elevating / lowering drive unit 51 further raises the hook 64, as shown in FIG. 6C.
  • the hook 64 reaches the second storage position H3, as shown in FIG. 6D, the cleaner body 2 is stored in the charging station 6 in a state in which the front side is directed obliquely upward or upward.
  • the charging portion 52 and the battery of the cleaner body 2 are electrically connected via the hook 64 and the locked portion 16.
  • the charging control unit 54 supplies power to the battery from the charging unit 52 to charge the battery.
  • the elevating / lowering drive unit 51 lowers the hook 64 to the retracted position H1. At this time, the front end of the cleaner body 2 also descends to the slope 61C of the base 61.
  • the control unit 5 drives the traveling drive unit 12 of the cleaner body 2 to disengage it from the charging station 6, and starts cleaning again.
  • the control unit 5 temporarily retracts the cleaner body 2 from the charging station 6 (step ST20). Then, it is more preferable that the control unit 5 performs the control operation so that the returning operation of the cleaner body 2 to the charging station 6 is performed again (step ST1).
  • the self-propelled vacuum cleaner system 1 temporarily stops the lifting of the hook 64 at the first storage position H2 that is lower than the second storage position H3 of the charging station 6. Then, in the first storage position H2, the hook 64 and the locked portion 16 of the cleaner body 2 are electrically connected to each other to check the locked state. At this time, if conduction is confirmed, the hook 64 is further raised to the second storage position H3. Therefore, it is possible to reduce the occurrence of an unforeseen situation such that the engaged portion 16 of the cleaner body 2 is disengaged from the hook 64 of the charging station 6 and the cleaner body 2 falls during the ascent.
  • the charging station 6 holds and stores the front side of the cleaner body 2 in a suspended state. Thereby, the projected area of the held cleaner main body 2 with respect to the floor surface can be reduced. Further, the space occupied by the self-propelled cleaner system 1 including the cleaner main body 2 in the holding state and the charging station 6 can be reduced.
  • each of the locked portion 16 of the cleaner body 2 and the hook 64 that is the locking portion of the charging station 6 is made of a conductive material such as metal. Has a conductive portion formed of a material having. Then, in the first storage position H2 or the like shown in FIG. 6B, the conduction between the hook 64 and the locked portion 16 is confirmed. When the conduction is confirmed, it is determined that the hook 64 and the locked portion 16 are in a good locked state, and the cleaner body 2 is lifted to the second storage position H3 via the hook 64 and stored.
  • the hook 64 and the locked portion 16 are in an abnormal locked state, if the hook 64 and the locked portion 16 are configured to be electrically conductive, the abnormal locked state may occur. There is a possibility that it cannot be detected accurately.
  • the hook 64 of the charging station 6 and the engaged portion 16 of the cleaner body 2 are provided with conductive portions.
  • the conductive part of the hook 64 and the conductive part of the locked part 16 are configured to come into contact with each other.
  • the conductive portion of the hook 64 and the conductive portion of the locked portion 16 do not come into contact with each other.
  • the conduction between the conductive portion of the hook 64 and the conductive portion of the locked portion 16 makes it possible to accurately confirm whether the locked state of the hook 64 and the locked portion 16 is normal or abnormal. As a result, it is possible to prevent an unexpected situation such as a fall of the cleaner body 2 from occurring and improve the safety of the self-propelled cleaner system 1.
  • FIG. 8 is a schematic sectional view showing a configuration example of the hook 64 of the charging station 6 and the locked portion 16 of the cleaner body 2.
  • the locked portion 16 of the cleaner main body 2 is an electrode having a recess 17 provided in the bottom surface 105 of the cleaner main body 2 and a protrusion 18a provided in the recess 17 and serving as a conductive portion. 18 and.
  • the electrode 18 is an inner surface on the front side of the concave portion 17 that is the upper side in a state where the cleaner body 2 is suspended and held in the charging station 6, and the protrusion 18 a is located behind the cleaner body 2. It is provided in the shape of, for example, an L shape, which is bent in the direction of.
  • the hook 64 is formed of a conductive material such as a metal such as copper or iron, and constitutes a conductive portion.
  • the horizontal bar portion 69 and a protruding portion 65 provided at the tip of the horizontal bar portion 69 by being bent upward. Including and That is, the hook 64 is formed, for example, in an L shape by the horizontal bar portion 69 and the protruding portion 65.
  • the projecting portion 65 is engaged with the recessed portion 17 of the locked portion 16 of the cleaner body 2 when locked.
  • the hook 64 has an insulating portion 66 which is provided on the upper surface of the protruding portion 65 that is engaged with the recess 17 and is made of a material such as vinyl chloride.
  • 9A and 9B are diagrams showing a state where the hook 64 and the locked portion 16 are properly locked in the configuration example shown in FIG. 8.
  • the elevating / lowering drive unit 51 further raises the hook 64 to the second storage position H3.
  • the cleaner body 2 is in a good locked state (the L-shaped protrusion 65 of the hook 64 and the L-shaped protrusion 18a of the electrode 18 mesh with each other).
  • the contact between the conductive portion of the hook 64 and the electrode 18 is maintained. Therefore, the battery of the cleaner body 2 can be charged by supplying power from the hook 64 to the electrode 18.
  • FIG. 10 is a diagram showing an insufficiently locked state between the hook 64 and the locked portion 16 in the configuration example shown in FIG.
  • the lifting drive unit 51 hooks. Even if 64 is raised to the first storage position H2, the protrusion 65 of the hook 64 does not engage with the recess 17 of the cleaner body 2. At this time, if the insulating portion 66 is not provided on the upper surface of the protruding portion 65, the upper surface of the protruding portion 65 that is the conductive portion of the hook 64 is the surface on the bottom surface portion 105 side of the electrode 18 that is the conductive portion of the cleaner body 2. Contact with. Therefore, in the confirmation of the locked state by conduction (step ST4) shown in the flowchart of FIG. 7, the charge control unit 54 determines that the hook 64 and the electrode 18 are in the good locked state.
  • the insulating portion 66 is provided on the upper surface of the protruding portion 65 of the hook 64.
  • the insulating portion 66 of the hook 64 and the surface of the electrode 18, which is the conductive portion, on the bottom surface 105 side are in contact with each other. Therefore, the conductive portion (the protruding portion 65 or the horizontal bar portion 69) of the hook 64 does not contact the electrode 18. That is, in the insufficiently locked state shown in FIG. 10, the conductive portion of the hook 64 and the electrode 18 do not conduct. Therefore, by confirming the conduction in the above state, it is possible to accurately detect the abnormality in the locked state between the hook 64 and the locked portion 16.
  • 11A and 11B are diagrams showing a favorable locking state between the hook 64A and the locked portion 16 in another configuration example.
  • the hook 64A is formed in an L shape like the hook 64 of the configuration example shown in FIGS. 8 to 10, but is different in the following points.
  • the horizontal bar portion 69 and the protruding portion 65 of the hook 64A are entirely formed of an insulating portion made of an insulating material such as vinyl chloride.
  • the hook 64A has a part of the upper surface of the horizontal bar portion 69 near the protrusion 65 and a conductive portion 68 provided on a part of the front side surface of the protrusion 65.
  • the electrodes forming the conductive portion 68 of the hook 64A and the conductive portion of the locked portion 16 of the cleaner body 2 are formed. 18 contacts. This confirms that the hook 64A and the locked portion 16 are in a good locked state.
  • FIG. 12 is a diagram showing an insufficiently locked state of the hook 64A and the locked portion 16 in another configuration example shown in FIGS. 11A and 11B.
  • the configuration of the conductive portion of the hook 64 (corresponding to the protruding portion 65 and the horizontal bar portion 69) or the conductive portion 68 of the hook 64A and the electrode 18 of the locked portion 16 can be realized in various other modes.
  • the conductive part of the hook 64 or the conductive part 68 of the hook 64A and the locked part 16 of the cleaner main body 2 are locked.
  • the electrode 18 contacts.
  • the conductive portion of the hook 64 or the conductive portion 68 of the hook 64A and the electrode 18 of the locked portion 16 do not come into contact with each other. If so, the hooks 64, 64A and the locked portion 16 may have any configurations.
  • the conductive portion of the hook 64 or the conductive portion 68 of the hook 64A and the electrode 18 of the locked portion 16 are moved up and down with the locked portion 16 locked by the hooks 64 and 64A.
  • the conductive portion of the hook 64 or the conductive portion 68 of the hook 64A and the electrode 18 of the locked portion 16 are in contact with each other.
  • the conductive portion of the hook 64 or the conductive portion 68 of the hook 64A and the locked portion 16 are provided.
  • the electrodes 18 may not be in contact with each other.
  • a cover made of an insulating material such as rubber having an opening having an inner diameter smaller than that of the protrusions 65 of the hooks 64 and 64A is provided in the recess 17 of the cleaner body 2.
  • the conductive parts do not come into contact with each other.
  • the protrusion 65 penetrates into the opening of the cover due to the weight of the cleaner body 2 so that the conductive portion of the hook 64 or the conductive portion 68 of the hook 64A contacts the electrode 18.
  • the conduction between the conductive portion of the hook 64 or the conductive portion 68 of the hook 64A and the electrode 18 of the locked portion 16 is confirmed.
  • FIG. 13 is a functional block diagram showing a schematic configuration of the charging station 6 of the self-propelled cleaner system 1 according to the second embodiment.
  • the charging station 6 according to the second embodiment further includes an abnormality detection unit 55 in addition to the configuration of the charging station 6 according to the first embodiment shown in FIG.
  • the lift drive unit 51 also includes a motor 57, a motor control unit 58, and a current value detection unit 59.
  • Other configurations and operations are similar to those of the first embodiment.
  • abnormality detection unit 55 As a method of detecting an abnormality in the locked state by the abnormality detection unit 55, there are, for example, two methods described in the first example and the second example below.
  • the first example is a method of detecting whether or not there is an abnormality in the locked state, with the value of the current flowing in the motor 57 that generates the driving force for raising and lowering the hook 64 as a reference.
  • the value of the current flowing through the motor 57 reflects the magnitude of the torque load applied to the motor 57.
  • the cleaner body 2 starts abnormal vibration. At this time, a torque load different from that during normal lifting is applied to the motor 57. As a result, the value of the current flowing through the motor 57 also shows a value different from the normal value.
  • the abnormality detection unit 55 first acquires the value of the current detected by the current value detection unit 59 that detects the value of the current flowing through the motor 57 while the lifting drive unit 51 moves the hook 64 up and down. .
  • the abnormality detection unit 55 refers to the preset detection condition for detecting the abnormality in the locked state, and compares it with the acquired current value. Then, the abnormality detection unit 55 detects whether or not there is an abnormality in the locked state based on the comparison result.
  • the detection condition is, for example, a condition based on a current value, a change rate of a current value, a change rate of a change rate of a current value, an integrated value of current values, an average value, a maximum value, a minimum value, or the like.
  • the detection condition may be the number of times the acquired current value exceeds a predetermined threshold value. According to this method, since it is possible to detect the presence or absence of an abnormality in the locked state with a simple configuration, it is possible to suppress the manufacturing cost of the self-propelled cleaner system 1.
  • a second example is a method in which a vibration detection unit (not shown) is provided in the charging station 6, and the abnormality detection unit 55 detects whether or not there is an abnormality in the locked state based on the information detected by the vibration detection unit.
  • the vibration detector may be a vibration sensor of any type such as an electrostatic capacitance type, an eddy current type, a laser Doppler type, a piezoelectric type, an electromagnetic type and the like. These vibration sensors may be formed by MEMS (Micro Electro Mechanical Systems), NEMS (Nano Electro Mechanical Systems), or the like, and may be mounted on the charging station 6.
  • the self-propelled cleaner system 1 suspends and stores the cleaner body 2 and charges it, for example, when an earthquake occurs, a person comes into contact with the cleaner body 2, and the cleaner body 2 malfunctions. Unnecessary vibration may be applied to the cleaner body 2 and the charging station 6 due to the start of operation due to. At this time, chattering may occur between the charging terminal of the cleaner body 2 and the power feeding terminal of the charging station 6 due to the unnecessary vibration applied. As a result, the charging terminal and the power feeding terminal may be deteriorated due to abnormal discharge or the like, and the charging efficiency may be reduced, so that an abnormality in the locked state may occur.
  • the abnormality detection unit 55 when the vibration as described above occurs, the abnormality detection unit 55 first acquires the information detected from the vibration detection unit. Next, the abnormality detection unit 55 refers to the detection condition, which is set and stored in advance, for detecting the abnormality in the locked state, and compares it with the acquired information. Then, the abnormality detection unit 55 detects whether or not there is an abnormality in the locked state based on the comparison result.
  • the detection condition is, for example, a condition based on an amplitude of vibration, a cycle, a rate of change in vibration or cycle, an average value, a maximum value, a minimum value, or the like.
  • the detection condition may be the number of times the acquired amplitude of vibration exceeds a predetermined threshold value. According to this method, the presence / absence of an abnormality in the locked state can be detected more swiftly and appropriately, so that the safety of the self-propelled cleaner system 1 can be further enhanced.
  • the vibration detection unit detects the vibration, and when the abnormality detection unit 55 detects an abnormality based on the same detection condition of the abnormality detection as described above, the charging control unit 54 stops the power supply from the charging unit 52. May be Thereby, when vibration occurs, chattering that occurs between the charging terminal of the cleaner body 2 and the power feeding terminal of the charging station 6 can be prevented.
  • the abnormality detection unit 55 can more reliably detect whether or not there is an abnormality in the locked state.
  • the abnormality detection unit 55 may be configured to detect the presence or absence of an abnormality in the locked state by using any one of the methods described above or a combination of two or more methods. As a result, the accuracy of detecting the abnormality in the locked state can be further improved.
  • the presence or absence of an abnormality in the locked state may be detected by the abnormality detection unit 55 by any other method than the above.
  • an image capturing device installed around the charging station 6 first captures an image of the state (state) of the cleaner body 2 lifted by the charging station 6. Then, the captured image is acquired by the charging station 6 via wireless communication or the like. Then, by analyzing the acquired image, the presence / absence of an abnormality in the locked state may be detected by the abnormality detection unit 55 based on, for example, the inclination of the cleaner body 2.
  • the elevating / lowering drive unit 51 may lower the hook 64 to the retracted position H1 and then stop it. That is, when the cleaner body 2 has fallen off the hook 64, the hook 64 is stored in the retracted position H1. As a result, it is possible to reduce hooking or contact between the hook 64 and a person or surrounding objects while the hook 64 is stopped. Further, even when the charging station 6 returns from the abnormal state, the lifting operation of the hook 64 is stopped. This can reduce the contact between the hook 64 and a person or surrounding objects. As a result, the safety of the self-propelled cleaner system 1 can be further enhanced.
  • the abnormality detection unit 55 has been described as an example of a configuration that detects the presence or absence of an abnormality in the locked state while the elevation drive unit 51 raises and lowers the hook 64, but the present invention is not limited to this.
  • the abnormality detection unit 55 causes the locked portion 16 of the cleaner main body 2 and the hook 64 of the charging station 6 to operate.
  • the presence or absence of abnormality in the locked state of may be detected.
  • the motor 57 of the up-and-down drive unit 51 is not driven, it is desirable to detect the presence or absence of abnormality in the locked state by a method other than the first example described above.
  • the hooked portion 16 of the cleaner body 2 and the hook 64 of the charging station 6 are held while the cleaner body 2 is being lifted or while being held in the lifted state.
  • the lift drive unit 51 stops the operation of the hook 64 or lowers the hook 64.
  • FIG. 14 is a functional block diagram showing a schematic configuration of the charging station 6 of the self-propelled cleaner system 1 according to the third embodiment.
  • the charging station 6 according to the third embodiment further includes an installation state detection unit 60 in addition to the configuration of the charging station 6 according to the first embodiment shown in FIG. Other configurations and operations are similar to those of the first embodiment.
  • the installation state detection unit 60 detects the installation state of the charging station 6 that functions as a moving body holding device.
  • the installation state detection unit 60 is provided on the ground surface with the floor surface of the base 61 of the charging station 6 shown in FIG.
  • the installation state detection unit 60 is configured by, for example, a tipping switch or the like that detects the grounding state of the grounding surface of the charging station 6. In this case, the installation state detection unit 60 detects that the installation state is abnormal when the ground surface of the charging station 6 is separated from the floor surface or the like.
  • the installation state detection unit 60 is composed of, for example, an acceleration sensor, a displacement sensor, an attitude sensor, an inclination sensor, etc. built in the charging station 6 in addition to the fall switch, and charging is performed based on the detection results of those sensors.
  • the installation state of the station 6 may be detected.
  • the installation state detection unit 60 includes a front sensor 31, a surrounding sensor 32, a speed sensor, an acceleration sensor, an attitude sensor and the like provided in the cleaner body 2, and the charging station is based on the detection results of these sensors.
  • the installation state of 6 may be detected.
  • the installation state detection unit 60 acquires information detected by each sensor of the cleaner body 2 via infrared communication or the like. Then, the installation state detection unit 60 detects whether or not the installation state of the charging station 6 is abnormal based on the acquired information. In these cases, the installation state detection unit 60 detects that the installation state is abnormal, for example, when the charging station 6 falls, is inclined by a predetermined angle or more, or is displaced by a predetermined amount or more.
  • the lift drive unit 51 stops the operation of the hook 64 or lowers the hook 64. At this time, if the lifting drive unit 51 detects an abnormality in the installation state while lifting the hook 64, the lifting drive unit 51 may stop the operation of the hook 64 at that position. Further, the elevating / lowering drive unit 51 may stop the operation after lowering the hook 64. Further, the elevating / lowering drive unit 51 may temporarily stop the operation of the hook 64 and wait, and then lower the hook 64 after a predetermined time has elapsed.
  • the charging control unit 54 causes the charging unit 52 to charge the battery. May be stopped. Further, the elevating / lowering drive unit 51 may lower the hook 64 to the retracted position H1 and then stop the operation. As a result, while the cleaner body 2 is being lifted and held, contact with a person, an animal, or another self-propelled mobile body (vacuum cleaner body) causes an abnormality in the installation state of the charging station 6. Even in this case, the cleaner body 2 can be automatically lowered.
  • the abnormality when an abnormality occurs in the installation state of the charging station 6 while the cleaner body 2 is being hung up or is being held in the hung state, the abnormality can be promptly and quickly detected.
  • the operation of the hook 64 is stopped or the hook 64 is lowered. Thereby, the safety of the self-propelled cleaner system 1 can be improved.
  • the technique of the third embodiment may be applied in combination with the technique of the second embodiment described above. That is, the charging station 6 may be configured to include both the abnormality detection unit 55 of the second embodiment and the installation state detection unit 60 of the third embodiment.
  • the elevating / lowering drive unit 51 operates the hook 64 when an abnormality is detected in either the locked state between the cleaner body 2 and the charging station 6 or the installation state of the charging station 6. Stop or lower the hook 64. Thereby, the safety of the self-propelled cleaner system 1 can be further enhanced.
  • a technique for protecting the ambient sensor 32 which is an example of a sensor in the above-described self-propelled cleaner system 1, will be described below with reference to FIGS. 1 and 2 and using FIG. 15. That is, the self-propelled cleaner system 1 according to the fourth embodiment further includes a configuration for protecting the sensor.
  • FIG. 15 is an exploded perspective view schematically showing the structure of the ambient sensor 32.
  • the ambient sensor 32 includes a light emitting unit 34, a light receiving unit 35, a stage 36 forming a rotating body, a housing 37, a rotary encoder 38, and the like.
  • the light emitting unit 34 emits, for example, laser light to the surroundings.
  • the light receiving unit 35 receives the laser light emitted from the light emitting unit 34 and reflected by an object around the cleaner body 2 of the self-propelled cleaner system 1.
  • the stage 36 rotatably mounts the light emitting unit 34 and the light receiving unit 35.
  • the housing 37 rotatably supports the stage 36.
  • the rotary encoder 38 detects a rotation angle of the stage 36 with respect to the housing 37.
  • the sensor control unit 45 illustrated in FIG. 1 controls the ambient sensor 32 to control the surroundings sensor 32 while the traveling control unit 41 controls the traveling of the cleaner body 2 of the self-propelled cleaner system 1. Detects the surrounding situation.
  • the sensor control unit 45 controls the rotating body drive unit (not shown) to rotate the stage 36 while grasping the rotation angle of the stage 36 by the rotary encoder 38 of the ambient sensor 32.
  • the detection calculation unit 43 calculates the intensity signal of the laser light emitted from the light emitting unit 34, reflected from the surrounding object, and received by the light receiving unit 35. Then, the detection calculation unit 43 calculates and calculates the shape of the surrounding object, the distance to the surrounding object, and the like based on the calculation result. In addition, the detection calculation unit 43 calculates the direction of the reflection point from the direction of the cleaner body 2 during traveling and the rotation angle of the stage 36. Then, the traveling control unit 41 drives the traveling drive unit 12 to cause the cleaner body 2 to travel based on the surrounding situation detected by the surrounding sensor 32.
  • the stage 36 is provided rotatably over the entire angular range.
  • the ambient sensor 32 is provided at a position slightly higher than the upper surface portion 101 of the body 10 of the cleaner body 2.
  • the traveling control unit 41 can cause the cleaner body 2 to travel based on the grasped surrounding situation while accurately grasping the situation in all directions by the surrounding sensor 32.
  • the ambient sensor 32 may be configured by a triangulation type LIDAR that measures the distance from the position of the light emitting unit 34, the light receiving unit 35, and the reflection point to the reflection point by triangulation.
  • the ambient sensor 32 is a TOF (Time Of Flight) method that measures the distance to the reflection point from the time until the laser light emitted from the light emitting section 34 is reflected at the reflection point and is received by the light receiving section 35.
  • LIDAR may be used.
  • the ambient sensor 32 may be configured by a sensor of any other method capable of measuring the distance to the reflection point.
  • the light emitting unit 34 and the light receiving unit 35 are provided at positions separated from each other. Thereby, the measurement error can be reduced.
  • the TOF type LIDAR when used, it is desirable that the light emitting unit 34 and the light receiving unit 35 are provided in close proximity to each other. Thereby, the ambient sensor 32 can be downsized.
  • the sensor control unit 45 stops the rotation angle of the stage 36 for a predetermined continuous stop. It is confirmed whether or not it is within the prohibited range 40 (see FIG. 16).
  • the sensor control unit 45 controls the rotating body drive unit (not shown) so as to be outside the continuous stop prohibition range 40. Rotate 36.
  • a predetermined range of the rotation angle of the stage 36 in which the opening 34A of the light emitting part 34 and the opening 35A of the light receiving part 35 of the ambient sensor 32 are directed upward is set as the continuous stop prohibited range 40.
  • the sensor control unit 45 when the cleaner body 2 is at the mounting position of the charging station 6 (for example, in the mounted state shown in FIG. 6A), has the above function (the stage 36 outside the continuous stop prohibition range 40). It is desirable to have a configuration that controls so as not to execute (rotation). That is, when the cleaner body 2 is lifted up to the first storage position H2 or the second storage position H3 and held in the charging station 6, the sensor control unit 45 causes the sensor control unit 45 to perform the above function (stage outside the continuous stop prohibition range 40). 36 rotations) is desirable.
  • the sensor control unit 45 does not perform the above-described function (rotation of the stage 36 to the outside of the continuous stop prohibited range 40) at the mounting position and the first storage position H2, and is lifted and held up to the second storage position H3. It may be configured to execute the above-mentioned function when being performed.
  • FIG. 16 is a diagram schematically showing a state of the ambient sensor 32 when the cleaner body 2 is held in the charging station 6 in a tilted state.
  • the cleaner body 2 When the cleaner body 2 is held by the charging station 6 in a state of being lifted by the hook 64, the cleaner body 2 is not in a state of standing upright as shown in FIG. 5, but instead of the pillar portion 62 of the charging station 6. It is held in an inclined state along the inclined surface.
  • the stage 36 of the ambient sensor 32 provided inside the cover portion 13 of the cleaner body 2 is also held in an inclined state.
  • the angle ⁇ is set to the left and right around the direction 39 in which the opening 34A of the light emitting portion 34 and the opening 35A of the light receiving portion 35 are directed to the highest position of the housing 37 as the continuous stop prohibited range 40. Is set.
  • the sensor control unit 45 drives the rotating body so as to move out of the continuous stop prohibited range 40.
  • the stage 36 is rotated clockwise or counterclockwise. Accordingly, it is possible to properly prevent and protect the light emitting unit 34 and the light receiving unit 35 of the ambient sensor 32 from invasion of dust and water. As a result, it is possible to suppress a decrease in the detection accuracy of the ambient sensor 32 and improve the service life.
  • the continuous stop prohibited range 40 is set so as to include a direction above the horizontal direction.
  • the angle ⁇ of the continuous stop prohibition range 40 is less than 90 degrees, for example, 10 degrees, 30 degrees, 45 degrees, 60 degrees, or 90 degrees on both sides of the direction 39 toward the highest position of the housing 37. It is desirable to set within the range.
  • the sensor control unit 45 stores a history of the angle of the stage 36 while the cleaner body 2 is held by the charging station 6 in a state of being suspended by the hook 64 in a storage device (not shown). Is desirable.
  • the ambient sensor 32 is designed assuming that it is used in a horizontal state. Therefore, if the ambient sensor 32 is lifted and tilted and kept for a long time, the positions of the components may be displaced due to their own weight.
  • the sensor control unit 45 execute the control described below in order to avoid a state in which the stage 36 of the ambient sensor 32 is held at the same angle for a long time many times.
  • the sensor control unit 45 stores history such as an angle inclined from the horizontal plane of the stage 36, a holding time, and the number of holdings. It is stored in a device (not shown).
  • the sensor control unit 45 refers to the history regarding the holding state stored in the storage device up to the previous time when the cleaner body 2 is held in the charging station 6.
  • the sensor control unit 45 based on the referred history, performs the stage while holding the cleaner body 2 this time so that the holding time for each angle of the stage 36 is averaged in the long term. Determine 36 angles.
  • the sensor control unit 45 rotates the stage 36 at the determined angle via a rotating body drive unit (not shown).
  • the sensor control unit 45 uses the above method only when the angle of the stage 36 of the ambient sensor 32 is within the continuous stop inhibition range 40 and when the cleaner body 2 is held by the charging station 6.
  • the angle of the stage 36 at which the holding times are averaged may be determined, and the stage 36 may be rotated to the determined angle.
  • the angle of the stage 36 for which the holding time is averaged is determined by the above method, and the determined angle is set to the determined angle.
  • the stage 36 may be rotated.
  • the angle of the stage 36 is determined so that the angle of the stage 36 of the ambient sensor 32 is not set within the continuous stop prohibited range 40.
  • the openings 34A and 35A are positioned above the horizontal direction.
  • the example has been described in which the stage 36 is rotated so as not to face the above, but the present invention is not limited to this.
  • the continuous stop prohibition range 40 is set in the following state.
  • the angle of the stage 36 is determined so as to move out of the inside. It is desirable that the stage 36 of the ambient sensor 32 be rotated by the determined angle.
  • the state shown below specifically corresponds to a case where, for example, direct sunlight enters the light receiving unit 35 of the ambient sensor 32 through the opening 35A for a long time.
  • the light receiving section, the visible light cut filter provided in the preceding stage of the light receiving section, etc. may be deteriorated by the direct sunlight. That is, in addition to dust and water, there are external factors that adversely affect the ambient sensor 32.
  • the ambient sensor 32 should be avoided so as to avoid that direction.
  • a configuration in which the stage 36 is rotated is desirable.
  • the detection calculation unit 43 first analyzes the intensity signal of the light received by the light receiving unit 35 of the ambient sensor 32. Next, the detection calculation unit 43 determines the direction in which a large amount of dust or water is present or the direction in which strong light enters the light receiving unit 35, based on the analysis result. Then, the sensor control unit 45 rotates the stage 36 so that the opening 34A of the light emitting unit 34 and the opening 35A of the light receiving unit 35 of the ambient sensor 32 deviate from the direction determined by the detection calculation unit 43. Good.
  • the sensor control unit 45 first causes the ambient sensor 32 to rotate once through the rotating body drive unit (not shown). Then, the detection calculation unit 43 may determine the direction to be avoided and determine the angle at which the stage 36 is stopped.
  • the detection calculation unit 43 first calculates a calculation value for determination from the signal received by the light receiving unit 35 at the angle of the stage 36 when the cleaner body 2 is stopped for a predetermined time or more. To do. Then, when the calculated value is less than the predetermined threshold value, the sensor control unit 45 stops the stage 36 of the ambient sensor 32 at the same position. On the other hand, when the calculated value is equal to or larger than the predetermined threshold value, the sensor control unit 45 once rotates the stage 36 of the ambient sensor 32 by a predetermined amount. Then, at the angle of the stage 36 after the rotation of a predetermined amount, the detection calculation unit 43 may calculate the calculation value again to determine whether or not the stage 36 needs to be rotated again.
  • a predetermined downward continuous stop prohibition range may be set to prevent the incidence of light. This can reduce the adverse effect of the reflected light on the ambient sensor 32.
  • the sensor control unit 45 rotates the stage 36 so that the openings 34A and 35A of the ambient sensor 32 do not continuously stop in a state of facing the predetermined continuous stop prohibition range 40.
  • the configuration has been described as an example, but the configuration is not limited to this.
  • the stage 36 may be rotated by the action of its own weight or magnetic force.
  • the clutch mechanism that transmits the driving force of the motor for rotating the stage 36 to the stage 36 is removed from the stage 36.
  • the stage 36 can freely rotate due to the action of its own weight or magnetic force.
  • the stage 36 is configured to rotate so that the openings 34A and 35A of the ambient sensor 32 do not face the predetermined continuous stop prohibited range due to the action of its own weight or magnetic force.
  • the center of gravity of the stage 36 is set to a position where the directions of the openings 34A and 35A are displaced from the vicinity of the center of the stage 36.
  • the stage 36 rotates so that the opening 34A of the light emitting section 34 and the opening 35A of the light receiving section 35 face downward due to the action of their own weight.
  • the stage 36 will be provided with a passage through which the sphere can roll. At this time, if the cleaner body 2 is held in an inclined state, the sphere rolls in the passage. As a result, the position of the center of gravity of the stage 36 deviates from the vicinity of the center. As a result, the stage 36 rotates so that the opening 34A of the light emitting unit 34 and the opening 35A of the light receiving unit 35 on the stage 36 face downward due to the rolling of the sphere.
  • the stage 36 and the housing 37 when rotating the stage 36 by magnetic force, magnets are provided on the stage 36 and the housing 37. At this time, when the cleaner body 2 is held tilted, the opening 34A of the light emitting portion 34 and the opening 35A of the light receiving portion 35 on the stage 36 face downward due to the action of the magnetic force of the magnets of each other. . At this time, it is desirable that at least one of the stage 36 and the housing 37 is composed of an electromagnet, and when the stage 36 is rotated, the electromagnet is energized to generate a magnetic force. Accordingly, during normal traveling of the cleaner body 2, the stage 36 can be smoothly rotated without being affected by the magnetic force generated by the electromagnet.
  • the technique for protecting the sensor described above is not limited to the ambient sensor 32 using LIDAR, and is applied to any sensor including a rotating body having an opening or any rotating body having an opening. It is possible.
  • the openings 34A and 35A of the ambient sensor 32 are set to predetermined positions.
  • the sensor control unit 45 rotates the stage 36 so that the openings 34A and 35A face the direction outside the continuous stop prohibition range 40. Therefore, it is possible to suppress adverse effects on the surroundings sensor 32 due to dust, water, light, or the like entering through the openings 34A and 35A of the surroundings sensor 32. As a result, it is possible to suppress a decrease in the detection accuracy of the ambient sensor 32 and improve the service life.
  • the technology of each of the above-described embodiments can be self-propelled such as an autonomous vehicle, an unmanned aerial vehicle, or a self-propelled robot. It is applicable to various types of self-propelled vehicles. Further, it is also possible to apply any combination of two or more embodiments among the techniques of the first to fourth embodiments.
  • the self-propelled mobile body system of the present invention includes the main body and the mobile body holding device that holds the main body.
  • the moving body holding device includes a locking portion that locks the main body, and an elevating drive portion that raises and lowers the locking portion.
  • the main body includes a drive unit that is driven to move the main body, and a locked portion that is locked by the locking unit of the moving body holding device when held by the moving body holding device.
  • the locking portion and the locked portion each include a conductive portion having conductivity. The conductive portion of the locking portion and the conductive portion of the locked portion are in contact with each other when the locking portion and the locked portion are locked so that the main body can be lifted, and the locking portion and the locking portion can be lifted. It is configured so as not to come into contact with each other when the locked portion is not locked.
  • the locking portion of the moving body holding device of the self-propelled moving body system of the present invention has a structure in which the locking portion and the locked portion are not locked so that the main body can be lifted. It is desirable to further include an insulating portion provided at a position in contact with the conductive portion.
  • the locked portion of the main body of the self-propelled mobile body system of the present invention has a concave portion provided on the bottom surface of the main body, and the locking portion of the mobile body holding device has a protruding portion that is engaged with the concave portion.
  • the conductive portion of the locked portion is provided on the inner surface of the concave portion that is the upper side when the main body is held by the moving body holding device in the state of being lifted, and the insulating portion is provided on the upper surface of the protruding portion. Configuration is desirable.
  • the conductive portion of the locking portion and the conductive portion of the locked portion of the self-propelled vehicle system according to the present invention have a locking portion that moves up and down while the locked portion is locked by the locking portion. It is desirable that they are provided so as to come into contact with each other when the main body is lifted by the above and are suspended from each other, and so as not to contact each other when the main body is not suspended.
  • the conductive portion of the locking portion functions as a power supply terminal and the conductive portion of the locked portion functions as a charging terminal.
  • the self-propelled mobile body system of the present invention includes a locking portion that locks the main body, and a lifting drive portion that lifts and lowers the locking portion.
  • the locking portion comes into contact with the conductive portion of the locked portion when the locking portion and the locked portion of the main body are locked so that the main body can be lifted, and the main body can be lifted so that the main body can be lifted. It is desirable to have a configuration having a conductive portion provided so as not to contact the conductive portion of the locked portion when the locked portion is not locked.
  • the present invention relates to a self-propelled vehicle equipped with a self-propelled moving body and a moving body holding device, such as a self-propelled cleaner system including a cleaner body and a charging station, which is required to be stored in a space-saving and safe manner. Useful for mobile systems.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The self-propelled mobile body system is provided with a cleaner body (2) and a mobile body holding device (6) which holds the cleaner body (2). The mobile body holding device (6) is provided with a hook (64) for allowing the cleaner body (2) to be engaged therewith. The cleaner body (2) is provided with a catch (16) for engagement with the hook (64). The hook (64) and the catch (16) are provided with an electrically conductive section and an electrode (18). The electrically conductive section of the hook (64) and the electrode (18) of the catch section (16) are configured so that, in a state in which the hook (64) and the catch (16) are engaged with each other so that the cleaner body (2) can be lifted up, the electrically conductive section and the electrode (18) are in contact with each other, and in a state in which the hook (64) and the catch (16) are not engaged in the liftable manner with each other, the electrically conductive section and the electrode (18) are not in contact with each other. As a result, the provided self-propelled mobile body system is highly safe.

Description

自走式移動体システムSelf-propelled mobile system
　本発明は、自走式移動体および移動体保持装置を備える自走式移動体システムに関する。 The present invention relates to a self-propelled mobile body system including a self-propelled mobile body and a mobile body holding device.
　近年、電気掃除機の一種である自律走行可能な掃除機が人気を博している。そして、様々な機能を有する自律走行可能な掃除機（例えば、特許文献１参照）が提供されている。 Recently, a vacuum cleaner that can run autonomously, which is a type of vacuum cleaner, has become popular. Then, a vacuum cleaner capable of autonomous traveling having various functions (for example, refer to Patent Document 1) is provided.
　特許文献１に記載の従来の自律走行可能な掃除機は、掃除機本体とベースステーションなどを備える。ベースステーションは、リフト装置を用いて、実質的に水平方向である掃除機本体の動作位置から、実質的に鉛直方向であるパーキング位置へと持ち上げる。これにより、パーキング位置において、掃除機が覆う床面積（投影面積）を低減させて、省スペース化を図っている。 The conventional autonomously movable vacuum cleaner described in Patent Document 1 includes a cleaner body and a base station. The base station uses a lifting device to lift from a substantially horizontal operating position of the cleaner body to a substantially vertical parking position. As a result, at the parking position, the floor area (projected area) covered by the vacuum cleaner is reduced to save space.
　しかしながら、従来の自律走行可能な掃除機は、ベースステーションが掃除機本体を持ち上げる際、掃除機本体が落下する虞がある。そのため、安全性を高めるために、掃除機本体の落下を防止する、さらなる技術の向上が求められている。 However, with conventional vacuum cleaners that can run autonomously, when the base station lifts the cleaner body, the cleaner body may fall. Therefore, in order to improve safety, further improvement of the technique for preventing the cleaner body from falling is required.
特開２０１８－９４３９０号公報JP, 2018-94390, A
　本発明は、自走式移動体および移動体保持装置を備える自走式移動体システムの安全性を高める技術を提供する。 The present invention provides a technique for enhancing the safety of a self-propelled mobile system including a self-propelled mobile body and a mobile body holding device.
　本発明の一態様の自走式移動体システムは、本体と、本体を保持する移動体保持装置を備える。移動体保持装置は、本体を係止する係止部と、係止部を昇降させる昇降駆動部を備える。本体は、本体を移動するために駆動される駆動部と、移動体保持装置に保持されるときに移動体保持装置の係止部により係止される被係止部を備える。係止部および被係止部は、それぞれ導電性を有する導電部を有する。係止部の導電部および被係止部の導電部は、本体を吊り上げ可能に係止部と被係止部とが係止した状態において、互いに接触し、本体を吊り上げ可能に係止部と被係止部とが係止していない状態において、互いに接触しないように構成される。 A self-propelled mobile object system according to one aspect of the present invention includes a main body and a mobile object holding device that holds the main body. The moving body holding device includes a locking portion that locks the main body, and an elevating drive portion that raises and lowers the locking portion. The main body includes a drive unit that is driven to move the main body, and a locked portion that is locked by the locking unit of the moving body holding device when held by the moving body holding device. The locking portion and the locked portion each have a conductive portion having conductivity. The conductive portion of the locking portion and the conductive portion of the locked portion are in contact with each other when the locking portion and the locked portion are locked so that the main body can be lifted, and the locking portion and the locking portion can be lifted. It is configured so as not to come into contact with each other when the locked portion is not locked.
　なお、以上の構成要素の任意の組合せ、本発明の表現を方法、装置、システム、記録媒体、コンピュータプログラムなどの間で変換したものも、また本発明の態様として有効である。 It should be noted that any combination of the above constituent elements, and the expression of the present invention converted between a method, a device, a system, a recording medium, a computer program, etc. are also effective as an aspect of the present invention.
　本発明によれば、自走式移動体システムの安全性を高める技術を提供できる。 According to the present invention, it is possible to provide a technique for enhancing the safety of the self-propelled mobile body system.
図１は、本発明の実施の形態１に係る自走式掃除機システムの概略構成を示す機能ブロック図である。FIG. 1 is a functional block diagram showing a schematic configuration of a self-propelled cleaner system according to Embodiment 1 of the present invention. 図２は、同自走式掃除機システムの掃除機本体を上方から見た斜視図である。FIG. 2 is a perspective view of the cleaner body of the self-propelled cleaner system seen from above. 図３は、同自走式掃除機システムの掃除機本体を下方から見た斜視図である。FIG. 3 is a perspective view of the cleaner body of the self-propelled cleaner system as seen from below. 図４は、同自走式掃除機システムの充電ステーションの斜視図である。FIG. 4 is a perspective view of a charging station of the self-propelled cleaner system. 図５は、同充電ステーションに掃除機本体が保持された状態を示す斜視図である。FIG. 5 is a perspective view showing a state where the cleaner body is held at the charging station. 図６Ａは、同充電ステーションが掃除機本体を吊り上げて格納する様子を模式的に示す図である。FIG. 6A is a diagram schematically showing how the charging station hoists and stores the cleaner body. 図６Ｂは、同充電ステーションが掃除機本体を吊り上げて格納する様子を模式的に示す図である。FIG. 6B is a diagram schematically showing how the same charging station hoists and stores the cleaner body. 図６Ｃは、同充電ステーションが掃除機本体を吊り上げて格納する様子を模式的に示す図である。FIG. 6C is a diagram schematically showing how the charging station hoists and stores the cleaner body. 図６Ｄは、同充電ステーションが掃除機本体を吊り上げて格納する様子を模式的に示す図である。FIG. 6D is a diagram schematically showing how the charging station hoists and stores the cleaner body. 図７は、同充電ステーションが掃除機本体を吊り上げて格納する手順を示すフローチャートである。FIG. 7: is a flowchart which shows the procedure in which the same charging station hoists and stores a cleaner body. 図８は、同充電ステーションのフックと掃除機本体の被係止部の構成例を示す概略断面図である。FIG. 8 is a schematic cross-sectional view showing a configuration example of the hook of the charging station and the locked portion of the cleaner body. 図９Ａは、図８に示す構成例におけるフックと被係止部との良好な係止状態を示す図である。FIG. 9A is a diagram showing a good locked state of the hook and the locked portion in the configuration example shown in FIG. 8. 図９Ｂは、図８に示す構成例におけるフックと被係止部との良好な係止状態を示す図である。9B is a diagram showing a good locked state of the hook and the locked portion in the configuration example shown in FIG. 8. 図１０は、図８に示す構成例におけるフックと被係止部との不十分な係止状態を示す図である。FIG. 10 is a diagram showing an insufficient locked state between the hook and the locked portion in the configuration example shown in FIG. 図１１Ａは、同自走式掃除機システムの別の構成例におけるフックと被係止部との良好な係止状態を示す図である。FIG. 11A is a diagram showing a good locked state of the hook and the locked portion in another configuration example of the self-propelled cleaner system. 図１１Ｂは、同自走式掃除機システムの別の構成例におけるフックと被係止部との良好な係止状態を示す図である。FIG. 11B is a diagram showing a good locked state of the hook and the locked portion in another configuration example of the self-propelled cleaner system. 図１２は、図１１Ａおよび図１１Ｂに示す構成例におけるフックと被係止部との不十分な係止状態を示す図である。FIG. 12 is a diagram showing an insufficient locking state between the hook and the locked portion in the configuration example shown in FIGS. 11A and 11B. 図１３は、本発明の実施の形態２に係る自走式掃除機システムの充電ステーションの概略構成を示す機能ブロック図である。FIG. 13: is a functional block diagram which shows schematic structure of the charging station of the self-propelled (vacuum) cleaner system which concerns on Embodiment 2 of this invention. 図１４は、本発明の実施の形態３に係る自走式掃除機システムの充電ステーションの概略構成を示す機能ブロック図である。FIG. 14: is a functional block diagram which shows schematic structure of the charging station of the self-propelled (vacuum) cleaner system which concerns on Embodiment 3 of this invention. 図１５は、本発明の実施の形態４に係る自走式掃除機システムの周囲センサの構造を概略的に示す斜視図である。FIG. 15: is a perspective view which shows schematically the structure of the surroundings sensor of the self-propelled (vacuum) cleaner system which concerns on Embodiment 4 of this invention. 図１６は、同自走式掃除機システムの掃除機本体が充電ステーションに保持されたときの周囲センサの状態を模式的に示す図である。FIG. 16: is a figure which shows typically the state of a surrounding sensor when the cleaner body of the same self-propelled cleaner system is hold | maintained at the charging station.
　以下、本発明の実施の形態として、自走式移動体システムの安全性を高めるための技術について説明する。 A technique for improving the safety of a self-propelled mobile system will be described below as an embodiment of the present invention.
　つまり、特許文献１に記載の自律走行可能な掃除機の掃除機本体を保持するために、移動体保持装置（ベースステーション）の係止部で掃除機本体を係止して吊り上げる場合、掃除機本体が係止部から外れて落下しない構成が求められる。具体的には、係止部と掃除機本体の被係止部との係止状態を確認し、係止状態に異常がある場合、的確に検知する機能を搭載する構成が重要となる。 That is, in order to hold the cleaner body of the cleaner capable of autonomous traveling described in Patent Document 1, when the cleaner body is lifted while being locked by the locking portion of the moving body holding device (base station), There is a demand for a structure in which the main body does not fall off the locking portion and falls. Specifically, it is important to have a configuration in which a function of confirming the locked state between the locked portion and the locked portion of the cleaner body and accurately detecting the locked state is detected.
　そこで、本実施の形態では、係止部と被係止部のそれぞれに、導電性を有する導電部を設ける。そして、被係止部と係止部とが接触したときに、係止部が本体を吊り上げ可能に係止した状態において、係止部の導電部と被係止部の導電部とが、互いに接触するように構成する。一方、係止部が本体を吊り上げ可能に係止していない状態においては、係止部の導電部と被係止部の導電部とが、互いに接触しないように構成する。これにより、自走式移動体システムの本体と移動体保持装置との係止状態を係止部と被係止部との間の導通の確認により、係止状態の異常を的確に検知できる。その結果、自走式移動体システムの安全性を高めることができる。 Therefore, in the present embodiment, a conductive portion having conductivity is provided in each of the locking portion and the locked portion. Then, when the locked portion and the locking portion come into contact with each other, the conductive portion of the locking portion and the conductive portion of the locked portion are mutually Configure to contact. On the other hand, the conductive portion of the locking portion and the conductive portion of the locked portion do not come into contact with each other when the locking portion does not lock the main body so that the main body can be lifted. Thus, by confirming the electrical connection between the locking portion and the locked portion, it is possible to accurately detect the locked state between the main body of the self-propelled mobile body system and the mobile body holding device. As a result, the safety of the self-propelled vehicle system can be enhanced.
　以下の実施の形態では、自走式移動体および移動体保持装置を備える自走式移動体システムとして、掃除機本体２および充電ステーション６を備える自走式掃除機システム１を例に、説明する。 In the following embodiment, a self-propelled cleaner system 1 including a cleaner body 2 and a charging station 6 will be described as an example of a self-propelled moving body system including a self-propelled moving body and a moving body holding device. .
　以下では、実施の形態１として、自走式掃除機システム１の全体構成および動作について説明する。さらに、実施の形態１として、本体の一例である掃除機本体２を吊り上げた状態で保持する充電ステーション６の係止部と掃除機本体２の被係止部との係止状態の異常を検知する技術について説明する。実施の形態２として、掃除機本体２の係止状態の異常が検知されたときの動作について説明する。実施の形態３として、充電ステーション６の設置状態の異常が検知されたときの動作について説明する。実施の形態４として、自走式掃除機システム１の掃除機本体２に設けられるセンサを保護する技術について説明する。 In the following, as the first embodiment, the overall configuration and operation of the self-propelled vacuum cleaner system 1 will be described. Further, as the first embodiment, an abnormality in the locking state between the locking portion of the charging station 6 that holds the cleaner body 2 as an example of the body in a suspended state and the locked portion of the cleaner body 2 is detected. The technique for doing so will be described. As a second embodiment, an operation when an abnormality in the locked state of the cleaner body 2 is detected will be described. As a third embodiment, an operation when an abnormality in the installation state of charging station 6 is detected will be described. As a fourth embodiment, a technique of protecting a sensor provided in the cleaner body 2 of the self-propelled cleaner system 1 will be described.
　［実施の形態１：自走式掃除機システムの全体構成］
　以下、実施の形態１に係る自走式掃除機システム１の全体構成について、図１から図５を参照しながら、説明する。 [Embodiment 1: Overall configuration of self-propelled vacuum cleaner system]
Hereinafter, the overall configuration of the self-propelled cleaner system 1 according to the first embodiment will be described with reference to FIGS. 1 to 5.
　図１は、実施の形態１に係る自走式掃除機システム１の概略構成を示す機能ブロック図である。図２は、自走式掃除機システム１の掃除機本体２を上方から見た斜視図である。図３は、自走式掃除機システム１の掃除機本体２を下方から見た斜視図である。図４は、自走式掃除機システム１の充電ステーション６の斜視図である。図５は、充電ステーション６に掃除機本体２が保持された状態を示す斜視図である。 FIG. 1 is a functional block diagram showing a schematic configuration of a self-propelled cleaner system 1 according to the first embodiment. FIG. 2 is a perspective view of the cleaner body 2 of the self-propelled cleaner system 1 as seen from above. FIG. 3 is a perspective view of the cleaner body 2 of the self-propelled cleaner system 1 as seen from below. FIG. 4 is a perspective view of the charging station 6 of the self-propelled cleaner system 1. FIG. 5 is a perspective view showing a state where the cleaner body 2 is held by the charging station 6.
　図１に示すように、実施の形態１の自走式掃除機システム１は、本体である掃除機本体２と、移動体保持装置として機能する充電ステーション６などを有する。掃除機本体２は、床面に沿って走行しながら清掃する、例えば掃除ロボットなどが例示され、自走式移動体を構成する。充電ステーション６は、非清掃時において、後述するように、掃除機本体２の一端を係止して吊り上げた状態で保持する。 As shown in FIG. 1, a self-propelled cleaner system 1 according to the first embodiment has a cleaner body 2 that is a body, a charging station 6 that functions as a moving body holding device, and the like. The cleaner body 2 is, for example, a cleaning robot that cleans while traveling along the floor surface, and constitutes a self-propelled moving body. The charging station 6 holds one end of the cleaner main body 2 in a suspended state when it is not cleaned, as will be described later.
　なお、以降、掃除機本体２を充電ステーション６に保持することを、「収納」あるいは「格納」などと記して説明する場合がある。 Note that, hereinafter, holding the cleaner body 2 in the charging station 6 may be described as “storage” or “storage”.
　掃除機本体２は、ボディ１０（図２参照）、周囲清掃部３、センサ部４、制御部５、本体操作部１５、走行駆動部１２、吸込み部１４などを備える。周囲清掃部３は、掃除機本体２の周囲の塵やほこりなどを集めて、清掃する。センサ部４は、掃除機本体２の周囲の障害物を検知する。制御部５は、掃除機本体２、周囲清掃部３およびセンサ部４などを駆動制御する。本体操作部１５は、掃除機本体２を操作するために、使用者などからの入力を受け付ける。走行駆動部１２は、左右一対の車輪１２１を有し、掃除機本体２を自走させる。吸込み部１４は、周囲清掃部３で集めた床面の塵やほこりなどを、内部に吸い込む。 The cleaner main body 2 includes a body 10 (see FIG. 2), a surrounding cleaning unit 3, a sensor unit 4, a control unit 5, a main body operation unit 15, a traveling drive unit 12, a suction unit 14, and the like. The surrounding cleaning unit 3 collects and cleans dust and dirt around the cleaner body 2. The sensor unit 4 detects an obstacle around the cleaner body 2. The control unit 5 drives and controls the cleaner body 2, the surrounding cleaning unit 3, the sensor unit 4, and the like. The main body operation unit 15 receives an input from a user or the like in order to operate the cleaner main body 2. The traveling drive unit 12 has a pair of left and right wheels 121 and allows the cleaner body 2 to travel by itself. The suction unit 14 sucks dust, dust, and the like on the floor collected in the surrounding cleaning unit 3 into the inside.
　センサ部４は、前方センサ３１、周囲センサ３２、赤外線通信部３３などを含む。前方センサ３１は、図２に示すボディ１０の前面部１０２に配設される。周囲センサ３２は、ボディ１０の上面部１０１から上方に突出するカバー部１３の内部に、回転駆動可能に設けられる。赤外線通信部３３は、ボディ１０の前面部１０２に配設される。 The sensor unit 4 includes a front sensor 31, a surrounding sensor 32, an infrared communication unit 33, and the like. The front sensor 31 is arranged on the front surface portion 102 of the body 10 shown in FIG. The ambient sensor 32 is rotatably provided inside the cover portion 13 protruding upward from the upper surface portion 101 of the body 10. The infrared communication unit 33 is arranged on the front surface portion 102 of the body 10.
　具体的には、前方センサ３１は、例えば超音波センサや赤外線センサなどで構成され、掃除機本体２の前方に存在する障害物などを検知する。周囲センサ３２は、例えば赤外線レーザーなどのレーザー光を照射して距離を測定するレーザースキャナ（ＬＩＤＡＲ（Ｌｉｇｈｔ　Ｄｅｔｅｃｔｉｏｎ　ａｎｄ　Ｒａｎｇｉｎｇ、または、Ｌａｓｅｒ　Ｉｍａｇｉｎｇ　Ｄｅｔｅｃｔｉｏｎ　ａｎｄ　Ｒａｎｇｉｎｇ））で構成され、障害物までの距離や障害物の形状を算出する。なお、周囲センサ３２は、カバー部１３の内部に配設される構成に限られず、ボディ１０の任意の位置に設けられていればよい。赤外線通信部３３は、後述する充電ステーション６の位置検出部５３の赤外線発光部５３Ｃ（図４参照）との間で赤外線などによる通信を行う。これにより、位置検出部５３は、充電ステーション６に対する、掃除機本体２の距離や位置を検出する。 Specifically, the front sensor 31 is composed of, for example, an ultrasonic sensor or an infrared sensor, and detects an obstacle existing in front of the cleaner body 2. The ambient sensor 32 is composed of a laser scanner (LIDAR (Light Detection and Ranging or Laser Imaging and Ranging)) that measures a distance by irradiating a laser beam such as an infrared laser, for example, and a distance to an obstacle or an obstacle. Calculate the shape of an object. The ambient sensor 32 is not limited to being arranged inside the cover 13, and may be provided at any position on the body 10. The infrared communication unit 33 communicates with an infrared light emitting unit 53C (see FIG. 4) of the position detecting unit 53 of the charging station 6 described later by infrared rays or the like. Thereby, the position detection unit 53 detects the distance and position of the cleaner body 2 with respect to the charging station 6.
　周囲清掃部３は、回動可能なブラシ２１、モータ２２、負荷センサ２３および角度センサ２４などを備える。ブラシ２１は、図３に示すように、掃除機本体２の前部に左右一対で、掃除機本体２の側方から突出して回転するように設けられる。モータ２２は、ブラシ２１を回動駆動する。負荷センサ２３は、外部からモータ２２に作用する負荷などを検出する。角度センサ２４は、ブラシ２１の回動角度を検出する。 The surrounding cleaning unit 3 includes a rotatable brush 21, a motor 22, a load sensor 23, an angle sensor 24, and the like. As shown in FIG. 3, the brushes 21 are provided on the front portion of the cleaner body 2 in a pair of left and right so as to project from the side of the cleaner body 2 and rotate. The motor 22 rotationally drives the brush 21. The load sensor 23 detects a load or the like acting on the motor 22 from the outside. The angle sensor 24 detects the rotation angle of the brush 21.
　制御部５は、図１に示すように、走行制御部４１、吸込制御部４２、検出演算部４３、ブラシ制御部４４、センサ制御部４５などを含む。走行制御部４１は、車輪１２１を駆動する走行駆動部１２を制御する。吸込制御部４２は、吸込み部１４（例えば吸引ファンなど）の動作を制御する。検出演算部４３は、センサ部４を構成する、前方センサ３１、周囲センサ３２、赤外線通信部３３、周囲清掃部３の負荷センサ２３および角度センサ２４などから入力される情報を演算し、処理する。ブラシ制御部４４は、周囲清掃部３のモータ２２を駆動制御して、ブラシ２１を回動させる。センサ制御部４５は、センサ部４を構成する、前方センサ３１、周囲センサ３２、赤外線通信部３３、周囲清掃部３の負荷センサ２３および角度センサ２４などの動作を制御する。 As shown in FIG. 1, the control unit 5 includes a traveling control unit 41, a suction control unit 42, a detection calculation unit 43, a brush control unit 44, a sensor control unit 45, and the like. The traveling control unit 41 controls the traveling drive unit 12 that drives the wheels 121. The suction control unit 42 controls the operation of the suction unit 14 (for example, a suction fan). The detection calculation unit 43 calculates and processes information input from the front sensor 31, the surrounding sensor 32, the infrared communication unit 33, the load sensor 23 of the surrounding cleaning unit 3, the angle sensor 24, and the like, which configure the sensor unit 4. . The brush control unit 44 drives and controls the motor 22 of the surrounding cleaning unit 3 to rotate the brush 21. The sensor control unit 45 controls the operations of the front sensor 31, the ambient sensor 32, the infrared communication unit 33, the load sensor 23 of the ambient cleaning unit 3, the angle sensor 24, and the like, which configure the sensor unit 4.
　本体操作部１５は、タッチセンサ式のスイッチ（図示せず）などで構成され、例えば掃除機本体２の上面部１０１に設けられる。具体的には、本体操作部１５は、使用者によるタッチ操作によって掃除機本体２を作動させ、作動中のタッチ操作によって掃除機本体２を停止させる。 The main body operation unit 15 includes a touch sensor type switch (not shown) and the like, and is provided, for example, on the upper surface portion 101 of the cleaner main body 2. Specifically, the main body operation unit 15 operates the cleaner main body 2 by a touch operation by the user, and stops the cleaner main body 2 by a touch operation during operation.
　充電ステーション６は、自走式掃除機システム１の移動体保持装置として機能する。充電ステーション６は、図１に示すように、昇降駆動部５１、充電部５２、位置検出部５３、充電制御部５４などを備える。昇降駆動部５１は、係止部を構成するフック６４（図４参照）を昇降させる。充電部５２は、掃除機本体２のバッテリに給電して充電する。位置検出部５３は、充電ステーション６に帰還してきた掃除機本体２の赤外線通信部３３との間で通信を行い、掃除機本体２の位置を検出する。充電制御部５４は、充電部５２による掃除機本体２のバッテリへの給電を制御する。なお、充電ステーション６は、部屋の中の所定位置に、例えば移動不能な状態で設置され、コンセントなどの電源と接続される。 The charging station 6 functions as a moving body holding device of the self-propelled vacuum cleaner system 1. As shown in FIG. 1, the charging station 6 includes a lifting drive unit 51, a charging unit 52, a position detection unit 53, a charging control unit 54, and the like. The up-and-down drive section 51 moves up and down the hook 64 (see FIG. 4) that constitutes the locking section. The charging unit 52 supplies power to the battery of the cleaner body 2 to charge it. The position detection unit 53 communicates with the infrared communication unit 33 of the cleaner body 2 that has returned to the charging station 6 to detect the position of the cleaner body 2. The charging control unit 54 controls the power supply to the battery of the cleaner body 2 by the charging unit 52. The charging station 6 is installed in a predetermined position in the room, for example, in an immovable state, and is connected to a power source such as an outlet.
　ボディ１０は、図２に示すように、掃除機本体２の筐体を構成する。ボディ１０は、上面部１０１に配設される、上方に突出するように設けられるカバー部１３と、カバー部１３の内部に配設される周囲センサ３２などを有する。ボディ１０の前面部１０２には、前方センサ３１と、赤外線通信部３３などが配置される。 The body 10 constitutes a casing of the cleaner body 2 as shown in FIG. The body 10 has a cover portion 13 provided on the upper surface portion 101 so as to project upward, and a surrounding sensor 32 arranged inside the cover portion 13. A front sensor 31, an infrared communication unit 33, and the like are arranged on the front surface portion 102 of the body 10.
　なお、以降では、例えば図２などに示すように、掃除機本体２の前方センサ３１が配置される側を前方、反対側を後方として説明する。また、掃除機本体２を前方から見て左側を左方、右側を右方として説明する。さらに、床面側（ブラシ２１の配置側）を下方、反対側（ボディ１０の上面部１０１側）を上方として説明する。 Note that, hereinafter, the side on which the front sensor 31 of the cleaner body 2 is arranged is referred to as the front and the opposite side is referred to as the rear, as shown in, for example, FIG. Further, the left side of the cleaner body 2 as viewed from the front and the right side thereof as the right will be described. Further, the floor side (the side where the brush 21 is arranged) is the lower side, and the opposite side (the upper surface 101 side of the body 10) is the upper side.
　さらに、掃除機本体２は、図３に示すように、底面部１０５に配設される、シャーシ１１、走行駆動部１２、吸込み部１４、カーペット押さえ部１９、補助輪１２２およびローラー部１２３などを有する。走行駆動部１２は、左右一対の車輪１２１を有し、掃除機本体２を自走させる。吸込み部１４は、上記周囲清掃部３で集めた床面の塵やほこりなどを吸い込む。カーペット押さえ部１９は、掃除機本体２の前方の床面に敷かれた、例えばカーペットなどの敷物を押さえる。補助輪１２２およびローラー部１２３は、シャーシ１１の後部側に設けられ、走行駆動部１２とともに掃除機本体２の移動に関与する。吸込み部１４は、ローラーブラシが配設され、例えばダクト、吸引ファン、集塵室および排気口などと連通するように接続される。そして、掃除機本体２は、吸込み部１４から吸い込んだ塵などを集塵室（図示せず）のフィルタで集塵するとともに、吸い込んだ空気を排気口から排気するように構成される。 Further, as shown in FIG. 3, the cleaner body 2 includes a chassis 11, a traveling drive unit 12, a suction unit 14, a carpet pressing unit 19, an auxiliary wheel 122, a roller unit 123, etc., which are arranged on the bottom surface 105. Have. The traveling drive unit 12 has a pair of left and right wheels 121 and allows the cleaner body 2 to travel by itself. The suction unit 14 sucks in dust and dirt on the floor collected by the surrounding cleaning unit 3. The carpet pressing unit 19 presses a rug such as a carpet laid on the floor surface in front of the cleaner body 2. The auxiliary wheel 122 and the roller portion 123 are provided on the rear side of the chassis 11 and are involved in the movement of the cleaner body 2 together with the traveling drive unit 12. A roller brush is arranged in the suction unit 14, and is connected so as to communicate with, for example, a duct, a suction fan, a dust collection chamber, an exhaust port, and the like. Then, the cleaner body 2 is configured to collect the dust and the like sucked from the suction portion 14 by the filter of the dust collecting chamber (not shown) and exhaust the sucked air from the exhaust port.
　充電ステーション６は、図４に示すように、床面に載置される基部６１、基部６１から立ち上がる柱部６２、一対のフック６４などを備える。フック６４は、掃除機本体２を吊り上げる係止部として機能する。基部６１および柱部６２は、内部に配設される、図１に示す昇降駆動部５１、充電部５２および充電制御部５４などを備える。 As shown in FIG. 4, the charging station 6 includes a base portion 61 placed on the floor surface, a pillar portion 62 rising from the base portion 61, a pair of hooks 64, and the like. The hook 64 functions as a locking portion that lifts the cleaner body 2. The base portion 61 and the pillar portion 62 are provided with the elevating and lowering drive portion 51, the charging portion 52, the charging control portion 54, etc., which are disposed inside, as shown in FIG. 1.
　なお、以降では、例えば図４などに示すように、充電ステーション６の柱部６２が配置される側を前方、基部６１が延設される反対側を後方として説明する。また、充電ステーション６を前方から見て左側を左方、右側を右方として説明する。さらに、床面側（基部６１側）を下方、反対側を上方として説明する。 Note that, hereinafter, the side where the pillar portion 62 of the charging station 6 is arranged is the front side and the opposite side where the base portion 61 is extended is the rear side, as shown in, for example, FIG. Further, the left side of the charging station 6 as viewed from the front and the right side as the right will be described. Furthermore, the floor surface side (base portion 61 side) will be described as a lower side and the opposite side as an upper side.
　基部６１は、上面中央部に形成されるスロープ６１Ｃを有する。スロープ６１Ｃは、掃除機本体２のボディ１０の底面部１０５が、スムーズにフック６４に向かうように案内する。具体的には、スロープ６１Ｃは、後方側から前方側に向かって傾斜する上り傾斜で形成される。そして、スロープ６１Ｃは、充電ステーション６に向かって接近してきた掃除機本体２の前部側の底面部１０５を、斜め上方に向かって案内する。これにより、掃除機本体２の前部側の底面部１０５を上向きに傾けた状態で、フック６４によって掃除機本体２を吊り上げることができる。その結果、掃除機本体２を、よりスムーズに吊り上げることができる。このとき、掃除機本体２の後部側の底面部１０５に設けられるローラー部１２３が、床面やスロープ６１Ｃと接触して、コロのように動く。そのため、掃除機本体２の後部側の底面部１０５の端部が床面やスロープ６１Ｃと接触することなく、ローラー部１２３により、スムーズに、充電ステーション６の前方（柱部６２）へ移動する。また、吊り上げた状態で保持される掃除機本体２を下方に降ろす際、ローラー部１２３は、掃除機本体２の後部側の底面部１０５がスロープ６１Ｃの傾斜に沿って下るように案内する。これにより、掃除機本体２をスムーズに降ろすことができる。このとき、ローラー部１２３は、床面やスロープ６１Ｃと接触して、コロのように動く。そのため、掃除機本体２は、後部側の底面部１０５の端部が床面やスロープ６１Ｃと接触することなく、ローラー部１２３により、スムーズに、充電ステーション６の後方へ移動する。 The base 61 has a slope 61C formed in the center of the upper surface. The slope 61C guides the bottom surface portion 105 of the body 10 of the cleaner body 2 so as to smoothly move toward the hook 64. Specifically, the slope 61C is formed with an upward slope that inclines from the rear side toward the front side. Then, the slope 61C guides the bottom surface portion 105 on the front side of the cleaner body 2 approaching toward the charging station 6 obliquely upward. Thereby, the cleaner body 2 can be lifted by the hook 64 in a state where the bottom portion 105 on the front side of the cleaner body 2 is tilted upward. As a result, the cleaner body 2 can be lifted up more smoothly. At this time, the roller portion 123 provided on the bottom surface portion 105 on the rear side of the cleaner body 2 comes into contact with the floor surface and the slope 61C and moves like a roller. Therefore, the end of the bottom surface portion 105 on the rear side of the cleaner body 2 smoothly moves to the front of the charging station 6 (the pillar portion 62) without contacting the floor surface or the slope 61C. Further, when the cleaner main body 2 held in the suspended state is lowered, the roller portion 123 guides the bottom surface part 105 on the rear side of the cleaner main body 2 so as to descend along the slope of the slope 61C. Thereby, the cleaner body 2 can be smoothly lowered. At this time, the roller portion 123 comes into contact with the floor surface or the slope 61C and moves like a roller. Therefore, the cleaner body 2 is smoothly moved to the rear of the charging station 6 by the roller portion 123 without the end portion of the bottom surface portion 105 on the rear side contacting the floor surface or the slope 61C.
　柱部６２は、柱部６２の後面側に設けられる、位置検出部５３を構成する赤外線発光部５３Ｃを備える。そして、掃除機本体２の赤外線通信部３３は、赤外線発光部５３Ｃが発光した赤外線を受光する。これにより、掃除機本体２は、充電ステーション６に向かって移動しながら、充電ステーション６に対する、掃除機本体２自身の左右位置や距離などを検出する。そして、掃除機本体２は、検出された位置や距離に基づいて、走行駆動部１２の動作を、適宜、調節しながら移動し、充電ステーション６における所定の載置位置（ドッキング位置、吊り上げ可能位置）まで進入する。 The pillar portion 62 includes an infrared light emitting portion 53C that is provided on the rear surface side of the pillar portion 62 and that constitutes the position detecting portion 53. Then, the infrared communication unit 33 of the cleaner body 2 receives the infrared light emitted by the infrared light emitting unit 53C. As a result, the cleaner body 2 moves toward the charging station 6 and detects the left-right position and distance of the cleaner body 2 itself with respect to the charging station 6. Then, the cleaner body 2 moves while appropriately adjusting the operation of the traveling drive unit 12 based on the detected position and distance, and reaches a predetermined mounting position (docking position, hoistable position) in the charging station 6. ).
　柱部６２は、上下方向に形成される左右一対のスリット６２Ｅを備える。スリット６２Ｅは、フック６４を上下方向に案内する。柱部６２の後面およびスリット６２Ｅは、上方に向かうにしたがって前方に傾斜して設けられる。この傾斜により、図５に示すように、掃除機本体２の前部側が斜め上方に向かって吊り上げられる。これにより、鉛直方向に向かって掃除機本体２を吊り上げる場合と比較して、安定的かつスムーズに掃除機本体２を吊り上げることができる。つまり、斜めに形成した充電ステーション６の柱部６２により、掃除機本体２が充電ステーション６に向かって、もたれかかった状態（図５の状態）となるため、安定して引き上げることができる。 The pillar portion 62 includes a pair of left and right slits 62E formed in the vertical direction. The slit 62E guides the hook 64 in the vertical direction. The rear surface of the pillar portion 62 and the slit 62E are provided so as to be inclined forward as they go upward. Due to this inclination, as shown in FIG. 5, the front portion side of the cleaner body 2 is lifted obliquely upward. As a result, the cleaner body 2 can be stably and smoothly hoisted as compared with the case where the cleaner body 2 is hoisted in the vertical direction. That is, the pillar portion 62 of the charging station 6 formed obliquely causes the cleaner body 2 to lean against the charging station 6 (state of FIG. 5), so that the cleaner body 2 can be stably pulled up.
　フック６４は、基部６１から柱部６２に亘って、スリット６２Ｅに沿って昇降可能に設けられ、昇降駆動部５１により駆動される。具体的には、フック６４は、図６Ａから図６Ｄを用いて後述する、基部６１のスロープ６１Ｃの上面よりも下方の退避位置Ｈ１から、掃除機本体２を係止可能な係止位置、吊り上げ途中の第１格納位置Ｈ２を通って、最上部の第２格納位置Ｈ３までの間を昇降可能に構成される。 The hook 64 is provided so as to be able to move up and down along the slit 62E from the base portion 61 to the column portion 62, and is driven by the lifting drive unit 51. Specifically, the hook 64 has a hooking position at which the cleaner body 2 can be locked and a lifting position from a retracted position H1 below the upper surface of the slope 61C of the base 61, which will be described later with reference to FIGS. 6A to 6D. It is configured to be able to move up and down through the first storage position H2 on the way to the uppermost second storage position H3.
　充電部５２は、昇降するフック６４と、所定の位置で接触する給電可能な複数の給電端子を有する。複数の充電部５２の給電端子は、例えば、吊り上げ前の係止位置、吊り上げ途中の第１格納位置Ｈ２、および吊り上げ後の第２格納位置Ｈ３に設けられ、それぞれの位置でフック６４と給電端子とが導通するように構成される。つまり、掃除機本体２を吊り上げるためのフック６４は、給電端子として機能する。これにより、別途、給電端子を準備しなくても、上記所定の位置において、吊り上げた掃除機本体２のバッテリに給電し、バッテリを充電することができる。さらに、昇降するフック６４に、直接、配線を接続する必要がない。つまり、充電部５２は、係止位置、第１格納位置Ｈ１または第２格納位置Ｈ３において、フック６４を介して、掃除機本体２のバッテリを充電できる。 The charging unit 52 has a hook 64 that moves up and down and a plurality of power supply terminals that are in contact with each other at a predetermined position and that can supply power. The power supply terminals of the plurality of charging units 52 are provided, for example, at a locking position before hoisting, a first storage position H2 during hoisting, and a second storage position H3 after hoisting, and the hook 64 and the power feeding terminal at each position. And are electrically connected. That is, the hook 64 for lifting the cleaner body 2 functions as a power supply terminal. Thus, the battery of the suspended cleaner main body 2 can be supplied with power to charge the battery at the predetermined position without separately preparing a power supply terminal. Furthermore, it is not necessary to directly connect the wiring to the lifting hook 64. That is, the charging unit 52 can charge the battery of the cleaner body 2 via the hook 64 at the locking position, the first storage position H1 or the second storage position H3.
　また、掃除機本体２は、図３に示すように、底面部１０５の前部側で左右方向に設けられる一対の被係止部１６を有する。一対の被係止部１６は、充電ステーション６の一対のフック６４と対応する位置に設けられ、掃除機本体２の吊り上げ時において、一対のフック６４に係止される。被係止部１６は、掃除機本体２のバッテリ（図示せず）と電気的に接続され、掃除機本体２の充電端子として機能する。 Further, as shown in FIG. 3, the cleaner body 2 has a pair of locked portions 16 provided in the left-right direction on the front side of the bottom surface portion 105. The pair of locked portions 16 are provided at positions corresponding to the pair of hooks 64 of the charging station 6, and are locked by the pair of hooks 64 when the cleaner body 2 is lifted. The locked portion 16 is electrically connected to a battery (not shown) of the cleaner body 2 and functions as a charging terminal of the cleaner body 2.
　充電ステーション６の位置検出部５３は、赤外線発光部５３Ｃに加えて、基部６１に配設されるホールセンサ５３Ａを、さらに備える。一方、掃除機本体２は、底面部１０５の前部側に配設される磁石（図示せず）を備える。ホールセンサ５３Ａは、掃除機本体２が基部６１のスロープ６１Ｃ上を移動して、フック６４によって吊り上げ可能なドッキング位置に戻ると、掃除機本体２の磁石の、例えば磁界を検知する。これにより、位置検出部５３は、掃除機本体２が、充電ステーション６のドッキング位置に戻ったことを検出する。 The position detection unit 53 of the charging station 6 further includes a hall sensor 53A arranged on the base 61 in addition to the infrared light emitting unit 53C. On the other hand, the cleaner body 2 includes a magnet (not shown) arranged on the front side of the bottom surface portion 105. The hall sensor 53A detects, for example, a magnetic field of the magnet of the cleaner body 2 when the cleaner body 2 moves on the slope 61C of the base 61 and returns to the docking position where it can be lifted by the hook 64. Thereby, the position detector 53 detects that the cleaner body 2 has returned to the docking position of the charging station 6.
　このとき、掃除機本体２がドッキング位置に戻ったことを位置検出部５３で検知するまでは、昇降駆動部５１は、フック６４を退避位置Ｈ１に下降させておく。つまり、掃除機本体２がスロープ６１Ｃを移動中において、フック６４と被係止部１６が接触しないように構成される。これにより、掃除機本体２の一部（例えば、底面部１０５の前方端部側の下部）とフック６４との摺接が防止される。そのため、掃除機本体２の底面部１０５およびフック６４の摩耗を低減できる。さらに、掃除機本体２が充電ステーション６に存在しないときにも、基部６１からフック６４が突出しないように構成される。これにより、例えば人の足や衣服などがフック６４に引っ掛かって発生する、充電ステーション６の転倒などを、未然に防止できる。 At this time, the lifting drive unit 51 keeps the hook 64 lowered to the retracted position H1 until the position detection unit 53 detects that the cleaner body 2 has returned to the docking position. That is, the hook 64 and the locked portion 16 do not come into contact with each other while the cleaner body 2 is moving on the slope 61C. As a result, sliding contact between a portion of the cleaner body 2 (for example, the lower portion on the front end side of the bottom surface portion 105) and the hook 64 is prevented. Therefore, it is possible to reduce wear of the bottom surface portion 105 of the cleaner body 2 and the hook 64. Further, even when the cleaner body 2 is not present in the charging station 6, the hook 64 does not protrude from the base 61. As a result, it is possible to prevent the charging station 6 from tipping over, which may occur when, for example, a person's foot or clothes are caught on the hook 64.
　一方、掃除機本体２がドッキング位置に戻ったことを位置検出部５３で検知すると、昇降駆動部５１は、フック６４を係止位置まで上昇させて、フック６４を掃除機本体２の被係止部１６に係止させる。そして、フック６４と掃除機本体２の被係止部１６を確実に係止した状態で、フック６４を上昇させる。これにより、図５に示すように、充電ステーション６に、掃除機本体２を安定して吊り上げることができる。 On the other hand, when the position detector 53 detects that the cleaner body 2 has returned to the docking position, the lift drive unit 51 raises the hook 64 to the locking position, and the hook 64 is locked by the cleaner body 2. The part 16 is locked. Then, the hook 64 is raised while the hook 64 and the locked portion 16 of the cleaner body 2 are securely locked. Thereby, as shown in FIG. 5, the cleaner body 2 can be stably hung on the charging station 6.
　［自走式掃除機システムの動作］
　つぎに、図６Ａから図７を参照して、自走式掃除機システム１の充電ステーション６による掃除機本体２の吊り上げ動作について、説明する。 [Operation of self-propelled vacuum cleaner system]
Next, the lifting operation of the cleaner body 2 by the charging station 6 of the self-propelled cleaner system 1 will be described with reference to FIGS. 6A to 7.
　図６Ａから図６Ｄは、時系列的に、充電ステーション６が掃除機本体２を吊り上げて格納する様子を模式的に示す図である。図７は、充電ステーション６が掃除機本体２を吊り上げて格納する手順を示すフローチャートである。 6A to 6D are diagrams schematically showing the charging station 6 hoisting and storing the cleaner body 2 in chronological order. FIG. 7 is a flowchart showing a procedure in which the charging station 6 hoists and stores the cleaner body 2.
　図７に示すように、床面の清掃を終えると、掃除機本体２は、充電ステーション６の近傍まで戻って、充電ステーション６に帰還するための動作を実行する（ステップＳＴ１）。具体的には、まず、制御部５は、掃除機本体２の前面部１０２の赤外線通信部３３が、例えば充電ステーション６の赤外線発光部５３Ｃに向くように、走行制御部４１を駆動する。そして、掃除機本体２の赤外線通信部３３によって、充電ステーション６の赤外線発光部５３Ｃから発光される赤外線を受光する。 As shown in FIG. 7, after cleaning the floor surface, the cleaner body 2 returns to the vicinity of the charging station 6 and executes an operation for returning to the charging station 6 (step ST1). Specifically, first, the control unit 5 drives the traveling control unit 41 so that the infrared communication unit 33 of the front surface portion 102 of the cleaner body 2 faces the infrared light emitting unit 53C of the charging station 6, for example. Then, the infrared communication unit 33 of the cleaner body 2 receives the infrared light emitted from the infrared light emitting unit 53C of the charging station 6.
　つぎに、制御部５は、受光した赤外線の情報に基づいて、検出演算部４３で、充電ステーション６に対する掃除機本体２の距離や位置を検出および演算しながら、充電ステーション６に向けて、掃除機本体２を移動させる。これにより、掃除機本体２が充電ステーション６の基部６１まで近づき、さらに、掃除機本体２は、ボディ１０の底面部１０５が基部６１のスロープ６１Ｃに乗り上がるように移動する。そして、掃除機本体２は、基部６１のスロープ６１Ｃに沿って、斜め上方に案内される。 Next, the control unit 5 detects the distance and the position of the cleaner body 2 with respect to the charging station 6 and calculates the detection unit 43 based on the information on the received infrared rays, and then cleans the charging station 6 toward the charging station 6. Move the machine body 2. As a result, the cleaner body 2 approaches the base 61 of the charging station 6, and the cleaner body 2 moves so that the bottom surface 105 of the body 10 rides on the slope 61C of the base 61. Then, the cleaner body 2 is guided obliquely upward along the slope 61C of the base 61.
　つぎに、制御部５は、掃除機本体２が充電ステーション６のドッキング位置に到達したか否かを判断する（ステップＳＴ２）。具体的には、位置検出部５３のホールセンサ５３Ａが、掃除機本体２の磁石の磁界を検知したか否かを判断する。このとき、掃除機本体２がドッキング位置まで移動したことを位置検出部５３で検出すると（ステップＳＴ２のＹＥＳ）、赤外線発光部５３Ｃを介して、掃除機本体２のセンサ部４の赤外線通信部３３に向けて、その情報を発光し、掃除機本体２に通知する。 Next, the control unit 5 determines whether or not the cleaner body 2 has reached the docking position of the charging station 6 (step ST2). Specifically, it is determined whether or not the hall sensor 53A of the position detector 53 has detected the magnetic field of the magnet of the cleaner body 2. At this time, when the position detector 53 detects that the cleaner body 2 has moved to the docking position (YES in step ST2), the infrared communication unit 33 of the sensor unit 4 of the cleaner body 2 is received via the infrared light emitting unit 53C. The information is emitted to the cleaner main body 2 and the cleaner main body 2 is notified.
　つぎに、制御部５は、赤外線通信部３３を介して、通知内容が入力されると、掃除機本体２の走行駆動部１２の駆動を停止する。このとき、図６Ａに示すように、掃除機本体２が充電ステーション６のドッキング位置で停止するまでは、昇降駆動部５１は、フック６４をスロープ６１Ｃの上面よりも下方の退避位置Ｈ１に退避させておく。 Next, when the notification content is input via the infrared communication unit 33, the control unit 5 stops driving the traveling drive unit 12 of the cleaner body 2. At this time, as shown in FIG. 6A, until the cleaner body 2 stops at the docking position of the charging station 6, the elevating / lowering drive unit 51 retracts the hook 64 to the retreat position H1 below the upper surface of the slope 61C. Keep it.
　一方、掃除機本体２が充電ステーション６のドッキング位置に到達せず、ホールセンサ５３Ａが掃除機本体２の磁石の磁界を検知しなかった場合（ステップＳＴ２のＮＯ）、制御部５は、掃除機本体２を、充電ステーション６から、一旦、後退させる（ステップＳＴ２０）。そして、制御部５は、再度、掃除機本体２の充電ステーション６への帰還動作をやり直す（ステップＳＴ１）。 On the other hand, when the cleaner body 2 does not reach the docking position of the charging station 6 and the hall sensor 53A does not detect the magnetic field of the magnet of the cleaner body 2 (NO in step ST2), the controller 5 causes the cleaner The main body 2 is once retracted from the charging station 6 (step ST20). Then, the control unit 5 performs the returning operation of the cleaner body 2 to the charging station 6 again (step ST1).
　つぎに、掃除機本体２がドッキング位置まで移動したこと検知すると（ステップＳＴ２のＹＥＳ）、充電ステーション６の昇降駆動部５１は、フック６４を退避位置Ｈ１から係止位置まで上昇させ、掃除機本体２の被係止部１６に係止させる。そして、フック６４および被係止部１６を介して、充電部５２と掃除機本体２のバッテリとが導通される。これにより、掃除機本体２のバッテリは、充電制御部５４によって、充電部５２から給電され、充電される。 Next, when it is detected that the cleaner body 2 has moved to the docking position (YES in step ST2), the lifting drive unit 51 of the charging station 6 raises the hook 64 from the retracted position H1 to the locking position, and the cleaner body is The locked portion 16 of No. 2 is locked. Then, the charging unit 52 and the battery of the cleaner body 2 are electrically connected via the hook 64 and the locked portion 16. As a result, the battery of the cleaner body 2 is supplied with power from the charging unit 52 and charged by the charging control unit 54.
　このとき、係止位置でバッテリを充電した後、再び、清掃を開始する場合、昇降駆動部５１は、フック６４を退避位置Ｈ１まで下降させる。これにより、充電ステーション６のフック６４と、掃除機本体２の被係止部１６との係止状態が解除される。そして、制御部５は、走行駆動部１２を駆動して、掃除機本体２を充電ステーション６から離脱させ、再び、清掃を開始する。 At this time, when cleaning is started again after charging the battery at the locking position, the lifting drive unit 51 lowers the hook 64 to the retracted position H1. As a result, the hooked state of the hook 64 of the charging station 6 and the locked portion 16 of the cleaner body 2 is released. Then, the control unit 5 drives the traveling drive unit 12 to separate the cleaner body 2 from the charging station 6, and starts cleaning again.
　一方、掃除機本体２を充電ステーション６に吊り上げて格納する場合、フック６４と掃除機本体２の被係止部１６が係止した状態で、昇降駆動部５１は、フック６４を、さらに上昇させる。フック６４の上昇により、掃除機本体２の前部側が、充電ステーション６の柱部６２の傾斜に沿って、斜め上方に吊り上げられる。掃除機本体２の吊り上げの際、掃除機本体２の補助輪１２２は、床面に沿って転動する。さらに、補助輪１２２は、基部６１のスロープ６１Ｃに乗り上げて、スロープ６１Ｃに沿って転動する。これにより、掃除機本体２の後端部は、スロープ６１Ｃの傾斜に沿って円滑に案内される。 On the other hand, when the cleaner body 2 is lifted up and stored in the charging station 6, the elevating / lowering drive unit 51 further raises the hook 64 with the hook 64 and the engaged portion 16 of the cleaner body 2 locked. . As the hook 64 rises, the front side of the cleaner body 2 is lifted obliquely upward along the inclination of the pillar portion 62 of the charging station 6. When the cleaner body 2 is lifted, the auxiliary wheel 122 of the cleaner body 2 rolls along the floor surface. Further, the auxiliary wheel 122 rides on the slope 61C of the base 61 and rolls along the slope 61C. As a result, the rear end of the cleaner body 2 is smoothly guided along the slope of the slope 61C.
　なお、上記格納時において、図６Ｂに示すように、昇降駆動部５１は、まず、フック６４が退避位置Ｈ１から、係止位置（図示せず）を経由して、第１格納位置Ｈ２まで上昇すると、フック６４の上昇を停止する（ステップＳＴ３）。そして、充電制御部５４は、充電ステーション６の充電部５２から給電端子（フック６４が相当）を介して、掃除機本体２のバッテリに給電する。このとき、充電制御部５４は、充電ステーション６の給電端子であるフック６４と、掃除機本体２の被係止部１６の充電端子とが導通しているか否かを確認する（ステップＳＴ４）。これにより、被係止部１６とフック６４との係止状態を確認できる。つまり、第１格納位置Ｈ２においては、掃除機本体２は、スロープ６１Ｃ上の載置位置から、若干、吊り上げられた状態になっている。このとき、被係止部１６とフック６４の位置が合っていれば、掃除機本体２の自重により被係止部１６がフック６４に押し当てられて、フック６４が被係止部１６に係入した状態になっている。そのため、載置位置において、使用者が被係止部１６とフック６４との係止状態を目視などで確認する場合よりも、導通の有無により、より精確に係止状態を確認できる。 During the storage, as shown in FIG. 6B, in the elevating / lowering drive unit 51, first, the hook 64 moves up from the retracted position H1 to the first stored position H2 via the locking position (not shown). Then, the raising of the hook 64 is stopped (step ST3). Then, the charging control unit 54 supplies power to the battery of the cleaner body 2 from the charging unit 52 of the charging station 6 via the power supply terminal (corresponding to the hook 64). At this time, the charging control unit 54 confirms whether or not the hook 64, which is a power feeding terminal of the charging station 6, and the charging terminal of the locked portion 16 of the cleaner body 2 are electrically connected (step ST4). Thereby, the locked state of the locked portion 16 and the hook 64 can be confirmed. That is, in the first storage position H2, the cleaner body 2 is in a state of being slightly lifted from the mounting position on the slope 61C. At this time, if the locked portion 16 and the hook 64 are aligned with each other, the locked portion 16 is pressed against the hook 64 by the weight of the cleaner body 2, and the hook 64 engages with the locked portion 16. It is in a state of being put in. Therefore, in the mounting position, the locked state can be more accurately confirmed by the presence / absence of conduction than in the case where the user visually checks the locked state between the locked portion 16 and the hook 64.
　つまり、被係止部１６とフック６４とが導通している場合（ステップＳＴ４のＹＥＳ）、フック６４が被係止部１６を適切に係止していると推定できる。そこで、導通を検知すると、充電制御部５４は、充電部５２からの給電を停止する。そして、昇降駆動部５１は、図６Ｃに示すように、フック６４を、さらに上昇させる。フック６４が第２格納位置Ｈ３まで到達すると、図６Ｄに示すように、掃除機本体２は、前部側が、斜め上方、または上方に向いた状態で、充電ステーション６に格納される。 That is, when the locked portion 16 and the hook 64 are electrically connected (YES in step ST4), it can be estimated that the hook 64 appropriately locks the locked portion 16. Therefore, when the conduction is detected, the charging control unit 54 stops the power supply from the charging unit 52. Then, the elevating / lowering drive unit 51 further raises the hook 64, as shown in FIG. 6C. When the hook 64 reaches the second storage position H3, as shown in FIG. 6D, the cleaner body 2 is stored in the charging station 6 in a state in which the front side is directed obliquely upward or upward.
　そして、掃除機本体２が充電ステーション６に格納された状態において、フック６４および被係止部１６を介して、充電部５２と掃除機本体２のバッテリとが導通される。これにより、充電制御部５４は、充電部５２からバッテリに給電して、バッテリを充電する。 Then, while the cleaner body 2 is stored in the charging station 6, the charging portion 52 and the battery of the cleaner body 2 are electrically connected via the hook 64 and the locked portion 16. As a result, the charging control unit 54 supplies power to the battery from the charging unit 52 to charge the battery.
　なお、再び、清掃を開始する場合、昇降駆動部５１は、フック６４を退避位置Ｈ１まで下降させる。このとき、掃除機本体２の前端部も、基部６１のスロープ６１Ｃまで下降する。下降すると、制御部５は、掃除機本体２の走行駆動部１２を駆動して充電ステーション６から離脱させ、再び、清掃を開始する。 When the cleaning is started again, the elevating / lowering drive unit 51 lowers the hook 64 to the retracted position H1. At this time, the front end of the cleaner body 2 also descends to the slope 61C of the base 61. When descending, the control unit 5 drives the traveling drive unit 12 of the cleaner body 2 to disengage it from the charging station 6, and starts cleaning again.
　一方、図７に示すように、フック６４と掃除機本体２の被係止部１６の充電端子とが導通していない場合（ステップＳＴ４のＮＯ）、フック６４と被係止部１６とが、十分に係止していないと推定される。そこで、昇降駆動部５１は、フック６４を、第１格納位置Ｈ２から退避位置Ｈ１まで下降させ、掃除機本体２をドッキング位置に戻す（ステップＳＴ４０）。 On the other hand, as shown in FIG. 7, when the hook 64 is not electrically connected to the charging terminal of the locked portion 16 of the cleaner body 2 (NO in step ST4), the hook 64 and the locked portion 16 are It is presumed that it is not locked sufficiently. Therefore, the lifting drive unit 51 lowers the hook 64 from the first storage position H2 to the retracted position H1 and returns the cleaner body 2 to the docking position (step ST40).
　このとき、掃除機本体２を戻した状態から、再び、フック６４を上昇させて、被係止部１６を係止し直す動作を、再度、実行してもよい。しかしながら、フック６４と被係止部１６とが係止できなかった要因は、掃除機本体２の位置のずれに起因する可能性が高い。そこで、制御部５は、掃除機本体２を、一旦、充電ステーション６から後退させる（ステップＳＴ２０）。そして、制御部５は、再度、掃除機本体２の充電ステーション６への帰還動作をやり直す（ステップＳＴ１）ように制御動作することが、より好ましい。 At this time, from the state where the cleaner body 2 is returned, the operation of raising the hook 64 again and re-engaging the locked portion 16 may be performed again. However, the reason why the hook 64 and the locked portion 16 could not be locked is likely to be due to the position shift of the cleaner body 2. Therefore, the control unit 5 temporarily retracts the cleaner body 2 from the charging station 6 (step ST20). Then, it is more preferable that the control unit 5 performs the control operation so that the returning operation of the cleaner body 2 to the charging station 6 is performed again (step ST1).
　以上のように、実施の形態１の自走式掃除機システム１は、充電ステーション６の第２格納位置Ｈ３よりも低い第１格納位置Ｈ２で、一旦、フック６４の上昇を停止する。そして、第１格納位置Ｈ２で、フック６４と、掃除機本体２の被係止部１６との導通により係止状態を確認する。このとき、導通が確認されると、フック６４を第２格納位置Ｈ３まで、さらに上昇させる。そのため、上昇途中において、掃除機本体２の被係止部１６が、充電ステーション６のフック６４から外れ、掃除機本体２が落下するなどの不測の事態の発生を低減できる。 As described above, the self-propelled vacuum cleaner system 1 according to the first embodiment temporarily stops the lifting of the hook 64 at the first storage position H2 that is lower than the second storage position H3 of the charging station 6. Then, in the first storage position H2, the hook 64 and the locked portion 16 of the cleaner body 2 are electrically connected to each other to check the locked state. At this time, if conduction is confirmed, the hook 64 is further raised to the second storage position H3. Therefore, it is possible to reduce the occurrence of an unforeseen situation such that the engaged portion 16 of the cleaner body 2 is disengaged from the hook 64 of the charging station 6 and the cleaner body 2 falls during the ascent.
　つまり、実施の形態１の自走式掃除機システム１によれば、充電ステーション６は、掃除機本体２の前部側を吊り上げた状態で保持し、収納する。これにより、保持した掃除機本体２の床面に対する投影面積を小さくできる。さらに、保持状態にある掃除機本体２と充電ステーション６とを合わせた自走式掃除機システム１の占有スペースを小さくできる。 That is, according to the self-propelled cleaner system 1 of the first embodiment, the charging station 6 holds and stores the front side of the cleaner body 2 in a suspended state. Thereby, the projected area of the held cleaner main body 2 with respect to the floor surface can be reduced. Further, the space occupied by the self-propelled cleaner system 1 including the cleaner main body 2 in the holding state and the charging station 6 can be reduced.
　［係止状態の異常検知］
　以下、上述した自走式掃除機システム１において、フック６４と被係止部１６との係止状態を確認し、係止状態の異常を的確に検知するための技術について、説明する。 [Detection of abnormality in locked state]
Hereinafter, in the above-described self-propelled cleaner system 1, a technique for confirming the locked state between the hook 64 and the locked portion 16 and accurately detecting an abnormality in the locked state will be described.
　上述したように、実施の形態１の自走式掃除機システム１は、掃除機本体２の被係止部１６と充電ステーション６の係止部であるフック６４のそれぞれが、金属などの導電性を有する材料により形成される導電部を有する。そして、図６Ｂに示す第１格納位置Ｈ２などにおいて、フック６４と被係止部１６との間の導通を確認する。導通が確認されると、フック６４と被係止部１６との係止状態が良好であると判断し、フック６４を介して、掃除機本体２を第２格納位置Ｈ３まで吊り上げ、収納する。 As described above, in the self-propelled cleaner system 1 according to the first embodiment, each of the locked portion 16 of the cleaner body 2 and the hook 64 that is the locking portion of the charging station 6 is made of a conductive material such as metal. Has a conductive portion formed of a material having. Then, in the first storage position H2 or the like shown in FIG. 6B, the conduction between the hook 64 and the locked portion 16 is confirmed. When the conduction is confirmed, it is determined that the hook 64 and the locked portion 16 are in a good locked state, and the cleaner body 2 is lifted to the second storage position H3 via the hook 64 and stored.
　このとき、フック６４と被係止部１６との係止状態が異常の場合でも、フック６４と被係止部１６との間が導通可能に構成されていると、係止状態の異常を、的確に検知できない虞がある。 At this time, even if the hook 64 and the locked portion 16 are in an abnormal locked state, if the hook 64 and the locked portion 16 are configured to be electrically conductive, the abnormal locked state may occur. There is a possibility that it cannot be detected accurately.
　そこで、自走式掃除機システム１は、充電ステーション６のフック６４と、掃除機本体２の被係止部１６のそれぞれに、導電部を設ける。 Therefore, in the self-propelled cleaner system 1, the hook 64 of the charging station 6 and the engaged portion 16 of the cleaner body 2 are provided with conductive portions.
　そして、フック６４が掃除機本体２を吊り上げ可能に係止した状態においては、フック６４の導電部と被係止部１６の導電部とが接触するように構成される。一方、フック６４が掃除機本体２を吊り上げ可能に係止していない状態においては、フック６４の導電部と被係止部１６の導電部とが接触しないように構成される。 Then, when the hook 64 locks the cleaner body 2 so that it can be lifted, the conductive part of the hook 64 and the conductive part of the locked part 16 are configured to come into contact with each other. On the other hand, in a state where the hook 64 does not lock the cleaner body 2 so as to be able to be lifted, the conductive portion of the hook 64 and the conductive portion of the locked portion 16 do not come into contact with each other.
　つまり、フック６４の導電部と被係止部１６の導電部との導通により、フック６４と被係止部１６との係止状態が、正常か異常かを、的確に確認できる。これにより、掃除機本体２の落下などの不測の事態の発生を未然に防いで、自走式掃除機システム１の安全性を向上させることができる。 That is, the conduction between the conductive portion of the hook 64 and the conductive portion of the locked portion 16 makes it possible to accurately confirm whether the locked state of the hook 64 and the locked portion 16 is normal or abnormal. As a result, it is possible to prevent an unexpected situation such as a fall of the cleaner body 2 from occurring and improve the safety of the self-propelled cleaner system 1.
　以下、自走式掃除機システム１において、フック６４と被係止部１６との係止状態の異常を検知する技術について、図８から図１０を参照して、説明する。 Hereinafter, in the self-propelled cleaner system 1, a technique for detecting an abnormality in the hooked state of the hook 64 and the locked portion 16 will be described with reference to FIGS. 8 to 10.
　まず、充電ステーション６の係止部であるフック６４と掃除機本体２の被係止部１６の構成例について、図８を用いて、説明する。 First, a configuration example of the hook 64 that is the locking portion of the charging station 6 and the locked portion 16 of the cleaner body 2 will be described with reference to FIG. 8.
　図８は、充電ステーション６のフック６４と掃除機本体２の被係止部１６の構成例を示す概略断面図である。 FIG. 8 is a schematic sectional view showing a configuration example of the hook 64 of the charging station 6 and the locked portion 16 of the cleaner body 2.
　図８に示すように、掃除機本体２の被係止部１６は、掃除機本体２の底面部１０５に設けられる凹部１７と、凹部１７に設けられ、導電部である突部１８ａを有する電極１８とで構成される。電極１８は、充電ステーション６に掃除機本体２が吊り上げられた状態で、かつ保持された状態において、上側となる、凹部１７の前方側の内面で、突部１８ａが、掃除機本体２の後方に折り曲げられた、例えばＬ字形状で設けられる。 As shown in FIG. 8, the locked portion 16 of the cleaner main body 2 is an electrode having a recess 17 provided in the bottom surface 105 of the cleaner main body 2 and a protrusion 18a provided in the recess 17 and serving as a conductive portion. 18 and. The electrode 18 is an inner surface on the front side of the concave portion 17 that is the upper side in a state where the cleaner body 2 is suspended and held in the charging station 6, and the protrusion 18 a is located behind the cleaner body 2. It is provided in the shape of, for example, an L shape, which is bent in the direction of.
　フック６４は、例えば銅、鉄などの金属の導電性を有する材料により形成され、導電部を構成する、横棒部６９と、横棒部６９の先端に上方に折り曲げられて設けられる突出部６５とを含む。つまり、フック６４は、横棒部６９と突出部６５とにより、例えばＬ字形状で形成される。突出部６５は、係止時において、掃除機本体２の被係止部１６の凹部１７に係入される。さらに、フック６４は、凹部１７に係入される突出部６５の上面に設けられる、例えば塩化ビニールなどの材料で構成される絶縁部６６を有する。 The hook 64 is formed of a conductive material such as a metal such as copper or iron, and constitutes a conductive portion. The horizontal bar portion 69 and a protruding portion 65 provided at the tip of the horizontal bar portion 69 by being bent upward. Including and That is, the hook 64 is formed, for example, in an L shape by the horizontal bar portion 69 and the protruding portion 65. The projecting portion 65 is engaged with the recessed portion 17 of the locked portion 16 of the cleaner body 2 when locked. Further, the hook 64 has an insulating portion 66 which is provided on the upper surface of the protruding portion 65 that is engaged with the recess 17 and is made of a material such as vinyl chloride.
　つぎに、充電ステーション６の係止部であるフック６４と掃除機本体２の被係止部１６との係止状態が良好な場合の係止状態について、図９Ａおよび図９Ｂを用いて、説明する。 Next, the locking state when the hook 64, which is the locking portion of the charging station 6, and the locked portion 16 of the cleaner body 2 are in a good locking state will be described with reference to FIGS. 9A and 9B. To do.
　図９Ａおよび図９Ｂは、図８に示す構成例においてフック６４と被係止部１６とが良好に係止されている状態を示す図である。 9A and 9B are diagrams showing a state where the hook 64 and the locked portion 16 are properly locked in the configuration example shown in FIG. 8.
　図９Ａに示すように、昇降駆動部５１がフック６４を、図８に示すドッキング位置から、係止位置あるいは第１格納位置Ｈ２まで上昇させると、フック６４の導電部と、掃除機本体２の被係止部１６の導電部を構成する電極１８とが接触する。具体的には、フック６４の横棒部６９の上面および突出部６５の前方側の面と、掃除機本体２の被係止部１６の電極１８のＬ字形状の突部１８ａの後方側および底面部１０５側の面とが接触する。このとき、充電部５２を介して、フック６４に給電すると、フック６４と電極１８との間で導通が確認される。これにより、フック６４と被係止部１６とが、良好な係止状態であることが確認できる。 As shown in FIG. 9A, when the lifting drive unit 51 raises the hook 64 from the docking position shown in FIG. 8 to the locking position or the first storage position H2, the conductive portion of the hook 64 and the cleaner main body 2 are removed. The electrode 18 forming the conductive portion of the locked portion 16 contacts. Specifically, the upper surface of the horizontal bar portion 69 of the hook 64 and the front surface of the protruding portion 65, the rear side of the L-shaped protruding portion 18a of the electrode 18 of the locked portion 16 of the cleaner body 2, and The surface on the bottom surface portion 105 side comes into contact. At this time, when power is supplied to the hook 64 via the charging unit 52, conduction is confirmed between the hook 64 and the electrode 18. This confirms that the hook 64 and the locked portion 16 are in a good locked state.
　そこで、昇降駆動部５１は、さらに、フック６４を第２格納位置Ｈ３まで上昇させる。これにより、図９Ｂに示すように、掃除機本体２は、良好な係止状態（フック６４のＬ字形状の突出部６５と電極１８のＬ字形状の突部１８ａとが噛み合った状態）で、充電ステーション６により吊持される。この係止状態においても、フック６４の導電部と電極１８との接触は、維持されている。そのため、フック６４から電極１８へ給電することにより、掃除機本体２のバッテリへの充電が可能になる。 Then, the elevating / lowering drive unit 51 further raises the hook 64 to the second storage position H3. As a result, as shown in FIG. 9B, the cleaner body 2 is in a good locked state (the L-shaped protrusion 65 of the hook 64 and the L-shaped protrusion 18a of the electrode 18 mesh with each other). , Is suspended by the charging station 6. Even in this locked state, the contact between the conductive portion of the hook 64 and the electrode 18 is maintained. Therefore, the battery of the cleaner body 2 can be charged by supplying power from the hook 64 to the electrode 18.
　つぎに、フック６４と被係止部１６との係止状態が不十分な場合の状態について、図１０を用いて、説明する。 Next, a state in which the hook 64 and the locked portion 16 are not sufficiently locked will be described with reference to FIG.
　図１０は、図８に示す構成例においてフック６４と被係止部１６との不十分な係止状態を示す図である。 FIG. 10 is a diagram showing an insufficiently locked state between the hook 64 and the locked portion 16 in the configuration example shown in FIG.
　図１０に示すように、掃除機本体２が、充電ステーション６のスロープ６１Ｃの載置位置（ドッキング位置）よりも、若干、手前（図４における後方）で停止した場合、昇降駆動部５１がフック６４を第１格納位置Ｈ２まで上昇させても、フック６４の突出部６５が、掃除機本体２の凹部１７に係入しない。このとき、突出部６５の上面に絶縁部６６を設けていないと、フック６４の導電部である突出部６５の上面が、掃除機本体２の導電部である電極１８の底面部１０５側の面と接触する。そのため、図７にフローチャートに示す導通による係止状態の確認（ステップＳＴ４）において、充電制御部５４は、フック６４と電極１８とが、良好な係止状態であると判定してしまう。 As shown in FIG. 10, when the cleaner body 2 is stopped slightly before (on the rear side in FIG. 4) the mounting position (docking position) of the slope 61C of the charging station 6, the lifting drive unit 51 hooks. Even if 64 is raised to the first storage position H2, the protrusion 65 of the hook 64 does not engage with the recess 17 of the cleaner body 2. At this time, if the insulating portion 66 is not provided on the upper surface of the protruding portion 65, the upper surface of the protruding portion 65 that is the conductive portion of the hook 64 is the surface on the bottom surface portion 105 side of the electrode 18 that is the conductive portion of the cleaner body 2. Contact with. Therefore, in the confirmation of the locked state by conduction (step ST4) shown in the flowchart of FIG. 7, the charge control unit 54 determines that the hook 64 and the electrode 18 are in the good locked state.
　そこで、実施の形態１では、フック６４の突出部６５の上面に絶縁部６６を設ける。これにより、フック６４と被係止部１６とが係止していない状態においては、フック６４の絶縁部６６と、導電部である電極１８の底面部１０５側の面が接触する。そのため、フック６４の導電部（突出部６５または横棒部６９）と電極１８とは、接触しない。つまり、図１０に示す不十分な係止状態においては、フック６４の導電部と電極１８とは導通しない。そのため、上記の状態で導通を確認することにより、フック６４と被係止部１６との係止状態の異常を的確に検知できる。 Therefore, in the first embodiment, the insulating portion 66 is provided on the upper surface of the protruding portion 65 of the hook 64. As a result, when the hook 64 and the locked portion 16 are not locked, the insulating portion 66 of the hook 64 and the surface of the electrode 18, which is the conductive portion, on the bottom surface 105 side are in contact with each other. Therefore, the conductive portion (the protruding portion 65 or the horizontal bar portion 69) of the hook 64 does not contact the electrode 18. That is, in the insufficiently locked state shown in FIG. 10, the conductive portion of the hook 64 and the electrode 18 do not conduct. Therefore, by confirming the conduction in the above state, it is possible to accurately detect the abnormality in the locked state between the hook 64 and the locked portion 16.
　その結果、掃除機本体２の落下などの不測の事態の発生を未然に防いで、自走式掃除機システム１の安全性を高めることができる。また、上述した簡易な構成で、係止状態の異常の有無を検知できるので、自走式掃除機システム１の製造コストを抑制できる。 As a result, it is possible to prevent the occurrence of an unexpected situation such as the vacuum cleaner body 2 falling, and enhance the safety of the self-propelled vacuum cleaner system 1. Moreover, since the presence or absence of the abnormality in the locked state can be detected with the above-described simple configuration, the manufacturing cost of the self-propelled cleaner system 1 can be suppressed.
　以下、自走式掃除機システム１において、別の構成例におけるフック６４Ａと被係止部１６との係止状態の異常を検知する技術について、図１１Ａから図１２を参照にして、説明する。 In the following, in the self-propelled cleaner system 1, a technique for detecting an abnormality in the locked state of the hook 64A and the locked portion 16 in another configuration example will be described with reference to FIGS. 11A to 12.
　まず、充電ステーション６の係止部であるフック６４Ａと掃除機本体２の被係止部１６の別の構成例について、図１１Ａおよび図１１Ｂを用いて、説明する。 First, another configuration example of the hook 64A that is the locking portion of the charging station 6 and the locked portion 16 of the cleaner body 2 will be described with reference to FIGS. 11A and 11B.
　図１１Ａおよび図１１Ｂは、別の構成例におけるフック６４Ａと被係止部１６との良好な係止状態を示す図である。 11A and 11B are diagrams showing a favorable locking state between the hook 64A and the locked portion 16 in another configuration example.
　図１１Ａおよび図１１Ｂに示す別の構成例においても、フック６４Ａは、図８から図１０に示す構成例のフック６４と同様にＬ字状の形状で形成されるが、以下の点で異なる。フック６４Ａの横棒部６９と突出部６５の全体が、概ね塩化ビニールなどの絶縁性材料からなる絶縁部で構成される。さらに、フック６４Ａは、突出部６５近傍の横棒部６９の上面の一部と、突出部６５の前方側の側面の一部に設けられる導電部６８を有する。 In another configuration example shown in FIGS. 11A and 11B, the hook 64A is formed in an L shape like the hook 64 of the configuration example shown in FIGS. 8 to 10, but is different in the following points. The horizontal bar portion 69 and the protruding portion 65 of the hook 64A are entirely formed of an insulating portion made of an insulating material such as vinyl chloride. Further, the hook 64A has a part of the upper surface of the horizontal bar portion 69 near the protrusion 65 and a conductive portion 68 provided on a part of the front side surface of the protrusion 65.
　上記の構成例においても、図１１Ａに示すように、係止位置あるいは第１格納位置Ｈ２において、フック６４Ａの導電部６８と、掃除機本体２の被係止部１６の導電部を構成する電極１８とが接触する。これにより、フック６４Ａと被係止部１６とが、良好な係止状態であることが確認できる。 Also in the above configuration example, as shown in FIG. 11A, at the locking position or the first storage position H2, the electrodes forming the conductive portion 68 of the hook 64A and the conductive portion of the locked portion 16 of the cleaner body 2 are formed. 18 contacts. This confirms that the hook 64A and the locked portion 16 are in a good locked state.
　また、図１１Ｂに示すように、第２格納位置Ｈ３においても、フック６４Ａの導電部６８と電極１８とが接触する。これにより、掃除機本体２は、良好な係止状態で、充電ステーション６により吊持される。この係止状態においても、フック６４Ａの導電部と、電極１８との接触は維持されている。そのため、フック６４から電極１８へ給電することにより、掃除機本体２のバッテリへの充電が可能になる。 Also, as shown in FIG. 11B, the conductive portion 68 of the hook 64A and the electrode 18 are also in contact with each other at the second storage position H3. As a result, the cleaner body 2 is suspended by the charging station 6 in a good locked state. Even in this locked state, the contact between the conductive portion of the hook 64A and the electrode 18 is maintained. Therefore, the battery of the cleaner body 2 can be charged by supplying power from the hook 64 to the electrode 18.
　つぎに、別の構成例におけるフック６４Ａと被係止部１６との係止状態が不十分な場合の状態について、図１２を用いて、説明する。 Next, a state in which the hook 64A and the locked portion 16 are not sufficiently locked in another configuration example will be described with reference to FIG.
　図１２は、図１１Ａおよび図１１Ｂに示す別の構成例におけるフック６４Ａと被係止部１６との不十分な係止状態を示す図である。 FIG. 12 is a diagram showing an insufficiently locked state of the hook 64A and the locked portion 16 in another configuration example shown in FIGS. 11A and 11B.
　上記の構成例においても、図１２に示す不十分な係止状態においては、フック６４Ａの導電部６８と電極１８とは、接触しない。つまり、図１２に示す不十分な係止状態においては、フック６４Ａと電極１８とは導通しない。そのため、上記の状態で導通を確認することにより、フック６４Ａと被係止部１６との係止状態の異常を的確に検知できる。 In the above configuration example as well, in the insufficiently locked state shown in FIG. 12, the conductive portion 68 of the hook 64A and the electrode 18 do not come into contact with each other. That is, in the insufficiently locked state shown in FIG. 12, the hook 64A and the electrode 18 do not conduct. Therefore, by confirming the conduction in the above state, it is possible to accurately detect the abnormality of the locked state between the hook 64A and the locked portion 16.
　その結果、掃除機本体２の落下などの不測の事態を未然に防いで、自走式掃除機システム１の安全性を高めることができる。また、上述した簡易な構成で、係止状態の異常の有無を検知できるので、自走式掃除機システム１の製造コストを抑制できる。 As a result, it is possible to prevent accidental situations such as the main body 2 of the vacuum cleaner being dropped, and enhance the safety of the self-propelled vacuum cleaner system 1. Moreover, since the presence or absence of the abnormality in the locked state can be detected with the above-described simple configuration, the manufacturing cost of the self-propelled cleaner system 1 can be suppressed.
　なお、フック６４の導電部（突出部６５および横棒部６９が相当）またはフック６４Ａの導電部６８と、被係止部１６の電極１８の構成は、その他にも様々な態様で実現できる。要は、充電ステーション６のフック６４、６４Ａが掃除機本体２を吊り上げ可能に係止した状態において、フック６４の導電部またはフック６４Ａの導電部６８と、掃除機本体２被係止部１６の電極１８とが接触する。一方、フック６４、６４Ａが掃除機本体２を吊り上げ可能に係止していない状態において、フック６４の導電部またはフック６４Ａの導電部６８と、被係止部１６の電極１８とが接触しない構成であれば、フック６４、６４Ａおよび被係止部１６の構成は任意でよい。 The configuration of the conductive portion of the hook 64 (corresponding to the protruding portion 65 and the horizontal bar portion 69) or the conductive portion 68 of the hook 64A and the electrode 18 of the locked portion 16 can be realized in various other modes. In short, in the state where the hooks 64 and 64A of the charging station 6 lock the cleaner main body 2 so that the cleaner main body 2 can be lifted, the conductive part of the hook 64 or the conductive part 68 of the hook 64A and the locked part 16 of the cleaner main body 2 are locked. The electrode 18 contacts. On the other hand, in a state where the hooks 64 and 64A do not lock the cleaner main body 2 in a hoistable manner, the conductive portion of the hook 64 or the conductive portion 68 of the hook 64A and the electrode 18 of the locked portion 16 do not come into contact with each other. If so, the hooks 64, 64A and the locked portion 16 may have any configurations.
　また、フック６４の導電部またはフック６４Ａの導電部６８と、被係止部１６の電極１８は、被係止部１６がフック６４、６４Ａにより係止された状態で、フック６４、６４Ａが昇降駆動部５１により上昇されて掃除機本体２が吊り上げられた状態において、フック６４の導電部またはフック６４Ａの導電部６８と、被係止部１６の電極１８とが接触する。一方、掃除機本体２が吊り上げられていない（被係止部の凹部に、フックが係入されていない）状態において、フック６４の導電部またはフック６４Ａの導電部６８と、被係止部１６の電極１８が接触しない構成としてもよい。具体的には、例えば掃除機本体２の凹部１７に、フック６４、６４Ａの突出部６５よりも内径の小さい開口を有する、例えばゴムなどの絶縁体のカバーを配設する。この場合、掃除機本体２が吊り上げられていない状態では、フック６４、６４Ａをカバーに接触させても、導電部同士は接触しない。一方、掃除機本体２が吊り上げられると、掃除機本体２の自重によりカバーの開口に突出部６５が貫入して、フック６４の導電部またはフック６４Ａの導電部６８が、電極１８に接触するように構成する。つまり、使用者の指の径よりも開口の小さいカバーを被係止部１６の凹部１７に配設することにより、掃除機本体２を把持しているときなどに、誤って凹部へ指が挿入されることを防止できる。これにより、使用者が、一対の電極１８に触れて、例えば感電することを、未然に防止できる。 Further, the conductive portion of the hook 64 or the conductive portion 68 of the hook 64A and the electrode 18 of the locked portion 16 are moved up and down with the locked portion 16 locked by the hooks 64 and 64A. When the cleaner body 2 is lifted by the drive unit 51 and the cleaner body 2 is lifted, the conductive portion of the hook 64 or the conductive portion 68 of the hook 64A and the electrode 18 of the locked portion 16 are in contact with each other. On the other hand, when the cleaner body 2 is not lifted (the hook is not engaged in the recessed portion of the locked portion), the conductive portion of the hook 64 or the conductive portion 68 of the hook 64A and the locked portion 16 are provided. The electrodes 18 may not be in contact with each other. Specifically, for example, in the recess 17 of the cleaner body 2, a cover made of an insulating material such as rubber having an opening having an inner diameter smaller than that of the protrusions 65 of the hooks 64 and 64A is provided. In this case, in a state where the cleaner body 2 is not lifted, even if the hooks 64 and 64A are brought into contact with the cover, the conductive parts do not come into contact with each other. On the other hand, when the cleaner body 2 is lifted up, the protrusion 65 penetrates into the opening of the cover due to the weight of the cleaner body 2 so that the conductive portion of the hook 64 or the conductive portion 68 of the hook 64A contacts the electrode 18. To configure. That is, by disposing a cover having an opening smaller than the diameter of the user's finger in the recess 17 of the locked portion 16, the finger is accidentally inserted into the recess when the cleaner body 2 is gripped. Can be prevented. As a result, it is possible to prevent the user from touching the pair of electrodes 18 and receiving an electric shock, for example.
　以上のように、実施の形態１の自走式掃除機システム１によれば、フック６４の導電部またはフック６４Ａの導電部６８と、被係止部１６の電極１８との導通を確認する。これにより、フック６４、６４Ａと被係止部１６との係止状態を確認して、係止状態の異常の有無を的確に検知できる。その結果、掃除機本体２の落下などの不測の事態の発生を未然に防いで、自走式掃除機システム１の安全性を高めることができる。 As described above, according to the self-propelled cleaner system 1 of the first embodiment, the conduction between the conductive portion of the hook 64 or the conductive portion 68 of the hook 64A and the electrode 18 of the locked portion 16 is confirmed. This makes it possible to confirm the locked state between the hooks 64 and 64A and the locked portion 16 and accurately detect whether or not there is an abnormality in the locked state. As a result, it is possible to prevent an unexpected situation such as a fall of the cleaner body 2 from occurring and improve the safety of the self-propelled cleaner system 1.
　［実施の形態２：係止状態の異常発生時の動作］
　以下、上述した自走式掃除機システム１において、掃除機本体２とフック６４、６４Ａとの係止状態に異常が発生した場合、異常を的確に検知して、フック６４、６４Ａの動作を停止、またはフック６４、６４Ａを降下させる別の技術について、図１３を用いて、説明する。 [Embodiment 2: Operation when abnormality occurs in locked state]
Hereinafter, in the above-described self-propelled cleaner system 1, when an abnormality occurs in the engagement state between the cleaner body 2 and the hooks 64, 64A, the abnormality is accurately detected and the operation of the hooks 64, 64A is stopped. , Or another technique for lowering the hooks 64, 64A will be described with reference to FIG.
　図１３は、実施の形態２に係る自走式掃除機システム１の充電ステーション６の概略構成を示す機能ブロック図である。 FIG. 13 is a functional block diagram showing a schematic configuration of the charging station 6 of the self-propelled cleaner system 1 according to the second embodiment.
　なお、実施の形態２に係る充電ステーション６は、図１に示す実施の形態１に係る充電ステーション６の構成に加えて、異常検知部５５を、さらに備える。また、昇降駆動部５１は、モータ５７、モータ制御部５８、および電流値検出部５９を備える。その他の構成および動作は、実施の形態１と同様である。 The charging station 6 according to the second embodiment further includes an abnormality detection unit 55 in addition to the configuration of the charging station 6 according to the first embodiment shown in FIG. The lift drive unit 51 also includes a motor 57, a motor control unit 58, and a current value detection unit 59. Other configurations and operations are similar to those of the first embodiment.
　そこで、以下では、実施の形態１と異なる特徴について、主に説明する。なお、図８に示す充電ステーション６のフック６４の構成例で説明するが、図１１Ａおよび図１１Ｂに示すフック６４Ａでも同様である。 Therefore, the features that differ from the first embodiment will be mainly described below. Note that the configuration example of the hook 64 of the charging station 6 shown in FIG. 8 will be described, but the same applies to the hook 64A shown in FIGS. 11A and 11B.
　異常検知部５５は、掃除機本体２の被係止部１６と充電ステーション６のフック６４との係止状態の異常を検知する。昇降駆動部５１は、異常検知部５５が係止状態の異常を検知した場合、フック６４の動作を停止、またはフック６４を降下させる。 The abnormality detection unit 55 detects an abnormality in the locked state between the locked portion 16 of the cleaner body 2 and the hook 64 of the charging station 6. The elevating / lowering drive unit 51 stops the operation of the hook 64 or lowers the hook 64 when the abnormality detection unit 55 detects an abnormality in the locked state.
　ここで、異常検知部５５が係止状態の異常を検知する方法としては、以下、第１の例および第２の例で説明する、例えば２つの方法がある。 Here, as a method of detecting an abnormality in the locked state by the abnormality detection unit 55, there are, for example, two methods described in the first example and the second example below.
　第１の例は、フック６４を昇降させるための駆動力を発生するモータ５７に流れる電流の値を基準として、係止状態の異常の有無を検知する方法である。モータ５７に流れる電流の値は、モータ５７にかかるトルク負荷の大きさを反映する。 The first example is a method of detecting whether or not there is an abnormality in the locked state, with the value of the current flowing in the motor 57 that generates the driving force for raising and lowering the hook 64 as a reference. The value of the current flowing through the motor 57 reflects the magnitude of the torque load applied to the motor 57.
　つまり、掃除機本体２の吊り上げ中において、例えば掃除機本体２の被係止部１６の一方がフック６４から外れると、掃除機本体２が異常な振動を始める。このとき、通常の吊り上げ中とは異なるトルク負荷がモータ５７にかかる。これにより、モータ５７に流れる電流の値も、通常とは異なる値を示す。 That is, when one of the locked portions 16 of the cleaner body 2 is disengaged from the hook 64 while the cleaner body 2 is being lifted, the cleaner body 2 starts abnormal vibration. At this time, a torque load different from that during normal lifting is applied to the motor 57. As a result, the value of the current flowing through the motor 57 also shows a value different from the normal value.
　そこで、異常検知部５５は、まず、昇降駆動部５１がフック６４を昇降させているときに、モータ５７に流れる電流の値を検出する電流値検出部５９から検出された電流の値を取得する。つぎに、異常検知部５５は、予め設定し記憶されている、係止状態の異常を検出するための検出条件を参照して、取得した電流の値と比較する。そして、異常検知部５５は、比較した結果に基づいて、係止状態の異常の有無を検出する。上記検出条件は、例えば電流値、電流値の変化率、電流値の変化率の変化率、電流値の積算値、平均値、最大値、最小値などに基づく条件などである。なお、検出条件は、取得した電流値が、所定の閾値を超えた回数などでもよい。この方法によれば、簡易な構成で、係止状態の異常の有無を検知できるので、自走式掃除機システム１の製造コストを抑えることができる。 Therefore, the abnormality detection unit 55 first acquires the value of the current detected by the current value detection unit 59 that detects the value of the current flowing through the motor 57 while the lifting drive unit 51 moves the hook 64 up and down. . Next, the abnormality detection unit 55 refers to the preset detection condition for detecting the abnormality in the locked state, and compares it with the acquired current value. Then, the abnormality detection unit 55 detects whether or not there is an abnormality in the locked state based on the comparison result. The detection condition is, for example, a condition based on a current value, a change rate of a current value, a change rate of a change rate of a current value, an integrated value of current values, an average value, a maximum value, a minimum value, or the like. The detection condition may be the number of times the acquired current value exceeds a predetermined threshold value. According to this method, since it is possible to detect the presence or absence of an abnormality in the locked state with a simple configuration, it is possible to suppress the manufacturing cost of the self-propelled cleaner system 1.
　第２の例は、充電ステーション６に振動検知部（図示せず）を設け、振動検知部により検出された情報を基準として、係止状態の異常の有無を、異常検知部５５で検知する方法である。なお、振動検知部は、静電容量式、渦電流式、レーザードップラ式、圧電式、電磁式などの任意の方式の振動センサでよい。これらの振動センサは、ＭＥＭＳ（Ｍｉｃｒｏ　Ｅｌｅｃｔｒｏ　Ｍｅｃｈａｎｉｃａｌ　Ｓｙｓｔｅｍｓ）やＮＥＭＳ（Ｎａｎｏ　Ｅｌｅｃｔｒｏ　Ｍｅｃｈａｎｉｃａｌ　Ｓｙｓｔｅｍｓ）などにより形成され、充電ステーション６に搭載されてもよい。 A second example is a method in which a vibration detection unit (not shown) is provided in the charging station 6, and the abnormality detection unit 55 detects whether or not there is an abnormality in the locked state based on the information detected by the vibration detection unit. Is. The vibration detector may be a vibration sensor of any type such as an electrostatic capacitance type, an eddy current type, a laser Doppler type, a piezoelectric type, an electromagnetic type and the like. These vibration sensors may be formed by MEMS (Micro Electro Mechanical Systems), NEMS (Nano Electro Mechanical Systems), or the like, and may be mounted on the charging station 6.
　つまり、自走式掃除機システム１は、掃除機本体２を吊り下げて格納し、充電している際に、例えば地震の発生、人と掃除機本体２との接触、掃除機本体２の誤動作による運転開始などにより、掃除機本体２および充電ステーション６に不要な振動が印加される場合がある。このとき、印加された不要な振動により、掃除機本体２の充電端子と充電ステーション６の給電端子との間にチャタリングが発生する場合がある。これにより、充電端子と給電端子が、異常放電などで劣化して充電効率が低下するなど、係止状態の異常が発生する可能性がある。 That is, the self-propelled cleaner system 1 suspends and stores the cleaner body 2 and charges it, for example, when an earthquake occurs, a person comes into contact with the cleaner body 2, and the cleaner body 2 malfunctions. Unnecessary vibration may be applied to the cleaner body 2 and the charging station 6 due to the start of operation due to. At this time, chattering may occur between the charging terminal of the cleaner body 2 and the power feeding terminal of the charging station 6 due to the unnecessary vibration applied. As a result, the charging terminal and the power feeding terminal may be deteriorated due to abnormal discharge or the like, and the charging efficiency may be reduced, so that an abnormality in the locked state may occur.
　そこで、第２の例では、上記のような振動が発生した場合、異常検知部５５は、まず、振動検知部から検出された情報を取得する。つぎに、異常検知部５５は、予め設定し記憶されている、係止状態の異常を検出するための検出条件を参照して、取得した情報と比較する。そして、異常検知部５５は、比較した結果に基づいて、係止状態の異常の有無を検出する。上記検出条件は、例えば振動の振幅、周期、振動または周期の変化率、平均値、最大値、最小値などに基づく条件などである。なお、検出条件は、取得した振動の振幅が、所定の閾値を超えた回数などでもよい。この方法によれば、より迅速、かつ的確に係止状態の異常の有無を検知できるので、自走式掃除機システム１の安全性を、さらに高めることができる。 Therefore, in the second example, when the vibration as described above occurs, the abnormality detection unit 55 first acquires the information detected from the vibration detection unit. Next, the abnormality detection unit 55 refers to the detection condition, which is set and stored in advance, for detecting the abnormality in the locked state, and compares it with the acquired information. Then, the abnormality detection unit 55 detects whether or not there is an abnormality in the locked state based on the comparison result. The detection condition is, for example, a condition based on an amplitude of vibration, a cycle, a rate of change in vibration or cycle, an average value, a maximum value, a minimum value, or the like. The detection condition may be the number of times the acquired amplitude of vibration exceeds a predetermined threshold value. According to this method, the presence / absence of an abnormality in the locked state can be detected more swiftly and appropriately, so that the safety of the self-propelled cleaner system 1 can be further enhanced.
　なお、振動検知部が振動を検知し、上記と同様な異常検出の検出条件に基づいて、異常検知部５５が異常を検出した場合、充電制御部５４は充電部５２からの給電を停止する構成としてもよい。これにより、振動が発生した際に、掃除機本体２の充電端子と充電ステーション６の給電端子との間に発生するチャタリングを防止できる。 Note that the vibration detection unit detects the vibration, and when the abnormality detection unit 55 detects an abnormality based on the same detection condition of the abnormality detection as described above, the charging control unit 54 stops the power supply from the charging unit 52. May be Thereby, when vibration occurs, chattering that occurs between the charging terminal of the cleaner body 2 and the power feeding terminal of the charging station 6 can be prevented.
　以上で説明した方法などにより、異常検知部５５で係止状態の異常の有無を、より確実に検知できる。 By the method described above, the abnormality detection unit 55 can more reliably detect whether or not there is an abnormality in the locked state.
　なお、異常検知部５５は、以上で説明した方法のいずれか１つ、あるいは２以上の方法を組み合わせて使用し、係止状態の異常の有無を検知する構成としてもよい。これにより、係止状態の異常の検知精度を、さらに向上させることができる。 The abnormality detection unit 55 may be configured to detect the presence or absence of an abnormality in the locked state by using any one of the methods described above or a combination of two or more methods. As a result, the accuracy of detecting the abnormality in the locked state can be further improved.
　また、上記以外の、他の任意の方法により係止状態の異常の有無を、異常検知部５５で検知してもよい。任意の方法としては、例えば充電ステーション６の周囲に設置された撮像装置により、まず、充電ステーション６により吊り上げられる掃除機本体２の状況（状態）を撮像する。そして、撮像した画像を、無線通信などを介して、充電ステーション６で取得する。そして、取得した画像を解析することにより、例えば掃除機本体２の傾きなどから、異常検知部５５で係止状態の異常の有無を検出してもよい。 The presence or absence of an abnormality in the locked state may be detected by the abnormality detection unit 55 by any other method than the above. As an arbitrary method, for example, an image capturing device installed around the charging station 6 first captures an image of the state (state) of the cleaner body 2 lifted by the charging station 6. Then, the captured image is acquired by the charging station 6 via wireless communication or the like. Then, by analyzing the acquired image, the presence / absence of an abnormality in the locked state may be detected by the abnormality detection unit 55 based on, for example, the inclination of the cleaner body 2.
　以上の方法により、異常検知部５５が係止状態の異常を検知した場合、昇降駆動部５１は、フック６４の動作を停止、またはフック６４を降下させる。このとき、昇降駆動部５１は、異常を検知した位置でフック６４の動作を停止させても、フック６４を降下させてから停止させてもよい。また、昇降駆動部５１は、異常検知部５５で異常を検知した場合、フック６４の動作を、一旦、停止させて待機し、所定時間が経過したとき、または、掃除機本体２の振動の振幅が所定値未満に減衰したときに、フック６４を降下させてもよい。 When the abnormality detection unit 55 detects an abnormality in the locked state by the above method, the lift drive unit 51 stops the operation of the hook 64 or lowers the hook 64. At this time, the elevating / lowering drive unit 51 may stop the operation of the hook 64 at the position where the abnormality is detected, or may lower the hook 64 and then stop the operation. When the abnormality detection unit 55 detects an abnormality, the lift drive unit 51 temporarily stops the operation of the hook 64 and waits, and when a predetermined time has elapsed, or the amplitude of vibration of the cleaner body 2. The hook 64 may be lowered when is reduced below a predetermined value.
　さらに、昇降駆動部５１は、フック６４を退避位置Ｈ１まで降下させてから停止させてもよい。つまり、掃除機本体２がフック６４から脱落していた場合、フック６４を退避位置Ｈ１に収納する。これにより、フック６４の停止中における人や周囲の物などと、フック６４との引っかかり、あるいは当接などを低減できる。また、充電ステーション６が異常状態から復帰しても、フック６４の昇降動作を停止させる。これにより、フック６４と、人や周囲の物などとの接触を低減できる。その結果、自走式掃除機システム１の安全性を、さらに高めることができる。 Further, the elevating / lowering drive unit 51 may lower the hook 64 to the retracted position H1 and then stop it. That is, when the cleaner body 2 has fallen off the hook 64, the hook 64 is stored in the retracted position H1. As a result, it is possible to reduce hooking or contact between the hook 64 and a person or surrounding objects while the hook 64 is stopped. Further, even when the charging station 6 returns from the abnormal state, the lifting operation of the hook 64 is stopped. This can reduce the contact between the hook 64 and a person or surrounding objects. As a result, the safety of the self-propelled cleaner system 1 can be further enhanced.
　また、昇降駆動部５１は、フック６４の動作を、第１格納位置Ｈ２まで降下させてから停止させてもよい。これにより、第１格納位置Ｈ２において、万が一、掃除機本体２がフック６４から外れて落下しても、落下の衝撃を低減させることができる。そのため、自走式掃除機システム１の安全性を、さらに高めることができる。このとき、フック６４と掃除機本体２の被係止部１６とが導通している場合には、第１格納位置Ｈ２で、掃除機本体２のバッテリを充電してもよい。 Further, the elevating / lowering drive unit 51 may stop the operation of the hook 64 after lowering it to the first storage position H2. As a result, even if the cleaner body 2 falls off the hook 64 at the first storage position H2, the impact of the fall can be reduced. Therefore, the safety of the self-propelled cleaner system 1 can be further enhanced. At this time, if the hook 64 and the locked portion 16 of the cleaner body 2 are electrically connected, the battery of the cleaner body 2 may be charged at the first storage position H2.
　上記では、異常検知部５５は、昇降駆動部５１がフック６４を昇降させている間において、係止状態の異常の有無を検知する構成を例に説明したが、これに限られない。例えば、掃除機本体２が第１格納位置Ｈ２または第２格納位置Ｈ３で保持されている間に、異常検知部５５で、掃除機本体２の被係止部１６と充電ステーション６のフック６４との係止状態の異常の有無を検知してもよい。この場合、昇降駆動部５１のモータ５７は駆動されていないので、上述した第１の例以外の方法で、係止状態の異常の有無を検知することが望ましい。そして、異常検知部５５が係止状態の異常を検知した場合、充電制御部５４は、まず、充電部５２によるバッテリへの充電を停止させる。さらに、昇降駆動部５１は、フック６４を第１格納位置Ｈ２または退避位置Ｈ１まで降下させてから、フック６４の動作を停止させる。これにより、掃除機本体２が吊り上げられて保持されている間に、人、動物、他の自走式移動体の掃除機本体などが接触して、係止状態に異常が生じた場合でも、掃除機本体２を自動的に降下させることができる。その結果、自走式掃除機システム１の安全性を高めることができる。 In the above description, the abnormality detection unit 55 has been described as an example of a configuration that detects the presence or absence of an abnormality in the locked state while the elevation drive unit 51 raises and lowers the hook 64, but the present invention is not limited to this. For example, while the cleaner main body 2 is held in the first storage position H2 or the second storage position H3, the abnormality detection unit 55 causes the locked portion 16 of the cleaner main body 2 and the hook 64 of the charging station 6 to operate. The presence or absence of abnormality in the locked state of may be detected. In this case, since the motor 57 of the up-and-down drive unit 51 is not driven, it is desirable to detect the presence or absence of abnormality in the locked state by a method other than the first example described above. Then, when the abnormality detection unit 55 detects an abnormality in the locked state, the charging control unit 54 first causes the charging unit 52 to stop charging the battery. Further, the lifting drive unit 51 lowers the hook 64 to the first storage position H2 or the retracted position H1 and then stops the operation of the hook 64. As a result, even when a person, an animal, or a cleaner body of another self-propelled moving body comes into contact with the cleaner body 2 while being lifted and held, and an abnormality occurs in the locked state, The cleaner body 2 can be automatically lowered. As a result, the safety of the self-propelled cleaner system 1 can be improved.
　つまり、実施の形態２によれば、掃除機本体２を吊り上げている間や、吊り上げた状態で保持している間に、掃除機本体２の被係止部１６と充電ステーション６のフック６４との係止状態に異常が発生した場合、異常を、迅速かつ的確に検知する。そして、昇降駆動部５１は、フック６４の動作を停止、またはフック６４を降下させる。これにより、自走式掃除機システム１の安全性を高めることができる。 That is, according to the second embodiment, the hooked portion 16 of the cleaner body 2 and the hook 64 of the charging station 6 are held while the cleaner body 2 is being lifted or while being held in the lifted state. When an abnormality occurs in the locked state of, the abnormality is quickly and accurately detected. Then, the lift drive unit 51 stops the operation of the hook 64 or lowers the hook 64. Thereby, the safety of the self-propelled cleaner system 1 can be improved.
　［実施の形態３：設置状態の異常発生時の動作］
　以下、上述した自走式掃除機システム１において、充電ステーション６の設置状態に異常が発生した場合に、異常を的確に検知して、フック６４の動作を停止、またはフック６４を降下させる技術について、図１４を用いて、説明する。 [Embodiment 3: Operation when abnormality occurs in installation state]
Hereinafter, in the above-described self-propelled vacuum cleaner system 1, when an abnormality occurs in the installation state of the charging station 6, a technique for accurately detecting the abnormality and stopping the operation of the hook 64 or lowering the hook 64 is described. , FIG. 14 will be described.
　図１４は、実施の形態３に係る自走式掃除機システム１の充電ステーション６の概略構成を示す機能ブロック図である。実施の形態３に係る充電ステーション６は、図１に示す実施の形態１に係る充電ステーション６の構成に加えて、設置状態検知部６０を、さらに備える。その他の構成および動作は、実施の形態１と同様である。 FIG. 14 is a functional block diagram showing a schematic configuration of the charging station 6 of the self-propelled cleaner system 1 according to the third embodiment. The charging station 6 according to the third embodiment further includes an installation state detection unit 60 in addition to the configuration of the charging station 6 according to the first embodiment shown in FIG. Other configurations and operations are similar to those of the first embodiment.
　そこで、以下では、実施の形態１と異なる特徴について、主に説明する。なお、図８に示す充電ステーション６のフック６４の構成例で説明するが、図１１Ａおよび図１１Ｂに示すフック６４Ａの構成例でも同様である。 Therefore, the features that differ from the first embodiment will be mainly described below. Note that the configuration example of the hook 64 of the charging station 6 shown in FIG. 8 will be described, but the same applies to the configuration example of the hook 64A shown in FIGS. 11A and 11B.
　設置状態検知部６０は、移動体保持装置として機能する充電ステーション６の設置状態を検知する。設置状態検知部６０は、図４に示す充電ステーション６の基部６１の床面との接地面に設けられる。設置状態検知部６０は、充電ステーション６の接地面の接地状態を検知する、例えば転倒スイッチなどで構成される。この場合、設置状態検知部６０は、充電ステーション６の接地面が床面などから離れたときに、設置状態の異常として、検知する。 The installation state detection unit 60 detects the installation state of the charging station 6 that functions as a moving body holding device. The installation state detection unit 60 is provided on the ground surface with the floor surface of the base 61 of the charging station 6 shown in FIG. The installation state detection unit 60 is configured by, for example, a tipping switch or the like that detects the grounding state of the grounding surface of the charging station 6. In this case, the installation state detection unit 60 detects that the installation state is abnormal when the ground surface of the charging station 6 is separated from the floor surface or the like.
　なお、設置状態検知部６０は、上記転倒スイッチ以外に、例えば充電ステーション６に内蔵された加速度センサ、変位センサ、姿勢センサ、傾斜センサなどで構成し、それらのセンサの検知結果に基づいて、充電ステーション６の設置状態を検知してもよい。さらに、設置状態検知部６０は、掃除機本体２に備えられた前方センサ３１、周囲センサ３２、速度センサ、加速度センサ、姿勢センサなどで構成し、それらのセンサの検知結果に基づいて、充電ステーション６の設置状態を検知してもよい。 The installation state detection unit 60 is composed of, for example, an acceleration sensor, a displacement sensor, an attitude sensor, an inclination sensor, etc. built in the charging station 6 in addition to the fall switch, and charging is performed based on the detection results of those sensors. The installation state of the station 6 may be detected. Further, the installation state detection unit 60 includes a front sensor 31, a surrounding sensor 32, a speed sensor, an acceleration sensor, an attitude sensor and the like provided in the cleaner body 2, and the charging station is based on the detection results of these sensors. The installation state of 6 may be detected.
　具体的には、設置状態検知部６０は、上記掃除機本体２の各センサにより検出された情報を、赤外線通信などを介して取得する。そして、設置状態検知部６０は、取得した情報に基づいて、充電ステーション６の設置状態の異常の有無を検知する。これらの場合、設置状態検知部６０は、例えば充電ステーション６が転倒したとき、所定の角度以上傾いたとき、あるいは所定量以上変位したときなどにおいて、設置状態の異常として、検知する。 Specifically, the installation state detection unit 60 acquires information detected by each sensor of the cleaner body 2 via infrared communication or the like. Then, the installation state detection unit 60 detects whether or not the installation state of the charging station 6 is abnormal based on the acquired information. In these cases, the installation state detection unit 60 detects that the installation state is abnormal, for example, when the charging station 6 falls, is inclined by a predetermined angle or more, or is displaced by a predetermined amount or more.
　そして、設置状態検知部６０が充電ステーション６の設置状態の異常を検知した場合、昇降駆動部５１は、フック６４の動作を停止、またはフック６４を降下させる。このとき、昇降駆動部５１がフック６４を昇降中に設置状態の異常を検知した場合、昇降駆動部５１は、フック６４の動作をその位置で停止させてもよい。また、昇降駆動部５１は、フック６４を降下させてから、動作を停止させてもよい。さらに、昇降駆動部５１は、フック６４の動作を、一旦、停止させて待機し、所定時間が経過した後に、フック６４を降下させてもよい。 Then, when the installation state detection unit 60 detects an abnormality in the installation state of the charging station 6, the lift drive unit 51 stops the operation of the hook 64 or lowers the hook 64. At this time, if the lifting drive unit 51 detects an abnormality in the installation state while lifting the hook 64, the lifting drive unit 51 may stop the operation of the hook 64 at that position. Further, the elevating / lowering drive unit 51 may stop the operation after lowering the hook 64. Further, the elevating / lowering drive unit 51 may temporarily stop the operation of the hook 64 and wait, and then lower the hook 64 after a predetermined time has elapsed.
　また、掃除機本体２が第１格納位置Ｈ２または第２格納位置Ｈ３で充電ステーション６に保持されているときに設置状態の異常が検知された場合、充電制御部５４は、充電部５２による充電を停止させてもよい。さらに、昇降駆動部５１は、フック６４を退避位置Ｈ１まで降下させてから、動作を停止させてもよい。これにより、掃除機本体２が吊り上げられて保持されている間に、人、動物、他の自走式移動体（掃除機本体）などとの接触により充電ステーション６の設置状態に異常が生じた場合でも、掃除機本体２を自動的に降下させることができる。その結果、フック６４の動作の停止中において、人や周囲の物などとフック６４との引っかかり、当接などの発生を低減できる。また、充電ステーション６が異常状態から復帰しても、フック６４の昇降を停止させる。これにより、フック６４と、人や周囲の物との接触を低減できる。その結果、自走式掃除機システム１の安全性を、さらに高めることができる。 When an abnormality in the installation state is detected when the cleaner body 2 is held in the charging station 6 at the first storage position H2 or the second storage position H3, the charging control unit 54 causes the charging unit 52 to charge the battery. May be stopped. Further, the elevating / lowering drive unit 51 may lower the hook 64 to the retracted position H1 and then stop the operation. As a result, while the cleaner body 2 is being lifted and held, contact with a person, an animal, or another self-propelled mobile body (vacuum cleaner body) causes an abnormality in the installation state of the charging station 6. Even in this case, the cleaner body 2 can be automatically lowered. As a result, when the operation of the hook 64 is stopped, it is possible to reduce the occurrence of catching or abutting between the hook 64 and a person or a surrounding object. Further, even if the charging station 6 returns from the abnormal state, the lifting and lowering of the hook 64 is stopped. This can reduce the contact between the hook 64 and a person or a surrounding object. As a result, the safety of the self-propelled cleaner system 1 can be further enhanced.
　つまり、実施の形態３によれば、掃除機本体２を吊り上げている間や、吊り上げた状態で保持している間に、充電ステーション６の設置状態に異常が発生した場合、異常を、迅速かつ的確に検知して、フック６４の動作を停止、またはフック６４を降下させる。これにより、自走式掃除機システム１の安全性を高めることができる。 That is, according to the third embodiment, when an abnormality occurs in the installation state of the charging station 6 while the cleaner body 2 is being hung up or is being held in the hung state, the abnormality can be promptly and quickly detected. When it is detected accurately, the operation of the hook 64 is stopped or the hook 64 is lowered. Thereby, the safety of the self-propelled cleaner system 1 can be improved.
　なお、実施の形態３の技術を、上述した実施の形態２の技術と組み合わせて適用してもよい。つまり、充電ステーション６は、実施の形態２の異常検知部５５と、実施の形態３の設置状態検知部６０の双方を備える構成としてもよい。この場合、昇降駆動部５１は、掃除機本体２と充電ステーション６との係止状態、および、充電ステーション６の設置状態のうちいずれか一方の異常が検知された場合に、フック６４の動作を停止、またはフック６４を降下させる。これにより、自走式掃除機システム１の安全性を、さらに高めることができる。 The technique of the third embodiment may be applied in combination with the technique of the second embodiment described above. That is, the charging station 6 may be configured to include both the abnormality detection unit 55 of the second embodiment and the installation state detection unit 60 of the third embodiment. In this case, the elevating / lowering drive unit 51 operates the hook 64 when an abnormality is detected in either the locked state between the cleaner body 2 and the charging station 6 or the installation state of the charging station 6. Stop or lower the hook 64. Thereby, the safety of the self-propelled cleaner system 1 can be further enhanced.
　［実施の形態４：センサを保護するための技術］
　以下、上述した自走式掃除機システム１において、センサの一例である周囲センサ３２を保護するための技術について、図１および図２を参照しながら、図１５を用いて、説明する。つまり、実施の形態４の自走式掃除機システム１は、センサを保護するための構成を、さらに備える。 [Fourth Embodiment: Technology for Protecting Sensor]
A technique for protecting the ambient sensor 32, which is an example of a sensor in the above-described self-propelled cleaner system 1, will be described below with reference to FIGS. 1 and 2 and using FIG. 15. That is, the self-propelled cleaner system 1 according to the fourth embodiment further includes a configuration for protecting the sensor.
　図１５は、周囲センサ３２の構造を概略的に示す分解透視斜視図である。 FIG. 15 is an exploded perspective view schematically showing the structure of the ambient sensor 32.
　図１５に示すように、周囲センサ３２は、発光部３４、受光部３５、回転体を構成するステージ３６、ハウジング３７、ロータリエンコーダ３８などを備える。発光部３４は、周囲に、例えばレーザー光を発光する。受光部３５は、発光部３４から発光され、自走式掃除機システム１の掃除機本体２の周囲の物体などにより反射されたレーザー光を、受光する。ステージ３６は、発光部３４および受光部３５を回転可能に載置する。ハウジング３７は、ステージ３６を回転自在に軸支する。ロータリエンコーダ３８は、ステージ３６のハウジング３７に対する回転角を検知する。 As shown in FIG. 15, the ambient sensor 32 includes a light emitting unit 34, a light receiving unit 35, a stage 36 forming a rotating body, a housing 37, a rotary encoder 38, and the like. The light emitting unit 34 emits, for example, laser light to the surroundings. The light receiving unit 35 receives the laser light emitted from the light emitting unit 34 and reflected by an object around the cleaner body 2 of the self-propelled cleaner system 1. The stage 36 rotatably mounts the light emitting unit 34 and the light receiving unit 35. The housing 37 rotatably supports the stage 36. The rotary encoder 38 detects a rotation angle of the stage 36 with respect to the housing 37.
　図１に示すセンサ制御部４５は、走行制御部４１により自走式掃除機システム１の掃除機本体２の走行を制御しているときに、周囲センサ３２を制御して、掃除機本体２の周囲の状況を検知する。 The sensor control unit 45 illustrated in FIG. 1 controls the ambient sensor 32 to control the surroundings sensor 32 while the traveling control unit 41 controls the traveling of the cleaner body 2 of the self-propelled cleaner system 1. Detects the surrounding situation.
　具体的には、センサ制御部４５は、周囲センサ３２のロータリエンコーダ３８により、ステージ３６の回転角を把握しつつ、回転体駆動部（図示せず）を制御して、ステージ３６を回転させる。検出演算部４３は、発光部３４から発光され、周囲の物体から反射されて、受光部３５により受光されたレーザー光の強度信号を演算する。そして、検出演算部４３は、演算結果に基づいて、周囲の物体の形状や、周囲の物体までの距離などを演算し、算出する。また、検出演算部４３は、走行中の掃除機本体２の向きと、ステージ３６の回転角から反射点の方向を算出する。そして、走行制御部４１は、周囲センサ３２により検知された周囲の状況に基づいて、走行駆動部１２を駆動し、掃除機本体２を走行させる。 Specifically, the sensor control unit 45 controls the rotating body drive unit (not shown) to rotate the stage 36 while grasping the rotation angle of the stage 36 by the rotary encoder 38 of the ambient sensor 32. The detection calculation unit 43 calculates the intensity signal of the laser light emitted from the light emitting unit 34, reflected from the surrounding object, and received by the light receiving unit 35. Then, the detection calculation unit 43 calculates and calculates the shape of the surrounding object, the distance to the surrounding object, and the like based on the calculation result. In addition, the detection calculation unit 43 calculates the direction of the reflection point from the direction of the cleaner body 2 during traveling and the rotation angle of the stage 36. Then, the traveling control unit 41 drives the traveling drive unit 12 to cause the cleaner body 2 to travel based on the surrounding situation detected by the surrounding sensor 32.
　このとき、ステージ３６は、全ての角度範囲にわたって回転可能に設けられる。また、周囲センサ３２は、図２に示すように、掃除機本体２のボディ１０の上面部１０１よりも、若干、高い位置に設けられる。これにより、走行制御部４１は、周囲センサ３２により全方位の状況を的確に把握しながら、把握した周囲の状況に基づいて、掃除機本体２を走行させることができる。 At this time, the stage 36 is provided rotatably over the entire angular range. Further, as shown in FIG. 2, the ambient sensor 32 is provided at a position slightly higher than the upper surface portion 101 of the body 10 of the cleaner body 2. Thereby, the traveling control unit 41 can cause the cleaner body 2 to travel based on the grasped surrounding situation while accurately grasping the situation in all directions by the surrounding sensor 32.
　なお、周囲センサ３２は、発光部３４、受光部３５、および反射点の位置から、三角測量により反射点までの距離を測定する三角測距方式のＬＩＤＡＲで構成してもよい。また、周囲センサ３２は、発光部３４から照射されたレーザー光が反射点で反射され、受光部３５で受光されるまでの時間から、反射点までの距離を測定するＴＯＦ（Ｔｉｍｅ　Ｏｆ　Ｆｌｉｇｈｔ）方式のＬＩＤＡＲで構成してもよい。さらに、反射点までの距離を測定可能な、他の任意の方式のセンサで、周囲センサ３２を構成してもよい。 The ambient sensor 32 may be configured by a triangulation type LIDAR that measures the distance from the position of the light emitting unit 34, the light receiving unit 35, and the reflection point to the reflection point by triangulation. In addition, the ambient sensor 32 is a TOF (Time Of Flight) method that measures the distance to the reflection point from the time until the laser light emitted from the light emitting section 34 is reflected at the reflection point and is received by the light receiving section 35. LIDAR may be used. Furthermore, the ambient sensor 32 may be configured by a sensor of any other method capable of measuring the distance to the reflection point.
　三角測距方式のＬＩＤＡＲを使用する場合、図１５に示すように、発光部３４と受光部３５とを離れた位置に設ける構成が望ましい。これにより、測定誤差を小さくできる。 When using the triangulation type LIDAR, as shown in FIG. 15, it is desirable that the light emitting unit 34 and the light receiving unit 35 are provided at positions separated from each other. Thereby, the measurement error can be reduced.
　一方、ＴＯＦ方式のＬＩＤＡＲを使用する場合、発光部３４と受光部３５とを近接した位置に設ける構成が望ましい。これにより、周囲センサ３２を小型にできる。 On the other hand, when the TOF type LIDAR is used, it is desirable that the light emitting unit 34 and the light receiving unit 35 are provided in close proximity to each other. Thereby, the ambient sensor 32 can be downsized.
　また、センサ制御部４５は、掃除機本体２が充電ステーション６に移動し、フック６４により吊り上げられて、所定の角度以上傾いた状態で保持されると、ステージ３６の回転角が所定の継続停止禁止範囲４０（図１６参照）内にあるか否かを確認する。そして、ステージ３６の回転角が継続停止禁止範囲４０内にある場合、センサ制御部４５は、継続停止禁止範囲４０外になるように、回転体駆動部（図示せず）を制御して、ステージ３６を回転させる。 In addition, when the cleaner body 2 is moved to the charging station 6 and is lifted by the hook 64 and is held in a state of being tilted by a predetermined angle or more, the sensor control unit 45 stops the rotation angle of the stage 36 for a predetermined continuous stop. It is confirmed whether or not it is within the prohibited range 40 (see FIG. 16). When the rotation angle of the stage 36 is within the continuous stop prohibition range 40, the sensor control unit 45 controls the rotating body drive unit (not shown) so as to be outside the continuous stop prohibition range 40. Rotate 36.
　実施の形態４では、周囲センサ３２の発光部３４の開口３４Ａおよび受光部３５の開口３５Ａが上向きになるステージ３６の回転角の所定の範囲が、継続停止禁止範囲４０として設定される。これにより、周囲センサ３２の発光部３４の開口３４Ａおよび受光部３５の開口３５Ａから、ほこりや水分などが入って、発光部３４および受光部３５に溜まることを抑制できる。 In the fourth embodiment, a predetermined range of the rotation angle of the stage 36 in which the opening 34A of the light emitting part 34 and the opening 35A of the light receiving part 35 of the ambient sensor 32 are directed upward is set as the continuous stop prohibited range 40. As a result, it is possible to prevent dust and water from entering through the opening 34A of the light emitting portion 34 and the opening 35A of the light receiving portion 35 of the ambient sensor 32 and collecting in the light emitting portion 34 and the light receiving portion 35.
　このとき、センサ制御部４５は、掃除機本体２が充電ステーション６の載置位置（例えば、図６Ａに示す載置された状態）では、上記機能（継続停止禁止範囲４０外へのステージ３６の回転）を実行しないように制御する構成が望ましい。つまり、掃除機本体２が第１格納位置Ｈ２または第２格納位置Ｈ３まで吊り上げられて充電ステーション６に保持されたときに、センサ制御部４５は、上記機能（継続停止禁止範囲４０外へのステージ３６の回転）を実行する構成が望ましい。あるいは、センサ制御部４５は、載置位置および第１格納位置Ｈ２では、上記機能（継続停止禁止範囲４０外へのステージ３６の回転）を実行せず、第２格納位置Ｈ３まで吊り上げられて保持されたときに、上記機能を実行する構成としてもよい。 At this time, the sensor control unit 45, when the cleaner body 2 is at the mounting position of the charging station 6 (for example, in the mounted state shown in FIG. 6A), has the above function (the stage 36 outside the continuous stop prohibition range 40). It is desirable to have a configuration that controls so as not to execute (rotation). That is, when the cleaner body 2 is lifted up to the first storage position H2 or the second storage position H3 and held in the charging station 6, the sensor control unit 45 causes the sensor control unit 45 to perform the above function (stage outside the continuous stop prohibition range 40). 36 rotations) is desirable. Alternatively, the sensor control unit 45 does not perform the above-described function (rotation of the stage 36 to the outside of the continuous stop prohibited range 40) at the mounting position and the first storage position H2, and is lifted and held up to the second storage position H3. It may be configured to execute the above-mentioned function when being performed.
　つぎに、上述した掃除機本体２が充電ステーション６に保持されたときの周囲センサ３２の状態について、図１６を参照しながら、説明する。 Next, the state of the ambient sensor 32 when the above-described vacuum cleaner body 2 is held by the charging station 6 will be described with reference to FIG. 16.
　図１６は、掃除機本体２が充電ステーション６に傾いた状態で保持されたときの周囲センサ３２の状態を模式的に示す図である。 FIG. 16 is a diagram schematically showing a state of the ambient sensor 32 when the cleaner body 2 is held in the charging station 6 in a tilted state.
　掃除機本体２がフック６４により吊り上げられた状態で充電ステーション６に保持されるとき、図５に示すように掃除機本体２は直角に立てられた状態ではなく、充電ステーション６の柱部６２の傾斜面に沿って、傾いた状態で保持される。 When the cleaner body 2 is held by the charging station 6 in a state of being lifted by the hook 64, the cleaner body 2 is not in a state of standing upright as shown in FIG. 5, but instead of the pillar portion 62 of the charging station 6. It is held in an inclined state along the inclined surface.
　そのため、図１６に示すように、掃除機本体２のカバー部１３の内部に設けられた周囲センサ３２のステージ３６も、傾いた状態で保持される。このとき、周囲センサ３２は、発光部３４の開口３４Ａおよび受光部３５の開口３５Ａがハウジング３７の最も高い位置へ向かう方向３９を中心として、左右に、それぞれ角度αが、継続停止禁止範囲４０として設定される。そして、発光部３４の開口３４Ａおよび受光部３５の開口３５Ａが継続停止禁止範囲４０内の方向に向いている場合、センサ制御部４５は、継続停止禁止範囲４０内から外れるように、回転体駆動部（図示せず）を制御して、ステージ３６を、時計回りあるいは反時計回りに回転させる。これにより、周囲センサ３２の発光部３４および受光部３５への、ほこりの侵入や水分などの浸入を適切に防いで、保護できる。その結果、周囲センサ３２の検知精度の低下の抑制および耐用期間を向上させることができる。 Therefore, as shown in FIG. 16, the stage 36 of the ambient sensor 32 provided inside the cover portion 13 of the cleaner body 2 is also held in an inclined state. At this time, in the ambient sensor 32, the angle α is set to the left and right around the direction 39 in which the opening 34A of the light emitting portion 34 and the opening 35A of the light receiving portion 35 are directed to the highest position of the housing 37 as the continuous stop prohibited range 40. Is set. Then, when the opening 34A of the light emitting unit 34 and the opening 35A of the light receiving unit 35 are oriented in the direction within the continuous stop prohibited range 40, the sensor control unit 45 drives the rotating body so as to move out of the continuous stop prohibited range 40. By controlling a section (not shown), the stage 36 is rotated clockwise or counterclockwise. Accordingly, it is possible to properly prevent and protect the light emitting unit 34 and the light receiving unit 35 of the ambient sensor 32 from invasion of dust and water. As a result, it is possible to suppress a decrease in the detection accuracy of the ambient sensor 32 and improve the service life.
　なお、継続停止禁止範囲４０は、水平方向よりも、上の方向を含むように設定される。具体的には、継続停止禁止範囲４０の角度αは、ハウジング３７の最も高い位置へ向かう方向３９を中心として、両側にそれぞれ、例えば１０度、３０度、４５度、６０度、または９０度未満の範囲で設定することが望ましい。 Note that the continuous stop prohibited range 40 is set so as to include a direction above the horizontal direction. Specifically, the angle α of the continuous stop prohibition range 40 is less than 90 degrees, for example, 10 degrees, 30 degrees, 45 degrees, 60 degrees, or 90 degrees on both sides of the direction 39 toward the highest position of the housing 37. It is desirable to set within the range.
　また、センサ制御部４５は、掃除機本体２がフック６４により吊り上げられた状態で充電ステーション６に保持されている間のステージ３６の角度の履歴を、記憶装置（図示せず）に記憶する構成が望ましい。 Further, the sensor control unit 45 stores a history of the angle of the stage 36 while the cleaner body 2 is held by the charging station 6 in a state of being suspended by the hook 64 in a storage device (not shown). Is desirable.
　つまり、通常、周囲センサ３２は、水平な状態で使用されることを想定して設計される。そのため、周囲センサ３２は、吊り上げられて傾いた状態で、長時間保持され続けると、自重により、各構成要素間の位置がずれる場合がある。 That is, normally, the ambient sensor 32 is designed assuming that it is used in a horizontal state. Therefore, if the ambient sensor 32 is lifted and tilted and kept for a long time, the positions of the components may be displaced due to their own weight.
　そこで、センサ制御部４５は、周囲センサ３２のステージ３６が同じ角度で、何回も長時間保持される状態を避けるために、以下で説明する制御を実行することが望ましい。 Therefore, it is desirable that the sensor control unit 45 execute the control described below in order to avoid a state in which the stage 36 of the ambient sensor 32 is held at the same angle for a long time many times.
　具体的には、まず、センサ制御部４５は、掃除機本体２が充電ステーション６に保持されたときに、ステージ３６の水平面から傾斜している角度、保持時間、保持回数などの履歴を、記憶装置（図示せず）に記憶する。 Specifically, first, when the cleaner body 2 is held by the charging station 6, the sensor control unit 45 stores history such as an angle inclined from the horizontal plane of the stage 36, a holding time, and the number of holdings. It is stored in a device (not shown).
　つぎに、センサ制御部４５は、掃除機本体２が充電ステーション６に保持されたときに、前回までに記憶装置に記憶された、保持状態に関する履歴を参照する。 Next, the sensor control unit 45 refers to the history regarding the holding state stored in the storage device up to the previous time when the cleaner body 2 is held in the charging station 6.
　つぎに、センサ制御部４５は、参照した履歴に基づいて、ステージ３６の角度ごとの保持時間が、長期的にみて平均化されるように、今回の、掃除機本体２を保持する間のステージ３６の角度を決定する。 Next, the sensor control unit 45, based on the referred history, performs the stage while holding the cleaner body 2 this time so that the holding time for each angle of the stage 36 is averaged in the long term. Determine 36 angles.
　そして、センサ制御部４５は、決定した角度に、回転体駆動部（図示せず）を介して、ステージ３６を回転させる。 Then, the sensor control unit 45 rotates the stage 36 at the determined angle via a rotating body drive unit (not shown).
　これにより、周囲センサ３２の各構成要素間の、例えば保持される位置や状態などの時間的なバランスを保つことができる。その結果、周囲センサ３２の検知精度を良好に維持しながら、周囲センサ３２の耐用期間を延ばすことができる。 With this, it is possible to maintain a temporal balance between the respective constituent elements of the ambient sensor 32, such as a held position and a state. As a result, the service life of the ambient sensor 32 can be extended while maintaining good detection accuracy of the ambient sensor 32.
　このとき、センサ制御部４５は、周囲センサ３２のステージ３６の角度が継続停止禁止範囲４０内にある状態で、かつ掃除機本体２が充電ステーション６に保持されたときにのみ、上記方法で、保持時間が平均化されるステージ３６の角度を決定して、決定した角度にステージ３６を回転させてもよい。 At this time, the sensor control unit 45 uses the above method only when the angle of the stage 36 of the ambient sensor 32 is within the continuous stop inhibition range 40 and when the cleaner body 2 is held by the charging station 6. The angle of the stage 36 at which the holding times are averaged may be determined, and the stage 36 may be rotated to the determined angle.
　また、周囲センサ３２のステージ３６の角度が継続停止禁止範囲４０内にあるか否かにかかわらず、上記方法で、保持時間が平均化されるステージ３６の角度を決定して、決定した角度にステージ３６を回転させてもよい。 Further, regardless of whether the angle of the stage 36 of the ambient sensor 32 is within the continuous stop prohibition range 40, the angle of the stage 36 for which the holding time is averaged is determined by the above method, and the determined angle is set to the determined angle. The stage 36 may be rotated.
　このとき、上記いずれの場合においても、周囲センサ３２のステージ３６の角度が、継続停止禁止範囲４０内に設定されないように、ステージ３６の角度が決定される。 At this time, in any of the above cases, the angle of the stage 36 is determined so that the angle of the stage 36 of the ambient sensor 32 is not set within the continuous stop prohibited range 40.
　なお、実施の形態４では、ほこりや水分などが周囲センサ３２の開口から入るのを防ぐために、掃除機本体２が傾いた状態で停止している間、開口３４Ａ、３５Ａが水平方向よりも上に向かないようにステージ３６を回転させる例で説明したが、これに限られない。例えば、掃除機本体２が水平な状態で停止しているときにおいて、所定の継続停止禁止範囲４０内に開口３４Ａ、３５Ａが向いている場合でも、以下に示す状態においては、継続停止禁止範囲４０内から外れるように、ステージ３６の角度を決定する。そして、決定した角度に周囲センサ３２のステージ３６を回転させる構成が望ましい。 In the fourth embodiment, in order to prevent dust and water from entering through the opening of the ambient sensor 32, while the cleaner body 2 is stopped in a tilted state, the openings 34A and 35A are positioned above the horizontal direction. The example has been described in which the stage 36 is rotated so as not to face the above, but the present invention is not limited to this. For example, even when the vacuum cleaner body 2 is stopped in a horizontal state and the openings 34A and 35A face the predetermined continuous stop prohibition range 40, the continuous stop prohibition range 40 is set in the following state. The angle of the stage 36 is determined so as to move out of the inside. It is desirable that the stage 36 of the ambient sensor 32 be rotated by the determined angle.
　なお、以下に示す状態とは、具体的には、例えば直射日光が、周囲センサ３２の受光部３５に、開口３５Ａを介して、長時間、入射する場合などが相当する。この場合、受光部や、受光部の前段に設けられる可視光カットフィルタなどが、直射日光により劣化する虞がある。つまり、ほこりや水分以外にも、周囲センサ３２に悪影響を及ぼす外因が存在する。 The state shown below specifically corresponds to a case where, for example, direct sunlight enters the light receiving unit 35 of the ambient sensor 32 through the opening 35A for a long time. In this case, the light receiving section, the visible light cut filter provided in the preceding stage of the light receiving section, etc. may be deteriorated by the direct sunlight. That is, in addition to dust and water, there are external factors that adversely affect the ambient sensor 32.
　そこで、ほこり、水分および直射日光などの光など、周囲センサ３２の発光部３４または受光部３５に悪影響を及ぼす外因が、特に、多い方向がある場合、その方向を避けるように、周囲センサ３２のステージ３６を回転させる構成が望ましい。 Therefore, when there are many external factors that adversely affect the light emitting unit 34 or the light receiving unit 35 of the ambient sensor 32, such as dust, moisture, and direct sunlight, particularly when there are many directions, the ambient sensor 32 should be avoided so as to avoid that direction. A configuration in which the stage 36 is rotated is desirable.
　この場合、検出演算部４３で、まず、周囲センサ３２の受光部３５により受光された光の強度信号を解析する。つぎに、検出演算部４３は、解析結果に基づいて、ほこり、水分などが多く存在する方向や、強い光が受光部３５に入射する方向を判定する。そして、センサ制御部４５は、検出演算部４３で判定された方向から、周囲センサ３２の発光部３４の開口３４Ａおよび受光部３５の開口３５Ａの向きが外れるように、ステージ３６を回転させてもよい。 In this case, the detection calculation unit 43 first analyzes the intensity signal of the light received by the light receiving unit 35 of the ambient sensor 32. Next, the detection calculation unit 43 determines the direction in which a large amount of dust or water is present or the direction in which strong light enters the light receiving unit 35, based on the analysis result. Then, the sensor control unit 45 rotates the stage 36 so that the opening 34A of the light emitting unit 34 and the opening 35A of the light receiving unit 35 of the ambient sensor 32 deviate from the direction determined by the detection calculation unit 43. Good.
　このとき、センサ制御部４５は、掃除機本体２が、所定時間以上、停止している場合、まず、回転体駆動部（図示せず）を介して、周囲センサ３２を一回転させる。そして、検出演算部４３で避けるべき方向を判定し、ステージ３６を停止させる角度を決定してもよい。 At this time, when the cleaner body 2 is stopped for a predetermined time or longer, the sensor control unit 45 first causes the ambient sensor 32 to rotate once through the rotating body drive unit (not shown). Then, the detection calculation unit 43 may determine the direction to be avoided and determine the angle at which the stage 36 is stopped.
　また、検出演算部４３は、掃除機本体２が、所定時間以上、停止しているときのステージ３６の角度において、まず、受光部３５により受光された信号から、判定のための演算値を演算する。そして、演算値が、所定の閾値未満である場合、センサ制御部４５は、周囲センサ３２のステージ３６を、そのままの位置に停止させる。一方、演算値が所定の閾値以上である場合、センサ制御部４５は、一旦、周囲センサ３２のステージ３６を所定量、回転させる。そして、所定量の回転後のステージ３６の角度で、再び、検出演算部４３で演算値を算出させて、再度、ステージ３６を回転させる必要があるか否かを判定してもよい。 Further, the detection calculation unit 43 first calculates a calculation value for determination from the signal received by the light receiving unit 35 at the angle of the stage 36 when the cleaner body 2 is stopped for a predetermined time or more. To do. Then, when the calculated value is less than the predetermined threshold value, the sensor control unit 45 stops the stage 36 of the ambient sensor 32 at the same position. On the other hand, when the calculated value is equal to or larger than the predetermined threshold value, the sensor control unit 45 once rotates the stage 36 of the ambient sensor 32 by a predetermined amount. Then, at the angle of the stage 36 after the rotation of a predetermined amount, the detection calculation unit 43 may calculate the calculation value again to determine whether or not the stage 36 needs to be rotated again.
　また、掃除機本体２が充電ステーション６に傾いた状態で保持されるときにも、ほこりの侵入や水分の浸入を防ぐために設定される上向きの継続停止禁止範囲４０以外に、床面からの反射光の入射を防ぐために下向きの所定の継続停止禁止範囲を設定してもよい。これにより、反射光による周囲センサ３２への悪影響を低減できる。 Further, even when the cleaner body 2 is held in a state of being inclined with respect to the charging station 6, in addition to the upward continuous stop prohibition range 40 set to prevent intrusion of dust and water, reflection from the floor surface is prevented. A predetermined downward continuous stop prohibition range may be set to prevent the incidence of light. This can reduce the adverse effect of the reflected light on the ambient sensor 32.
　さらに、上記ほこりの侵入や水分の浸入および反射光の入射以外に、周囲センサ３２の発光部３４および受光部３５を保護するために、周囲センサ３２のステージ３６の回転に対して、複数の観点から、複数の継続停止禁止範囲を設定してもよい。これにより、周囲センサ３２への悪影響を、より確実に低減できる。 Further, in addition to the dust invasion, the water infiltration, and the reflected light incidence, there are a plurality of viewpoints with respect to the rotation of the stage 36 of the ambient sensor 32 in order to protect the light emitting unit 34 and the light receiving unit 35 of the ambient sensor 32. Therefore, a plurality of continuous stop prohibited ranges may be set. This can more reliably reduce the adverse effect on the surrounding sensor 32.
　また、上述の実施の形態４では、周囲センサ３２の開口３４Ａ、３５Ａが所定の継続停止禁止範囲４０に向いた状態のまま継続的に停止しないように、センサ制御部４５がステージ３６を回転させる構成を例に説明したが、これに限られない。例えば、自重や磁力などの作用により、ステージ３６を回転させる構成としてもよい。 Further, in the above-described fourth embodiment, the sensor control unit 45 rotates the stage 36 so that the openings 34A and 35A of the ambient sensor 32 do not continuously stop in a state of facing the predetermined continuous stop prohibition range 40. The configuration has been described as an example, but the configuration is not limited to this. For example, the stage 36 may be rotated by the action of its own weight or magnetic force.
　この構成の場合、具体的には、まず、ステージ３６を回転させるためのモータの駆動力をステージ３６に伝達するクラッチ機構を、ステージ３６から外す。これにより、掃除機本体２が傾いた状態で停止したとき、ステージ３６が自重や磁力などの作用により、自由に回転できる状態となる。つまり、周囲センサ３２の開口３４Ａ、３５Ａが、自重や磁力などの作用により、所定の継続停止禁止範囲に向かないように、ステージ３６を回転するように構成する。 In the case of this configuration, specifically, first, the clutch mechanism that transmits the driving force of the motor for rotating the stage 36 to the stage 36 is removed from the stage 36. As a result, when the vacuum cleaner body 2 is stopped in a tilted state, the stage 36 can freely rotate due to the action of its own weight or magnetic force. In other words, the stage 36 is configured to rotate so that the openings 34A and 35A of the ambient sensor 32 do not face the predetermined continuous stop prohibited range due to the action of its own weight or magnetic force.
　ステージ３６を自重により回転させる場合、例えばステージ３６の重心位置を、ステージ３６の中央付近よりも、開口３４Ａ、３５Ａの向く方向がずれる位置に設定する。これにより、掃除機本体２が傾いて保持されたときに、発光部３４の開口３４Ａおよび受光部３５の開口３５Ａが、自重の作用により、下に向くように、ステージ３６が回転する。 When the stage 36 is rotated by its own weight, for example, the center of gravity of the stage 36 is set to a position where the directions of the openings 34A and 35A are displaced from the vicinity of the center of the stage 36. As a result, when the cleaner body 2 is held in an inclined state, the stage 36 rotates so that the opening 34A of the light emitting section 34 and the opening 35A of the light receiving section 35 face downward due to the action of their own weight.
　具体的には、ステージ３６に、球体が転動可能な通路などを設ける。このとき、掃除機本体２が傾いて保持されると、球体が通路を転動する。これにより、ステージ３６の重心位置が中央付近からずれる。その結果、ステージ３６上の発光部３４の開口３４Ａおよび受光部３５の開口３５Ａが、球体の転動により、下に向くように、ステージ３６が回転する。 Specifically, the stage 36 will be provided with a passage through which the sphere can roll. At this time, if the cleaner body 2 is held in an inclined state, the sphere rolls in the passage. As a result, the position of the center of gravity of the stage 36 deviates from the vicinity of the center. As a result, the stage 36 rotates so that the opening 34A of the light emitting unit 34 and the opening 35A of the light receiving unit 35 on the stage 36 face downward due to the rolling of the sphere.
　また、ステージ３６を磁力により回転させる場合、ステージ３６とハウジング３７に磁石を設ける。このとき、掃除機本体２が傾いて保持されると、ステージ３６上の発光部３４の開口３４Ａおよび受光部３５の開口３５Ａが、互いの磁石の磁力の作用により、下に向くように構成する。このとき、ステージ３６とハウジング３７の少なくとも一方を電磁石で構成し、ステージ３６を回転させるときに電磁石に通電して磁力を発生させる構成が望ましい。これにより、掃除機本体２の通常の走行時においては、電磁石で発生する磁力の影響を受けずに、ステージ３６をスムーズに回転させることができる。 Further, when rotating the stage 36 by magnetic force, magnets are provided on the stage 36 and the housing 37. At this time, when the cleaner body 2 is held tilted, the opening 34A of the light emitting portion 34 and the opening 35A of the light receiving portion 35 on the stage 36 face downward due to the action of the magnetic force of the magnets of each other. . At this time, it is desirable that at least one of the stage 36 and the housing 37 is composed of an electromagnet, and when the stage 36 is rotated, the electromagnet is energized to generate a magnetic force. Accordingly, during normal traveling of the cleaner body 2, the stage 36 can be smoothly rotated without being affected by the magnetic force generated by the electromagnet.
　なお、上述したセンサを保護するための技術は、ＬＩＤＡＲを使用した周囲センサ３２に限らず、開口が設けられた回転体を備える任意のセンサ、または、開口が設けられた任意の回転体に適用可能である。 The technique for protecting the sensor described above is not limited to the ambient sensor 32 using LIDAR, and is applied to any sensor including a rotating body having an opening or any rotating body having an opening. It is possible.
　上記実施の形態４の技術によれば、掃除機本体２の停止時、または、掃除機本体２が所定の角度以上傾いた状態での保持時において、周囲センサ３２の開口３４Ａ、３５Ａが、所定の継続停止禁止範囲４０の方向に向いている場合、センサ制御部４５は、開口３４Ａ、３５Ａが継続停止禁止範囲４０外の方向に向くようにステージ３６を回転させる。そのため、周囲センサ３２の開口３４Ａ、３５Ａから入る、ほこり、水分あるいは光などによる周囲センサ３２への悪影響を抑制できる。これにより、周囲センサ３２の検知精度の低下の抑制や、耐用期間を向上させることができる。 According to the technique of the fourth embodiment, when the cleaner main body 2 is stopped or when the cleaner main body 2 is held in a state in which the cleaner main body 2 is tilted by a predetermined angle or more, the openings 34A and 35A of the ambient sensor 32 are set to predetermined positions. When facing the direction of the continuous stop prohibition range 40, the sensor control unit 45 rotates the stage 36 so that the openings 34A and 35A face the direction outside the continuous stop prohibition range 40. Therefore, it is possible to suppress adverse effects on the surroundings sensor 32 due to dust, water, light, or the like entering through the openings 34A and 35A of the surroundings sensor 32. As a result, it is possible to suppress a decrease in the detection accuracy of the ambient sensor 32 and improve the service life.
　以上、本発明を実施の形態に基づいて説明した、これらの実施の形態は例示であり、それらの各構成要素や各処理プロセスの組合せにいろいろな変形例が可能である。さらに、そのような変形例も、また本発明の範囲にあることは当業者に理解されるところである。 As described above, the present invention has been described based on the embodiments. These embodiments are mere examples, and various modifications can be made to the combination of each constituent element and each processing process. Further, those skilled in the art will understand that such modifications are also within the scope of the present invention.
　なお、上述した各実施の形態の技術は、自走式掃除機システムの自走式移動体を構成する掃除機本体以外にも、自動運転車、無人航空機、自走式ロボットなど、自走可能な各種の自走式移動体に適用可能である。また、実施の形態１から実施の形態４の技術のうちの、２以上の実施の形態を任意に組み合わせて適用することも可能である。 In addition to the vacuum cleaner body that constitutes the self-propelled mobile body of the self-propelled vacuum cleaner system, the technology of each of the above-described embodiments can be self-propelled such as an autonomous vehicle, an unmanned aerial vehicle, or a self-propelled robot. It is applicable to various types of self-propelled vehicles. Further, it is also possible to apply any combination of two or more embodiments among the techniques of the first to fourth embodiments.
　以上で説明したように、本発明の自走式移動体システムは、本体と、本体を保持する移動体保持装置とを備える。移動体保持装置は、本体を係止する係止部と、係止部を昇降させる昇降駆動部を備える。本体は、本体を移動させるために駆動される駆動部と、移動体保持装置に保持されるときに移動体保持装置の係止部により係止される被係止部を備える。係止部および被係止部は、それぞれ導電性を有する導電部を備える。係止部の導電部および被係止部の導電部は、本体を吊り上げ可能に係止部と被係止部とが係止した状態において、互いに接触し、本体を吊り上げ可能に係止部と被係止部とが係止していない状態において、互いに接触しないように構成される。 As described above, the self-propelled mobile body system of the present invention includes the main body and the mobile body holding device that holds the main body. The moving body holding device includes a locking portion that locks the main body, and an elevating drive portion that raises and lowers the locking portion. The main body includes a drive unit that is driven to move the main body, and a locked portion that is locked by the locking unit of the moving body holding device when held by the moving body holding device. The locking portion and the locked portion each include a conductive portion having conductivity. The conductive portion of the locking portion and the conductive portion of the locked portion are in contact with each other when the locking portion and the locked portion are locked so that the main body can be lifted, and the locking portion and the locking portion can be lifted. It is configured so as not to come into contact with each other when the locked portion is not locked.
　また、本発明の自走式移動体システムの移動体保持装置の係止部は、本体を吊り上げ可能に係止部と被係止部とが係止していない状態において、被係止部の導電部と接触する位置に設けられる絶縁部を、さらに有する構成が望ましい。 Further, the locking portion of the moving body holding device of the self-propelled moving body system of the present invention has a structure in which the locking portion and the locked portion are not locked so that the main body can be lifted. It is desirable to further include an insulating portion provided at a position in contact with the conductive portion.
　また、本発明の自走式移動体システムの本体の被係止部は、本体の底面に設けられる凹部を有し、移動体保持装置の係止部は、凹部に係入される突出部を有する。そして、被係止部の導電部は、本体が吊り上げられた状態で移動体保持装置により保持されるときに、上側となる凹部の内面に設けられ、絶縁部は、突出部の上面に設けられる構成が望ましい。 Further, the locked portion of the main body of the self-propelled mobile body system of the present invention has a concave portion provided on the bottom surface of the main body, and the locking portion of the mobile body holding device has a protruding portion that is engaged with the concave portion. Have. The conductive portion of the locked portion is provided on the inner surface of the concave portion that is the upper side when the main body is held by the moving body holding device in the state of being lifted, and the insulating portion is provided on the upper surface of the protruding portion. Configuration is desirable.
　また、本発明の自走式移動体システムの係止部の導電部および被係止部の導電部は、被係止部が係止部により係止された状態で係止部が昇降駆動部により上昇されて本体が吊り上げられた状態において、互いに接触し、本体が吊り上げられていない状態において、互いに接触しないように設けられる構成が望ましい。 In addition, the conductive portion of the locking portion and the conductive portion of the locked portion of the self-propelled vehicle system according to the present invention have a locking portion that moves up and down while the locked portion is locked by the locking portion. It is desirable that they are provided so as to come into contact with each other when the main body is lifted by the above and are suspended from each other, and so as not to contact each other when the main body is not suspended.
　上記、各構成によれば、簡易な構成で、自走式移動体システムの、本体と移動体保持装置との係止状態を的確に検知できる。これらにより、自走式移動体システムの安全性を向上させることができる。 According to each of the above configurations, it is possible to accurately detect the locked state of the main body and the moving body holding device of the self-propelled moving body system with a simple configuration. As a result, the safety of the self-propelled vehicle system can be improved.
　また、本発明の自走式移動体システムは、係止部の導電部が給電端子として機能し、被係止部の導電部が充電端子として機能する構成が望ましい。 Also, in the self-propelled vehicle system of the present invention, it is desirable that the conductive portion of the locking portion functions as a power supply terminal and the conductive portion of the locked portion functions as a charging terminal.
　この構成によれば、自走式移動体システムの、本体と移動体保持装置との係止状態を確認してから充電することができる。 According to this configuration, it is possible to charge the self-propelled mobile system after confirming the locked state between the main body and the mobile holding device.
　また、本発明の自走式移動体システムは、本体を係止する係止部と、係止部を昇降させる昇降駆動部を備える。係止部は、本体を吊り上げ可能に係止部と本体の被係止部とが係止した状態において、被係止部の導電部と接触し、本体を吊り上げ可能に係止部と本体の被係止部とが係止していない状態において、被係止部の導電部と接触しないように設けられる導電部を有する構成が望ましい。 Further, the self-propelled mobile body system of the present invention includes a locking portion that locks the main body, and a lifting drive portion that lifts and lowers the locking portion. The locking portion comes into contact with the conductive portion of the locked portion when the locking portion and the locked portion of the main body are locked so that the main body can be lifted, and the main body can be lifted so that the main body can be lifted. It is desirable to have a configuration having a conductive portion provided so as not to contact the conductive portion of the locked portion when the locked portion is not locked.
　この構成によれば、自走式移動体システムの、本体と移動体保持装置との係止状態を的確に検知することができる。そのため、自走式移動体システムの安全性を、さらに向上させることができる。 With this configuration, it is possible to accurately detect the locked state of the main body and the moving body holding device of the self-propelled moving body system. Therefore, the safety of the self-propelled vehicle system can be further improved.
　本発明は、省スペース、かつ安全に収納することが要望される、例えば掃除機本体および充電ステーションを備える自走式掃除機システムなどの、自走式移動体および移動体保持装置を備える自走式移動体システムに有用である。 The present invention relates to a self-propelled vehicle equipped with a self-propelled moving body and a moving body holding device, such as a self-propelled cleaner system including a cleaner body and a charging station, which is required to be stored in a space-saving and safe manner. Useful for mobile systems.
　１　　自走式掃除機システム（自走式移動体システム）
　２　　掃除機本体（本体；自走式移動体）
　３　　周囲清掃部
　４　　センサ部
　５　　制御部
　６　　充電ステーション（移動体保持装置）
　１０　　ボディ
　１１　　シャーシ
　１２　　走行駆動部（駆動部）
　１３　　カバー部
　１４　　吸込み部
　１５　　本体操作部
　１６　　被係止部
　１７　　凹部
　１８　　電極（導電部）
　１８ａ　　突部
　１９　　カーペット押さえ部
　２１　　ブラシ
　２２　　モータ
　２３　　負荷センサ
　２４　　角度センサ
　３１　　前方センサ
　３２　　周囲センサ
　３３　　赤外線通信部
　３４　　発光部
　３４Ａ，３５Ａ　　開口
　３５　　受光部
　３６　　ステージ（回転体）
　３７　　ハウジング
　３８　　ロータリエンコーダ
　３９　　方向
　４０　　継続停止禁止範囲
　４１　　走行制御部
　４２　　吸込制御部
　４３　　検出演算部
　４４　　ブラシ制御部
　４５　　センサ制御部
　５１　　昇降駆動部
　５２　　充電部
　５３　　位置検出部
　５３Ａ　　ホールセンサ
　５３Ｃ　　赤外線発光部
　５４　　充電制御部
　５５　　異常検知部
　５７　　モータ
　５８　　モータ制御部
　５９　　電流値検出部
　６０　　設置状態検知部
　６１　　基部
　６１Ｃ　　スロープ
　６２　　柱部
　６２Ｅ　　スリット
　６４，６４Ａ　　フック（係止部）
　６５　　突出部
　６６　　絶縁部
　６８　　導電部
　６９　　横棒部
　１０１　　上面部
　１０２　　前面部
　１０５　　底面部
　１２１　　車輪
　１２２　　補助輪
　１２３　　ローラー部 1 Self-propelled cleaner system (self-propelled mobile system)
2 Vacuum cleaner body (body; self-propelled moving body)
3 Surrounding cleaning section 4 Sensor section 5 Control section 6 Charging station (moving body holding device)
10 Body 11 Chassis 12 Travel Drive Unit (Drive Unit)
13 cover part 14 suction part 15 main body operation part 16 locked part 17 recessed part 18 electrode (conductive part)
18a Projection 19 Carpet pressing part 21 Brush 22 Motor 23 Load sensor 24 Angle sensor 31 Front sensor 32 Surrounding sensor 33 Infrared communication part 34 Light emitting part 34A, 35A Opening 35 Light receiving part 36 Stage (rotating body)
37 Housing 38 Rotary Encoder 39 Direction 40 Continuous Stop Prohibition Range 41 Travel Control Section 42 Suction Control Section 43 Detection Calculation Section 44 Brush Control Section 45 Sensor Control Section 51 Elevating Drive Section 52 Charging Section 53 Position Detection Section 53A Hall Sensor 53C Infrared Light Emitting Section 54 Charge Control Section 55 Abnormality Detection Section 57 Motor 58 Motor Control Section 59 Current Value Detection Section 60 Installation Status Detection Section 61 Base Section 61C Slope 62 Pillar Section 62E Slit 64, 64A Hook (Locking Section)
65 Protruding Part 66 Insulating Part 68 Conductive Part 69 Horizontal Bar Part 101 Top Part 102 Front Part 105 Bottom Part 121 Wheel 122 Auxiliary Wheel 123 Roller Part

Claims (6)

  1. 本体と、前記本体を保持する移動体保持装置と、を備え、
    前記移動体保持装置は、
    前記本体を係止する係止部と、前記係止部を昇降させる昇降駆動部と、を備え、
    前記本体は、
    前記本体を移動させるために駆動される駆動部と、前記移動体保持装置に保持されるときに前記移動体保持装置の前記係止部により係止される被係止部と、を備え、
    前記係止部および前記被係止部は、それぞれ導電性を有する導電部を有し、
    前記係止部の前記導電部および前記被係止部の前記導電部は、
    前記本体を吊り上げ可能に前記係止部と前記被係止部とが係止した状態において、互い接触し、
    前記本体を吊り上げ可能に前記係止部と前記被係止部とが係止していない状態において、互い接触しないように構成される、
    自走式移動体システム。     A main body and a moving body holding device for holding the main body,
    The moving body holding device,
    A locking unit that locks the main body, and a lifting drive unit that lifts and lowers the locking unit,
    The body is
    A driving unit that is driven to move the main body; and a locked portion that is locked by the locking unit of the moving body holding device when held by the moving body holding device,
    The locking portion and the locked portion each have a conductive portion having conductivity,
    The conductive portion of the locking portion and the conductive portion of the locked portion,
    In a state in which the locking portion and the locked portion are locked so that the main body can be lifted, they contact each other,
    In a state where the locking portion and the locked portion are not locked so that the main body can be lifted, the main body is configured so as not to contact each other.
    Self-propelled mobile system.
  2. 前記移動体保持装置の前記係止部は、前記本体を吊り上げ可能に前記係止部と前記被係止部とが係止していない状態において、前記被係止部の前記導電部と接触する位置に設けられる絶縁部を、さらに有する、
    請求項１に記載の自走式移動体システム。     The locking portion of the moving body holding device contacts the conductive portion of the locked portion when the locking portion and the locked portion are not locked so that the main body can be lifted. Further having an insulating portion provided at a position,
    The self-propelled vehicle system according to claim 1.
  3. 前記本体の前記被係止部は、前記本体の底面に設けられる凹部を有し、
    前記移動体保持装置の前記係止部は、前記凹部に係入される突出部を有し、
    前記被係止部の前記導電部は、前記本体が吊り上げられた状態で前記移動体保持装置により保持されるときに、上側となる前記凹部の内面に設けられ、
    前記絶縁部は、係入される前記突出部の上面に設けられる、
    請求項２に記載の自走式移動体システム。     The locked portion of the main body has a recess provided on the bottom surface of the main body,
    The locking portion of the moving body holding device has a protrusion that is engaged with the recess,
    The conductive portion of the locked portion is provided on the inner surface of the recess that is on the upper side when the main body is held by the moving body holding device in a suspended state,
    The insulating portion is provided on an upper surface of the protruding portion to be engaged,
    The self-propelled vehicle system according to claim 2.
  4. 前記係止部の前記導電部および前記被係止部の前記導電部は、
    前記被係止部が前記係止部により係止された状態で前記係止部が前記昇降駆動部により上昇されて前記本体が吊り上げられた状態において、互いに接触し、
    前記本体が吊り上げられていない状態において、互いに接触しないように設けられる、
    請求項１に記載の自走式移動体システム。     The conductive portion of the locking portion and the conductive portion of the locked portion,
    In a state where the locked portion is lifted by the elevating drive portion and the main body is lifted in a state where the locked portion is locked by the locking portion, they come into contact with each other,
    In a state where the main body is not suspended, it is provided so as not to contact each other,
    The self-propelled vehicle system according to claim 1.
  5. 前記係止部の前記導電部は、給電端子として機能し、
    前記被係止部の前記導電部は、充電端子として機能する、
    請求項１に記載の自走式移動体システム。     The conductive portion of the locking portion functions as a power supply terminal,
    The conductive portion of the locked portion functions as a charging terminal,
    The self-propelled vehicle system according to claim 1.
  6. 本体を係止する係止部と、
    前記係止部を昇降させる昇降駆動部と、を備え、
    前記係止部は、
    前記本体を吊り上げ可能に前記係止部と前記本体の被係止部とが係止した状態において、前記被係止部の導電部と接触し、前記本体を吊り上げ可能に前記係止部と前記本体の被係止部とが係止していない状態において、前記被係止部の前記導電部と接触しないように設けられる導電部を有する、
    自走式移動体システム。     A locking part that locks the main body,
    An elevating and lowering drive unit for elevating and lowering the locking unit,
    The locking portion is
    In a state in which the locking portion and the locked portion of the main body are locked so that the main body can be lifted, the main body comes into contact with the conductive portion of the locked portion, and the main locking portion and the A conductive portion provided so as not to contact the conductive portion of the locked portion when the locked portion of the main body is not locked;
    Self-propelled mobile system.
PCT/JP2019/037364 2018-10-25 2019-09-24 Self-propelled mobile body system WO2020084985A1 (en)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
JP2018-200537 2018-10-25
JP2018200537A JP7113352B2 (en) 2018-10-25 2018-10-25 Moving body holding device and control program
JP2018200535A JP2020065746A (en) 2018-10-25 2018-10-25 Self-propelled travelling body and travelling body holding device
JP2018-200535 2018-10-25
JP2018-200536 2018-10-25
JP2018-200538 2018-10-25
JP2018200536A JP2020065747A (en) 2018-10-25 2018-10-25 Moving body holding device and control program
JP2018200538A JP2020065749A (en) 2018-10-25 2018-10-25 Self-propelled mobile body, sensor, and control program

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WO2020084985A1 true WO2020084985A1 (en) 2020-04-30

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20050109142A (en) * 2004-05-14 2005-11-17 삼성광주전자 주식회사 Charger for cleaning robot
CN108075509A (en) * 2016-11-11 2018-05-25 联润科技股份有限公司 Charging station and the self-propelled cleaning device using the charging station
WO2019054129A1 (en) * 2017-09-13 2019-03-21 学校法人 千葉工業大学 Self-propelled vacuum cleaner

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20050109142A (en) * 2004-05-14 2005-11-17 삼성광주전자 주식회사 Charger for cleaning robot
CN108075509A (en) * 2016-11-11 2018-05-25 联润科技股份有限公司 Charging station and the self-propelled cleaning device using the charging station
WO2019054129A1 (en) * 2017-09-13 2019-03-21 学校法人 千葉工業大学 Self-propelled vacuum cleaner

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