WO2020170933A1

WO2020170933A1 - Self-propelled electronic device

Info

Publication number: WO2020170933A1
Application number: PCT/JP2020/005567
Authority: WO
Inventors: 佑毅矢戸
Original assignee: シャープ株式会社
Priority date: 2019-02-20
Filing date: 2020-02-13
Publication date: 2020-08-27
Also published as: JPWO2020170933A1; JP7398429B2

Abstract

Provided is a self-propelled electronic device with excellent mobility. A self-propelled electronic device is characterized by comprising: a housing; an electric drive wheel that supports the housing and travels on a floor; an obstacle detection unit having a bumper that is provided on the front of the housing in the direction of travel and that detects an obstacle on the floor by contact; a step detection unit that is provided on the front of the housing and that detects a step rising from the floor; and a control unit that controls the drive wheel on the basis of output from the obstacle detection unit and the step detection unit.

Description

Self-propelled electronic device

The present invention relates to a self-propelled electronic device.

As a conventional self-propelled electronic device, for example, Patent Document 1 discloses a self-propelled vacuum cleaner in which an electric cleaning device is mounted in a casing capable of traveling on a floor surface.
This conventional self-propelled vacuum cleaner has a main body (bumper) that covers the housing so that it can move on the housing, and the main body can prevent obstacles such as walls and figurines while running on the floor. When a collision occurs, an obstacle (collision) is detected and avoided. Further, a cliff sensor is provided on the bottom surface of the housing, and when the self-propelled vacuum cleaner approaches the down stairs, for example, the cliff sensor detects the down stairs and avoids it.

JP, 2005-51336, A

In a conventional self-propelled electronic device that performs avoidance behavior by collision with an obstacle of a bumper as in Patent Document 1, for example, a bumper and an obstacle (wall, furniture, ornament, etc.) are scratched, or an ornament (for example, , The vase) to be damaged, and the plastic bottle or cup with an open lid to prevent the drink from overflowing onto the floor surface, and the operating force of the bumper should be set as light as possible. desirable.

However, the lighter the operating force of the bumper, the more likely it is that the bumper will malfunction due to the impact on the housing when the self-propelled electronic device climbs over a step. That is, when the front end of the housing below the bumper collides with the step, the self-propelled electronic device rides over the step while sliding on the step. Therefore, the lighter the operating force of the bumper, the more easily the bumper operates even when the front end of the housing collides with the step, and the collision detection becomes easier to operate, and the step of the height that can be overcome is avoided.

The present invention has been made in view of such a problem, and an object thereof is to provide a self-propelled electronic device that is excellent in running performance to a step.

According to the present invention, the casing, the electric drive wheels that support the casing and travel on the floor, and the obstacles on the floor that are provided at the front part of the casing on the forward direction side. An obstacle detection unit having a bumper that detects by contact, a step detection unit that is provided at the front portion of the housing and that detects a step raised on the floor surface, and the obstacle detection unit and the step detection unit. There is provided a self-propelled electronic device including a control unit that controls the drive wheels based on an output.

Since the step detecting unit can detect a step rising on the floor surface (for example, a carpet, a sill, etc.), it is possible to suppress the step avoiding action due to the malfunction of the obstacle detecting unit when overcoming the step and to travel to the step. Performance can be improved. Further, since it is possible to distinguish a collision with an obstacle of the self-propelled electronic device from a collision with a step, it is possible to improve the detection accuracy of the obstacle detection unit.

It is a front view showing a 1st embodiment of a self-propelled cleaner as a self-propelled electronic device of the present invention. It is a bottom view of the self-propelled cleaner of 1st Embodiment. It is a figure explaining the internal structure of the self-propelled cleaner of 1st Embodiment. In the self-propelled cleaner of 1st Embodiment, (A) of a level|step difference detection part is a left sectional view before an operation, (B) is a left sectional view at the time of an operation. It is a block diagram explaining the control system of the self-propelled cleaner of 1st Embodiment. (A) of an obstacle detection part in a self-propelled cleaner of a 1st embodiment is an explanatory view showing a state before operation, and (B) is an explanatory view showing a state at the time of operation. In the self-propelled cleaner according to the first embodiment, (A) is an explanatory diagram showing a pre-operation state of the step detecting portion, (B) is an explanatory diagram showing an operating state, and (C) is an explanatory diagram showing a post-operation state. Is. It is a front view which shows the self-propelled cleaner of 2nd Embodiment. It is a left side sectional view of a level difference detecting part in a self-propelled cleaner of a 2nd embodiment.

(First embodiment)
1 is a front view showing a first embodiment of a self-propelled cleaner as a self-propelled electronic device of the present invention, and FIG. 2 is a bottom view of the self-propelled cleaner of the first embodiment. FIG. 3 is a diagram illustrating an internal configuration of the self-propelled vacuum cleaner according to the first embodiment. In addition, FIG. 4A is a left side sectional view of the step detector in the self-propelled vacuum cleaner according to the first embodiment before the operation, and FIG. 4B is a left side sectional view of the operation. Further, FIG. 5 is a block diagram illustrating a control system of the self-propelled vacuum cleaner according to the first embodiment.
In FIG. 2, the front, rear, left, and right directions of the self-propelled vacuum cleaner are indicated by arrows. In each of the following embodiments including the first embodiment, the case of a self-propelled cleaner including an electric cleaning device as the self-propelled electronic device is illustrated, but the present invention is a self-propelled cleaner. It is not limited to. For example, it may be a self-propelled luggage transport device, a self-propelled trunk, or the like.

<About the structure and operation of the self-propelled vacuum cleaner>
The self-propelled cleaner A of the first embodiment sucks air containing dust on the floor F while exhausting the dust-free air on the floor F while self-propelled on the floor F at the installed location. It is configured to clean the surface F.
The self-propelled vacuum cleaner A includes a disk-shaped housing 1, and a rotating brush 2, a pair of left and right side brushes 3, a dust collecting portion 4, and an electric blower as a suction portion are provided inside and outside the housing 1. 5, a motor driver 5a for the electric blower 5, a pair of left and right driving wheels 6 provided on the same axis in the left and right direction, a pair of traveling motors 6a for the pair of left and right driving wheels 6, and a pair of traveling motors 6a Control including a motor driver 6b, a brush motor 7 for rotating the rotating brush 2 and a pair of left and right side brushes 3, a motor driver 7a for the brush motor 7, a rear wheel 8 as an auxiliary wheel, a battery 9, and a controller 10 described later. The control board 10a on which the circuit is mounted and various components such as sensors are provided. The housing 1 is not limited to a disc shape, and may be a substantially triangular shape or a quadrangular shape having rounded corners when viewed in plan. Further, the side brush 3 may be only one of the left and right sides.

The housing 1 includes a bottom plate 1b having a suction port 1a, which is circular in plan view, a top plate 1c, which is circular in plan view, and side plates 1d, which are annular in plan view and are provided along the outer periphery of the bottom plate 1b and the top plate 1c. Equipped with. The top plate 1c is provided with an opening/closing lid (not shown) and an exhaust port 1ca (see FIG. 3) formed at a position behind the opening/closing lid.
The bottom plate 1b is provided with a pair of left and right drive wheels 6 and a rear wheel 8 which can swing around a vertical axis. The side plate 1d has a side plate front part 1da and a side plate rear part 1db which are substantially divided into two parts, and the side plate front part 1da has a bumper function of absorbing a shock at the time of a collision. Hereinafter, the "side plate front portion 1da" is referred to as "bumper 1da".

Further, in the housing 1, a suction passage 11 that connects the suction port 1a and the dust collecting unit 4, a ventilation passage 12 that connects the dust collecting unit 4 and the electric blower 5, an electric blower 5, and an exhaust port 1ca. An air passage 13 is provided to connect the and.

The pair of left and right drive wheels 6 are rotatably provided around the same axis X parallel to the bottom plate 1b of the housing 1. When the pair of left and right drive wheels 6 rotate in the same direction, the housing 1 moves forward and backward. When the drive wheels 6 rotate in the opposite direction at the same speed, the housing 1 turns in a stationary manner.
The rotation shafts of the drive wheels 6 are connected to each other so that a rotational force can be individually obtained from each traveling motor 6a, and each traveling motor 6a is fixed to the bottom plate 1b of the housing 1 directly or via a suspension mechanism. ing.

The rotating brush 2 is provided in the suction port 1a so as to be rotatable around an axis parallel to the bottom plate 1b of the housing 1.
The side brushes 3 that rotate around an axis perpendicular to the bottom plate 1b are provided on the left and right sides of the suction port 1a in the bottom plate 1b.

The rotating brush 2 is formed by implanting the brush in a spiral shape on the outer peripheral surface of a roller that is a rotating shaft.
The side brush 3 has a rotating shaft and a plurality of brush bundles radially provided at the lower end of the rotating shaft.
The rotary shaft of the rotary brush 2 and the rotary shafts of the pair of side brushes 3 are pivotally attached to a part of the bottom plate 1b of the housing 1, and include a brush motor 7, a pulley, a belt and the like provided in the vicinity thereof. They are independently connected via a power transmission mechanism or the like.

A charging terminal (not shown) for charging the battery 9 is provided at the rear end of the side plate 1d of the housing 1. The self-propelled cleaner A that cleans the room while traveling by itself returns to a charging stand (not shown) installed in the room. As a result, the charging terminal comes into contact with the terminal portion provided on the charging stand, and the battery 9 is charged. A charging stand connected to a commercial power source (outlet) is usually installed along the side wall of the room.
The battery 9 is charged from the charging stand via the charging terminal, and supplies electric power to the control board 10a, the traveling motor 6a for the drive wheels 6, the brush motor 7, the electric blower 5, various elements, and the like.

The dust collecting unit 4 has a dust collecting box 4a having an inlet connected to the suction passage 11 and a discharge outlet connected to the ventilation passage (suction duct) 12 on the upstream side of the electric blower 5, and the discharge outlet of the dust collecting box 4a. And a filter 4b which is detachably provided. The dust collection box 4a is usually housed in the housing 1. When discarding the dust collected in the dust collection box 4a, the lid (not shown) of the housing 1 is opened to collect the dust. The box 4a can be put in and taken out (attached and detached).

As shown in FIG. 5, the control circuit for controlling the operation of the entire self-propelled cleaner A includes a control unit 10, an operation panel 31 for inputting setting conditions and operation commands relating to the operation of the self-propelled cleaner A, and traveling. A storage unit 18 for storing program data such as a map 18a, a motor driver 5a for driving the electric blower 5, a motor driver 6b for individually driving the traveling motors 6a of the pair of drive wheels 6 in forward and reverse directions, and rotation. It includes a motor driver 7a for rotating the brush motor 7 for driving the brush 2 and the side brush 3 simultaneously in one direction.

Further, the control circuit includes a plurality of floor surface detection sensors 14 provided on the bottom plate 1b of the housing 1 and its control unit 14a, a plurality of ultrasonic wave transmitting portions 15A and ultrasonic waves provided alternately on the bumper 1da in the circumferential direction. The ultrasonic sensor 15 having the receiving unit 15B and its control unit 15a, the contact sensor 16 as an obstacle detection unit that detects an obstacle by collision with the bumper 1da, its control unit 16a, and the bumper 1da in the front part of the housing 1. It includes a step sensor (step detecting portion) 17 provided at a lower position than that, a control unit 17a thereof, and the like.

The control unit 10 includes a microcomputer including a CPU, a ROM, and a RAM, and outputs a command from the operation panel 31, outputs of the floor surface detection sensor 14, the ultrasonic sensor 15, the contact sensor 16, and the step sensor 17, and a storage unit 18. Based on the program data stored in advance, control signals are individually transmitted to the

motor drivers

5a, 6b, 7a to drive and control the electric blower 5, the traveling motor 6a and the brush motor 7 to perform a series of cleaning operations. To do. The program data includes program data for a normal mode for cleaning a wide area of the floor and a program data for a wall-side mode for cleaning along a wall.

The control unit 10 receives the condition setting related to the operation of the self-propelled vacuum cleaner A by the user from the operation panel 31, and stores it in the storage unit 18. The storage unit 18 can store a travel map 18a around the installation location of the self-propelled cleaner A. The traveling map 18a is information relating to traveling such as the traveling route and traveling speed of the self-propelled cleaner A, and is stored in the storage unit 18 by the user in advance, or the self-propelled cleaner A itself is performing cleaning operation. Can be recorded automatically.

In order for the self-propelled cleaner A to detect a descending step such as a staircase, the floor surface detecting sensor 14 may detect, for example, a front portion (for example, left and right sides of the step sensor 17), a rear portion, and a rear portion of the bottom plate 1b of the housing 1. The pair of left and right side brushes 3 are arranged. The CPU is connected to the floor surface detection sensor 14 via the control unit 14a, and obtains the presence information of the down step such as the down stairs around the outside of the housing 1 based on the output signal from the floor surface detection sensor 14. The floor surface detection sensor 14 may include, for example, a light emitting element that projects light toward the floor surface F and a light receiving element that receives reflected light from the light emitting element that reflects the floor surface F. ..

The ultrasonic sensor 15 is a non-contact type obstacle detection unit, and the ultrasonic wave transmitted from the ultrasonic wave transmission unit 15A collides with the obstacle, is reflected, and is received by the ultrasonic wave reception unit 15B. Detect obstacles. The CPU is connected to the ultrasonic sensor 15 (ultrasonic wave receiving unit 15B) via the control unit 15a, and based on the output signal from the ultrasonic wave receiving unit 15B, the presence information of obstacles around the outside of the housing 1 is obtained. obtain.

The contact sensor 16 is a contact-type obstacle detection unit, and is arranged, for example, at the left and right positions on the back side of the bumper 1da in order to detect that the self-propelled cleaner A has come into contact with the obstacle during traveling. The control unit 10 is connected to the contact sensor 16 via the control unit 16a, and obtains the presence information of the obstacle around the outside of the housing 1 based on the output signal from the contact sensor 16. As the contact sensor 16, a limit switch that detects an obstacle by contacting a part of the bumper 1da that collides with an obstacle, or an optical sensor that detects a part of the bumper 1da that collides with the obstacle without contact. Etc. can be used. The bumper 1da is urged to the front Y1 by, for example, an urging member (for example, a compression coil spring) of a support portion that is provided at the left and right positions on the back side of the bumper 1da so as to be movable in the front-rear direction.

The step sensor 17 is a contact-type step detection unit, and in order to detect that the self-propelled cleaner A has come into contact with a step raised from above the floor surface F during traveling, for example, a front portion of the housing 1 is provided. It is arranged below the bumper 1da. The control unit 10 is connected to a later-described sensor body 17d of the step sensor 17 via the control unit 17a, and obtains the presence information of the obstacle around the outside of the housing 1 based on the output signal from the step sensor 17. The step sensor 17 will be described in detail later.

In the self-propelled cleaner A configured as described above, the electric blower 5, the drive wheels 6, the rotary brush 2 and the side brush 3 are driven by a cleaning operation command. As a result, while the rotating brush 2, the side brushes 3, the driving wheels 6, and the rear wheels 8 are in contact with the floor surface F, the housing 1 is self-propelled in a predetermined range and collects dust on the floor surface F from the suction port 1a. Inhale the containing air. At this time, the dust on the floor surface F is scraped up by the rotation of the rotary brush 2 and guided to the suction port 1a. Further, the rotation of the side brush 3 guides the dust on the side of the suction port 1a to the suction port 1a.

The air containing dust sucked into the housing 1 through the suction port 1a passes through the suction passage 11 of the housing 1 and flows into the dust collection box 4a. The airflow that has flowed into the dust collection box 4a passes through the filter 4b, passes through the ventilation passage 12, flows into the electric blower 5, is guided to the ventilation passage 13, and is discharged to the outside through the exhaust port 1ca. At this time, since the dust contained in the air flow in the dust collection box 4a is captured by the filter 4b, the dust is accumulated in the dust collection box 4a.

The self-propelled cleaner A returns to the charging stand when cleaning is completed or when the remaining capacity of the battery becomes low. As a result, the charging terminal contacts the terminal portion and the battery is charged.
An operation panel 31 is provided on the upper surface of the self-propelled cleaner A, and the operation panel 31 can execute a cleaning operation. In addition, a receiver may be provided in the housing 1 and a transmitter that transmits a command signal may be provided in the receiver to allow remote control operation. Alternatively, a command signal may be transmitted from a mobile terminal such as a smartphone or a mobile phone to the self-propelled cleaner A via an Internet line and a router provided in the room so that the vacuum cleaner A can be remotely controlled.

<Structure of step sensor>
As shown in FIGS. 1, 2, 4(A) and 4(B), a step sensor 17 as a step detection unit is a front portion of the housing 1 so as to be movable in the front-rear direction and slidable to the step. Of the step contact part 17b provided below the bumper 1da as the obstacle detection part, the urging member 17c for urging the step contact part 17b forward, and the urging force of the urging member 17c. A sensor body 17d that detects and outputs the step contact portion 17b that has moved rearward is provided.

The mounting position of the step sensor 17 in the housing 1 is the front end of the bottom plate 1b, and the vicinity of the boundary between the bottom plate 1b and the side plate 1d is generally chamfered in an inverse tapered shape. Therefore, the mounting portion of the step sensor 17 in the housing 1 is provided with an inclined surface 1e that inclines toward the floor surface from the front to the rear.
On the other hand, the step contact portion 17b has a sliding contact inclined surface 17ba (see FIGS. 2, 4A and 4B) that inclines toward the floor side toward the rear so that the step contact portion 17b can slidably contact the step. There is.

In the step sensor 17, as shown in FIG. 4A, when the step contact portion 17b moves forward, the slidable contact slant surface 17ba is located in front of the slant surface 1e of the housing 1, and the step sensor 17b of FIG. ), when the step contact portion 17b moves rearward, the slidable contact slanting surface 17ba is arranged in the same plane as the slanting surface 1e of the housing 1.
The step contact portion 17b has, for example, a rear opening-shaped lower recess 17bb into which the plate piece 1ba of the cutout portion provided at the front end of the bottom plate 1b of the housing 1 is inserted, and a compression coil spring as the biasing member 17c. Has a rear opening-shaped upper concave portion 17bc and an abutting step portion 17bd, and the abutting step portion 17bd comes into contact with the backing plate 1dc of the casing 1 provided on the back side of the bumper 1da to move forward. It is becoming regulated.

As shown in FIG. 2 and FIG. 4(A), the step contact portion 17b biased forward by the biasing member 17c causes the contact step portion 17bd to come into contact with the backing plate 1dc of the housing 1 so that the bumper is pressed. It is designed so that it does not protrude further than 1 da. In this case, even if the bumper 1da moves rearward (phantom line in FIG. 4(A)), the tip of the step contact portion 17b in the free state does not project forward of the bumper 1da.

A rib 1bb is provided on the bottom plate 1b of the housing 1 at a rear position of the step contact portion 17b toward the inside of the housing, and a biasing member 17c is provided between the rib 1bb and the step contact portion 17b. ing.
Further, a limit switch as a sensor main body 17d is fixed to a position above the biasing member 17c in the rib 1bb, and the step contact portion 17b moves rearward as shown in FIG. The rear end 17be of the step contact portion 17b presses the limit switch to turn it on. An optical sensor capable of detecting the rear end 17be of the step contact portion 17b may be used as the sensor body 17d.

<Detection of obstacles and steps and traveling control>
6A and 6B are explanatory views showing the pre-operation state and the operation state of the obstacle detection unit in the self-propelled cleaner of the first embodiment. Further, FIG. 7 is an explanatory diagram showing (A) the pre-operation state of the step detecting portion in the self-propelled cleaner of the first embodiment, (B) an explanatory view showing the operating state, and (C) after the operation. It is explanatory drawing which shows a state.

As shown in FIGS. 1 to 5 and FIGS. 6A and 6B, the self-propelled cleaning device A having the above-described configuration is such that the bumper 1da is an obstacle on the floor surface F while traveling forward Y1. When it collides with Q, the bumper 1da moves to the rear Y2 to buffer the impact. At this time, the contact sensor 16 detects and outputs an obstacle, and thereby the control unit 10 controls the pair of left and right drive wheels 6 so as to avoid the obstacle Q.
At this time, since the tip of the step contact portion 17b of the step sensor 17 does not project forward of the bumper 1da, the step contact portion 17b of the step sensor 17 does not collide with the obstacle Q. Therefore, the step sensor 17 does not output.

As shown in FIG. 1 to FIG. 5, FIG. 7(A), (B) and (C), the self-propelled cleaning device A having the above-mentioned configuration, such as a carpet or a sill while traveling to the front Y1, When a step S lower than the height of the bumper 1da (step S capable of overcoming) is approached and the step contact portion 17b of the step sensor 17 collides with the step S, the step contact portion is resisted against the urging force of the urging member 17c. 17b moves backward Y2. At this time, the step S is detected by pressing the sensor body (limit switch) 17d by the step contact portion 17b, and the sensor body 17d outputs (see FIG. 7B).

When the operation force of the bumper 1da is set to be light when the step contact portion 17b collides with the step S, depending on the impact force transmitted to the housing 1, the bumper 1da operates to output the contact sensor 16. It is assumed that the bumper 1da does not operate and the contact sensor 16 does not output.
When the bumper 1da does not operate and the contact sensor 16 does not output when the step contact portion 17b collides with the step S, the controller 10 controls the pair of left and right drive wheels 6 to continue to move forward. As a result, as shown in FIGS. 7B and 7C, the step contact portion 17b rides over the step S while sliding the slidable contact slant surface 17ba to the corner of the step S, and thereafter, the pair of left and right drive wheels is contacted. 6 and the rear wheel 8 get over the step S.

When the bumper 1da operates and the contact sensor 16 outputs when the step contact portion 17b collides with the step S, the control unit 10 sets a predetermined value from the start of the output of the step sensor 17 while the step sensor 17 maintains the output. When the contact sensor 16 outputs within less than time (for example, 0.5 to less than 1 second), the pair of left and right drive wheels 6 are controlled so that the housing 1 moves forward. That is, in this case, the control unit 10 determines that there is no obstacle near the bump S that contacts the bumper 1da (determines that the output of the contact sensor 16 is invalid) and continues the forward movement of the housing 1 to make the bump. The pair of left and right drive wheels 6 is controlled so as to get over S. At this time, even if the bumper 1da is operated by the impact force when the step contact portion 17b collides with the step S, the bumper 1da returns to the initial position within the predetermined time and the output of the contact sensor 16 is stopped. To do.

Further, when the bumper 1da operates and the contact sensor 16 outputs when the step contact portion 17b collides with the step S, the control unit 10 controls the output of the step sensor 17 while the step sensor 17 maintains the output. When the contact sensor 16 outputs for a predetermined time or more (for example, 1 second or more), the pair of left and right drive wheels 6 is controlled so that the housing 1 retracts. That is, in this case, the control unit 10 determines that there is an obstacle near the step S that contacts the bumper 1da (determines that the output of the contact sensor 16 is valid), and retracts the housing 1 to move the step S to the step S. The pair of left and right drive wheels 6 are controlled so as to avoid them. Note that such a situation is assumed, for example, when the bumper 1da collides with an obstacle on the step S and the step contact portion 17b collides with the step S at substantially the same time.

(Second embodiment)
FIG. 8 is a front view showing the self-propelled cleaner of the second embodiment, and FIG. 9 is a left side sectional view of a step detector in the self-propelled cleaner of the second embodiment. 8 and 9, the same elements as those in FIGS. 1, 4 and 7A to 7C are designated by the same reference numerals.
As shown in FIGS. 8 and 9, the self-propelled cleaning device B of the second embodiment is generally the same as the first embodiment except that the configuration of the step sensor (step detection unit) 117 is different from that of the first embodiment. It is the same. Hereinafter, differences between the second embodiment and the first embodiment will be mainly described.

In the self-propelled cleaner B of the second embodiment, the step sensor 117 is provided near the inclined surface 1e on the front part of the housing 1.
The step sensor 117 has an image pickup section 117a capable of photographing the step S and a transparent cover 117b arranged in the same plane as the inclined surface 1e in the front part of the housing 1.
As the image pickup unit 117a, for example, a small camera such as a CCD camera or a CMOS camera can be used.
As the transparent cover 117b, for example, transparent glass or transparent plastic that can withstand a collision with the step S can be used.

In the case of the second embodiment, the imaging unit 117a and the transparent cover 117b are housed in the case 117c. The case 117c has a shape obtained by obliquely cutting the opening of the bottomed cylinder.
The transparent cover 117b is fitted into and fixed to the opening of the case 117c that is obliquely cut.

According to the self-propelled cleaner B, the image pickup section 117a of the step sensor 117 can photograph the vicinity of the floor surface F in the forward direction and output the image data to the control section 10. In this case, for example, the following traveling control can be performed.
The control unit 10 compares the image data with the previously stored determination data, and determines whether the image data is image data of the step S.

When it is determined that the image data is the image data of the step S, the step sensor 117 detects the step S, and the same traveling control as that of the first embodiment is performed.
That is, while the step sensor 117 detects the step S, the control unit 10 keeps the contact sensor 16 (see, for example, FIG. 5) within a predetermined time (for example, 0.5 to less than 1 second) from the start of detection by the step sensor 117. ) Is output, the pair of left and right drive wheels 6 is controlled so that the housing 1 moves forward. That is, in this case, the control unit 10 determines that there is no obstacle near the bump S that contacts the bumper 1da (determines that the output of the contact sensor 16 is invalid) and continues the forward movement of the housing 1 to make the bump. The pair of left and right drive wheels 6 is controlled so as to get over S.

In addition, while the step sensor 117 detects the step S, the control unit 10 outputs the contact sensor 16 (see FIG. 5) for a predetermined time or more (for example, 1 second or more) from the start of the detection of the step sensor 117. At this time, the pair of left and right drive wheels 6 are controlled so that the housing 1 moves backward. That is, in this case, the control unit 10 determines that there is an obstacle near the step S that contacts the bumper 1da (determines that the output of the contact sensor 16 is valid), and retracts the housing 1 to move the step S to the step S. The pair of left and right drive wheels 6 are controlled so as to avoid them.

Further, when the contact sensor 16 does not output while the step sensor 117 detects the step S, the control unit 10 determines that there is an step S in the forward direction but that there is no obstacle, and the step S The pair of left and right drive wheels 6 are controlled so as to get over the vehicle.
Further, when the contact sensor 16 outputs while the step sensor 117 does not detect the step S, the control unit 10 determines that there is an obstacle in the forward direction and controls the pair of left and right drive wheels 6 so as to avoid the obstacle. ..

(Third Embodiment)
In the first embodiment, the self-propelled cleaning device A in which one step sensor 17 is provided on the front part of the housing 1 is illustrated, but a plurality of step sensors 17 may be provided. For example, a step sensor having a similar configuration may be provided on both left and right sides of the step sensor 17 shown in FIG.

(Fourth Embodiment)
In the first embodiment, the self-propelled cleaner B in which one step sensor 117 is provided on the front part of the housing 1 is illustrated, but a plurality of step sensors 117 may be provided. For example, a step sensor having a similar configuration may be provided on both left and right sides of the step sensor 117 shown in FIG.

(Summary)
The self-propelled electronic device of the present invention includes a housing, an electric drive wheel that supports the housing and travels on the floor, and a front portion of the housing on the forward direction side. An obstacle detection unit having a bumper for detecting an obstacle by contact, a step detection unit provided at the front portion of the housing for detecting a step raised on the floor surface, the obstacle detection unit and the And a control unit that controls the drive wheels based on the output of the step detection unit.
With this configuration, it is possible to detect a step (for example, a carpet, a sill, etc.) that rises on the floor surface by the step detection unit. Therefore, when the obstacle detection unit does not output when the step detection unit detects the step, it goes without saying that the self-propelled electronic device can be advanced to get over the step. Even if the obstacle detection unit operates due to collision with the vehicle, it is determined that the obstacle detection unit is invalid, and the self-propelled electronic device can be moved forward over the step. As a result, it is possible to obtain a self-propelled electronic device having excellent running performance.
Further, since it is possible to distinguish between the collision of the self-propelled electronic device with the obstacle and the collision with the step that can be overcome, it is possible to improve the detection accuracy of the obstacle detection unit. Therefore, the detection accuracy of the obstacle detection unit can be improved (the operation force of the bumper can be set lightly), and for example, self-propelled electronic devices and obstacles (walls, furniture, ornaments, etc.) can be damaged. It is possible to prevent a situation in which a figurine (for example, a vase) is collapsed and damaged, and a plastic bottle or a cup with an open lid is collapsed to overflow the drink inside onto the floor surface.

The self-propelled electronic device of the present invention may be configured as follows and may be appropriately combined.

-The control unit is configured to move the casing forward when the obstacle detection unit outputs during less than a predetermined time from the start of output of the step detection unit while the output of the step detection unit is maintained. Controlling the drive wheels, and controlling the drive wheels so that the casing retracts when the obstacle detection unit outputs for a predetermined time or more from the start of output of the step detection unit. Good.
With this configuration, the following traveling control can be performed.
While the output of the step detector is maintained, if the obstacle detector outputs within less than the predetermined time from the start of output of the step detector, the controller will detect an obstacle such as a bumper near the step. It is possible to determine that there is not (determine that the output of the obstacle detection unit is invalid) and control the drive wheels so that the housing moves forward.
Further, while the output of the step detector is maintained, when the obstacle detector outputs for a predetermined time or more from the start of output of the step detector, the controller contacts the bumper 1da near the step. It is possible to control the drive wheels so that the housing retracts after determining that there is an obstacle (determining that the output of the contact sensor is valid).

-The step detecting section is provided with a step contact section provided at a position lower than the obstacle detecting section in the front portion of the housing so as to be movable in the front-rear direction and slidably contact with the step, and the step contact. A biasing member that biases the portion forward, and a sensor body that detects and outputs the step contact portion that has moved rearward against the biasing force of the biasing member,
The step contact portion may be provided on the front portion of the housing so as not to project forward of the bumper.
According to this configuration, it is possible to configure the step detecting unit that mechanically detects the step. In addition, by providing the step contact part on the front part of the housing so as not to project forward than the bumper, when the bumper collides with an obstacle, the step contact part collides with the obstacle to operate (step error Detection) can be suppressed.

The casing has an inclined surface that is inclined to the floor side toward the rear at a position lower than the obstacle detection unit in the front portion,
The step contact portion has a slidable contact slant surface that slants toward the floor side toward the rear so that the step contact portion can slidably contact the step, and the slidable contact slant surface when the step contact portion moves forward. May be located in front of the inclined surface, and the sliding contact inclined surface may be arranged in the same plane as the inclined surface when the step contact portion moves rearward. Good.
With this configuration, the self-propelled electronic device can smoothly climb over a step.

The step detector may include an image pickup section capable of photographing the step.
According to this configuration, it is possible to configure a step detector that optically detects the step.

The casing has an inclined surface that is inclined to the floor side toward the rear at a position lower than the obstacle detection unit in the front portion,
The step detection unit may further include a transparent cover arranged in the same plane as the inclined surface.
With this configuration, the self-propelled electronic device can smoothly climb over a step.

It may further include an electric cleaning device that is mounted on the housing and sucks dust on the floor.
With this configuration, it is possible to obtain a self-propelled electronic device having cleaning performance.

The disclosed embodiments should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description but by the scope of the claims, and is intended to include meanings equivalent to the scope of the claims and all modifications within the scope.

1 case 1da bumper (obstacle detector)
1e inclined surface 6 drive wheel 10 control unit 16 contact sensor (obstacle detection unit)
17, 117 Step difference detection section 17b Step difference contact section

17c Energizing member

17d Sensor body

117a Imaging section 117b Transparent cover 17ba Sliding contact inclined surface A, B Self-propelled cleaner (self-propelled electronic device)
F Floor surface Q Obstacle S Step

Claims

A case, an electric drive wheel that supports the case and travels on the floor surface, and a bumper that is provided at the front part of the case on the forward direction side and detects an obstacle on the floor surface by contact. An obstacle detection unit that has, a step detection unit that is provided at the front portion of the housing and that detects a step that rises above the floor surface, and the drive based on the outputs of the obstacle detection unit and the step detection unit. A self-propelled electronic device including a control unit that controls a wheel.
The control unit controls the housing to move forward when the obstacle detection unit outputs during a period of time less than a predetermined time from the start of output of the step detection unit while the step detection unit maintains the output. The drive wheel is controlled, and the drive wheel is controlled so that the housing retracts when the obstacle detection unit outputs for a predetermined time or more after the output of the step detection unit is started. Self-propelled electronic device.
The step detecting section is provided at a position lower than the obstacle detecting section in the front portion of the housing so as to be movable in the front-rear direction and slidably contact the step, and the step contact section. A biasing member for biasing the forward direction, and a sensor body for detecting and outputting the step contact portion that has moved rearward against the biasing force of the biasing member,
The self-propelled electronic device according to claim 1, wherein the step contact portion is provided on the front portion of the housing so as not to project forward of the bumper.
The self-propelled electronic device according to claim 1 or 2, wherein the step detecting unit has an image capturing unit capable of capturing an image of the step.
The housing has an inclined surface that inclines toward the floor side toward the rear at a position lower than the obstacle detection unit in the front portion,
The step contact portion has a slidable contact slant surface that slants toward the floor side toward the rear so that the step contact portion can slidably contact the step, and the slidable contact slant surface when the step contact portion moves forward. Is located in front of the inclined surface, and the sliding contact inclined surface is arranged in the same plane as the inclined surface when the step contact portion moves rearward. Self-propelled electronic device.
The housing has an inclined surface that inclines toward the floor side toward the rear at a position lower than the obstacle detection unit in the front portion,
The self-propelled electronic device according to claim 5, wherein the step detection unit further includes a transparent cover arranged in the same plane as the inclined surface.
The self-propelled electronic device according to any one of claims 1 to 6, further comprising an electric cleaning device that is mounted on the housing and sucks dust on the floor surface.