WO2023166756A1 - Aspirateur autonome - Google Patents

Aspirateur autonome Download PDF

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Publication number
WO2023166756A1
WO2023166756A1 PCT/JP2022/028642 JP2022028642W WO2023166756A1 WO 2023166756 A1 WO2023166756 A1 WO 2023166756A1 JP 2022028642 W JP2022028642 W JP 2022028642W WO 2023166756 A1 WO2023166756 A1 WO 2023166756A1
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WO
WIPO (PCT)
Prior art keywords
cleaner
main body
vacuum cleaner
motor
traveling
Prior art date
Application number
PCT/JP2022/028642
Other languages
English (en)
Japanese (ja)
Inventor
尚樹 加藤
則和 伊藤
将 矢野
Original Assignee
日立グローバルライフソリューションズ株式会社
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Application filed by 日立グローバルライフソリューションズ株式会社 filed Critical 日立グローバルライフソリューションズ株式会社
Publication of WO2023166756A1 publication Critical patent/WO2023166756A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • 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
    • A47L9/22—Mountings for motor fan assemblies
    • 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 an autonomously traveling vacuum cleaner that autonomously travels and cleans.
  • Autonomous vacuum cleaners are equipped with detection means that detects obstacles around the housing of the autonomous vacuum cleaner.
  • the LiDAR has a light emitting unit and a light receiving unit, and rotates the light emitting unit and the light receiving unit around the center of the LiDAR to detect obstacles around the housing. Since the LiDAR rotates the light emitting part and the light receiving part, it is installed so as to protrude from the upper surface of the main body of the autonomous mobile cleaner.
  • the autonomous traveling vacuum cleaner drives the suction motor to generate suction force, and collects the dust sucked from the bottom surface of the housing into the dust collection container inside the housing.
  • the autonomous cleaner then avoids obstacles detected by LiDAR and cleans the entire room.
  • Such an autonomously traveling vacuum cleaner is described in Patent Literature 1, for example.
  • Autonomous vacuum cleaners for example, need to enter gaps under beds to clean, so the height dimension is limited according to the gaps under beds.
  • the upper position of the LiDAR is a restricted height dimension.
  • the main body of the autonomous traveling cleaner is designed based on the upper position of the LiDAR.
  • An object of the present invention is to solve the above problems and to provide an autonomously traveling vacuum cleaner equipped with a distance measuring sensor that suppresses a decrease in dust collection capacity.
  • an autonomous traveling cleaner comprises: a cleaner main body having drive wheels and a travel motor for driving the drive wheels;
  • An autonomously traveling cleaner comprising a case, a fan motor provided in the cleaner main body to generate a suction force, the traveling motor, and a storage battery for supplying power to the fan motor, wherein the cleaner main body has a main body front portion formed in front of the central portion of the cleaner body in the front-rear direction, and a main body rear portion formed rearward of the central portion of the cleaner main body in the front-rear direction, comprises a first distance measuring sensor installed so as to protrude from the upper surface of the front part of the main body and measures the distance between the autonomously traveling cleaner and the surroundings; The upper surface of the rear part is formed so as to be higher than the upper surface of the front part of the main body.
  • an autonomously traveling cleaner equipped with a distance measuring sensor that suppresses a decrease in dust collection capacity.
  • FIG. 1 is an external perspective view of an autonomously traveling cleaner S according to an embodiment of the present invention
  • FIG. 1 is a left side view of an autonomously traveling cleaner S according to an embodiment of the present invention
  • FIG. 1 is a bottom view of an autonomously traveling cleaner S according to an embodiment of the present invention
  • FIG. Fig. 2 is a perspective view showing a state in which an upper cover 1u is removed from the autonomously traveling cleaner S according to the embodiment of the present invention
  • FIG. 2 is a cross-sectional view taken along line VV of FIG. 1
  • FIG. 4 is a sectional view taken along the line VI-VI of FIG. 3
  • FIG. 2 is a cross-sectional view taken along line VII-VII of FIG.
  • FIG. 1 is a control block diagram showing an autonomously traveling cleaner S according to an embodiment of the present invention
  • FIG. 1 is a configuration diagram of a cleaning system including an autonomously traveling cleaner S according to an embodiment of the present invention
  • FIG. 1 is a block diagram showing the configuration of a control device 30 according to an embodiment of the invention
  • constituent elements of the present invention do not necessarily have to be independent entities, and one constituent element may consist of a plurality of members, a plurality of constituent elements may consist of one member, a certain constituent element may part of a component, part of one component overlaps part of another component, and so on.
  • the ceiling side is up
  • the floor side is down
  • the direction of travel of the autonomous cleaner is the front
  • the opposite side of the cleaner is behind
  • the left side of the cleaner is the left.
  • the right side in the traveling direction of the autonomous traveling cleaner is defined as right.
  • FIG. 1 is an external perspective view of an autonomously traveling cleaner S according to an embodiment of the present invention.
  • FIG. 2 is a left side view of the autonomous traveling cleaner S according to the embodiment of the present invention.
  • FIG. 3 is a bottom view of the autonomously traveling cleaner S according to the embodiment of the present invention.
  • FIG. 4 is a perspective view showing a state in which the upper cover 1u is removed from the autonomously traveling cleaner S according to the embodiment of the present invention.
  • FIG. 5 is a cross-sectional view taken along line VV of FIG.
  • FIG. 6 is a sectional view taken along line VI-VI of FIG.
  • FIG. 7 is a cross-sectional view taken along line VII-VII of FIG.
  • FIG. 8 is a perspective view showing the LiDAR unit 40.
  • the autonomously traveling cleaner S is an electrical device that automatically cleans a predetermined cleaning area (for example, the floor surface Y of a room (see FIGS. 2 and 5)) while autonomously moving.
  • the autonomous traveling cleaner S includes a cleaner body 1, a bumper 2 that covers the side circumference of the cleaner body 1, a pair of driving wheels 3 and 4 (see FIG. 3), an auxiliary wheel 5 (see FIG. 3), and A side brush 6 is provided.
  • the cleaner body 1 has an upper cover 1u that forms at least part of the upper surface and a lower case 1s that forms at least part of the bottom surface.
  • the cleaner body 1 has a front body portion 1f forward of the center portion 1c in the front-rear direction and a rear body portion 1r behind the center portion 1c in the front-rear direction.
  • the upper surface of the main body 1 (upper cover 1u) of the cleaner body 1 is formed in a stepped shape so that the heights in the vertical direction are different with respect to the central portion 1c in the front-rear direction.
  • the front-rear direction central portion 1c does not necessarily mean the center position in the front-rear direction, but means the position where a step is formed.
  • a LiDAR unit 40 (Light Detection and Ranging) is installed on the front part 1f of the vacuum cleaner body 1.
  • the LiDAR unit 40 is provided so as to protrude upward from the upper surface 17a of the front portion 1f of the main body.
  • the center of the LiDAR unit 40 in the front-rear direction overlaps with the storage battery 21, and the rotation drive motor 42 for rotating the LiDAR 41 is arranged on the side of the storage battery 21, so that the lower surface of the rotation drive motor 42 is placed on the storage battery 21.
  • a dust case 8 is provided in the main body rear portion 1r of the vacuum cleaner main body 1.
  • the dust case 8 is detachably attached upward from the rear portion 1r of the main body, and has a rotatable handle 8a that is used by the user when removing from the rear portion 1r of the main body.
  • the upper surface 17b of the main body rear portion 1r is formed so as to be higher than the upper surface 17a of the main body front portion 1f.
  • the bumper 2 is provided on the front side of the central portion 1c in the front-rear direction of the cleaner body 1, and the end portion 2a is provided in the central portion 1c in the front-rear direction of the main body 1 of the cleaner. That is, the bumper 2 is formed integrally with the front surface of the cleaner body 1 and the end portions 2a of the central portion 1c in the front-rear direction of the left and right side surfaces.
  • the bumper 2 should be provided in such a manner that at least the side periphery on the front side of the cleaner body 1 is movable in the horizontal direction, particularly in the front-rear direction.
  • the bumper 2 is pushed by the force associated with the contact, so that the bumper 2 is pushed inside the autonomously traveling cleaner S (in front of the autonomously traveling cleaner S). If it contacts the bumper 2 on the side, it can be displaced toward the rear).
  • the drive wheels 3 and 4 are wheels as an example of a drive unit, and are attached to the lower case 1s. Further, the autonomous traveling cleaner S can be moved forward, backward, and turned (including super-pivot turning) by rotating the drive wheels 3 and 4 themselves.
  • Driving wheels 3 and 4 are arranged on both left and right sides, and are rotationally driven by wheel units composed of traveling motors 3m and 4m (see FIG. 4) and speed reduction mechanisms 3b and 4b (see FIG. 3), respectively. Further, the drive wheels 3 and 4 are provided substantially in the center in the front-rear direction and near the outer periphery (outside) of the lower case in the left-right direction.
  • the lower case 1s is provided with drive mechanism accommodating portions 11, 11 (see FIG. 3) for accommodating the drive mechanism including the traveling motors 3m, 4m, the arms 3a, 4a, and the reduction mechanisms 3b, 4b. It is
  • a suction port portion 12 for housing the rotating brush 14 and for sucking dust, a scraping brush 15, and the like are provided behind the drive wheels 3 and 4 and the drive mechanism housing portions 11 and 11, a suction port portion 12 for housing the rotating brush 14 and for sucking dust, a scraping brush 15, and the like.
  • the rotating brush 14 is arranged substantially parallel to an axis (horizontal direction) passing through the center of rotation of the drive wheels 3 and 4 .
  • the rotating brush 14 is driven by a rotating brush motor 14a (see FIG. 4).
  • the scraping brush 15 is arranged parallel to the rotation axis of the rotating brush 14 .
  • the scraping brush 15 is a so-called lint brush, and is designed to rotate within a predetermined angular range.
  • the training wheel 5 is a driven wheel and a freely rotating caster. Further, the auxiliary wheel 5 is provided on the front side of the autonomously traveling cleaner S in the front-rear direction and substantially in the center in the left-right direction. Further, the auxiliary wheels 5 contribute to keeping the lower case 1s at a predetermined height from the floor surface Y (see FIG. 5) together with the driving wheels 3 and 4. As shown in FIG. Further, the driving wheels 3 and 4 and the auxiliary wheels 5 allow the autonomously traveling cleaner S to move smoothly.
  • the auxiliary wheel 5 is driven by the frictional force generated between itself and the floor surface Y as the cleaner S moves, and is pivotally supported by the lower case 1 s so that it can revolve 360° in the horizontal direction. ing.
  • the side brushes 6 are arranged on either side of the center of the cleaner body 1 in the left-right direction, partly located outside the cleaner body 1, and scrape dust from places such as walls where the rotary brushes 14 cannot reach. , are brushes leading to the mouthpiece 12 .
  • the side brushes 6 have three bundles of brushes extending radially at intervals of 120° in a plan view, and are arranged on the front side of the lower case 1s. Further, the side brush 6 is fixed at its base to a side brush holder 6a.
  • the side brush 6 is arranged on the left side in the traveling direction in this embodiment, it may be arranged on the right side in the traveling direction. It is sufficient to arrange at least one of the left and right.
  • the bristles of the side brush 6 are inclined so as to approach the floor surface Y (see FIG. 5) toward the tip, and the vicinity of the tip is in contact with the floor surface.
  • the side brushes 6 rotate so as to sweep the front outer region of the autonomously traveling cleaner S in the direction from the outer side to the inner side in the left-right direction, as indicated by an arrow ⁇ 1 (see FIG. 3). Dust on the surface Y is collected on the rotating brush 14 side in the center.
  • the side brushes 6 are rotationally driven by a side brush motor 6b (see FIGS. 4 and 6). A part of the side brush 6 protrudes outward from the cleaner body 1 (see FIGS. 1 and 3) in plan view.
  • the rotary shaft 6c of the side brush 6 is positioned above the vertical line V from the floor Y when the autonomously traveling cleaner S is placed on the floor Y. It is arranged at an angle ⁇ so as to fall forward. In this embodiment, the angle ⁇ is set to 15°.
  • the side brush 6 rotates around the inclined rotating shaft 6c by the driving force of the side brush motor 6b. Move away from the floor Y.
  • the side brushes 6 are in contact with the floor surface Y in the front area where dust is to be collected, and the side brushes 6 are separated from the floor surface Y in the rear area where dust is not desired to be scattered.
  • it is possible to efficiently collect dust without scattering it.
  • the lower case 1s is provided with four distance measuring sensors 13a, 13b, 13c, and 13d for the floor, front, back, left, and right.
  • the floor ranging sensor 13 a is located in front of the training wheels 5 .
  • the floor distance measuring sensor 13c is positioned on the outer peripheral side between the drive wheel 4 and the left side brush 6.
  • the floor ranging sensor 13b is positioned symmetrically with respect to the floor ranging sensor 13c.
  • the floor ranging sensor 13 d is located behind the scraping brush 15 .
  • the lower case 1s is provided with connecting portions 16, 16 electrically connected to the charging base.
  • the connecting portion 16 is located between the side brush holder 6a and the floor distance measuring sensor 13a.
  • the autonomous traveling cleaner S includes a LiDAR unit 40 (first ranging sensor) as an example of a ranging sensor using light, a camera (imaging unit ) 50 , a ranging sensor 60 (second ranging sensor), a ranging sensor 61 (third ranging sensor), and an infrared light receiving section 70 .
  • a LiDAR unit 40 Light Detection and Ranging
  • the camera 50, the distance measuring sensor 60, and the infrared light receiving section 70 are arranged in front of the main body front portion 1f so as to face the front side.
  • the distance measuring sensor 61 is arranged on the side surface of the cleaner body 1 on the side where the side brush 6 is arranged among the left and right in the traveling direction of the autonomously traveling cleaner S. In this embodiment, the distance measuring sensor 61 is arranged so as to face the left side of the autonomous traveling cleaner S in the traveling direction.
  • the infrared light receiving unit 70 receives an infrared signal (charging base return signal) transmitted from the charging base.
  • the autonomous traveling cleaner S of this embodiment includes drive wheels 3 and 4 that drive the cleaner body 1, a LiDAR unit 40 provided in the cleaner body 1, and cameras provided on the front and side surfaces of the cleaner body 1.
  • a LiDAR unit 40 provided in the cleaner body 1
  • cameras provided on the front and side surfaces of the cleaner body 1.
  • the LiDAR unit 40 is divided into an upper rotating portion 40a and a lower fixed portion 40b.
  • a LiDAR 41 which is a distance sensor that measures the distance between the autonomous cleaner S and the surroundings using light such as infrared rays, and a photointerrupter for detecting the angle of the LiDAR 41 on the horizontal plane.
  • the fixed part on the lower side is a rotation drive motor 42 for rotating the LiDAR 41, a bearing that reduces the frictional force between the belt 43 that transmits the rotation of the rotation drive motor 42 to the LiDAR 41 and the fixed part when the rotating part rotates, and a photo interrupter. consists of protrusions for detecting angles on the horizontal plane.
  • the LiDAR 41 is composed of a light-emitting portion 41a and a light-receiving portion 41b, and measures the distance to an object by trigonometry based on the light-emitting angle of the light-emitting portion 41a and the light-receiving angle of the light-receiving portion 41b.
  • the light emitting portion 41a is an infrared light emitting portion
  • the light receiving portion 41b is an infrared light receiving portion, which are configured as one unit.
  • the angle on the horizontal plane with respect to the cleaner body 1 is the projection detected between the light emitting element and the light receiving element of each projection on the fixing portion 40b fixed to the cleaner body 1 and the photointerrupter of the rotating portion.
  • the angle of the rotating part on the horizontal plane is detected by the number. Only one protrusion in the front direction of the cleaner body 1 is shortened from the other protrusions, the angle of the front face of the cleaner body 1 is detected, and each angle is detected by the number of protrusions detected from there.
  • the position and velocity vector of the cleaner body 1 on the map are specified while creating surrounding map information.
  • the long-distance surrounding detection sensor may be a range sensor capable of measuring 1 m or more, such as a millimeter wave radar or an ultrasonic sensor.
  • the rotation angle of the rotating portion of the LiDAR unit 40 is not limited to 360°, and it is sufficient if the belt can be replaced with a link mechanism to measure 60° or more.
  • the rotation may be a swing motion.
  • the LiDAR distance measurement method may be a time-of-flight method that utilizes the phase difference between the light from the light-emitting portion and the light-receiving portion instead of the trigonometric method.
  • the LiDAR unit 40 can detect farther obstacles by changing the light intensity of the LiDAR 41 .
  • the intensity of the light from the LiDAR 41 is kept high at all times, the power consumption will increase.
  • the rotational speed of the rotary drive motor 42 the obstacle can be detected in more detail.
  • the rotation speed of the rotation drive motor 42 is always kept high, the power consumption will increase.
  • the camera (imaging unit) 50 is a monocular camera and is positioned on the central axis of the front surface of the cleaner body 1 .
  • the camera 50 can detect the shape and position of an object more accurately than the LiDAR unit 40, it becomes easier to avoid obstacles.
  • the camera 50 can have a wider angle of view in the vertical direction than the LiDAR unit 40, obstacles on the floor can be avoided. For example, it is possible to prevent entanglement of clothes on the floor or entanglement of the cord with the brush. In this way, by using the camera 50 together with the LiDAR unit 40, it is possible to clearly detect the shape and position of short-range obstacles while detecting the rough arrangement of obstacles in a wide range. can be determined.
  • the camera 50 can change the frame rate. For example, it increases the frame rate when detecting nearby obstacles, and decreases the frame rate when moving in a wide area where there are no obstacles. As a result, the power consumption of the camera 50 can be suppressed because it is not necessary to operate the camera 50 in a state where the frame rate is always increased.
  • the LiDAR 41 and the camera 50 by using both the LiDAR 41 and the camera 50, it is possible to detect the distance information and the shape information to the obstacle with high accuracy. More specifically, when creating a map of the cleaning area, the position information of the detected obstacles is detected and mapped mainly or exclusively using the LiDAR 41, and the shape information is mainly or exclusively used by the camera. Can be detected and mapped.
  • the LiDAR 41 and the camera are provided adjacent to each other (the separation distance is within 10 cm, 5 cm, or 3 cm) in order to make these associations highly accurate.
  • the focal length of the camera may be adjusted or the moving speed of the cleaner body 1 may be changed (eg, decelerated).
  • the ranging sensor 60 (second ranging sensor) is an ultrasonic sensor that emits ultrasonic waves and measures the time it takes for them to return to measure the distance to an obstacle.
  • the distance measuring sensors 60 are provided at two locations on the front left and right sides of the main body 1 of the cleaner.
  • the distance sensor 61 (third distance sensor) has a detection range shorter than that of the LiDAR by, for example, about 1/10 or more, and is relatively close to an obstacle (for example, about 1 m, Preferably, it is an infrared sensor that measures a distance up to about 50 cm or 30 cm or less, and is composed of, for example, a PSD (Position Sensitive Detector) sensor.
  • the distance measuring sensor 61 has a light-emitting portion that emits infrared rays, and a light-receiving portion that receives reflected light that is returned after the infrared rays have been reflected by an obstacle.
  • the distance to the obstacle is calculated based on the reflected light detected by the light receiving section. Specifically, the distance to the obstacle is calculated based on the position at which the reflected light is received, the time until the reflected light is received, the amount and intensity of the reflected light, and the like.
  • the distance measuring sensor 61 is not limited to a PSD sensor, and may be an ultrasonic sensor. By providing the distance measuring sensor 61 on the side where the side brush 6 is arranged in this way, the autonomous traveling type cleaner S can be brought close to the wall and the side brush 6 can be brought into contact with the wall, thereby cleaning along the wall. It can be performed.
  • the autonomously traveling cleaner S is electrically connected to the charging stand via the connection part 16 and supplies power to the storage battery 21 .
  • the autonomous traveling cleaner S receives three types of infrared LEDs emitted from the charging stand with the infrared light receiving unit 70, and identifies the direction of the charging stand with respect to the cleaner main body 1 according to the type of received infrared rays. do.
  • the autonomously traveling cleaner S internally includes a storage battery 21, a fan motor 22, a dust sensor 80, a first control board 10a, and a second control board 10b.
  • the storage battery 21 is arranged in front of the fan motor 22, and various motors such as the traveling motors 3m and 4m (see FIG. 4), the side brush motor 6b (see FIGS. 4 and 6), the rotary brush motor 14a, the fan motor 22, Power is supplied to various sensors such as a bumper sensor (not shown), the camera 50, the distance sensors 60 and 61, the floor distance sensors 13a to 13d, the LiDAR unit 40, and the like.
  • various sensors such as a bumper sensor (not shown), the camera 50, the distance sensors 60 and 61, the floor distance sensors 13a to 13d, the LiDAR unit 40, and the like.
  • the first control board 10a and the second control board 10b constitute a control device 30 (see FIG. 9), which will be described later.
  • the first control board 10 a extends forward from the central position in the front-rear direction of the autonomous traveling cleaner S avoiding the LiDAR unit 40 and is arranged above the fan motor 22 .
  • the second control board 10b is arranged in front of the autonomous traveling cleaner S in the front-rear direction and in front of the fan motor 22 (behind the camera 50 and the range sensors 60 and 61).
  • the first control board 10a is arranged to extend in the horizontal direction
  • the second control board 10b is arranged to extend in the vertical direction.
  • the first control board 10a controls the traveling motors 3m and 4m, the side brush motor 6b, the rotating brush motor 14a, the fan motor 22, the dust sensor 80, the floor distance measuring sensors 13a to 13d, and the like.
  • the second control board 10b controls the camera 50, ranging sensors 60 and 61, the LiDAR unit 40, and the like.
  • the control board is divided into the first control board 10a and the second control board 10b.
  • the wiring to be connected can be shortened, and the assembling workability of the autonomous traveling cleaner S can be improved.
  • the storage battery 21 is composed of a plurality of cells 21a, 21b, and 21c, and the cells 21a and 21b are arranged in a row in front and back in a direction orthogonal to the longitudinal direction of the cells (see FIG. 7). 5), and cells 21a and 21c are arranged in series along the longitudinal direction of the cells (see FIG. 7). Further, as shown in FIG. 7, the storage battery 21 is arranged on the opposite side of the side brush 6 from the left-right central portion of the traveling direction of the autonomously traveling cleaner S. As shown in FIG.
  • the cell 21a is arranged in the left-right central portion of the traveling direction of the autonomously traveling cleaner S, and the cell 21c is arranged on the side opposite to the side brush 6 arranged.
  • the cell 21c which is a part of the storage battery 21
  • the side brush motor 6b and the storage battery 21 do not interfere with each other. An increase in the height dimension of the cleaner body 1 can be suppressed.
  • the fan motor 22 (see FIG. 5) generates a suction force to collect the dust scraped by the rotating brush 14 into the dust case 8 .
  • the fan motor 22 includes a motor portion 22a, a fan 22b driven by the motor portion 22a, and a rotating shaft 22c connecting the motor portion 22a and the fan 22b. Further, the fan motor 22 is provided between the drive wheels 3 and 4 in the center in the front-rear direction.
  • the dust case 8 includes an inlet 8c that serves as an inlet for dust, a dust storage portion 8d that stores dust, and guide ribs 8e that guide the dust that has flowed in from the inlet 8c to the dust storage portion 8d.
  • the guide ribs 8e are arranged to extend vertically (vertically). As indicated by the arrow A in FIG. 5, the dust that has flowed in from the inlet 8c moves upward along the guide rib 8e, changes its direction of flow at the upper end of the guide rib 8e, and moves forward. It is accommodated in the dust accommodation portion 8d.
  • a dust collection filter 8 b is arranged between the dust case 8 and the fan motor 22 .
  • the air taken into the dust case 8 together with dust is taken into the fan motor 22 via the dust collection filter 8b.
  • Exhaust air from the fan motor 22 is mainly discharged to the outside of the autonomously traveling cleaner S through an exhaust port 1t (see FIG. 4) formed in the lower case 1s, but part of it is discharged forward of the cleaner body 1.
  • the exhaust is used to cool the rotary drive motor 42 .
  • the rotating shaft 22c of the fan motor 22 of this embodiment is arranged to extend in the front-rear direction of the cleaner body 1, and the autonomous traveling cleaner S is placed on the floor surface Y.
  • the dust collection filter 8b side (rear side) is arranged at an angle.
  • the fan 22b attached to the rotary shaft 22c is directed toward the dust collection filter 8b, so that the airflow to the inlet 8c, the guide rib 8e, the dust storage portion 8d, and the dust collection filter 8b becomes smooth. As a result, airflow resistance is suppressed, and dust collection efficiency can be improved.
  • Fig. 9 is a control block diagram showing the autonomously traveling cleaner S according to the embodiment of the present invention.
  • the control device 30 comprehensively controls the autonomous cleaner S, and is configured by mounting a microcomputer and peripheral circuits on a substrate, for example.
  • a microcomputer reads a control program stored in ROM (Read Only Memory), develops it in RAM (Random Access Memory), and executes various processes by CPU (Central Processing Unit).
  • the peripheral circuits include an A/D/D/A converter, a sensor drive circuit, a charging circuit for the storage battery 21, as well as a map creation unit, an image processing unit, a self-position determination unit, a travel route creation unit, and a travel control unit. ing.
  • control device 30 controls the operation of the operation button 7 that allows the user to input commands, a bumper sensor (not shown), floor ranging sensors 13a to 13d, a ranging sensor 60, the camera 50, the LiDAR 41, and a dust sensor. 80, performs arithmetic processing according to the signal input from the communication means 90, and outputs the signal after the arithmetic processing.
  • the communication means 90 is provided at an arbitrary position on the main body 1 of the cleaner.
  • the autonomously traveling cleaner S starts traveling from the charging base when instructed by the user or when the reserved start time comes, and cleans the floor surface and the like. When the cleaning is finished, the autonomously traveling cleaner returns to the charging base.
  • FIG. 10 is a configuration diagram of a cleaning system including an autonomously traveling cleaner S according to an embodiment of the present invention.
  • the cleaning system of this embodiment includes an autonomously traveling cleaner S, a wireless LAN router 200, an information terminal device 100, and a home appliance server 300.
  • FIG. 10 is a configuration diagram of a cleaning system including an autonomously traveling cleaner S according to an embodiment of the present invention.
  • the cleaning system of this embodiment includes an autonomously traveling cleaner S, a wireless LAN router 200, an information terminal device 100, and a home appliance server 300.
  • FIG. 10 is a configuration diagram of a cleaning system including an autonomously traveling cleaner S according to an embodiment of the present invention.
  • the cleaning system of this embodiment includes an autonomously traveling cleaner S, a wireless LAN router 200, an information terminal device 100, and a home appliance server 300.
  • FIG. 10 is a configuration diagram of a cleaning system including an autonomously traveling cleaner S according to an embodiment of the present invention.
  • the cleaning system of this embodiment includes an autonomously traveling cleaner S, a
  • the autonomously traveling cleaner S can be wirelessly connected to the home appliance server 300 outside the home via the wireless LAN router 200 installed inside the home. Also, the autonomously traveling cleaner S can communicate with the information terminal devices 100 outside and inside the home via the wireless LAN router 200 and the home appliance server 300 . When the autonomous cleaner S communicates with the information terminal device 100 in the home, it goes through the wireless LAN router 200 , the home appliance server 300 , the wireless LAN router 200 and the home appliance server 300 .
  • the information terminal device 100 can make a schedule reservation for the autonomous cleaner S and give instructions to start and stop cleaning via the wireless LAN router 200 and the home appliance server 300 .
  • the autonomous traveling cleaner S that has received the schedule reservation starts cleaning on the set date and time.
  • the autonomously traveling cleaner S that has received the start of cleaning leaves the charging base and starts cleaning.
  • the autonomous cleaner S transmits map information created based on information from the LiDAR 41 and the camera 50 to the information terminal device 100 via the wireless LAN router 200 and the home appliance server 300 .
  • FIG. 11 is a block diagram showing the configuration of the control device 30 according to the embodiment of the invention.
  • the map creation unit 31 creates a map of the room being cleaned by the autonomous cleaner S based on the information detected by the LiDAR 41 .
  • the map information created by the map creating section 31 is a two-dimensional grid map.
  • the image processing unit 32 identifies obstacles from the image data captured by the camera 50 , acquires information about the relative positions of the obstacles, and transmits the information to the map creation unit 31 .
  • the self-position determination unit 33 determines the self-position of the autonomously traveling cleaner S based on the information detected by the LiDAR 41 and transmits it to the map creation unit 31 .
  • the map creation unit 31 writes the obstacle identification result including the position information of the obstacle specified by the image processing unit 32 and the self-position of the autonomous traveling cleaner S determined by the self-position determination unit 33 on the created map.
  • the map information created by the map creation unit 31 and the obstacle identification result are stored in the storage unit of the control device 30 .
  • the travel route generation unit 34 calculates a travelable range and determines the self-position. A travel route of the autonomous travel cleaner S as a starting point is created and transmitted to the communication means 90 and the travel control unit 35 .
  • the travel control unit 35 controls the travel motors 3m and 4m so that the autonomous travel cleaner S travels along the created travel route.
  • the device control unit 36 controls the traveling motors 3m and 4m, the side brush motor 6b, the rotating brush motor 14a, and the fan motor 22 as the autonomous traveling cleaner S travels.
  • the communication means 90 transmits the travel route created by the travel route creation unit 34 to the home appliance server 300, and the self-position of the autonomous travel cleaner S determined by the self-position determination unit 33 and the map information stored in the storage unit. , periodically transmits the obstacle identification result stored in the storage unit to the home appliance server 300 .
  • the front body 1f of the cleaner body 1 is provided with the LiDAR unit 40, and the rear body 1r of the cleaner body 1 is provided with the dust case 8 detachable from the cleaner body 1.
  • the top surface 17b of the rear body 1r on which the dust case 8 is provided is formed to be higher than the top surface 17a of the front body 1f on which the LiDAR unit 40 is installed.
  • the upper surface 17a of the main body front portion 1f is formed lower than the upper surface 17b of the main body rear portion 1r.
  • the upper surface 8u of the dust case 8 is flush with the upper surface 17b of the rear portion 1r of the main body.
  • the top surface 17b of the rear body 1r on which the dust case 8 is provided is formed to be higher than the top surface 17a of the front body 1f on which the LiDAR unit 40 is installed. Even with the autonomously traveling cleaner S equipped with the unit 40, it is possible to enter a gap under a bed or the like to perform cleaning, and the dust collection capacity of the dust case 8 can be ensured. Further, since the LiDAR unit 40 is provided so as to protrude from the upper surface 17a of the main body front part 1f, it is possible to prevent obstacle detection by the LiDAR unit 40 from being hindered.
  • the upper surface position of the LiDAR unit 40 is higher than the upper surface 17b of the main body rear portion 1r.
  • the upper portion of the LiDAR unit 40 may get caught on the bed or the like, and the autonomously traveling cleaner S may become unable to travel. . If the traveling motors 3m and 4m operate and the driving wheels 3 and 4 continue to be driven while the autonomous traveling cleaner S is unable to travel, the floor surface Y may be damaged.
  • a contact sensor on the top of the LiDAR unit 40 so that when the LiDAR unit 40 contacts furniture such as a bed, the contact sensor reacts and stops driving the travel motors 3m and 4m.
  • the LiDAR unit 40 moves downward (toward the vacuum cleaner body 1 side), detects the vertical movement of the LiDAR unit 40, and drives the traveling motors 3m and 4m. You may make it stop.
  • the driving of the traveling motors 3m and 4m is stopped by the control device 30.
  • the controller 30 stops driving the traveling motors 3m and 4m when the autonomous traveling cleaner S comes into contact with an obstacle such as furniture and becomes unable to travel. , the floor surface Y can be prevented from being damaged.

Landscapes

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

Abstract

Le but de la présente invention est de supprimer une réduction de la capacité de collecte de poussière dans un aspirateur autonome comprenant un capteur de télémétrie.　Cet aspirateur autonome (S) comprend : un corps principal (1) d'aspirateur équipé de moteurs de déplacement (3m, 4m) pour entraîner des roues d'entraînement (3, 4) ; un boîtier à poussière (8) qui est disposé sur le corps principal (1) d'aspirateur et qui collecte la poussière ; un moteur de ventilateur (22) qui est disposé sur le corps principal (1) d'aspirateur et qui génère une force d'aspiration ; et une batterie de stockage (21) qui fournit de l'énergie aux moteurs de déplacement (3m, 4m) et au moteur de ventilateur (22). Le corps principal (1) d'aspirateur comprend une partie avant (1f) de corps principal formée à l'avant d'une partie centrale (1c) de direction avant-arrière du corps principal (1) d'aspirateur et une partie arrière (1r) de corps principal formée à l'arrière.　La partie avant (1f) de corps principal comprend une unité LiDAR (40) qui est installée en saillie à partir d'une surface supérieure de la partie avant (1f) de corps principal et qui mesure la distance entre l'aspirateur autonome (S) et l'environnement. La partie arrière (1r) de corps principal comprend le boîtier à poussière (8). Une surface supérieure (17b) de la partie arrière (1r) de corps principal est formée de façon à se trouver plus haut qu'une surface supérieure (17a) de la partie avant (1f) de corps principal.
PCT/JP2022/028642 2022-03-01 2022-07-25 Aspirateur autonome WO2023166756A1 (fr)

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JP2022030649A JP2023127087A (ja) 2022-03-01 2022-03-01 自律走行型掃除機
JP2022-030649 2022-03-01

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WO2023166756A1 true WO2023166756A1 (fr) 2023-09-07

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005211368A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自走式掃除機
JP2010029401A (ja) * 2008-07-29 2010-02-12 Mitsubishi Electric Corp 電気掃除機
JP2018149360A (ja) * 2018-05-31 2018-09-27 日立アプライアンス株式会社 自律走行型掃除機
JP2019076447A (ja) * 2017-10-25 2019-05-23 日立アプライアンス株式会社 電気掃除機
JP2021111408A (ja) * 2020-01-10 2021-08-02 ビッセル インク． 自律式床面洗浄機及び自律式床面洗浄のための方法
US20210321854A1 (en) * 2019-01-04 2021-10-21 Yunjing Intelligence Technology (Dongguan) Co., Ltd. Mobile robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005211368A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自走式掃除機
JP2010029401A (ja) * 2008-07-29 2010-02-12 Mitsubishi Electric Corp 電気掃除機
JP2019076447A (ja) * 2017-10-25 2019-05-23 日立アプライアンス株式会社 電気掃除機
JP2018149360A (ja) * 2018-05-31 2018-09-27 日立アプライアンス株式会社 自律走行型掃除機
US20210321854A1 (en) * 2019-01-04 2021-10-21 Yunjing Intelligence Technology (Dongguan) Co., Ltd. Mobile robot
JP2021111408A (ja) * 2020-01-10 2021-08-02 ビッセル インク． 自律式床面洗浄機及び自律式床面洗浄のための方法

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