JP6706882B2 - Self-propelled vacuum cleaner - Google Patents

Self-propelled vacuum cleaner Download PDF

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Publication number
JP6706882B2
JP6706882B2 JP2015008609A JP2015008609A JP6706882B2 JP 6706882 B2 JP6706882 B2 JP 6706882B2 JP 2015008609 A JP2015008609 A JP 2015008609A JP 2015008609 A JP2015008609 A JP 2015008609A JP 6706882 B2 JP6706882 B2 JP 6706882B2
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ultrasonic sensor
self
ultrasonic
housing
window
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JP2016131744A (en
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拓哉 村松
拓哉 村松
井上　健一郎
健一郎 井上
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Sharp Corp
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Sharp Corp
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Priority to JP2015008609A priority Critical patent/JP6706882B2/en
Priority to CN201680002445.0A priority patent/CN107205604B/en
Priority to PCT/JP2016/051438 priority patent/WO2016117557A1/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
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05F—STATIC ELECTRICITY; NATURALLY-OCCURRING ELECTRICITY
    • H05F3/00—Carrying-off electrostatic charges
    • H05F3/02—Carrying-off electrostatic charges by means of earthing connections

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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)
  • Elimination Of Static Electricity (AREA)

Description

この発明は自走式掃除機に関する。 The present invention relates to a self-propelled vacuum cleaner.

自走式掃除機においては、超音波センサによって障害物を検知し、それによって走行を停止したり、進行方向を変更するようにしている。しかし、超音波センサは静電気の障害によって誤動作したり、破壊したりするので、その対策がのぞまれてきた。ところで、電子機器に対する静電気対策としては、外装体の開口部内に電子部品が配置されるとき、開口部の一部に電気導電部材を突出させるようにしたものが知られている（例えば、特許文献１参照）。 In a self-propelled cleaner, an ultrasonic sensor detects an obstacle, and accordingly, the traveling is stopped or the traveling direction is changed. However, since the ultrasonic sensor malfunctions or is destroyed due to static electricity failure, measures against it have been desired. By the way, as a measure against static electricity for electronic devices, there is known one in which an electronically conductive member is projected in a part of the opening when an electronic component is arranged in the opening of the outer casing (for example, Patent Document 1). 1).

特開２００７−２２０５３０号公報JP, 2007-220530, A

しかしながら上記のような静電気対策は、電子機器の内部に配置された基板に外部からコネクタを差し込む開口部を有する構造に対して適用されるものであり、自走式掃除機の超音波センサに対しては効果的に適用することが難しいという問題点があった。この発明はこのような事情を考慮してなされたもので、超音波センサに対して効果的に静電気対策を施した自走式掃除機を提供するものである。 However, the above-mentioned measures against static electricity are applied to a structure having an opening for inserting a connector from the outside into a substrate arranged inside an electronic device, and to an ultrasonic sensor of a self-propelled cleaner. However, it was difficult to apply it effectively. The present invention has been made in consideration of such circumstances, and provides a self-propelled cleaner in which an ultrasonic sensor is effectively provided with measures against static electricity.

この発明は、吸引口と排気口を有する自走可能な筐体と、床面上の空気を塵埃と共に吸引口から筐体内に吸引し、かつ、塵埃が除去された空気を排気口から外部に排気する送風部と、超音波を送受信して外部の物体を検出する超音波センサと、超音波センサの出力を受けて筐体の自走動作を制御する制御部とを備え、超音波センサは筐体内に配置され、筐体は超音波センサが送受信する超音波を通過させる窓およびその窓に嵌入された導電性のリングを備え、前記リングが接地されていることを特徴とする自走式掃除機を提供するものである。 This invention is a self-propelled casing having a suction port and an exhaust port, and sucks air on the floor together with dust from the suction port into the casing, and removes dust-free air from the exhaust port to the outside. The ultrasonic sensor includes an air blower that exhausts air, an ultrasonic sensor that transmits and receives ultrasonic waves to detect an external object, and a controller that receives the output of the ultrasonic sensor and controls the self-propelled operation of the housing. A self-propelled type that is disposed in a housing, the housing includes a window for transmitting ultrasonic waves transmitted and received by an ultrasonic sensor and a conductive ring fitted in the window, and the ring is grounded. It provides a vacuum cleaner.

超音波を通過させる筐体の窓に導電性のリングが備えられ、そのリングが接地されているので、外部から筐体内へ侵入しようとする静電気はリングに印加され接地へ流れて除電され、超音波センサに静電気障害を与えることがない。 Since the window of the housing that allows ultrasonic waves to pass through is equipped with a conductive ring, and the ring is grounded, static electricity that tries to enter the housing from the outside is applied to the ring and discharged to the ground to eliminate static electricity. Does not give electrostatic damage to the sound wave sensor.

この発明の第１実施形態に係る自走式掃除機の上面斜視図である。It is a top perspective view of the self-propelled cleaner which concerns on 1st Embodiment of this invention. 図１に示す自走式掃除機の底面図である。It is a bottom view of the self-propelled cleaner shown in FIG. 図１に示す自走式掃除機の制御回路のブロック図である。It is a block diagram of a control circuit of the self-propelled cleaner shown in FIG. 図１に示す自走式掃除機の側面から見た内部構成説明図である。It is an internal structure explanatory view seen from the side of the self-propelled cleaner shown in FIG. 図１に示す自走式掃除機への超音波センサの取り付け説明図である。It is attachment explanatory drawing of an ultrasonic sensor to the self-propelled cleaner shown in FIG. 図５に示す超音波センサの構成説明図である。It is a structure explanatory view of the ultrasonic sensor shown in FIG. 図５に示す超音波センサに付設されたリングの説明図である。It is explanatory drawing of the ring attached to the ultrasonic sensor shown in FIG. 第２実施形態の自走式掃除機の図１対応図である。It is a figure corresponding to FIG. 1 of the self-propelled cleaner of 2nd Embodiment. 第２実施形態の自走式掃除機の図５対応図である。It is a figure corresponding to FIG. 5 of the self-propelled cleaner of 2nd Embodiment. 第３実施形態の自走式掃除機の図１対応図である。It is a figure corresponding to FIG. 1 of the self-propelled cleaner of 3rd Embodiment. 第３実施形態の自走式掃除機の図５対応図である。It is a figure corresponding to FIG. 5 of the self-propelled cleaner of 3rd Embodiment.

この発明の自走式掃除機は、吸引口と排気口を有する自走可能な筐体と、床面上の空気を塵埃と共に吸引口から筐体内に吸引し、かつ、塵埃が除去された空気を排気口から外部に排気する送風部と、超音波を送受信して外部の物体を検出する超音波センサと、超音波センサの出力を受けて筐体の自走動作を制御する制御部とを備え、前記超音波センサは筐体内に配置され、筐体は窓および前記窓に嵌入され、前記窓から部分的に露出する導電性のリングを備え、前記超音波センサの送受信する超音波を前記窓を介して通過させると共に、前記リングが接地されていることを特徴とする。 The self-propelled vacuum cleaner of the present invention is a self-propelled casing having a suction port and an exhaust port, and air on the floor surface that is sucked together with dust from the suction port into the casing and is free from dust. A blower that exhausts the air from the exhaust port to the outside, an ultrasonic sensor that transmits and receives ultrasonic waves to detect external objects, and a controller that receives the output of the ultrasonic sensor and controls the self-propelled operation of the housing. wherein the ultrasonic sensor is disposed in the housing, the housing is fitted to the window and the window, comprising a conductive ring that partially exposed from the window, the ultrasonic wave transmitting and receiving of the ultrasonic sensor It is characterized in that it is passed through a window and the ring is grounded.

筐体は、側面の外周に外部の物体との衝突時の衝撃を緩和するバンパーを備え、バンパーは導電性を有して前記リングに電気的に接続されてもよい。
前記超音波センサは、超音波送信素子を備えたセンサと超音波受信素子を備えたセンサとで構成されてもよい。
前記超音波センサが超音波送信受信兼用素子から構成されてもよい。
バンパーが導電性ゴムからなってもよい。 The housing may be provided with a bumper on the outer periphery of the side surface, which cushions an impact upon collision with an external object, and the bumper has electrical conductivity and may be electrically connected to the ring.
The ultrasonic sensor may include a sensor having an ultrasonic transmitting element and a sensor having an ultrasonic receiving element.
The ultrasonic sensor may be composed of an element for both transmitting and receiving ultrasonic waves.
The bumper may be made of conductive rubber.

（第１実施形態）
図１は本発明の第１実施形態に係る自走式掃除機の上から見た斜視図であり、図２は図１に示される自走式掃除機の底面図であり、図３は図１に示す自走式掃除機の制御回路のブロック図である。また、図４は図１に示す自走式掃除機の側面から見た内部構成説明図である。 (First embodiment)
1 is a perspective view of the self-propelled cleaner according to the first embodiment of the present invention seen from above, FIG. 2 is a bottom view of the self-propelled cleaner shown in FIG. 1, and FIG. It is a block diagram of the control circuit of the self-propelled cleaner shown in FIG. Further, FIG. 4 is an explanatory diagram of the internal configuration of the self-propelled cleaner shown in FIG.

この発明に係る自走式掃除機（以下、掃除ロボットという）は、床面を自走しながら、床面上の塵埃を空気と共に吸い込み、塵埃を除去した空気を排気することにより床面を掃除するようになっている。 A self-propelled cleaner (hereinafter referred to as a cleaning robot) according to the present invention cleans a floor by self-propelled on the floor while sucking dust on the floor together with air and exhausting the air from which the dust is removed. It is supposed to do.

掃除ロボット１Ａは、円盤形の筐体２を備え、この筐体２の上面に排気口４１を備える。底板２ａには図２に示すように、回転ブラシ３、一対のサイドブラシ４、吸引口１１、一対の駆動輪５、後輪７および前輪８および床面検知センサ１２が設けられている。なお、筐体２は電気絶縁性材料を用いて形成されている。 The cleaning robot 1A includes a disk-shaped housing 2 and an exhaust port 41 on the upper surface of the housing 2. As shown in FIG. 2, the bottom plate 2a is provided with a rotary brush 3, a pair of side brushes 4, a suction port 11, a pair of drive wheels 5, a rear wheel 7 and a front wheel 8, and a floor surface detection sensor 12. The housing 2 is made of an electrically insulating material.

また、筐体２内には、図４に示すように吸引口１１に接続された吸引路１０と、吸引路１０の下流側に設けられた集塵部２０と、集塵部２０の下流側に設けられた電動送風機３０と、電動送風機３０と排気口４１とを接続する排気路４０とを備える。 Further, in the housing 2, as shown in FIG. 4, the suction passage 10 connected to the suction port 11, the dust collecting portion 20 provided on the downstream side of the suction passage 10, and the downstream side of the dust collecting portion 20. And an exhaust passage 40 connecting the electric blower 30 and the exhaust port 41.

筐体２は、図１に示すように、蓋２ｂ1および蓋２ｂ1の後方位置に形成された排気口４１を有する平面視円形の天板２ｂと、底板２ａおよび天板２ｂの外周部に沿って設けられた平面視円環形の側板２ｃとを備えている。天板２ｂには掃除ロボット１Ａの作動条件や作動指令を入力する操作パネル３１が設けられている。 Housing 2, as shown in FIG. 1, a top plate 2b in plan view a circle having a lid 2b 1 and the exhaust port 41 formed in the rear position of the lid 2b 1, the outer peripheral portion of the bottom plate 2a and the top plate 2b It is provided with a side plate 2c that is provided along and is annular in plan view. The top panel 2b is provided with an operation panel 31 for inputting operating conditions and operating commands of the cleaning robot 1A.

底板２ａ（図２）には、前述の前輪８および一対の駆動輪５の下部を筐体２内から外部へ突出させる複数の孔部が形成されている。また、側板２ｃの前方には、図１に示すように掃除ロボット１Ａの進行方向の障害物を検出する複数の超音波センサ９が設けられている。この実施形態では、超音波センサ９は、３つの超音波受信部２３ａと２つの超音波発信部２３ｂを交互に備える。 The bottom plate 2a (FIG. 2) is formed with a plurality of holes that allow the lower portions of the front wheel 8 and the pair of drive wheels 5 to project from the inside of the housing 2 to the outside. Further, in front of the side plate 2c, as shown in FIG. 1, a plurality of ultrasonic sensors 9 for detecting obstacles in the traveling direction of the cleaning robot 1A are provided. In this embodiment, the ultrasonic sensor 9 alternately includes three ultrasonic wave reception units 23a and two ultrasonic wave transmission units 23b.

一対の駆動輪５は、筐体２の底板２ａと平行な軸５ａ（図２）を中心に回転可能に設けられており、一対の駆動輪５が同一方向に回転すると筐体２が進退し、各駆動輪５が互いに逆方向に回転すると筐体２が回転するようになっている。 The pair of drive wheels 5 are rotatably provided around an axis 5a (FIG. 2) parallel to the bottom plate 2a of the housing 2. When the pair of drive wheels 5 rotate in the same direction, the housing 2 moves forward and backward. The housing 2 rotates when the drive wheels 5 rotate in opposite directions.

一対の駆動輪５の回転軸は、後述する一対の走行モータからそれぞれ個別に回転力が得られるように連結されており、各走行モータは筐体２の底板２ａの内面に直接またはサスペンション機構を介して固定されている。 The rotating shafts of the pair of drive wheels 5 are connected to each other so that a rotating force can be individually obtained from a pair of traveling motors, which will be described later. Is fixed through.

前輪８はローラからなり、進路上に現れた段差に接触したとき、筐体２が上りの段差を容易に乗り越えられるよう、駆動輪５が接触する床面から少し浮き上がる位置に筐体２の底板２ａに回転自在に設けられている。 The front wheel 8 is composed of rollers, and the bottom plate of the housing 2 is located at a position slightly above the floor surface with which the drive wheel 5 comes into contact so that the housing 2 can easily climb over an uphill step when it comes into contact with a step appearing on the path. 2a is rotatably provided.

後輪７は自在車輪からなり、床面と接触するように筐体２の底板２ａの一部に回転自在に設けられている。
このように、筐体２に対して前後方向の中間に一対の駆動輪５を配置し、前輪８を床面から浮かせ、掃除ロボット１Ａの全重量を一対の駆動輪５と後輪７によって支持できるように、筐体２に対して前後方向に重量が配分されている。これにより、進路前方の塵埃を前輪８によって遮ることなく吸込口１１に導くことができる。 The rear wheel 7 is a free wheel and is rotatably provided on a part of the bottom plate 2a of the housing 2 so as to come into contact with the floor surface.
In this way, the pair of drive wheels 5 are arranged in the middle in the front-rear direction with respect to the housing 2, the front wheels 8 are floated from the floor surface, and the total weight of the cleaning robot 1A is supported by the pair of drive wheels 5 and the rear wheels 7. The weight is distributed in the front-rear direction with respect to the housing 2 so as to be able to. As a result, the dust in front of the path can be guided to the suction port 11 without being blocked by the front wheel 8.

前述の回転ブラシ３は、筐体２の底板２ａと平行な軸を中心に回転可能に吸込口１１の入口に設けられている。また、底板２ａにおける吸込口１１の左右両側のサイドブラシ４は、底板２ａと垂直な軸を中心に回転するようになっている。回転ブラシ３は、回転軸であるローラの外周面に螺旋状にブラシを植設することにより形成されている。 The rotating brush 3 described above is rotatably provided at the inlet of the suction port 11 about an axis parallel to the bottom plate 2a of the housing 2. The side brushes 4 on the left and right sides of the suction port 11 in the bottom plate 2a rotate around an axis perpendicular to the bottom plate 2a. The rotating brush 3 is formed by implanting the brush in a spiral shape on the outer peripheral surface of a roller that is a rotating shaft.

サイドブラシ４は、回転軸と、回転軸の下端に放射状に設けられた複数本のブラシ束を有している。回転ブラシ３の回転軸および一対のサイドブラシ４の回転軸は、筐体２の底板２ａの内面に支持されると共に、その付近に設けられた後述するブラシ駆動モータと、プーリおよびベルトを含む動力伝達機構を介して連結されている。 The side brush 4 has a rotating shaft and a plurality of brush bundles radially provided at the lower end of the rotating shaft. The rotating shaft of the rotating brush 3 and the rotating shafts of the pair of side brushes 4 are supported on the inner surface of the bottom plate 2a of the housing 2, and a brush drive motor (to be described later) provided in the vicinity of the rotating shaft and a power including a pulley and a belt. They are connected via a transmission mechanism.

図１に示される超音波センサ９によって進行方向に障害物が検知されると、その検知信号が後述の制御部に送信され、制御部が掃除ロボット１Ａを停止又は方向転換するように制御する。 When an obstacle is detected in the traveling direction by the ultrasonic sensor 9 shown in FIG. 1, the detection signal is transmitted to the control unit described later, and the control unit controls the cleaning robot 1A to stop or turn.

図２に示される筐体２の底板２ａにおける前輪８の前方には、前述のように床面を検知する床面検知センサ１２が配置されているので、床面検知センサ１２によって下りの段差が検知されると、その検知信号が後述の制御部に送信され、制御部が両駆動輪５を停止するよう制御する。それによって、掃除ロボット１Ａの下り段差への落下が防止される。また、制御部は、床面検知センサ１２が下りの段差を検知すると、下りの段差を回避して走行するように制御してもよい。 Since the floor surface detection sensor 12 that detects the floor surface is arranged in front of the front wheel 8 on the bottom plate 2a of the housing 2 shown in FIG. 2, the floor surface detection sensor 12 causes a downward step. When detected, the detection signal is transmitted to the control unit described later, and the control unit controls both drive wheels 5 to stop. This prevents the cleaning robot 1A from falling down the step. Further, when the floor surface detection sensor 12 detects a downward step, the control unit may perform control so as to avoid the downward step and travel.

筐体２の側板２ｃの後端には、内蔵するバッテリーの充電を行う充電用端子（図示しない）が設けられている。室内を自走しながら掃除する掃除ロボット１Ａは、掃除が終了すると室内に設置されている充電台に帰還する。 A charging terminal (not shown) for charging a built-in battery is provided at the rear end of the side plate 2c of the housing 2. The cleaning robot 1A, which cleans the room while traveling by itself, returns to the charging stand installed in the room when the cleaning is completed.

これにより、充電台に設けられた給電端子部に掃除ロボット１Ａの充電用端子が接触し、給電端子部が充電用端子を介してバッテリーの正極端子および負極端子に接続され、バッテリーへの充電が行われる。商用電源（コンセント）に接続される充電台は、通常、室内の側壁に沿って設置される。なお、バッテリーは、後述する各種モータ等の各駆動制御要素や制御回路に電力を供給する。 As a result, the charging terminal of the cleaning robot 1A comes into contact with the power supply terminal portion provided on the charging stand, the power supply terminal portion is connected to the positive electrode terminal and the negative electrode terminal of the battery via the charging terminal, and the battery is charged. Done. A charging stand connected to a commercial power source (outlet) is usually installed along the side wall of the room. The battery supplies electric power to each drive control element such as various motors described later and a control circuit.

図４に示す集塵部２０は、吸引路１０に接続される集塵ボックス２１と、集塵ボックス２１に着脱可能に設けられたフィルタ２２とを有している。集塵ボックス２１は、通常、筐体２内に収納されているが、集塵ボックス２１内に捕集された塵埃を廃棄する際は、筐体２の蓋２ｂ1（図１）を開いて出し入れされるようになっている。 The dust collecting unit 20 shown in FIG. 4 has a dust collecting box 21 connected to the suction passage 10 and a filter 22 detachably provided on the dust collecting box 21. The dust collection box 21 is usually housed in the housing 2. However, when discarding the dust collected in the dust collection box 21, open the lid 2b 1 (FIG. 1) of the housing 2. It is designed to be taken in and out.

図３に示すように、掃除ロボット１Ａ全体の動作制御を行う制御回路は、制御部１５ａ、掃除ロボット１Ａの動作に係る設定条件や作動指令を入力する操作パネル３１、走行マップ１８ａを記憶する記憶部１８、電動送風機３０を駆動するためのモータドライバ３０ａ、駆動輪５の走行モータ５１を駆動するためのモータドライバ５１ａ、回転ブラシ３とサイドブラシ４を駆動するブラシ用モータ１７を駆動するためのモータドライバ１７ａ、床面検知センサ１２を制御する制御ユニット１２ａ、超音波センサ９を制御する制御ユニット９ａ等を備える。 As shown in FIG. 3, the control circuit for controlling the operation of the entire cleaning robot 1A includes a control unit 15a, an operation panel 31 for inputting setting conditions and operation commands related to the operation of the cleaning robot 1A, and a memory for storing a travel map 18a. Part 18, a motor driver 30a for driving the electric blower 30, a motor driver 51a for driving the traveling motor 51 of the drive wheel 5, a brush motor 17 for driving the rotary brush 3 and the side brush 4. A motor driver 17a, a control unit 12a that controls the floor surface detection sensor 12, a control unit 9a that controls the ultrasonic sensor 9, and the like are provided.

制御部１５ａはＣＰＵ、ＲＯＭ、ＲＡＭからなるマイクロコンピュータを備え、記憶部１８に予め記憶されたプログラムデータに基いて、モータドライバ３０ａ、５１ａ、１７ａに個別に制御信号を送信し、電動送風機３０、走行モータ５１およびブラシ用モータ１７を駆動制御して、一連の掃除運転を行う。なお、プログラムデータには、床面の広い領域を清掃する通常モード用と、壁際に沿って清掃する壁際モード用のプログラムデータなどが含まれる。 The control unit 15a includes a microcomputer including a CPU, a ROM, and a RAM. The control unit 15a individually transmits a control signal to the motor drivers 30a, 51a, and 17a based on program data stored in advance in the storage unit 18, and the electric blower 30 is provided. The traveling motor 51 and the brush motor 17 are drive-controlled to perform a series of cleaning operations. The program data includes program data for a normal mode for cleaning a wide area on the floor and a program data for a wall-side mode for cleaning along a wall.

また、制御部１５ａは、ユーザーによる設定条件や作動指令を操作パネル３１から受け入れて記憶部１８に記憶させる。この記憶部１８に記憶される走行マップ１８ａは、掃除ロボット１Ａの設置場所周辺の走行経路や走行速度などといった走行に係る情報であり、予めユーザーによって記憶部１８に記憶させるか、あるいは掃除ロボット１Ａ自体が掃除運転中に自動的に記録することができる。 Further, the control unit 15a receives the setting conditions and the operation command from the user from the operation panel 31, and stores them in the storage unit 18. The travel map 18a stored in the storage unit 18 is information related to travel such as a travel route and a travel speed around the installation location of the cleaning robot 1A, and is stored in the storage unit 18 in advance by the user or the cleaning robot 1A. It itself can be recorded automatically during the cleaning operation.

このように構成された掃除ロボット１Ａにおいて、操作パネル３１からの掃除運転開始の指令により、電動送風機３０、駆動輪５、回転ブラシ３およびサイドブラシ４が駆動する。これにより、回転ブラシ３、サイドブラシ４、駆動輪５および後輪７が床面に接触した状態で、掃除ロボット１Ａは所定の範囲を自走しながら吸込口１１から床面の塵埃を含む空気を吸い込む。 In the cleaning robot 1A thus configured, the electric blower 30, the drive wheels 5, the rotary brush 3, and the side brush 4 are driven by a command to start the cleaning operation from the operation panel 31. As a result, in a state where the rotating brush 3, the side brushes 4, the drive wheels 5, and the rear wheels 7 are in contact with the floor surface, the cleaning robot 1A is self-propelled in a predetermined range, and the cleaning robot 1A self-propels the air containing dust on the floor surface from the suction port 11. Inhale.

このとき、回転ブラシ３の回転によって床面上の塵埃は掻き上げられて吸込口１１に導かれる。また、サイドブラシ４の回転によって吸込口１１の側方の塵埃が吸込口１１に導かれる。 At this time, the dust on the floor is scraped up by the rotation of the rotary brush 3 and guided to the suction port 11. Further, the dust on the side of the suction port 11 is guided to the suction port 11 by the rotation of the side brush 4.

吸込口１１から筐体２内に吸い込まれた塵埃を含む空気は、筐体２の吸引路１０（図４）を通り、集塵ボックス２１内に流入する。集塵ボックス２１内に流入した気流は、フィルター２２を通過して塵埃が除去された後、電動送風機３０に流入して排気路４０に導かれ、排気口４１から外部へ排出される。この際、集塵ボックス２１内の気流に含まれる塵埃は、フィルター２２によって捕獲され、集塵ボックス２１内に堆積する。 The air containing dust sucked into the housing 2 through the suction port 11 flows into the dust collection box 21 through the suction passage 10 (FIG. 4) of the housing 2. The airflow that has flowed into the dust collection box 21 passes through the filter 22 to remove dust, then flows into the electric blower 30, is guided to the exhaust passage 40, and is discharged to the outside from the exhaust port 41. At this time, dust contained in the air flow in the dust collection box 21 is captured by the filter 22 and accumulated in the dust collection box 21.

また、掃除ロボット１Ａは、前述のように超音波センサ９によって進路上の障害物を検出した場合および掃除領域の周縁に到達した場合、駆動輪５が一旦停止し、次に左右の駆動輪５を互いに逆方向に回転して向きを変える。これにより、掃除ロボット１Ａは、設置場所全体あるいは所望範囲全体に障害物を避けながら自走して掃除をすることができる。 Further, in the cleaning robot 1A, when the ultrasonic sensor 9 detects an obstacle on the path and when the cleaning robot 1A reaches the periphery of the cleaning area, the driving wheel 5 temporarily stops and then the left and right driving wheels 5A and 5B are stopped. Rotate in opposite directions to change direction. As a result, the cleaning robot 1A can perform self-propelled cleaning while avoiding obstacles over the entire installation site or the entire desired range.

また、掃除ロボット１Ａは、前述のように、左右の駆動輪５と後輪７の３点で接触しており、前進時に急停止しても後輪７が床面から浮き上がらないようなバランスで重量配分されている。 Further, as described above, the cleaning robot 1A is in contact with the left and right drive wheels 5 and the rear wheel 7 at three points, so that the rear wheel 7 does not lift up from the floor even if it suddenly stops during forward movement. Weight is distributed.

そのため、掃除ロボット１Ａが前進中に下りの段差の手前で急停止しても、それによって掃除ロボット１Ａが前のめりに傾いて下りの段差へ落下するということが防止されている。なお、駆動輪５は、急停止してもスリップしないよう、溝を有するゴムタイヤをホイールに嵌め込んで形成されている。 Therefore, even if the cleaning robot 1A suddenly stops in front of the descending step while moving forward, the cleaning robot 1A is prevented from leaning forward and falling to the descending step. The driving wheel 5 is formed by fitting a rubber tire having a groove into the wheel so that the driving wheel 5 does not slip even if it suddenly stops.

＜超音波センサとその静電気対策＞
この実施形態においては、前述のように図１に示す超音波センサ９は、交互に一列に配列された超音波受信部２３ａと超音波送信部２３ｂとを備える。制御ユニット９ａ（図３）は、超音波送信部２３ｂから超音波を発信させ、発信させた超音波が障害物で反射されて超音波受信部２３ａで受信されるまでの時間から障害物までの距離を算出し制御部１５ａへ検知信号として送信する。 <Ultrasonic sensor and its countermeasure against static electricity>
In this embodiment, as described above, the ultrasonic sensor 9 shown in FIG. 1 includes the ultrasonic receiving units 23a and the ultrasonic transmitting units 23b that are alternately arranged in a line. The control unit 9a (FIG. 3) transmits the ultrasonic wave from the ultrasonic wave transmitting unit 23b, and the time from the time when the transmitted ultrasonic wave is reflected by the obstacle and is received by the ultrasonic wave receiving unit 23a to the obstacle. The distance is calculated and transmitted to the control unit 15a as a detection signal.

図５（ａ）は超音波受信部２３ａの側板２ｃへの取り付け説明図、図５（ｂ）は超音波送信部２３ｂの側板２ｃへの取り付け説明図である。
また、図６（ａ）は超音波受信部２３ａと超音波送信部２３ｂの正面図、図６（ｂ）は図６（ａ）のＡ−Ａ矢視断面図である。
また、図７（ａ）は超音波受信部２３ａおよび超音波送信部２３ｂに用いる部品（リング）の正面図、図７（ｂ）は図７（ａ）のＢ−Ｂ矢視断面図である。 FIG. 5(a) is an explanatory view of attaching the ultrasonic wave receiving portion 23a to the side plate 2c, and FIG. 5(b) is an explanatory view of attaching the ultrasonic wave transmitting portion 23b to the side plate 2c.
6A is a front view of the ultrasonic wave reception unit 23a and the ultrasonic wave transmission unit 23b, and FIG. 6B is a sectional view taken along the line AA of FIG. 6A.
Further, FIG. 7A is a front view of components (rings) used in the ultrasonic receiving unit 23a and the ultrasonic transmitting unit 23b, and FIG. 7B is a sectional view taken along the line BB of FIG. 7A. .

これらの図に示すように、超音波受信部２３ａと超音波送信部２３ｂは、それぞれ筐体２（図１）の側板２ｃの円形の窓３５からリング２７が部分的に露出するように設置される。 As shown in these drawings, the ultrasonic wave receiving portion 23a and the ultrasonic wave transmitting portion 23b are installed so that the ring 27 is partially exposed from the circular window 35 of the side plate 2c of the housing 2 (FIG. 1). It

また、超音波受信部２３ａと超音波送信部２３ｂは、それぞれ制御基板２９ａ、２９ｂの表面に搭載された超音波受信素子２６ａと超音波送信素子２６ｂと、キャップ形状で導電性を有する金属製リング２７と、制御基板２９ａ、２９ｂとリング２７とを支持する支持部材２８とを備える。 The ultrasonic receiving unit 23a and the ultrasonic transmitting unit 23b are composed of an ultrasonic receiving element 26a and an ultrasonic transmitting element 26b mounted on the surfaces of the control boards 29a and 29b, respectively, and a cap-shaped metal ring having conductivity. 27, and a support member 28 that supports the control boards 29a and 29b and the ring 27.

支持部材２８は、図６（ｂ）に示すように、貫通孔３４を有して超音波受信素子２６ａと超音波送信素子２６ｂとをそれぞれ覆うと共に、上部にリング２７が貫通孔３４と同軸に嵌着される。 As shown in FIG. 6B, the supporting member 28 has a through hole 34 to cover the ultrasonic receiving element 26a and the ultrasonic transmitting element 26b, respectively, and the ring 27 is coaxial with the through hole 34 on the upper portion. Be fitted.

図６（ａ）、（ｂ）に示すように、制御基板２９ａ、２９ｂと支持部材２８は共通のビス用貫通孔３６を有し、図５（ａ）、（ｂ）に示すように側板２ｃから内部へ突出する一対のボス３２にビス３３で固定される。ここで、支持部材２８は電気絶縁材料で形成されている。 As shown in FIGS. 6A and 6B, the control boards 29a and 29b and the support member 28 have a common screw through hole 36, and as shown in FIGS. 5A and 5B, the side plate 2c. It is fixed with a screw 33 to a pair of bosses 32 protruding from the inside. Here, the support member 28 is formed of an electrically insulating material.

また、超音波受信素子２６ａおよび超音波送信素子２６ｂには、例えば、それぞれ（株）村田製作所製のMA40S2R型および同MA40S2S型を用いることができる。
制御基板２９ａ、２９ｂは、それぞれ超音波受信素子２６ａ用と、超音波送信素子２６ｂ用のアンプや各種信号処理回路を備え、図３に示す制御ユニット９ａを構成する。 Further, for the ultrasonic receiving element 26a and the ultrasonic transmitting element 26b, for example, MA40S2R type and MA40S2S type manufactured by Murata Manufacturing Co., Ltd. can be used, respectively.
The control boards 29a and 29b each include an amplifier for the ultrasonic receiving element 26a and an amplifier for the ultrasonic transmitting element 26b and various signal processing circuits, and configure the control unit 9a shown in FIG.

また、リング２７には、図６や図７に示すように一対のアース接続用端子３７が設けられている。そして、各アース接続用端子３７は、掃除ロボット１Ａのアースに、この実施形態では、筐体２に内蔵され各種モータ等の駆動制御要素に電力を供給する前述のバッテリーの負極端子に、導線を用いて接続され接地される。 Further, the ring 27 is provided with a pair of ground connection terminals 37 as shown in FIGS. 6 and 7. Then, each ground connection terminal 37 connects a lead wire to the ground of the cleaning robot 1A, and in this embodiment, to the negative terminal of the above-mentioned battery that supplies power to drive control elements such as various motors built in the housing 2. Connected and grounded.

このような構成において、掃除ロボット１Ａが静電気の帯電体に接近し、静電気が側板２ｃの窓３５から侵入しようとすると、静電気はリング２７に印加し、アース接続用端子３７を介してアースに流れ、除電される。
従って、リング２７の除電効果により、静電気の筐体２の内部への侵入が防止され、超音波センサ９が静電気障害から保護される。 In such a configuration, when the cleaning robot 1A approaches the electrostatically charged body and tries to enter through the window 35 of the side plate 2c, the static electricity is applied to the ring 27 and flows to the ground through the ground connection terminal 37. , The electricity is removed.
Therefore, the static elimination effect of the ring 27 prevents static electricity from entering the inside of the housing 2 and protects the ultrasonic sensor 9 from electrostatic damage.

（第２実施形態）
図８はこの実施形態の図１対応図、図９はこの実施形態の図５対応図である。
この実施形態においては、筐体２の側板２ｃの前方に外部の物体との衝突時の衝撃を緩和するバンパー３８が設けられている。バンパー３８は、導電性の板状弾性部材、例えば導電性ゴム板を側板２ｃに接着剤で接着したものである。 (Second embodiment)
FIG. 8 is a view corresponding to FIG. 1 of this embodiment, and FIG. 9 is a view corresponding to FIG. 5 of this embodiment.
In this embodiment, a bumper 38 is provided in front of the side plate 2c of the housing 2 to mitigate the impact of a collision with an external object. The bumper 38 is a conductive plate-like elastic member such as a conductive rubber plate adhered to the side plate 2c with an adhesive.

そして、バンパー３８は、その一部が図９に示すように側板２ｃの窓３５の周縁に乗り上げ、リング２７と弾性的に接触するように設けられている。つまり、これによって、バンパー３８はリング２７と電気的に接続される。その他の構成は第１実施形態と同等である。 A part of the bumper 38 rides on the peripheral edge of the window 35 of the side plate 2c as shown in FIG. 9 and is provided so as to elastically contact the ring 27. That is, as a result, the bumper 38 is electrically connected to the ring 27. Other configurations are the same as those in the first embodiment.

このような構成において、掃除ロボット１Ａが静電気の帯電体に接近すると、静電気は、バンパー３８に印加してリング２７とアース接続用端子を介してアース（バッテリーの負極端子）に流れ、除電される。従って、バンパー３８の除電効果により、超音波センサ９が静電気障害から保護される。 In such a configuration, when the cleaning robot 1A approaches the electrostatically charged body, the static electricity is applied to the bumper 38, flows to the ground (negative electrode terminal of the battery) via the ring 27 and the terminal for ground connection, and is discharged. .. Therefore, the static elimination effect of the bumper 38 protects the ultrasonic sensor 9 from electrostatic damage.

（第３実施形態）
図１０はこの実施形態の図１対応図、図１１はこの実施形態の図５対応図である。
この実施形態においては、図１０に示す超音波センサ９は一列に配列された３つの超音波送受信部２３ｃを備える。従って、超音波送受信部２３ｃは、図１１に示すように第１実施形態の超音波受信素子２６ａと超音波送信素子２６ｂとを送受信兼用の超音波送受信素子２６ｃで置換し、制御基板２９ａ、２９ｂを送受信兼用の制御基板２９ｃで置換したものである。 (Third Embodiment)
FIG. 10 is a view corresponding to FIG. 1 of this embodiment, and FIG. 11 is a view corresponding to FIG. 5 of this embodiment.
In this embodiment, the ultrasonic sensor 9 shown in FIG. 10 includes three ultrasonic transmitting/receiving units 23c arranged in a line. Therefore, the ultrasonic transmission/reception unit 23c replaces the ultrasonic reception element 26a and the ultrasonic transmission element 26b of the first embodiment with the ultrasonic transmission/reception element 26c for both transmission and reception as shown in FIG. 11, and the control boards 29a and 29b. Is replaced with a control board 29c for both transmission and reception.

なお、超音波送受信素子２６ｃには、例えば、シリコンハウス社製のC40-16KM型を用いることができる。
制御基板２９ｃは、超音波送受信素子２６ｃ用のアンプや各種信号処理回路を備え、図３に示す制御ユニット９ａを構成する。
その他の構成は第１実施形態と同等である。この実施形態においても、第１実施形態と同等の静電気の除電効果が得られる。 The ultrasonic transmitter/receiver element 26c may be, for example, C40-16KM type manufactured by Silicon House.
The control board 29c includes an amplifier for the ultrasonic transmission/reception element 26c and various signal processing circuits, and constitutes the control unit 9a shown in FIG.
Other configurations are the same as those in the first embodiment. Also in this embodiment, the same static elimination effect as in the first embodiment can be obtained.

１Ａ 掃除ロボット
２ 筐体
２ａ 底板
２ｂ1 蓋
２ｂ 天板
２ｃ 側板
３ 回転ブラシ
４ サイドブラシ
５ 駆動輪
７ 後輪
８ 前輪
９ 超音波センサ
１０ 吸引路
１１ 吸引口
１２ 床面検知センサ
１２ａ 制御ユニット
１５ａ 制御部
１８ 記憶部
１８ａ 走行マップ
２０ 集塵部
２１ 集塵ボックス
２２ フィルタ
２３ａ 超音波受信部
２３ｂ 超音波送信部
２３ｃ 超音波送受信部
２６ａ 超音波受信素子
２６ｂ 超音波送信素子
２６ｃ 超音波送受信素子
２７ リング
２８ 支持部材
２９ａ 制御基板
２９ｂ 制御基板
２９ｃ 制御基板
３０ 電動送風機
３１ 操作パネル
３２ ボス
３３ ビス
３４ 貫通孔
３５ 窓
３６ ビス用貫通孔
３７ アース接続端子
３８ バンパー
４０ 排気路
４１ 排気口 1A Cleaning robot 2 Housing 2a Bottom plate 2b 1 Lid 2b Top plate 2c Side plate 3 Rotating brush 4 Side brush 5 Drive wheel 7 Rear wheel 8 Front wheel 9 Ultrasonic sensor 10 Suction path 11 Suction port 12 Floor detection sensor 12a Control unit 15a Control Part 18 Storage part 18a Travel map 20 Dust collecting part 21 Dust collecting box 22 Filter 23a Ultrasonic wave receiving part 23b Ultrasonic wave transmitting part 23c Ultrasonic wave transmitting/receiving part 26a Ultrasonic wave receiving element 26b Ultrasonic wave transmitting element 26c Ultrasonic wave transmitting/receiving element 27 Ring 28 Support member 29a Control board 29b Control board 29c Control board 30 Electric blower 31 Operation panel 32 Boss 33 Screw 34 Through hole 35 Window 36 Screw through hole 37 Earth connection terminal 38 Bumper 40 Exhaust path 41 Exhaust port

Claims (6)

吸引口と排気口を有する自走可能な筐体と、床面上の空気を塵埃と共に吸引口から筐体内に吸引し、かつ、塵埃が除去された空気を排気口から外部に排気する送風部と、超音波を送受信して外部の物体を検出する超音波センサと、超音波センサの出力を受けて筐体の自走動作を制御する制御部とを備え、前記超音波センサは筐体内に配置され、前記筐体は窓および前記窓に前記筐体内側から嵌入され、前記超音波センサの前方で前記窓から筐体外面に露出すると共に前記超音波センサと一体に設けられるキャップ形状の導電性のリングを備え、前記超音波センサの送受信する超音波を前記窓を介して通過させると共に、前記リングが接地されていることを特徴とする自走式掃除機。 A self-propelled casing having a suction port and an exhaust port, and a blower unit that sucks air on the floor together with dust from the suction port into the casing and exhausts the air from which the dust is removed to the outside through the exhaust port. And an ultrasonic sensor that transmits and receives ultrasonic waves to detect an external object, and a control unit that receives the output of the ultrasonic sensor and controls the self-propelled operation of the housing. are arranged, wherein the housing is fitted from the housing inside the window and the window, the conductive cap-shaped provided integrally with the ultrasonic sensor with exposed outside the casing surface from the window in front of the ultrasonic sensor A self-propelled vacuum cleaner, characterized in that it has a sex ring, allows the ultrasonic waves transmitted and received by the ultrasonic sensor to pass through the window, and that the ring is grounded. 吸引口と排気口を有する自走可能な筐体と、筐体の外面に設けられた導電性のバンパーと、床面上の空気を塵埃と共に吸引口から筐体内に吸引し、かつ、塵埃が除去された空気を排気口から外部に排気する送風部と、超音波を送受信して外部の物体を検出する超音波センサと、超音波センサの出力を受けて筐体の自走動作を制御する制御部とを備え、前記超音波センサは筐体内に配置され、前記筐体は窓および前記窓に前記筐体内側から嵌入され、前記超音波センサの前方で前記窓から筐体外面に露出すると共に前記バンパーに電気的に接続され前記超音波センサと一体に設けられるキャップ形状の導電性のリングを備え、前記超音波センサの送受信する超音波を前記窓を介して通過させると共に、前記バンパーが前記リングを介して接地されていることを特徴とする自走式掃除機。 A self-propelled casing having a suction port and an exhaust port, a conductive bumper provided on the outer surface of the casing, and air on the floor surface is sucked into the casing through the suction port together with dust, and A blower that exhausts the removed air to the outside from the exhaust port, an ultrasonic sensor that transmits and receives ultrasonic waves to detect external objects, and receives the output of the ultrasonic sensor to control the self-propelled operation of the housing and a control unit, wherein the ultrasonic sensor is disposed in the housing, wherein the housing is fitted from the housing inside the window and the window is exposed outside the casing surface from the window in front of the ultrasonic sensor With a cap-shaped conductive ring that is electrically connected to the bumper and is provided integrally with the ultrasonic sensor, the ultrasonic waves transmitted and received by the ultrasonic sensor are passed through the window, and the bumper is A self-propelled cleaner that is grounded via the ring. 吸引口と排気口を有する自走可能な筐体と、筐体の外面に設けられた導電性のバンパーと、床面上の空気を塵埃と共に吸引口から筐体内に吸引し、かつ、塵埃が除去された空気を排気口から外部に排気する送風部と、超音波を送受信して外部の物体を検出する超音波センサと、超音波センサの出力を受けて筐体の自走動作を制御する制御部とを備え、前記超音波センサは筐体内に配置され、前記筐体は窓および前記窓に前記筐体内側から嵌入され、前記超音波センサの前方で前記窓から筐体外面に露出すると共に前記バンパーに電気的に接続され前記超音波センサと一体に設けられるキャップ形状の導電性のリングを備え、前記超音波センサの送受信する超音波を前記窓を介して通過させると共に、前記バンパーが前記リングの周縁を覆い、かつ、前記リングを介して接地されていることを特徴とする自走式掃除機。 A self-propelled casing having a suction port and an exhaust port, a conductive bumper provided on the outer surface of the casing, and air on the floor surface is sucked into the casing through the suction port together with dust, and An air blower that exhausts the removed air to the outside from the exhaust port, an ultrasonic sensor that transmits and receives ultrasonic waves to detect external objects, and receives the output of the ultrasonic sensor to control the self-propelled operation of the housing. and a control unit, wherein the ultrasonic sensor is disposed in the housing, wherein the housing is fitted from the housing inside the window and the window is exposed outside the casing surface from the window in front of the ultrasonic sensor With a cap-shaped conductive ring that is electrically connected to the bumper and is provided integrally with the ultrasonic sensor, the ultrasonic waves transmitted and received by the ultrasonic sensor are passed through the window, and the bumper is A self-propelled cleaner that covers the periphery of the ring and is grounded through the ring. 前記超音波センサは、超音波送信素子を備えたセンサと超音波受信素子を備えたセンサからなる請求項１〜３のいずれか１つに記載の自走式掃除機。 The self-propelled cleaner according to any one of claims 1 to 3, wherein the ultrasonic sensor comprises a sensor having an ultrasonic transmitting element and a sensor having an ultrasonic receiving element. 前記超音波センサが超音波送信受信兼用素子を備える請求項１〜３のいずれか１つに記載の自走式掃除機。 The self-propelled cleaner according to any one of claims 1 to 3, wherein the ultrasonic sensor includes an ultrasonic transmission/reception dual-use element. バンパーが導電性ゴムからなる請求項２または３に記載の自走式掃除機。 The self-propelled vacuum cleaner according to claim 2 or 3, wherein the bumper is made of conductive rubber.
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