JPH0496720A - Obstacle detector of moving body, device movable along wall and floor surface cleaner having the same - Google Patents
Obstacle detector of moving body, device movable along wall and floor surface cleaner having the sameInfo
- Publication number
- JPH0496720A JPH0496720A JP2212913A JP21291390A JPH0496720A JP H0496720 A JPH0496720 A JP H0496720A JP 2212913 A JP2212913 A JP 2212913A JP 21291390 A JP21291390 A JP 21291390A JP H0496720 A JPH0496720 A JP H0496720A
- Authority
- JP
- Japan
- Prior art keywords
- movable body
- wall
- obstacle
- along
- drive wheels
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 claims description 95
- 230000001105 regulatory effect Effects 0.000 abstract description 5
- 238000004140 cleaning Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 6
- 239000000428 dust Substances 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Suction Cleaners (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、無人搬送車や自動床面掃除機等の移動体の障
害物検知装置及びこれを用いて壁沿い走行を行なう移動
体の壁沿い移動装置並びにこれらを搭載した床面掃除機
に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to an obstacle detection device for a moving object such as an automatic guided vehicle or an automatic floor cleaner, and an obstacle detection device for moving a moving object along a wall using the same. The present invention relates to a device and a floor cleaner equipped with the device.
従来の技術
従来の無人搬送車や自動床面掃除機等の移動体は、本体
の周囲に突出したいわゆるバンパーと呼ばれる緩衝体を
設け、障害物との衝突時の衝撃を緩和している。そして
、このバンパ一部に接触スイッチや感圧素子等からなる
障害物検知装置を備え、障害物との接触の有無を検知す
るものである。BACKGROUND OF THE INVENTION Conventional moving objects such as automatic guided vehicles and automatic floor cleaners are provided with a protruding shock absorber called a bumper around the main body to reduce the impact upon collision with an obstacle. A portion of the bumper is equipped with an obstacle detection device consisting of a contact switch, a pressure sensitive element, etc., to detect the presence or absence of contact with an obstacle.
また、この種の移動体のなかには、移動領域に存在する
壁面を超音波センサや光センサ等からなる測距センサで
検知して壁沿い移動を行ない、これをガイドに走行経路
を決定するものもある。Additionally, some of these types of moving objects detect walls in the movement area using distance sensors such as ultrasonic sensors or optical sensors, move along the walls, and use this as a guide to determine the travel route. be.
特に、自動床面掃除機においては、こうした壁沿い移動
は単なる走行経路の決定だけでなく、壁際清掃を行なう
必要があるから、回転ブラシ等の掃除具を本体より突出
させて設けているものもある。In particular, in automatic floor vacuum cleaners, moving along walls requires not only determining the running route but also cleaning along the walls, so some models have cleaning tools such as rotating brushes that protrude from the main body. be.
発明が解決しようとする課題
しかしながら、このような従来の障害物検知装置はいず
れもバンパーが障害物に衝突したかどうかを検知するも
のであり、その接触状態までは検知できなかった。しか
も、接触を検知するのに大きな圧力が必要であったり、
接触する部分に不感部が存在するため、かなり大きな力
で衝突した場合にしか接触を検知できないという問題が
あった。もちろん、従来の方式であっても、接触スイッ
チや感圧素子等の検知体の感度を増大し、数を増加させ
ることによりこの問題の改善は可能であるが、感度の増
大により移動中の振動を検出してしまう等の信頼性の低
下や、数を増加することによる高価格化は避けられない
ものであった。Problems to be Solved by the Invention However, all of these conventional obstacle detection devices detect whether a bumper has collided with an obstacle, but cannot detect the state of contact. Moreover, large pressure is required to detect contact,
Since there is a blind area in the contact area, there is a problem in that contact can only be detected when a collision occurs with a fairly large force. Of course, even with conventional methods, this problem can be improved by increasing the sensitivity and increasing the number of sensing objects such as contact switches and pressure-sensitive elements. It was unavoidable that the reliability would be lowered due to the detection of errors, and the price would increase due to an increase in the number of sensors.
そこで本発明は、小さい接触圧力で検知でき、しかも接
触が大きいか小さいかの判別ができ、検知部のどの部分
に接触しても検知できる安価で信頼性の高い障害物検知
装置を提供することを第１の目的としている。SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an inexpensive and highly reliable obstacle detection device that can detect with a small contact pressure, can distinguish whether the contact is large or small, and can detect any part of the detection part that is touched. is the primary objective.
また上記第１の目的に関連し、さらに上記に加えて接触
圧力の方向に依存せず安定して接触を検知できる障害物
検知装置を得ることを第２の目的としている。In addition to the above first object, a second object of the present invention is to provide an obstacle detection device that can stably detect contact without depending on the direction of contact pressure.
また、従来の超音波センサや光センサ等からなる測距セ
ンサを用いた壁沿い移動装置では、平面で広い壁面に平
行に壁沿い移動する場合には問題ないが、壁面に凹凸が
ある場合や壁面に対して測距センサがななめになった場
合に壁面を見失うことがあり、移動体が壁面に衝突して
壁沿い移動ができなくなることがあった。In addition, with conventional wall moving devices that use distance sensors such as ultrasonic sensors and optical sensors, there is no problem when moving along a flat, wide wall parallel to the wall, but when the wall surface is uneven or When the distance measurement sensor is diagonal to the wall, it may lose sight of the wall, and the moving object may collide with the wall and become unable to move along the wall.
そして、壁面が交差するコーナ一部やいわゆる袋小路部
では上記問題に加えて前後左右各方向の測距データの処
理が複雑になるため、壁面に近づいて壁面形状に忠実に
壁沿い移動を行なうことができないという問題があった
。In addition to the above-mentioned problems, in corners where walls intersect and so-called dead ends, processing of distance measurement data in each direction is complicated, so it is necessary to approach the wall and move along the wall faithfully to the wall shape. The problem was that it was not possible.
そこで本発明は、壁面が交差するコーナ一部においても
、複雑なデータ処理を伴わず、壁面形状に忠実に壁沿い
移動ができる壁沿い移動装置を提供することを第３の目
的としている。さらに、上記第３の目的に関連し、より
複雑に壁面が交差する袋小路部においても、同様に壁面
形状に忠実に壁沿い移動ができる壁沿い移動装置を提供
することを第４の目的としている。Therefore, a third object of the present invention is to provide a wall moving device that can move along a wall faithfully to the wall shape without complicated data processing even at a corner where the wall surfaces intersect. Furthermore, related to the third object, a fourth object is to provide a wall moving device that can similarly move along a wall faithfully to the shape of the wall even in a dead-end area where walls intersect in a more complicated manner. .
また、上述したように、壁沿い移動装置を有する床面掃
除機においては壁際清掃を行なう必要があり、できるだ
け壁面に近づき壁面形状に忠実に走行できることが重要
になるが、壁面に近づいて壁沿い移動すると本体より突
出させて設けた回転ブラシ等の掃除具が壁面に引っかか
り易くなるきいう問題があった。In addition, as mentioned above, floor cleaners that have a device that moves along the wall need to perform wall cleaning, and it is important to be able to move as close to the wall as possible and faithfully follow the wall shape. There is a problem in that when the device is moved, cleaning tools such as a rotating brush that protrudes from the main body tend to get caught on the wall surface.
そこで本発明は、壁面に近づいて壁沿い移動しても本体
より突出させて設けた回転ブラシ等の掃除貝が壁面に引
っかかることなく壁際まで清掃できる床面掃除機を提供
することを第５の目的とするものである。Therefore, the fifth object of the present invention is to provide a floor cleaner that can clean up to the wall without the cleaning shell, such as a rotating brush provided protruding from the main body, getting caught on the wall even if the cleaner moves close to the wall and moves along the wall. This is the purpose.
課組を解決するための手段
上記第１の目的を達成するための第１の発明は、移動体
本体の側部から前部にかけて移動体本体より突出する可
動体と、可動体の片端部を回動自在に支持する支持軸と
、可動体を移動体本体の外側回動方向に付勢する付勢体
と、可動体の回動範囲を規制するストッパーと、可動体
の回動角度位置を２点検知する回動検知手段とを有する
移動体の障害物検知装置とするものである。Means for Solving Problems A first invention for achieving the first object described above includes a movable body that protrudes from the movable body from the side to the front of the movable body, and one end of the movable body. A support shaft that rotatably supports the movable body, a biasing body that biases the movable body in the outward rotational direction of the movable body, a stopper that restricts the rotation range of the movable body, and a stopper that controls the rotational angular position of the movable body. The present invention provides an obstacle detection device for a moving body having rotation detection means for detecting two points.
また、第２の目的を達成するための第２の発明は、上記
第１の発明に加え、支持軸に対して可動体が前後移動す
る摺動部を設けた移動体の障害物検知装置とするもので
ある。In addition to the first invention, a second invention for achieving the second object provides an obstacle detection device for a movable body, which is provided with a sliding part in which the movable body moves back and forth with respect to a support shaft. It is something to do.
そして、第３の目的を達成するための第３の発明は、移
動体本体の左右に設けた駆動ｇＱ七、左右の駆動輪をそ
れぞれ独立に駆動する駆動モータと、移動体本体の壁沿
い側の側部または前部にある障害物までの距離を少なく
とも大中小３ゾーンに検出する障害物検知手段と、障害
物検知手段の検知ゾーンに対応して駆動モータを制御す
る移動制御手段とを有し、この移動制御手段は、障害物
までの距離が大のときには壁沿い側駆動輪を停止、反対
側駆動輪を前進、中のときには壁沿い側駆動輪を前進、
反対側駆動輪を停＋１−１障害物までの距離が小のとき
には壁沿い側駆動輪を停止、反対側駆動輪を後退させる
移動体の壁沿い移動装置とするものである。A third invention for achieving the third object includes a drive gQ7 provided on the left and right sides of the movable body, a drive motor that independently drives the left and right drive wheels, and a drive motor provided on the side along the wall of the movable body. The vehicle has an obstacle detection means for detecting the distance to an obstacle on the side or front of the vehicle in at least three large, medium and small zones, and a movement control means for controlling the drive motor in accordance with the detection zones of the obstacle detection means. This movement control means stops the drive wheels along the wall when the distance to the obstacle is large, moves the drive wheels on the opposite side forward, and moves the drive wheels along the wall forward when the distance to the obstacle is medium.
The device for moving a moving object along a wall stops the driving wheels on the opposite side when the distance to the +1-1 obstacle is small and moves the driving wheels on the opposite side backward.
さらに、第４の目的を達成するための第４の発明は、移
動体本体の左右に設けた駆動輪と、左右の駆動輪をそれ
ぞれ独立に駆動する駆動モータと、移動体本体の壁沿い
側と反対側の側部または前部にある障害物までの距離を
少なくとも大中小３ゾーンに検出する障害物検知手段と
、障害物検知手段の検知ゾーンに対応して駆動モータを
制御する移動制御手段とを有し、この移動制御手段は、
障害物までの距離が大のときには壁沿い側駆動輪を前進
、反対側駆動輪を停止、障害物までの距離が中のときに
は壁沿い側駆動輪を停止、反対側駆動輪を後退、障害物
までの距離が小のときには壁沿い側駆動輪および反対側
駆動輪ともに後退させる移動体の壁沿い移動装置とする
ものである。Furthermore, a fourth invention for achieving the fourth object includes drive wheels provided on the left and right sides of the movable body body, drive motors that independently drive the left and right drive wheels, and a side along the wall of the movable body body. an obstacle detection means for detecting the distance to an obstacle on the opposite side or front of the object into at least three large, medium and small zones; and a movement control means for controlling the drive motor in accordance with the detection zones of the obstacle detection means. This movement control means has:
When the distance to the obstacle is large, the drive wheels along the wall move forward and the drive wheels on the opposite side stop; when the distance to the obstacle is medium, the drive wheels along the wall stop, and the drive wheels on the opposite side go backwards. When the distance to the wall is small, the device for moving the movable body along the wall moves both the wall-side drive wheels and the opposite side drive wheels backward.
また、第５の目的を達成するための第５の発明は、床面
と平行に回転するアジテータを可動体に設けた移動体の
障害物検知装置を有した床面掃除機とするものである。Further, a fifth invention for achieving the fifth object is a floor cleaner having an obstacle detection device for a movable body in which the movable body is provided with an agitator that rotates parallel to the floor surface. .
作用
第１の発明による移動体の障害物検知装置は、移動体本
体の側部から前部にかけて移動体本体より突出した可動
体と障害物との接触具合いを検出するもので、可動体の
片端部が回動自在に支持軸で支持されているから、可動
体に関わるすべての接触の有無及びその強さが可動体の
回動角度で判断でき、しかも小さい接触力で可動体を回
動させることが可能であるから、可動体のどの部分に接
触しても接触が大きいか小さいかの判別ができ、しかも
小さい接触圧力で検知できる移動体の障害物検知装置が
実現できるものである。Operation The obstacle detection device for a movable body according to the first invention detects the degree of contact between an obstacle and a movable body that protrudes from the movable body from the side to the front of the movable body, and Since the part is rotatably supported by a support shaft, the existence and strength of all contacts related to the movable body can be judged from the rotation angle of the movable body, and the movable body can be rotated with a small contact force. Therefore, it is possible to realize an obstacle detection device for a movable body that can determine whether the contact is large or small no matter which part of the movable body comes in contact with the movable body and can detect with a small contact pressure.
また、第２の発明によれば、上記第１の発明において、
可動体に加わる接触力ベクトルが支持軸上を通る場合で
も検出が可能となるから、接触力の方向に依存せず安定
して接触を検知できる移動体の障害物検知装置を得るこ
とができる。Further, according to the second invention, in the first invention,
Since detection is possible even when the contact force vector applied to the movable body passes along the support shaft, it is possible to obtain an obstacle detection device for a movable body that can stably detect contact regardless of the direction of the contact force.
また、第３の発明によれば、移動制御手段の単純な判断
制御のみで袋小路以外のコーナ一部での壁沿い移動がで
きる移動体の壁沿い移動装置が実現できるものである。Furthermore, according to the third aspect of the invention, it is possible to realize a device for moving a moving object along a wall in a part of a corner other than a dead-end alley by only simple judgment control of the movement control means.
また、第４の発明によれば、袋小路部での壁沿いが可能
な移動体の壁沿い移動装置を得ることができる。Further, according to the fourth invention, it is possible to obtain a device for moving a moving object along a wall in a dead end area.
さらに、第５の発明によれば、床面と平行に回転するア
ジテータを可動体に設けた第１の発明の障害物検知装置
を有することにより、アジテータと障害物との接触の状
態も含めて障害物検知装置は検知できるので、これが壁
面に引っかかることなく壁際まで清掃できる床面掃除機
が実現できるものである。Furthermore, according to the fifth invention, by having the obstacle detection device of the first invention in which the movable body is provided with an agitator that rotates parallel to the floor surface, the state of contact between the agitator and the obstacle can be detected. Since the obstacle detection device can detect obstacles, it is possible to realize a floor cleaner that can clean up to the wall without getting caught on the wall.
実施例
以下、本発明の実施例を自動床面掃除機を例にとって添
付図面に基づいて説明する。Embodiments Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings, taking an automatic floor cleaner as an example.
第１図において、１は自動床面掃除機の本体を構成する
移動体本体く以下単に本体という）、２は本体１の左右
後方に設けた駆動輪で、駆動モータ３で左右独立に駆動
される。４は本体１の前方に回転自在に取り付けられた
従軸である。５は本体１の側部から前部にかけて本体１
より突出する左右２つの可動体で、周囲には弾性材から
なる緩衝体６が取り付けられている。この可動体５は、
本体１に保持部７を介して取り付けられ、後述するよう
に回動自在に支持されている。８は本体１の後部に取り
付けられた緩衝体である。９は回転板１０の周囲に植毛
されたブラシで、可動体５に設けたモータ１１によって
床面Ａと平行に本体１の内側方向に回転駆動され、床面
Ａ上のごみを掃くようになっている。以上、ブラシ９、
回転板１０、モータ１１でアジテータを構成している。In Fig. 1, reference numeral 1 denotes a moving body (hereinafter simply referred to as the main body) that constitutes the main body of the automatic floor cleaner, and 2 denotes drive wheels provided on the left and right rear sides of the main body 1, which are driven independently by a drive motor 3. Ru. 4 is a slave shaft rotatably attached to the front of the main body 1. 5 is the main body 1 from the side to the front of the main body 1.
There are two movable bodies on the left and right that protrude further, and a buffer body 6 made of an elastic material is attached to the periphery. This movable body 5 is
It is attached to the main body 1 via a holding part 7 and is rotatably supported as described later. 8 is a buffer body attached to the rear part of the main body 1. Reference numeral 9 denotes a brush with bristles flocked around the rotating plate 10, which is driven to rotate inward of the main body 1 parallel to the floor surface A by a motor 11 provided on the movable body 5, so as to sweep dirt on the floor surface A. ing. That's all, brush 9,
A rotating plate 10 and a motor 11 constitute an agitator.
１２は電動送風機、１３は集塵室、１４．１５はその内
部に設けたフィルターである。１６は本体１の底部中央
に設けた床ノズルで、接続パイプ１７を介して集塵室１
３と接続している。以上、１２〜１７で吸塵手段を構成
している。１８は操作部１９に設けられた操作ボタン、
２０は自動床面掃除機の全体の制御を行なう制御部で、
移動制御手段を有している。２１は本体１の周囲に設け
られた超音波センサや光センサ等からなる測距センサで
、移動時の障害物までの距離を測定する。２２は全体に
電力を供給する蓄電池等からなる電源である。12 is an electric blower, 13 is a dust collection chamber, and 14.15 is a filter provided inside the chamber. Reference numeral 16 denotes a floor nozzle installed at the center of the bottom of the main body 1, which is connected to the dust collection chamber 1 through a connecting pipe 17.
It is connected to 3. As described above, the dust suction means 12 to 17 constitute the dust suction means. 18 is an operation button provided on the operation unit 19;
20 is a control unit that controls the entire automatic floor cleaner;
It has movement control means. Reference numeral 21 denotes a distance measuring sensor including an ultrasonic sensor, an optical sensor, etc. provided around the main body 1, and measures the distance to an obstacle during movement. Reference numeral 22 denotes a power source such as a storage battery that supplies power to the entire system.
次に、第２図〜第４図により第１の発明による移動体の
障害物検知装置の一実施例について説明する。第２図に
示すように本実施例では本体１の左右両側に左右対称な
２つの障害物検知装置を有する。可動体５、緩衝体６に
ついてはすでに述べたとおりであるが、保持部７，７′
は、第３図に示すように、可動体５の上部に取り付けた
スライド板２３を、本体１の底板１′に取り付けた自由
回転するボール２４．２５を有するスライドベアリング
２６で支持し、可動体５を水平方向のみ移動可能に保持
している。そして可動体５の後方片端部は底板１′に設
けた支持軸２７で支持され、本体１に対して可動体５は
支持軸２７を支点として水平方向に自在に回動できる。Next, an embodiment of the obstacle detection device for a moving body according to the first invention will be described with reference to FIGS. 2 to 4. As shown in FIG. 2, this embodiment has two symmetrical obstacle detection devices on both left and right sides of the main body 1. The movable body 5 and the buffer body 6 have already been described, but the holding parts 7 and 7'
As shown in FIG. 3, a slide plate 23 attached to the upper part of the movable body 5 is supported by a slide bearing 26 having freely rotating balls 24 and 25 attached to the bottom plate 1' of the main body 1, and the movable body 5 is held movable only in the horizontal direction. One rear end of the movable body 5 is supported by a support shaft 27 provided on the bottom plate 1', and the movable body 5 can freely rotate in the horizontal direction with respect to the main body 1 using the support shaft 27 as a fulcrum.
２８は一端が可動体５の固定軸２９に他端が底板１′の
固定軸３０に取り付けられた引っ張りばねからなる付勢
体で、可動体５を本体１の外側回動方向に付勢している
。また、底板１゛に取り付けられた固定軸３０は可動体
５に設けた規制穴３１から突出し、可動体５の回動範囲
を規制するストッパーを兼ねている。また、底板１′に
は第４図に示すようにリミットスイッチ３２．３３が取
り付けられており、可動体５の回動角度に応じてそれぞ
れ可動体５の作動子３４．３５が当接して作動する。こ
のようにリミットスイッチ３２．３３および作動子３４
．３５で可動体５の回動角度位置を２点検知する回動検
知手段を構成している。Reference numeral 28 denotes a biasing body consisting of a tension spring having one end attached to the fixed shaft 29 of the movable body 5 and the other end attached to the fixed shaft 30 of the bottom plate 1', which biases the movable body 5 in the outward rotational direction of the main body 1. ing. Further, a fixed shaft 30 attached to the bottom plate 1' projects from a regulating hole 31 provided in the movable body 5, and also serves as a stopper for regulating the rotation range of the movable body 5. In addition, limit switches 32 and 33 are attached to the bottom plate 1' as shown in FIG. do. In this way, limit switches 32, 33 and actuator 34
．． 35 constitutes a rotation detection means for detecting the rotation angle position of the movable body 5 at two points.
以上のように構成した移動体の障害物検知装置について
、以下第４図を用いてその動作を説明する。The operation of the obstacle detection device for a moving body configured as described above will be explained below with reference to FIG.
例えば本体１の移動時に緩衝体６に障害物が接触すると
、可動体５は支持軸２７を支点として矢印ａの方向に付
勢体２８に抗して回動し、まず作動子３４がリミットス
イッチ３２に当接してこのリミットスイッチ３２が作動
するので接触の有無が検知できる。そして接触が大きい
場合には可動板５はさらに回動角度が大きくなり次に作
動子３５がリミットスイッチ３３に当接して同様にリミ
ットスイッチ３３が作動するので接触が大きいことが検
知できる。このとき、可動体５は支持軸２７で支持され
、しかも保持部７．７′によって摩擦が少なく保持され
ているので、緩衝体６のどの部分に障害物が接触しても
必ず可動体５は矢印ａの方向に回動することになる。For example, if an obstacle comes into contact with the buffer body 6 during movement of the main body 1, the movable body 5 rotates about the support shaft 27 in the direction of the arrow a against the biasing body 28, and the actuator 34 first moves to the limit switch. 32 and the limit switch 32 is activated, so the presence or absence of contact can be detected. When the contact is large, the rotation angle of the movable plate 5 further increases, and the actuator 35 then comes into contact with the limit switch 33, which similarly operates, so that it can be detected that the contact is large. At this time, the movable body 5 is supported by the support shaft 27 and is held by the holding portion 7.7' with low friction, so that even if an obstacle comes into contact with any part of the buffer body 6, the movable body 5 will always move. It will rotate in the direction of arrow a.
次に、第５図〜第８図により第２の発明による移動体の
障害物検知装置の一実施例について説明する。Next, an embodiment of the obstacle detection device for a moving object according to the second invention will be described with reference to FIGS. 5 to 8.
第５図においては、本体１の左右両側に左右対称な２つ
の障害物検知装置を有する。可動体５゜緩衝体６、保持
部７．７’ 、支持軸２７、スプリング２８、固定軸２
９．３０は前実施例と全く同様であるが、支持軸２７で
支持された可動体５の後方片端部には前後方向の長穴か
らなる支持軸２７のガイド穴３６が設けられており、可
動体５は支持軸２７に対して前後方向に摺動できる。ま
た、３７は一端が可動体５の同定軸３８に他端が底板１
′の固定軸３９に取り付けられた引っ張りばねからなる
付勢体で、可動体５を本体１の前方向に付勢している。In FIG. 5, there are two symmetrical obstacle detection devices on both left and right sides of the main body 1. Movable body 5゜buffer 6, holding part 7.7', support shaft 27, spring 28, fixed shaft 2
9.30 is exactly the same as the previous embodiment, but a guide hole 36 for the support shaft 27, which is an elongated hole in the front-rear direction, is provided at one rear end of the movable body 5 supported by the support shaft 27. The movable body 5 can slide forward and backward relative to the support shaft 27. 37 has one end connected to the identification shaft 38 of the movable body 5 and the other end connected to the bottom plate 1.
The movable body 5 is biased in the front direction of the main body 1 by a biasing body made of a tension spring attached to the fixed shaft 39 of the main body 1.
また、底板１′に取り付けられた固定軸３９は可動体５
に設けた規制穴４０がら突出し、可動体５の摺動範囲を
規制するストッパーを兼ねている。したがって、可動体
５は本体１に対して支持軸２７を支点として水平方向に
自在に回動できるだけでなく前後方向にも自在に摺動で
き、固定軸３０．３９が規制穴３１．４０に当たる位置
でスプリング２８．３７により常に本体１の外側方向に
付勢されている。また第６図に示すように、可動体５の
回動角度位置を２点検知する回動検知手段として前実施
例と同様に底板１”にリミットスイッチ３２．３３が取
り付けられており、可動体５の回動角度に応じてそれぞ
れ可動体５の作動子３４．３５が当接して作動するが、
本実施例の場合はさらに可動体５が本体１に対して後方
に摺動した時にも作動子３４および作動子３５がそれぞ
れリミットスイッチ３２よおびリミットスイッチ３３に
当接してリミットスイッチ３２．３３が作動する。Furthermore, the fixed shaft 39 attached to the bottom plate 1' is connected to the movable body 5.
It protrudes from a regulating hole 40 provided in the movable body 5, and also serves as a stopper for regulating the sliding range of the movable body 5. Therefore, the movable body 5 can not only freely rotate in the horizontal direction with respect to the main body 1 using the support shaft 27 as a fulcrum, but also can freely slide in the front and back directions, and the position where the fixed shaft 30.39 hits the regulation hole 31.40. The main body 1 is always urged outward by springs 28 and 37. Further, as shown in FIG. 6, limit switches 32 and 33 are attached to the bottom plate 1'' as in the previous embodiment as rotation detection means for detecting the rotation angle position of the movable body 5 at two points. The actuators 34 and 35 of the movable body 5 come into contact and operate according to the rotation angle of the movable body 5, respectively.
In the case of this embodiment, even when the movable body 5 slides backward with respect to the main body 1, the actuators 34 and 35 contact the limit switches 32 and 33, respectively, and the limit switches 32 and 33 are activated. Operate.
以上のように構成した移動体の障害物検知装置は基本的
には前実施例と同様の動作をするが、例えば第６図に示
すように、可動体５に矢印すのように前方から支持軸２
７上を通る接触力ベクトルが作用した場合は、可動体５
が長穴３６と支持軸２７によって付勢体３７に抗して後
方に摺動するので、まず作動子３４がリミットスイッチ
３２に当接して作動し、さらに接触力が大きい場合には
次に作動子３５がリミットスイッチ３３に当接して作動
する。このように接触力ベクトルが支持軸２７上を通り
可動体５が回動しに（い場合でもぐ可動体５の表面の緩
衝体６の摩擦係数に影響される）、可動体５が摺動する
ことにより前実施例よりも敏感に障害物の接触を検知で
きるものである。The obstacle detection device for a movable body configured as described above basically operates in the same manner as in the previous embodiment, but, for example, as shown in FIG. axis 2
When a contact force vector passing over 7 acts, the movable body 5
slides backward against the biasing body 37 through the elongated hole 36 and the support shaft 27, so the actuator 34 first comes into contact with the limit switch 32 and is activated, and if the contact force is large, it is activated next. The child 35 contacts the limit switch 33 and operates. In this way, as the contact force vector passes on the support shaft 27 and the movable body 5 rotates (in some cases, it is influenced by the friction coefficient of the buffer 6 on the surface of the movable body 5), the movable body 5 slides. By doing so, contact with an obstacle can be detected more sensitively than in the previous embodiment.
なお、上記２つの実施例では２個のリミットスイッチ３
２．３３で可動体５の回動角度位置を検知しているが、
例えば光センサや磁気センサを用いた他の検知手段であ
っても良く、要は可動体５の回動角度位置の大小を２点
検知できればよい。In addition, in the above two embodiments, two limit switches 3
The rotation angle position of the movable body 5 is detected in 2.33,
For example, other detection means using an optical sensor or a magnetic sensor may be used, and in short, it is sufficient that the magnitude of the rotational angular position of the movable body 5 can be detected at two points.
第７図、第８図に可動体５の回動角度位置の検知手段と
して、リミットスイッチ３２．３３の代わりにフォトイ
ンタラプタを用いた実施例を示す。図において、４１は
ＬＥＤ等の発光素子４２とフォトトランジスタ等の受光
素子４３を対向させて配置した透過型のフォトインタラ
プタで、本体１の底板１′の下面に取り付けられている
。４４は可動体５の上面に取り付けられた遮蔽板で、中
央部に透過穴４５が設けられている。フォトインタラプ
タ４１と遮蔽板４４との取り付は位置関係は、可動体５
が本体１の最も外側にあるとき、すなわち可動体５に接
触がなく回動角度が０°の場合に、発光素子４２の光軸
が遮蔽板４４の透過穴４５の中心を通るように配置され
ている。このとき、受光素子４３は発光素子４２からの
光を透過穴４５を通して受光状態にある。FIGS. 7 and 8 show an embodiment in which a photointerrupter is used instead of the limit switches 32 and 33 as means for detecting the rotation angle position of the movable body 5. FIG. In the figure, reference numeral 41 denotes a transmission type photointerrupter in which a light emitting element 42 such as an LED and a light receiving element 43 such as a phototransistor are arranged facing each other, and is attached to the lower surface of the bottom plate 1' of the main body 1. 44 is a shielding plate attached to the upper surface of the movable body 5, and a transparent hole 45 is provided in the center. The mounting positional relationship between the photo interrupter 41 and the shielding plate 44 is based on the movable body 5.
is located at the outermost side of the main body 1, that is, when there is no contact with the movable body 5 and the rotation angle is 0°, the optical axis of the light emitting element 42 is arranged to pass through the center of the transmission hole 45 of the shielding plate 44. ing. At this time, the light receiving element 43 is in a state of receiving light from the light emitting element 42 through the transmission hole 45.
第８画のように、可動体５が障害物に接触して回動し、
遮蔽板４４がフォｉ・インタラプタ４１に対して矢印Ｃ
の方向に移動したとすると、透過穴４５が発光素子４２
の光軸よりずれて光を遮断し受光素子４３が受光しなく
なるので、可動体５の回動が検知できる。このように構
成した検知手段においては透過穴４５の大きさで検知感
度が決まるので、例えばこの穴径をｄとすると、フォト
インタラプタ４１と遮蔽板４４の相対位置ずれが約ｄ／
２になったときに可動体５の回動が検知できる。したが
って、上記検知手段を支持軸２７からの距離が異なる位
置に２組取り付けておけば可動体５の回動角度位置が２
点検知できる。あるいは、透過穴４５の穴径が異なるも
のを２組取り付けてもよい。As shown in the eighth picture, the movable body 5 contacts an obstacle and rotates,
The shielding plate 44 is directed toward the foi interrupter 41 by arrow C.
If the transmission hole 45 moves in the direction of the light emitting element 42
The rotation of the movable body 5 can be detected because the light is blocked off the optical axis of the movable body 5 and the light receiving element 43 no longer receives the light. In the detection means configured in this way, the detection sensitivity is determined by the size of the transmission hole 45. For example, if the diameter of this hole is d, then the relative positional deviation between the photointerrupter 41 and the shielding plate 44 is approximately d/
2, the rotation of the movable body 5 can be detected. Therefore, if two sets of the above-mentioned detection means are attached at different distances from the support shaft 27, the rotation angle position of the movable body 5 can be adjusted to two positions.
Can detect points. Alternatively, two sets of transparent holes 45 having different hole diameters may be attached.
次に、第３の発明による移動体の壁沿い移動装置の実施
例について説明する。第９図において、５０は本体１の
壁沿い側の側部または前部にある障害物までの距離を少
なくとも大中小３ゾーンに検出する障害物検知手段で、
例えば第１の発明または第２の発明による障害物検知装
置５１あるいは測距センサ２１を有する測距手段５２な
どからなる。２Ｌ、２Ｒは本体１の左右に設けた駆動輪
（添字のり、Ｒはそれぞれ本体１の左側、右側に設けた
ことを示す）、３Ｌ、３Ｒは駆動輪２Ｌ。Next, an embodiment of a device for moving a moving body along a wall according to the third invention will be described. In FIG. 9, reference numeral 50 denotes an obstacle detection means for detecting the distance to an obstacle on the side or front part along the wall of the main body 1 in at least three large, medium and small zones;
For example, it includes an obstacle detection device 51 or a distance measuring means 52 having a distance measuring sensor 21 according to the first invention or the second invention. 2L and 2R are drive wheels provided on the left and right sides of the main body 1 (the subscript R indicates that they are provided on the left and right sides of the main body 1, respectively), and 3L and 3R are drive wheels 2L.
２Ｒをそれぞれ独立に駆動する駆動モータ、５３Ｌ、５
３Ｒは駆動モータ３Ｌ、３Ｒの速度をそれぞれ＠ｆ１ｍ
する速度制御手段である。５４は入力手段５５を介して
入力した障害物検知手段５０からの検知信号に応じて速
度制御手段５３Ｌ、５３Ｒに対して速度指令を出す判断
処理手段で、障害物までの距離が大のときには壁沿い側
駆動輪２を停止、反対側駆動輪２を前進、中のときには
壁沿い側駆動輪２を前進、反対側駆動輪２を停止、障害
物までの距離が小のときには壁沿い側駆動輪２を停止、
反対側駆動輪２を後退させる。以上、速度制御手段５３
Ｌ、５３Ｒ１判断処理手段５４、入力手段５５で移動制
御手段５６を構成している。Drive motors that drive 2R independently, 53L, 5
3R is the speed of drive motors 3L and 3R, respectively @f1m
This is speed control means. Reference numeral 54 denotes a judgment processing means that issues a speed command to the speed control means 53L and 53R in response to a detection signal from the obstacle detection means 50 inputted through the input means 55. Stop the driving wheel 2 along the side, move the driving wheel 2 on the opposite side forward, move the driving wheel 2 along the wall forward when it is in the middle, stop the driving wheel 2 on the opposite side, and move the driving wheel along the wall when the distance to the obstacle is small. Stop 2,
The opposite drive wheel 2 is moved backward. As described above, the speed control means 53
L, 53R1 judgment processing means 54 and input means 55 constitute movement control means 56.
以上のように構成した移動体の壁沿い移動装置について
、障害物検知手段５０の障害物検知装置５１を用いて左
側の壁沿いを行なう場合を例にとって、以下第１０図〜
第１２図によりその動作を説明する。With regard to the device for moving a mobile object along the wall configured as described above, the following shows the case where the moving object moves along the wall on the left side using the obstacle detection device 51 of the obstacle detection means 50, as shown in FIGS.
The operation will be explained with reference to FIG.
第１０図は障害物検知装置５１の検知状態と駆動輪２Ｌ
、２Ｒの駆動状態との対応パターンを示す。まずパター
ンＡは、障害物検知手段５０の検知距離が大ゾーンの場
合、すなわち障害物検知装置５１の本体１左側の可動体
５Ｌに接触がない場合で、このとき左側駆動輪２Ｌを停
止させ、右側駆動輪２Ｒを前進させる。パターンＢは、
障害物検知手段５０の検知距離が中ゾーンの場合、すな
わち可動体５Ｌの回動角度が小さくリミットスイッチ３
２Ｌのみが作動した場合で、このとき左側駆動輪２Ｌを
前進させ、右側駆動輪２Ｒを停止させる。同様に、パタ
ーンＣは、障害物検知手段５０の検知距離が小ゾーンの
場合、すなわち可動体５Ｌの回動角度が大きくリミット
スイッチ３３Ｌが作動した場合で、このとき左側駆動輪
２Ｌを停止させ、右側駆動輪２Ｒを後退させる。第１１
図はこの対応パターンをプログラム化した場合のフロー
チャートを示し、上記３つのパターン動作を繰り返すよ
うになっている。この壁沿い移動装置を壁際に置いて動
作させると、本体１は可動体５Ｌが壁との接触、非接触
を繰り返し駆動輪２Ｌ、２Ｒを交互に前進させながら壁
沿い走行を行ない、例えば第１２図に示すような壁面が
交差するコーナ一部においても止まることなく壁面に忠
実に壁沿い移動を行なうことができるものである。Figure 10 shows the detection state of the obstacle detection device 51 and the drive wheel 2L.
, 2R shows a corresponding pattern with the drive state. First, pattern A is a case where the detection distance of the obstacle detection means 50 is in a large zone, that is, when there is no contact with the movable body 5L on the left side of the main body 1 of the obstacle detection device 51. At this time, the left drive wheel 2L is stopped, Move the right drive wheel 2R forward. Pattern B is
When the detection distance of the obstacle detection means 50 is in the middle zone, that is, the rotation angle of the movable body 5L is small and the limit switch 3
In this case, the left drive wheel 2L is moved forward and the right drive wheel 2R is stopped. Similarly, pattern C is a case where the detection distance of the obstacle detection means 50 is in a small zone, that is, when the rotation angle of the movable body 5L is large and the limit switch 33L is activated, and at this time, the left drive wheel 2L is stopped, Move the right drive wheel 2R backwards. 11th
The figure shows a flowchart when this corresponding pattern is programmed, and the above three pattern operations are repeated. When this wall moving device is placed near a wall and operated, the main body 1 moves along the wall while the movable body 5L repeats contact and non-contact with the wall and alternately advances the drive wheels 2L and 2R. Even at a corner where the wall surfaces intersect as shown in the figure, it is possible to move along the wall faithfully without stopping.
以上、左側の壁沿い移動について説明したが、右側の壁
沿い移動についても、本体１右例の障害物検知装置５１
を用い、第１０図の対応パターンを左右逆にすることに
より全く同様にできることはいうまでもない。The movement along the left wall has been described above, but the obstacle detection device 51 of the right example of the main body 1 can also move along the right wall.
It goes without saying that exactly the same result can be achieved by using and reversing the corresponding pattern in FIG. 10 left and right.
なお、本実施例では、障害物検知手段５０として第１の
発明または第２の発明による障害物検知装置５１を用い
ているが、測距手段５２を用いる場合には、例えば測距
データが５ｃｎｌＪ下ならば検知距離小、５〜１０ｃｍ
ならば検知距離中、１０ｃｍ以上なら検知距離大と検知
距離を大中小３ゾーンに分けることにより、上記実施例
と同様に移動制御を行なうことができる。In this embodiment, the obstacle detection device 51 according to the first invention or the second invention is used as the obstacle detection means 50, but when the distance measurement means 52 is used, for example, the distance measurement data is 5cnlJ. If it is below, the detection distance is small, 5 to 10 cm.
If the detection distance is 10 cm or more, the detection distance can be divided into three zones: large, medium, and small, and movement control can be performed in the same manner as in the above embodiment.
次に、第４の発明による移動体の壁沿い移動装置の実施
例について説明する。Next, an embodiment of a device for moving a moving object along a wall according to the fourth invention will be described.
この発明の壁沿い移動装置は、例えば上記に示した第３
の発明による壁沿い移動装置の実施例のように、本体の
壁沿い側の障害物検知手段しが用いない場合などに、壁
面が複雑に交差する袋小路部等において本体が壁に当た
って動けな（なるという間層を解決するもので、基本的
な壁沿い機能は既に有していることを前提として説明す
る。The wall moving device of the present invention can be applied, for example, to the third device shown above.
As in the example of the device for moving along a wall according to the invention, when the obstacle detection means on the side of the wall of the main body is not used, the main body can hit the wall and become stuck in a dead-end alley where the walls intersect in a complicated manner. This explanation is based on the assumption that the basic wall-aligning function is already in place.
本実施例では、上記第３の発明による壁沿い移動装置の
実施例に加えて本体１の壁沿い側と反対側障害物検知装
置５１′を用い、判断処理手段５４は障害物検知装置５
１′で検知した障害物までの距離が大のときには壁沿い
側駆動輪２を前進、反対側駆動輪２を停止、障害物まで
の距離が中のときには壁沿い側駆動輪２を停止、反対側
駆動輪２を後退、障害物までの距離が小のときには壁沿
い側駆動輪２および反対側駆動輪２ともに後退させる。In this embodiment, in addition to the embodiment of the wall moving device according to the third aspect of the invention, an obstacle detection device 51' on the side opposite to the wall side of the main body 1 is used, and the judgment processing means 54 uses the obstacle detection device 51'.
When the distance to the obstacle detected in step 1' is large, the drive wheels 2 on the side along the wall move forward and the drive wheels 2 on the opposite side are stopped; when the distance to the obstacle is medium, the drive wheels 2 on the side along the wall are stopped, and vice versa. The side drive wheels 2 are moved backward, and when the distance to the obstacle is small, both the wall side drive wheels 2 and the opposite side drive wheels 2 are moved backward.
以上のように構成した壁沿い移動装置について、障害物
検知手段５０の障害物検知装置５１′を用いて左側の壁
沿いを行なう場合を例にとって、以下第１３図〜第１５
図によりその動作を説明する。Taking as an example the case where the device for moving along the wall configured as described above moves along the left wall using the obstacle detection device 51' of the obstacle detection means 50, the following will be explained in FIGS. 13 to 15.
The operation will be explained with reference to the diagram.
第１３図は障害物検知装置５１′の検知状態と駆動輪２
Ｌ、２Ｒの駆動状態との対応パターンを示す。まずパタ
ーンＤは、障害物検知手段５０の壁沿い側と反対側の検
知距離が大ゾーンの場合、すなわち障害物検知袋Ｎ５１
′の本体１右例の可動体５Ｒに接触がない場合で、この
とき左側駆動輪２Ｌを前進させ、右側駆動輪２Ｒを停止
させる。パターンＥは、障害物検知手段５０の壁沿い側
と反対側の検知距離が中ゾーンの場合、ずなわち可動体
５Ｒの回動角度が小さくリミットスイッヂ３２Ｒのみが
作動した場合で、このとき左側駆動Ｍ２Ｌを停止させ、
右側駆動輪２Ｒを後退させる。同様に、パターンＦは、
障害物検知手段５０の壁沿い側と反対側の検知距離が小
ゾーンの場合すなわち可動体５Ｒの回動角度が大きくリ
ミ・ソトスイッチ３３Ｒが作動した場合で、このとき左
側駆動輪２Ｌ、右側駆動輪２Ｒともに後退させる。FIG. 13 shows the detection state of the obstacle detection device 51' and the driving wheel 2.
A pattern corresponding to the driving states of L and 2R is shown. First, pattern D is a case where the detection distance of the obstacle detection means 50 on the side along the wall and on the opposite side is a large zone, that is, the obstacle detection bag N51
', when there is no contact with the movable body 5R of the right example of the main body 1, and at this time the left drive wheel 2L is advanced and the right drive wheel 2R is stopped. Pattern E is the case when the detection distance of the obstacle detection means 50 on the side along the wall and on the opposite side is in the middle zone, that is, when the rotation angle of the movable body 5R is small and only the limit switch 32R is activated. Stop the left drive M2L,
Move the right drive wheel 2R backwards. Similarly, pattern F is
When the detection distance of the obstacle detection means 50 on the side along the wall and on the opposite side is in a small zone, that is, when the rotation angle of the movable body 5R is large and the limit/soto switch 33R is activated, in this case, the left drive wheel 2L, the right drive wheel Move both wheels 2R backwards.
第１４図はこの対応パターンをプログラム化した場合の
フローチャートを示し、上記３つのノ（ターン動作を繰
り返すようになっている。この壁沿い移動装置を壁際に
置いて動作させると、第３の発明による壁沿い移動装置
の実施例と同様に本体１は可動体５Ｌが壁との接触、非
接触を繰り返し駆動％Ｉ２Ｌ、２Ｒを交互に前進させな
がら壁沿い走行を行なう。そして、例えば第１５図に示
すような袋小路部等にさしかかり、右側の可動体５Ｒが
壁に接触すると、上記パターンＤ〜Ｆの動作を繰り返し
、−点鎖線で囲った６０．６１のような壁沿い方向転回
を行なう。そして、再び左側の可動体５Ｌが壁に接触す
ると第３の手段による壁沿い移動装置の実施例と同様に
本体１は可動体５Ｌが壁との接触、非接触を繰り返し駆
動輪２Ｌ、２Ｒを交互に前進させながら壁沿い走行を行
なう。FIG. 14 shows a flowchart when this corresponding pattern is programmed, and the above three (turn) operations are repeated. When this wall moving device is placed next to a wall and operated, the third invention Similar to the embodiment of the device for moving along a wall, the main body 1 moves along the wall while the movable body 5L repeats contact and non-contact with the wall and alternately advances the drive units I2L and 2R.For example, as shown in FIG. When the movable body 5R on the right side comes into contact with a wall when it comes to a dead end as shown in , it repeats the movements of patterns D to F and performs a turn along the wall as shown in 60.61 surrounded by a dashed line. Then, when the left side movable body 5L comes into contact with the wall again, the main body 1 moves the drive wheels 2L and 2R through repeated contact and non-contact of the movable body 5L with the wall, similar to the embodiment of the wall moving device using the third means. Run along the wall while moving forward alternately.
以上のように本発明の移動体の壁沿い移動装置は、壁沿
い移動中に壁沿い側と反対側の障害物を検知した場合に
、壁沿いを行ないながら方向転回を行なうものである。As described above, the device for moving a movable body along a wall according to the present invention performs a direction change while moving along the wall when an obstacle on the side opposite to the side along the wall is detected while the movable body is moving along the wall.
なお、右側の壁沿い移動についても、また障害物検知手
段として測距手段を用いる場合についても、第３の発明
による壁沿い移動装置の実施例で述べたように、同様に
移動制御を行なうことができる。In addition, regarding the movement along the wall on the right side, and also when using the distance measuring means as the obstacle detection means, the movement control is performed in the same manner as described in the embodiment of the wall movement device according to the third invention. I can do it.
次に、第５の発明による床面掃除機の実施例について説
明する。この発明の床面掃除機の実施例は、すでに第１
図、第２図で説明した自動床面掃除機で、第１の発明に
よる移動体の障害物検知装置の可動体５にブラシ９、回
転板１０、モータ１１からなるアジテータを有する。そ
して、第１２図あるいは第１５図に示すように壁沿い移
動を行ないながら、このアジテータで壁際のごみを掃き
出し、床ノズル１６から電動送風機１２によって集塵室
１３に吸引し清掃を行なうものである。このように壁沿
い移動を行ないながら壁際清掃を行なうためには、アジ
テータのブラシ９は本体１より長く突出している方が清
掃性能上望ましいことは明らかであるが、従来の床面掃
除機ではこれが壁面に引っかかって壁沿い走行ができな
い場合があった。しかし、本実施例ではアジテータが障
害物検知装置の可動体５に設けているから、ブラシ９が
たとえ壁面に引っかかっても可動体５がその引っかかり
具合いに応じて回動してその状態を検知でき、本体１の
移動方向を変えることができる。そして本実施例ではむ
しろ、ブ、クシ９自体が壁面を検知するセンサの役割を
果たし、ブラシ９が壁面をトレースするように壁沿い移
動を行なうことが可能になっている。Next, an embodiment of the floor cleaner according to the fifth invention will be described. The embodiment of the floor cleaner of the present invention has already been described in the first embodiment.
The automatic floor cleaner described in FIGS. 2 and 2 has an agitator comprising a brush 9, a rotary plate 10, and a motor 11 in the movable body 5 of the obstacle detection device for a movable body according to the first invention. Then, while moving along the wall as shown in Fig. 12 or Fig. 15, the agitator sweeps out the dust near the wall, and the electric blower 12 sucks it into the dust collection chamber 13 through the floor nozzle 16 for cleaning. . In order to perform wall cleaning while moving along the wall, it is clear that it is desirable for the agitator brush 9 to protrude longer than the main body 1 in terms of cleaning performance, but this is not the case with conventional floor cleaners. There were cases where the vehicle got stuck on the wall and could not run along the wall. However, in this embodiment, since the agitator is provided on the movable body 5 of the obstacle detection device, even if the brush 9 gets caught on the wall, the movable body 5 can rotate according to the degree of the hook and detect the condition. , the direction of movement of the main body 1 can be changed. In this embodiment, the brush 9 itself serves as a sensor for detecting the wall surface, and the brush 9 can move along the wall so as to trace the wall surface.
また床面掃除機に第３、第４の発明の壁沿い移動装置を
搭載することにより、掃除機として非常に有効なことは
云うまでもない。It goes without saying that a floor cleaner equipped with the wall moving device of the third and fourth inventions is very effective as a cleaner.
発明の効果
以上のように第１の発明によれば、可動体に関わるすべ
ての接触の有無及びその強さが可動体の回動角度で判断
でき、しかも小さい接触力で可動体を回動させることが
可能だから、可動体のどの部分に接触しても接触が大き
いが小さいかの判別ができ、しかも安価で信頼性の高い
障害物検知装置を提供することができるものである。Effects of the Invention As described above, according to the first invention, the existence and strength of all contacts related to the movable body can be determined from the rotation angle of the movable body, and the movable body can be rotated with a small contact force. Therefore, it is possible to provide an inexpensive and highly reliable obstacle detection device that can determine whether the contact is large or small, regardless of which part of the movable body is contacted.
また、第２の発明によれば、上記第１の発明において可
動体に加わる接触力ベクトルが支持軸上を通る場合でも
検出が可能となるから、接触力の方向に依存せず安定し
て接触を検知できる障害物検知装置を得るこ七ができる
。Further, according to the second invention, detection is possible even when the contact force vector applied to the movable body passes on the support shaft in the first invention, so that stable contact is achieved regardless of the direction of the contact force. It is possible to obtain an obstacle detection device that can detect obstacles.
また、第３の発明によれば、障害物検知手段の検知ゾー
ンと左右の駆動輪の駆動方向との単純な対応パターンの
組合せにより壁沿い移動ができるものであり、移動体が
壁面に衝突して壁沿い移動ができなくなることなく壁面
形状に忠実に壁沿い移動ができる壁沿い移動装置が実現
できるものである
さらに、第４の発明によれば、障害物検知手段の壁沿い
側と反対側の検知ゾーンと左右の駆動輪の駆動方向との
単純な対応パターンの組合せにより、壁沿いを行ないな
がら方向転回を行なうから、壁面が複雑に交差する袋小
路部等においても壁面形状に忠実に壁沿い移動ができる
壁沿い移動装置を実現できる。Further, according to the third invention, the moving object can move along the wall by combining a simple correspondence pattern between the detection zone of the obstacle detection means and the driving direction of the left and right drive wheels, so that the moving object does not collide with the wall surface. Furthermore, according to the fourth aspect of the present invention, a wall moving device that can move along a wall faithfully to the shape of the wall without being unable to move along the wall can be realized. By combining a simple correspondence pattern between the detection zone and the drive direction of the left and right drive wheels, the direction is turned while following the wall, so even in dead-end alleys where the walls intersect in a complicated manner, the system can follow the wall shape faithfully. A moving device along a wall that can be moved can be realized.
また、第５の発明によれば、アジテータと障害物との接
触の状態も含めて障害物検知装置は検知できるので、壁
面に近づいて壁沿い移動しても本体より突出させて設け
た回転ブラシ等の掃除具が壁面に引っかかることなく壁
際まで清掃できる床面掃除機を実現できるものである。Further, according to the fifth invention, since the obstacle detection device can detect the state of contact between the agitator and the obstacle, even if the rotating brush is protruded from the main body and moves along the wall. It is possible to realize a floor vacuum cleaner that can clean up to the wall without the cleaning tool getting caught on the wall surface.
第１図は第一の発明の移動体の障害物検知装置の実施例
を装備した自動床面掃除機の縦断面図、第２図は同自動
床面掃除機の底面図、第３図は移動体の障害物検知装置
の実施例の保持部の縦断面図、第４図は同実施例の動作
を示す動作説明図、第５図は第２の発明による移動体の
障害物検知装置の実施例の底面図、第６図は同実施例の
動作を示す動作説明図、第７図は第２の発明による移動
体の障害物検知装置の回動角度検知手段の他の実施例を
示す縦断面図、第８図は第７図のｘ−ｘ’断面図、第９
図は第３の発明による壁沿い移動装置の実施例の制御ブ
ロック図、第１０図は同実施例の動作パターンを示す動
作説明図、第１１図は同実施例の動作フローチャート、
第１２図は同実施例の壁沿い移動状態を示す動作説明図
、第１３図は第４の発明による壁沿い移動装置の実施例
の動作パターンを示す動作説明図、第１４図は同実施例
の動作フローチャート、第１５図は同実施例の壁沿い移
動状態を示す動作説明図である。
１・・・移動体本体、２・・・駆動輪、３・・・駆動モ
ータ、５・・・可動体、９・・・ブラシ、１０・・・回
転板、１１・・・モータ、２７・・・支持軸、２８．３
７・・・付勢体、３０．３９・・・固定軸、３１．４０
・・・規制穴、３２．３３・・・リミットスイッチ、３
４．３５・・・作動子、３６・・・ガイド穴、４１・・
・フォトインタラプタ、４４・・・遮蔽板、４５・・・
透過穴、５０・・・障害物検知手段、５６・・・移動制
御手段。
代理人の氏名 弁理士 粟野重孝 はか１名ｆ
忰ト１不本体
５−−・Σ１唸らワイ本
＋Ｆ−ｆｂｆＪｆｔＪＮ
２７− 歓′ｒ軸
？・−話勤翰
ターーー可１カイ１さ
第１０
図
へ７：ジ１捲角！、（，５，中自岨Ｌ）告
Ｂ、’ｊ コｌｂ＋］ ＼ （Ｅ＊＃ｌＬ）介
第
図
第１
図
第１２
図
＜ＣＬ）
（Ｃン
第１４
図
（ｂン
（ｄ−）
第１３
図
Ｆ９石持角−欠
（両輪由乏）
第１５
図FIG. 1 is a longitudinal cross-sectional view of an automatic floor cleaner equipped with an embodiment of the mobile object obstacle detection device of the first invention, FIG. 2 is a bottom view of the same automatic floor cleaner, and FIG. 3 is a bottom view of the same automatic floor cleaner. FIG. 4 is a longitudinal cross-sectional view of the holding part of the embodiment of the obstacle detection device for a moving body, FIG. 4 is an explanatory diagram showing the operation of the same embodiment, and FIG. A bottom view of the embodiment, FIG. 6 is an operation explanatory diagram showing the operation of the embodiment, and FIG. 7 shows another embodiment of the rotation angle detection means of the obstacle detection device for a moving body according to the second invention. Vertical sectional view, Figure 8 is the xx' sectional view of Figure 7, Figure 9
The figure is a control block diagram of an embodiment of the wall moving device according to the third invention, FIG. 10 is an operation explanatory diagram showing the operation pattern of the embodiment, and FIG. 11 is an operation flowchart of the embodiment.
FIG. 12 is an explanatory diagram of the operation showing the state of movement along the wall of the same embodiment, FIG. 13 is an explanatory diagram of the operation showing the operation pattern of the embodiment of the moving device along the wall according to the fourth invention, and FIG. 14 is the same embodiment. FIG. 15 is an operational flowchart showing the state of movement along a wall in the same embodiment. DESCRIPTION OF SYMBOLS 1... Moving body main body, 2... Drive wheel, 3... Drive motor, 5... Movable body, 9... Brush, 10... Rotating plate, 11... Motor, 27...・・Support shaft, 28.3
7... Urging body, 30.39... Fixed shaft, 31.40
...Regulation hole, 32.33...Limit switch, 3
4.35... Actuator, 36... Guide hole, 41...
・Photo interrupter, 44... Shielding plate, 45...
Transmission hole, 50... Obstacle detection means, 56... Movement control means. Agent's name Patent attorney Shigetaka Awano 1 person f 1 person 5 - - Σ 1 Wai book + F - fbfJftJN 27 - ``Kan' r axis?・-Kankan Kanter--Kai 1 Kai 1 Sa 10th Figure 7: Ji 1 Turning Corner! , (,5,中子岨L) 訳B, 'j collb+] Fig. 13 F9 Ishimochi-kaku - missing (Ryowa Yupo) Fig. 15
Claims (6)
する可動体と、可動体の片端部を回動自在に支持する支
持軸と、可動体を移動体本体の外側回動方向に付勢する
付勢体と、可動体の回動範囲を規制するストッパーと、
可動体の回動角度位置を２点検知する回動検知手段とを
有する移動体の障害物検知装置。(1) A movable body that projects from the side to the front of the movable body, a support shaft that rotatably supports one end of the movable body, and a movable body that is attached to the outside of the movable body in the rotating direction. a biasing body that biases the movable body; a stopper that restricts the rotation range of the movable body;
An obstacle detection device for a movable body, comprising rotation detection means for detecting the rotation angle position of the movable body at two points.
けた請求項１記載の移動体の障害物検知装置。(2) The obstacle detection device for a movable body according to claim 1, further comprising a sliding portion for moving the movable body back and forth with respect to the support shaft.
輪をそれぞれ独立に駆動する駆動モータと、移動体本体
の壁沿い側の側部または前部にある障害物までの距離を
少なくとも大中小３ゾーンに検出する障害物検知手段と
、障害物検知手段の検知ゾーンに対応して駆動モータを
制御する移動制御手段とを有し、この移動制御手段は、
障害物までの距離が大のときには壁沿い側駆動輪を停止
、反対側駆動輪を前進、中のときには壁沿い側駆動輪を
前進、反対側駆動輪を停止、障害物までの距離が小のと
きには壁沿い側駆動輪を停止、反対側駆動輪を後退させ
る移動体の壁沿い移動装置。(3) Determine the distance between the drive wheels installed on the left and right sides of the mobile body, the drive motors that drive the left and right drive wheels independently, and the obstacle on the side or front of the mobile body along the wall. The movement control means includes an obstacle detection means for detecting obstacles in at least three large, medium and small zones, and a movement control means for controlling a drive motor in accordance with the detection zones of the obstacle detection means.
When the distance to the obstacle is large, the drive wheels along the wall stop and the drive wheels on the opposite side move forward; when the distance to the obstacle is medium, the drive wheels along the wall move forward and the drive wheels on the opposite side stop. A device for moving a mobile object along a wall, which sometimes stops the drive wheel on the side along the wall and moves the drive wheel on the opposite side backward.
輪をそれぞれ独立に駆動する駆動モータと、移動体本体
の壁沿い側と反対側の側部または前部にある障害物まで
の距離を少なくとも大中小３ゾーンに検出する障害物検
知手段と、障害物検知手段の検知ゾーンに対応して駆動
モータを制御する移動制御手段とを有し、この移動制御
手段は、障害物までの距離が大のときには壁沿い側駆動
輪を前進、反対側駆動輪を停止、障害物までの距離が中
のときには壁沿い側駆動輪を停止、反対側駆動輪を後退
、障害物までの距離が小のときには壁沿い側駆動輪およ
び反対側駆動輪ともに後退させる移動体の壁沿い移動装
置。(4) Drive wheels installed on the left and right sides of the mobile body, drive motors that drive the left and right drive wheels independently, and obstacles on the side or front of the mobile body opposite to the side along the wall. obstacle detecting means for detecting distances of at least three large, medium and small zones, and a movement control means for controlling a drive motor in accordance with the detection zones of the obstacle detection means, and this movement control means detects the distance to the obstacle. When the distance is large, the drive wheels along the wall move forward and the drive wheels on the opposite side stop; when the distance to the obstacle is medium, the drive wheels along the wall stop, and the drive wheels on the opposite side move backward, and the distance to the obstacle is A device for moving a movable body along a wall, which causes both a drive wheel on the side along the wall and a drive wheel on the opposite side to move backward when the distance is small.
た請求項１記載の移動体の障害物検知装置を有する床面
掃除機。(5) A floor cleaner having an obstacle detection device for a movable body according to claim 1, wherein the movable body is provided with an agitator that rotates parallel to the floor surface.
を有する床面掃除機。(6) A floor cleaner comprising the device for moving the movable body along the wall according to claim 3 or 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2212913A JP2847929B2 (en) | 1990-08-10 | 1990-08-10 | Moving device along wall of moving object and floor cleaner having the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2212913A JP2847929B2 (en) | 1990-08-10 | 1990-08-10 | Moving device along wall of moving object and floor cleaner having the same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0496720A true JPH0496720A (en) | 1992-03-30 |
| JP2847929B2 JP2847929B2 (en) | 1999-01-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2212913A Expired - Fee Related JP2847929B2 (en) | 1990-08-10 | 1990-08-10 | Moving device along wall of moving object and floor cleaner having the same |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2847929B2 (en) |
Cited By (12)
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|---|---|---|---|---|
| US5444893A (en) * | 1992-09-08 | 1995-08-29 | Goldstar Co., Ltd. | Apparatus for preventing bumping and falling of automatic travelling vacuum cleaner |
| JP2003500026A (en) * | 1999-05-25 | 2003-01-07 | レリー ホールディング アクテェンゲゼルシャフト | Unmanned manure transfer vehicle |
| JP2007513661A (en) * | 2003-12-10 | 2007-05-31 | フォルヴェルク・ウント・ツェーオー、インターホールディング・ゲーエムベーハー | Automatic movable floor dust collector |
| US7474941B2 (en) | 2003-07-24 | 2009-01-06 | Samsung Gwangju Electronics Co., Ltd. | Robot cleaner |
| WO2011041959A1 (en) * | 2009-10-09 | 2011-04-14 | 泰怡凯电器(苏州)有限公司 | Autonomous moving floor-treating robot and control method thereof for edge-following floor-treating |
| JP2014063528A (en) * | 2001-06-12 | 2014-04-10 | Irobot Corp | Mobile cleaning robot |
| WO2015163372A1 (en) * | 2014-04-22 | 2015-10-29 | 株式会社東芝 | Electric cleaner |
| JP2017159177A (en) * | 2002-12-16 | 2017-09-14 | アイロボット コーポレイション | Autonomous floor-cleaning robot |
| JP2018061847A (en) * | 2014-06-30 | 2018-04-19 | パナソニックＩｐマネジメント株式会社 | Autonomous travel-type cleaner |
| US10420447B2 (en) | 2001-01-24 | 2019-09-24 | Irobot Corporation | Autonomous floor-cleaning robot |
| JP2020532018A (en) * | 2017-09-01 | 2020-11-05 | ロブアート ゲーエムベーハーＲＯＢＡＲＴ ＧｍｂＨ | Movement plan for autonomous mobile robots |
| US11278173B2 (en) | 2002-01-03 | 2022-03-22 | Irobot Corporation | Autonomous floor-cleaning robot |
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| KR20180106225A (en) | 2017-03-17 | 2018-10-01 | 엘지전자 주식회사 | Robot cleaner |
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1990
- 1990-08-10 JP JP2212913A patent/JP2847929B2/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5444893A (en) * | 1992-09-08 | 1995-08-29 | Goldstar Co., Ltd. | Apparatus for preventing bumping and falling of automatic travelling vacuum cleaner |
| JP2003500026A (en) * | 1999-05-25 | 2003-01-07 | レリー ホールディング アクテェンゲゼルシャフト | Unmanned manure transfer vehicle |
| US10517454B2 (en) | 2001-01-24 | 2019-12-31 | Irobot Corporation | Autonomous floor-cleaning robot |
| US10420447B2 (en) | 2001-01-24 | 2019-09-24 | Irobot Corporation | Autonomous floor-cleaning robot |
| US10433692B2 (en) | 2001-01-24 | 2019-10-08 | Irobot Corporation | Autonomous floor-cleaning robot |
| JP2016076256A (en) * | 2001-06-12 | 2016-05-12 | アイロボット コーポレイション | Mobile robot cleaner |
| JP2014063528A (en) * | 2001-06-12 | 2014-04-10 | Irobot Corp | Mobile cleaning robot |
| JP2015172967A (en) * | 2001-06-12 | 2015-10-01 | アイロボット コーポレイション | Movable robot cleaner |
| US11278173B2 (en) | 2002-01-03 | 2022-03-22 | Irobot Corporation | Autonomous floor-cleaning robot |
| JP2017159177A (en) * | 2002-12-16 | 2017-09-14 | アイロボット コーポレイション | Autonomous floor-cleaning robot |
| US7474941B2 (en) | 2003-07-24 | 2009-01-06 | Samsung Gwangju Electronics Co., Ltd. | Robot cleaner |
| JP2010162366A (en) * | 2003-12-10 | 2010-07-29 | Vorwerk & Co Interholding Gmbh | Automatically displaceable floor dust collecting device |
| JP4852425B2 (en) * | 2003-12-10 | 2012-01-11 | フォルヴェルク・ウント・ツェーオー、インターホールディング・ゲーエムベーハー | Automatic movable floor dust collector |
| JP2007513661A (en) * | 2003-12-10 | 2007-05-31 | フォルヴェルク・ウント・ツェーオー、インターホールディング・ゲーエムベーハー | Automatic movable floor dust collector |
| US8744628B2 (en) | 2009-10-09 | 2014-06-03 | Ecovacs Robotics (Suzhou) Co., Ltd. | Autonomous moving floor-treating robot and control method thereof for edge-following floor-treating |
| WO2011041959A1 (en) * | 2009-10-09 | 2011-04-14 | 泰怡凯电器(苏州)有限公司 | Autonomous moving floor-treating robot and control method thereof for edge-following floor-treating |
| KR20160048201A (en) * | 2014-04-22 | 2016-05-03 | 가부시끼가이샤 도시바 | Electric cleaner |
| US10264938B2 (en) | 2014-04-22 | 2019-04-23 | Toshiba Lifestyle Products & Services Corporation | Vacuum cleaner |
| CN106231974B (en) * | 2014-04-22 | 2019-07-05 | 东芝生活电器株式会社 | Electric dust collector |
| EP3135173A4 (en) * | 2014-04-22 | 2018-01-24 | Toshiba Lifestyle Products & Services Corporation | Electric cleaner |
| CN106231974A (en) * | 2014-04-22 | 2016-12-14 | 东芝生活电器株式会社 | Electric dust collector |
| JP2015205089A (en) * | 2014-04-22 | 2015-11-19 | 株式会社東芝 | vacuum cleaner |
| WO2015163372A1 (en) * | 2014-04-22 | 2015-10-29 | 株式会社東芝 | Electric cleaner |
| JP2018061847A (en) * | 2014-06-30 | 2018-04-19 | パナソニックＩｐマネジメント株式会社 | Autonomous travel-type cleaner |
| JP2018065061A (en) * | 2014-06-30 | 2018-04-26 | パナソニックＩｐマネジメント株式会社 | Autonomous travel-type cleaner |
| JP2018065062A (en) * | 2014-06-30 | 2018-04-26 | パナソニックＩｐマネジメント株式会社 | Autonomous travel-type cleaner |
| JP2020532018A (en) * | 2017-09-01 | 2020-11-05 | ロブアート ゲーエムベーハーＲＯＢＡＲＴ ＧｍｂＨ | Movement plan for autonomous mobile robots |
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|---|---|
| JP2847929B2 (en) | 1999-01-20 |
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