JP2004166968A - Self-propelled cleaning robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inexpensive self-propelled cleaning robot by making the robot small and light without arranging a suction pump. <P>SOLUTION: The self-propelled cleaning robot 1 includes: a dust collecting means 3 for collecting dust with brush rollers; a propelling means 4; a remote controller 100; and a control means 7. The control means 7 performs a self-propelling mode when a self-propelling mode start signal is received from the remote controller 100, and stops the self-propelling mode when a self-propelling mode stop signal is received. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a self-propelled cleaning robot.
[0002]
[Prior art]
Prior art documents related to the present invention include the following.
[0003]
[Non-patent document 1]
Fumio Ota, "Developing an Autonomous Control System for Cleaning Robots", [online], March 25, 2002, Corporate News Release of Matsushita Electric Industrial Co., Ltd., [October 30, 2002], Internet <URL: http: // / Www. Matsushita. co. jp / corp / news / official. data / data. dir / jn020325-2 / jn020325-2. html>
[0004]
In the conventional self-propelled cleaning robot described in Non-Patent Document 1, various expensive sensors (infrared ranging sensor, ultrasonic ranging sensor, pressure sensor, gyro sensor, ladder sensor, heat sensor, weight Sensors, overload sensors, etc.) and control devices are provided and are very expensive. In addition, the self-propelled cleaning robot includes a suction pump in the main body, and collects dust on the floor surface by the suction pump.
[0005]
[Problems to be solved by the invention]
However, in the self-propelled cleaning robot, the high-output motor for driving the suction pump has a problem that the size is large and the size of the cleaner body cannot be reduced in size and weight. Further, since a large amount of power is required to drive various sensors and the motor, a large number of batteries are required to be built in the main body, which causes a problem that the weight of the main body increases. In addition, there is also a problem that there is a danger in the event of an accidental collision when the weight of the main body increases.
[0006]
Therefore, an object of the present invention is to provide an inexpensive self-propelled cleaning robot that can be reduced in size and weight without providing a suction pump.
[0007]
[Means for Solving the Problems]
The present invention, as means for solving the above problems,
Dust collecting means for collecting dust on the floor surface with a brush roller,
Traveling means for self-propelled,
A remote controller,
Control means for controlling the traveling means based on a signal received from the remote controller,
The control means executes the self-running mode when receiving a self-running mode start signal from the remote controller, and stops the self-running mode when receiving a self-running mode stop signal.
[0008]
In the above invention, the brush roller of the dust collecting means beats the floor to collect the dust. Further, it is preferable that each member (for example, dust collecting means, traveling means, and the like) be arranged along the floor surface in the main body of the self-propelled cleaning robot, and the height of the main body be 15 cm or less. Further, since the suction pump is not provided unlike the conventional self-propelled cleaning robot, the weight of the main body can be reduced to 2 kg or less, and the load on the traveling means for driving the self-propelled cleaning robot can be reduced.
[0009]
The dust collecting means is disposed so as to face the floor surface, and is disposed in parallel with each other, a plurality of brush brushes for raising and rotating in conjunction with a motor for driving a roller, the brush roller for raising, A brush roller for scraping, which is arranged in parallel and contacts the brush roller for scraping and rotates in conjunction with the motor for driving the roller, and a contact point between the brush roller for scraping and the brush roller for scraping. It is preferable that the cleaning device further comprises a dust storage unit having an opening on the downstream side in the rotation direction of the scraping brush roller. At this time, when the brush roller for cleaning, which is rotationally driven by the roller driving motor of the dust collecting means, beats up the floor surface to scrape the dust from the floor surface, the brush for rotation, which is rotationally driven by the roller driving motor, is used. The roller comes into contact with the brush roller for scraping, and scrapes off dust adhering around the brush roller for scraping. Further, the scraped-off dust is guided through the opening into the dust storage portion located on the downstream side in the rotation direction of the brush roller for scraping. Thereby, good cleaning performance can be obtained without providing a suction pump unlike the conventional self-propelled cleaning robot. In addition, each member (for example, a motor for driving the roller of the dust collecting means, a brush roller for scraping, a brush roller for scraping, and a dust storage unit) is disposed along the floor surface in the main body of the self-propelled cleaning robot. The height of the main body is preferably set to 15 cm or less.
[0010]
The dust collecting means is provided with two brush brushes for picking up on a front side and a rear side of the self-propelled cleaning robot, and the brush roller for scraping is provided above the brush roller for scraping up and at 2 Preferably, it is provided between two scraping brush rollers. Alternatively, two sets of brush rollers including these two brush rollers and one brush roller for scraping may be provided. Alternatively, it may be provided with three brushing brush rollers and one scraping brush roller which comes into contact with each of the three brushing brush rollers.
[0011]
Preferably, upon receiving a predetermined operation instruction signal from the remote controller, the control means executes a manual mode according to the operation instruction signal. This allows the user to operate the self-propelled cleaning robot as desired using the remote controller.
[0012]
It further comprises obstacle detection means for detecting an obstacle in the traveling direction,
The obstacle detection means has a bumper slidably provided in the traveling direction on the front surface of the main body of the self-propelled cleaning robot, and the control means detects when the bumper comes into contact with an obstacle and is pressed. Preferably, a signal is output. Thereby, the control means detects an obstacle.
[0013]
Preferably, the bumper is provided over the entire width of the main body of the self-propelled cleaning robot.
[0014]
When the obstacle detection unit detects an obstacle in the self-propelled mode, the vehicle travels backward by a first predetermined distance, then makes a first right or left turn, then advances by a second predetermined distance, and makes a first turn. A traveling direction reversing operation of making a second turn in the same direction as the turning direction of the vehicle. After the traveling direction reversing operation, the self-propelled mode is executed. When the obstacle detection means detects an obstacle again, It is preferable to execute the traveling direction reversing operation in a turning direction different from the turning direction of the direction reversing operation.
[0015]
After the forward operation, the reverse operation, the first turning operation and the second turning operation, it is preferable to stop for a first predetermined time. This is because the appearance is improved as compared with the case of operating continuously.
[0016]
It is preferable that when the traveling direction reversing operation is performed, the traveling direction is changed by 180 °. Thereby, the traveling direction after the traveling direction reversing operation can be made opposite to the traveling direction before the reversing operation. For example, if the self-propelled cleaning robot turns only 80 ° during the first turn, the self-propelled cleaning robot turns 110 ° during the second turn.
[0017]
At the time of the traveling direction reversing operation, when the obstacle detection unit detects an obstacle while the vehicle is moving forward by the second predetermined distance, the control unit determines that the corner of the room is detected, and It is preferable that the self-propelled mode is executed after the vehicle travels backward by a first predetermined distance and then makes a second turn in the same direction as the turning direction of the first turn.
[0018]
It is preferable that when the control means detects the corner of the room twice consecutively, the control means moves backward by the first predetermined distance, executes a 180 ° turn, and executes the self-propelled mode.
[0019]
When the self-propelled cleaning robot is performing a turning operation, the scraping brush roller is rotationally driven by the roller driving motor, so that the contact resistance between the scraping brush roller and the floor surface is reduced. As a result, the self-propelled cleaning robot easily turns.
[0020]
Since the second predetermined distance in the traveling direction reversing operation is equal to or less than the width of the brush roller for raising, the dust on the floor can be collected without being left behind.
[0021]
If the obstacle detection means does not detect an obstacle for a second predetermined time in the self-propelled mode, the traveling direction reversing operation is performed, and after the traveling direction reversing operation, the self-propelled mode is performed. Is preferred. Thus, it is possible to prevent the self-propelled cleaning robot from running in a gap between furniture such as a TV stand, for example, and to continuously perform cleaning.
[0022]
The traveling means includes two drive wheels provided on both sides of a main body center and a rear portion of the main body of the self-propelled cleaning robot, a wheel driving motor for driving the drive wheels, and a self-propelled cleaning robot. It is preferable to include a front wheel provided at a front portion of the main body.
[0023]
It is preferable that the drive wheel is provided within the roller width of the brush roller for raising. Thereby, the drive wheel can travel on the clean floor surface collected by the brush roller for raising.
[0024]
Since the surface of the drive wheel is covered with rubber, slippage of the drive wheel can be prevented. Further, the surface of the drive wheel may be subjected to anti-slip processing.
[0025]
It is preferable that the wheel drive motor is provided for each of the drive wheels.
[0026]
Further, since the wheel driving motor is a stepping motor, fine control can be performed.
[0027]
It is preferable that the rotation speed of each drive wheel is variable. Thus, when the self-propelled cleaning robot travels on the carpet, it is possible to prevent the traveling direction of the self-propelled cleaning robot from being bent by the eyes of the carpet. At this time, the user operates the rotation speed of each drive wheel using the remote controller.
[0028]
It is preferable that the rotation speed of each of the drive wheels is switched every time the traveling direction reversing operation is performed. This saves the user the trouble of operating the remote controller every time the self-propelled cleaning robot reverses to prevent the traveling direction of the self-propelled cleaning robot from turning.
[0029]
The driving wheels rotate in opposite directions during the turning operation, and the self-propelled cleaning robot rotates around the center position of the two driving wheels as the turning center of turning, thereby reducing the turning radius.
[0030]
It is preferable that the center of gravity of the self-propelled cleaning robot main body is located near the driving wheel. Thereby, the grip force of the drive wheels on the floor can be increased. At this time, by arranging the dust storage part of the dust collecting means near the position of the center of gravity, when the self-propelled cleaning robot is lifted, the dust storage part may be easily taken out.
[0031]
One or more front wheels are provided, and each of the front wheels is disposed on a circle around the center of rotation of the turn, and the axle of the front wheel is orthogonal to the normal to the circumference. Preferably, it is provided. Thereby, when the self-propelled cleaning robot performs the turning operation, the resistance to the floor surface is reduced, and the turning operation can be performed smoothly.
[0032]
The front wheel is preferably a free wheel that can rotate in any direction. Thereby, when the self-propelled cleaning robot performs the turning operation, the resistance to the floor surface is reduced, and the turning operation can be performed smoothly.
[0033]
Providing a floor surface detection unit consisting of the front wheel and a limit switch, the control means, when it is determined that the lower surface of the self-propelled cleaning robot is in contact with the floor surface based on a signal from the limit switch, When the roller driving motor and the wheel driving motor are energized, and it is determined that the lower surface of the self-propelled cleaning robot is separated from the floor surface, the roller driving motor and the wheel driving motor are energized. Is preferably blocked. Thus, when the front wheels step off the steps of the stairs, for example, when the self-propelled cleaning robot is moving forward, the control means cuts off the power supply to the wheel driving motor, so that the self-propelled cleaning robot body Can be prevented from falling off the stairs.
[0034]
At this time, it is preferable that the front wheel is provided within a range of 1/3 in front of the self-propelled cleaning robot main body. This makes it possible to reliably prevent the self-propelled cleaning robot main body from falling down the stairs when the front wheel steps off the stairs as described above.
[0035]
When the control means determines that the lower surface of the self-propelled cleaning robot is separated from the floor surface in the self-propelled mode, after cutting off the power supply to the roller driving motor and the wheel driving motor, Preferably, the self-propelled cleaning robot moves backward by a third predetermined distance by energizing the wheel driving motor. When moving backward, determine whether the lower surface of the self-propelled cleaning robot is in contact with the floor surface based on a signal from the limit switch, whether the self-propelled cleaning robot has been lifted by the user, or You can judge whether it has fallen to a step.
[0036]
The control means, after moving the self-propelled cleaning robot backward by a third predetermined distance, determines that the lower surface of the self-propelled cleaning robot is in contact with the floor, and executes the self-propelled mode. When it is determined that the lower surface of the self-propelled cleaning robot is separated from the floor, the self-propelled mode is preferably stopped. Thereby, for example, falling from a stair or the like is prevented, and safety is improved.
[0037]
When the control means determines that the lower surface of the self-propelled cleaning robot is separated from the floor surface based on a signal from the limit switch during the manual mode, the roller driving motor and the wheel driving motor It is preferable that the power supply to the motor is cut off and that the operation instruction signals other than the backward operation instruction signals among the operation instruction signals are prohibited from being accepted. Thereby, for example, falling from a stair or the like is prevented, and safety is improved.
[0038]
It is preferable that a battery for supplying electric power to the roller driving motor and the wheel driving motor is provided, and when the voltage of the battery falls below a predetermined voltage value, it returns to the start point of the self-propelled mode and stops. As a result, it is possible to prevent the self-propelled cleaning robot from being stopped in a hidden place and missing due to a loss of battery power.
[0039]
When a predetermined set time has elapsed since the start of the self-running mode, the self-running mode may return to the start point and stop. At this time, it is preferable that the set time can be set arbitrarily.
[0040]
The control means can return the shortest distance by calculating the start point of the self-propelled mode from the traveling direction and the running time in the self-propelled mode.
[0041]
Preferably, the control means cuts off the power supply to the roller driving motor when returning to the start point of the self-propelled mode. Thereby, the power consumption of the reduced battery is reduced.
[0042]
The start point of the self-propelled mode may be a remote control position where a remote controller is located. By returning to the remote control position, that is, to the user's hand, usability is improved.
[0043]
The main body of the self-propelled cleaning robot preferably has an elliptical shape. At this time, since there is no linear portion in the outer shape of the main body, even if the self-propelled cleaning robot moves slightly diagonally, it looks like it is moving linearly and is not bothersome.
[0044]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
[0045]
1 and 2 show a self-propelled cleaning robot 1 and a remote controller 100 according to the present invention. In the self-propelled cleaning robot 1, a dust collecting unit 3, a traveling unit 4, an obstacle detecting unit 5, a receiving unit 6, and a control unit 7 are arranged on a cleaner body 2.
[0046]
The cleaner body 2 has an elliptical cross-section when viewed from the top, and includes an upper frame body 21 whose center is raised upward and a lower frame body 22 with a bottom. As shown in FIG. 6, a handle 23 for lifting the self-propelled cleaning robot 1 is rotatably attached to the upper frame body 21 of the cleaner body 2.
[0047]
As shown in FIGS. 3 and 4, the dust collecting means 3 includes a roller driving motor 31, two brush brushes 32a and 32b for scraping, a brush roller 33 for scraping, and a dust container 34. Has become.
[0048]
The roller driving motor 31 is supplied with electric power from a rechargeable secondary battery 8 (power supply unit) via a wiring (not shown) provided in the cleaner body 2 and is rotated forward and backward. As shown in FIGS. 4 and 5, the roller driving motor 31 rotates the pulley 36a forward and reverse via a timing belt 35a. Further, the pulley 36a is connected to the pulley 36b via a timing belt 35b, and the pulley 36b is interlocked when the pulley 36a is rotated. The roller driving motor 31 rotates the pulley 36c forward and reverse via a timing belt 35c.
[0049]
The secondary battery 8 can be taken out from the lower surface direction of the cleaner body 2. Since the secondary battery 8 is disposed on the rear side in the cleaner main body 2 of the self-propelled cleaning robot 1, the position of the center of gravity of the self-propelled cleaning robot 1 is rearward from the center of the cleaner main body 2, that is, described later. It is located near the drive wheel 41. Further, a primary battery may be used instead of the secondary battery 8.
[0050]
As shown in FIG. 4, the brush rollers 32a, b for scraping and the brush rollers 33 for scraping are provided with a plurality of brushes 38 in a spiral shape around the rotating shafts 37a, b, c along the axial direction. It was done. A connecting member 39a and a fitting member 39b are attached and fixed to both ends of the rotating shafts 37a, 37b and 37c, respectively. Each connecting member 39a is integral with each of the pulleys 36a, b, and c, and is fitted to a clutch 39c rotatably provided on the cleaner body 2, and the fitting member 39b is connected to the clutch 39c. The vacuum cleaner main body 2 is fitted to receiving portions of the cleaner body 2 formed at positions facing each other. Thus, the brush rollers 32a, 32b for scraping and the brush roller 33 for scraping are rotatably supported on the rotating shafts 37a, 37b, 37c. The brush roller 33 and the brush roller 32a are rotated at 3500 rpm to 4000 rpm when the roller driving motor 31 drives the pulleys 36a to 36c.
[0051]
As shown in FIG. 3, the brush rollers 32a and 32b are arranged so as to face the floor indicated by a two-dot chain line and are arranged in parallel with each other. Of the two brush brushes 32a and 32b, the brush roller 32a is disposed in front of the self-propelled cleaning robot 1, and the brush roller 32b is used for the self-propelled cleaning robot 1. It is arranged on the rear side. The brush rollers 32a and 32b for scraping may be in contact with each other or slightly apart from each other.
[0052]
The brush roller 33 for scraping is disposed in parallel with the brush rollers 32a, b for raising, and the brush rollers 32a, b for scraping are contacted with the contact points s1, s2. It is arranged above the brush rollers 32a, 32b and between the two brush rollers 32a, 32b.
[0053]
Further, the two brushing brush rollers 32a and 32b have the same diameter r1 (shown in FIG. 3), and the scraping brush roller 33 includes the two brushing brush rollers 32a. , B have a larger diameter r2 than the diameter r1. The roller widths L1 (shown in FIG. 4) of the brush rollers 32a and 32b for scraping and the brush roller 33 for scraping are the same.
[0054]
The dust storage section 34 has a rectangular box shape and is arranged on the rear side of the cleaner body 2. As shown in FIG. 3, the dust storage unit 34 rotates the scraping brush roller 33 indicated by an arrow R from the contacts s1 and s2 between the scraping brush rollers 32a and 32b and the scraping brush roller 33. It has an opening 34a formed on the downstream side in the direction.
[0055]
When the roller driving motor 31 of the dust collecting means 3 is rotationally driven, the brush roller 32a for scraping and the brush roller 33 for scraping are rotated counterclockwise in FIG. The roller 32b is rotated clockwise. At this time, the floor surface of the carpet or the like is beaten up by the brush rollers 32a and 32b for picking up and rotating in opposite directions, so that the dust on the floor surface can be picked up efficiently. The scraped-up dust adheres around the scraping brush rollers 32a and 32b and is scraped off by the scraping brush rollers 33 that come into contact with the respective scraping brush rollers 32a and 32b. The scraped-off dust is guided through the opening 34 a into the dust storage section 34 located on the downstream side in the rotation direction of the brush roller 33 for scraping, and is stored in the dust storage section 34. As described above, the scraping brush roller 33 scrapes off dust, thread debris, hair, and the like adhering around the scraping brush rollers 32a and 32b, so that the cleaning performance is improved without returning to the floor surface again. I do.
[0056]
The dust container 34 can be removed from below by opening the lower cover of the cleaner body 2. At this time, as shown in FIG. 6, when the user grips and lifts the handle 23 of the cleaner main body 2, the center of gravity of the cleaner main body 2 of the self-propelled cleaning robot 1 is positioned at the rear of the cleaner main body 2. , The cleaner main body 2 is inclined with the rear side down, so that the dust storage unit 34 can be easily taken out.
[0057]
As shown in FIG. 2, the traveling means 4 includes two drive wheels 41 provided on both sides of a rear portion of the cleaner main body 2 of the self-propelled cleaning robot 1 and a stepping motor 42 for driving the drive wheels 41 ( (A motor for driving wheels) and a front wheel 43 provided at a front portion of the cleaner body 2.
[0058]
The drive wheel 41 is rotatably supported about a rotation shaft 41a, and is provided within the roller width L1 of the brushing brush rollers 32a and 32b. Further, since the center of gravity of the self-propelled cleaning robot 1 is designed to be located near the drive wheels 41, the drive wheels 41 reliably grip the floor surface. Further, since the surface of the drive wheel 41 is covered with rubber, the floor surface is more securely gripped. Instead of covering the surface of the drive wheel 41 with rubber, a groove or a protrusion may be provided on the wheel surface.
[0059]
The stepping motor 42 is provided on each of the drive wheels 41, and is supplied with electric power via a wiring (not shown) provided in the cleaner body 2, and is rotated forward and backward. In the stepping motor 42, a gear 42b attached to a drive shaft 42a of the stepping motor 42 meshes with a gear 41b attached to one end of a rotation shaft 41a of the drive wheel 41 to rotate the drive wheel 41 forward and backward. I have. In the present embodiment, since the stepping motors 42 are provided in opposite directions, each of the stepping motors 42 has a different rotation direction (forward rotation and reverse rotation) when the self-propelled cleaning robot 1 moves forward and backward. Is driven to rotate. When the self-propelled cleaning robot 1 turns, each stepping motor 42 is driven to rotate in the same direction (forward rotation or reverse rotation).
[0060]
The axle 43a of the front wheel 43 is rotatably supported by a bracket 44. The bracket 44 is rotatably supported by the cleaner main body 2 via a shaft 44a. As shown in FIG. 3, the lower surface of the cleaner main body 2 is grounded to the floor indicated by a two-dot chain line. The front wheel 43 is pushed up to the position shown by the dashed line. At this time, the bracket 44 turns on a limit switch 45 provided near and above the bracket 44. The limit switch 45 that is turned on supplies power to the roller driving motor 31 and the stepping motor 42. At one end of the shaft 44a of the bracket 44, a coil spring 46 for urging the bracket 44 in a direction in which the front wheel 43 projects from the cleaner body 2 is provided. Thus, when the lower surface of the cleaner main body 2 separates from the floor surface, the pushed-up bracket 44 is rotated, and the limit switch 45 is turned off. At this time, the limit switch 45 outputs a signal to the control means 7, and the control means 7 receiving this signal cuts off the power supply to the roller driving motor 31 and the stepping motor 42. The front wheel 43 and the limit switch 45 constitute a floor detection unit in the present invention.
[0061]
Further, the front wheel 43 is positioned on a circumference M (shown by a two-dot chain line in FIG. 2) about a rotation center O (shown in FIG. 2) when the self-propelled cleaning robot 1 turns as described later. And the axle 43a of the front wheel 43 is provided so as to be orthogonal to the normal N of the circumference M around the rotation center O (indicated by a dashed line in FIG. 2). Further, the front wheel 43 is provided so as to be located within a range of 1/3 in front of the cleaner body 2. The self-propelled cleaning robot 1 may include a plurality of the front wheels 43. Further, the front wheel 43 may be a free wheel that can rotate in any direction. The front wheels 43 are preferably made of Duracon or the like, which is a material having low contact resistance.
[0062]
The obstacle detecting means 5 includes a bumper 51 and an obstacle sensor 52. The bumper 51 is provided on the front surface of the cleaner body 2 of the self-propelled cleaning robot 1 and over the entire width of the cleaner body 2. The bumper 51 is slidably provided in the traveling direction, and is urged toward the front side of the cleaner body 2 by a spring 51a or the like. The obstacle sensor 52 is turned on by a rib 51b formed inside the bumper 51 when the bumper 51 is pressed by an obstacle, and outputs a detection signal to the control means 7.
[0063]
The receiving means 6 is for receiving a predetermined signal from the remote controller 100 separately. The control means 7 controls the roller driving motor 31 and the stepping motor 42 based on a predetermined signal received by the receiving means 6, and executes a self-running mode when a self-running mode start signal is received. When the self-running mode stop signal is received, the self-running mode is stopped.
[0064]
In the self-propelled cleaning robot 1 having the above configuration, each member is arranged in a horizontal direction, and the total height H (shown in FIG. 1) of the main body is about 15 cm or less. Thereby, for example, it is possible to travel under furniture such as a sofa, and the cleaning area of the self-propelled cleaning robot 1 is expanded. Further, unlike a conventional self-propelled cleaning robot, since a suction pump and a motor for driving the suction pump are not provided, the main body weight is 2 kg or less. Thereby, the danger at the time of a collision can be reduced.
[0065]
Next, a case where a room is cleaned using the self-propelled cleaning robot 1 having the above-described configuration will be described.
[0066]
As shown in FIG. 7A (a), for example, when the self-propelled cleaning robot 1 placed in an 8 m square room 53 receives a self-propelled mode start signal from the remote controller 100, the control unit 7 sets the self-propelled mode. Execute At this time, the stepping motor 42 is driven to rotate, and the self-propelled cleaning robot 1 advances rightward in FIG. 7A (a). Further, the roller driving motor 31 of the dust collecting means 3 is driven to rotate, and the dust collecting means 3 cleans the floor of the room 53 as described above.
[0067]
As shown in FIG. 7A (b), when the self-propelled cleaning robot 1 comes into contact with the wall 53a of the room 53, the bumper 51 of the obstacle detection means 5 is pressed. At this time, the control means 7 detects the wall 53a (obstacle) of the room 53 based on the detection signal from the obstacle sensor 52, and for a predetermined time t1 (first predetermined time), the self-propelled cleaning robot 1 Stops.
[0068]
After a lapse of a predetermined time t1, as shown in FIG. 7C, the stepping motor 42 is driven to rotate, and the self-propelled cleaning robot 1 moves backward by a predetermined distance d1 (first predetermined distance) in the left direction in the figure. I do.
[0069]
After stopping for a predetermined time t1, as shown in FIG. 7A (d), the two stepping motors 42 are driven to rotate, and the self-propelled cleaning robot 1 turns 90 ° clockwise in the figure ( (First turn) and stop for a predetermined time t1. In this turning operation, the self-propelled cleaning robot 1 rotates around the center position of the two drive wheels 41 as the rotation center of the turning. Since the predetermined distance d1 is set so that the cleaner main body 2 of the self-propelled cleaning robot 1 does not contact the wall 53a of the room 53, the cleaner main body 2 contacts an obstacle during the turning operation. It will not stop. Further, at the time of the turning operation, the brush rollers 32a, 32b are driven to rotate, whereby the contact resistance between the brush rollers 32a, 32b and the floor surface is reduced. It becomes easy to turn. Further, the front wheel 43 is disposed on a circumference centered on a rotation center when the self-propelled cleaning robot 1 turns, and the axle 43a of the front wheel 43 is positioned on a circumference centered on the rotation center. Since it is perpendicular to the normal, it can turn more smoothly.
[0070]
After a lapse of a predetermined time t1, as shown in FIG. 7A (e), the stepping motor 42 is driven to rotate, and the self-propelled cleaning robot 1 advances downward by a predetermined distance d2 (second predetermined distance) in the figure. I do. This predetermined distance d2 is set to be equal to or less than the roller width L1 of the brush rollers 32a and 32b for raising.
[0071]
Then, after stopping for a predetermined time t1, the two stepping motors 42 are rotationally driven as shown in FIG. 7A (f), and the self-propelled cleaning robot 1 rotates 90 ° clockwise in the figure. The vehicle turns (second turn) and stops for a predetermined time t1. Further, the self-propelled cleaning robot 1 is set so as to make a total of 180 ° turning when the first turning and the second turning operation are completed. For example, when the self-propelled cleaning robot 1 turns only 80 ° during the first turn due to slippage of the drive wheel 41 or the like, the self-propelled cleaning robot 1 turns 110 ° during the second turn.
[0072]
As described above, after the self-propelled cleaning robot 1 finishes the traveling direction reversing operation (the first and second turning operations), the self-propelled cleaning robot 1 again drives the stepping motor 42 to rotate. (F) While moving forward, move leftward. At this time, the distance (predetermined distance d2) that the self-propelled cleaning robot 1 has moved downward in FIG. 7A (e) is set to be equal to or less than the roller width L1 of the brushing brush rollers 32a and 32b. Dust can be collected without leaving the dust on the floor.
[0073]
As shown in FIG. 7B (a), the self-propelled cleaning robot 1 reverses the traveling direction when detecting the front wall in the same manner as described above, and thereafter repeats this. However, the turning direction alternates (clockwise or counterclockwise) each time the traveling direction reversing operation is performed. Then, as shown in FIGS. 7B (b) to 7B (d), the self-propelled cleaning robot 1 detects the wall 53a, moves backward by a predetermined distance d1, and turns 90 ° clockwise (first turn). Then, as shown in FIG. 7B (e), when the vehicle advances by a predetermined distance d2, the wall 53b is detected. When the wall 53b is detected while moving forward by the predetermined distance d2, the control unit 7 determines that the first room angle detection has been performed. After that, the self-propelled cleaning robot 1 stops for a predetermined time t1, then moves backward by a predetermined distance d1, and turns 90 ° clockwise (second turn) as shown in FIG. 7B (f). For a predetermined time t1. Subsequently, the stepping motor 42 is rotationally driven to move forward in the left direction in FIG. 7B (f).
[0074]
Then, as shown in FIGS. 7C (a) to 7C (d), when the self-propelled cleaning robot 1 detects the wall 53c, it moves backward by a predetermined distance d1 and turns 90 ° counterclockwise (first turn). ) And move forward by a predetermined distance d2. As shown in FIG. 7C (d), when the self-propelled cleaning robot 1 detects the wall 53b while moving forward by the predetermined distance d2, the control unit 7 determines that the second angle detection has been performed. In this way, the self-propelled cleaning robot 1 stops for a predetermined time t1 after detecting the angle twice consecutively, and then moves backward by a predetermined distance d1, as shown in FIG. As shown in (f), it turns 180 degrees and changes the cleaning direction.
[0075]
After changing the cleaning direction, the self-propelled cleaning robot 1 drives the stepping motor 42 to rotate, and moves upward in FIG. 7D (a). As shown in FIG. 7D (b), when the self-propelled cleaning robot 1 contacts the wall 53d of the room 53, the cleaning robot 1 detects the wall 53d and stops for a predetermined time t1. After the lapse of the predetermined time t1, as shown in FIG. 7D (c), the self-propelled cleaning robot 1 moves backward in the figure by a predetermined distance d1 and stops for the predetermined time t1. Next, as shown in FIG. 7D (d), the self-propelled cleaning robot 1 turns 90 ° clockwise (first turn) in the figure and stops for a predetermined time t1. After the predetermined time t1 has elapsed, as shown in FIG. 7D (e), the self-propelled cleaning robot 1 advances rightward in the figure by a predetermined distance d2. After stopping for a predetermined time t1, the self-propelled cleaning robot 1 makes a 90 ° clockwise rotation (second rotation) in the figure, as shown in FIG. Stop for a while. After ending the traveling direction reversing operation, the self-propelled cleaning robot 1 moves forward in FIG. 7D (f). Thereafter, the room 53 is cleaned by repeatedly executing the forward movement and the traveling direction reversing operation in the same manner as described above.
[0076]
Further, when the self-propelled cleaning robot 1 receives the operation instruction signal from the remote controller 100 while executing the self-propelled mode, the control unit 7 executes the manual mode according to the operation instruction signal. It has become. More specifically, when an operation instruction signal for forward or backward, right turn, or left turn is received from the remote controller 100, the self-propelled mode is interrupted, and forward or reverse, right turn, or left turn is performed according to the operation instruction signal. Turn. At this time, the brush rollers 32a and 32b for scraping and the brush roller 33 for scraping remain rotationally driven. Thereby, the self-propelled cleaning robot 1 can be moved in a direction or a place desired by the user, and a place that cannot be cleaned in the self-propelled mode or a place where dust is left can be cleaned. The manual mode is executed while receiving the operation instruction signal from the remote controller 100. In the manual mode, the instruction content of the previous operation instruction signal may be executed until a new operation instruction signal is received from the remote controller 100.
[0077]
In addition, the user can change the rotation speed of the drive wheel 41 of the self-propelled cleaning robot 1 by transmitting a predetermined signal from the remote controller 100. For example, when the self-propelled cleaning robot 1 traveling on the carpet runs rightward along the direction of the hair of the carpet as shown by an arrow A in FIG. By transmitting a predetermined signal from 100, the rotation speed of the stepping motor 42 located on the right side of the cleaner body 2 among the stepping motors 42 is increased. Thereby, the self-propelled cleaning robot 1 can go straight without being affected by the hair of the carpet as shown by the two-dot chain line.
[0078]
When the traveling direction of the self-propelled cleaning robot 1 is reversed as shown in FIG. 8B, the rotational speeds of the drive wheels 41 are interchanged. In this case, the control means 7 increases the rotation speed of the stepping motor 42 located on the left side of the cleaner main body 2 among the stepping motors 42 and based on the rotation speed of the stepping motor 42 located on the right side of the cleaner main body 2. return. As a result, the self-propelled cleaning robot 1 can travel straight without being shifted to the left under the influence of the carpet hair as shown by the arrow B.
[0079]
In the self-propelled cleaning robot 1, when the obstacle detection unit 5 does not detect a wall or an obstacle during the predetermined time t2 (second predetermined time) in the self-propelled mode, the traveling direction reversing operation is performed. Then, after reversing the traveling direction, the self-propelled mode is executed. At this time, when the traveling speed of the self-propelled cleaning robot is 10 cm / s and the length of one side of the room to be cleaned is 8 m, the self-propelled cleaning robot moves forward in the traveling direction and the predetermined time t2 is a predetermined time t2. Since the time until a wall is detected is 80 s, it is preferable to set the time to 80 s to 120 s. Thus, it is possible to prevent the self-propelled cleaning robot from running in a gap between furniture such as a TV stand, for example, and to continuously perform cleaning. In addition, by setting the predetermined time t2, the self-propelled cleaning robot 1 can be prevented from exceeding the transmission range of the remote controller 100. For example, when the traveling speed of the self-propelled cleaning robot is 10 cm / s, by setting the predetermined time t2 to 80 s, the transmission range of the remote controller 100 can be prevented from exceeding 8 m.
[0080]
Further, as shown in FIG. 9A, when the self-propelled cleaning robot 1 gets off the wheel at the stepped portion, the front wheels 43 protrude from the cleaner body 2, and the limit switch 45 is turned off. At this time, the front wheel 43 is provided within a range of 1/3 in front of the cleaner main body 2 and the self-propelled cleaning robot 1 moves from the stepped portion because the real center of gravity is located on the rear side of the cleaner main body 2. Will not fall.
[0081]
Further, the control means 7 determines that the lower surface (front portion) of the self-propelled cleaning robot 1 is separated from the floor surface, and cuts off the power supply to the roller driving motor 31 and the stepping motor 42. Thereafter, as shown in FIG. 9B, the control means 7 energizes the stepping motor 42 to move the self-propelled cleaning robot 1 backward by a predetermined distance d3 (third predetermined distance). Then, based on a signal from the limit switch 45, it is determined whether or not the lower surface of the self-propelled cleaning robot 1 is in contact with the floor. When the control means 7 determines that the lower surface of the self-propelled cleaning robot 1 is in contact with the floor surface, it executes the self-propelled mode, while the lower surface of the self-propelled cleaning robot 1 separates from the floor surface. If it is determined that there is, the self-propelled mode is stopped. Thereby, for example, when the self-propelled cleaning robot 1 is lifted by the user, the brush rollers 32a and 32b for lifting, the drive wheels 41, and the like are not driven to rotate, so that safety is improved. Further, when the self-propelled cleaning robot 1 is placed on the floor in an appropriate direction by the user, cleaning of the floor is started again.
[0082]
When the control unit 7 determines that the lower surface of the self-propelled cleaning robot 1 is separated from the floor surface in the manual mode, the control unit 7 cuts off the power supply to the roller driving motor 31 and the stepping motor 42, and Among the operation instruction signals, operation instruction signals other than the backward operation instruction signal are prohibited from being accepted. Thereby, for example, falling from a stair or the like is prevented, and safety is improved.
[0083]
Next, a case where the voltage of the secondary battery 8 built in the self-propelled cleaning robot 1 becomes equal to or lower than a predetermined voltage value will be described.
[0084]
When the voltage value of the secondary battery 8 becomes equal to or less than the predetermined voltage value, the self-propelled cleaning robot 1 linearly moves to the start point of the self-propelled mode (shown by a dotted line) as shown by an arrow C in FIG. Return and stop. At this time, the control means 7 calculates the start point of the self-propelled mode based on the traveling direction and the running time in the self-propelled mode. Further, when returning to the start point of the self-propelled mode, the control means 7 cuts off the power supply to the roller driving motor 31 to reduce the power consumption of the secondary battery 8 having a reduced remaining amount. . Further, the roller drive motor 31 may be driven without being interrupted.
[0085]
In addition, instead of returning to the start point when the voltage value of the secondary battery 8 becomes equal to or less than the predetermined voltage value, it returns to the start point of the self-propelled mode after a predetermined set time has elapsed since the self-propelled mode was started. Is also good. Further, the start point of the self-propelled mode may be a remote control position where the remote controller 100 is located.
[0086]
【The invention's effect】
As is apparent from the above description, the self-propelled cleaning robot of the present invention includes a dust collecting unit that collects dust by a brush roller, a traveling unit, a remote controller, and a control unit, and the control unit includes a remote controller. When the self-propelled mode start signal is received from the self-propelled mode, and when the self-propelled mode stop signal is received, the self-propelled mode is stopped. A self-propelled cleaning robot that is less expensive than a cleaning robot can be provided.
[0087]
In particular, the dust collecting means is arranged so as to face the floor surface, and is arranged in parallel with each other, and a plurality of brush rollers for scooping which rotate in conjunction with a motor for driving the roller, and a brush roller parallel to the scooping roller. Brush roller that is arranged at a position and contacts the brush roller for scraping and that rotates in conjunction with the motor for driving the roller, and a brush roller that scrapes from the contact point between the brush roller for scraping and the brush roller for scraping. And a dust storage unit having an opening on the downstream side in the rotational direction of the cleaning robot, the cleaning performance can be improved as compared with a self-propelled cleaning robot provided with a conventional suction pump.
[0088]
Further, since the suction pump is not provided, a space for accommodating the suction pump and a motor for driving the suction pump can be omitted, and the size and weight can be reduced. Further, since a large amount of electric power is not required to drive various sensors and a motor for driving the suction pump, the size of the battery incorporated in the main body can be reduced, and an increase in the weight of the main body can be avoided. Thereby, the danger at the time of a collision can be reduced. In addition, since no suction pump is provided, there is no need to exhaust air to the outside, and there is an effect that the surrounding environment is not harmed. Also, in the case of a self-propelled cleaning robot provided with a conventional suction pump, a filter was required.However, this filter is not required, and the cleaning performance is not reduced due to clogging of the filter. It also has the effect that it can be maintained.
[0089]
In particular, it further comprises obstacle detection means for detecting obstacles in the traveling direction, and the obstacle detection means comprises a bumper slidably provided in the traveling direction on the front surface of the main body of the self-propelled cleaning robot and over the entire width of the main body. When the bumper abuts against an obstacle and is pressed, it outputs a detection signal to the control means, so unlike a self-propelled cleaning robot that detects a forward obstacle using a conventional infrared sensor, The user does not mistakenly recognize as an obstacle only by crossing in front of the self-propelled cleaning robot. In addition, since it is provided over the entire width of the main body, an obstacle located in the traveling direction can be reliably detected.
[Brief description of the drawings]
FIG. 1 is a schematic view of a self-propelled cleaning robot of the present invention.
FIG. 2 is a sectional view of the self-propelled cleaning robot of FIG. 1 as viewed from above.
FIG. 3 is a partially enlarged sectional view of FIG. 1;
FIG. 4 is a cross-sectional view of the self-propelled cleaning robot of FIG. 1 as viewed from below.
FIG. 5 is a cross-sectional view showing a state where a timing belt is put on a pulley of the self-propelled cleaning robot of FIG. 1;
FIG. 6 is a side view showing a state where the self-propelled cleaning robot of FIG. 1 is lifted.
FIGS. 7A to 7F are plan views showing operation states when the self-propelled cleaning robot of FIG. 1 cleans a room.
FIGS. 7A to 7F are plan views showing operation states when the self-propelled cleaning robot of FIG. 1 cleans a room.
FIGS. 7A to 7F are plan views showing operation states when the self-propelled cleaning robot of FIG. 1 cleans a room.
FIGS. 7A to 7F are plan views showing operation states when the self-propelled cleaning robot of FIG. 1 cleans a room.
8 (a) and 8 (b) are plan views showing operation states when the self-propelled cleaning robot of FIG. 1 cleans a room.
FIGS. 9A and 9B are side views showing an operation state when the self-propelled cleaning robot of FIG. 1 has derailed.
FIG. 10 is a plan view showing an operation state when the self-propelled cleaning robot of FIG. 1 returns to the start point of the self-propelled mode.
[Explanation of symbols]
1. Self-propelled cleaning robot
3. Dust collection means
4. Running means
5. Obstacle detection means
6 ... receiving means
7 ... Control means
31 ... Roller drive motor
32a, b ... brush roller for scraping
33 ... Brush roller for scraping
34 ... dust storage section
34a ... opening
100 Remote controller
s1, s2 ... contact

Claims (36)

Dust collecting means for collecting dust on the floor surface with a brush roller,
Traveling means for self-propelled,
A remote controller,
Control means for controlling the traveling means based on a signal received from the remote controller,
The self-propelled cleaning robot executes a self-propelled mode when a self-propelled mode start signal is received from the remote controller, and stops the self-propelled mode when a self-propelled mode stop signal is received. The dust collecting means is disposed so as to face the floor surface, and is disposed in parallel with each other, a plurality of brush brushes for raising and rotating in conjunction with a motor for driving a roller, the brush roller for raising, A brush roller for scraping, which is arranged in parallel and contacts the brush roller for scraping and rotates in conjunction with the motor for driving the roller, and a contact point between the brush roller for scraping and the brush roller for scraping. The self-propelled cleaning robot according to claim 1, further comprising a dust storage unit having an opening on a downstream side in a rotation direction of the scraping brush roller. The dust collecting means is provided with two brush brushes for raising on the front side and the rear side of the self-propelled cleaning robot, and the brush roller for scraping is provided above the brush roller for raising and at a distance of 2 The self-propelled cleaning robot according to claim 2, wherein the self-propelled cleaning robot is provided between the two brush rollers. The self-propelled type according to any one of claims 1 to 3, wherein upon receiving a predetermined operation instruction signal from the remote controller, the control means executes a manual mode in accordance with the operation instruction signal. Cleaning robot. It further comprises obstacle detection means for detecting an obstacle in the traveling direction,
The obstacle detection means has a bumper slidably provided in the traveling direction on the front surface of the main body of the self-propelled cleaning robot, and detects when the bumper comes into contact with an obstacle and is pressed by the control means. The self-propelled cleaning robot according to any one of claims 1 to 4, which outputs a signal. The self-propelled cleaning robot according to claim 5, wherein the bumper is provided on an entire width of a main body of the self-propelled cleaning robot. When the obstacle detection unit detects an obstacle in the self-propelled mode, the vehicle travels backward by a first predetermined distance, then makes a first right or left turn, then advances by a second predetermined distance, and makes a first turn. A traveling direction reversing operation of making a second turn in the same direction as the turning direction of the vehicle. After the traveling direction reversing operation, the self-propelled mode is executed. When the obstacle detection means detects an obstacle again, The self-propelled cleaning robot according to claim 5, wherein the traveling direction reversing operation is performed in a turning direction different from the turning direction of the direction reversing operation. The self-propelled cleaning robot according to claim 7, wherein the robot stops for a first predetermined time after the forward operation, the reverse operation, the first turning operation, and the second turning operation. The self-propelled cleaning robot according to claim 7, wherein, when the traveling direction reversing operation is performed, the traveling direction is changed by 180 °. At the time of the traveling direction reversing operation, when the obstacle detection unit detects an obstacle while the vehicle is moving forward by the second predetermined distance, the control unit determines that the corner of the room is detected, and 10. The self-propelled mode is executed after the vehicle travels backward by a first predetermined distance and then makes a second turn in the same direction as the turning direction of the first turn. Self-propelled cleaning robot. 11. When the control means detects the corner of the room twice consecutively, the control means moves backward by the first predetermined distance, executes a 180 ° turn, and executes the self-propelled mode. Self-propelled cleaning robot according to 1. 12. The self-propelled cleaning robot according to claim 7, wherein when the self-propelled cleaning robot performs a turning operation, the brush roller for raising is driven to rotate by the motor for driving the roller. A traveling cleaning robot. The self-propelled cleaning robot according to any one of claims 7 to 12, wherein the second predetermined distance in the traveling direction reversing operation is equal to or less than a roller width of the brush roller for raising. If the obstacle detection means does not detect an obstacle for a second predetermined time in the self-propelled mode, the traveling direction reversing operation is performed, and after the traveling direction reversing operation, the self-propelled mode is performed. The self-propelled cleaning robot according to any one of claims 7 to 13, characterized in that: The traveling means includes two drive wheels provided on both sides of a main body center and a rear portion of the main body of the self-propelled cleaning robot, a wheel driving motor for driving the drive wheels, and a self-propelled cleaning robot. The self-propelled cleaning robot according to any one of claims 1 to 14, comprising a front wheel provided at a front portion of the main body. The self-propelled cleaning robot according to claim 15, wherein the drive wheel is provided within a width of the brush roller for raising. The self-propelled cleaning robot according to claim 15, wherein a surface of the driving wheel is covered with rubber. The self-propelled cleaning robot according to any one of claims 15 to 17, wherein the wheel driving motor is provided for each of the driving wheels. The self-propelled cleaning robot according to any one of claims 15 to 18, wherein the wheel driving motor is a stepping motor. 20. The self-propelled cleaning robot according to claim 15, wherein a rotation speed of each of the drive wheels is variable. 21. The self-propelled cleaning robot according to claim 20, wherein the rotation speed of each of the driving wheels is changed every time the traveling direction reversing operation is performed. 22. The driving wheels rotate in opposite directions during the turning operation, and the self-propelled cleaning robot rotates around a center position of the two driving wheels as a rotation center of turning. A self-propelled cleaning robot according to any one of the above. The self-propelled cleaning robot according to any one of claims 15 to 22, wherein a center of gravity of the main body of the self-propelled cleaning robot is located near the driving wheel. One or more front wheels are provided, and each of the front wheels is disposed on a circle around the center of rotation of the turn, and the axle of the front wheel is orthogonal to the normal to the circumference. The self-propelled cleaning robot according to any one of claims 15 to 23, wherein the self-propelled cleaning robot is provided. The self-propelled cleaning robot according to any one of claims 15 to 23, wherein the front wheel is a free wheel that can rotate in any direction. Providing a floor surface detection unit consisting of the front wheel and a limit switch, the control means, when it is determined that the lower surface of the self-propelled cleaning robot is in contact with the floor surface based on a signal from the limit switch, When the roller driving motor and the wheel driving motor are energized and it is determined that the lower surface of the self-propelled cleaning robot is separated from the floor surface, the roller driving motor and the wheel driving motor are energized. The self-propelled cleaning robot according to any one of claims 15 to 25, wherein the self-propelled cleaning robot is configured to shut off. 27. The self-propelled cleaning robot according to claim 26, wherein the front wheel is provided within a range of one third in front of the self-propelled cleaning robot main body. When the control means determines that the lower surface of the self-propelled cleaning robot is separated from the floor surface during the self-propelled mode, after cutting off the power supply to the roller driving motor and the wheel driving motor, 28. The self-propelled cleaning robot according to claim 26, wherein the self-propelled cleaning robot moves backward by a third predetermined distance by energizing the wheel driving motor. The control means, after moving the self-propelled cleaning robot backward by a third predetermined distance, determines that the lower surface of the self-propelled cleaning robot is in contact with the floor, and executes the self-propelled mode. 29. The self-propelled cleaning robot according to claim 28, wherein the self-propelled cleaning robot stops when the lower surface of the self-propelled cleaning robot is separated from the floor. When the control means determines that the lower surface of the self-propelled cleaning robot is separated from the floor surface based on a signal from the limit switch during the manual mode, the roller driving motor and the wheel driving motor 30. The self-propelled cleaning according to any one of claims 26 to 29, wherein energization of the motor is interrupted, and operation instruction signals other than the backward operation instruction signal among the operation instruction signals are prohibited from being received. robot. A battery for supplying electric power to the roller driving motor and the wheel driving motor is provided, and when the voltage of the battery falls below a predetermined voltage value, the vehicle returns to the start point of the self-propelled mode and stops. The self-propelled cleaning robot according to any one of claims 1 to 30. The self-propelled cleaning robot according to any one of claims 1 to 30, wherein the self-propelled cleaning robot returns to a start point of the self-propelled mode and stops when a predetermined set time has elapsed since the start of the self-propelled mode. 33. The self-propelled cleaning robot according to claim 31, wherein the control unit calculates a start point of the self-propelled mode based on a traveling direction and a running time in the self-propelled mode. The self-propelled cleaning robot according to any one of claims 31 to 33, wherein the control unit cuts off power supply to the roller driving motor when returning to a start point of the self-propelled mode. The self-propelled cleaning robot according to any one of claims 31 to 34, wherein a start point of the self-propelled mode is a remote control position where the remote controller is located. The self-propelled cleaning robot according to any one of claims 1 to 35, wherein a main body of the self-propelled cleaning robot has an elliptical shape.

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