JP6781519B2 - Self-propelled vacuum cleaner - Google Patents

Description

The present invention relates to a self-propelled vacuum cleaner.

A self-propelled vacuum cleaner that is autonomously driven is known as a vacuum cleaner that cleans the floor surface on which dust is falling. Self-propelled vacuum cleaners are expected to be able to clean one or more rooms evenly, but there may be steps inside the room or between rooms, so overcome this. A configuration that can continue cleaning is required.

Since Patent Document 1 can accurately detect whether or not a step D can be overcome, electricity that can accurately prevent being caught in a convex step D that cannot be overcome or falling into a concave step D that cannot be overcome. It is said that the vacuum cleaner 11 can be provided (0047).

Japanese Unexamined Patent Publication No. 2014-226266

Patent Document 1 uses a step sensor 21 to detect whether or not a step can be overcome, but when it is determined that the step cannot be overcome, it is difficult to expand the cleaning area because it does not try to reach the other side of the step. .. Therefore, it is desirable to perform control to improve the height of the step that can be overcome.

The first self-propelled vacuum cleaner of the present invention made in view of the above circumstances is a self-propelled vacuum cleaner having a pair of drive wheels arranged in the left-right direction and a distance measuring sensor for the floor surface. , When approaching a step at the boundary between the first floor surface and the second floor surface higher than the first floor surface while traveling on the first floor surface, the direction away from the step After that, it travels toward the step at a speed higher than the speed at which it was traveling on the first floor surface, and the floor surface distance measuring sensor can distinguish the detected value in at least three stages. If the three stages are to be distinguished into less than the second threshold value, more than the second threshold value and less than the first threshold value, and more than the first threshold value, the values above the first threshold value are used. When it is detected, it turns or turns super-credit to change its course, and when it detects a value less than the first threshold value and more than the second threshold value for a predetermined time or more, it moves backward .

Further, the second self-propelled vacuum cleaner of the present invention has a pair of drive wheels arranged in the left-right direction, a revolving ground ring provided in front of the drive wheels, and a distance measuring sensor for the floor surface. Yes, and while traveling the first floor, one gets over the driven wheel a second step at the boundary of the floor in a higher than the first floor and a first floor position When the other does not get over, the drive wheel of the overcoming one is rotated in the reverse direction to make a turn or a super-credit turn, move backward in a direction away from the step, and then run on the first floor surface. of a self-propelled vacuum cleaner you travel toward the step faster than the speed, has an angular velocity sensor capable of detecting the angular velocity of the self-propelled vacuum cleaner, one is the step of the driving wheel After getting over, the other drive wheel is guided to the step, so that the self-propelled vacuum cleaner runs substantially parallel to the extending direction of the step, and then moves backward in the direction away from the step. And.

Further, the third self-propelled electric vacuum cleaner of the present invention has a pair of driving wheels arranged in the left-right direction, a revolving ground ring provided in front of the driving wheels, and a distance measuring sensor for the floor surface. A self-propelled electric vacuum cleaner having a step at the boundary between the first floor surface and the second floor surface higher than the first floor surface while traveling on the first floor surface. When one of the driving wheels gets over and the other does not get over, the driving wheel of the overcoming one is rotated forward to make a turn or a super-credit turn, and then the driving wheel of the overcoming one is rotated in the reverse direction. It is characterized by turning or super-credit turning.

It is a perspective view of the self-propelled vacuum cleaner which concerns on Embodiment 1. FIG. It is a perspective view of the state in which the upper case and the dust case of the self-propelled vacuum cleaner which concerns on Embodiment 1 are removed. It is a bottom view of the self-propelled vacuum cleaner which concerns on Embodiment 1. It is an enlarged perspective view of the training wheel which concerns on Embodiment 1. FIG. It is a block diagram which shows the control device of the self-propelled vacuum cleaner which concerns on Embodiment 1, and the device connected to the control device. It is a figure which shows the flow of the control of overcoming a step according to Embodiment 1. It is a flowchart of the control concerning step overcoming and the like which concerns on Embodiment 1. It is a figure which shows the flow of the control of overcoming a step according to Embodiment 2. It is a flowchart of the control concerning the step overcoming and the like which concerns on Embodiment 2. It is a figure which shows the flow of the control of overcoming a step according to Embodiment 3. It is a flowchart of the control concerning step overcoming and the like which concerns on Embodiment 3. It is a figure which shows the flow of the control of overcoming a step according to Embodiment 4. It is a flowchart of the control concerning step overcoming and the like which concerns on Embodiment 4.

Embodiments of the present invention will be described in detail with reference to the accompanying drawings. Similar components are designated by the same reference numerals, and the same description will not be repeated. The various components of the present invention do not necessarily have to be composed of one member, for example, one component is composed of a plurality of members, and a plurality of components are composed of one member. Allows some of one component and some of another component to overlap each other.

Of the directions in which the self-propelled vacuum cleaner 1 (see FIG. 1) travels, the direction in which the self-propelled vacuum cleaner 1 normally travels is forward, the direction opposite to the gravity direction is upward, and the drive wheels 116 (FIG. 1). The directions in which (see 3) face each other are left and right. That is, as shown in FIG. 1 and the like, front and back, top and bottom, and left and right are defined. In the present embodiment, the training wheels 17 are attached to the front side of the self-propelled vacuum cleaner 1.

Further, regarding the rotation direction of the drive wheels 116, when the pair of drive wheels 116 rotate in the same direction, the rotation direction for moving the self-propelled vacuum cleaner 1 forward is forward rotation, and the rotation direction for moving the self-propelled vacuum cleaner 1 backward is reverse rotation. And.

<Embodiment 1>
[Self-propelled vacuum cleaner 1]
FIG. 1 is a perspective view of the self-propelled vacuum cleaner 1 according to the present embodiment.
The self-propelled vacuum cleaner 1 is a vacuum cleaner that cleans a cleaning area (for example, indoors) while autonomously moving. The self-propelled vacuum cleaner 1 includes an upper case 111 which is an upper wall (and a part of the side wall), a lower case 112 which is a bottom wall (and a part of the side wall), and a bumper 18 installed at the front part. The main body 11 including the main body 11 is provided.

Further, a dust case 4 is provided on the upper rear side of the self-propelled vacuum cleaner 1. The self-propelled vacuum cleaner 1 of the present embodiment autonomously drives and cleans the drive wheels 116 by the arithmetic processing of the control device 2, but may be driven by receiving a user's command by a remote controller or the like.

[Lower case 112]
FIG. 2 is a perspective view of the upper case 111 and the dust case 4 removed, and FIG. 3 is a bottom view of the self-propelled vacuum cleaner 1.
The lower case 112 includes a drive mechanism accommodating portion 114 for accommodating a drive mechanism including a drive wheel 116, a traveling motor 1161, an arm 1141 and a reduction mechanism 1142, a side brush mounting portion 1121, a rotary brush motor 1133, and an electric motor. It is a thin disk-shaped member to which a blower 16, a rechargeable battery 19, a battery accommodating portion 115 (see FIG. 4) for accommodating the rechargeable battery 19, a control device 2, and a mouthpiece 113 are attached.

The lower case 112 has a bumper frame 1127 provided on the entire circumference or substantially the entire circumference of the side surface, including the lower end side of the side surface, preferably the lower end. The bumper frame 1127 is made of a material softer than the members forming the other parts of the side surface, and for example, a resin material such as an elastomer can be adopted. Further, the bumper frame 1127 protrudes to the outer peripheral side from other parts on the side surface, for example, the bumper 18. As a result, even if the self-propelled vacuum cleaner 1 collides with furniture or the like, it is possible to prevent the furniture or the like from being damaged.

Since the self-propelled vacuum cleaner 1 mainly moves forward, the front side surface tends to collide with furniture or the like, but in consideration of, for example, when entering a bottleneck, the side surface or the rear surface is as in the present embodiment. It is also preferable to provide a bumper frame 1127. Further, since the bumper 18 is annular, the bumper frame 1127 can be positioned on the outer peripheral side of the bumper 18 by forming the bumper frame 1127 in an annular shape as in the present embodiment. By doing so, the bumper 18 can be pressed from the outer peripheral side, so that it is easy to assemble.

(Protrusion of lower case 112)
Regarding the lower case 112, at least a part of the rear projection 1123, which is a convex portion provided on the bottom surface of the lower case 112, is provided on each of the left and right outer sides (right left outer side and right right outer side) of the rotating brush 14. At least a portion of each of the rear projections 1123 is also located directly behind the drive wheels 116.

Further, a central front projection 1124 and a central rear projection 1125 are provided in the central region of the lower case 112, which corresponds to the region between the two drive wheels 116. The central front projection 1124 is a convex portion located on the front end side of the drive wheel 116 in the front-rear direction and on the center side of the lower case 112 in the left-right direction. The central posterior projection 1125 is a convex portion extending in the front-rear direction on the posterior side of the central anterior projection 1124.

In the self-propelled vacuum cleaner 1 of the present embodiment, the rear end of the drive wheel 116 and the outer end of the rotary brush 14 are close to each other. Specifically, the distance from the left and right inner portions of the rear end of the drive wheel 116 to the left and right outer portions of the front end of the rotary brush 14 is set to 20 mm or less from the viewpoint of miniaturization, for example. The rotary brush 14 projects from the lower case 112 in close proximity to the floor surface to facilitate suction of dust, and the drive wheels 116 also project to contact the floor surface. Therefore, obstacles are present in the region between the two drive wheels 116 (the central region where the protrusions 1124 and 1125 are provided) and the region behind the drive wheels 116 (the region where the protrusions 1123 are provided). If it gets in, it may get stuck between the drive wheel 116 and the rotary brush 14 and hinder the drive of the self-propelled vacuum cleaner 1. In order to suppress such a situation, protrusions 1123, protrusions 1124, and protrusions 1125 are provided. Each of the protrusions 1123, 1124, 1125 is a protrusion adjusted to a dimension that is separated from the floor surface at least while the self-propelled vacuum cleaner 1 is running on a flat floor surface. The protrusions 1124 and 1125 may be integrated.

[Driving wheel 116]
As shown in FIG. 3 and the like, each of the drive wheels 116 is a member that receives the driving force of each of the traveling motors 1161 via the reduction mechanism 1142. As a result, the drive wheel 116 itself rotates, so that the main body 11 can be moved forward, backward, turned, or super-credited. The drive wheels 116 are arranged on both the left and right sides. In the present embodiment, the drive wheel 116 causes the self-propelled vacuum cleaner 1 to travel in the first speed band during normal forward movement (a situation in which an obstacle or a step is not detected). For example, the first speed band can be set to about 315 mm / s. The self-propelled vacuum cleaner 1 of the present embodiment mainly travels at a speed of about the first speed band when traveling on a flat floor surface, for example. The second speed band, which will be described later, is not particularly limited as long as it is faster than the first speed band, but is preferably 1.2 times or more, 1.3 times or more, or 1.4 times the first speed band. It can be more than that. The self-propelled vacuum cleaner 1 driven in the "first speed band" may travel at a substantially constant speed, or may travel while accelerating or decelerating to a certain width. For example, from the viewpoint of giving an impression to the user who observes the traveling self-propelled vacuum cleaner 1, it is preferable that the speed is substantially constant.

[Training wheels 17]
FIG. 4 is an enlarged perspective view of the training wheels 17. As shown in FIGS. 3 and 4, the auxiliary wheels 17 are auxiliary wheels for smoothly moving the self-propelled vacuum cleaner 1 while keeping the lower case 112 away from the floor surface, and are the auxiliary wheels of the lower case 112. Of these, it is provided on the front side of the drive wheels 116. The training wheels 17 are supported by a fixed shaft 173 so as to be driven to rotate by a frictional force generated with the floor surface as the main body 11 moves by the drive wheels 116. However, the training wheels 17 may be driven by a motor.

The training wheels 17 have a substantially circular ground ring 171 rotatably provided with the fixed shaft 173 as a rotation axis, and a revolution support portion 175 which is a revolution axis of the ground ring 171. The ground ring 171 can rotate and revolve in contact with the floor surface as the self-propelled vacuum cleaner 1 travels.

The ground ring 171 is supported by the revolution support portion 175 so that it can revolve 360 ° in a horizontal plane (in a plane perpendicular to the vertical direction). That is, the ground contact ring 171 can draw a circular locus centered on the revolution support portion 175. When it revolves, the direction of the rotation axis of the ground ring 171 changes together with the ground ring 171. Specifically, the rotation axis of the ground ring 171 faces the substantially tangential direction of this circle at the portion where the ground ring 171 is located, assuming a circular locus drawn by the ground ring 171.
The training wheels 17 shown in FIG. 3 are provided at the center in the front left-right direction of the main body 11.

[Bumpa 18]
The bumper 18 is installed so as to be movable in the front-rear direction, preferably further in the left-right direction, in response to a pressing force acting from the outside. The bumper 18 is urged in the forward direction by a pair of left and right bumper springs (not shown). When a drag force from an obstacle acts on the bumper spring through the bumper 18, the bumper spring deforms, forcing the bumper 18 forward and allowing the bumper 18 to retreat. When the bumper 18 separates from the obstacle and loses drag, the bumper 18 returns to its original position due to the urging force of the bumper spring. Incidentally, the retreat of the bumper 18 (that is, contact with an obstacle) is detected by the bumper sensor (infrared sensor), and the detection result is input to the control device 2. Since the displacement amount of the bumper 18 differs depending on the contact position of the obstacle or the like, it is possible to detect the position of the obstacle or the like with respect to the main body 11.

[Sensors]
FIG. 5 is a schematic configuration diagram showing a control device 2 of a self-propelled vacuum cleaner and a device connected to the control device 2. The control device 2 can control a traveling motor 1161 that applies a driving force to the driving wheels 116, a brush motor that applies a driving force to various brushes, and the like while using detection signals of various sensors.

The bumper sensor is a sensor that detects the retreat of the bumper 18 (that is, contact with an obstacle).
The distance measuring sensor 210 illustrated in FIG. 2 and the like is an infrared sensor that detects the distance to an obstacle. In this embodiment, distance measuring sensors are provided at three locations on the front surface and two locations on the side surface, for a total of five locations. The distance measuring sensor 210 has a light emitting unit (not shown) that emits infrared rays, and a light receiving unit (not shown) that receives reflected light that is reflected by an obstacle and returned. The distance to the obstacle is calculated based on the reflected light detected by the light receiving unit. Of the bumper 18, at least the vicinity of the distance measuring sensor is made of resin or glass that transmits infrared rays.

The floor surface detection sensor 211 (floor surface detection means) illustrated in FIG. 3 or the like is an infrared sensor that measures the distance to the floor surface, and is installed at four locations in front, back, left, and right of the lower surface of the lower case 112. .. More specifically, the front floor ranging sensor 211f located on the front side of the auxiliary wheel 17, the rear floor ranging sensor 211b located on the rear side of the rotating brush 14 and the scraping brush 13, and the left drive wheel. A left floor distance measuring sensor 211l located on the front side and the left side of the 116, and a right floor distance measuring sensor 211r located on the front side and the right side of the right drive wheel 116 are provided.
The position of each floor surface measuring sensor is not necessarily limited to this, and may be provided on the front side, the rear side, and the left and right sides of the drive wheels 116 in the main body 11. As the distance measuring sensor 211 for the floor surface, it is preferable to use one that can distinguish the distance to the floor surface in at least three stages, and for example, a PSD sensor can be adopted.

The rotation speed and rotation angle of the traveling motor 1161 are detected by using the traveling motor pulse output shown in FIG. The control device 2 calculates the moving speed, moving distance, and angular velocity of the main body 11 based on the rotation speed and the rotation angle detected from the traveling motor pulse output, the gear ratio of the reduction mechanism, and the diameter of the drive wheel 116. To do. The angular velocity of the main body 11 may be detected by using a gyro sensor.

The traveling motor current measuring instrument is a measuring instrument that measures the current flowing through the armature winding of the traveling motor 1161. The current measuring instrument outputs the measured current value to the control device 2.

[Drive]
The traveling motor drive device (left) (right) shown in FIG. 5 is an inverter that drives the traveling motors 1161 on the left and right sides, or a pulse waveform generator by PWM control, and operates in response to a command from the control device 2. .. The same applies to the electric blower drive device, the rotary brush motor drive device, and the side brush motor drive device (left) (right). Each of these drive devices is installed in a control device 2 (see FIG. 2) in the main body 11.

[Control device 2]
The control device 2 is, for example, a microcomputer, and reads a program stored in a ROM (Read Only Memory) and expands it into a RAM (Random Access Memory) so that the CPU (Central Processing Unit) executes various processes. It has become. The control device 2 executes arithmetic processing according to the signals input from the switch sheet 22 (see FIG. 1) and the above-mentioned sensors, and outputs a command signal to each drive device.

[Control when a step is detected]
The floor surface distance measuring sensor 211 detects how far a substance that reflects infrared rays (for example, the floor surface) is located below the floor surface distance measuring sensor 211. In the present embodiment, as the threshold value of the distance detected by the floor surface distance measuring sensor 211, the terms the first threshold value and the second threshold value smaller than the first threshold value and larger than 0 mm will be described. However, regarding the distance detected by the floor distance measuring sensor 211, the distance detected when the self-propelled vacuum cleaner 1 is traveling on a flat floor surface is 0 mm, and the vehicle is traveling on a flat floor surface. The distance detected when the vehicle is farther from the floor surface than in the case is defined as a positive value, and the distance detected when the vehicle is closer to the floor surface than when traveling on a flat floor surface is defined as a negative value.
For example, the first threshold value can be 30 mm and the second threshold value can be 8 mm. Further, what the detection value of the floor surface distance measuring sensor 211 is may be confirmed by actually acquiring the output signal of the floor surface distance measuring sensor 211, or the floor surface distance measuring. It may be confirmed by observing the distance from the sensor 211 to the floor surface.

(When a value above the first threshold is detected)
By detecting a large step such as a staircase by the distance measuring sensor 211 for the floor surface, it is possible to prevent the self-propelled vacuum cleaner 1 from falling from the large step. For example, when the front floor surface distance measuring sensor 211f detects a value equal to or greater than the first threshold value (the distance to the floor surface is, for example, 30 mm or more below the surface on which the self-propelled vacuum cleaner 1 is located. (When it is recognized that there is a large downhill step), the control device 2 controls the traveling motor to move the main body 11 backward, and further rotates on the spot (super-credit turning) to change the traveling direction to the rear. Let me. This rotation angle is preferably more than 90 ° and less than 270 °. As a result, the self-propelled vacuum cleaner 1 can continue traveling without dropping a large down step.

When a value equal to or higher than the first threshold value is detected, the self-propelled vacuum cleaner 1 is immediately decelerated / stopped, more preferably retracted, and then super-credited to change the course and then advanced again. Can be made to.

(When a value less than the first threshold value or more than the second threshold value is detected)
A self-propelled vacuum cleaner 1 traveling on a certain surface may head toward a step (up step) as a boundary with another surface located higher than this surface. In this case, the ascending step may be a height that cannot be overcome even if the self-propelled vacuum cleaner 1 travels forward. Among such ascending steps, consider an ascending step in which the grounding wheel 171 can overcome the step, but one or both of the drive wheels 116 cannot be overcome. In this case, the drive wheel 116 rides on a slightly uphill step, so that the self-propelled vacuum cleaner 1 may be slightly tilted with the front side facing upward. At this time, the second threshold value is set so that the front floor surface distance measuring sensor 211f detects a value less than the first threshold value and greater than or equal to the second threshold value. Further, at this time, the rear floor surface distance measuring sensor 211b can detect 0 mm or a negative value.

Even in the tilted state, the self-propelled vacuum cleaner 1 keeps rotating the drive wheels 116 to move forward, so depending on the height of the step, it may overcome the up step and proceed further, but it is currently assumed. At the step, you cannot get over the step and slip on the spot. In such a case, it is possible to perform control related to overcoming, which will be described later.

In order to distinguish whether or not the self-propelled vacuum cleaner 1 can climb up the ascending step, for example, the sensor 211f detects a value less than the first threshold value and / or the sensor 211b exceeds the second threshold value. It can be determined that the step cannot be overcome when the detection state of detecting 0 mm or a negative value continues for a predetermined time. This "predetermined time" may be approximately 0 seconds, but since it usually takes 1 to 2 seconds to climb a step that can be climbed up, it is set to 2.0 seconds, 2.5 seconds, or 3.0 seconds, for example. It is preferable to do so.

(When a value less than the second threshold is detected)
In this case, since it can be determined that the self-propelled vacuum cleaner 1 is traveling on a flat surface, the forward movement can be continued.

[Control from step detection to overcoming]
FIG. 6 is a diagram showing a flow of movement of the self-propelled vacuum cleaner 1 related to control over a step from step detection according to the present embodiment, and FIG. 7 is a flowchart of control from step detection to overcoming a step according to the present embodiment. Is. While the self-propelled vacuum cleaner 1 is traveling on the floor surface L (first floor surface) with reference to FIGS. 6 and 7, another floor surface U (second floor surface) which is a surface higher than the floor surface L (second floor surface) The flow of control for climbing a step formed between the floor and the floor will be described. In FIG. 6, the left and right drive wheels 116 and the ground ring 171 are indicated by dotted lines, and the revolution support shaft 175, which is the revolution axis of the ground ring 171, is indicated by a black circle. The self-propelled vacuum cleaner 1 from the step detection to the step overcoming moves in the order of FIGS. 6 (a), (b), (c), and (d). In the present embodiment, the case where the step is detected by the front floor surface measuring sensor 211f will be described as a representative, but the step is determined by the rear floor surface measuring sensor 211b and the left and right floor ranging sensors 211l and 211r. When it is detected, it can be controlled in the same way.

Further, various operations of the self-propelled vacuum cleaner 1 of the present embodiment can be realized by the control device 2 acquiring the detection results of various sensors and outputting drive commands to various motors. .. Further, the rechargeable battery 19 can supply electric power to the control device 2, various sensors, the motor, and the like.

First, the self-propelled vacuum cleaner 1 advances at a speed belonging to the first speed band, which is a normal advancing speed (FIG. 6A, step S100). During this time, if any of the floor distance measuring sensors 211 detects the first threshold value or higher (step S200, Yes), after making a super-credit turn and changing the course, the vehicle advances in the first speed band. Resume (step S300) (not shown). The control of step S200 and step S300 may appropriately perform interrupt processing during other steps in the present embodiment, or constantly monitor the success or failure of the condition of step S200.

On the other hand, for example, when the distance measuring sensor 211f for the front floor surface detects a value less than the first threshold value and more than the second threshold value for a predetermined time or more (step S200, No, step S400, Yes, FIG. The type vacuum cleaner 1 reversely rotates the pair of drive wheels 116 together to move backward (step S500, FIG. 6C). The predetermined time and the reverse distance can be set as appropriate, but can be set to, for example, 2.0 seconds or more and 350 mm or more.

When moving backward in step S500, it is desirable to rotate the pair of drive wheels 116 at substantially the same angular velocity to move backward directly behind in order to enter from a direction substantially perpendicular to the step in subsequent step S700, but at different angular velocities. You may move backward while bending to some extent. Further, after changing the course backward by turning or super-credit turning, the vehicle may proceed in that direction, and further, the course may be changed forward (direction toward a step) by turning or super-credit turning. Here, any mode in which the course is changed in the direction away from the step after step S400 is referred to as "backward".

Further, in the determination of step S400, it is desirable to determine whether or not the state in which the speed of each drive wheel 116 is substantially 0 or the state in which the difference in speed of each drive wheel 116 is approximately 0 continues for a predetermined time. When such a state continues for a predetermined time, whether or not both drive wheels 116 are on the step, that is, whether the self-propelled vacuum cleaner 1 is oriented in a direction substantially perpendicular to the step. This is because it is possible to estimate whether or not, and if this speed information is used, an appropriate course can be set in the subsequent step S500.

After that, the self-propelled vacuum cleaner 1 temporarily increases the value of the first threshold value of the floor surface distance measuring sensor 211 (this is referred to as a third threshold value) (step S600). As a result, even if the self-propelled vacuum cleaner 1 is flipped up by the impact of the collision with the step and the distance to the floor is temporarily increased when overcoming the step in the subsequent forward movement, the self-propelled vacuum cleaner 1 turns or turns. It is possible to prevent the vehicle from turning over and changing course, and immediately descending from a step that has been climbed.

The term "reverse" as used herein means to maintain the direction in which the self-propelled vacuum cleaner 1 is facing and to reverse the pair of drive wheels 116 by rotating them in the reverse direction at substantially the same speed. preferable. When moving backward in such a manner, it is desirable to adjust the direction so that the front of the self-propelled vacuum cleaner 1 faces the direction perpendicular to the extending direction of the step after moving backward.

Further, as described above, if it is possible to suppress the super-credit turning or the like even if the self-propelled vacuum cleaner 1 is flipped up, the details of the control using the threshold value can be changed in various ways. For example, it is not limited to the mode in which the first threshold value is increased to be the third threshold value, and even if a value equal to or higher than the first threshold value is detected, if this is less than the third threshold value, the running is continued. Anything that does.

After changing the threshold value to the third threshold value, the self-propelled vacuum cleaner 1 advances at a speed (belonging to the second speed band) higher than the running speed (belonging to the first speed band) in step S100 (belonging to the second speed band). Step S700, FIG. 6 (d)). The second speed band can be set as appropriate, but can be, for example, 1.2 times or 1.3 times or more a certain speed belonging to the first speed band. In this embodiment, it is set to 470 mm / s or more. The first speed band and the second speed band may or may not have overlapping ranges. In this respect, it is preferable that the maximum speed in the first speed band is lower than the minimum speed in the second speed band. However, in determining whether a certain speed belongs to the first speed band, when the vehicle is driven on a flat floor, the speed that appears only at a very low rate (for example, a flat floor). It may be determined that the speed (speed that appears only for a total of several seconds to 3 minutes) does not belong to the first speed band when the vehicle is run for one hour. Further, it is preferable to determine that only the speed that appears when autonomously driving based on the signal from the control device 2 belongs to the first speed band, for example, when the user transmits an operation command by a remote control or the like. It may be determined that the speed appearing in is not in the first speed band.

After a predetermined time has passed or a predetermined distance has been advanced from the advance in the second speed zone, the speed is reduced to return to the first speed zone, and the threshold value of the floor ranging sensor 211 is set from the third threshold value to the first. (Step S800). This "predetermined time" may be set as a lower limit of time for advancing a distance equal to or longer than the reverse distance in step S500, but as an upper limit, it is preferable to prepare for a situation where there is a descending step beyond the step. For example, it is possible to set the time to advance by a distance corresponding to more than 1.0 times, 1.05 times, 1.1 times, or 1.2 times or less of the "backward distance by step S500". The timing of reducing the speed and the timing of returning the threshold value of the floor distance measuring sensor 211 do not necessarily have to be simultaneous.

It should be noted that control can be performed in place of or in addition to step S400. For example, a ground ring sensor for detecting the rotation of the ground ring 171 may be further provided, and the process may proceed to step S500 by detecting a case where the speed is constant higher than the rotation speed of the drive wheel 116. In this case, the ratio of the diameters of the ground ring 171 and the drive wheel 116 is taken into consideration. For example, if the self-propelled vacuum cleaner 1 is traveling at a certain speed, the speed Y of the drive wheels 116 with respect to the rotation speed X of the grounding wheels 171, that is, Y / X is a. When this ratio exceeds a predetermined value of more than a, it may be determined that the process proceeds to step S500 (step S400 is Yes).

<Embodiment 2>
The configuration of the present embodiment can be the same as that of the first embodiment except for the following points. FIG. 8 is a diagram showing the flow flow of the movement of the self-propelled vacuum cleaner 1 related to the control over the step from the step detection according to the present embodiment to the backward step, and FIG. 9 is from the step detection according to the present embodiment. It is a flowchart of control over a step.

When the self-propelled vacuum cleaner 1 advances to overcome the step, the ground contact ring 171 comes into contact with the step formed between the floor surface U and the floor surface L prior to the drive wheel 116. As described above, the ground ring 171 can revolve around the revolution support shaft 175. However, when the ground ring 171 comes into contact with a step while being located in front of the revolution support shaft 175, the ground ring 171 moves rearward from the revolution support shaft 175. It is harder to get over the step than when it touches the step in the positioned state. This is because, in the former case, when the step and the ground ring 171 come into contact with each other, the ground ring 171 moves backward, and the energy is used not to exceed the step but to revolve the ground ring 171. it is conceivable that. Then, when the self-propelled vacuum cleaner 1 moves backward, for example, immediately after, and then moves forward, for example,, the ground contact ring 171 may come into contact with the step while being positioned in front of the revolution support shaft 175.

Therefore, in the present embodiment, after moving backward (step S500, FIG. 8A), a super-credit turn or a turn is performed clockwise and counterclockwise, respectively (steps S510, 520, FIG. 8B). , (C)). After this super-credit turn or turn, the self-propelled vacuum cleaner 1 advances, preferably in a direction substantially perpendicular to the step (FIG. 8 (d)). As a result, the ground contact ring 171 can be revolved so as to be located on the rear side of the revolving support shaft 175 prior to advancing, so that it becomes easy to get over the step.

<Embodiment 3>
The configuration of the present embodiment can be the same as that of the first or second embodiment except for the following points. FIG. 10 is a diagram showing a flow of movement of the self-propelled vacuum cleaner 1 related to control over a step from step detection according to the present embodiment to the backward step, and FIG. 11 is a diagram showing the step detection according to the present embodiment. It is a flowchart of control over a step.

In the present embodiment, preferable control will be described when the self-propelled vacuum cleaner 1 approaches obliquely toward a step. When approaching the step diagonally, the drive wheels 116 which first come into contact with the step are more likely to get over the step than when approaching the step from the front. Therefore, depending on the first speed band, only one of the ground contact wheel 171 and the pair of drive wheels 116 may get over the step. In this case, the floor distance measuring sensors 211f and 211b often output a value less than the second threshold value. Therefore, for example, another floor distance measuring sensor 211 is used to overcome only such one wheel. It is desirable to configure it so that it can detect the situation. Such a control method will be described.

First, it is assumed that as a result of advancing in the first speed zone, the step is obliquely approached between the floor surface U and the floor surface L (FIG. 10 (a)). When only one of the ground contact wheel 171 and the pair of drive wheels 116 gets over the step in contact with the step, the self-propelled vacuum cleaner 1 tilts to the left and right, so that the outputs of the left and right floor distance measuring sensors 211l and 211r The difference between the values becomes large. By detecting that this difference value is equal to or greater than a certain value (referred to as a fourth threshold value), it can be determined that the self-propelled vacuum cleaner 1 has overcome only one wheel (FIG. 10 (b), FIG. Step S400, Yes). In this situation, if the installation position of the second threshold value or the floor surface distance measuring sensor 211f is adjusted so that the value detected by the floor surface measuring sensor 211f is less than the second threshold value, the self-propelled electricity is installed. This is preferable because it is easy to distinguish the case where the vacuum cleaner 1 enters perpendicular to the step.

If the vehicle continues to travel as it is, the drive wheel 116 located on the floor surface L comes into contact with the step, so that the self-propelled vacuum cleaner 1 is guided so as to be parallel to the extending direction of the step ( FIG. 10 (b). Along with this, the self-propelled vacuum cleaner 1 turns at a certain angular velocity. Therefore, by detecting that the absolute value of the angular velocity of the self-propelled vacuum cleaner 1 is equal to or higher than a predetermined value, it is possible to detect that the self-propelled vacuum cleaner 1 faces a direction parallel to the step (step S410). , Yes). The fourth threshold value and the angular velocity threshold value of the self-propelled vacuum cleaner 1 can be determined by appropriately running the self-propelled vacuum cleaner 1 in a test run. For example, the threshold value is 5 mm or more and 30 deg / s or more, respectively. be able to. The angular velocity of the self-propelled vacuum cleaner 1 can be detected by providing the self-propelled vacuum cleaner 1 with an angular velocity sensor such as a gyro sensor.
Further, the fact that the self-propelled vacuum cleaner 1 is oriented in a direction parallel to the step means that the angular velocities of the pair of drive wheels 116 are both larger than 0 and both are substantially the same speed in place of or in addition to step S410. It may be judged by detecting that it is being driven. Since it has been detected from the result of step S400 that one wheel has already run on, if the self-propelled vacuum cleaner 1 is guided by the step and finishes turning, the speed of both drive wheels 116 will be like this. This is because it becomes a relationship.

After that, by advancing the self-propelled vacuum cleaner 1 for a predetermined time or more, for example, 0.5 s or more, the traveling direction of the self-propelled vacuum cleaner 1 can be accurately aligned parallel to the direction of the step (step S411. This step is particularly optional. ). Next, the rotation or super-credit turning is performed in the direction opposite to the rotation direction corresponding to the angular velocity detected in step S410 (FIG. 10 (c), step S412). The angle of turning or super-credit turning is preferably 90 ° or a value close to 90 ° (for example, 85 ° to 95 °). Similar results can be obtained by rotating the drive wheel 116 that has overcome the step in the reverse direction for this turning or super-credit turning. Which drive wheel 116 has overcome the step can be determined from the output values of the left and right floor distance measuring sensors 211l and 211r. After that, the step can be overcome by moving backward, changing the threshold value, and moving forward in the second speed band in the same manner as described above.

<Embodiment 4>
The configuration of the present embodiment can be the same as that of the first or second embodiment except for the following points. FIG. 12 is a diagram showing a flow of movement of the self-propelled vacuum cleaner 1 related to control over a step from step detection according to the present embodiment to the backward step, and FIG. 13 is a diagram showing the step detection according to the present embodiment. It is a flowchart of control over a step.

In this embodiment, another method of control when the self-propelled vacuum cleaner 1 approaches obliquely toward a step will be described. First, for example, it is assumed that as a result of advancing in the first speed zone, the step is obliquely approached between the floor surface U and the floor surface L (FIG. 12 (a)). When the ground contact wheel 171 and one of the drive wheels 116 get over the step in contact with the step, the difference between the output values of the left and right floor distance measuring sensors 211l and 211r becomes large. By detecting that this difference value is equal to or greater than a certain value (referred to as a fourth threshold value), it is determined that the self-propelled vacuum cleaner 1 has overcome only one wheel (FIG. 12 (b), FIG. Step S400, Yes).

In this state, the self-propelled vacuum cleaner 1 is temporarily stopped (step S401). Then, for example, using the detection results of the left and right floor distance measuring sensors 211l and 211r, if it can be determined that the right drive wheel 116 has overcome the step, it is determined that the left drive wheel 116 has overcome the step counterclockwise. If possible, turn clockwise or super-credit turn, respectively (FIG. 12 (c), step S401). It is preferable that the turning angle for turning or super-credit turning is such that the drive wheel 116 or the grounding wheel 171 that has overcome the step does not fall down the step. Since this depends on the layout of the drive wheels 116 and the ground contact wheels 171, it can be set by appropriately performing a test run. By this turning or super-credit turning, the approach length of the next step can be secured. In this case, the drive wheel 116 on the side that has overcome the step may be rotated in the reverse direction and then rotated forward, and the drive wheel 116 on the side that has not overcome the step may be rotated in any case. It may rotate forward or reverse. However, it is desirable to adjust the parameters so that the probability that the drive wheel 116 on the side that has overcome the step will fall from the step during this turn is as low as possible.

After that, it makes a super-credit turn in the direction opposite to the rotation direction of step S401 (FIG. 12 (d), step S402). Since the distance from the drive wheel 116 on the side located on the floor surface L to the step is increased by step S401, the drive wheel 116 can be brought into contact with the step by accelerating sufficiently. As a result, the self-propelled vacuum cleaner 1 can easily cross the step.

The self-propelled vacuum cleaner according to the present invention has been described in detail by showing embodiments. Needless to say, the content of the present invention is not limited to the embodiment, and can be appropriately modified or changed without departing from the spirit of the present invention. Further, in the present embodiment, the self-propelled vacuum cleaner has been described as an example, but the same effect can be obtained by applying the self-propelled vacuum cleaner to a moving body traveling on the floor surface using the driving wheels.

1 Self-propelled electric vacuum cleaner 11 Main body 111 Upper case 112 Lower case 1121 Side brush mounting part 1122 Auxiliary wheel mounting part 1123 Rear protrusion 1124 Central front side protrusion 1125 Central rear side protrusion 1126 Exhaust port 1127 Bumper frame 1128 Mounting claw locking part 113 Suction port 1131 Suction port 1133 Rotating brush motor 114 Drive mechanism housing 1141 Arm (suspension)
1142 Deceleration mechanism 115 Battery housing 116 Drive wheel 1161 Travel motor 117 Front lid 118 Airtight member 13 Scraping brush 14 Rotating brush 15 Side brush 151 Side brush holder 152 Side brush motor 16 Electric blower 161 Elastic body 162 Convex shape 17 Auxiliary wheel 171 Ground ring 173 Fixed shaft 175 Revolving support 18 Bumper 19 Rechargeable battery 2 Control device 21 Control board 210 Sensors (distance measuring sensor)
211 Sensors (Floor surface distance measurement sensor)
22 Switch sheet 221 Circular operation button 222 Ring-shaped operation button 4 Dust case

Claims (6)

A pair of drive wheels lined up in the left-right direction,
It is a self-propelled vacuum cleaner that has a distance measuring sensor for the floor surface.
When approaching a step at the boundary between the first floor surface and the second floor surface higher than the first floor surface while traveling on the first floor surface, in the direction away from the step surface. Going backward, then traveling toward the step at a speed higher than the speed at which it was traveling on the first floor surface ,
The floor distance measuring sensor can distinguish the detected value in at least three stages.
It is assumed that the three stages are distinguished into less than the second threshold value, more than the second threshold value and less than the first threshold value, and more than the first threshold value, respectively.
When a value greater than or equal to the first threshold value is detected, a turn or a super-credit turn is made to change the course.
A self-propelled vacuum cleaner characterized in that when a value less than the first threshold value and more than the second threshold value is detected for a predetermined time or longer, the vacuum cleaner moves backward . It has a revolving ground ring provided in front of the drive wheel,
The self-propelled electric cleaner according to claim 1, wherein the vehicle moves backward in a direction away from the step, then turns clockwise and counterclockwise, or turns super-credited, and then travels toward the step. Machine. Even if the value detected by the floor distance measuring sensor is equal to or greater than the first threshold value, a third value is obtained from the start of traveling at the high speed until a predetermined time or more elapses or a predetermined distance or more traveled. The self-propelled vacuum cleaner according to claim 1 or 2 , wherein if the value is less than the threshold value, the vehicle continues to run. The direction away from the step is a direction substantially perpendicular to the extending direction of the step.
Direction traveling towards the step by the high speed, self-propelled vacuum cleaner according to any one of claims 1 to 3, wherein the a direction substantially perpendicular to the extending direction of the step. A pair of drive wheels lined up in the left-right direction,
A revolving ground wheel provided in front of the drive wheel and
Possess a floor surface distance measuring sensor, a,
While traveling on the first floor surface, one of the drive wheels overcomes a step at the boundary between the first floor surface and the second floor surface higher than the first floor surface, and the other If it does not get over, turn or super-credit turn by rotating the driving wheel of the overcoming one in the reverse direction.
The moves backward in a direction away from the step, then, a self-propelled vacuum cleaner you travel toward the step faster than the rate at which was running the first floor,
It has an angular velocity sensor that can detect the angular velocity of the self-propelled vacuum cleaner.
After one of the drive wheels has overcome the step, the other drive wheel is guided to the step so that the self-propelled vacuum cleaner runs substantially parallel to the extending direction of the step, and then the step. A self-propelled vacuum cleaner characterized by moving backward in the direction away from . A pair of drive wheels lined up in the left-right direction,
A revolving ground wheel provided in front of the drive wheel and
It is a self-propelled vacuum cleaner that has a distance measuring sensor for the floor surface.
While traveling on the first floor surface, one of the drive wheels overcomes a step at the boundary between the first floor surface and the second floor surface higher than the first floor surface, and the other When it does not get over, it is characterized by turning or super-credit turning by rotating the driving wheel of the overcoming one in the forward direction, and then turning or super-credit turning by rotating the driving wheel of the overcoming one in the reverse direction. Self-propelled vacuum cleaner.

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