JP2007179398A - Self-propelled cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To appropriately secure an obstacle-detection range and reduce the cost. <P>SOLUTION: This is a self-propelled cleaner 100 which autonomously travels to clean a traveling surface. In addition, the cleaner is provided with a lower side bumper 11 which is provided on the front side of a body frame part 1 and has a contact part which contacts the inner surface of the front end surface part of a rotative cover part 22; a contact-type left obstacle detection sensor; and a contact-type right obstacle detection sensor, each of these sensors, detecting an obstacle by the contact of its left or right contact part due to the backward moving of the lower side bumper, based on the contact of at least either the rotative cover part or the lower side bumper with the obstacle. A CPU controls the drive of a traveling part 3 so as to change the traveling direction, based on the detection of the obstacle by the obstacle detection sensors. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a self-propelled cleaner that performs autonomous running and cleaning.

  Conventionally, a self-propelled cleaner that cleans the running surface by autonomously running based on a predetermined running pattern and sucking dust existing on the floor surface and collecting the dust in a dust collecting case has been known. Yes.

Some self-propelled cleaners are equipped with obstacle detection sensors that detect obstacles in the direction of travel and reduce blind spots during travel. Travel control is performed based on the detection.
In addition, the self-propelled vacuum cleaner will not be able to detect obstacles properly by the obstacle detection sensor, and the obstacle or self-propelled vacuum cleaner will be damaged or damaged if it touches the obstacle. Some of them are provided with an impact buffering portion such as a bumper for buffering the impact (see, for example, Patent Document 1 and Patent Document 2). In such a self-propelled cleaner, a contact type obstacle detection sensor that detects the obstacle based on the contact with the obstacle of the shock buffer portion is mounted in order to reduce the blind spot during traveling. Some have done.

In addition, some self-propelled cleaners equipped with shock absorbers have been developed with a plurality of shock absorbers in order to properly cushion the impact received from various directions, up and down and front and rear. (For example, refer to Patent Document 3 and Patent Document 4).
JP 2005-40596 A JP 2004-267236 A JP 2003-280740 A JP 2003-50633 A

  However, in the case of Patent Document 3 and Patent Document 4 described above, an obstacle detection sensor is mounted for each impact buffer unit in order to ensure a wider detection range and appropriately detect an obstacle. Therefore, there is a problem that the cost of the self-propelled cleaner is increased by increasing the number of mounted units. That is, when one obstacle detection sensor is mounted, it is necessary to prepare a switch and a switch board constituting the sensor, a board fixing member such as a holder or a screw, a connection line, a connector, etc. for each sensor. This is a factor of cost increase.

  Then, the subject of this invention is providing the self-propelled cleaner which can aim at the cost reduction while being able to ensure the detection range of an obstruction appropriately.

In order to solve the above-mentioned problem, the invention described in claim 1
A self-propelled vacuum cleaner that runs autonomously and cleans the running surface,
A traveling unit that travels in a predetermined direction;
A lower impact buffer provided on the forward side in the running direction of the cleaner body,
An upper lid provided on the upper side of the main body of the vacuum cleaner;
An upper impact buffer provided on the traveling direction forward side of the upper lid,
Contact that detects the obstacle by contact of a contact portion provided in the lower shock buffer based on contact with at least one of the upper shock buffer and the lower shock buffer. Type obstacle detection sensor,
Traveling control means for controlling the driving of the traveling unit so as to change the traveling direction based on detection of the obstacle by the obstacle detection sensor,
The upper shock absorber is movable to the backward direction in the traveling direction,
The lower impact buffering part is
Based on the movement with respect to the backward direction in the traveling direction, the contact part is brought into contact with the obstacle detection sensor based on the movement with respect to the backward direction in the traveling direction,
More than the above-mentioned front buffer part, the contacted part with which a part of the above-mentioned traveling direction reverse side of the above-mentioned upper shock buffer part which moves to the above-mentioned traveling direction reverse side contacts, the front buffer part formed in the above-mentioned traveling direction forward side A side buffer portion formed integrally with the front buffer portion on both sides in the width direction substantially orthogonal to the traveling direction;
Based on the contact of the part of the upper impact buffering portion with the contacted portion, the upper impact buffering portion moves to the backward direction in the traveling direction.

The invention described in claim 2
A self-propelled vacuum cleaner that runs autonomously and cleans the running surface,
A traveling unit that travels in a predetermined direction;
A lower impact buffer provided on the forward side in the running direction of the cleaner body,
An upper lid provided on the upper side of the main body of the vacuum cleaner;
An upper impact buffer provided on the traveling direction forward side of the upper lid,
A contact portion provided in any one of the upper shock buffer portion and the lower shock buffer portion based on contact with an obstacle in at least one of the upper shock buffer portion and the lower shock buffer portion. An obstacle detection sensor of a contact type that detects the obstacle by touching,
Travel control means for controlling the drive of the travel unit so as to change the travel direction based on detection of the obstacle by the obstacle detection sensor.

The invention according to claim 3 is the self-propelled cleaner according to claim 2,
The lower impact buffering part is
Based on the movement with respect to the travel direction reverse side, the contact portion is brought into contact with the obstacle detection sensor.
Based on the contact of the upper impact buffering portion with respect to the obstacle, a contacted portion that contacts a part of the upper impact buffering portion on the reverse side in the traveling direction,
Based on the contact of the part of the upper impact buffering portion with the contacted portion, the moving portion moves backward in the traveling direction.

The invention according to claim 4 is the self-propelled cleaner according to claim 3,
The upper shock absorbing portion is movable to the backward direction in the traveling direction, and based on the movement with respect to the backward direction in the traveling direction, the part is brought into contact with the contacted portion,
The lower impact buffering part moves together with the upper impact cushioning part to the backward direction in the traveling direction.

Invention of Claim 5 is a self-propelled cleaner as described in any one of Claims 2-4,
The lower impact buffering part is
A front buffer portion formed on the forward side in the travel direction, and a side buffer portion formed integrally with the front buffer portion on the width direction side substantially orthogonal to the travel direction from the front buffer portion. It is characterized by.

The invention according to claim 6 is the self-propelled cleaner according to claim 5,
The side buffer portion is provided on both sides of the front buffer portion in the width direction.

According to the first aspect of the present invention, even when an obstacle existing on the forward side in the traveling direction is contacted, the shock is buffered by the upper impact buffer portion or the lower impact buffer portion, and the obstacle or the self-propelled cleaner Breakage or damage can be prevented. Furthermore, based on the contact with at least one of the upper shock buffering portion and the lower shock buffering portion, the obstacle can be properly detected using the contact type obstacle detection sensor, and the vehicle travels. The self-propelled cleaning system can properly secure the obstacle detection range on the forward side in the direction and use only one obstacle detection sensor for the upper shock buffer and the lower shock buffer. The cost of the machine can be reduced.
In other words, the lower impact buffering portion moves backward in the traveling direction due to the contact of the obstacle, so that the obstacle can be properly detected by bringing the contact portion into contact with the obstacle detection sensor. Further, based on the contact of the upper impact buffering portion with the obstacle, the upper impact buffering portion moves to the backward direction in the traveling direction, and a part of the reverse side is brought into contact with the contacted portion of the lower impact buffering portion. Thus, the lower impact buffering portion can be moved together with the upper impact buffering portion to the backward direction in the traveling direction. Thereby, the obstacle which exists in the running direction advance side can be appropriately detected by using one obstacle detection sensor for the upper impact buffer and the lower impact buffer.
In addition, the lower shock absorbing portion can be formed by integrating the front shock absorbing portion and the side shock absorbing portions on both sides in the width direction, so that the handleability of the lower shock absorbing portion can be improved and the cost can be reduced.

  According to invention of Claim 2, even if it contacts the obstacle which exists in a running direction advance side, an impact is buffered by an upper shock buffer part or a lower shock buffer part, and an obstacle or a self-propelled cleaner Breakage or damage can be prevented. Furthermore, based on the contact with at least one of the upper shock buffering portion and the lower shock buffering portion, the obstacle can be properly detected using the contact type obstacle detection sensor, and the vehicle travels. The self-propelled cleaning system can properly secure the obstacle detection range on the forward side in the direction and use only one obstacle detection sensor for the upper shock buffer and the lower shock buffer. The cost of the machine can be reduced.

  According to the third aspect of the present invention, it is possible to obtain the same effect as the second aspect of the invention, and in particular, the lower impact buffering portion moves backward in the traveling direction due to contact with an obstacle. Thus, the obstacle can be properly detected by bringing the contact portion into contact with the obstacle detection sensor. Further, based on the contact of the upper shock absorbing portion with the obstacle, a part of the upper shock absorbing portion comes into contact with the contacted portion of the lower shock absorbing portion, so that the lower shock absorbing portion is moved backward in the traveling direction. Can be moved. Thereby, the obstacle which exists in the running direction advance side can be appropriately detected by using one obstacle detection sensor for the upper impact buffer and the lower impact buffer.

  According to the invention described in claim 4, the same effect as that of the invention described in claim 3 can be obtained. In particular, based on the contact of the upper impact buffer portion with the obstacle, the upper impact buffer is provided. The rear impact buffer moves together with the upper impact buffer to move backward in the travel direction by moving the rear part in the travel direction backward and bringing a part of the reverse side into contact with the contacted part of the lower impact buffer. Therefore, the obstacle detection sensor can appropriately detect the obstacle.

  According to the fifth aspect of the present invention, it is needless to say that the same effect as that of the second aspect of the present invention can be obtained. Particularly, the front buffer portion and the side buffer portion are integrated. As described above, the lower shock absorbing portion can be formed, and the handleability of the lower shock absorbing portion can be improved and the cost can be reduced.

  According to the sixth aspect of the invention, it is possible to obtain the same effect as the fifth aspect of the invention, and in particular, the lower impact in which the side buffer parts are provided on both sides in the width direction of the front buffer part. A buffer part can be used, and the further improvement of the handleability of a lower impact buffer part and the further cost reduction can be aimed at.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the illustrated examples.
1 and 2 are perspective views showing a self-propelled cleaner 100 exemplified as a preferred embodiment to which the present invention is applied, and FIG. 3 is a block diagram showing a main configuration of the self-propelled cleaner 100. FIG.
In the following description, the direction along the traveling direction of the self-propelled cleaner 100 is defined as the front-rear direction X, the forward direction side is the front side, and the reverse direction side is the rear side. Furthermore, one direction orthogonal to the front-rear direction X is defined as a left-right direction (width direction) Y, and a direction orthogonal to both the front-rear direction X and the left-right direction Y is defined as a vertical direction Z.

  The self-propelled cleaner 100 according to the present embodiment performs cleaning by autonomously traveling in a room or the like based on a predetermined traveling pattern. Specifically, as shown in FIGS. The main body frame portion 1, the upper lid case 2 provided on the upper side so as to cover the main body frame portion 1 and formed in a substantially disc shape as a whole, and the two left and right drive wheels (not shown) are driven to rotate. A traveling unit 3 that travels the traveling cleaner 100 in a predetermined direction along a traveling surface (not shown), a cleaning unit 4 that cleans dust and the like on the cleaning surface that is the traveling surface during traveling, and the self-propelled type It is configured to include a sensor unit 5 that detects various operation states of the vacuum cleaner 100, an operation unit 6 that instructs execution of various operations by the self-propelled cleaner 100, a ROM 7, a RAM 8, a CPU 9, and the like. Yes.

First, the main body frame portion 1 will be described with reference to FIGS.
Here, FIG. 4 is a plan view showing a part of the front side of the main body frame portion 1 and the lower bumper 11. FIG. 5 is a plan view showing the lower bumper 11, and FIG. 6 is a perspective view showing the lower bumper 11.

  The main body frame 1 supports, for example, each part of the self-propelled cleaner 100 such as the traveling unit 3 and the cleaning unit 4. As shown in FIG. 4, as shown in FIG. An opening 1a and the like for exposing a driving wheel (described later) are formed.

In addition, on the front side (traveling direction advance side) of the main body frame portion 1, for example, as shown in FIG. A lower bumper 11 is attached to the main body frame 1 so as to be movable in the front-rear direction X (see FIG. 8).
Note that the rear bumper 11 is moved rearward by, for example, a predetermined position on the inner surface of a front buffer portion 111 (described later) of the lower bumper 11 contacting the movement restricting portion 13 provided on the front side of the main body frame portion 1. To be regulated. Here, the movement restricting portion 13 is provided at a position where the amount of movement of the lower bumper 11 is about 5 mm, for example.

For example, the lower bumper 11 cushions an impact when it comes into contact with an obstacle on the lower front side to prevent the obstacle or the self-propelled cleaner 100 from being damaged or damaged.
Specifically, for example, as shown in FIGS. 5 and 6, the lower bumper 11 includes a front buffer portion 111 provided on the front side and left and right sides provided on both sides in the width direction of the front buffer portion 111. Side buffer portions 112L and 112R, front buffer portion 111 and left and right connection portions 113L and 113R for connecting left and right side buffer portions 112L and 112R, respectively, are provided.

  For example, the front buffer portion 111 is formed in a gentle arc shape so as to swell to the front side in a plan view, and its front end surface is disposed on the front side of the front end surface portion 221 of the rotating lid portion 22 (see FIG. 7). ). As a result, the lower bumper 11 comes into contact with the predetermined obstacle existing on the front side before the rotating lid portion 22.

Further, left and right projecting portions 114 </ b> L and 114 </ b> R projecting rearward from the inner surface are formed, for example, on the inner surface that is the rear side (reverse side in the traveling direction) of the front buffer portion 111.
Each of the projecting portions 114L and 114R has, for example, left and right contact portions 115L and 115R whose front end portions are in contact with the lower urging member 12 and are always urged forward by the lower urging member 12. The left and right obstacle detection sensors 51L extend from the tips of the contact portions 115L and 115R to the outside in the left-right direction Y (for example, the left (right) side in the case of the left (right) protrusion 114L (114R)). , 51R (to be described later), left and right contact portions 116L, 116R and the like that contact each movable portion 513.
The detection of obstacles by the left and right obstacle detection sensors 51L and 51R will be described later.

  Further, a plurality of (for example, four) contacted parts are in contact with the upper surface of the front buffer part 111, for example, with a predetermined interval between them and a part of the inner surface on the rear side of the front end face part 221 of the rotating lid part 22 is in contact. A portion 117 is formed. The contacted portion 117 has, for example, a vertical surface that stands substantially vertically from the upper surface of the front buffer portion 111, and a part of the inner surface of the front end surface portion 221 of the rotating lid portion 22 comes into contact with the vertical surface. ing.

Further, between the contacted parts 117 adjacent to each other, for example, stands slightly vertically from the upper surface of the front buffer part 111, and the upper end of the front buffer part 111 is viewed from the front of the self-propelled cleaner 100. And a gap filling portion 118 for filling the gap between the lower end of the front end surface portion 221 of the rotating lid portion 22 and the contacted portions 117.
As a result, even when viewed from the front side, the contacted portion 117 and the gap filling portion 118 prevent the internal structure from being seen from the upper end of the front buffer portion 111 and the lower end of the front end surface portion 221 of the rotating lid portion 22 and the gap. The design property of the traveling cleaner 100 can be improved, and the more attractive self-propelled cleaner 100 can be provided.

  The left and right connection portions 113L and 113R are formed, for example, continuously at both left and right end portions of the front buffer portion 111, in order to strengthen the connection between the front buffer portion 111 and the left and right side buffer portions 112L and 112R. Have a predetermined thickness.

The left and right side buffer portions 112L and 112R are, for example, disposed at a position lower than the front buffer portion 111 (see FIG. 1), and are continuously connected to the outer end portions of the left and right connection portions 113L and 113R. It is curved and formed so as to wrap around the side surface of the self-propelled cleaner 100 from the front side of the rotating brushes 44L and 44R.
Thereby, even if the obstacle is shifted from the front side in the traveling direction and contacted obliquely with respect to the side buffer portions 112L and 112R, the force is easily transmitted backward to the lower bumper 11. The obstacle detection by the obstacle detection sensor 51L (51R) can be performed more appropriately by moving the lower bumper 11 to the rear side.

  Further, the lower bumper 11 moves with respect to the rear side together with the rotating lid portion 22 when the rotating lid portion 22 of the upper lid case 2 moves to the rear side in contact with the obstacle, for example. It has become. That is, the obstacle can be detected through the lower bumper 11 based on the contact of the rotating lid 22 with the obstacle (details will be described later).

Next, the upper lid case 2 will be described in detail.
For example, as shown in FIG. 2 and the like, the upper lid case 2 includes a case main body 21 that is attached and fixed to the main body frame 1, and a rotation shaft portion that extends in the left-right direction Y with respect to the case main body 21 ( A rotation lid portion 22 and the like attached to be rotatable about a not-shown center are provided.

  A dust collecting case 43 for collecting dust cleaned by the cleaning unit 4 is attached to the upper side of the case main body 21 (see FIG. 2). Then, by rotating the rotating lid portion 22 to the rear side with respect to the case main body portion 21, the dust collecting case 43 is covered with the rotating lid portion 22 and mounted on the self-propelled cleaner 100. It becomes a state. In other words, the dust collection case 43 can be attached to and detached from the case main body 21 based on the rotation of the rotation lid portion 22 about the axis in the left-right direction Y. The handling of the dust case 43 is improved.

  Further, the case body 21 is provided with an upper biasing member 211 made of, for example, a torsion coil spring that biases a rear end portion (described later) of each extending portion 222 of the rotation lid portion 22 forward. ing. That is, the rotation lid 22 is attached to the case body 21 while being biased forward by the upper biasing member 211 (see FIGS. 7 and 9).

Next, the rotating lid 22 will be described with reference to FIGS.
7 to 9 are cross-sectional views of the self-propelled cleaner 100 taken along the line VII-VII in FIG. Among these, FIG. 7 shows a normal state, FIG. 8 shows a state in which an obstacle is brought into contact with the lower bumper 11 and pushed rearward, and FIG. It represents a state in which an obstacle has come into contact with the moving lid portion 22 and pushed into the rear side.
7 to 9, the main body frame 1 is not shown.

  For example, as shown in FIG. 7 and the like, the rotating lid portion 22 includes a front end surface portion 221 provided substantially directly above the front buffer portion 111 of the lower bumper 11 and the rear end portions from the left and right end portions of the front end surface portion 221. The left and right extending portions 222 that extend, and the rotation shaft portions (not shown) that protrude in the left and right direction Y from the outer end surfaces of the extending portions 222 in the left and right direction Y are provided.

  The front end surface portion 221 has, for example, a width substantially equal to that of the front buffer portion 111 and is curved so as to swell to the front side. The front end surface portion 221 corresponds to the contacted portion 117 of the lower bumper 11 on the lower end of the inner surface. It can come into contact with the contacted portion 117.

  The rear end portion of each extension portion 222 is formed, for example, to be curved in a substantially arc shape in a side view so as to swell rearward in order to smoothly perform the rotation operation of the rotation lid portion 22. , A part thereof is urged forward by the upper urging member 211.

Therefore, for example, even if the front end contacts the obstacle on the front upper side, the rotating lid 22 buffers the impact caused by the contact with the obstacle by the rotating lid 22 and the upper biasing member 211, and Breakage or damage of the obstacle or the self-propelled cleaner 100 can be prevented.
At this time, the rotating lid portion 22 that moves to the rear side moves while making the inner surface of the front end surface portion 221 contact the contacted portion 117 of the lower bumper 11 and pressing the contacted portion 117 to the rear side. (See FIGS. 7 and 9).
That is, since the front end surface part 221 of the rotating lid part 22 is provided in front of the contacted part 117 of the lower bumper 11, when an obstacle comes into contact with the lower bumper 11, the lower bumper 11 11 is moved to the rear side (see FIGS. 7 and 8), but when the rotating lid portion 22 moves to the rear side based on the contact of the rotating lid portion 22 with the obstacle, etc. In the state where the inner surface of the front end surface portion 221 is in contact with the contacted portion 117, the lower bumper 11 and the rotating lid portion 22 are moved together through the contacted portion 117 (see FIG. 9).

  In addition, the urging force of the upper urging member 211 to the front side of the rotary lid 22 and the urging force of the lower urging member 12 to the front side of the lower bumper 11, the upper urging member 211 and the lower urging member 12. Can be appropriately changed according to, for example, the accuracy of obstacle detection by the obstacle detection sensors 51L and 51R, the shock buffering amount, and the like.

  In addition, a plurality of sensor openings 52 a for exposing the front end of the traveling sensor 52 to the outside are provided at predetermined positions of the case main body 21 and the rotating lid 22, for example.

  For example, the traveling unit 3 is driven under the control of the CPU 9 to rotate the left and right drive wheels independently, and the left wheel drive motor 31L and the right wheel drive motor 31R, and the self-propelled cleaner 100 A predetermined number of driven wheels (not shown) that are driven to rotate as the vehicle travels are provided.

  The cleaning unit 4 includes, for example, a brush drive motor 41 that drives a cleaning brush (not shown) that sweeps up dust on the cleaning surface (running surface), and a suction port (not shown) that is dusted up by the cleaning brush. A fan driving motor 42 for driving a suction fan (not shown) sucked in via the suction port, a dust collecting case 43 (see FIG. 2) for collecting dust sucked in through the suction port, and a cleaning brush Left and right side brush drive motors 45L and 45R for driving the left and right side rotating brushes 44L and 44R for cleaning the outer cleaning surface are provided.

For example, the brush drive motor 41 is driven under the control of the CPU 9 to rotate the cleaning brush provided on the bottom surface of the self-propelled cleaner 100 around the axis in the left-right direction Y.
The fan drive motor 42 is driven, for example, under the control of the CPU 9 to rotate the suction fan, and is sucked through the suction port based on the drive of the suction fan. The dust is filtered by a filter (not shown) and collected in a predetermined dust collection case 43.
The left and right side brush drive motors 45L and 45R are driven, for example, under the control of the CPU 9, and are, for example, left and right sides provided outside the cleaning brush and in front of the left and right drive wheels. The rotating brushes 44L and 44R are rotated around the axis in the vertical direction Z.

Next, the sensor unit 5 will be described with reference to FIG. Here, FIG. 10 is a side view showing the left obstacle detection sensor 51L (right obstacle detection sensor 51R).
The sensor unit 5 includes, for example, a left obstacle detection sensor 51L and a right obstacle detection sensor 51R for detecting an obstacle existing on the forward side (front side) in the traveling direction, the front side of the rotating lid part 22 of the upper lid case 2, A non-contact traveling sensor 52 provided on the side surface is provided.

The traveling sensor 52 is configured by, for example, a non-contact type sensor such as an ultrasonic sensor or an optical sensor, and detects a distance to an obstacle existing in the front or side.
For example, the traveling sensor 52 outputs a predetermined detection signal to the CPU 9, and the CPU 9 does not contact an obstacle in front based on the input of the detection signal. Thus, the traveling unit 3 is controlled.

The left obstacle detection sensor 51L and the right obstacle detection sensor 51R are, for example, contacts that detect an obstacle when the left contact portion 116L and the right contact portion 116R of the lower bumper 11 attached to the main body frame portion 1 come into contact with each other. This is a sensor of the type.
Specifically, each of the left and right obstacle detection sensors 51L and 51R is disposed so as to face each of the left and right contact portions 116L and 116R, for example, as shown in FIG. Also, the left and right obstacle detection sensors 51L and 51R are, for example, a fixed portion 512 attached to the lower surface of a predetermined circuit board 511, and are rotatable about an axis in the left-right direction Y with respect to the fixed portion 512. A movable portion 513 and a biasing member (not shown) such as a torsion coil spring that constantly biases the tip of the movable portion 513 so as to rotate downward are provided.

The left obstacle detection sensor 51L (right obstacle detection sensor 51R) has a reference position, for example, where the tip of the movable portion 513 is rotated downward by the urging member and stopped. At the reference position, at least the lower bumper 11 is not in contact with the obstacle and is not detecting the obstacle.
In this state, when the lower bumper 11 or the rotating lid 22 comes into contact with an obstacle, the lower bumper 11 moves rearward against the urging force of the lower urging member 12 (FIG. 8). (See FIG. 9). Alternatively, the rotating lid portion 22 moves rearward against the urging forces of the upper urging member 211 and the lower urging member 12 together with the lower bumper 11 (see FIG. 9). Then, the movable portion 513 with which the left contact portion 116L (the right contact portion 116R) of the lower bumper 11 moving to the rear side comes into contact with the urging force of the urging member rotates more than a predetermined angle, thereby causing an obstacle. An object is detected (see FIG. 10). In this state, the lower bumper 11 is moved to the rear side of about 1.5 mm from the reference position, for example.
The left obstacle detection sensor 51L (right obstacle detection sensor 51R) outputs an obstacle detection signal to the CPU 9 when the obstacle is detected, for example.

  Further, when the self-propelled cleaner 100 moves to the rear side by the traveling control performed by the CPU 9 performed after the obstacle detection, the rotating lid portion 22 and the lower bumper 11 that are in contact with the obstacle move away from the obstacle. The rotating lid portion 22 and the lower bumper 11 are pushed back by the urging force of the upper urging member 211 and the lower urging member 12, and the movable portion 513 by the left contact portion 116L and the right contact portion 116R. The left-side obstacle detection sensor 51L and the right-side obstacle detection sensor 51R detect obstacles by releasing the rearward pressing and rotating the movable part 513 forward with respect to the fixed part 512. There is no return to the reference position.

  The operation unit 6 includes, for example, a plurality of operation keys that are provided on the upper surface of the rotating lid unit 22 and instruct the execution of various functions of the self-propelled cleaner 100. The operation keys operated by the user A predetermined operation signal corresponding to is output to the CPU 9.

  A CPU (Central Processing Unit) 9 controls and controls each part of the self-propelled cleaner 100, reads a predetermined program stored in the ROM 7, expands it in the work area of the RAM 8, Various processes are executed according to the program.

A RAM (Random Access Memory) 8 is, for example, a volatile semiconductor memory, and constitutes a storage area, a work area, and the like for programs and data read from the ROM 7 under the control of the CPU 9.
A ROM (Read Only Memory) 7 is a read-only semiconductor memory, and stores various programs executed under the control of the CPU 9, data related to the processing of each program, and the like. Specifically, the ROM 7 stores a travel control program 7a and the like, for example.

The travel control program 7a causes the CPU 9 as the travel control means to operate the left wheel drive motor 31L and the right wheel of the travel unit 3 so as to change the travel direction based on the detection of the obstacles by the left and right obstacle detection sensors 51L and 51R. This is a program for realizing a function related to processing for controlling driving of the drive motor 31R.
Specifically, in the normal state, the CPU 9 controls the driving of the traveling unit 3 based on a detection signal from the traveling sensor 52 to travel in a predetermined direction. When at least one of the lower bumper 11 and the rotating lid portion 22 comes into contact with the obstacle, such as when there is an obstacle, the obstacle is detected by the left and right obstacle detection sensors 51L and 51R. Based on the input obstacle detection signal output, the travel control program 7a is executed to control the left wheel drive motor 31L and the right wheel drive motor 31R.
That is, for example, when an obstacle is detected by the left obstacle detection sensor 51L, that is, when there is an obstacle on the left side, the CPU 9 rotates to the right by a predetermined angle based on the execution of the traveling control program 7a. The left wheel drive motor 31L and the right wheel drive motor 31R are controlled so as to move forward.
When an obstacle is detected by the right obstacle detection sensor 51R, that is, when there is an obstacle on the right side, the CPU 9 rotates forward by a predetermined angle in the left direction based on the execution of the traveling control program 7a, and then moves forward. Thus, the left wheel drive motor 31L and the right wheel drive motor 31R are controlled.
Further, when an obstacle is detected by both the left obstacle detection sensor 51L and the right obstacle detection sensor 51R, that is, when there is an obstacle on the front side, the CPU 9 performs the following based on the execution of the travel control program 7a. The left wheel drive motor 31L and the right wheel drive motor 31R are controlled to move forward after rotating at least 90 ° in a predetermined direction.

As described above, according to the self-propelled cleaner 100 of the present embodiment, the shock is buffered by the rotating lid portion 22 and the lower bumper 11, and the obstacles and the self-propelled cleaner 100 are damaged or damaged. Can be prevented.
Further, the obstacle is properly detected using the left obstacle detection sensor 51L and the right obstacle detection sensor 51R based on contact with at least one of the obstacles of the rotating lid portion 22 and the lower bumper 11. It is possible to appropriately secure the detection range of the obstacle on the front side. That is, when the lower bumper 11 moves rearward due to the contact of the obstacle, the left contact portion 116L and the right contact portion 116R are brought into contact with the left obstacle detection sensor 51 and the right obstacle detection sensor 51R, thereby Detection can be performed properly. Further, the lower bumper 11 is moved in a state where the inner surface of the front end surface portion 221 is brought into contact with the contacted portion 117 by the rotation lid portion 22 moving to the rear side by the contact of the obstacle with the rotation lid portion 22. It can be moved to the rear side together with the rotating lid 22. Thereby, the obstacle which exists in the front side can be appropriately detected using one obstacle detection sensor with respect to the rotation lid part 22 and the lower bumper 11.
Therefore, for example, in order to improve the handleability of the dust collecting case 43, if the rotating lid portion 22 is configured to be rotatable with respect to the cleaner body, the impact buffering portion is connected to the cleaner body side and the upper lid case. It is necessary to mount an obstacle detection sensor on each of the two sides and for each impact buffer. Even in such a case, one obstacle detection sensor (for example, the left obstacle detection sensor 51L, the right obstacle detection sensor 51R, or the like) for the rotating lid portion 22 and the lower bumper 11 as an impact buffering portion is used. Compared with a configuration in which a sensor is mounted for each shock buffering portion by configuring the apparatus so that obstacles existing on the front upper side and the lower side can be detected, for example, a substrate such as a switch and a switch substrate, a holder or a screw. The number of fixing members, connection lines, connectors, and the like can be reduced, and the cost of the self-propelled cleaner 100 can be reduced.

  Further, by forming the lower bumper 11 by integrating the front buffer portion 111 and the side buffer portions 112L and 112R on both sides in the width direction, for example, when screwing the front buffer portion 111 and the side buffer portions 112L and 112R Compared to the above, it is possible to favorably improve the handleability of the lower bumper 11 and reduce the cost.

The present invention is not limited to the above-described embodiment, and various improvements and design changes may be made without departing from the spirit of the present invention.
For example, although the obstacle detection by the left obstacle detection sensor 51L and the right obstacle detection sensor 51R is performed based on the contact of the left contact portion 116 and the right contact portion 116R of the lower bumper 11, it is not limited thereto. It is not a thing. For example, a contacted portion where a part of the lower bumper 11 is in contact with the rotating lid 22 is provided, and the rotating lid 22 moves rearward as the lower bumper 11 moves rearward. It is good also as a structure which detects a obstacle based on the contact of the said contact part by providing the contact part which contacts an obstacle detection sensor in the rotation cover part 22 further.

  In the above-described embodiment, two obstacle detection sensors (left and right obstacle detection sensors 51L and 51R) are provided on the left and right. However, the number and mounting positions of the sensors are not limited to this, and are predetermined. It suffices if at least one is provided in the location.

  Further, the lower bumper 11 is configured by integrally forming the front buffer portion 111 and the side buffer portion 112, but the present invention is not limited to this. For example, whether or not the side bumper 11 is provided in the lower bumper 11 is determined. In addition, whether or not to perform integral molding can be arbitrarily changed as appropriate.

  In addition, the shape of each part such as the rotating lid part 22 and the lower bumper 11 provided in the self-propelled cleaner 100 in the above embodiment is an example, and is not limited thereto.

It is a perspective view which shows the self-propelled cleaner illustrated as suitable one Embodiment to which this invention is applied. It is a perspective view which shows the state which rotated the rotation cover part of the upper cover case with which the self-propelled cleaner of FIG. 1 was equipped. It is a block diagram which shows the principal part structure of the self-propelled cleaner of FIG. It is a top view which shows the main body frame part with which the self-propelled cleaner of FIG. 1 is equipped, and a lower bumper. It is a top view which shows the lower side bumper of FIG. It is a perspective view which shows the lower side bumper of FIG. It is sectional drawing of the self-propelled cleaner in the VII-VII line of FIG. It is sectional drawing of the self-propelled cleaner in the VII-VII line of FIG. It is sectional drawing of the self-propelled cleaner in the VII-VII line of FIG. It is a side view which shows the obstruction detection sensor with which the main body frame part of FIG. 4 is equipped.

Explanation of symbols

100 Self-propelled vacuum cleaner 1 Body frame (vacuum cleaner body)
11 Lower bumper (lower impact buffer)
111 Front buffer portion 112L Left side buffer portion 112R Right side buffer portion 116L Left contact portion 116R Right contact portion 117 Contacted portion 2 Upper lid case 22 Rotating lid portion (upper lid portion, upper impact buffer portion)
3 traveling part 51L left obstacle detection sensor 51R right obstacle detection sensor 9 CPU (travel control means)

Claims (6)

A self-propelled vacuum cleaner that runs autonomously and cleans the running surface,
A traveling unit that travels in a predetermined direction;
A lower impact buffer provided on the forward side in the running direction of the cleaner body,
An upper lid provided on the upper side of the main body of the vacuum cleaner;
An upper impact buffer provided on the traveling direction forward side of the upper lid,
Contact that detects the obstacle by contact of a contact portion provided in the lower shock buffer based on contact with at least one of the upper shock buffer and the lower shock buffer. Type obstacle detection sensor,
Traveling control means for controlling the driving of the traveling unit so as to change the traveling direction based on detection of the obstacle by the obstacle detection sensor,
The upper shock absorber is movable to the backward direction in the traveling direction,
The lower impact buffering part is
Based on the movement with respect to the backward direction in the traveling direction, the contact part is brought into contact with the obstacle detection sensor based on the movement with respect to the backward direction in the traveling direction,
More than the above-mentioned front buffer part, the contacted part with which a part of the above-mentioned traveling direction reverse side of the above-mentioned upper shock buffer part which moves to the above-mentioned traveling direction reverse side contacts, the front buffer part formed in the above-mentioned traveling direction forward side A side buffer portion formed integrally with the front buffer portion on both sides in the width direction substantially orthogonal to the traveling direction;
A self-propelled cleaner that moves to the reverse side in the traveling direction together with the upper impact buffer portion based on the partial contact of the upper impact buffer portion with the contacted portion. A self-propelled vacuum cleaner that runs autonomously and cleans the running surface,
A traveling unit that travels in a predetermined direction;
A lower impact buffer provided on the forward side in the running direction of the cleaner body,
An upper lid provided on the upper side of the main body of the vacuum cleaner;
An upper impact buffer provided on the traveling direction forward side of the upper lid,
A contact portion provided in any one of the upper shock buffer portion and the lower shock buffer portion based on contact with an obstacle in at least one of the upper shock buffer portion and the lower shock buffer portion. An obstacle detection sensor of a contact type that detects the obstacle by touching,
A self-propelled cleaner, comprising: travel control means for controlling driving of the travel unit so as to change the travel direction based on detection of the obstacle by the obstacle detection sensor. The lower impact buffering part is
Based on the movement with respect to the backward direction in the traveling direction, the contact part is brought into contact with the obstacle detection sensor based on the movement with respect to the backward direction in the traveling direction,
Based on the contact of the upper impact buffering portion with respect to the obstacle, a contacted portion that contacts a part of the upper impact buffering portion on the reverse side in the traveling direction,
3. The self-propelled cleaner according to claim 2, wherein the self-propelled cleaner moves to the backward direction in the traveling direction based on the partial contact of the upper impact buffering portion with respect to the contacted portion. The upper shock absorbing portion is movable to the backward direction in the traveling direction, and based on the movement with respect to the backward direction in the traveling direction, the part is brought into contact with the contacted portion,
The self-propelled cleaner according to claim 3, wherein the lower impact buffering part moves to the backward direction in the traveling direction together with the upper impact buffering part. The lower impact buffering part is
A front buffer portion formed on the forward side in the travel direction, and a side buffer portion formed integrally with the front buffer portion on the width direction side substantially orthogonal to the travel direction from the front buffer portion. The self-propelled cleaner as described in any one of Claims 2-4 characterized by these.   The said side buffer part is provided in the said width direction both sides of the said front buffer part, The self-propelled cleaner of Claim 5 characterized by the above-mentioned.

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