JP2014013551A - Self-propelled apparatus - Google Patents

Abstract

A self-propelled device that can determine whether an obstacle such as a step or the like can be detected by entering a space on a floor and determining whether or not an obstacle can be entered.
A housing, a drive unit that causes the housing to travel and change direction, a plurality of obstacle sensors that detect obstacles on a travel route, and the drive unit based on detection of each obstacle sensor Each obstacle sensor has a direction and / or position of directivity in the vertical plane so that the detection range in the vertical direction is different from other obstacle sensors. And the control unit detects obstacles in a plurality of directions on the running surface using the respective obstacle sensors and moves the housing on the running surface. A self-propelled device characterized by changing the direction and causing each obstacle sensor to detect the same obstacle and judging the vertical arrangement of the obstacle.
[Selection] Figure 8

Description

  The present invention relates to a self-propelled device, and more particularly, to a self-propelled device having a function of detecting an obstacle ahead of the traveling direction of the self-propelled device.

There is known a robot cleaner that includes a front sensor that detects an obstacle ahead, a left step sensor that detects an obstacle on the left side and the right side, and a right step sensor that runs on its own (Patent Document 1). The robot cleaner described in Patent Document 1 makes one turn on the spot before starting cleaning, and obstacles around the self-propelled device based on outputs from the front sensor, the left step sensor, and the right step sensor. Determine if it exists. If there is an obstacle, run around it and clean it.
Further, Patent Document 2 discloses a self-propelled cleaner that includes a plurality of sensing means having different detection heights and measures the distance to an object to be detected. The self-propelled cleaner described in Patent Document 2 detects a distance to an obstacle by a plurality of optical sensors, and controls traveling so that the self-propelled cleaner approaches the shortest distance. With this control, it is possible to clean up to obstacles with height unevenness like kitchen storage shelves, even if there is a wall with unevenness in the direction of travel of self-propelled equipment. is there.

JP-A-2005-216022 JP 2006-43071 A

The robot cleaner described in Patent Document 1 detects obstacles present in the surroundings before cleaning, and when there are obstacles, the robot cleaner travels and cleans. Moreover, the self-propelled cleaner described in Patent Document 2 can be cleaned by approaching an obstacle with unevenness in the height direction or the traveling direction.
However, there are obstacles placed in the room with a space on the floor, such as a bed with legs, furniture, or a chair. It is desired that such an obstacle placed on the floor with an open space is underneath to travel and clean. In addition, there are obstacles with steps on the floor, such as carpets, carpets, or sills. It is desirable that self-propelled equipment travel over obstacles with small steps from the floor, such as carpets, carpets, or sills, and clean.
In view of such a problem, the present invention is a self-propelled type that can determine whether an obstacle such as a step or the like can be detected by entering a space on the floor. Equipment is provided. An obstacle placed with a space open on the floor is, for example, a bed with legs, furniture, or a chair. Self-propelled equipment will run under obstacles if possible. The step corresponds to, for example, a carpet on the floor, an edge of a carpet, or a sill.

  In order to solve the above-described problems, the present invention provides a housing, a drive unit that causes the housing to travel and change direction, a plurality of obstacle sensors that detect obstacles on the travel route, and the obstacle sensors. A control unit for controlling the travel and direction change of the housing by the driving unit based on the detection, and each obstacle sensor is oriented in the vertical plane so that the detection range in the vertical direction is different from other obstacle sensors. The control unit detects obstacles in a plurality of directions on the traveling surface and uses the respective obstacle sensors to detect the obstacles in a plurality of directions. Provided is a self-propelled device characterized in that the body is turned on the running surface and each obstacle sensor detects the same obstacle to determine the vertical arrangement of the obstacle.

  Here, the self-propelled device is, for example, a self-propelled cleaner or a self-propelled air cleaner, and also refers to a device that independently travels like a robot. In addition, the drive unit includes left and right drive wheels, each of which has a rotation axis arranged orthogonal to the traveling direction, for example, in order to run the housing. In this case, when the left and right drive wheels are rotated in the same direction at the same rotational speed, the vehicle travels straight, and when one of the rotational speeds is changed, the direction is changed to a slower rotational speed. Further, when the two driving wheels are rotated in opposite directions, the casing turns on the spot. In this way, by controlling the rotational speeds of the two drive wheels, it is possible to control straight traveling, curved traveling, or rotational motion.

  In the self-propelled device of the present invention, each obstacle sensor has a predetermined orientation and / or position in the vertical plane so that the detection range in the vertical direction is different from other obstacle sensors. The control unit detects obstacles in a plurality of directions on the traveling surface using the respective obstacle sensors, and changes the direction of the housing on the traveling surface to thereby detect each obstacle sensor. The obstacles in the vertical direction of the obstacle are judged by detecting the same obstacles at the same time. By detecting this, the vertical arrangement of the obstacle can be determined.

The cross-sectional view of the self-propelled device of the present invention is shown. The perspective view of the self-propelled apparatus 1 of this invention is shown. The block diagram of the self-propelled apparatus of this invention is shown. The partial cross section figure of the self-propelled apparatus in the case of measuring the distance to an obstruction using the self-propelled apparatus of this invention is shown. The list showing the example of the detection range of the height direction of each obstacle sensor of the self-propelled device of the present invention, and whether it can run by an obstacle is shown. Corresponding to FIG. 4, a longitudinal sectional view of the self-propelled device when measuring the distance to the obstacle using the self-propelled device of the present invention is shown. The partial cross section figure of the self-propelled apparatus in the case of detecting an obstruction by a downward sensor using the self-propelled apparatus of this invention is shown. Corresponding to FIG. 7, a perspective view of the self-propelled device when the distance to the obstacle is measured by the upward sensor using the self-propelled device of the present invention is shown. The partial cross section figure of the self-propelled apparatus in the case of detecting an obstacle with an upward sensor using the self-propelled apparatus of the present invention is shown. Corresponding to FIG. 9, a perspective view of the self-propelled device when the distance to the obstacle is measured by the downward sensor using the self-propelled device of the present invention is shown. The control flowchart of the self-propelled apparatus of this invention is shown. The partial cross section figure of the self-propelled apparatus in the case of detecting an obstacle with an upward sensor using the self-propelled apparatus of the present invention is shown.

The present invention will be described in detail below with reference to the drawings. In addition, the following description is an illustration in all the points, Comprising: It should not be interpreted as limiting this invention.
≪Self-propelled device configuration≫
Hereinafter, the self-propelled device of the present invention will be described with reference to embodiments.
FIG. 1 shows a cross-sectional view of a self-propelled device according to the present invention. The self-propelled device 1 has driving wheels 2a on rotating shafts arranged at right angles to the traveling direction of the self-propelled device in a casing covering the outside. 2b. The two drive wheels 2a and 2b are independent of each other and are driven by drive motors 3a and 3b. The drive motors 3a and 3b are controlled by the control unit, and when the two drive motors 3a and 3b are driven at the same speed in the same direction, the self-propelled device travels straight. However, when the rotational speed of either one of the drive motors is lowered, the self-propelled device travels in a curve that turns toward the drive wheel having the lower rotational speed. When the two drive wheels are rotated in opposite directions, they rotate on the spot. In this way, by controlling the rotational speeds of the two drive wheels, it is possible to control straight traveling, curved traveling, or rotational motion. The drive wheels 2a and 2b and the drive motors 3a and 3b correspond to a drive unit according to the present invention. Further, in the housing is a battery 7 that supplies power to the drive motors 3a, 3b, and the like.

The self-propelled device 1 includes a reference sensor 4 including, for example, an ultrasonic distance transmitter and an ultrasonic receiver in front of the side running direction, and further, on the right side thereof, from the same type of ultrasonic distance transmitter and ultrasonic receiver. The upward sensor 5 is provided. Furthermore, a downward sensor 6 composed of the same type of ultrasonic distance transmitter and ultrasonic receiver is provided on the left side. The reference sensor 4 needs to be arranged in front of the self-propelled device. The arrangement of the upward sensor 5 and the downward sensor 6 is an example. The upward sensor 5 and the downward sensor 6 may be arranged at a predetermined distance on the right side or the left side so as not to interfere with each other.
The distance measuring sensor may use infrared light or laser light in addition to using ultrasonic waves. When infrared light is used, the distance measuring sensor can be composed of an infrared emitter and an infrared receiver. When laser light is used, the distance measuring sensor can be constituted by a laser emitter and a laser receiver.

  The directivity of the upward sensor 5 has an angle determined by a predetermined distance from a position where the self-propelled device stops when the self-propelled device detects an obstacle to the obstacle, and a height at which the self-propelled device can sink. The directivity of the downward sensor 6 has an angle determined by a predetermined distance from the position where the self-propelled device stops when the self-propelled device detects an obstacle to the obstacle and a height at which the self-propelled device can get over. . Such directivity can be adjusted to a desired characteristic by providing a horn or an acoustic lens when an ultrasonic distance transmitter and an ultrasonic receiver are used. Moreover, when using an infrared light emitter and an infrared light receiver, a desired directivity can be obtained by providing a lens or a hood in front of the infrared light emitter (LED). Alternatively, desired directivity can be obtained by providing a lens or a hood in front of the infrared light receiver. When using laser light, it is the same as that of infrared rays. However, in the case of laser light, the directivity may be too sharp. In that case, directivity can be expanded by scanning a sharp laser beam over a predetermined angle.

  When the self-propelled device 1 is a vacuum cleaner, the self-propelled device 1 includes a filter that collects dust, a suction port, and an exhaust port. Further, a fan and a fan motor for sucking and exhausting air from the intake port to the exhaust port, a main brush for collecting dust, a side brush, and a dust box for separating and collecting dust are provided. It also has a filter clogging sensor, a controller, and others. However, illustration thereof is omitted here. Further, when the self-propelled device 1 is an air cleaner, an ion generator, an air dirt sensor, a control unit, and others are provided, but the illustration is omitted here.

  FIG. 2 shows a perspective view of the self-propelled device 1 according to the invention, in particular a reference sensor 4, an upward sensor 5 and a downward sensor 6. As shown in FIG. 2, when the self-propelled device 1 normally travels, the reference sensor 4 is disposed on the front side of the casing side surface of the self-propelled device 1 in the traveling direction and detects an obstacle ahead of the traveling direction. The upward sensor 5 is disposed on the right side in the traveling direction on the side surface of the casing of the self-propelled device 1 and detects an obstacle on the right front side in the traveling direction. The downward sensor 6 is disposed on the left side in the traveling direction on the side surface of the housing of the self-propelled device 1 and detects an obstacle on the left front in the traveling direction. In addition, the dashed-dotted line shown on the self-propelled apparatus surface shows the arrangement position of the reference sensor 4, the upward sensor 5, and the downward sensor 6. An alternate long and short dash line shown outside the self-propelled device indicates a detection surface of the reference sensor 4.

  FIG. 3 shows a block diagram of the self-propelled device of the present invention. The self-propelled device 1 includes a control unit 21 including a main controller 22, a memory 23, and a calculation unit 24. The memory 23 includes a non-volatile memory that stores a program for controlling the traveling of the self-propelled device 1 and the operation of the self-propelled device. The main controller 22 is hardware mainly composed of a CPU, and sequentially reads a required program from the memory 23 and sequentially executes processes according to the program. The calculation unit is hardware for calculation, and is mainly hardware including a digital signal processor or a numerical operation processor. However, calculation processing may be performed by software using a CPU shared with the main controller 22 as hardware resources.

  The control unit 21 is connected to the right drive wheel motor driver 25, the left drive wheel motor driver 27, and the fan motor driver 29, and controls the operation of these drivers. The right driving wheel motor driver 25 is connected to the right traveling motor 26 (corresponding to the driving motor 3a in FIG. 1) and drives the right traveling motor 26. The left driving wheel motor driver 27 is connected to the left traveling motor 28 (corresponding to the driving motor 3b in FIG. 1) and drives the left traveling motor 28. By driving the right traveling motor 26 and the left traveling motor 28, the self-propelled device 1 travels straight, curves, or rotates. The fan motor driver 29 drives the fan motor 30. The fan motor 30 drives the fan, sucks air from the suction port provided in the self-propelled device, and exhausts it from the exhaust port through the filter. This airflow separates the dust and collects the dust in the dust box. That is, cleaning is performed.

If the self-propelled device is a vacuum cleaner, it is equipped with various sensors such as a temperature sensor, a filter dirt sensor, and a humidity sensor. Further, a management table such as a temperature management range, a humidity management range, and a filter contamination management range is required, but detailed description thereof is omitted. In addition, if the self-propelled device is an air purifier, it is equipped with a filter equipped with activated carbon that captures dirt in the intake air and decomposes odors, etc., and an ion generator, ion concentration detector as required May be provided, but will not be described in detail.
The control unit 21 is connected to the reference sensor 4, the downward sensor 6, and the upward sensor 5, and the distance to the obstacle is calculated by the calculation unit 24 from these sensor outputs. Details of this calculation will be described with reference to FIGS.

The self-propelled device 1 of the present invention is configured as described above. Assume that the obstacle 51 is detected forward when the self-propelled device 1 is traveling straight upward from the lower side of the page as shown in FIG. 4 (cross-sectional view). In FIG. 6 (side view), when the vehicle travels straight from the right side to the left side, this corresponds to the appearance of the obstacle 51 in the forward direction. Here, in the case of FIG. 4, the self-propelled device 1 reaches a position away from the obstacle 51 by a predetermined distance L when it travels further straight upward on the paper surface. In the case of FIG. 6, when the vehicle travels further straight to the left side of the page, it reaches a position away from the obstacle 51 by a predetermined distance L. The predetermined distance L is a convenient distance for calculating the upper obstacle or the lower obstacle as described later.
When the reference sensor 4 includes an ultrasonic transmitter and an ultrasonic receiver, ultrasonic waves are emitted from the ultrasonic transmitter, reflected by the obstacle 51, and received by the ultrasonic receiver. The control unit 21 measures the time from when the transmitter emits ultrasonic waves to when the receiver receives the ultrasonic waves. The next distance is obtained from the measured time and the sound velocity of the ultrasonic wave stored in the memory 23 in advance. That is, the sum of the distance from the ultrasonic transmitter to the obstacle and the distance from the obstacle to the ultrasonic receiver is obtained. This calculation is executed by the calculation unit 24. Half of the obtained distance is the distance from the self-propelled device 1 to the obstacle 51. Note that since the sound speed of ultrasonic waves depends on the temperature of air, it is desirable to store a temperature sensor and a relationship table between temperature and sound speed in the memory 23.

  During traveling, it is necessary to detect obstacles ahead in a range wider than the full width of the casing, and it is also necessary to detect side obstacles in order to change direction. Therefore, during traveling, the control unit 21 operates the reference sensor 4, the downward sensor 6, and the upward sensor 5 to detect obstacles over a wide range of the front and sides. Then, the left and right drive motors 3a and 3b are controlled based on the detection result.

≪Upper obstacle detection and judgment≫
Next, the case where the upper obstacle 52 existing above is detected by the self-propelled device 1 of the present invention and the height thereof is calculated will be described.
As shown in FIGS. 4 and 6, the control unit 21 decelerates from before the distance L when the self-propelled device 1 travels and the distance to the obstacle 51 reaches a predetermined distance L from the obstacle. Control to stop at distance L. After the stop, the self-propelled device 1 turns the casing by a predetermined angle so that the downward sensor 6 is in front of the traveling direction. Then, an ultrasonic wave is transmitted to the transmitter 6a of the downward sensor 6 and the ultrasonic wave reflected by the obstacle is received by the receiver 6b.

  FIG. 5A shows an example of the detection range in the height direction of each obstacle sensor of the self-propelled device of the present invention. The sensor “R” in FIG. 5A corresponds to the upward sensor 5, the sensor “C” corresponds to the reference sensor 4, and the sensor “L” corresponds to the downward sensor 6. As described above, the sensors “C”, “R”, and “L” shown in FIG. 5A are located in different directions on the floor 50 in the front, right side, and left side in the horizontal direction. Each thing is detected. At the same time, the sensors “C”, “R” and “L” in the height direction cover different detection ranges. The reference sensor 4 of “C” is attached so as to detect both the lower obstacle and the upper obstacle. On the other hand, the detection range is set so that the upward sensor 5 of “R” detects only an upper obstacle and the downward sensor 6 of “L” detects only a downward obstacle. That is, FIG. 5A shows a detection range when each sensor detects an obstacle at a position separated by a distance L. The range indicated by the chain line can be overcome if there is an obstacle below it, and can enter the gap below if there is an obstacle above the border Is shown. Hereinafter, this is referred to as an allowable range. Let F be the height of the accessible range.

  The detection range in the height direction will be described in more detail. The reference sensor 4 indicated by “C” in FIG. 5A is attached so as to cover the detection ranges Cf, Ct, and Cb at a position separated by a predetermined distance L. Cf is a detection range that overlaps the enterable range, and Ct is a detection range that exceeds the upper limit of the enterable range. Cb is a detection range that exceeds the lower limit of the approachable range. The upward sensor 5 indicated by “R” in FIG. 5A is attached so as to have a detection range Rf that overlaps the accessible range and a detection range Rt that exceeds the upper limit of the accessible range. Further, the downward sensor 6 indicated by “L” in FIG. 5A is attached so as to have a detection range Lf that overlaps the accessible range and a detection range Lb that exceeds the lower limit of the accessible range.

FIG. 6 shows detection ranges Cb, Cf, and Ct for the reference sensor 4 corresponding to the sensor “C” in FIG. The reference sensor 4 includes a transmitter 4a that radiates ultrasonic waves and a receiver 4b that receives the radiated ultrasonic waves reflected back from an obstacle. The receiver 4b has a Cb detection range below the lower limit of the approachable range at a position away from the obstacle by the distance L, and has a Ct detection range above the upper limit of the approachable range. It is attached with. Therefore, the obstacle is detected even when there is an obstacle slightly above the accessible range or when there is an obstacle slightly below the accessible range.
FIG. 7 shows detection ranges Lb and Lf for the downward sensor 6 corresponding to the sensor “L” in FIG. As shown in FIG. 7, the receiver 6b of the downward sensor 6 is attached with directivity characteristics such that the direction of the elevation angle α is the upper limit of the detection range with respect to the horizontal plane passing through the receiver 6b. The upper limit of the detection range of the downward sensor 6 is set so as to coincide with the upper limit of the approachable range at a position separated by the distance L. Note that this is for the sake of simplicity of description, and in actuality, it is attached so as to be slightly higher than the total height T. The controller 21 emits ultrasonic waves from the transmitter 6 a of the downward sensor 6. When there is an obstacle below the accessible range, the ultrasonic wave is reflected and received by the receiver 6b, and the obstacle is detected. However, when there is an obstacle above the approachable range, the ultrasonic wave is not reflected, so the reception output by the receiver 6b cannot be obtained. FIG. 7 shows this state, and is a case where there is an obstacle above the accessible range.

Therefore, when the reception output cannot be obtained at the receiver 6 b of the downward sensor 6, it can be said that the height of the upper obstacle 52 from the floor surface 50 is higher than the total height T of the self-propelled device 1. In this case, the control unit 21 determines that the self-propelled device 1 can enter under the upper obstacle 52. On the contrary, when the reception output is obtained at the receiver 6b, the control unit 21 cannot enter the self-propelled device 1 below the upper obstacle 52 and changes the traveling direction before the upper obstacle 52. Judge that it needs to be changed.
In the example shown in FIG. 7, the reference sensor 4 and the downward sensor 6 are arranged with different directivity directions in the vertical plane so that the detection ranges in the vertical direction are different from each other. As a modification, it is also conceivable that the mounting positions of the reference sensor 4 and the downward sensor 6 are varied in the vertical direction. In the self-propelled device 1 shown in FIG. 7, the total height T is small, but in a self-propelled device having a large total height T, the detection ranges in the vertical direction can be made different from each other by changing the mounting position.

  FIG. 8 shows a state in which the reference sensor 4 detects an obstacle, for example, a cupboard 53 and stops running at a distance L in front of the cupboard 53. From this state, the control unit 21 checks whether the downward sensor 6 detects the cupboard 53 by rotating the casing so that the downward sensor 6 is in front of the traveling direction of the self-propelled device 1. Here, the total height T of the self-propelled device is assumed. The downward sensor 6 is attached so that the upper limit of the detection range in the height direction is slightly larger than the total height T at a position separated by a distance L. For the sake of simplicity, it is assumed that the upper limit of the detection range of the downward sensor 6 is equal to the total height T. When the downward sensor 6 detects the cupboard 53, the controller 21 determines that the height of the gap under the cupboard is smaller than the total height T. On the other hand, when the downward sensor 6 does not detect the cupboard 53, it is determined that the height of the gap is larger than the total height T. When the downward sensor 6 detects the cupboard 53, it is determined that entry is impossible, and when the cupboard 53 is not detected, it is determined that entry is possible.

≪Detection and judgment of downward obstacles≫
Next, a case will be described in which the self-propelled device 1 of the present invention detects the height of the lower obstacle 54 existing below and determines whether or not it can be overcome.
As shown in FIGS. 4 and 6, when the self-propelled device 1 travels and the distance to the obstacle 51 existing below reaches a predetermined distance L, the self-propelled device 1 stops traveling. The self-propelled device 1 rotates so that the upward sensor 5 is in front of the traveling direction, transmits ultrasonic waves from the transmitter 5a of the upward sensor 5, and receives ultrasonic waves reflected by the lower obstacle 54 by the receiver 5b. To do.

  FIG. 9 shows detection ranges Rf and Rt for the upward sensor 5 corresponding to the sensor “R” in FIG. As shown in FIG. 9, the receiver 5b of the upward sensor 5 is attached with directivity characteristics such that the direction of the depression angle β is the lower limit of the detection range with respect to the horizontal plane passing through the receiver 5b. The lower limit of the detection range of the upward sensor 5 is mounted at a position separated by the distance L so as to coincide with the lower limit of the approachable range (the height from the floor 50 is S). In order to simplify the explanation, such a premise is set, but actually, in order to provide a margin for getting over, it is attached so as to be slightly lower than the maximum height S that can be used for getting over. The controller 21 emits ultrasonic waves from the transmitter 5 a of the upward sensor 5. If there is an obstacle above the accessible range, the ultrasonic wave is reflected and received by the receiver 5b, and the obstacle is detected. However, when there is an obstacle below the approachable range, the ultrasonic wave is not reflected, so that the reception output by the receiver 5b cannot be obtained. FIG. 9 shows this state, and is a case where there is an obstacle below the possible entry range.

Therefore, when the reception output cannot be obtained at the receiver 5b of the upward sensor 5, it can be said that the height of the lower obstacle 54 from the floor surface 50 is lower than the maximum height S at which the self-propelled device 1 can get over. In this case, the control unit 21 determines that the self-propelled device 1 can travel over the lower obstacle 54. On the contrary, when the reception output is obtained in the receiver 5b, the control unit 21 cannot change the traveling direction before the lower obstacle 54 because the self-propelled device 1 cannot get over the lower obstacle 54. Judge that there is.
In the example shown in FIG. 9, the reference sensor 4 and the upward sensor 5 are arranged with different directivity directions in the vertical plane so that the detection ranges in the vertical direction are different from each other. As a modified example, it is conceivable that the attachment positions of the reference sensor 4 and the upward sensor 5 are varied in the vertical direction. In the self-propelled device 1 shown in FIG. 9, the total height T is small, but in a self-propelled device with a large total height T, the detection ranges in the vertical direction can be made different from each other by changing the mounting position.

  FIG. 10 shows a state in which the reference sensor 4 detects an obstacle such as a step, for example, a threshold 55 and stops traveling at a distance L in front of the threshold 55. From this state, the control unit 21 checks whether the upward sensor 5 detects the threshold 55 by rotating the casing so that the upward sensor 5 is in front of the self-propelled device 1 in the traveling direction. The upward sensor 5 is attached so that the lower limit of the detection range in the height direction is slightly lower than the height at which it can get over at a position separated by a distance L. In order to simplify the description, the lower limit of the detection range of the upward sensor 5 is assumed to be equal to the maximum value S of the height that can be overcome. When the upward sensor 5 detects the threshold 55, the control unit 21 determines that the height of the gap under the cupboard is higher than the maximum height S that can be overcome. On the other hand, when the upward sensor 5 does not detect the threshold 55, it is determined that the height of the obstacle below is lower than the maximum height S that can be overcome. When the upward sensor 5 detects the threshold 55, it is determined that traveling is not possible, and when the threshold 55 is not detected, it is determined that traveling is possible.

≪Flowchart, upper obstacle detection and lower obstacle detection≫
FIG. 11 shows a control flow diagram of the self-propelled device of the present invention. The process which the control part 21 performs is demonstrated along FIG. In this description, processing for detecting an obstacle in the upper and lower directions by combining the three sensors of the reference sensor 4, the upward sensor 5, and the downward sensor 6 will be described.
When the self-propelled device 1 starts and travels in a random travel or according to a predetermined travel pattern (step S1), the obstacle 51 is detected by the reference sensor 4 installed in front of the travel direction (step S2). ). When the reference sensor 4 does not detect an obstacle (“none” in step S2), the process returns to step S1 and continues the random traveling or the traveling according to a predetermined traveling pattern. Then, the vehicle stops traveling and rotates counterclockwise so that the upward sensor 5 is in front of the self-propelled device in the traveling direction (step S3).

  Next, in step S <b> 4, the upward sensor 5 determines whether or not the downward obstacle 54 is present. The detection of the downward obstacle 54 by the upward sensor 5 is as described with reference to FIGS. When the lower obstacle 54 is not detected (“none” in step S4), the process proceeds to step S8. Then, the direction in which the self-propelled device 1 is traveling in step S1, that is, the distance measuring sensor is turned to the front so that it is in front of the traveling direction. Thereafter, the routine returns to step S1 and continues running.

When the downward obstacle 54 is detected in step S4 (“Yes” in step S4), the self-propelled device 1 rotates to the right so that the downward sensor 6 is in front of the self-propelled device in the traveling direction. (Step S5). Next, in step S <b> 6, the presence or absence of the upper obstacle 52 is determined by the downward sensor 6. The detection of the upper obstacle 52 by the downward sensor 6 is as described with reference to FIGS. When the upper obstacle 52 is not detected ("None" in step S6), the process proceeds to step S8. Then, the direction in which the self-propelled device 1 is traveling in step S1, that is, the distance measuring sensor is turned to the front so that it is in the traveling direction front. Thereafter, the routine returns to step S1 and continues running. When the upper obstacle 52 is detected in step S6 (“Yes” in step S6), the self-propelled device 1 further rotates to search for another route (step S7), and returns to step S1 first. Continue running.
In the above description, any of steps S3 and S4 and steps S5 and S6 may be performed first.

  FIG. 5B lists whether or not the self-propelled device can continue traveling when an obstacle is detected in step S2, step S4, and step S6 and when no obstacle is detected. It is a thing. That is, in step S2, C is 1 when the reference sensor 4 detects an obstacle, and C is 0 when it is not detected. In step S4, R is 1 when the upward sensor 5 detects an obstacle, and R is 0 when no obstacle is detected. Similarly, when the downward sensor 6 detects an obstacle in step S6, L is 1, and otherwise L is 0.

  Therefore, in the table of FIG. 5, the row (1) indicates that there are no obstacles in front of the running direction, upper obstacles, and lower obstacles, and that straight running is possible (in step 2). If none). Line (2) is a case where an obstacle ahead of the running direction is detected by the reference sensor 4 but no obstacle is detected by the upward sensor 5. Thereby, it is determined that there is no downward obstacle. Then, it is determined that there is no upward obstacle. This eliminates the need to detect obstacles with the downward sensor (in the case of no step 4). Referring to FIG. 9 showing this state, there is a downward obstacle 54, but since the upward sensor 5 has not detected, it is determined that the height of the obstacle can be overcome. Explaining in correspondence with the graph of FIG. 5A, there is no obstacle in the range of Rf and Rt, and the control unit 21 regardless of whether there is an obstacle in the detection range of Cb and Lb that does not overlap with the detection range. Determines that there is a downward obstacle that can be overcome, and determines that advancement is possible.

Line (3) is a case where an obstacle ahead of the running direction is detected by the reference sensor 4 and the obstacle is detected by the upward sensor 5. In this case, it is determined that there is no lower obstacle but there is an upper obstacle. (In the case of step 4) (see FIG. 12) Then, it is determined that there is no upward obstacle with the downward sensor so that the downward sensor 6 is in front of the self-propelled device in the traveling direction. In this case, it is a case where there is an obstacle above the accessible range, and it is possible to enter and it is determined OK. (If not in step 6) (see FIG. 7)
Line (4) is a case where an obstacle ahead in the running direction is detected by the reference sensor 4, an obstacle is detected by the upward sensor 5, and an obstacle is also detected by the downward sensor 6. In this case, there is an obstacle below the approachable range, and there is an obstacle within the approachable range and entry is impossible, and the determination is NG. (In the case of step 6) Referring to the graph of FIG. 5A, in this case, it can be said that there is an obstacle in the accessible range where the detection ranges of all the sensors overlap. Therefore, the control unit 21 determines that advancement is impossible.
In addition, when detected by the reference sensor 4, the situation detected by the upward sensor 5 and the downward sensor 6 is determined at the same time. It is conceivable to take measures so that determination can be made when the heights of the upper obstacle and the lower obstacle are different.

  As mentioned above, although embodiment of this invention was described, in addition to embodiment mentioned above, there can be various modifications about this invention. These modifications should not be construed as not belonging to the scope of the present invention. The present invention should include the meaning equivalent to the scope of the claims and all modifications within the scope.

In short, a self-propelled device according to the present invention includes a housing, a drive unit that travels and changes the direction of the housing, a plurality of obstacle sensors that detect obstacles on the travel route, and each of the obstacle sensors. A control unit for controlling the travel and direction change of the housing by the driving unit based on the detection, and each obstacle sensor is oriented in the vertical plane so that the detection range in the vertical direction is different from other obstacle sensors. The control unit detects obstacles in a plurality of directions on the traveling surface and uses the respective obstacle sensors to detect the obstacles in a plurality of directions. The body is turned on the running surface and each obstacle sensor detects the same obstacle, and the vertical arrangement of the obstacle is judged.
Further, the self-propelled device according to the present invention has several preferable modes. Hereinafter, preferred embodiments of the present invention will be described.

  The obstacle sensor includes a reference sensor and an upward sensor, and the upward sensor is located at a position where the lower limit of the detection range in the vertical direction is higher than the lower limit of the detection range of the reference sensor. When the object is detected, try turning the casing to let the upward sensor detect the obstacle, and when the upward sensor detects the obstacle, it is determined that the vehicle cannot travel in the direction of the obstacle, When the upward sensor does not detect an obstacle, it may be determined that the housing can get over the obstacle. If it does in this way, it can be judged whether it is the height which a lower obstacle, such as a level difference, can get over using a standard sensor and an upward sensor.

  The obstacle sensor includes a reference sensor and a downward sensor, and the downward sensor is at a position where the upper limit of the detection range in the vertical direction is lower than the upper limit of the detection range of the reference sensor, and the control unit includes the reference sensor When the obstacle detects an obstacle, change the direction of the casing and let the downward sensor detect the obstacle. When the downward sensor detects the obstacle, it is determined that the vehicle cannot travel in the direction of the obstacle. However, when the downward sensor does not detect an obstacle, it may be determined that the casing can travel through the gap under the obstacle. If it does in this way, it can be judged whether it can enter into the crevice under the obstacle which is away from the floor surface and is above using the reference sensor and the downward sensor.

  Further, the obstacle sensor includes the reference sensor, the downward sensor, and the upward sensor, and the control unit changes the direction of the housing when the reference sensor detects an obstacle, and the upward sensor and the Each of the obstacles is detected by the downward sensor, and when any obstacle is detected, it is determined that the vehicle cannot travel in the direction of the obstacle, and when only one of the obstacles is detected, the casing is You may make it judge that it is an obstacle which can get over or enter the lower gap. In this way, the reference sensor, the downward sensor and the upward sensor are combined to determine whether or not the lower obstacle is high enough to get over, and whether there is a gap that can enter under the upper obstacle. It can be judged.

Further, each obstacle sensor is a distance measuring sensor, the detection range in the vertical direction is a detection range at a position away from the housing by a predetermined distance, and the control unit is one of the obstacles When the sensor detects an obstacle, it can be controlled to stop the case just before the distance from the obstacle, change the direction of the case, and let each obstacle sensor detect the obstacle. Good. In this way, it is possible to determine whether or not the vehicle can travel in the direction of the obstacle before the obstacle.
Furthermore, each obstacle sensor may have the same directional characteristics as other obstacle sensors. In this way, since each obstacle sensor can be shared, an inexpensive self-propelled device can be realized.
Preferred embodiments of the present invention include combinations of any of the plurality of embodiments shown here.

1: Self-propelled device 2a, 2b: Drive wheel 3a, 3b: Drive motor 4: Reference sensor 5: Upward sensor 6: Downward sensor 4a, 5a, 6a: Transmitter 4b, 5b, 6b: Receiver 7: Battery 21 : Control unit 22: main controller 23: memory 24: calculation unit 25: right drive wheel motor driver 26: right drive motor 27: left drive wheel motor driver 28: left drive motor 29: fan motor driver 30: fan motor 50 : Floor 51: Obstacle 52: Upper obstacle 53: Cupboard 54: Lower obstacle 55: Sill

Claims (6)

A housing,
A drive unit for running and turning the housing;
A plurality of obstacle sensors for detecting obstacles on the travel route;
A control unit that controls the traveling and turning of the housing by the driving unit based on detection of each obstacle sensor;
Each obstacle sensor is arranged at a predetermined position of the casing with different orientation and / or position in the vertical plane so that the detection range in the vertical direction is different from other obstacle sensors,
The controller detects obstacles in a plurality of directions on the running surface using the respective obstacle sensors, and detects the same obstacle on each obstacle sensor by changing the direction of the housing on the running surface. Let the self-propelled device be characterized by judging the vertical arrangement of the obstacle. The obstacle sensor includes a reference sensor and an upward sensor, and the upward sensor is at a position where the lower limit of the detection range in the vertical direction is higher than the lower limit of the detection range of the reference sensor,
When the reference sensor detects an obstacle, the control unit changes the direction of the casing to cause the upward sensor to detect the obstacle. When the upward sensor detects the obstacle, the controller detects the obstacle. The self-propelled device according to claim 1, wherein it is determined that the vehicle cannot travel in the direction of, but when the upward sensor does not detect an obstacle, it is determined that the housing can get over the obstacle. The obstacle sensor includes a reference sensor and a downward sensor, and the downward sensor is at a position where the upper limit of the detection range in the vertical direction is lower than the upper limit of the detection range of the reference sensor,
The control unit changes the direction of the housing when the reference sensor detects an obstacle, and causes the downward sensor to detect the obstacle. When the downward sensor detects the obstacle, the obstacle is detected. 3. The self-propelled device according to claim 1, wherein when the downward sensor does not detect an obstacle, it is determined that the casing can travel through a gap under the obstacle. . The obstacle sensor includes the reference sensor, the downward sensor, and the upward sensor,
When the control unit detects an obstacle by turning the casing when the reference sensor detects an obstacle and causing the upward sensor and the downward sensor to detect the obstacle, respectively, 4. The vehicle according to claim 3, wherein it is determined that the vehicle cannot travel in the direction of the obstacle, and when only one of the obstacles is detected, the housing is determined to be an obstacle that can get over or enter a lower gap. Self-propelled equipment. Each obstacle sensor is a distance measuring sensor, and the detection range in the vertical direction is a detection range at a position away from the housing by a predetermined distance,
When any of the obstacle sensors detects an obstacle, the control unit stops the casing just before the distance from the obstacle, changes the direction of the casing, and puts the obstacle on each obstacle sensor. The self-propelled device according to any one of claims 1 to 4 to be detected.   The self-propelled device according to claim 4, wherein each obstacle sensor has the same directivity characteristics as other obstacle sensors.