Self-propelled robot

Abstract

To provide a self-propelled robot that can reduce a dead angle of a distance measuring sensor.SOLUTION: A self-propelled cleaner 100 (self-propelled robot) comprises: a body part 10 for cleaning a floor surface by moving on the floor surface; an assisting part 40 for assisting the body part 10; a distance measuring sensor 50 for measuring a distance to an obstacle around the main body part 10; and a holding part 80 internally housing the assisting part 40, and holding the distance measuring sensor 50 above the assisting part 40. The assisting part 40 comprises at least a warning lamp 60 and a drive recorder 70 (video recording device).SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a self-propelled robot.

Background Art

[0002] Conventionally, in order to detect obstacles, a self-propelled robot (a self-propelled vacuum cleaner) equipped with a ranging sensor such as a laser sensor (LiDAR) is known. In recent years, in order to improve the safety when a self-propelled robot moves, a device equipped with an optical auxiliary device such as a warning light has also been developed (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the above self-propelled robot, a plurality of ranging sensors are provided on the side surface of the self-propelled robot, and the warning light is provided upright on the upper surface of the self-propelled robot, which has contributed to the increase in the size of the device itself. For this reason, although it has been considered to arrange the ranging sensor and the optical auxiliary device overlappingly, there is a possibility that a dead angle may occur in the ranging sensor due to the holding member that holds the auxiliary device.

[0005] Therefore, an object of the present invention is to provide a self-propelled robot capable of reducing the dead angle of a ranging sensor.

Means for Solving the Problems

[0006] One of the self-propelled robots of the present invention includes a main body that moves on a floor surface to clean the floor surface, an auxiliary unit that assists the main body, a distance measuring sensor that measures the distance to an obstacle around the main body, and a holding unit that houses the auxiliary unit therein and holds the distance measuring sensor above the auxiliary unit. The auxiliary unit includes at least a warning light and a video recording device.

Effect of the Invention

[0007] According to the present invention, it is possible to provide a self-propelled robot capable of reducing the blind spot of the distance measuring sensor.

Brief Description of the Drawings

[0008]

Figure 1

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Mode for Carrying Out the Invention

[0009] Next, an embodiment of the self-propelled robot in the present invention will be described with reference to the drawings. Note that the following embodiments are merely examples of the self-propelled robot in the present invention. Therefore, the present invention is defined by the language of the claims with reference to the following embodiments, and is not limited to only the following embodiments. Therefore, the following Among the components in the embodiments, components not described in the independent claims indicating the highest-level concept of the present invention are not necessarily required to achieve the problems of the present invention, but are described as constituting a more preferable form.

[0010] Further, the drawings are schematic diagrams in which appropriate emphasis, omission, and adjustment of ratios are made to show the present invention, and may be different from the actual shape, positional relationship, and ratio.

[0011] [Self-propelled vacuum cleaner] FIG. 1 is a perspective view showing the appearance of a self-propelled vacuum cleaner 100 according to an embodiment. The self-propelled vacuum cleaner 100 is an example of a self-propelled robot, and is a robot-type vacuum cleaner that autonomously travels on the floor surface indoors and cleans the floor surface. As shown in FIG. 1, the self-propelled vacuum cleaner 100 includes a main body 10 on which various components are mounted, an operation unit 20 provided at the rear of the main body 10, and a support unit 30 provided on the upper part of the main body 10.

[0012] The main body 10 moves on the floor surface to clean the floor surface. The main body 10 has a shape in which the height gradually increases from the front part (the end in the minus Y-axis direction) to the rear part (the end in the plus Y-axis direction). The rear part of the main body 10 has a top surface formed in a planar shape substantially parallel to the horizontal plane (XY plane), and the support unit 30 is installed on the top surface. That is, the support unit 30 is installed at the highest position in the main body 10 and is a part protruding upward from the main body 10.

[0013] Although not shown, the main body 10 is equipped with a drive unit for moving the main body 10, a cleaning unit for collecting dust existing on the floor surface, a suction unit for sucking the dust into the inside of the main body 10, a dustbin unit for accumulating the sucked dust, and a control unit for controlling these.

[0014] The drive unit runs the main body 10 based on an instruction from the control unit. The drive unit has a plurality of wheels that run on the floor surface, a plurality of driving motors that apply torque to each wheel, and the like.

[0015] The cleaning unit is a unit for sucking dust from the suction port provided on the lower surface of the main body 10, and includes a main brush disposed in the suction port, a brush drive motor for rotating the main brush, and the like.

[0016] The suction unit is disposed inside the main body 10 and has a fan case and an electric fan disposed inside the fan case. The electric fan sucks the air inside the dust box unit and discharges the air outside the main body 10, thereby sucking dust from the suction port and accumulating the dust in the dust box unit.

[0017] The control unit includes a CPU, a ROM, a RAM, etc. The CPU expands and executes the program stored in the ROM in the RAM to appropriately control each unit. The control unit creates a reference map necessary for autonomous driving based on the data acquired from a distance measuring sensor 50 (described later) provided in the support unit 30. Further, the control unit controls each unit based on the reference map to clean the floor surface while causing the main body 10 to perform autonomous driving. During autonomous driving, the control unit controls the drive unit based on the data acquired in real time from the distance measuring sensor 50 to cause the main body 10 to avoid obstacles. Also, during autonomous driving, the control unit controls a warning lamp 60 (described later) provided in the support unit 30 to notify the surroundings that the main body 10 is performing autonomous driving. Furthermore, the control unit controls a drive recorder 70 (described later) provided in the support unit 30 to record the surrounding state during autonomous driving as a video in the drive recorder 70.

[0018] The operation unit 20 is a handle for the user to move the main body unit 10 except during autonomous driving of the main body unit 10. The operation unit 20 is provided at the rear part of the main body unit 10 and is telescopically extendable in the vertical direction. When the operation unit 20 is operated by the user, as shown in FIG. 1, it extends upward from the rear part of the main body unit 10. On the other hand, when not in use, the operation unit 20 is retracted. Here, examples of when the user moves the main body unit 10 using the operation unit 20 include when the power is turned off or when creating a reference map.

[0019] [Support unit] Next, the support unit 30 will be described with reference to FIGS. 2 to 6. FIG. 2 is a perspective view of the support unit 30 according to the embodiment. FIG. 3 is an exploded perspective view of a part of the support unit 30 according to the embodiment. FIG. 4 is a side view of the support unit 30 corresponding to FIG. 3. FIG. 5 is a perspective view of the support unit 30 shown in FIG. 3 disassembled in more detail. FIG. 6 is a side view of the support unit 30 corresponding to FIG. 5.

[0020] The support unit 30 is a part for supporting the autonomous driving of the main body unit 10. The support unit 30 includes an optical auxiliary unit 40, a distance measuring sensor 50, and a holding unit 80.

[0021] The optical auxiliary unit 40 includes a device for assisting the autonomous driving of the main body unit 10 by light. Here, "assist" includes assisting the safety of autonomous driving and making it possible to analyze unsafe matters (such as collisions and contacts) during autonomous driving afterwards. Specifically, the auxiliary unit 40 includes a warning light 60 and a drive recorder 70. The warning light 60 is, for example, a rotating light, and by rotating and emitting light, it can notify the surrounding area of the presence of the self-propelled sweeper 100. That is, the warning light 60 is an example of a device for assisting the safety of autonomous driving. The warning light 60 may be a light emitting device other than a rotating light as long as it can notify the surrounding area of the presence of the self-propelled sweeper 100.

[0022] The drive recorder 70 is a video recording device that images the situation around the main body 10. That is, the drive recorder 70 is an example of a device that enables the analysis of unsafe matters during autonomous driving after the fact. In the present embodiment, a drive recorder equipped with a 360-degree camera is exemplified as the drive recorder 70, but a drive recorder equipped with other cameras may also be used.

[0023] The distance measuring sensor 50 is a device that measures the distance to an obstacle around the main body 10. The distance measuring sensor 50 is, for example, a rotary LIDAR (Laser Imaging Detection And Ranging). Specifically, the distance measuring sensor 50 irradiates laser light along the horizontal plane while rotating it, and measures the distance to the obstacle by receiving the reflected light of the laser light reflected by the obstacle. Note that the distance measuring sensor 50 may be of any type as long as it can measure the distance to an obstacle. Other distance measuring sensors 50 include millimeter-wave radar, laser rangefinder, ToF (Time of Flight), and the like.

[0024] A cover plate 90 is attached to the upper surface of the distance measuring sensor 50. The cover plate 90 is a member that suppresses dirt from adhering to the distance measuring sensor 50 by covering the distance measuring sensor 50. Furthermore, the cover plate 90 is also a member that enhances the design quality. Specifically, the cover plate 90 is formed in a disk shape and has a size that protrudes from the distance measuring sensor 50 over the entire circumference. In this way, since the cover plate 90 covers the distance measuring sensor 50 over a wider range than the upper surface of the distance measuring sensor 50, it is possible to further suppress the adhesion of dirt. Furthermore, the outer peripheral edge of the cover plate 90 protruding from the distance measuring sensor 50 also functions as an eaves, making it difficult for stray light other than the reflected light caused by the laser light to enter the distance measuring sensor 50. Therefore, it is also possible to stabilize the detection performance of the distance measuring sensor 50.

[0025] The cover plate 90 and the upper surface of the distance measuring sensor 50 are attached by a double-sided tape 91. Here, if a member that supports the cover plate 90 from the outside of the distance measuring sensor 50 is provided, there is a possibility that the member may block the laser light from the distance measuring sensor 50. In this embodiment, since the cover plate 90 and the upper surface of the distance measuring sensor 50 are fixed by the double-sided tape 91, it is suppressed that the laser light from the distance measuring sensor 50 is blocked. Note that the cover plate 90 and the upper surface of the distance measuring sensor 50 may be fixed with an adhesive.

[0026] The holding part 80 is a part that houses the auxiliary part 40 inside and holds the distance measuring sensor 50 above the auxiliary part 40. Specifically, the holding part 80 includes a frame part 81 that holds the auxiliary part 40 and a cover member 82 that covers the frame part 81 and the auxiliary part 40. The frame part 81 has a base 811 and a frame body 812. The base 811 is fixed to the top surface of the rear part of the main body part 10 and holds the warning lamp 60 and the drive recorder 70. On the base 811, the drive recorder 70 is arranged in front of the warning lamp 60 (in the negative Y-axis direction). Thereby, it is difficult for the warning lamp 60 to enter the field of view of the drive recorder 70. Also, on the base 811, the warning lamp 60 is arranged above the drive recorder 70. Thereby, it is suppressed that the light from the warning lamp 60 is blocked by the drive recorder 70.

[0027] FIG. 7 is a perspective view showing the frame body 812 according to the embodiment. As shown in FIGS. 5 to 7, the frame body 812 integrally has a top plate portion 813 and a plurality of leg portions 814. The top plate portion 813 is a disk-shaped part, and the distance measuring sensor 50 is fixed to the upper surface thereof. From the outer peripheral edge of the top plate portion 813, a plurality of leg portions 814 extend downward at predetermined intervals in the circumferential direction. Each leg portion 814 is inclined so as to gradually separate from the top plate portion 813 in a plan view as it goes downward. That is, the frame body 812 has a tapered shape that tapers upward as a whole. The tip portions of the plurality of leg portions 814 are fixed on the base 811. Among the intervals formed by the plurality of leg portions 814, the lens 71 of the drive recorder 70 is disposed with respect to the interval disposed most forward. Thereby, it is suppressed that the leg portion 814 enters the visual field of the drive recorder 70. The frame body 812 is formed of a resin having translucency. Therefore, the light emitted from the warning lamp 60 passes through the frame body 812.

[0028] Among the intervals formed by the plurality of leg portions 814, at least one interval may be formed to have a size that allows the drive recorder 70 to pass through. In the present embodiment, among the intervals formed by the plurality of leg portions 814, the interval disposed most forward may be formed to have a size that allows the drive recorder 70 to pass through. In this case, at the time of assembly, after the frame body 812 is first installed on the base 811, the drive recorder 70 can be inserted through the interval and installed on the base 811. Thereby, it is also possible to easily align the frame body 812 and the drive recorder 70.

[0029] The cover member 82 is a member that covers the frame portion 81 and the auxiliary portion 40. Specifically, the cover member 82 is formed from, for example, a half mirror, and it is possible to visually recognize the outside from the inside of the cover member 82, but it is not possible to visually recognize the inside from the outside. Note that the cover member 82 may be formed from a simple translucent member, and it may be possible to visually recognize the inside from the outside. The cover member 82 is a substantially frustum-shaped cylindrical member that tapers upward. When the frame portion 81 is housed inside the cover member 82, the inner peripheral surface of the cover member 82 is supported by each leg portion 814. In this state, from the upper part of the cover member 82, the top plate portion 813 of the frame body 812 is exposed, and the distance measuring sensor 50 fixed to the top plate portion 813 also entirely protrudes from the upper part of the cover member 82. That is, around the distance measuring sensor 50 since the frame body 812 and the cover member 82 are retracted, it is suppressed that the laser light emitted from the distance measuring sensor 50 is blocked by the frame body 812 and the cover member 82.

[0030] Also, in this state, the auxiliary portion 40 is also housed inside the cover member 82. As described above, since the cover member 82 is formed from a half mirror, the frame portion 81 and the auxiliary portion 40 cannot be visually recognized from the outside of the cover member 82. On the other hand, the light from the warning lamp 60 passes through the cover member 82 and is emitted to the outside of the cover member 82. Also, the drive recorder 70 can photograph the situation outside the cover member 82.

[0031] [Effect] As described above, according to the self-propelled cleaner 100 according to the present embodiment, the main body portion 10 that moves on the floor surface and cleans the floor surface, the optical auxiliary portion 40 that assists the main body portion 10, the distance measuring sensor 50 that measures the distance to the obstacles around the main body portion 10, and the holding portion 80 that houses the auxiliary portion 40 inside and holds the distance measuring sensor 50 above the auxiliary portion 40 are provided.

[0032] According to this, since the holding part 80 holds the distance measuring sensor 50 above the auxiliary part 40, the laser light emitted from the distance measuring sensor 50 is not blocked by the holding part 80. Therefore, it is possible to reduce the blind spot of the distance measuring sensor 50.

[0033] Further, the holding part 80 has a cover member 82 having translucency, and the cover member 82 covers the auxiliary part 40.

[0034] According to this, since the cover member 82 covering the auxiliary part 40 has translucency, it is possible to suppress the optical auxiliary part 40 from being affected by the cover member 82. Specifically, the light from the warning lamp 60 included in the auxiliary part 40 passes through the cover member 82 and is emitted to the outside of the cover member 82. Also, in the drive recorder 70 included in the auxiliary part 40, it is possible to photograph the situation outside the cover member 82. Therefore, while suppressing the dirt of the auxiliary part 40 by the cover member 82, it is possible to suppress the deterioration of the function of the auxiliary part 40 caused by the cover member 82.

[0035] Further, the holding part 80 is covered by the cover member 82 and includes a frame part 81 that holds the auxiliary part 40.

[0036] According to this, since the frame part 81 that holds the auxiliary part 40 is covered by the cover member 82, at the time of assembly, the frame part 81 and the cover member 82 can be attached to the main body part 10 at different timings. That is, it is possible to assemble in the order of attaching the frame part 81 to the main body part 10, installing the auxiliary part 40, and then attaching the cover member 82. Thereby, it is possible to easily align the frame part 81 attached to the main body part 10 and the auxiliary part 40 (more specifically, the drive recorder 70).

[0037] Further, the frame part has translucency.

[0038] According to this, since the frame portion 81 has translucency, it is possible to suppress a decrease in the function of the auxiliary portion 40 caused by the frame portion 81.

[0039] Further, the self-propelled cleaner 100 is attached to the upper surface of the distance measuring sensor 50 and includes a cover plate 90 that covers the distance measuring sensor 50 from above.

[0040] According to this, since the cover plate 90 covers the distance measuring sensor 50 from above, it is possible to suppress the contamination of the distance measuring sensor 50 by the cover plate 90.

[0041] [Others] As described above, the self-propelled robot according to the present invention has been described based on the above embodiments, but the present invention is not limited to the above embodiments.

[0042] For example, in the above embodiment, the main body portion 10 equipped with the suction unit is illustrated. However, it may be a main body portion without a suction unit and equipped with a floor wiping unit. Further, it may be a main body portion equipped with both a suction unit and a floor wiping unit.

[0043] Also, as the device included in the auxiliary portion, any device may be used as long as it assists the autonomous driving of the main body portion 10 by light. For example, in order to assist the safety of autonomous driving, a projector that projects various information on the floor surface, wall surface, or ceiling surface can be mentioned.

[0044] In the above embodiment, the self-propelled cleaner 100 is illustrated and described as a self-propelled robot. However, a robot capable of autonomous driving does not necessarily have to have a cleaning function. Other self-propelled robots include self-propelled surveillance cameras, self-propelled delivery machines, and the like.

[0045] In addition, forms obtained by applying various modifications that can be conceived by those skilled in the art to the embodiments and each modification example, and forms realized by arbitrarily combining the components and functions in the embodiments and each modification example without departing from the gist of the present invention are also included in the present invention.

Industrial Applicability

[0046] The present invention can be applied to a self-propelled robot such as a self-propelled vacuum cleaner equipped with a distance measuring sensor.

Explanation of Signs

[0047] 10 Main body 20 Operation unit 30 Support unit 40 Auxiliary unit 50 Distance measuring sensor 60 Warning lamp 70 Drive recorder 71 Lens 80 Holding unit 81 Frame part 82 Cover member 90 Cover plate 91 Adhesive 100 Self-propelled vacuum cleaner (self-propelled robot) 811 Base 812 Frame body 813 Top plate part 814 Leg part

Claims

1. a main body that moves on a floor surface to clean the floor surface; An auxiliary part that supports the main body part; A distance measuring sensor for measuring a distance to an obstacle around the main body; a holding portion that houses the auxiliary portion and holds the distance measuring sensor above the auxiliary portion, The auxiliary unit includes at least a warning light and a video recording device. Self-propelled robot.

2. The holding portion has a cover member having light-transmitting properties, The cover member covers the auxiliary portion. The self-propelled robot according to claim 1 .

3. The holding portion is covered by the cover member and includes a frame portion that holds the auxiliary portion. The self-propelled robot according to claim 2.

4. The frame portion is light-transmitting. The self-propelled robot according to claim 3.

5. A cover plate is attached to the upper surface of the distance measuring sensor and covers the distance measuring sensor from above. The self-propelled robot according to any one of claims 1 to 4.

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