Detector and robot dust collector

Abstract

To detect contact between a detector and an object.SOLUTION: A detector provided in a robot dust collector comprises: an optical sensor which detects an object around the robot dust collector; a cover member which is arranged at least partially around the optical sensor and which rectilinearly moves; a detection member which rectilinearly moves in synchronization with the cover member; and a movement sensor which detects movement of the detection member.SELECTED DRAWING: Figure 31

Description

[Technical Field]

[0001] The technology disclosed in this specification relates to a detection device and a robot dust collector. [Background technology]

[0002] In the technical field related to robotic dust collectors, there is known a robotic dust collector equipped with a detection device that detects surrounding objects, as disclosed in Patent Document 1. At least a portion of the detection device protrudes upward from the top surface of the robotic dust collector's body. The robotic dust collector moves autonomously while detecting surrounding objects in a non-contact manner using the detection device. By having at least a portion of the detection device protrude upward from the top surface of the body, the detection device can detect objects around the body in a non-contact manner. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] German Patent Application Publication No. 102013106294 Summary of the Invention [Problem to be solved by the invention]

[0004] An autonomously moving robotic dust collector may enter a space under an object such as a shelf. If the robotic dust collector enters the space under the object, the detection device may get caught on the underside of the object. If the detection device gets caught on the underside of the object, it becomes difficult for the robotic dust collector to escape from the space. If the robotic dust collector can detect contact between the detection device and the object, it can take evasive action to avoid entering the space.

[0005] The technology disclosed in this specification aims to detect contact between a detection device and an object. [Means for solving the problem]

[0006] This specification discloses a detection device. The detection device may be provided in a robotic dust collector. The detection device may include an optical sensor that detects objects around the robotic dust collector, a cover member that is arranged at least partially around the optical sensor and moves linearly, a detection member that moves linearly in conjunction with the cover member, and a movement sensor that detects the movement of the detection member. [Effects of the Invention]

[0007] According to the technology disclosed in this specification, it is possible to detect contact between a detection device and an object. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view showing a robot dust collector according to an embodiment, as viewed from above. [Figure 2] FIG. 2 is a top view showing the robot dust collector according to the embodiment. [Figure 3] FIG. 3 is a bottom view showing the robot dust collector according to the embodiment. [Figure 4] FIG. 4 is a side view showing the robot dust collector according to the embodiment. [Figure 5] FIG. 5 is a cross-sectional view showing a robot dust collector according to an embodiment. [Figure 6] FIG. 6 is a block diagram showing a robot dust collector according to an embodiment. [Figure 7] FIG. 7 is a perspective view showing the detection device according to the embodiment, seen from above. [Figure 8] FIG. 8 is a perspective view showing the detection device according to the embodiment, seen from below. [Figure 9] FIG. 9 is a side view showing the detection device according to the embodiment. [Figure 10] FIG. 10 is a top view showing the detection device according to the embodiment. [Figure 11] FIG. 11 is a cross-sectional view showing a detection device according to an embodiment. [Figure 12] FIG. 12 is a cross-sectional view showing a detection device according to an embodiment. [Figure 13]FIG. 13 is an exploded perspective view of the detection device according to the embodiment, seen from above. [Figure 14] FIG. 14 is an exploded perspective view showing the detection device according to the embodiment, viewed from below. [Figure 15] FIG. 15 is a perspective view showing the optical sensor according to the embodiment, as viewed from above. [Figure 16] FIG. 16 is a perspective cross-sectional view showing the optical sensor according to the embodiment, viewed from above. [Figure 17] FIG. 17 is a cross-sectional view showing an optical sensor according to an embodiment. [Figure 18] FIG. 18 is a perspective view showing the cover member according to the embodiment, as viewed from above. [Figure 19] FIG. 19 is a perspective view showing the cover member according to the embodiment, viewed from below. [Figure 20] FIG. 20 is a top view showing the cover member according to the embodiment. [Figure 21] FIG. 21 is a side view showing the cover member according to the embodiment. [Figure 22] FIG. 22 is a cross-sectional view showing a cover member according to the embodiment. [Figure 23] FIG. 23 is a perspective view showing the holder member according to the embodiment, as viewed from above. [Figure 24] FIG. 24 is a perspective view showing the holder member according to the embodiment, viewed from below. [Figure 25] FIG. 25 is a top view showing the holder member according to the embodiment. [Figure 26] FIG. 26 is a cross-sectional view showing a holder member according to the embodiment. [Figure 27] FIG. 27 is a perspective view showing the housing according to the embodiment, seen from above. [Figure 28] FIG. 28 is a perspective view showing the housing according to the embodiment, viewed from below. [Figure 29] FIG. 29 is a diagram illustrating the operation of the cover member according to the embodiment. [Figure 30] FIG. 30 is a diagram illustrating the operation of the cover member according to the embodiment. [Figure 31] FIG. 31 is a diagram illustrating the operation of the cover member according to the embodiment. [Figure 32] FIG. 32 is a diagram illustrating the operation of the cover member according to the embodiment. [Figure 33] FIG. 33 is a diagram illustrating the operation of the detection member according to the embodiment. [Figure 34] FIG. 34 is a diagram illustrating the operation of the detection member according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] In one or more embodiments, the detection device may be provided in the robotic dust collector. The detection device may include an optical sensor that detects objects around the robotic dust collector, a cover member that is arranged around at least a portion of the optical sensor and moves linearly, a detection member that moves linearly in conjunction with the cover member, and a movement sensor that detects the movement of the detection member.

[0010] In the above configuration, when an object comes into contact with the cover member, the cover member moves linearly due to an external force received from the object. When the cover member moves linearly, the detection member moves linearly in conjunction with the cover member. The linear movement of the detection member is detected by the movement sensor, thereby detecting contact between the cover member of the detection device and the object.

[0011] In one or more embodiments, the detection member may move linearly rearward.

[0012] In the above configuration, when the robot dust collector is moving forward or rotating while cleaning the surface to be cleaned, there is a high possibility that an object will come into contact with the front of the cover member. Furthermore, when the robot dust collector is rotating, there is a high possibility that an object will come into contact with the side of the cover member. If an object comes into contact with the front of the cover member, the cover member is guided backward and moves linearly backward. If an object comes into contact with the side of the cover member, the cover member is guided backward to the left or right and moves linearly backward to the left or right. The detection member can move linearly backward in conjunction with the cover member moving linearly backward, left or right.

[0013] In one or more embodiments, the detection device may include a holder member, at least a portion of which is disposed below the optical sensor, and which supports the cover member so that the cover member is linearly movable.

[0014] In the above configuration, the cover member is supported by the holder member so as to be linearly movable.

[0015] In one or more embodiments, the movement sensor may be held in a holder member.

[0016] In the above configuration, the cover member is supported by the holder member, and the movement sensor is held by the holder member, so that an increase in the number of parts of the detection device is suppressed.

[0017] In one or more embodiments, the holder member may have a sensor holding portion for holding the movement sensor. The sensor holding portion may be provided on a lower surface of the holder member.

[0018] In the above configuration, the movement sensor is disposed below the holder member, so the movement sensor is protected by the holder member and contact between the object and the movement sensor is suppressed. Since contact between the object and the movement sensor is suppressed, the movement sensor is protected and deterioration of the movement sensor is suppressed.

[0019] In one or more embodiments, the movement sensor may be a non-contact sensor that emits the detection light. The detection member may move linearly backward to enter the optical path of the detection light.

[0020] In the above configuration, when the detection member enters the optical path of the detection light, the movement sensor can detect that the detection member has moved linearly backward.

[0021] In one or more embodiments, the cover member may be moved horizontally in a linear manner upon contact with an object, and the detection member may be moved linearly backward in conjunction with the cover member.

[0022] In the above configuration, regardless of whether the cover member moves linearly backward, left rearward, or right rearward due to a collision with an object, the detection member also moves linearly backward, so the movement sensor can detect the linear movement of the detection member regardless of the direction in which the cover member moves linearly.

[0023] In one or more embodiments, the cover member may have a first support rod portion. The holder member may have a guide opening into which the first support rod portion is inserted and which is larger than the outer diameter of the first support rod portion. The guide opening may guide the first support rod portion so that the cover member moves linearly in the horizontal direction.

[0024] In the above configuration, the outer diameter of the first support rod is smaller than the guide opening, so the first support rod can move inside the guide opening. This allows the cover member to move relative to the holder member. As the first support rod is guided by the guide opening, the cover member can move linearly in the horizontal direction.

[0025] In one or more embodiments, the detection member may have a slot that is long in the left-right direction and into which the first support post is inserted.

[0026] In the above configuration, when the first support pillar moves linearly to the rear left or rear right, the first support pillar can move to the left or right inside the elongated hole. Therefore, even if the first support pillar moves linearly to the rear left or right, the detection member can move linearly rearward.

[0027] In one or more embodiments, the detection device may include a housing at least a portion of which is disposed above the holder member and fixed to the holder member. The housing may have a second support column. The cover member may have a slider opening into which the second support column is inserted and which is larger than the outer diameter of the second support column. The slider opening may be guided by the second support column so that the cover member moves linearly in a horizontal direction.

[0028] In the above configuration, the outer diameter of the second support column is smaller than the slider opening, so the slider opening can move relative to the second support column. Therefore, the cover member can move relative to the holder member. As the slider opening slides relative to the second support column, the cover member can move linearly in the horizontal direction.

[0029] In one or more embodiments, the first support portion may be cylindrical. The guide opening may include a guide apex portion and a pair of guide straight portions extending rearward from the guide apex portion.

[0030] In the above configuration, the first support pole is guided by the left linear guide portion, allowing the cover member to move linearly rearward and leftward. The first support pole is guided by the right linear guide portion, allowing the cover member to move linearly rearward and rightward.

[0031] In one or more embodiments, the second support post may be cylindrical. The slider opening may include a slider apex and a pair of slider line portions extending forward from the slider apex.

[0032] In the above configuration, the cover member can move linearly rearward and leftward by sliding the straight portion of the right slider while contacting the second support column. The cover member can move linearly rearward and rightward by sliding the straight portion of the left slider while contacting the second support column.

[0033] In one or more embodiments, at least two of the first support columns and the second support columns may be provided in the left-right direction, and at least one of the other support columns may be provided.

[0034] In the above configuration, the cover member can stably move linearly in the horizontal direction.

[0035] In one or more embodiments, the cover member may be moved linearly in a rearward and downward inclined direction upon contact with an object, and the detection member may be moved linearly rearward in conjunction with the cover member.

[0036] In the above configuration, even if the cover member moves linearly downward and rearward due to a collision with an object, the detection member also moves linearly rearward, so the movement sensor can detect the linear movement of the detection member regardless of the direction in which the cover member moves linearly.

[0037] In one or more embodiments, the cover member may have a slider portion, the holder member may have a guide portion, and the guide portion may guide the slider portion so that the cover member moves linearly in the tilt direction.

[0038] In the above configuration, the cover member can move linearly downward and rearward in a stable manner.

[0039] In one or more embodiments, a plurality of guide portions may be provided around the optical sensor.

[0040] In the above configuration, the cover member can move linearly downward and rearward in a stable manner.

[0041] In one or more embodiments, the detection device may include a horizontal biasing member carried by the housing and biasing the cover member forward.

[0042] In the above configuration, when no external force is acting on the cover member, the cover member is positioned at the front end of the movable range of the cover member.

[0043] In one or more embodiments, the detection device may include a vertical biasing member that is held by the holder member and biases the cover member upward.

[0044] In the above configuration, when no external force is acting on the cover member, the cover member is positioned at the upper end of the movable range of the cover member.

[0045] In one or more embodiments, a robotic dust collector may include a main body and the above-described detection device. At least a portion of the optical sensor may be disposed above a top surface of the main body. The movement sensor may be disposed within an interior space of the main body.

[0046] In the above configuration, at least a portion of the optical sensor is disposed above the top surface of the main body, so the optical sensor can detect objects around the main body. Since the movement sensor is disposed in the internal space of the main body, the movement sensor is protected. Furthermore, the adhesion of foreign matter to the movement sensor is suppressed.

[0047] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0048] In the embodiment, the positional relationship of each part will be described using the terms "left," "right," "front," "rear," "upper," and "lower." These terms indicate relative positions or directions based on the center of the robotic dust collector 1.

[0049] [Robot dust collector] FIG. 1 is a perspective view from above showing a robot dust collector 1 according to an embodiment. FIG. 2 is a top view showing the robot dust collector 1 according to an embodiment. FIG. 3 is a bottom view showing the robot dust collector 1 according to an embodiment. FIG. 4 is a side view showing the robot dust collector 1 according to an embodiment. FIG. 5 is a cross-sectional view showing the robot dust collector 1 according to an embodiment. FIG. 6 is an exploded perspective view showing the robot dust collector 1 according to an embodiment. FIG. 6 is a block diagram showing the robot dust collector 1 according to an embodiment.

[0050] The robotic dust collector 1 collects dust while autonomously traveling on a surface FL to be cleaned. As shown in Figures 1, 2, 3, 4, 5, and 6, the robotic dust collector 1 includes a main body 2, a bumper 3, a battery mounting section 4, a fan unit 5, a dust box 6, casters 7, rollers 8, a traveling device 12, a main brush 13, a main brush motor 14, side brushes 15, a side brush motor 16, a handle 17, an obstacle sensor 19, an interface device 20, a detection device 30, and a control device 100.

[0051] The main body 2 has a top surface 2A, a bottom surface 2B facing the surface to be cleaned FL, and a side surface 2C connecting the peripheral edge of the top surface 2A with the peripheral edge of the bottom surface 2B. In a plane parallel to the top surface 2A, the outer shape of the main body 2 is substantially circular.

[0052] The main body 2 includes a housing 11 having an internal space. The housing 11 includes an upper housing 11A, a lower housing 11B disposed below the upper housing 11A and connected to the upper housing 11A, a cover plate 11C detachably attached to the upper housing 11A, and a bottom plate 11D attached to the lower housing 11B. The upper surface 2A is disposed on the upper housing 11A and the cover plate 11C. The bottom surface 2B is disposed on the lower housing 11B and the bottom plate 11D.

[0053] The main body 2 has a suction port 18 provided on the bottom surface 2B. The suction port 18 is provided on the bottom plate 11D. The suction port 18 sucks in dust from the surface to be cleaned FL. The bottom plate 11D is a suction member having the suction port 18. The suction port 18 faces the surface to be cleaned FL. The suction port 18 is provided on the front part of the bottom surface 2B. The suction port 18 has a rectangular shape that is long in the left-right direction. In the left-right direction, the center of the suction port 18 and the center of the main body 2 coincide. However, the center of the suction port 18 and the center of the main body 2 do not have to coincide.

[0054] The bumper 3 is movable while facing at least a portion of the side surface 2C. The bumper 3 is movably supported on the main body 2. The bumper 3 faces the front portion of the side surface 2C. When the robotic dust collector 1 collides with an object around the main body 2, the bumper 3 moves relative to the main body 2 to absorb the impact acting on the main body 2.

[0055] The battery mounting section 4 supports the battery pack BT. The battery pack BT is mounted in the battery mounting section 4. The battery mounting section 4 is provided on at least a portion of the outer surface of the main body 2. A recess is provided in the rear of the upper housing 11A. The battery mounting section 4 is provided inside the recess of the upper housing 11A. Two battery mounting sections 4 are provided.

[0056] When attached to the battery attachment section 4, the battery pack BT supplies power to the electrical or electronic equipment mounted on the robot dust collector 1. The battery pack BT is a general-purpose battery that can be used as a power source for various electrical equipment. The battery pack BT can be used as a power source for power tools. The battery pack BT can be used as a power source for electrical or electronic equipment other than power tools. The battery pack BT can be used as a power source for dust collectors other than the robot dust collector 1 according to the embodiment. The battery pack BT includes a lithium-ion battery. The battery pack BT is a rechargeable battery. The battery attachment section 4 has a structure similar to that of a battery attachment section of a power tool.

[0057] A user of the robotic dust collector 1 can mount the battery pack BT on the battery mounting section 4 and remove the battery pack BT from the battery mounting section 4 in the external space of the housing 11. The battery mounting section 4 has a guide member that guides the mounted battery pack BT and a main body terminal that is connected to a battery terminal provided on the battery pack BT. The user can mount the battery pack BT on the battery mounting section 4 by inserting the battery pack BT into the battery mounting section 4 from above. The battery pack BT is inserted into the battery mounting section 4 while being guided by the guide member. Mounting the battery pack BT on the battery mounting section 4 electrically connects the battery terminals of the battery pack BT to the main body terminals of the battery mounting section 4. A user of the robotic dust collector 1 can remove the battery pack BT from the battery mounting section 4 by moving the battery pack BT upward.

[0058] The fan unit 5 is housed in the main body 2. The fan unit 5 generates a suction force at the suction port 18 to suck in dust. The fan unit 5 is arranged in the internal space of the housing 11. The fan unit 5 is arranged between the two battery mounting sections 4 at the rear of the main body 2. The fan unit 5 is connected to the suction port 18 via the dust box 6. The fan unit 5 generates a suction force at the suction port 18 via the dust box 6.

[0059] 5, the fan unit 5 includes a casing 5A disposed in the interior space of the housing 11, a suction fan 5B provided inside the casing 5A, and a suction motor 5C that generates power to rotate the suction fan 5B. The casing 5A has an intake port 5D connected to the dust box 6 and an exhaust port 5E.

[0060] The suction motor 5C is driven by power supplied from the battery BT. When the suction motor 5C is driven and the suction fan 5B rotates, an airflow is generated from the air intake 5D toward the air exhaust 5E. The air intake 5D is connected to the suction port 18 via the dust box 6. When the suction fan 5B rotates, an airflow is generated from the air intake 18 toward the air exhaust 5E. The generation of the airflow generates a suction force at the suction port 18.

[0061] Dust box 6 is housed in main body 2. Dust box 6 stores dust sucked in through suction port 18. Dust box 6 is arranged in the internal space of housing 11. Dust box 6 is arranged between suction port 18 and fan unit 5. Dust box 6 collects and stores dust sucked in through suction port 18.

[0062] As shown in Figure 5, the dust box 6 has a main body member 6A, a tray member 6B arranged at the upper end of the main body member 6A, and an upper plate member 6C arranged at the upper end of the tray member 6B. An opening is provided at the upper end of the main body member 6A. The tray member 6B is arranged to cover the opening at the upper end of the main body member 6A. An opening is provided at the upper end of the tray member 6B. The upper plate member 6C is arranged to cover the opening at the upper end of the tray member 6B.

[0063] The dust box 6 has a storage space S therein. Dust from the suction port 18 is stored in the storage space S of the dust box 6. The storage space S includes a lower storage space S1 defined between the main body member 6A and the tray member 6B, and an upper storage space S2 defined between the tray member 6B and the upper plate member 6C.

[0064] The dust box 6 has a lower collection port 6D connected to the lower storage space S1 and collecting dust from the suction port 18, an upper collection port 6E connected to the upper storage space S2 and collecting dust from the suction port 18, and an exhaust port 6F connected to the upper storage space S2 and discharging air from the upper storage space S2.

[0065] The lower recovery port 6D is provided in the front of the main body member 6A. The upper recovery port 6E is positioned higher than the lower recovery port 6D. The upper recovery port 6E is provided in the front of the tray member 6B. The exhaust port 6F is positioned rearward of the lower recovery port 6D and the upper recovery port 6E. The exhaust port 6F is provided in the rear of the tray member 6B. The lower storage space S1 is connected to the suction port 18 via the lower recovery port 6D. The upper storage space S2 is connected to the suction port 18 via the upper recovery port 6E. The exhaust port 6F is connected to the intake port 5D of the fan unit 5. The fan unit 5 is connected to the suction port 18 via the exhaust port 6F and the upper storage space S2. A filter 6G that collects dust is provided between the exhaust port 6F and the upper storage space S2.

[0066] The cover plate 11C is detachably attached to the upper housing 11A. The cover plate 11C is arranged to cover an opening provided in the upper housing 11A. A user of the robot dust collector 1 can remove the dust box 6 from the interior space of the housing 11 through the opening in the upper housing 11A. A user of the robot dust collector 1 can store the dust box 6 in the interior space of the housing 11 through the opening in the upper housing 11A.

[0067] The casters 7 and rollers 8 each support the main body 2 so that it can move. The casters 7 and rollers 8 each are rotatably supported on the main body 2. Two casters 7 are provided at the rear of the bottom surface 2B. One caster 7 is provided at the left side of the main body 2. The other caster 7 is provided at the right side of the main body 2. One roller 8 is provided at the front of the bottom surface 2B.

[0068] The traveling device 12 travels on the surface to be cleaned FL so that the main body 2 including the bottom plate 11D moves forward and / or backward. As the traveling device 12 travels, the main body 2 moves forward and / or backward. The traveling device 12 includes wheels 9 and wheel motors 10.

[0069] The wheels 9 support the main body 2 so that it can move. The wheels 9 rotate around a wheel rotation axis extending in the left-right direction. At least a portion of the wheels 9 protrudes downward from the bottom surface 2B. When the wheels 9 are placed on the surface FL to be cleaned, the bottom surface 2B of the main body 2 and the surface FL to be cleaned face each other with a gap between them. Two wheels 9 are provided. One wheel 9 is provided on the left side of the main body 2. The other wheel 9 is provided on the right side of the main body 2.

[0070] The wheel motor 10 generates power to rotate the wheels 9. The wheel motor 10 is driven by power supplied from the battery pack BT. The wheel motor 10 is arranged in the internal space of the housing 11. Two wheel motors 10 are provided. One wheel motor 10 generates power to rotate the wheels 9 provided on the left side of the main body 2. The other wheel motor 10 generates power to rotate the wheels 9 provided on the right side of the main body 2. The rotation of the wheels 9 allows the robot dust collector 1 to travel autonomously.

[0071] The wheel motors 10 can change the rotation direction of the wheels 9. When the wheels 9 rotate in one direction, the robot dust collector 1 moves forward. When the wheels 9 rotate in the other direction, the robot dust collector 1 moves backward. The two wheel motors 10 can be driven with different drive amounts. When the two wheel motors 10 are driven with different drive amounts, the robot dust collector 1 turns.

[0072] The main brush 13 is disposed at the suction port 18. The main brush 13 faces the surface to be cleaned FL. The main brush 13 is long in the left-right direction. The main brush 13 rotates around a brush rotation axis extending in the left-right direction. The main brush 13 has a rod member 13R extending in the left-right direction and a plurality of brushes 13B connected to the outer surface of the rod member 13R. The left and right ends of the rod member 13R are each rotatably supported by the main body 2. The rod member 13R is supported by the main body 2 so that at least a portion of the brushes 13B protrudes downward from the bottom surface 2B. When the wheels 9 are placed on the surface to be cleaned FL, at least a portion of the main brush 13 comes into contact with the surface to be cleaned FL.

[0073] The main brush motor 14 generates power to rotate the main brush 13. The main brush motor 14 is driven by power supplied from the battery pack BT. The main brush motor 14 is disposed in the internal space of the housing 11. The main brush 13 rotates when the main brush motor 14 is driven. As the main brush 13 rotates, dust present on the surface to be cleaned FL is scraped up and sucked in through the suction port 18.

[0074] The side brushes 15 are disposed in front of the bottom surface 2B. The side brushes 15 face the surface to be cleaned FL. At least a portion of the side brushes 15 is disposed forward of the main body 2. Two side brushes 15 are provided. One side brush 15 is disposed to the left of the suction port 18. The other side brush 15 is disposed to the right of the suction port 18. The side brushes 15 include a disc member 15D and multiple brushes 15B radially connected to the disc member 15D. The disc member 15D is rotatably supported on the main body 2. The disc member 15D is supported on the main body 2 so that at least a portion of the brushes 15B protrude outward from the side surface 2C. When the wheels 9 are placed on the surface to be cleaned FL, at least a portion of the side brushes 15 come into contact with the surface to be cleaned FL.

[0075] The side brush motor 16 generates power to rotate the side brushes 15. The side brush motor 16 is driven by power supplied from the battery pack BT. The side brush motor 16 is disposed in the internal space of the housing 11. The side brushes 15 are rotated by the driving of the side brush motor 16. As the side brushes 15 rotate, dust present on the surface to be cleaned FL around the main body 2 moves to the suction port 18.

[0076] The handle 17 is provided at the front of the upper housing 11A. One end and the other end of the handle 17 are rotatably connected to the upper housing 11A. A user of the robotic dust collector 1 can hold the handle 17 and lift the robotic dust collector 1. A user of the robotic dust collector 1 can carry the robotic dust collector 1.

[0077] The interface device 20 is disposed behind the cover plate 11C. The interface device 20 has a plurality of operation units 20A and a plurality of display units 20B that are operated by a user of the robot dust collector 1. An example of the operation unit 20A of the interface device 20 is a power button. An example of the display unit 20B of the interface device 20 is a remaining capacity display unit for the battery BT.

[0078] The obstacle sensor 19 detects objects present in at least a portion of the periphery of the robot dust collector 1 in a non-contact manner. The obstacle sensor 19 includes an ultrasonic sensor that detects objects by emitting ultrasonic waves. A plurality of obstacle sensors 19 are provided at intervals on the side surface 2C of the main body 2. Based on the detection data of the obstacle sensor 19, the control device 100 controls the wheel motors 10 to change the traveling direction of the traveling device 12 or stop traveling so that the main body 2 or the bumper 3 does not come into contact with an object. Note that the control device 100 may change the traveling direction of the traveling device 12 or stop traveling after the main body 2 or the bumper 3 comes into contact with an object.

[0079] Next, we will explain the operation of the robot dust collector 1. With the wheels 9 in contact with the surface FL to be cleaned, the main brush 13 and the side brushes 15 also come into contact with the surface FL to be cleaned. Power output from the battery pack BT is supplied to the wheel motor 10, the suction motor 5C, the main brush motor 14, and the side brush motor 16, respectively.

[0080] With the wheels 9 in contact with the surface to be cleaned FL, power is supplied from the battery pack BT to the wheel motors 10, causing the wheels 9 to rotate, and the robot dust collector 1 travels autonomously over the surface to be cleaned FL.

[0081] When power is supplied from the battery pack BT to the suction motor 5C and the suction fan 5B rotates, an airflow is generated from the air intake 5D toward the air exhaust 5E. The air intake 5D is connected to the suction port 18 via the upper storage space S2 of the dust box 6. Therefore, when the suction fan 5B rotates, an airflow is generated from the air intake 18 toward the air exhaust 5E via the upper storage space S2. This generates a suction force at the suction port 18 to suck in dust.

[0082] When power is supplied from the battery pack BT to the main brush motor 14 and the main brush 13 rotates, dust on the cleaning target surface FL is scraped up by the main brush 13. The suction port 18 sucks in at least some of the dust scraped up by the main brush 13.

[0083] When power is supplied from the battery pack BT to the side brush motor 16 and the side brush 15 rotates, the dust present on the surface to be cleaned FL around the main body 2 is moved by the side brush 15 to the suction port 18. The suction port 18 moves the dust to the suction port 18 by the side brush 15 and sucks in at least some of the dust scraped up by the main brush 13.

[0084] Small or light dust particles present on the surface to be cleaned FL are sucked in through the suction port 18 and then sent to the upper storage space S2 via the upper recovery port 6E. The dust is stored in the upper storage space S2. A filter 6G is provided between the upper storage space S2 and the exhaust port 6F. Therefore, the dust sent to the upper storage space S2 via the upper recovery port 6E is captured by the filter 6G and remains in the upper storage space S2. The air sucked in through the suction port 18 passes through the filter 6G and is then sent to the fan unit 5 via the exhaust port 6F. The air sent to the fan unit 5 is discharged from the exhaust port 5E.

[0085] Large or heavy dust particles present on the surface to be cleaned FL are scraped up by the main brush 13 and sent to the lower storage space S1 via the lower collection port 6D. The dust particles are stored in the lower storage space S1.

[0086] [Detection device] The detection device 30 detects objects around the robot dust collector 1. The detection device 30 is supported by the upper housing 11A. The detection device 30 is disposed at the rear of the upper housing 11A. At least a portion of the detection device 30 is disposed above the top surface 2A of the main body 2. At least a portion of the detection device 30 is disposed in the internal space of the housing 11. As shown in Figures 5 and 6, a recess 21 is formed at the rear of the upper housing 11A. At least a portion of the detection device 30 is disposed inside the recess 21.

[0087] FIG. 7 is a perspective view from above showing the detection device 30 according to the embodiment. FIG. 8 is a perspective view from below showing the detection device 30 according to the embodiment. FIG. 9 is a side view showing the detection device 30 according to the embodiment. FIG. 10 is a top view showing the detection device 30 according to the embodiment. FIG. 11 is a cross-sectional view showing the detection device 30 according to the embodiment. FIG. 12 is a cross-sectional view showing the detection device 30 according to the embodiment. FIG. 13 is an exploded perspective view from above showing the detection device 30 according to the embodiment. FIG. 14 is an exploded perspective view from below showing the detection device 30 according to the embodiment. FIG. 11 corresponds to the cross-sectional view taken along line AA in FIG. 10. FIG. 12 corresponds to the cross-sectional view taken along line BB in FIG. 9.

[0088] The detection device 30 comprises an optical sensor 40 that detects objects around the robot dust collector 1, a cover member 50 that is arranged around at least a portion of the optical sensor 40, a holder member 60 at least a portion of which is arranged below the optical sensor 40, a horizontal biasing member 71 held in a housing 80, a vertical biasing member 72 held in the holder member 60, a movement sensor 73 held in the holder member 60, the housing 80 at least a portion of which is arranged above the holder member 60, and a detection member 90 connected to the cover member 50.

[0089] <Optical sensor> The optical sensor 40 emits detection light to detect objects around the main body 2 in a non-contact manner. At least a portion of the optical sensor 40 is disposed above the top surface 2A of the main body 2. In the embodiment, the optical sensor 40 includes a laser sensor (LIDAR: Light Detection and Ranging) that detects objects by emitting laser light. Note that the optical sensor 40 may also include an infrared sensor that detects objects by emitting infrared light or a radar sensor (RADAR: Radio Detection and Ranging) that detects objects by emitting radio waves.

[0090] Fig. 15 is a perspective view from above showing the optical sensor 40 according to the embodiment. Fig. 16 is a perspective cross-sectional view from above showing the optical sensor 40 according to the embodiment. Fig. 17 is a cross-sectional view showing the optical sensor 40 according to the embodiment.

[0091] As shown in Figures 15, 16, and 17, the optical sensor 40 has a rotating body 41 that rotates around a rotation axis CX, a light emitter 42 held by the rotating body 41, a light receiver 43 held by the rotating body 41, and a support member 46 that rotatably supports the rotating body 41.

[0092] The rotating body 41 has a top plate portion 41A, side plate portions 41B, and holding plate portions 41C. The top plate portion 41A, side plate portions 41B, and holding plate portions 41C define the internal space of the rotating body 41. The light emitter 42 and the light receiver 43 are each disposed in the internal space of the rotating body 41. The top plate portion 41A is disposed above the light emitter 42 and the light receiver 43. The side plate portion 41B is disposed around the light emitter 42 and the light receiver 43. The side plate portion 41B has a first opening 41D through which the detection light emitted from the light emitter 42 passes and a second opening 41E through which the detection light incident on the light receiver 43 passes. The holding plate portion 41C is disposed below the top plate portion 41A and the side plate portions 41B. The light emitter 42 and the light receiver 43 are each held by the holding plate portion 41C.

[0093] The rotating body 41 rotates while holding the light emitter 42 and the light receiver 43. The rotation axis CX of the rotating body 41 is perpendicular to the upper surface 2A of the main body 2. The rotation axis CX extends in the vertical direction. In a cross section perpendicular to the rotation axis CX, the outer shape of the rotating body 41 is circular. In this embodiment, the rotating body 41 rotates in a specified rotation direction indicated by an arrow in FIG. 17.

[0094] The light emitter 42 is held by the rotating body 41. The light emitter 42 emits detection light. The light emitter 42 emits laser light as the detection light. The light emitter 42 has a light emitting surface 44 from which the detection light is emitted. The detection light emitted from the light emitting surface 44 passes through an opening provided in the cover member 50 and is irradiated onto objects around the main body 2. As will be described later, the cover member 50 has a plurality of legs 52. The openings provided in the cover member 50 are defined between adjacent legs 52.

[0095] The light receiver 43 is held by the rotating body 41. The light receiver 43 receives at least a portion of the detection light emitted from the light emitter 42. The light receiver 43 has a light receiving surface 45 onto which the detection light is incident. At least a portion of the detection light emitted from the light emitter 42 and irradiated onto an object is reflected by the object. The detection light reflected by the object passes through an opening provided in the cover member 50 and is incident on the light receiving surface 45. The light reception data of the light receiver 43 is transmitted to the control device 100 via a signal line 47. The control device 100 detects whether or not an object is present around the main body 2 based on the detection light received by the light receiver 43. The control device 100 detects the distance to the object based on the detection light received by the light receiver 43.

[0096] The light-emitting surface 44 and the light-receiving surface 45 are each positioned above the top surface 2A of the main body 2 (housing 11). The detection light emitted forward from the light-emitting surface 44 passes through the space above the top surface 2A of the main body 2 and is irradiated onto an object around the main body 2. When the detection light is irradiated onto an object around the main body 2, the detection light reflected from the object passes through the space above the top surface 2A of the main body 2 and is incident on the light-receiving surface 45. The optical sensor 40 can detect objects around the main body 2 without being obstructed by the main body 2.

[0097] The light emitter 42 and the light receiver 43 are each fixed to the rotating body 41. The rotating body 41 rotates around the rotation axis CX while holding the light emitter 42 and the light receiver 43. The light emitter 42 emits detection light while the rotating body 41 is rotating. The light receiver 43 receives the detection light while the rotating body 41 is rotating. When the light emitter 42 emits detection light while the rotating body 41 is rotating, the detection light is irradiated onto objects around the main body 2. The control device 100 can detect objects around the main body 2 based on the detection light received by the light receiver 43.

[0098] The support member 46 rotatably supports the rotating body 41. The rotating body 41 rotates around the rotation axis CX while supported by the support member 46. The support member 46 is disposed in the internal space of the housing 11. The support member 46 is fixed to a holder member 60. The holder member 60 is fixed to at least a portion of the upper housing 11A. Because the support member 46 is fixed to the holder member 60, the relative position of the rotating body 41, which holds the light emitter 42 and the light receiver 43, and the housing 11 does not change in the left-right direction, the front-rear direction, or the up-down direction. In other words, the optical sensor 40 does not displace relative to the housing 11 in the left-right direction, the front-rear direction, or the up-down direction.

[0099] <Cover material> Fig. 18 is a perspective view from above showing the cover member 50 according to the embodiment. Fig. 19 is a perspective view from below showing the cover member 50 according to the embodiment. Fig. 20 is a top view showing the cover member 50 according to the embodiment. Fig. 21 is a side view showing the cover member 50 according to the embodiment. Fig. 22 is a cross-sectional view showing the cover member 50 according to the embodiment.

[0100] The cover member 50 is positioned to cover at least a portion of the optical sensor 40. The cover member 50 protects the optical sensor 40. The cover member 50 is displaceable relative to the optical sensor 40. The cover member 50 moves linearly upon contact with an object. The cover member 50 is capable of linear movement in the horizontal direction. The cover member 50 is capable of linear movement backward. The cover member 50 is capable of linear movement backward and to the left. The cover member 50 is capable of linear movement backward and to the right. The cover member 50 is capable of linear movement backward and downward.

[0101] The cover member 50 has an upper plate portion 51 , leg portions 52 , a cylindrical portion 53 , a first support portion 54 , a protruding portion 55 , a slider opening 56 , and a slider portion 57 .

[0102] The upper plate portion 51 is disposed above the optical sensor 40. The upper plate portion 51 protects the rotating body 41. In a plane perpendicular to the rotation axis CX, the outer shape of the upper plate portion 51 is larger than the outer shape of the rotating body 41. A buffer member 58 is disposed on the side of the upper plate portion 51. The buffer member 58 is annular. The buffer member 58 absorbs the impact acting on the cover member 50 when the cover member 50 collides with an object present around the robot dust collector 1. The buffer member 58 also suppresses damage to the object when the cover member 50 collides with the object present around the robot dust collector 1. The buffer member 58 is formed of an elastic material such as rubber.

[0103] The legs 52 support the upper plate 51. The legs 52 are disposed below the upper plate 51. A plurality of the legs 52 are provided at intervals around the periphery of the rotating body 41. In the embodiment, four legs 52 are provided around the periphery of the rotating body 41. The detection light of the optical sensor 40 can pass through openings defined between adjacent legs 52.

[0104] The cylindrical portion 53 supports the leg portion 52. The cylindrical portion 53 is disposed below the leg portion 52. At least a portion of the cylindrical portion 53 is disposed around the rotating body 41. In a plane perpendicular to the rotation axis CX, the cylindrical portion 53 has a circular outer shape. The diameter of the cylindrical portion 53 is larger than the diameter of the rotating body 41.

[0105] The first support pillar 54 extends downward from the front of the tube portion 53. The first support pillar 54 is cylindrical. At least one first support pillar 54 is provided in the left-right direction. In the embodiment, two first support pillars 54 are provided in the left-right direction. Note that any number of three or more first support pillars 54 may be provided in the left-right direction. The two first support pillars 54 are arranged with a gap between them in the left-right direction.

[0106] The protruding portion 55 protrudes rearward from the rear portion of the cylindrical portion 53. Two protruding portions 55 are provided. One of the protruding portions 55 is provided so as to protrude radially outward from the left rear portion of the cylindrical portion 53 about the rotation axis CX. The other protruding portion 55 is provided so as to protrude radially outward from the right rear portion of the cylindrical portion 53 about the rotation axis CX.

[0107] The slider openings 56 are provided in the overhanging portions 55. One slider opening 56 is provided in one overhanging portion 55, and the other slider opening 56 is provided in the other overhanging portion 55. In a plane perpendicular to the rotation axis CX, the slider opening 56 is substantially triangular. As shown in FIG. 20 , the slider opening 56 includes a slider vertex 56A and a pair of slider straight portions 56B extending forward from the slider vertex 56A. The relative distance between the left slider straight portion 56B and the right slider straight portion 56B increases toward the front.

[0108] The slider portion 57 is provided on the lower surface of the cylindrical portion 53. The slider portion 57 protrudes downward from the lower surface of the cylindrical portion 53. At least a portion of the lower surface of the slider portion 57 is inclined downward toward the rear. A plurality of slider portions 57 are provided around the optical sensor 40. In the embodiment, the slider portion 57 includes a first slider portion 57A arranged in the front portion of the cylindrical portion 53, a second slider portion 57B arranged in the left portion of the cylindrical portion 53, and a third slider portion 57C arranged in the right portion of the cylindrical portion 53.

[0109] <Holder parts> Fig. 23 is a perspective view from above showing a holder member 60 according to an embodiment. Fig. 24 is a perspective view from below showing a holder member 60 according to an embodiment. Fig. 25 is a top view showing a holder member 60 according to an embodiment. Fig. 26 is a cross-sectional view showing a holder member 60 according to an embodiment.

[0110] The holder member 60 holds the optical sensor 40 from below. The holder member 60 supports the cover member 50 so that it can move linearly. The holder member 60 holds a vertical biasing member 72. The holder member 60 holds a movement sensor 73.

[0111] The holder member 60 is fixed to the upper housing 11A and has a base portion 61, a screw boss portion 62, a horizontal biasing member accommodating portion 63, a vertical biasing member holding portion 64, a sensor holding portion 65, a guide opening 66, a guide portion 67, and front and rear guide portions 69.

[0112] The base portion 61 holds the support member 46 of the optical sensor 40 from below. The support member 46 is fixed to the upper surface of the base portion 61. A plurality of screw openings 68 are provided in the base portion 61. As shown in FIG. 14 , a plurality of screw holes 48 are provided in the lower surface of the support member 46. The support member 46 and the base portion 61 are fixed together with screws 22. The screws 22 are inserted into the screw holes 48 through the screw openings 68. The threads of the screws 22 and the thread grooves of the screw holes 48 are coupled together, thereby fixing the support member 46 to the base portion 61.

[0113] The screw boss portions 62 are provided on the periphery of the base portion 61. In this embodiment, four screw boss portions 62 are provided on the periphery of the base portion 61.

[0114] The horizontal biasing member accommodating portion 63 accommodates the horizontal biasing member 71. The horizontal biasing member accommodating portion 63 is provided at the rear of the base portion 61. In the embodiment, two horizontal biasing member accommodating portions 63 are provided at the rear of the base portion 61, spaced apart in the left-right direction.

[0115] The vertical biasing member holding portion 64 holds the vertical biasing member 72. The vertical biasing member holding portion 64 is provided on the upper surface of the base portion 61. A plurality of vertical biasing member holding portions 64 are provided around the optical sensor 40. In the embodiment, three vertical biasing member holding portions 64 are provided around the optical sensor 40 at intervals.

[0116] The sensor holding portion 65 holds the movement sensor 73. The sensor holding portion 65 is provided on the lower surface of the base portion 61.

[0117] The guide opening 66 is provided in the front portion of the base portion 61. Two guide openings 66 are provided spaced apart in the left-right direction. In a plane perpendicular to the rotation axis CX, the guide opening 66 is substantially triangular. As shown in FIG. 25 , the guide opening 66 includes a guide vertex portion 66A and a pair of guide straight portions 66B extending rearward from the guide vertex portion 66A. The relative distance between the left guide straight portion 66B and the right guide straight portion 66B increases toward the rear.

[0118] The guide portion 67 is provided on the upper surface of the base portion 61. The guide portion 67 protrudes upward from the upper surface of the base portion 61. At least a portion of the upper surface of the guide portion 67 is inclined downward toward the rear. A plurality of guide portions 67 are provided around the optical sensor 40. In the embodiment, the guide portion 67 includes a first guide portion 67A arranged in the front portion of the base portion 61, a second guide portion 67B arranged in the left portion of the base portion 61, and a third guide portion 67C arranged in the right portion of the base portion 61.

[0119] The guide portion 67 is capable of coming into contact with the slider portion 57. The first guide portion 67A comes into contact with the first slider portion 57A, the second guide portion 67B comes into contact with the second slider portion 57B, and the third guide portion 67C comes into contact with the third slider portion 57C. The guide portion 67 guides the slider portion 57 so that the cover member 50 moves linearly in an inclined direction facing rearward and downward.

[0120] The front-rear guide portion 69 guides the detection member 90 in the front-rear direction. The front-rear guide portion 69 is disposed on the lower surface of the base portion 61.

[0121] <Vertical biasing member> The vertical biasing member 72 is disposed below at least a portion of the cover member 50. The vertical biasing member 72 biases the cover member 50 upward. In the embodiment, the vertical biasing member 72 is a leaf spring. The vertical biasing member 72 is held by the vertical biasing member holding portion 64. The vertical biasing member 72 is capable of contacting the lower surface of the tubular portion 53 of the cover member 50. Three vertical biasing members 72 are disposed below the tubular portion 53 and spaced apart in the circumferential direction of the rotation axis CX.

[0122] <Motion sensor> The movement sensor 73 detects the movement of the detection member 90. The movement sensor 73 is arranged on the underside of the base portion 61. The movement sensor 73 is held by the sensor holding portion 65. The movement sensor 73 is an optical sensor that emits detection light and detects the detection member 90 without contact. The movement sensor 73 has an emission portion 73A that emits detection light and a light receiving portion 73B that can receive the detection light. The emission portion 73A and the light receiving portion 73B are arranged in the left-right direction. The emission portion 73A and the light receiving portion 73B face each other with a gap between them. The movement sensor 73 is arranged in the internal space of the main body 2 (housing 11).

[0123] <Housing> Fig. 27 is a perspective view of the housing 80 according to the embodiment, seen from above. Fig. 28 is a perspective view of the housing 80 according to the embodiment, seen from below.

[0124] The housing 80 is fixed to the holder member 60. The housing 80 holds the horizontal biasing member 71. The housing 80 has an upper plate portion 81, a side plate portion 82, a connecting portion 83, a screw boss portion 84, a second support portion 85, and a horizontal biasing member holding portion 86.

[0125] The upper plate portion 81 is disposed around the cover member 50. The upper plate portion 81 is disposed around the tubular portion 53. An opening in which the cover member 50 is disposed is provided in the center of the upper plate portion 81. The upper plate portion 81 and the cover member 50 are spaced apart.

[0126] The side plate portion 82 is disposed so as to extend downward from the peripheral edge portion of the upper plate portion 81. The side plate portion 82 is provided so as to surround the holder member 60.

[0127] The connecting portion 83 is disposed at the front of the housing 80. The connecting portion 83 is connected to the upper housing 11A.

[0128] The screw bosses 84 are provided on the periphery of the upper plate portion 81. The screw bosses 84 protrude downward from the periphery of the upper plate portion 81. In this embodiment, four screw bosses 84 are provided on the periphery of the upper plate portion 81.

[0129] The holder member 60 and the housing 80 are fixed together with screws 23. A threaded opening is provided in the screw boss portion 62 of the holder member 60. A threaded hole is provided in the screw boss portion 84 of the housing 80. The screws 23 are inserted into the threaded hole of the screw boss portion 84 through the threaded opening of the screw boss portion 62. The threads of the screws 23 and the thread grooves of the screw boss portion 84 are coupled together, thereby fixing the holder member 60 and the housing 80 together.

[0130] The second support pillar 85 extends downward from the rear portion of the lower surface of the upper plate portion 81. The second support pillar 85 is cylindrical. At least one second support pillar 85 is provided. In the embodiment, two second support pillars 85 are provided in the left-right direction. Note that any number of three or more second support pillars 85 may be provided in the left-right direction. The two second support pillars 85 are arranged with a gap between them in the left-right direction.

[0131] The horizontal biasing member holding portion 86 holds the horizontal biasing member 71. The horizontal biasing member holding portion 86 is provided at a position on the side plate portion 82 facing the rear surface of the holder member 60.

[0132] <Horizontal biasing member> When the housing 80 is fixed to the holder member 60, the horizontal biasing member 71 is disposed rearward of the cover member 50. The horizontal biasing member 71 biases the cover member 50 forward. In the embodiment, the horizontal biasing member 71 is a leaf spring. The horizontal biasing member 71 is held by the horizontal biasing member holding portion 86. The horizontal biasing member 71 is capable of contacting the rear surface of the tubular portion 53 of the cover member 50. Two horizontal biasing members 71 are disposed rearward of the tubular portion 53, spaced apart in the left-right direction. When the housing 80 is fixed to the holder member 60, the horizontal biasing member 71 is housed in the horizontal biasing member housing portion 63.

[0133] <Detection member> At least a portion of the detection member 90 is disposed below the holder member 60. At least a portion of the detection member 90 faces the lower surface of the holder member 60.

[0134] The detection member 90 is connected to the cover member 50. The detection member 90 moves linearly in conjunction with the cover member 50. The detection member 90 moves linearly rearward.

[0135] The cover member 50 moves linearly in the horizontal direction upon contact with an object. The cover member 50 moves linearly in one of the horizontal directions backward, backward and left, or backward and right upon contact with an object. The detection member 90 moves linearly backward in conjunction with the cover member 50 moving in the horizontal direction.

[0136] When the cover member 50 comes into contact with an object, it moves linearly in an inclined direction toward the rear and downward. The detection member 90 moves linearly backward in conjunction with the cover member 50 moving in the inclined direction.

[0137] The detection member 90 has a connecting plate portion 91 , a rib portion 92 , and an elongated hole 93 provided in the connecting plate portion 91 .

[0138] The connecting plate portion 91 is disposed in front of the detection member 90. The connecting plate portion 91 is long in the left-right direction.

[0139] The rib portion 92 extends rearward from the connecting plate portion 91. The rib portion 92 is guided in the front-rear direction by the front-rear guide portion 69. As the detection member 90 moves rearward, the rib portion 92 enters between the emission portion 73A and the light receiving portion 73B. The emission portion 73A emits detection light toward the light receiving portion 73B. The gap between the emission portion 73A and the light receiving portion 73B includes the optical path of the detection light emitted from the emission portion 73A. As the detection member 90 moves linearly rearward, it enters the optical path of the detection light of the movement sensor 73.

[0140] The long holes 93 are provided in the connecting plate portion 91. The long holes 93 are long in the left-right direction. Two long holes 93 are provided with an interval between them in the left-right direction.

[0141] <Relationship between the cover member, holder member, housing, and detection member> As described above, the holder member 60 is fixed to the upper housing 11A. The holder member 60 and the housing 80 are fixed together with the screws 23. The cover member 50 is supported by the holder member 60 so as to be movable linearly. The detection member 90 is connected to the cover member 50. The detection member 90 moves linearly rearward in conjunction with the cover member 50, which moves linearly.

[0142] The first support pillars 54 of the cover member 50 are inserted into the guide openings 66 of the holder member 60. The left first support pillar 54 is inserted into the left guide opening 66, and the right first support pillar 54 is inserted into the right guide opening 66. The guide openings 66 are larger in outer diameter than the first support pillars 54. The first support pillars 54 are movable inside the guide openings 66.

[0143] The connecting plate portion 91 of the detection member 90 is positioned below the base portion 61 of the holder member 60. The elongated hole 93 of the detection member 90 is positioned directly below the guide opening 66 of the holder member 60. In a plane perpendicular to the rotation axis CX, at least a portion of the guide opening 66 overlaps with the elongated hole 93. The first support portion 54 is inserted into each of the guide opening 66 and the elongated hole 93. The left first support portion 54 is inserted into the left elongated hole 93, and the right first support portion 54 is inserted into the right elongated hole 93. Inserting the first support portions 54 into the elongated holes 93 connects the detection member 90 and the cover member 50. The elongated hole 93 has a larger outer diameter than the first support portions 54. The first support portions 54 are movable inside the elongated holes 93.

[0144] The screw 24 is inserted into the elongated hole 93 from below. The screw 24 is inserted into the threaded hole 59 provided at the lower end of the first support column 54. A washer 25 is placed around the screw 24. The washer 25 is placed below the connecting plate portion 91. The washer 25 prevents the detection member 90 from falling.

[0145] The second support pillars 85 of the housing 80 are inserted into the slider openings 56 of the cover member 50. The left second support pillar 85 is inserted into the left slider opening 56, and the right second support pillar 85 is inserted into the right slider opening 56. The slider openings 56 have an outer diameter larger than the second support pillars 85. The slider openings 56 are movable relative to the second support pillars 85.

[0146] The cover member 50 and the detection member 90 are movable relative to the holder member 60 and the housing 80. The guide opening 66 is larger than the outer diameter of the first support column 54, and the slider opening 56 is larger than the outer diameter of the second support column 85. The movable range of the cover member 50 in the horizontal direction is defined by the guide opening 66 and the slider opening 56.

[0147] <Operation> The operation of the cover member 50 and the detection member 90 according to the embodiment will be described. FIGS. 29, 30, and 31 are views illustrating the operation of the cover member 50 according to the embodiment. In each of FIGS. 29, 30, and 31, the left-hand side is an external view of the detection device 30 as seen from above, and the right-hand side corresponds to a cross-sectional view taken along line CC in FIG. 9. FIG. 29 shows a normal state in which no external force is acting on the cover member 50. FIG. 30 shows a state in which an object (obstacle) has come into contact with the front portion of the cover member 50 and pushed the cover member 50 rearward. FIG. 31 shows a state in which an object (obstacle) has come into contact with the right portion of the cover member 50 and pushed the cover member 50 leftward.

[0148] 29, in a normal state where no external force is acting on the cover member 50, the cover member 50 is urged forward by the horizontal urging member 71. Therefore, the cover member 50 is positioned in a state where the first support column 54 is pressed against the guide apex 66A at the front end of the guide opening 66, and the slider apex 56A at the rear end of the slider opening 56 is pressed against the second support column 85.

[0149] 30 and 31 , when the cover member 50 is pushed horizontally by an obstacle, the guide opening 66 guides the first support column 54 so that the cover member 50 moves linearly in the horizontal direction. The slider opening 56 is guided by the second support column 85 so that the cover member 50 moves linearly in the horizontal direction.

[0150] 30 , when the cover member 50 is pushed rearward by an obstacle, the first support pillar 54 is pressed against the rear end of the guide opening 66 against the biasing force of the horizontal biasing member 71, and the cover member 50 moves linearly rearward until the front end of the slider opening 56 is pressed against the second support pillar 85. As the cover member 50 moves rearward, the detection member 90 also moves rearward. The detection member 90 moves rearward while being guided by the front-rear guide portion 69.

[0151] As shown in FIG. 31 , when the cover member 50 is pushed leftward by an obstacle, the first support column 54 moves leftward and rearward while being guided by the left guide linear portion 66B of the guide opening 66 against the biasing force of the horizontal biasing member 71, and the slider opening 56 moves leftward and rearward while the right slider linear portion 56B contacts the second support column 85. The cover member 50 moves linearly leftward and rearward until the first support column 54 is pressed against the guide apex portion at the left rear end of the guide opening 66 and the slider apex portion at the right front end of the slider opening 56 is pressed against the second support column 85. As the cover member 50 moves leftward and rearward, the detection member 90 moves linearly rearward. A front-rear guide portion 69 that guides the rib portion 92 rearward is provided on the underside of the holder member 60. The first support column 54 is inserted into a long hole 93 that is long in the left-right direction. Therefore, when the cover member 50 moves linearly rearward to the left, the first support pillar 54 moves rearward while moving leftward inside the elongated hole 93. Therefore, even if the cover member 50 moves rearward to the left, the detection member 90 does not move rearward to the left, but moves linearly rearward.

[0152] Although not shown, when the cover member 50 is pushed rightward by an obstacle, the first support column 54 moves rightward and rearward while being guided by the guide straight section 66B on the right side of the guide opening 66 against the biasing force of the horizontal biasing member 71, and the slider opening 56 moves rightward and rearward while the left slider straight section 56B contacts the second support column 85. The cover member 50 moves linearly rightward and rearward until the first support column 54 is pressed against the guide apex at the right rear end of the guide opening 66 and the slider apex at the left front end of the slider opening 56 is pressed against the second support column 85. As the cover member 50 moves rightward and rearward, the detection member 90 moves linearly rearward. A front-rear guide section 69 that guides the rib section 92 rearward is provided on the underside of the holder member 60. The first support column 54 is inserted into a long hole 93 that is elongated in the left-right direction. Therefore, when the cover member 50 moves linearly rearward to the right, the first support pillar 54 moves rearward while moving to the right inside the elongated hole 93. Therefore, even if the cover member 50 moves rearward to the right, the detection member 90 does not move rearward to the right, but moves linearly rearward.

[0153] Figure 32 is a diagram illustrating the operation of the cover member 50 according to the embodiment. Figure 32 corresponds to the cross-sectional view taken along line DD in Figure 10. In Figure 32, the diagram on the left shows a normal state in which no external force is acting on the cover member 50. The diagram on the right shows a state in which an object (obstacle) has come into contact with the upper part of the cover member 50 and the cover member 50 has been pushed downward.

[0154] In a normal state where no external force is acting on the cover member 50, the cover member 50 is urged forward by the vertical urging member 72. The cover member 50 is positioned at the upper end of the movable range of the cover member 50.

[0155] When the cover member 50 is pushed downward by an obstacle, the cover member 50 moves linearly in an inclined direction toward the rear and downward against the biasing force of the vertical biasing member 72. The guide portion 67 guides the slider portion 57 so that the cover member 50 moves linearly in the inclined direction.

[0156] 33 and 34 are diagrams illustrating the operation of the detection member 90 according to the embodiment. Fig. 33 is an external view of a part of the detection device 30 including the detection member 90, viewed from below. Fig. 34 is a cross-sectional view showing a part of the detection device 30 including the detection member 90. In each of Figs. 33 and 34, the diagram on the left shows a normal state in which no external force is acting on the cover member 50, and the diagram on the right shows a collision detection state in which an object (obstacle) has come into contact with the cover member 50 and the detection member 90 has moved linearly rearward.

[0157] In a normal state, the detection member 90 is positioned at the front end of the movable range of the detection member 90. When the detection member 90 is positioned at the front end of the movable range of the detection member 90, the detection member 90 is retracted from between the emission unit 73A and the light receiving unit 73B. The detection light emitted from the emission unit 73A is received by the light receiving unit 73B.

[0158] As described above, when the cover member 50 is pushed horizontally or downward by an obstacle, the detection member 90 moves linearly backward. In the collision detection state in which the detection member 90 moves linearly backward, the detection member 90 moves linearly backward from the front end of its movable range. When the detection member 90 moves linearly backward, the rib portion 92 enters between the emission portion 73A and the light receiving portion 73B. That is, the rib portion 92 enters the optical path of the detection light of the movement sensor 73. When the rib portion 92 enters the optical path of the detection light of the movement sensor 73, the detection light emitted from the emission portion 73A does not reach the light receiving portion 73B. That is, when the rib portion 92 enters the optical path of the detection light of the movement sensor 73, the light receiving portion 73B does not receive the detection light. The movement sensor 73 can detect contact (collision) between the cover member 50 of the detection device 30 and an object based on the reception state of the detection light by the light receiving portion 73B.

[0159] The control device 100 can determine whether or not the cover member 50 has come into contact (collided) with an object based on the state of reception of the detection light by the light receiving unit 73B. When the control device 100 determines that the cover member 50 has come into contact with the object, it can perform an avoidance operation to prevent the robot dust collector 1 from entering the space below the object. The control device 100 can control the wheel motors 10 to change the traveling direction of the traveling device 12 or stop traveling so that the robot dust collector 1 does not enter the space below the object.

[0160] [effect] As described above, in the embodiment, the detection device 30 is provided in the robotic dust collector 1. The detection device 30 includes an optical sensor 40 that detects objects around the robotic dust collector 1, a cover member 50 that is disposed around at least a portion of the optical sensor 40 and moves linearly, a detection member 90 that moves linearly in conjunction with the cover member 50, and a movement sensor 73 that detects the movement of the detection member 90.

[0161] In the above configuration, when an object comes into contact with the cover member 50, the cover member 50 moves linearly due to the external force received from the object. When the cover member 50 moves linearly, the detection member 90 moves linearly in conjunction with the cover member 50. The linear movement of the detection member 90 is detected by the movement sensor 73, and the detection device 30 detects contact between the cover member 50 and the object.

[0162] In the embodiment, the detection member 90 moves linearly rearward.

[0163] In the above configuration, when the robot dust collector 1 is moving forward or turning while cleaning the surface to be cleaned FL, there is a high possibility that an object will come into contact with the front portion of the cover member 50. Also, when the robot dust collector 1 turns, there is a high possibility that an object will come into contact with the side portion of the cover member 50. When an object comes into contact with the front portion of the cover member 50, the cover member 50 is guided rearward and moves linearly rearward. When an object comes into contact with the side portion of the cover member 50, the cover member 50 is guided rearward to the left or rear right and moves linearly rearward to the left or rear right. The detection member 90 can move linearly rearward in conjunction with the cover member 50, which moves linearly rearward, left rearward, or right rearward.

[0164] In the embodiment, the detection device 30 includes a holder member 60, at least a portion of which is disposed below the optical sensor 40, and which supports the cover member 50 so as to be linearly movable.

[0165] In the above configuration, the cover member 50 is supported by the holder member 60 so as to be linearly movable.

[0166] In the embodiment, the movement sensor 73 is held by the holder member 60 .

[0167] In the above configuration, the cover member 50 is supported by the holder member 60, and the movement sensor 73 is held by the holder member 60, so that an increase in the number of parts of the detection device 30 is suppressed.

[0168] In the embodiment, the holder member 60 has a sensor holding portion 65 that holds the movement sensor 73. The sensor holding portion 65 is provided on the lower surface of the holder member 60.

[0169] In the above configuration, the movement sensor 73 is disposed below the holder member 60, so the movement sensor 73 is protected by the holder member 60, and contact between an object and the movement sensor 73 is suppressed. Since contact between an object and the movement sensor 73 is suppressed, the movement sensor 73 is protected, and deterioration of the movement sensor 73 is suppressed.

[0170] In this embodiment, the movement sensor 73 is a non-contact sensor that emits detection light. The detection member 90 moves linearly backward to enter the optical path of the detection light.

[0171] In the above configuration, when the detection member 90 enters the optical path of the detection light, the movement sensor 73 can detect that the detection member 90 has moved linearly backward.

[0172] In this embodiment, the cover member 50 moves linearly in the horizontal direction when it comes into contact with an object. The detection member 90 moves linearly backward in conjunction with the cover member 50.

[0173] In the above configuration, when the cover member 50 collides with an object and moves linearly in any direction—rear, left rear, or right rear—the detection member 90 also moves linearly backward. Therefore, no matter which direction the cover member 50 moves linearly, the movement sensor 73 can detect the linear movement of the detection member 90.

[0174] In the embodiment, the cover member 50 has a first support post 54. The holder member 60 has a guide opening 66 into which the first support post 54 is inserted and which is larger than the outer diameter of the first support post 54. The guide opening 66 guides the first support post 54 so that the cover member 50 moves linearly in the horizontal direction.

[0175] In the above configuration, the outer diameter of the first support column 54 is smaller than the guide opening 66, so the first support column 54 can move inside the guide opening 66. This allows the cover member 50 to move relative to the holder member 60. As the first support column 54 is guided by the guide opening 66, the cover member 50 can move linearly in the horizontal direction.

[0176] In this embodiment, the detection member 90 has a long hole 93 that is long in the left-right direction and into which the first support column 54 is inserted.

[0177] In the above configuration, when the first support column 54 moves linearly to the rear left or rear right, the first support column 54 can move to the left or right inside the elongated hole 93. Therefore, even if the first support column 54 moves linearly to the rear left or right, the detection member 90 can move linearly rearward.

[0178] In the embodiment, the detection device 30 includes a housing 80, at least a portion of which is disposed above the holder member 60 and fixed to the holder member 60. The housing 80 has a second support column 85. The cover member 50 has a slider opening 56 into which the second support column 85 is inserted and which is larger in outer diameter than the second support column 85. The slider opening 56 is guided by the second support column 85 so that the cover member 50 moves linearly in the horizontal direction.

[0179] In the above configuration, the outer diameter of the second support column 85 is smaller than the slider opening 56, so the slider opening 56 can move relative to the second support column 85. Therefore, the cover member 50 can move relative to the holder member 60. The slider opening 56 slides relative to the second support column 85, so that the cover member 50 can move linearly in the horizontal direction.

[0180] In the embodiment, the first support column 54 is cylindrical. The guide opening 66 includes a guide vertex portion 66A and a pair of guide straight portions 66B extending rearward from the guide vertex portion 66A.

[0181] In the above configuration, the first support column 54 is guided by the left linear guide portion 66B, allowing the cover member 50 to move linearly rearward and left. The first support column 54 is guided by the right linear guide portion 66B, allowing the cover member 50 to move linearly rearward and right.

[0182] In this embodiment, the second support column 85 is cylindrical. The slider opening 56 includes a slider apex portion 56A and a pair of slider straight portions 56B extending forward from the slider apex portion 56A.

[0183] In the above configuration, the right slider straight portion 56B slides while contacting the second support column 85, allowing the cover member 50 to move linearly rearward and to the left. The left slider straight portion 56B slides while contacting the second support column 85, allowing the cover member 50 to move linearly rearward and to the right.

[0184] In the embodiment, at least two support columns of one of the first support columns 54 and the second support columns 85 are provided in the left-right direction, and at least one support column of the other is provided.

[0185] In the above configuration, the cover member 50 can move stably in a straight line in the horizontal direction.

[0186] In this embodiment, the cover member 50 moves linearly in an inclined direction backward and downward upon contact with an object. The detection member 90 moves linearly backward in conjunction with the cover member 50.

[0187] In the above configuration, even if the cover member 50 moves linearly downward and rearward due to a collision with an object, the detection member 90 also moves linearly rearward. Therefore, no matter in which direction the cover member 50 moves linearly, the movement sensor 73 can detect the linear movement of the detection member 90.

[0188] In the embodiment, the cover member 50 has a slider portion 57. The holder member 60 has a guide portion 67. The guide portion 67 guides the slider portion 57 so that the cover member 50 moves linearly in the tilt direction.

[0189] In the above configuration, the cover member 50 can move linearly downward and rearward in a stable manner.

[0190] In the embodiment, a plurality of guide portions 67 are provided around the optical sensor 40.

[0191] In the above configuration, the cover member 50 can move linearly downward and rearward in a stable manner.

[0192] In the embodiment, the detection device 30 includes a horizontal biasing member 71 that is held by the housing 80 and biases the cover member 50 forward.

[0193] In the above configuration, when no external force is acting on the cover member 50, the cover member 50 is positioned at the front end of the movable range of the cover member 50.

[0194] In the embodiment, the detection device 30 includes a vertical biasing member 72 that is held by the holder member 60 and biases the cover member 50 upward.

[0195] In the above configuration, when no external force is acting on the cover member 50, the cover member 50 is positioned at the upper end of the movable range of the cover member 50.

[0196] In the embodiment, the robot dust collector 1 includes a main body 2 and the above-described detection device 30. At least a portion of the optical sensor 40 is disposed above the upper surface 2A of the main body 2. The movement sensor 73 is disposed in the internal space of the main body 2.

[0197] In the above configuration, at least a portion of the optical sensor 40 is disposed above the top surface of the main body 2, so the optical sensor 40 can detect objects around the main body. The mobile sensor 73 is disposed in the internal space of the main body 2, so the mobile sensor 73 is protected. In addition, the attachment of foreign matter to the mobile sensor 73 is suppressed.

[0198] [Other embodiments] In the above-described embodiment, the movement sensor 73 is a non-contact sensor that detects the movement of the detection member 90 without contact. The movement sensor 73 may be a contact sensor that detects the movement of the detection member 90 based on the presence or absence of contact with the detection member 90. [Explanation of symbols]

[0199] 1...robot dust collector, 2...main body, 2A...top surface, 2B...bottom surface, 2C...side surface, 3...bumper, 4...battery mounting section, 5...fan unit, 5A...casing, 5B...suction fan, 5C...suction motor, 5D...intake port, 5E...exhaust port, 6...dust box, 6A...main body member, 6B...tray member, 6C...upper plate member, 6D...lower recovery port, 6E...upper recovery port, 6F...exhaust port, 6G...filter, 7...caster, 8...roller, 9...wheel, 10...wheel motor, 11...housing, 11A...upper housing, 11B...lower housing, 11C...cover plate, 11D...bottom plate , 12...Traveling device, 13...Main brush, 13B...Brush, 13R...Rod member, 14...Main brush motor, 15...Side brush, 15B...Brush, 15D...Disc member, 16...Side brush motor, 17...Handle, 18...Suction port, 19...Obstacle sensor, 20...Interface device, 20A...Operation unit, 20B...Display unit, 21...Recess, 22...Screw, 23...Screw, 24...Screw, 25...Washer, 30...Detection device, 40...Optical sensor, 41...Rotating body, 41A...Top plate portion, 41B...Side plate portion, 41C...Holding plate portion, 41D...First opening, 41E...Second opening, 42...Light emitter , 43...light receiver, 44...light emitting surface, 45...light receiving surface, 46...support member, 47...signal line, 48...screw hole, 50...cover member, 51...upper plate portion, 52...leg portion, 53...tubular portion, 54...first support portion, 55...extension portion, 56...slider opening, 56A...slider apex portion, 56B...slider straight portion, 57...slider portion, 57A...first slider portion, 57B...second slider portion, 57C...third slider portion, 58...buffer member, 59...screw hole, 60...holder member, 61...base portion, 62...screw boss portion, 63...horizontal biasing member accommodating portion, 64...vertical biasing member holding portion, 65...sensor holding portion, 66...guide Door opening, 66A...guide vertex portion, 66B...guide straight portion, 67...guide portion, 67A...first guide portion, 67B...second guide portion, 67C...third guide portion, 68...screw opening, 69...front / rear guide portion, 71...horizontal biasing member, 72...vertical biasing member, 73...movement sensor, 73A...emission portion, 73B...light receiving portion, 80...housing, 81...upper plate portion, 82...side plate portion, 83...connecting portion, 84...screw boss portion, 85...second support portion, 86...horizontal biasing member holding portion, 90...detection member, 91...connecting plate portion, 92...rib portion, 93...long hole, 100...control device, BT...battery pack, CX...rotating shaft,FL... surface to be cleaned, S... storage space, S1... lower storage space, S2... upper storage space.

Claims

1. A detection device provided in a robot dust collector, an optical sensor for detecting objects around the robotic dust collector; a cover member that is disposed at least partially around the optical sensor and moves linearly; a detection member that moves linearly in conjunction with the cover member; a movement sensor that detects the movement of the detection member, Detection device.

2. The detection member moves linearly backward. The detection device according to claim 1 .

3. a holder member at least a portion of which is disposed below the optical sensor and which supports the cover member so as to be linearly movable; The detection device according to claim 1 .

4. the movement sensor is held by the holder member; The detection device according to claim 3 .

5. the holder member has a sensor holding portion that holds the movement sensor, The sensor holding portion is provided on a lower surface of the holder member. The detection device according to claim 4 .

6. the movement sensor is a non-contact sensor that emits detection light, The detection member moves linearly backward to enter the optical path of the detection light. The detection device according to claim 5 .

7. the cover member moves linearly in a horizontal direction upon contact with an object, The detection member moves linearly rearward in conjunction with the cover member. The detection device according to claim 3 .

8. the cover member has a first support portion, the holder member has a guide opening into which the first support rod portion is inserted and which is larger than an outer diameter of the first support rod portion; The guide opening guides the first support column so that the cover member moves linearly in a horizontal direction. The detection device according to claim 7.

9. The detection member has a long hole that is long in the left-right direction and into which the first support portion is inserted. The detection device according to claim 8.

10. a housing at least a portion of which is disposed above the holder member and fixed to the holder member; the housing has a second support post; the cover member has a slider opening into which the second support column is inserted and which is larger than an outer diameter of the second support column; The slider opening is guided by the second support column so that the cover member moves linearly in a horizontal direction. The detection device according to claim 8.

11. The first support pillar is cylindrical, The guide opening includes a guide vertex portion and a pair of guide linear portions extending rearward from the guide vertex portion. The detection device according to claim 10.

12. The second support portion is cylindrical, The slider opening includes a slider apex portion and a pair of slider straight portions extending forward from the slider apex portion. The detection device according to claim 11.

13. At least two of the first support column and the second support column are provided in the left-right direction, and at least one of the other support column is provided.

13. The detection device of claim 12.

14. the cover member moves linearly in an inclined direction toward the rear and downward upon contact with an object, The detection member moves linearly rearward in conjunction with the cover member. The detection device according to claim 7.

15. The cover member has a slider portion, the holder member has a guide portion, The guide portion guides the slider portion so that the cover member moves linearly in the inclined direction.

15. The detection device of claim 14.

16. A plurality of the guide portions are provided around the optical sensor.

16. The detection device of claim 15.

17. a horizontal biasing member that is held by the housing and biases the cover member forward; The detection device according to claim 10.

18. a vertical biasing member that is held by the holder member and biases the cover member upward; 15. The detection device of claim 14.

19. The main body and The detection device according to claim 1, At least a portion of the optical sensor is disposed above an upper surface of the main body; The movement sensor is disposed in the interior space of the main body. Robot dust collector.

Images