Self-propelled robot

Abstract

To provide a self-traveling robot in which dead angles of a measurement sensor can be reduced.SOLUTION: A self-traveling cleaner 100 (self-traveling robot) includes: a body part 10 that moves on a floor surface to clean the floor surface; an optical auxiliary part 40 that assists the body part 10; a measurement sensor 50 that measures a distance to an obstacle around the body part 10; and a holding part 80 that stores the auxiliary part 40 therein and holds the measurement sensor 50 at a position upper than the auxiliary part 40.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Conventionally, there have been known self-propelled robots (self-propelled vacuum cleaners) equipped with distance measuring sensors such as laser sensors (LiDAR) to detect obstacles. In recent years, self-propelled robots equipped with optical auxiliary devices such as warning lights have been developed to improve safety when the robots are self-propelled (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-40898 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned self-propelled robot, multiple distance measuring sensors are provided on the side of the self-propelled robot, and the warning light is provided upright on the top surface of the self-propelled robot, which is one of the factors that leads to the size of the device itself. For this reason, it has been considered to arrange the distance measuring sensor and the optical auxiliary device so that they are stacked on top of each other, but there is a risk that a blind spot will be created for the distance measuring 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 blind spot of a distance measuring sensor. [Means for solving the problem]

[0006] A self-propelled robot according to one aspect of the present invention comprises a main body unit that moves over a floor surface and cleans the floor surface, an optical auxiliary unit that assists the main body unit, a distance measuring sensor that measures the distance to obstacles around the main body unit, and a holding unit that houses the auxiliary unit and holds the distance measuring sensor above the auxiliary unit. Effect of the Invention

[0007] According to the present invention, a self-propelled robot capable of reducing the blind spot of a distance measuring sensor can be provided. [Brief description of the drawings]

[0008] [Figure 1] 1 is a perspective view showing an external appearance of a self-propelled vacuum cleaner according to an embodiment; [Diagram 2] FIG. 2 is a perspective view of a support unit according to an embodiment. [Diagram 3] FIG. 2 is an exploded perspective view showing a part of the support unit according to the embodiment; [Figure 4] FIG. 4 is a side view of the support unit corresponding to FIG. 3. [Diagram 5] FIG. 4 is a more detailed exploded perspective view of the support portion of FIG. 3. [Figure 6] FIG. 6 is a side view of the support unit corresponding to FIG. 5. [Figure 7] FIG. 2 is a perspective view showing a frame body according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Next, an embodiment of a self-propelled robot according to the present invention will be described with reference to the drawings. Note that the following embodiment merely shows one example of a self-propelled robot according to the present invention. Therefore, the scope of the present invention is defined by the wording of the claims with reference to the following embodiment, and is not limited to only the following embodiment. Therefore, among the components in the following embodiment, components that are not described in the independent claims that show the highest concept of the present invention are not necessarily required to achieve the object of the present invention, but are described as constituting a more preferred form.

[0010] In addition, the drawings are schematic diagrams in which emphasis, omissions, and ratios have been appropriately adjusted in order to illustrate the present invention, and may differ from the actual shapes, positional relationships, and ratios.

[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 an indoor floor surface and cleans the floor surface. As shown in Fig. 1, the self-propelled vacuum cleaner 100 includes a main body unit 10 on which various components are mounted, an operation unit 20 provided at the rear of the main body unit 10, and a support unit 30 provided at an upper part of the main body unit 10.

[0012] The main body 10 moves over a floor surface to clean the floor surface. The main body 10 is shaped so that its height gradually increases from the front (the end in the negative Y-axis direction) to the rear (the end in the positive Y-axis direction). The top surface of the rear of the main body 10 is formed in a flat shape that is approximately parallel to the horizontal plane (XY plane), and the support unit 30 is installed on the top surface. In other words, the support unit 30 is installed at the highest position on the main body 10 and is a part that protrudes upward from the main body 10.

[0013] Also, although not shown in the figure, the main body 10 is equipped with a drive unit that moves the main body 10, a cleaning unit that collects dirt on the floor surface, a suction unit that sucks the dirt into the inside of the main body 10, a dustbin unit that collects the sucked up dirt, and a control unit that controls these.

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

[0015] The cleaning unit is a unit for sucking in dirt from a suction port provided on the underside of the main body 10, and includes a main brush disposed inside 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 in air from inside the dustbin unit and expels the air to the outside of the main body 10, sucking in dust from the suction port and accumulating the dust inside the dustbin unit.

[0017] The control unit includes a CPU, a ROM, a RAM, etc., and the CPU expands a program stored in the ROM into the RAM and executes it to appropriately control each unit. The control unit creates a reference map necessary for autonomous driving based on data acquired from a distance measurement sensor 50 (described later) included in the support unit 30. The control unit also cleans the floor while autonomously driving the main body unit 10 by controlling each unit based on the reference map. During autonomous driving, the control unit controls the drive unit based on data acquired in real time from the distance measurement sensor 50 to make the main body unit 10 avoid obstacles. During autonomous driving, the control unit also controls a warning light 60 (described later) included in the support unit 30 to notify the surroundings that the main body unit 10 is autonomously driving. Furthermore, the control unit controls a drive recorder 70 (described later) included in the support unit 30 to cause the drive recorder 70 to record the surrounding conditions during autonomous driving as images.

[0018] The operation unit 20 is a handle that allows the user to move the main body unit 10 when the main body unit 10 is not traveling autonomously. The operation unit 20 is provided at the rear of the main body unit 10 and is vertically extendable. When operated by a user, the operation unit 20 is in a state in which it extends upward from the rear of the main body unit 10 as shown in FIG. 1. On the other hand, when not in use, the operation unit 20 is retracted. 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 Department] 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 of 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 has an optical assistant unit 40, a distance measuring sensor 50, and a holding unit 80.

[0021] The optical auxiliary unit 40 includes a device that optically assists the autonomous driving of the main body unit 10. Here, "assistance" includes assisting the safety of the autonomous driving and enabling post-analysis of unsafe matters (such as collisions and contacts) during autonomous driving. 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 is capable of informing the surroundings of the presence of the self-propelled vacuum cleaner 100 by rotating and emitting light. In other words, the warning light 60 is an example of a device that assists 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 inform the surroundings of the presence of the self-propelled vacuum cleaner 100.

[0022] The drive recorder 70 is a video recording device that captures the surroundings of the main body 10. In other words, the drive recorder 70 is an example of a device that can analyze unsafe matters during autonomous driving after the fact. In this embodiment, a drive recorder equipped with a 360-degree camera is exemplified as the drive recorder 70, but a drive recorder equipped with another camera 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 rotating LIDAR (Laser Imaging Detection And Ranging). Specifically, the distance measuring sensor 50 measures the distance to an obstacle by rotating and irradiating a laser light along a horizontal plane and receiving the 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 examples of the distance measuring sensor 50 include a millimeter wave radar, a laser range finder, and a ToF (Time of Flight).

[0024] A cover plate 90 is attached to the upper surface of the distance measurement sensor 50. The cover plate 90 is a member that covers the distance measurement sensor 50 to prevent dirt from adhering to the distance measurement sensor 50. Furthermore, the cover plate 90 is also a member that enhances the design. Specifically, the cover plate 90 is formed in a disk shape and is large enough to protrude from the distance measurement sensor 50 over the entire circumference. In this way, the cover plate 90 covers the distance measurement sensor 50 over a wider area than the upper surface of the distance measurement sensor 50, so that it is possible to further prevent dirt from adhering. Furthermore, the outer peripheral edge of the cover plate 90 protruding from the distance measurement sensor 50 also functions as a visor, so that disturbance light other than reflected light caused by laser light is less likely to enter the distance measurement sensor 50. Therefore, it is also possible to stabilize the detection performance of the distance measurement sensor 50.

[0025] The cover plate 90 and the upper surface of the distance measurement sensor 50 are attached with double-sided tape 91. If a member supporting the cover plate 90 is provided from the outside of the distance measurement sensor 50, the member may block the laser light from the distance measurement sensor 50. In this embodiment, the cover plate 90 and the upper surface of the distance measurement sensor 50 are fixed with the double-sided tape 91, so that blocking of the laser light from the distance measurement sensor 50 is suppressed. The cover plate 90 and the upper surface of the distance measurement sensor 50 may be fixed with an adhesive.

[0026] The holding unit 80 is a portion that houses the auxiliary unit 40 therein and holds the distance measuring sensor 50 above the auxiliary unit 40. Specifically, the holding unit 80 has a frame unit 81 that holds the auxiliary unit 40, and a cover member 82 that covers the frame unit 81 and the auxiliary unit 40. The frame unit 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 unit 10, and holds the warning light 60 and the drive recorder 70. On the base 811, the drive recorder 70 is disposed forward (in the negative Y-axis direction) of the warning light 60. This makes it difficult for the warning light 60 to enter the field of view of the drive recorder 70. Also, on the base 811, the warning light 60 is disposed above the drive recorder 70. This prevents the light from the warning light 60 from being blocked by the drive recorder 70.

[0027] FIG. 7 is a perspective view showing a frame body 812 according to an embodiment. As shown in FIGS. 5 to 7, the frame body 812 integrally includes a top plate portion 813 and a plurality of legs 814. The top plate portion 813 is a disk-shaped portion, and the distance measuring sensor 50 is fixed to the upper surface thereof. A plurality of legs 814 extend downward from the outer periphery of the top plate portion 813 at a predetermined interval in the circumferential direction. Each leg portion 814 is inclined so as to gradually move away from the top plate portion 813 in a plan view as it goes downward. In other words, the frame body 812 as a whole has a shape that tapers upward. The tips of the plurality of legs 814 are fixed on a base 811. The lens 71 of the drive recorder 70 is arranged at the interval that is arranged most forward among the intervals formed by the plurality of legs 814. This prevents the legs 814 from entering the field of view of the drive recorder 70. The frame body 812 is formed of a resin having translucency. Therefore, the light emitted from the warning light 60 passes through the frame body 812 .

[0028] At least one of the intervals between the legs 814 may be formed to be large enough to allow the drive recorder 70 to pass through. In this embodiment, the interval located at the front of the intervals between the legs 814 may be formed to be large enough to allow the drive recorder 70 to pass through. In this case, during assembly, the frame body 812 is first installed on the base 811, and then the drive recorder 70 can be inserted through the interval and installed on the base 811. This makes it easy to 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 of, for example, a half mirror, and the outside can be seen from inside the cover member 82, but the inside cannot be seen from the outside. The cover member 82 may be formed of a simple translucent member, and the inside may be seen from the outside. The cover member 82 is a member that is approximately a truncated cone tube that tapers upward. When the frame portion 81 is accommodated inside the cover member 82, the inner peripheral surface of the cover member 82 is supported by each leg portion 814. In this state, the top plate portion 813 of the frame body 812 is exposed from the top of the cover member 82, and the distance measuring sensor 50 fixed to the top plate portion 813 also protrudes entirely from the top of the cover member 82. In other words, since the frame body 812 and the cover member 82 are retracted from around the distance measurement sensor 50, the laser light emitted from the distance measurement sensor 50 is prevented from being blocked by the frame body 812 and the cover member 82.

[0030] In this state, the auxiliary part 40 is also housed within the cover member 82. As described above, the cover member 82 is formed of a half mirror, so that the frame part 81 and the auxiliary part 40 cannot be seen from the outside of the cover member 82. Meanwhile, 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 capture an image of the situation outside the cover member 82.

[0031] [effect] As described above, the self-propelled vacuum cleaner 100 of this embodiment comprises a main body unit 10 that moves over a floor surface and cleans the floor surface, an optical auxiliary unit 40 that assists the main body unit 10, a distance measuring sensor 50 that measures the distance to obstacles around the main body unit 10, and a holding unit 80 that houses the auxiliary unit 40 inside and holds the distance measuring sensor 50 above the auxiliary unit 40.

[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] The holding portion 80 also has a light-transmitting cover member 82 that covers the auxiliary portion 40 .

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

[0035] The holding portion 80 is covered with a cover member 82 and includes a frame portion 81 that holds the auxiliary portion 40 .

[0036] According to this, since the frame section 81 that holds the auxiliary section 40 is covered by the cover member 82, during assembly, the frame section 81 and the cover member 82 can be attached to the main body section 10 at different times. In other words, assembly can be performed in the following order: after the frame section 81 is attached to the main body section 10, the auxiliary section 40 is installed, and then the cover member 82 is attached. This makes it possible to easily align the frame section 81 attached to the main body section 10 with the auxiliary section 40 (more specifically, the drive recorder 70).

[0037] In addition, the frame portion is translucent.

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

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

[0040] According to this, since the cover plate 90 covers the distance measurement sensor 50 from above, the cover plate 90 can prevent the distance measurement sensor 50 from becoming dirty.

[0041] [others] Although the self-propelled robot according to the present invention has been described based on the above embodiment, the present invention is not limited to the above embodiment.

[0042] For example, in the above embodiment, the main body 10 equipped with a suction unit is exemplified. However, the main body may have no suction unit and may have a floor wiping unit. Also, the main body may have both a suction unit and a floor wiping unit.

[0043] The device included in the auxiliary unit may be any device that uses light to assist the autonomous driving of the main body unit 10. For example, a projector that projects various information onto a floor, wall, or ceiling surface to assist the safety of the autonomous driving may be used.

[0044] In the above embodiment, the self-propelled robot is exemplified by the self-propelled vacuum cleaner 100, but any robot capable of autonomous travel does not need to have a cleaning function. Other examples of the self-propelled robot include a self-propelled surveillance machine and a self-propelled delivery machine.

[0045] In addition, the present invention also includes forms obtained by applying various modifications to the embodiments and each modified example that a person skilled in the art would conceive, and forms realized by arbitrarily combining the components and functions of the embodiments and each modified example within the scope that does not deviate from the spirit of the present invention. [Industrial Applicability]

[0046] The present invention can be used for a self-propelled robot, such as a self-propelled vacuum cleaner, that is equipped with a distance measuring sensor. [Explanation of symbols]

[0047] 10 Main body 20 Control section 30 Support Department 40 Auxiliary part 50 Distance sensor 60 warning light 70 Drive Recorder 71 Lens 80 Holding part 81 Frame section 82 Cover material 90 Cover plate 91 Adhesive 100 Self-propelled vacuum cleaner (self-propelled robot) 811 Foundation 812 Frame body 813 Top plate 814 Legs

Claims

1. a main body that moves on a floor surface to clean the floor surface; an optical auxiliary unit that assists the main body unit; 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, a cover plate attached to an upper surface of the distance measuring sensor and covering the distance measuring sensor from above; The cover plate is formed in a disk shape and is sized to extend beyond the distance measuring sensor over its entire periphery. 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 has a plurality of legs, The cover member is a member having a substantially truncated cone shape, and an inner peripheral surface of the cover member is supported by the plurality of legs. The self-propelled robot according to claim 3.

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

Images