Self-propelled vacuum cleaner

Abstract

To provide an autonomous travel type cleaner capable of easily starting a stop of travel and a start of travel.SOLUTION: An autonomous travel type cleaner includes: a housing; a LIDAR cover 26 arranged on an upper surface side of the housing and having a nearly dome shape; a switch projection 35 to be lowered together with depression of the LIDAR cover 26; a switch 30 to be abutted to the switch projection 35; and a control section. The control section stops travel of the autonomous travel type cleaner when it is determined that the switch 30 is depressed during traveling, and restarts the travel of the autonomous travel type cleaner when it is determined that the switch 30 is depressed again after the travel of the autonomous travel type cleaner is stopped.SELECTED DRAWING: Figure 15

Description

Technical Field

[0001] The present disclosure relates to an autonomous vacuum cleaner.

Background Art

[0002] In recent years, many technologies related to autonomous vacuum cleaners that automatically clean rooms while the user is away have been patented. For example, Patent Document 1 describes a technology in which an annular first component housing having a contact sensor is mounted on the upper surface of an autonomous vacuum cleaner, a second component housing is mounted on the first component housing, and a cover element is further mounted on the second component housing. In this technology, when the cover element is pressed from above, the contact sensor mounted on the first component housing detects that the cover element has been pressed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Patent Document 1 describes an autonomous vacuum cleaner with a cover element arranged on its upper surface, but there is no specific description of what operations are performed when the cover element is pressed. In order to improve the convenience for the user, it is preferable to enable the running of the autonomous vacuum cleaner to be easily stopped or restarted.

Means for Solving the Problems

[0005] The present invention has a housing, a LIDAR cover disposed on the upper surface side of the housing and having a substantially dome-shaped upper surface, a switch protrusion that descends as the LIDAR cover is pressed down, a switch that abuts against the switch protrusion, and a control unit. When the control unit determines that the switch has been pressed during traveling, it stops the traveling of the self-driving type cleaner, and when it determines that the switch has been pressed again after the traveling of the self-driving type cleaner has been stopped, it resumes the traveling of the self-driving type cleaner. It is a self-driving type cleaner.

Effect of the Invention

[0006] According to the present invention, it is possible to easily stop and start the traveling of the self-driving type cleaner.

Brief Description of the Drawings

[0007]

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Mode for Carrying Out the Invention

[0008] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same or corresponding parts are denoted by the same reference numerals, and overlapping descriptions are omitted. Also, the present invention is not limited by this embodiment.

[0009] FIG. 1 is a perspective view of an autonomous vacuum cleaner which is the apparatus of this embodiment. In FIG. 1, the front side, the rear side, the left side, and the right side of the autonomous vacuum cleaner are respectively illustrated by arrows.

[0010] In FIG. 1, the housing 1 of the autonomous vacuum cleaner has an upper body 2 and a lower body 3, and a bumper 4 is disposed in front of the housing 1. Inside this bumper 4, one or a plurality of collision detection switches (not shown) are disposed. When the bumper 4 collides with an obstacle, the bumper 4 moves toward the inside of the housing 1 and the switch is turned on, and it is detected that the bumper 4 has collided with an obstacle.

[0011] A cover 5 is disposed on the upper surface of the housing 1 and behind the bumper 4. A dust collecting container (not shown) is disposed inside this cover 5. When the user presses the cover 5, the front or rear of the cover 5 comes off, and the dust collecting container can be taken out from the housing 1.

[0012] Behind the cover 5, a LIDAR (Light Detection and Ranging) 6 is disposed. This LIDAR 6 can detect obstacles and the like around the housing 1 by rotating a light emitting portion and a light receiving portion about the center of the LIDAR 6. Also, by using this LIDAR 6, it is possible to create a map of the room.

[0013] Figure 2 is a plan view of the self-driving vacuum cleaner which is the device of this embodiment. In Figure 2, the front side, rear side, left side, and right side of the self-driving vacuum cleaner are respectively illustrated by arrows.

[0014] In Figure 2, a bumper 4 having a substantially U-shaped shape when viewed from above is disposed in front of the housing 1, and an upper body 2 is disposed behind the housing 1. A cover 5 is disposed between the bumper 4 and the upper body 2, and a LIDAR 6 is disposed behind the cover 5.

[0015] The bumper 4 is biased forward of the housing 1 by a spring (not shown) disposed inside, and there is a gap between the bumper 4 and the upper body 2. When the bumper 4 collides with an obstacle, the bumper 4 can move rearward by this gap against the force of the spring.

[0016] Figure 3 is a left side view of the self-driving vacuum cleaner which is the device of this embodiment. In Figure 3, the front side, rear side, upper side, and lower side of the self-driving vacuum cleaner are respectively illustrated by arrows.

[0017] A bumper 4 is disposed in front of the housing 1, and an upper body 2 is disposed behind it. Exhaust ports 7 are formed on the left and right side surfaces of the upper body 2, and a LIDAR 6 is disposed on the upper rear surface of the upper body 2. A side brush 8 is disposed in front of the lower body 3, and a rear wheel 9 is disposed behind it.

[0018] Figure 4 is a front view of the self-driving vacuum cleaner which is the device of this embodiment. In Figure 4, the upper side, lower side, left side, and right side of the self-driving vacuum cleaner are respectively illustrated by arrows.

[0019] On the front surface of the bumper 4, there are two ultrasonic sensors 10, and a left upper sensor 11 and a right upper sensor 12 each composed of a light emitting element and a light receiving element. The lower body 3 has a left lower sensor 13 and a right lower sensor 14 each composed of a light emitting element and a light receiving element, and side brushes 8 are disposed on both front left and right sides of the lower body 3. Incidentally, this side brush 8 may be disposed on either the front right side or the front left side of the lower body 3.

[0020] The upper left sensor 11 and the lower left sensor 13 are located at substantially the same position in the vertical direction of the housing 1. Similarly, the upper right sensor 12 and the lower right sensor 14 are located at substantially the same position in the vertical direction of the housing 1.

[0021] As can be seen from FIG. 3, the front of the lower body 3 is a slope 15 that slopes from the front to the rear. Two recesses 16 are formed in this slope 15, and the lower left sensor 13 and the lower right sensor 14 are respectively arranged in each of these recesses 16.

[0022] In addition, the lower left sensor 13 and the lower right sensor 14 respectively have a window portion 17 which is a plane substantially parallel to the plane perpendicular to the floor surface when the housing 1 is placed on the floor surface. A light emitting element and a light receiving element are arranged inside this window portion 17. Thereby, even if dust is lifted from the floor surface by the rotation of the side brush 8, it is possible to reduce the deposition of dust in the recesses 16 where the light emitting element and the light receiving element of the lower left sensor 13 and the lower right sensor 14 are arranged. Also, the side brush 8 is arranged in the vicinity of this window portion 17. When the side brush 8 rotates, the wind generated by the rotation of the side brush 8 hits the window portion 17, and it is possible to remove the dust attached to the window portion 17 by the wind. Thereby, it is possible to prevent the lower left sensor 13 and the lower right sensor 14 from being erroneously detected due to the adhesion of dust to the window portion 17.

[0023] FIG. 5 is a bottom view of the self-propelled vacuum cleaner which is the apparatus of this embodiment. In FIG. 5, the front side, the rear side, the left side, and the right side of the self-propelled vacuum cleaner are respectively illustrated by arrows.

[0024] In FIG. 5, a rear wheel 9 is disposed behind the lower body 3, and a battery 18 composed of a secondary battery such as a lithium ion battery is disposed in front of the rear wheel 9. Further, a right drive wheel 19 and a left drive wheel 20 are disposed substantially at the center of the lower body 3, and wheel support members 21 are connected to the right drive wheel 19 and the left drive wheel 20, respectively. The wheel support member 21 is movable in the vertical direction of the housing 1 about the axis A, and a wheel spring (not shown) is disposed between each of the two wheel support members 21 and the lower body 3. By this wheel spring, the wheel support member 21, the right drive wheel 19, and the left drive wheel 20 are biased toward the floor surface.

[0025] In FIG. 5, a part of the battery 18 is located between the right drive wheel 19 and the left drive wheel 20, but the battery 18 may be disposed behind the right drive wheel 19 and the left drive wheel 20. However, in this embodiment, by disposing the battery 18 behind the housing 1, the center of gravity of the housing 1 is designed to be at the rear of the housing. Therefore, it is preferable that at least a part of the battery 18 is located between the axes A of the two wheel support members 21.

[0026] In FIG. 5, a suction port 22 for sucking dust is formed in front of the battery 18 and in front of the right drive wheel 19 and the left drive wheel 20. Inside the suction port 22, a main brush 23 is rotatably supported on a shaft.

[0027] Step sensors 24 are disposed on both the left and right sides of the main brush 23. The step sensor 24 includes a light emitting part and a light receiving part, and detects that the housing 1 has approached a step.

[0028] In FIG. 5, the tip of the step sensor 24 is located on the axis of the rotation axis of the main brush 23 or at substantially the same position. Alternatively, the tip of the step sensor 24 may be disposed behind the axis of the rotation axis of the main brush 23.

[0029] There is a depression 25 in front of the step sensor 24, and the side brush 8 is arranged with the approximate center of this depression 25 as the axis. The side brush 8 rotates toward the suction port 22. For this reason, in FIG. 5, the left side brush 8 rotates clockwise, and the right side brush 8 rotates counterclockwise.

[0030] In this embodiment, the center of gravity G of the housing 1 is located behind the central part of the main body as shown in FIG. 5. For this reason, it is not necessary to provide the step sensor 24 in front of the lower body 3. Specifically, even if the housing 1 moves forward in the direction with a step and the housing 1 continues to move forward until the step sensor 24 behind the side brush 8 detects the step, since the center of gravity G of the housing 1 is located behind the right drive wheel 19 and the left drive wheel 20, it will not fall into the step and can perform cleaning up to the verge of the step. Also, since it is not necessary to provide the step sensor 24 in front of the lower body 3, the manufacturing cost can be reduced.

[0031] FIG. 6 is a perspective view seen from the front lower side of the self - driving vacuum cleaner which is the apparatus of this embodiment. In FIG. 6, the front of the lower body 3 is an inclined surface 15, and concave portions 16 are respectively formed on the left and right sides of the inclined surface 15. Also, a lower left sensor 13 and a lower right sensor 14 are arranged in each concave portion 16.

[0032] In FIG. 6, depressions 25 in which the side brushes 8 are respectively arranged are formed on the left and right sides in front of the lower body 3, and this depression 25 is formed up to the vicinity of the concave portion 16. The length of the side brush 8 is the length that protrudes outside the housing 1 from this depression 25, and further, since the depression 25 is a curved surface toward the vicinity of the concave portion 16, the side brush 8 can not only rotate smoothly toward the suction port 22, but also blow the wind generated by the rotation of the side brush 8 up to the window portion 17 inside the concave portion 16. For this reason, the dust attached to the window portion 17 can be blown away by the wind.

[0033] FIGS. 7 - 9 are partially enlarged side views with the vicinity of the LIDAR 6 enlarged. In FIGS. 7 - 9, the upper side, lower side, front side, and rear side of the housing 1 are respectively illustrated with arrows.

[0034] First, the structure of the self-driving vacuum cleaner according to this embodiment will be outlined. As shown in FIG. 7, a switch lever 27 is disposed below the LIDAR cover 26 of the LIDAR 6, and the LIDAR cover 26 and the switch lever 27 are integrally formed, or the LIDAR cover 26 is attached to the switch lever 27. Further, the switch lever 27 is pivotally supported on the housing 1 about the axis B.

[0035] Furthermore, a collision detection unit 28 for detecting that an obstacle has collided with the LIDAR cover 26 is provided in the vicinity of the axis B in front of the switch lever 27. Behind the switch lever 27, the switch lever 27 is biased upward by a spring 29.

[0036] Although not shown, a spring 29 is also disposed in the vicinity of the axis B, and the switch lever 27 is biased upward by this spring 29.

[0037] As shown in FIG. 8, when the vacuum cleaner is moving forward and an obstacle coming from the front collides with the front end of the LIDAR cover 26, the LIDAR cover 26 is pushed from the front to the rear. Then, with the axis B as a fulcrum, the rear of the LIDAR cover 26 and the rear of the switch lever 27 are pushed downward against the force of the spring 29, and the collision detection unit 28 is pushed downward by the switch lever 27. In this way, it is possible to detect that an obstacle has collided with the LIDAR cover 26. This can be detected.

[0038] Also, as shown in FIG. 9, when an obstacle collides with the LIDAR cover 26 from above the LIDAR cover 26, with the axis B as a fulcrum, the rear of the switch lever 27 is pushed downward against the force of the spring 29, and the collision detection unit 28 is also pushed downward. In this way, it is possible to detect that an obstacle has collided with the LIDAR cover 26.

[0039] As described above, in this embodiment, when the LIDAR cover 26 collides with an obstacle from above or in the horizontal direction of the housing 1, it can easily detect the collision with the obstacle.

[0040] FIG. 10 is an exploded perspective view of the components near the LIDAR 6. In FIG. 10, the upper, lower, rear, front, left, and right directions are indicated by arrows respectively.

[0041] In FIG. 10, a base member 32 is disposed above the circuit board 31 on which the tact switch 30 is mounted, and a substantially U-shaped groove portion 33 is formed in the base member 32. Further, at two end portions in front of the groove portion 33, a switch lever 27 is pivotally supported about an axis B so as to be openable and closable in the vertical direction.

[0042] This switch lever 27 has a substantially U-shaped shape, a bridge portion 34 is formed near the two shaft portions B, and a switch protrusion 35 is formed on the back surface side of the bridge portion 34. This switch protrusion 35 passes through a switch hole portion 36 formed in the base member 32 and presses the tact switch 30 on the circuit board 31 from above.

[0043] A spring 29 is disposed between the groove portion 33 and the switch lever 27 near the shaft portion B, and a spring 29 is also disposed between the groove portion 33 and the switch lever 27 near the rear end of the switch lever 27. By these three springs 29, the switch lever 27 is biased upward.

[0044] The rotating portion 37 of the LIDAR 6 is disposed inside the groove portion 33 of the base member 32. This rotating portion 37 is at a substantially central portion of the LIDAR 6, and the light emitting portion and the light receiving portion provided inside the rotating portion 37 rotate 360 degrees.

[0045] The upper body 2 is disposed so as to cover the circuit board 31, the base member 32, and the switch lever 27. The LIDAR cover 26 and the switch lever 27 are connected or integrally formed through three upper body holes 38 formed in the upper body 2.

[0046] The size of the upper body hole 38 is such that the cover pillar portion 39 formed on the back surface of the LIDAR cover 26 can move up and down. Note that the cover pillar portion 39 is shown in FIG. 11.

[0047] FIG. 11 is a view of the base member 32, the switch lever 27, and the LIDAR cover 26 shown in FIG. 10 as seen from the rear in FIG. 10. In FIG. 11, the upper, lower, left, and right directions are indicated by arrows respectively.

[0048] As shown in FIG. 11, a wall portion 40 is formed at the rear end of the groove portion 33 of the base member 32, and a substantially triangular floating hole 41 is formed in this wall portion 40. A protruding floating projection 42 is formed at the rear end of the switch lever 27, and this floating projection 42 is inserted into the floating hole 41 so as to be movable.

[0049] This floating projection 42 can move to the three vertices of the substantially triangular floating hole 41. Therefore, when a force is applied from above the LIDAR cover 26, the floating projection 42 can move to the center of the bottom side of the floating hole 41. When a force is applied from the upper right of the LIDAR cover 26, the floating projection 42 can move to the lower left vertex of the floating hole 41. When a force is applied from the upper left of the LIDAR cover 26, the floating projection 42 can move to the lower right vertex of the floating hole 41.

[0050] FIG. 12 is a perspective view of the base member 32 as seen from obliquely below. In FIG. 12, the upper, lower, rear, and front directions are indicated by arrows respectively.

[0051] As shown in FIG. 12, floating holes 41 are formed on the left and right axes B at the front end of the base member 32, and two floating projections 42 formed on the switch lever 27 are inserted into each of these two floating holes 41 so as to be movable. This floating hole 41 also has a substantially triangular shape similar to the floating hole 41 shown in FIG. 11.

[0052] This floating projection 42 can move to the three vertices of the substantially triangular floating hole 41. Therefore, when a force is applied from above the LIDAR cover 26, the floating projection 42 can move to the center of the bottom side of the floating hole 41. When a force is applied from the front in FIG. 12 of the LIDAR cover 26, the floating projection 42 can move to the vertex at the rear of the floating hole 41. When a force is applied from the rear in FIG. 8 of the LIDAR cover 26, the floating projection 42 can move to the vertex in front of the floating hole 41.

[0053] FIG. 13 is a view of the base member 32, switch lever 27, and LIDAR cover 26 shown in FIG. 10 as seen from the rear in FIG. 10. In FIG. 13, the upper, lower, left, and right directions are respectively illustrated by arrows.

[0054] As shown in FIG. 13, a rotation part arrangement space 43 for arranging the rotation part 37 is formed in a substantially central part of the base member 32. The rotation part 37 can rotate the light emitting part and the light receiving part 360 degrees in this rotation part arrangement space 43, irradiate light from the gap between the base member 32 (more specifically, the upper body 2) and the LIDAR cover 26, and receive the reflected light.

[0055] FIG. 14 is a bottom view of the base member 32 as seen from below. A switch hole part 36 is formed in the base member 32, and the switch projection 35 of the switch lever 27 protrudes from this switch hole part 36.

[0056] In addition, the collision detection part 28 shown in FIGS. 7 to 9 corresponds to the switch projection 35 and the tact switch 30 in FIGS. 10 to 13.

[0057] In this embodiment, the switch lever 27 is pivotally supported on the base member 32 by two axes B of the base member 32, and the switch lever 27 is biased upward by the spring 29. Also, a gap is formed between the wall portion formed in the base member 32 and the switch lever 27.

[0058] Furthermore, substantially triangular floating holes 41 are formed at two locations near the axis B of the base member 32 and near the rear end of the base member 32, and floating protrusions 42 that are movably inserted into these three floating holes 41 are formed on the switch lever 27.

[0059] Also, a switch protrusion 35 that protrudes downward is formed on the switch lever 27, and this switch protrusion 35 is configured to press a tact switch 30 formed on the circuit board 31.

[0060] Due to such a structure, even when an obstacle collides with the LIDAR cover 26 from above or when an obstacle collides from the horizontal direction, the tact switch 30 is turned on, and the control unit built into the autonomous vacuum cleaner detects the turning-on of this tact switch 30, making it possible to detect that an obstacle has collided with the LIDAR 6.

[0061] When the LIDAR cover 26 collides with an obstacle, the control unit may detect that the tact switch 30 has been turned on, and the control unit may stop the running of the autonomous vacuum cleaner by controlling the drive motor of the wheels, or may stop the cleaning operation by controlling the drive motors of the side brush and the main brush or by controlling the suction motor.

[0062] Also, when the user presses the LIDAR cover 26 from above, similarly, the control unit may detect that the tact switch 30 has been turned on, and the control unit may stop the running of the autonomous vacuum cleaner by controlling the drive motor of the wheels, or may stop the cleaning operation by controlling the drive motors of the side brush and the main brush or by controlling the suction motor.

[0063] Furthermore, when the user presses the LIDAR cover 26 downward again from above, the control unit detects that the tact switch 30 has been turned on again, and the control unit may be configured to resume the running and cleaning operations of the autonomous vacuum cleaner by controlling the drive motor of the wheels or the like. With such a configuration, the user can easily stop or start the running and cleaning operations of the autonomous vacuum cleaner.

[0064] Furthermore, when the user presses the LIDAR cover 26 downward from above, the control unit may detect that the tact switch 30 has been turned on and perform control to turn on or off the power supply. With such a configuration, the user can easily turn on and off the power supply of the autonomous vacuum cleaner, and can also emergency stop the autonomous vacuum cleaner.

[0065] When the control unit detects that the tact switch 30 has been turned on, it may notify the user by sound from a speaker mounted on the autonomous vacuum cleaner that it has come into contact with an obstacle. Alternatively, it may notify the user by display on the display unit of a mobile terminal connected wirelessly or by wire.

[0066] In addition, in this embodiment, a configuration in which a light emitting unit and a light receiving unit are mounted on the rotating body is adopted, but an imaging unit such as a camera may be mounted on the rotating body. In this case, if it seems that image analysis takes a long time, the rotation speed of the camera may be decreased. Alternatively, a configuration in which a light emitting unit, a light receiving unit, and a camera are mounted on the rotating body and any one of the elements can be selectively used or used simultaneously may be adopted. In this case, when the elements can be selectively used, the rotation speed when using the camera may be made slower than the rotation speed of the rotating body when using the light emitting unit and the light receiving unit.

[0067] FIG. 15 is a cross-sectional view taken along line A - A' shown in FIG. 2. In FIG. 15, the upper surface of the LIDAR cover 26 has a substantially dome shape with a smooth curve.

[0068] There is a height difference A from the top to the end of the LIDAR cover 26. Also, the LIDAR cover 26 can move downward by the distance of this A.

[0069] When the self - driving vacuum cleaner enters an obstacle at a height within exactly the range of the height difference A, for example, when the underside of a table is exactly within the range of A from the floor surface and the self - driving vacuum cleaner can travel under the table, when the tact switch 30 is in a pressed state, there will be a problem that the self - driving vacuum cleaner stops due to an error even though it is capable of traveling.

[0070] To avoid such a problem, by taking the length from the upper surface of the tact switch 30 to the bottom surface of the switch protrusion 35 as the length of A in FIG. 15, even if the LIDAR cover 26 moves less than the distance of A, the tact switch 30 is not pressed. In other words, the tact switch 30 is pressed only when the LIDAR cover 26 has surely moved downward by the distance of A.

[0071] In addition, in this embodiment, the upper surface of the LIDAR cover 26 has a curved surface shape. This is to reduce the contact area when the self - driving vacuum cleaner enters a gap with a height approximately equal to the body height.

Industrial Applicability

[0072] The self - driving vacuum cleaner of the present invention can be widely used in household electric vacuum cleaners, or industrial electric vacuum cleaners used in offices, factories, etc.

Explanation of Reference Numerals

[0073] 1 Housing 2 Upper Body 3 Lower Body 4 Bumper 5 Cover 6 LIDAR 7 Exhaust Port 8 Side Brush 9 Rear Wheel 10 Ultrasonic Sensor 11 Upper Left Sensor 12 Upper right sensor 13 Lower left sensor 14 Lower right sensor 15 Inclined surface 16 Concave part 17 Window part 18 Battery 19 Right drive wheel 20 Left drive wheel 21 Wheel support member 22 Suction port 23 Main brush 24 Step sensor 26 LIDAR cover 27 Switch lever 28 Collision detection part 29 Spring 30 Tact switch 31 Circuit board 32 Base member 33 Groove part 34 Bridge part 35 Switch protrusion 36 Switch hole part 37 Rotating part 38 Upper body hole 39 Cover pillar part 40 Wall part 41 Free movement hole 42 Free movement protrusion 43 Rotating part arrangement space

Claims

1. A housing, a LIDAR cover disposed on the upper surface side of the housing and having a substantially dome-shaped upper surface, a switch projection that descends as the LIDAR cover is pressed down, a switch that abuts against the switch projection, and a control unit, and when the control unit determines that the switch has been pressed during travel, it stops the travel of the self-driving vacuum cleaner, and when it determines that the switch has been pressed again after the travel of the self-driving vacuum cleaner has been stopped, it resumes the travel of the self-driving vacuum cleaner. A self-driving vacuum cleaner.

2. The self-driving vacuum cleaner according to claim 1, wherein a rotating part of the LIDAR is disposed inside the LIDAR cover.

Images