Self-propelled robot

Abstract

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

Description

Technical Field

[0005]

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

Background Art

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

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

Means for Solving the Problems

[0006] One of the present inventions is a self-propelled robot comprising a main body that moves on a floor surface and cleans the floor surface, an auxiliary body that assists the main body, a distance measuring sensor that measures the distance to obstacles around the main body, and a holding body that houses the auxiliary body and holds the distance measuring sensor above the auxiliary body, wherein the auxiliary body comprises at least a warning light and a video recording device. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a self-propelled robot capable of reducing blind spots in distance measuring sensors. [Brief explanation of the drawing]

[0008] [Figure 1] This is a perspective view showing the external appearance of a self-propelled vacuum cleaner according to an embodiment. [Figure 2] This is a perspective view of the support unit according to the embodiment. [Figure 3] This is an exploded perspective view showing a portion of the support unit according to the embodiment. [Figure 4] This is a side view of the support unit corresponding to Figure 3. [Figure 5] Figure 3 is a more detailed perspective view of the support unit. [Figure 6] This is a side view of the support unit corresponding to Figure 5. [Figure 7] This is a perspective view showing a frame body according to an embodiment. [Modes for carrying out the invention]

[0009] Next, embodiments of the self-propelled robot according to the present invention will be described with reference to the drawings. Note that the following embodiments are merely examples of the 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 embodiments, and is not limited to the following embodiments. Therefore, the following Among the components in the embodiments, those components not described in the independent claim representing the highest-level concept of the present invention are described as constituting a more preferable form, even though they are not necessarily required to achieve the objectives of the present invention.

[0010] Furthermore, the drawings are schematic diagrams that have been appropriately emphasized, omitted, and proportions adjusted to illustrate the present invention, and may differ from the actual shape, positional relationships, and proportions.

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

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

[0013] Although not shown in the diagram, the main unit 10 is equipped with a drive unit for moving the main unit 10, a cleaning unit for collecting debris on the floor, a suction unit for sucking the debris into the main unit 10, a trash can unit for collecting the sucked-up debris, and a control unit for controlling these components.

[0014] The drive unit moves the main body 10 based on instructions from the control unit. The drive unit has multiple wheels that travel on the floor surface, multiple drive motors that provide torque to each wheel, and so on.

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

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

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

[0018] The operation unit 20 is a handle for the user to move the main body unit 10 other than during autonomous driving of the main body unit 10. The operation unit 20 is provided at the rear part of the main body unit 10 and is extendable and retractable in the vertical direction. When the operation unit 20 is operated by the user, it extends upward from the rear part 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. Here, examples of when the user moves the main body unit 10 using the operation unit 20 include when the power is turned off or when creating a reference map.

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

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

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

[0022] The drive recorder 70 is a video recording device that captures images of the surrounding environment of the main unit 10. In other words, the drive recorder 70 is an example of a device that allows for retrospective analysis of unsafe incidents during autonomous driving. In this embodiment, a drive recorder equipped with a 360-degree camera is given as an example of the drive recorder 70, but a drive recorder equipped with other types of cameras may also be used.

[0023] The distance measuring sensor 50 is a device that measures the distance to obstacles around the main unit 10. The distance measuring sensor 50 is, for example, a rotary type LIDAR (Laser Imaging Detection And Ranging). Specifically, the distance measuring sensor 50 measures the distance to an obstacle by emitting a laser beam while rotating it along a horizontal plane and receiving the reflected light when the laser beam is reflected by the obstacle. Any type of distance measuring sensor 50 is acceptable as long as it can measure the distance to an obstacle. Other examples of distance measuring sensors 50 include millimeter-wave radar, laser rangefinders, and ToF (Time of Flight).

[0024] A cover plate 90 is attached to the top surface of the distance measuring sensor 50. The cover plate 90 is a component that prevents dirt from adhering to the distance measuring sensor 50 by covering it. Furthermore, the cover plate 90 is also a component that enhances the aesthetic appearance. Specifically, the cover plate 90 is formed in a disc shape and is sized to protrude from the distance measuring sensor 50 all around. In this way, the cover plate 90 covers a wider area of ​​the distance measuring sensor 50 than the top surface of the distance measuring sensor 50, making it possible to further suppress the adhesion of dirt. Furthermore, the outer edge of the cover plate 90 that protrudes from the distance measuring sensor 50 also functions as a canopy, making it difficult for ambient light other than reflected light caused by laser light to enter the distance measuring sensor 50. Therefore, the distance measuring sensor It is also possible to stabilize the detection performance of SA50.

[0025] The cover plate 90 and the upper surface of the distance measuring sensor 50 are attached by double-sided tape 91. If a member is provided to support the cover plate 90 from the outside of the distance measuring sensor 50, there is a risk that the member may block the laser beam from the distance measuring sensor 50. In this embodiment, since the cover plate 90 and the upper surface of the distance measuring sensor 50 are fixed by double-sided tape 91, the blocking of the laser beam from the distance measuring sensor 50 is suppressed. The cover plate 90 and the upper surface of the distance measuring sensor 50 may also be fixed with adhesive.

[0026] The holding section 80 houses the auxiliary section 40 internally and holds the distance measuring sensor 50 above the auxiliary section 40. Specifically, the holding section 80 has a frame section 81 that holds the auxiliary section 40 and a cover member 82 that covers the frame section 81 and the auxiliary section 40. The frame section 81 has a base 811 and a frame body 812. The base 811 is fixed to the top surface of the rear of the main body 10 and holds the warning light 60 and the drive recorder 70. On the base 811, the drive recorder 70 is positioned in front of the warning light 60 (in the negative Y-axis direction). 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 positioned above the drive recorder 70. This prevents the light from the warning light 60 from being blocked by the drive recorder 70.

[0027] Figure 7 is a perspective view showing a frame body 812 according to an embodiment. As shown in Figures 5 to 7, the frame body 812 integrally comprises a top plate portion 813 and a plurality of legs 814. The top plate portion 813 is a disc-shaped part, and a distance measuring sensor 50 is fixed to its upper surface. From the outer edge of the top plate portion 813, a plurality of legs 814 extend downward at predetermined intervals in the circumferential direction. Each leg portion 814 is inclined so that it gradually moves away from the top plate portion 813 in a plan view as it extends 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 positioned at the furthest forward interval 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 made of a translucent resin. Therefore, the light emitted from the warning light 60 will pass through the frame body 812.

[0028] Preferably, at least one of the intervals between the multiple legs 814 is sized to allow the drive recorder 70 to pass through. In this embodiment, preferably, the interval furthest forward among the multiple legs 814 is sized to allow the drive recorder 70 to pass through. In this case, during assembly, the frame body 812 can be placed on the base 811 first, and then the drive recorder 70 can be inserted through that interval and placed 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 from, for example, a half-mirror, so that 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 also be formed from a simple light-transmitting material, and the inside may be visible from the outside. The cover member 82 is a roughly frustoconical cylindrical member that tapers upwards. When the frame portion 81 is housed inside the cover member 82, the inner circumferential 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 entire distance measuring sensor 50 fixed to the top plate portion 813 also protrudes from the top of the cover member 82. In other words, the area around the distance measuring sensor 50 Since the frame body 812 and cover member 82 are retracted, the laser light emitted from the distance measuring sensor 50 is prevented from being blocked by the frame body 812 and cover member 82.

[0030] Furthermore, in this state, the auxiliary part 40 is also housed within the cover member 82. As described above, since the cover member 82 is formed from a half-mirror, the frame part 81 and the auxiliary part 40 cannot be seen from the outside of the cover member 82. On the other hand, the light from the warning light 60 passes through the cover member 82 and is emitted to the outside of the cover member 82. In addition, the drive recorder 70 can also capture the situation outside the cover member 82.

[0031] [effect] As described above, the self-propelled vacuum cleaner 100 according to this embodiment includes a main unit 10 that moves on the floor surface and cleans the floor surface, an optical auxiliary unit 40 that assists the main unit 10, a distance measuring sensor 50 that measures the distance to obstacles around the main 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 unit 80 holds the distance measuring sensor 50 above the auxiliary unit 40, the laser light emitted from the distance measuring sensor 50 is not obstructed by the holding unit 80. Therefore, it is possible to reduce the blind spot of the distance measuring sensor 50.

[0033] Furthermore, the holding portion 80 has a light-transmitting cover member 82, which covers the auxiliary portion 40.

[0034] According to this, since the cover member 82 covering the auxiliary unit 40 is light-transmitting, it is possible to suppress the optical auxiliary unit 40 from being affected by the cover member 82. Specifically, the light from the warning light 60 included in the auxiliary unit 40 passes through the cover member 82 and is emitted to the outside of the cover member 82. In addition, the drive recorder 70 included in the auxiliary unit 40 can also capture the situation outside the cover member 82. Therefore, it is possible to suppress dirt on the auxiliary unit 40 with the cover member 82 while suppressing a decrease in the functionality of the auxiliary unit 40 caused by the cover member 82.

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

[0036] According to this, since the frame portion 81 that holds the auxiliary portion 40 is covered by the cover member 82, the frame portion 81 and the cover member 82 can be attached to the main body portion 10 at different times during assembly. In other words, it is possible to assemble the device in the order of attaching the frame portion 81 to the main body portion 10, then installing the auxiliary portion 40, and then attaching the cover member 82. This makes it easy to align the frame portion 81 attached to the main body portion 10 with the auxiliary portion 40 (more specifically, the drive recorder 70).

[0037] Furthermore, the frame is translucent.

[0038] According to this, since the frame portion 81 is translucent, it is possible to suppress the deterioration of the function of the auxiliary portion 40 caused by the frame portion 81.

[0039] Furthermore, the self-propelled vacuum cleaner 100 is equipped with 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 measuring sensor 50 from above, it is possible to suppress contamination of the distance measuring sensor 50 by the cover plate 90.

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

[0042] For example, in the above embodiment, a main body 10 equipped with a suction unit was illustrated. However, the main body may not have a suction unit but be equipped with a floor wiping unit. Alternatively, the main body may be equipped with both a suction unit and a floor wiping unit.

[0043] Furthermore, the auxiliary unit may include any device that assists the autonomous driving of the main unit 10 with light. For example, a projector that projects various information onto the floor, wall, or ceiling surface to assist in the safety of autonomous driving is one such example.

[0044] Furthermore, although the above embodiment uses a self-propelled vacuum cleaner 100 as an example of a self-propelled robot, any autonomously capable robot does not need to have a cleaning function. Other examples of self-propelled robots include self-propelled surveillance machines and self-propelled delivery machines.

[0045] Furthermore, the present invention also includes forms obtained by applying various modifications to the embodiments and each modification that a person skilled in the art could conceive of, as well as forms realized by arbitrarily combining the components and functions of the embodiments and each modification without departing from the spirit of the present invention. [Industrial applicability]

[0046] The present invention can be used for self-propelled robots, such as self-propelled vacuum cleaners, that are equipped with distance measuring sensors. [Explanation of symbols]

[0047] 10 Main body 20 Control section 30 Support Department 40 Auxiliary part 50 Distance measuring sensors 60 warning light 70 Dashcam 71 Lens 80 Holding part 81 Frame section 82 Cover component 90 Cover board 91 Adhesive 100 Self-propelled vacuum cleaners (self-propelled robots) 811 Base 812 Frame Body 813 Top panel 814 Legs

Claims

1. The main unit moves across the floor surface to clean the floor surface, An auxiliary part that assists the main body, A distance measuring sensor for measuring the distance to obstacles around the main body, The system includes a holding part that houses the auxiliary part internally and holds the distance measuring sensor above the auxiliary part, The auxiliary unit comprises at least a warning light and a video recording device. The holding portion has a light-transmitting cover member, The cover member covers the auxiliary part. Self-propelled robot.

2. 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 1.

3. The frame portion is translucent. The self-propelled robot according to claim 2.

4. The distance measuring sensor is equipped with a cover plate that is attached to the upper surface of the distance measuring sensor and covers the distance measuring sensor from above. A self-propelled robot according to any one of claims 1 to 3.

Images