Mobile body and method for preventing foreign matter from adhering to it

Abstract

To provide a movable body capable of preventing adhesion of a foreign material to a sensor and a method for preventing adhesion of the foreign material.SOLUTION: A movable body includes a sensor for detecting information at a periphery of the movable body, and moves autonomously. The movable body includes: transmission means for transmitting air in the movable body; and a flow path in which the air transmitted by the transmission means flows. A sensor is arranged at a blow-out destination where the air is blown out from the flow path.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a moving body that autonomously moves and a method for preventing foreign matter from adhering thereto.

Background Art

[0002] There is known a moving body that includes a distance sensor of an optical system for detecting distance information and autonomously moves (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] However, in the above moving body, there is a risk that foreign matter adheres to sensors such as distance sensors.

[0005] The present disclosure has been made to solve such problems, and a main object thereof is to provide a moving body capable of preventing foreign matter from adhering to sensors and a method for preventing foreign matter from adhering thereto.

Means for Solving the Problems

[0006] One aspect of the present disclosure for achieving the above object is a moving body that includes a sensor for detecting information around the moving body and autonomously moves, a sending means for sending air within the moving body, a flow path through which the air sent by the sending means flows, and the sensor is disposed at a blowing destination where air blows out from the flow path. Moving body is. In this aspect, The aforementioned delivery means may be a heat dissipation fan device for delivering air containing the heat dissipated from the moving body. On this flight, The sensor may have a curved portion on its sensor surface or on a portion connected to the sensor surface. On this flight, The mobile unit is a robotic vacuum cleaner that moves autonomously and performs cleaning, and the delivery means may be a suction device for performing the cleaning. On this flight, A method for preventing foreign matter from adhering to a moving body, comprising a sensor for detecting information around the moving body, a dispensing means for dispensing air within the moving body, and a flow path through which the air dispensed by the dispensing means flows, wherein the moving body moves autonomously based on distance information detected by the sensor, This method for preventing foreign matter from adhering to the sensor involves blowing air onto the sensor from the outlet of the aforementioned flow path. [Effects of the Invention]

[0007] According to this disclosure, it is possible to provide a mobile body that can prevent foreign matter from adhering to a sensor, and a method for preventing foreign matter from adhering thereto. [Brief explanation of the drawing]

[0008] [Figure 1] This block diagram shows a schematic system configuration of the mobile body according to this embodiment. [Figure 2] This is a side view of the mobile body according to this embodiment. [Figure 3] This is a perspective view of the mobile body according to this embodiment. [Figure 4] This is a cross-sectional view of part A of the moving body shown in Figure 3. [Figure 5] This diagram shows the relationship between the detection direction of the distance sensor and the direction of airflow from the exhaust port. [Figure 6] This is a top-down view showing the airflow around the distance sensor. [Figure 7] This is a top-down view showing the airflow around the distance sensor. [Figure 8]This is a diagram showing a state where air is blown from behind onto the irradiation unit of the distance sensor.

Embodiment for Carrying Out the Invention

[0009] Hereinafter, this embodiment will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic system configuration of a moving body according to this embodiment. FIG. 2 is a side view of the moving body according to this embodiment. FIG. 3 is a perspective view of the moving body according to this embodiment.

[0010] The moving body 1 according to this embodiment is configured to move autonomously. The moving body 1 is configured, for example, as a transport robot that places and transports loads such as loads on the loading platform 12. The moving body 1 according to this embodiment has, for example, a lifting part 2, a control processing device 3, a sensor group 4, a wheel drive part 5, a storage part 6, a communication part 7, and an exhaust heat fan device 8.

[0011] The control processing device 3 is an information processing device having an arithmetic device such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The control processing device 3 acquires information from each component of the moving body 1 via the communication part 7 and sends an instruction to each component. The control processing device 3 controls the operations of the wheel drive part 5 and the lifting part 2.

[0012] The sensor group 4 is a general term for various sensors possessed by the moving body 1. The sensor group 4 includes a distance sensor 41, an attitude sensor, a rotary encoder, and the like. The distance sensor 41 has an irradiation unit of an optical system provided with an optical lens on the front surface. The distance sensor 41 irradiates an object such as a road surface or an obstacle with light such as a laser via the optical lens, and acquires distance information to the object based on the reflected light. The sensor group 4 is connected to the control processing device 3 and supplies the detected signal to the control processing device 3.

[0013] The wheel drive unit 5 includes a motor 51 that drives the wheel 11, a motor driver 52 for driving the motor 51, and the like. The lifting unit 2 includes a lifting mechanism 21 that raises and lowers the loading platform 12, a motor 22 that drives the lifting mechanism 21, a motor driver 23 for driving the motor 22, and the like. The wheel drive unit 5 and the lifting unit 2 are connected to the control processing device 3 and are driven in accordance with instructions from the control processing device 3.

[0014] The storage unit 6 includes a non-volatile memory and stores a floor map and operation parameters. The floor map is a database necessary for the mobile body 1 to move autonomously and may include position information of obstacles and conveyed objects.

[0015] The control processing device 3 controls the movement of the mobile body 1 based on, for example, a movement route transmitted from a server or the like and distance information of an obstacle detected by the distance sensor 41 of the sensor group 4.

[0016] The control processing device 3 controls the wheel drive unit 5 so that the mobile body 1 moves along the movement route transmitted from a server or the like while avoiding the obstacle based on the distance information of the obstacle detected by the distance sensor 41. As a result, the mobile body 1 can autonomously move from the set departure point to the destination while avoiding obstacles. Note that the control processing device 3 may control the wheel drive unit 5 so that the mobile body 1 moves autonomously based on information from another sensor.

[0017] By the way, in a conventional mobile body, when foreign matter adheres to the optical lens of the irradiation unit of the distance sensor, there is a risk of erroneously detecting an obstacle or the like and causing a problem in autonomous movement.

[0018] On the other hand, the mobile body 1 according to the present embodiment includes an exhaust heat fan device 8 for sending out the air of the mobile body 1 and an exhaust flow path 9 through which the air sent out by the exhaust heat fan device 8 flows, and the irradiation unit 411 of the distance sensor 41 is arranged at the blowing-out destination where air blows out from the exhaust flow path 9.

[0019] This configuration allows the air blown out from the exhaust passage 9 to be blown onto the surface of the optical lens 412 of the illumination section 411 of the distance sensor 41. This prevents foreign matter from adhering to the optical lens 412 of the illumination section 411 of the distance sensor 41.

[0020] In other words, in the mobile body 1 according to this embodiment, the air inside the mobile body 1 is used to clean the distance sensor 41, aiming for a two-in-one solution (increased efficiency) that not only lowers the temperature inside the mobile body 1 but also cleans the distance sensor 41 at the same time. Furthermore, as described above, by using the heat dissipation fan device 8, there is no need to install a new supply device for cleaning the distance sensor 41, and even if one were to be installed, its output could be reduced, leading to power savings and cost reduction.

[0021] Figure 4 is a cross-sectional view of part A of the mobile body shown in Figure 3. Inside the main body 13 of the mobile body 1, there are heat sources such as a control board that generates heat, a battery, and a motor. The exhaust passage 9 is formed between the heat source and the exhaust port 91. The heat dissipation fan device 8 is provided in at least one of the exhaust passage 9 and the exhaust port 91. The heat dissipation fan device 8 consists of, for example, a rotating fan section 81, a motor 82 that rotates the fan section 81, and a motor driver 82 that drives the motor 82.

[0022] The heat-containing air generated from the heat source is discharged to the outside as exhaust through the exhaust port 91 via the exhaust fan device 8. The temperature of the exhaust air is assumed to decrease sufficiently as it flows through the exhaust channel 9. A filter may also be provided in the exhaust channel 9.

[0023] The exhaust air is blown out from above onto the illumination section 411 of the distance sensor 41. That is, as shown in Figure 4, the exhaust port 91 is located at the front of the mobile body 1, above the distance sensor 41. The illumination section 411 of the distance sensor 41 is positioned at the outlet of the exhaust port 91 of the exhaust flow path 9. This prevents dust and other foreign matter from adhering to the optical lens 412 of the illumination section 411 of the distance sensor 41 by the air blown out from the exhaust port 91.

[0024] Figure 5 schematically shows the relationship between the detection direction of the distance sensor and the direction of air discharge from the exhaust port. Using Figure 5, the method for preventing foreign matter from adhering to the distance sensor 41 according to this embodiment will be further explained.

[0025] As shown in Figure 5, the detection direction of the distance sensor 41 is forward. On the other hand, the direction of air blown out from the exhaust fan device 8 of the exhaust port 91 is downward. As a result, the blown air creates an air curtain on the surface of the optical lens 412 of the illumination part 411 of the distance sensor 41. This air curtain prevents foreign matter such as dust from adhering to the optical lens 412 of the illumination part 411 of the distance sensor 41.

[0026] Furthermore, as shown in Figure 6, the distance sensor 41 may have a curved portion on the sensor surface that is illuminated by the illumination unit 411. In Figure 6, the range of the sensor surface is θ. θ includes the detection direction and may be 360°.

[0027] The airflow path leading to the sensor surface of the irradiation unit 411 is connected to this curved section. As a result, due to the Coanda effect, the airflow blown out from the exhaust port 91 of the exhaust passage 9 follows the curved surface of the curved section. Therefore, air can more easily hit the sensor surface of the irradiation unit 411, thus more effectively preventing the adhesion of foreign matter such as dust.

[0028] The shape of the sensor surface of the irradiation unit 411 is a circular cross-sectional shape as shown in Figure 5, but is not limited to this. For example, a partially curved shape may be formed on the sensor surface to guide air.

[0029] Furthermore, as shown in Figure 7, the sensor surface of the irradiation unit 411 may not be curved but flat. In this case, a curved portion may be provided in the part that constitutes the flow path (including the outer surface of the distance sensor 41) and is connected to the sensor surface. This guides air to the sensor surface in the same way as when the sensor surface has a curved portion directly on it. That is, air separation occurs at the sensor surface, vortices are formed, and the air is disturbed, contributing to the removal of dust and dirt.

[0030] As shown in Figure 8, the air from the exhaust fan device 8 of the exhaust port 91 may be blown out from the rear toward the irradiation section 411 of the distance sensor 41. In this case, the exhaust fan device 8 of the exhaust port 91 may be provided, for example, behind the distance sensor 41.

[0031] Furthermore, the air from the exhaust fan device 8 of the exhaust port 91 may be blown out from the side toward the irradiation section 411 of the distance sensor 41. In this case, the exhaust fan device 8 of the exhaust port 91 may be provided, for example, to the side of the distance sensor 41.

[0032] The heat dissipation fan device 8 is connected to the control processing unit 3 and is driven in response to instructions from the control processing unit 3. The control processing unit 3 instructs the heat dissipation fan device 8 to operate while the mobile body 1 is moving.

[0033] As a result, when the mobile body 1 moves autonomously based on distance information detected by the distance sensor 41, air can be constantly blown from the exhaust port 91 onto the surface of the optical lens 412 of the illumination unit 411 of the distance sensor 41. Therefore, it is possible to more reliably prevent foreign matter from adhering to the optical lens 412 of the illumination unit 411 of the distance sensor 41, and to prevent false detection of obstacles, etc.

[0034] In the above embodiment, the distance sensor 41 is positioned at the outlet where air is blown out from the exhaust passage 9, but the configuration is not limited to this. For example, a camera, a wide-area camera, a light-receiving type sensor, etc., may be positioned at the outlet where air is blown out from the exhaust passage 9. This prevents foreign matter from adhering to these sensors. If the sensor is a light-receiving type, the sensor surface will be the surface that receives light.

[0035] In the above embodiment, the mobile unit may be configured as a robotic vacuum cleaner that moves autonomously and performs cleaning. The mobile unit is equipped with a suction device. The suction force from the suction device expels the air inside the mobile unit 1 through the exhaust passage and discharges it from the exhaust port. A filter may be provided in the exhaust passage.

[0036] Air is blown out from above onto the illumination part of the distance sensor, for example, as described above. That is, the exhaust port is located at the front of the moving body, above the distance sensor. The illumination part of the distance sensor is positioned at the end of the exhaust port of the exhaust flow path. This prevents dust and other foreign matter from adhering to the optical lens of the illumination part of the distance sensor by the air blown out from the exhaust port.

[0037] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of symbols]

[0038] 1 Mobile body, 2 Lifting unit, 3 Control processing unit, 4 Sensor group, 5 Wheel drive unit, 6 Memory unit, 7 Communication unit, 8 Heat dissipation fan device, 9 Exhaust passage, 11 Wheels, 12 Platform, 13 Main body, 21 Lifting mechanism, 22 Motor, 23 Motor driver, 41 Distance sensor, 51 Motor, 52 Motor driver, 91 Exhaust port, 411 Illumination unit, 412 Optical lens

Claims

1. A mobile body equipped with sensors to detect information about its surroundings, and which moves autonomously, A dispensing means for dispensing air within the aforementioned mobile body, A passage through which the air discharged by the aforementioned discharge means flows, Equipped with, The sensor is positioned at the outlet from which air is blown out of the aforementioned flow path. The aforementioned delivery means is a heat dissipation fan device for delivering air containing the heat dissipated from the moving body, or The mobile unit is a robotic vacuum cleaner that moves autonomously and performs cleaning, and the delivery means is a suction device for performing the cleaning. A mobile object.

2. A mobile body according to claim 1, The sensor is a mobile body having a curved portion on the sensor surface or a portion connected to the sensor surface.

3. A mobile body according to claim 1, The air is blown out of the sensor from above, behind, or to the side by a moving body.

4. A method for preventing foreign matter from adhering to a moving body, comprising a sensor for detecting information around the moving body, a dispensing means for dispensing air within the moving body, and a flow path through which the air dispensed by the dispensing means flows, wherein the moving body moves autonomously based on distance information detected by the sensor, Air is blown from the outlet of the aforementioned flow path towards the sensor. The aforementioned delivery means is a heat dissipation fan device for delivering air containing the heat dissipated from the moving body, or The mobile unit is a robotic vacuum cleaner that moves autonomously and performs cleaning, and the delivery means is a suction device for performing the cleaning. Method for preventing foreign matter from adhering.

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