Sensor system, self-propelled device, and monitoring method

Abstract

To detect that a failure has occurred in a sensor unit by using a simple configuration.SOLUTION: A sensor system 9 is installed in a self-propelled device 1. The sensor system 9 includes a sensor unit 2 and a shielding unit 3. The sensor unit 2 detects information on external environment. The shielding unit 3 is configured to be able to switch between a first state and a second state. The first state is a state where information detection by the sensor unit 2 is inhibited. The second state is a state where the information detection by the sensor unit 2 is permitted.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a sensor system, a self-propelled device, and a sensor monitoring method. More specifically, the present disclosure relates to a sensor system installed in a self-propelled device, a self-propelled device equipped with the sensor system, and a monitoring method for monitoring a sensor unit of the self-propelled device. [Background Art]

[0002] Self-propelled devices provided with a sensor unit for detecting information of the external environment are conventionally known (see, for example, Patent Document 1). [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-118554 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] In the above-described self-propelled device, when a malfunction occurs in the sensor unit, it is desirable to detect the malfunction using a simple configuration.

[0005] An object of the present disclosure is to provide a sensor system, a self-propelled device, and a monitoring method capable of detecting a malfunction occurring in a sensor unit using a simple configuration. [Means for Solving the Problem]

[0006] A sensor system according to an aspect of the present disclosure is a sensor system installed in a self-propelled device, and includes a sensor unit that detects information of an external environment, and a shielding unit. The shielding unit is configured to be switchable between a first state in which detection of the information by the sensor unit is blocked and a second state in which detection of the information by the sensor unit is permitted.

[0007] A self-propelled device according to one aspect of the present disclosure comprises the sensor system and a device body on which the sensor system is mounted.

[0008] A monitoring method according to one aspect of the present disclosure is a method for monitoring a sensor unit installed in a self-propelled device for detecting information of the external environment, comprising: a first detection step in which the sensor unit attempts to detect the information when the shielding unit is in a first state that prevents the sensor unit from detecting the information; a switching step in which the sensor unit attempts to detect the information when the shielding unit is in a second state; and a second detection step in which the sensor unit attempts to detect the information when the shielding unit is in the second state. [Effects of the Invention]

[0009] This disclosure has the effect of enabling the detection of a malfunction in the sensor unit using a simple configuration. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a side view of a self-propelled device equipped with a sensor system according to one embodiment. [Figure 2] Figure 2 is a plan view of the self-propelled device equipped with the same sensor system. [Figure 3] Figure 3 is a front view of the main part of the sensor system described above. [Figure 4] Figure 4 is a side view of the main part of the sensor system shown above, with the shielding plate displaced. [Figure 5] Figure 5 is a timing chart showing the operation of the sensor system described above. [Figure 6] Figure 6 is a flowchart illustrating the operation of the sensor system described above. [Figure 7] Figure 7 is a circuit diagram of the control unit of the sensor system described above when it is initially powered on. [Figure 8]FIG. 8 is a circuit diagram of the control unit described above when driving an actuator. [Figure 9] FIG. 9 is a circuit diagram showing a state where the self-propelled device can start operation in the control unit described above. MODE FOR CARRYING OUT THE INVENTION

[0011] Hereinafter, a sensor system, a self-propelled device, and a monitoring method according to an embodiment will be described with reference to the accompanying drawings.

[0012] The drawings referred to in the following embodiments are all schematic diagrams. Therefore, the ratios of the sizes and thicknesses of respective components in the drawings do not necessarily reflect actual dimensional ratios.

[0013] (Embodiment) (1) Self-propelled device Hereinafter, the self-propelled device 1 according to the present embodiment will be described with reference to the accompanying drawings.

[0014] The self-propelled device 1 shown in FIG. 1, FIG. 2, and the like is, as an example, a device that measures a predetermined measurement object related to the environment of a specific space while autonomously moving within the specific space. The predetermined measurement object is, for example, at least one of light illuminance, light color temperature, temperature, humidity, air volume, and air quality index.

[0015] The self-propelled device 1 includes a device main body 11 and a moving unit 12. The device main body 11 and the moving unit 12 are integrally combined.

[0016] The moving unit 12 is provided for moving the device main body 11 equipped with appropriate measurement equipment on a floor surface 7. The moving unit 12 includes a plurality of drive wheels 121 rollably provided on the floor surface 7, a plurality of driven wheels 122 rollably provided on the floor surface 7, and a motor 125 for driving the plurality of drive wheels 121. In the present embodiment, the moving unit 12 is provided with a plurality of motors 125.

[0017] In the present embodiment, the plurality of drive wheels 121 are two drive wheels 121 arranged parallel to each other with a distance therebetween in the left-right direction. The plurality of driven wheels 122 are two driven wheels 122 arranged parallel to each other with a distance therebetween in the left-right direction. The two driven wheels 121 are arranged spaced apart from the two drive wheels 121 in the front-rear direction. Note that the front-rear direction used herein is defined as the direction in which the moving unit 12 travels on the horizontal floor surface 7. The plurality of motors 125 are two motors 125 respectively coupled to the two drive wheels 121.

[0018] In the moving unit 12 having the above configuration, when each motor 125 rotates, the rotational force of each motor 125 is transmitted to the coupled drive wheel 121. Accordingly, the two drive wheels 121 each rotate, and the self-propelled device 1 can freely move on the floor surface 7.

[0019] The self-propelled device 1 is further equipped with a sensor system 9 for preventing accidents such as falling during movement. That is, the self-propelled device 1 of the present embodiment includes the sensor system 9, a device main body 11 on which the sensor system 9 is mounted, and the moving unit 12.

[0020] (2) Sensor System The sensor system 9 of the present embodiment will be described with reference to the accompanying drawings.

[0021] The sensor system 9 of the present embodiment is installed in the self-propelled device 1 for the purpose of preventing accidents such as falling during movement. The sensor system 9 includes a sensor unit 2, a shielding unit 3, and a control unit 4. The sensor unit 2 is used to detect information of the external environment. In the embodiment, the external environment information detected by the sensor unit 2 is information on whether the floor surface 7 exists within a predetermined range. The sensor unit 2 is a distance measuring sensor unit that measures a distance to the floor surface 7 and detects whether the floor surface 7 exists within a predetermined range.

[0022] (2.1) Sensor Unit The sensor system 9 of this embodiment comprises multiple sensor units 2. The multiple sensor units 2 are four sensor units 2 positioned at the four corners of the self-propelled device 1, on the front, rear, left, and right. The four sensor units 2 consist of a pair of front sensor units 2 positioned at a distance from each other in the left-right direction, and a pair of rear sensor units 2 positioned at a distance from each other in the left-right direction. The pair of front sensor units 2 and the pair of rear sensor units 2 are positioned at a distance from each other in the front-rear direction.

[0023] In the front-rear direction, the moving part 12 is positioned between two pairs of sensor parts 2 that are spaced apart from each other. In other words, in the front-rear direction, two drive wheels 121 and two driven wheels 122 are positioned between two pairs of sensor parts 2 that are spaced apart from each other.

[0024] Each of the four sensor units 2 contains multiple sensors 21. These multiple sensors 21 consist of two sensors 21 arranged side-by-side in the left-right direction. Each sensor unit 2 is also referred to as a dual sensor.

[0025] Each sensor 21 is a distance measuring sensor configured to detect the distance to the floor surface 7. Specifically, each sensor 21 is a laser distance measuring sensor having a light-emitting unit that emits laser light downwards and a light-receiving unit that receives the laser light reflected after emission. Each sensor 21 is configured to measure the distance to the floor surface 7 using laser light, detect the presence of the floor surface 7 when the measurement result is within a predetermined range, and output a detection signal. The detection signal output by each sensor 21 is an electrical signal indicating that each sensor 21 has detected the floor surface 7.

[0026] If the measurement results fall outside the predetermined range, for example, it may be because there is a large obstacle on the floor surface 7 directly below each sensor 21, or there is a large depression in the floor surface 7 directly below each sensor 21, or there are stairs directly below each sensor 21. In these cases, each sensor 21 will not output a detection signal indicating the detection of the floor surface 7.

[0027] The sensor system 9 of this embodiment includes a total of eight sensors 21 (see Figure 2). The eight sensors 21 are installed at the same height, but they may be installed at different heights. The predetermined range in which the eight sensors 21 output detection signals is installed in the same range, but is not limited to this, and the predetermined range in which the eight sensors 21 output detection signals may be set to different ranges.

[0028] (2.2) Shielding part The shielding unit 3 is installed on the self-propelled device 1 to prevent the sensor unit 2 from detecting information. The shielding unit 3 is configured to be switchable between a state in which the sensor unit 2 does not detect information (i.e., the sensor unit 2 does not detect the floor surface 7) (hereinafter referred to as the "first state") and a state in which the sensor unit 2 does detect information (hereinafter referred to as the "second state").

[0029] The sensor system 9 of this embodiment includes a plurality of shielding units 3. The plurality of shielding units 3 are two shielding units 3 arranged at a distance from each other in the front-rear direction. The two shielding units 3 are arranged symmetrically with respect to a virtual vertical plane perpendicular to the front-rear direction.

[0030] The two shielding parts 3 share a common configuration. Each shielding part 3 includes a shielding body 31 and an actuator 32 that displaces the shielding body 31. The shielding body 31 is a component that prevents the transmission of laser light and is made of, for example, a long plastic plate in the left-right direction. In other words, the shielding body 31 is a reflector.

[0031] The actuator 32 is an electromagnetic linear actuator connected to the shielding body 31. The actuator 32 includes a cylindrical body 321 and a rod 322 protruding from the body in the front-rear direction. The shielding body 31 is fixed to the rod 322. The rod 322 is movable back and forth relative to the body 321, which is fixed to the device body 11. The shielding body 31 moves in the front-rear direction together with the rod 322.

[0032] The actuator 32 displaces the shielding body 31 between a first position P1 and a second position P2. As shown in Figures 1 and 2, the first position P1 is located below the pair of left and right sensor units 2. The first position P1 is the position that prevents the sensor units 2 from detecting information.

[0033] The rod 322 of the actuator 32 is biased forward by a spring 325 (see Figure 7, etc.) housed in the main body 321. When the coil 324 housed in the main body 321 is not energized, the shielding body 31 is held in the first position P1 by the biasing force of the spring 325. When the coil 324 is energized, the rod 322 moves axially against the biasing force of the spring 325, and the shielding body 31 is held in the second position P1 (see Figure 8, etc.). When the energization of the coil 324 is released, the shielding body 31 returns from the second position P2 to the first position P1 by the biasing force of the spring 325.

[0034] As shown in Figure 4, the second position P2 is located below the pair of left and right sensor units 2 in the front-rear direction. The second position P2 is a position that allows the sensor units 2 to detect information.

[0035] In the initial state when the actuator 32 is not driven, the shielding body 31 is in the first position P1. In other words, when the self-propelled device 1 is not powered on (in other words, when the power to the self-propelled device 1 is off), the shielding body 3 is in the first state, which prevents the sensor unit 2 from detecting the floor surface 7. When the shielding body 3 is in the first state, the laser light emitted downward from each sensor 21 is reflected by the shielding body 31 located directly below each sensor 21, and the reflected laser light is received by each sensor 21. In the first state, when each sensor 21 attempts to detect distance, each sensor 21 detects the distance to the shielding body 31, not the floor surface 7. Since this distance is outside the predetermined range set in advance, each sensor 21 does not output a detection signal.

[0036] One of the two shielding units 3, which share the common configuration described above, is used to switch between the first and second states for the pair of front sensor units 2. The other of the two shielding units 3 is used to switch between the first and second states for the rear sensor unit 2. By driving the two shielding units 3, the first and second states for all two pairs of sensor units 2 (i.e., a total of eight sensors 21) are switched.

[0037] More specifically, by driving the actuators 32 of the two shielding parts 3, it is possible to switch between a state in which the shielding body 31 is positioned below all eight sensors 21 and the floor surface 7 cannot be detected, and a state in which the shielding body 31 is not positioned below all eight sensors 21 and the floor surface 7 can be detected (see Figure 5, etc.).

[0038] (2.3) Control Unit The control unit 4, shown in Figure 7, is configured to switch between a state that permits the movement of the self-propelled device 1 (hereinafter referred to as the "permitted state") and a state that does not permit the operation of the self-propelled device 1 (hereinafter referred to as the "non-permitted state") based on the detection results of the four sensor units 2. Based on the detection results of the four sensor units 2, if the predetermined conditions described below are not met, the control unit 4 enters the non-permitted state, and if the predetermined conditions are met based on the detection results of the four sensor units 2, the control unit 4 enters the permitted state. When the self-propelled device 1 is not powered on, the control unit 4 is in the non-permitted state.

[0039] The above-mentioned predetermined conditions include the first condition and the second condition. When the first condition is met and the second condition is met, the control unit 4 switches from the denied state to the permitted state.

[0040] The first condition is that when the self-propelled device 1 is powered on (i.e., when power is supplied to the sensor system 9), the floor surface 7 is not detected by all four sensor units 2, that is, by all eight sensors 21. As described above, when the self-propelled device 1 is powered on, both shielding units 3 are in the first state, and a shielding body 31 is located directly below each of the four sensor units 2. In other words, a shielding body 31 is located in the optical path between each of the four sensor units 2 and the floor surface 7.

[0041] The second condition is that, after both shielding units 3 are switched from the first state to the second state, the floor surface 7 is detected by all four sensor units 2, that is, by all eight sensors 21. When both shielding units 3 are in the second state, no shielding body 31 is located directly below each of the four sensor units 2. In other words, no shielding body 31 is located in the optical path between each of the four sensor units 2 and the floor surface 7.

[0042] (2.4) Details of the control unit As shown in Figure 7, the control unit 4 is composed of a circuit 40 that includes a plurality of safety relays 42. The circuit 40 is a hardware circuit 5 that does not include a microcontroller. The circuit 40 is configured to perform the switching between the permitted state and the denied state without including a microcontroller by combining a plurality of electronic components such as safety relays 42.

[0043] In one embodiment, the circuit 40 includes a total of 10 safety relays 42. These 10 safety relays 42 include 8 safety relays 42A connected one-to-one to 8 sensors 21, and 2 safety relays 42B interposed between these 8 safety relays 42A and the actuator 32.

[0044] Note that in Figures 7, 8, and 9, only two of the four sensor units 2 are shown to simplify the diagrams. Therefore, although only four safety relays 42A are shown in the diagrams, the actual circuit 40 contains eight safety relays 42A.

[0045] The 10 safety relays 42A and 42B are connected in series. More specifically, 8 safety relays 42A (4 safety relays 42A in Figure 7, etc., for simplification) are connected in series, and 2 safety relays 42B are connected in series, so these 8 safety relays 42A and 2 safety relays 42B are connected in series.

[0046] The safety relays 42A and 42B described above share a common configuration. The common configuration of safety relays 42A and 42B will be explained based on safety relay 42A.

[0047] The safety relay 42A includes three normally open (a) contacts, one normally closed (b) contact, and a coil for switching the opening and closing of these three a-contacts and one b-contact. The opening and closing of the three a-contacts and one b-contact are forcibly linked. The safety relay 42A is also called a forced-guided relay. The a-contacts are open when no electrical signal is applied to the coil, and close when an electrical signal is applied to the coil, as the coil is energized. The b-contact is closed when no electrical signal is applied to the coil, and opens when an electrical signal is applied to the coil, as the coil is energized.

[0048] Each safety relay 42A's coil is supplied with a detection signal from a sensor 21 that corresponds one-to-one with each safety relay 42A.

[0049] In the eight safety relays 42A connected in series, one normally closed (b) contact in each safety relay 42A is connected in series to form part of circuit L1. Similarly, one normally open (a) contact in each safety relay 42A is connected in series to form part of circuit L2, and another normally open (a) contact in each safety relay 42A is connected in series to form part of circuit L3. The remaining normally open (a) contact in each safety relay 42A is used for state detection.

[0050] In the two safety relays 42B connected in series, one normally closed (b) contact in each safety relay 42B is connected in series to form another part of circuit L1. Circuit L1 is configured to supply power to the coils of each safety relay 42B. Furthermore, one normally open (a) contact in each of the two safety relays 42B is connected in series to form another part of circuit L2. Another normally open (a) contact in each of the two safety relays 42B is connected in series to form another part of circuit L3. Circuits L2 and L3 are circuits connected to the safety relay unit 45, which will be described later.

[0051] The remaining one normally open (a) contacts of the two safety relays 42B are connected in series, forming part of the circuit L4. The circuit L4 is configured to supply power to the actuator 32.

[0052] The circuit 40 further includes a safety relay unit 45 to further enhance the safety of the circuit 40, and a motor driver 47 connected to the safety relay unit 45. In one embodiment, multiple motor drivers 47 are provided. The multiple motor drivers 47 are two motor drivers 47 corresponding to two motors 125.

[0053] (2.5) Operation of the control unit The operation of the control unit 4 after power-on will now be described. As described above, in the initial state when the actuator 32 is not driven, each shielding body 31 is in the first position P1. After power-on, the sensor units 2 at the four corners first attempt to detect the floor surface 7, but the shielding bodies 31 obstruct the detection of the floor surface 7 in all of the sensor units 2. Therefore, the coils of all eight safety relays 42A corresponding to the sensor units 2 at the four corners are not energized, and the b-contacts remain closed. As a result, as shown in Figure 7, a voltage is applied to each coil of the two safety relays 42B through the circuit L1, and as a result, one b-contact of each safety relay 42B opens and the three a-contacts close (see Figure 8). The three a-contacts of the safety relays 42B are held closed while the charge stored in the capacitor 43 connected to the circuit L1 acts on them.

[0054] In this state, when power is supplied to the coil 324 housed in the main body 321 of the actuator 32 through path L4, the rod 322 moves axially while compressing the spring 325 housed in the main body 321 of the actuator 32, as shown in Figure 8. This displaces the shielding body 31 to the second position P2, and both sensors 21 included in each sensor unit 2 output detection signals. As a result, the coils in each of the eight safety relays 42A corresponding to the sensor units 2 at the four corners are energized, one b-contact opens and three a-contacts close in each of the eight safety relays 42A (see Figure 9). The two circuits L2 and L3 connected to the safety relay unit 45 are connected via the two a-contacts of each safety relay 42A, switching the circuit 40 from a non-permitted state to a permitted state, and each motor driver 47 operates. Furthermore, since voltage is applied to the coils of each safety relay 42B through circuits L4, L5, and L1, one b-contact of each safety relay 42 is kept open, and the three a-contacts are kept closed. Circuit L5 is the circuit that connects circuit L4 and circuit L1.

[0055] According to the sensor system 9 of this embodiment, the self-propelled device 1 can be brought to a state where it can start operation, provided that when the power is turned on, the floor surface 7 is not detected by all of the sensor units 2 at the four corners (i.e., all of the eight sensors 21), and after the shielding body 31 is moved, the floor surface 7 is detected by all of the sensor units 2 at the four corners (i.e., all of the eight sensors 21).

[0056] Here, if contact welding occurs in even one of the 10 safety relays 42A, 42B included in circuit 40, the self-propelled device 1 will not reach a state where it can start operation even when power is turned on. According to the sensor system 9 of this embodiment, the self-propelled device 1 can be made movable on the condition that it is confirmed that the floor surface 7 can be stably sensed by the dual sensors at the four corners of the self-propelled device 1.

[0057] (3) Monitoring method The monitoring method performed using the sensor system 9 of this embodiment is a method of monitoring whether any malfunctions have occurred in all sensor units 2 installed on the self-propelled device 1. Each sensor unit 2 is configured to detect information about the external environment. In detail, each sensor unit 2 is configured to detect the floor surface 7 on which the self-propelled device 1 travels. The monitoring method of this embodiment includes a first detection step, a switching step, and a second detection step.

[0058] The first detection step is a step in which the detection of the floor surface 7 by each sensor unit 2 is prevented by the shielding unit 3 located below each sensor unit 2 (i.e., the shielding unit 3 is in the first state), and the sensor unit 2 attempts to detect the floor surface 7 (see S10 and S20 in Figure 6).

[0059] The switching process is a process of switching the shielding section 3 to a state in which it does not block the detection of the floor surface 7 by each sensor section 2. In other words, the switching process is a process of switching the shielding section 3, which was in the first state, to a second state in which it allows the detection of the floor surface 7 by each sensor section 2 (see S30 in Figure 6).

[0060] The second detection step is a step in which each sensor unit 2 attempts to detect the floor surface 7 when the shielding unit 3 does not obstruct the detection of the floor surface 7 by each sensor unit 2 (see S40 in Figure 6). In other words, the second detection step is a step in which each sensor unit 2 attempts to detect the floor surface 7 when the shielding unit 3 is in the second state described above. The second detection step may be performed discontinuously with the first detection step, or it may be performed continuously from the first detection step. When the first and second detection steps are performed continuously, a switching step is performed in parallel during the continuous detection steps.

[0061] According to the monitoring method of this embodiment, the self-propelled device 1 can be brought to a state where it can start operation if, in the first detection step, the floor surface 7 is not detected by any of the sensor units 2, and in the second detection step, the floor surface 7 is detected by all of the sensor units 2 (see S50 in Figure 6). If the self-propelled device 1 does not reach a state where it can start operation, it is possible that one of the sensor units 2 is malfunctioning. Therefore, if one of the sensor units 2 is malfunctioning, it can be detected.

[0062] (4) Variations The embodiments described above are merely one of many embodiments of this disclosure. These embodiments can be modified in various ways depending on the design, etc., as long as they achieve the objectives of this disclosure.

[0063] The following lists some modifications of the above embodiment. The modifications described below can be combined and applied as appropriate.

[0064] In the above embodiment, each sensor 21 is composed of a laser distance measuring sensor, but each sensor 21 is not limited to a laser distance measuring sensor. Each sensor 21 may be, for example, an ultrasonic distance measuring sensor or a radio wave distance measuring sensor. The types of multiple sensors 21 are not limited to being the same, and may be of different types.

[0065] In the above embodiment, the shielding unit 3 includes a shielding body 31 and an actuator 32 that reciprocates it on a straight track. However, the actuator 32 may move the shielding body 31 on an appropriate curved track, or the actuator 32 may rotate the shielding body 31. Furthermore, the shielding unit 3 may not include the actuator 32. In this case, for example, the shielding body 31 may be configured so that its light transmittance can be changed by applying a voltage, like a liquid crystal shutter. When the transmittance of the shielding body 31 is at a level that inhibits the transmission of laser light, the shielding unit 3 enters a first state in which it prevents the sensor unit 2 from detecting information. When the transmittance of the shielding body 31 is at a level that allows the transmission of laser light, the shielding unit 3 enters a second state in which it allows the sensor unit 2 to detect information.

[0066] In the above embodiment, one sensor unit 2 is placed at each of the four corners (front, rear, left, and right) of the self-propelled device 1, but the number and placement of sensor units 2 are not limited to this. The sensor unit 2 may be placed at one location on the self-propelled device 1, or at two, three, or five or more locations on the self-propelled device 1.

[0067] In the above embodiment, each sensor unit 2 is a dual sensor with two sensors 21 arranged side by side, but is not limited to this. Each sensor unit 2 may have only one sensor 21 or multiple sensors 21. When each sensor unit 2 has multiple sensors 21, detection of the floor surface 7 is possible as long as all sensors 21 in each sensor unit 2 do not fail, thus achieving stable detection of the floor surface 7.

[0068] (summary) As described above, the sensor system (9) of the first embodiment is a sensor system (9) installed on a self-propelled device (1), and comprises a sensor unit (2) for detecting information of the external environment and a shielding unit (3). The shielding unit (3) is configured to be switchable between a first state that prevents the detection of information by the sensor unit (2) and a second state that allows the detection of information by the sensor unit (2).

[0069] According to this embodiment, if there is no malfunction in the sensor unit (2), the sensor unit (2) does not detect the predetermined information when the shielding unit (3) is in the first state, and the predetermined information is detected by the sensor unit (2) when the shielding unit (3) switches to the second state. On the other hand, if there is a malfunction in the sensor unit (2), the detection described above cannot be obtained. Therefore, a malfunction in the sensor unit (2) can be detected with a simple configuration using the shielding unit (3).

[0070] In the second embodiment of the sensor system (9), the sensor unit (2) detects the floor surface (7) as in the first embodiment.

[0071] According to this embodiment, if there is no malfunction in the sensor unit (2), the sensor unit (2) does not detect the presence of the floor surface (7) when the shielding unit (3) is in the first state, and the presence of the floor surface (7) is detected by the sensor unit (2) when the shielding unit (3) switches to the second state. On the other hand, if there is a malfunction in the sensor unit (2), the detection described above cannot be obtained. Therefore, a malfunction in the sensor unit (2) can be detected with a simple configuration using the shielding unit (3).

[0072] A third embodiment of the sensor system (9) includes, in the first or second embodiment, a shielding unit (3) comprising a shielding body (31) and an actuator (32) for displacing the shielding body (31). The actuator (32) displaces the shielding body (31) between a first position (P1) that prevents the sensor unit (2) from detecting information and a second position (P2) that allows the sensor unit (2) to detect information.

[0073] According to this embodiment, if there is no malfunction in the sensor unit (2), the sensor unit (2) does not detect predetermined information when the shielding body (31) is in the first position (P1), but when the shielding body (31) is displaced to the second position (P2), the sensor unit (2) detects predetermined information. Conversely, if there is a malfunction in the sensor unit (2), the detection described above cannot be obtained. Therefore, a malfunction in the sensor unit (2) can be detected with a simple configuration using the shielding body (31) and actuator (32).

[0074] In the fourth embodiment of the sensor system (9), in any one of the first to third embodiments, when the power to the self-propelled device (1) is off, the shielding part (3) is in a first state.

[0075] According to this embodiment, when power is turned on to the self-propelled device (1), the sensor unit (2) can detect predetermined information in the flow described above, and any malfunction of the sensor unit (2) can be detected.

[0076] The sensor system (9) of the fifth embodiment further comprises a control unit (4) that enables the movement of the self-propelled device (1) when predetermined conditions are met based on the detection results of the sensor unit (2), as in the fourth embodiment. The predetermined conditions include the fact that no information is detected by the sensor unit (2) when the self-propelled device (1) is powered on.

[0077] In this embodiment, the control unit (4) can confirm that there is no malfunction in the sensor unit (2) before moving the self-propelled device (1).

[0078] The sensor system (9) of the sixth embodiment further comprises a control unit (4) that enables the movement of the self-propelled device (1) when predetermined conditions are met based on the detection results of the sensor unit (2), in the fourth embodiment. The predetermined conditions include information being detected by the sensor unit (2) after the shielding unit (3) has been switched from a first state to a second state.

[0079] In this embodiment, the control unit (4) can confirm that there is no malfunction in the sensor unit (2) before moving the self-propelled device (1).

[0080] The sensor system (9) of the seventh embodiment further comprises a control unit (4) that enables the movement of the self-propelled device (1) when predetermined conditions are met based on the detection results of the sensor unit (2), in the fourth embodiment. The predetermined conditions include that no information is detected by the sensor unit (2) when the self-propelled device (1) is powered on, and that information is detected by the sensor unit (2) after the shielding unit (3) is switched from a first state to a second state.

[0081] In this embodiment, the control unit (4) can confirm that there is no malfunction in the sensor unit (2) before moving the self-propelled device (1).

[0082] The sensor system (9) of the eighth embodiment further comprises a control unit (4) in any one of the first to fourth embodiments. The sensor unit (2) includes a plurality of sensors (21). The control unit (4) enables the movement of the self-propelled device (1) when a predetermined condition is met based on the detection result of each of the plurality of sensors (21).

[0083] In this embodiment, the control unit (4) can operate the self-propelled device (1) after confirming that there are no malfunctions in any of the multiple sensors (21) included in the sensor unit (2). Since the sensor unit (2) includes multiple sensors (21), the sensor unit (2) can reliably detect predetermined information as long as all of the sensors (21) do not fail.

[0084] The sensor system (9) of the ninth embodiment further comprises a control unit (4) in the fourth embodiment. The sensor unit (2) includes a plurality of sensors (21). The control unit (4) enables the movement of the self-propelled device (1) when predetermined conditions are met based on the detection results of each of the plurality of sensors (21). The predetermined conditions include that no information is detected by each sensor (21) when the self-propelled device (1) is powered on, and that information is detected by each sensor (21) after the shielding unit (3) is switched from a first state to a second state.

[0085] In this embodiment, the control unit (4) can operate the self-propelled device (1) after confirming that there are no malfunctions in any of the multiple sensors (21) included in the sensor unit (2). Since the sensor unit (2) includes multiple sensors (21), the sensor unit (2) can reliably detect predetermined information as long as all of the sensors (21) do not fail.

[0086] In the tenth embodiment of the sensor system (9), in the eighth or ninth embodiment, the control unit (4) is comprised of a circuit (40) including a plurality of safety relays (42A) connected to each of the plurality of sensors (21).

[0087] According to this embodiment, if a malfunction such as contact welding occurs in at least one of the multiple safety relays (42A), the self-propelled device (1) can be made immobile, thereby enhancing the safety of the system.

[0088] In the eleventh embodiment of the sensor system (9), the circuit (40) is composed of a hard circuit (5) in the first embodiment.

[0089] According to this embodiment, the control unit (4) is configured with a circuit that does not include a microcontroller, thus eliminating the possibility of malfunctions caused by software hang-ups and the like, and enhancing the safety of the system.

[0090] The self-propelled device (1) of the twelfth embodiment comprises a sensor system (9) of any one of the first to eleventh embodiments and a device body (11) on which the sensor system (9) is mounted.

[0091] According to this embodiment, if there is no malfunction in the sensor unit (2) of the sensor system (9) mounted on the self-propelled device (1), the sensor unit (2) will not detect predetermined information when the shielding unit (3) is in the first state, and the predetermined information will be detected by the sensor unit (2) when the shielding unit (3) switches to the second state. On the other hand, if there is a malfunction in the sensor unit (2), the detection described above cannot be obtained. Therefore, a malfunction in the sensor unit (2) can be detected with a simple configuration using the shielding unit (3).

[0092] A monitoring method according to the 13th embodiment is a method for monitoring a sensor unit (2) installed on a self-propelled device (1) for detecting information of the external environment, and includes: a first detection step in which the sensor unit (2) attempts to detect information when the shielding unit (3) is in a first state that prevents the sensor unit (2) from detecting information; a switching step in which the first state is switched to a second state that allows the sensor unit (2) to detect information; and a second detection step in which the sensor unit (2) attempts to detect information when the shielding unit (3) is in the second state.

[0093] According to this embodiment, if there is no malfunction in the sensor unit (2), the sensor unit (2) will not detect the predetermined information in the first detection step, and the sensor unit (2) will detect the predetermined information in the second detection step. Conversely, if there is a malfunction in the sensor unit (2), the detection described above cannot be obtained. Therefore, a malfunction in the sensor unit (2) can be detected with a simple configuration.

[0094] The configurations of the second to eleventh embodiments are not essential to the sensor system (9) and can be omitted as appropriate. [Explanation of Symbols]

[0095] 1 Self-propelled device 11. Main unit of the device 2 Sensor section 21 sensors 3 Shield part 31 Shield 32 Actuators 4. Control Unit 40 circuits 42A Safety Relay 5. Hardware 7 Floor surface 9 Sensor system P1 1st position P2 2nd position

Claims

1. A sensor system installed on a self-propelled device, A sensor unit that detects information about the external environment, Shielding part and It comprises a control unit and, The shielding portion is configured to be switchable between a first state in which the sensor portion prevents detection of the information and a second state in which the sensor portion allows detection of the information. The control unit is configured with a hardware circuit including a plurality of safety relays connected to the sensor unit to detect a malfunction in the sensor unit based on the detection result of the sensor unit in the first state and the detection result of the sensor unit in the second state. Sensor system.

2. The sensor unit detects the floor surface. The sensor system according to claim 1.

3. The shielding portion includes a shielding body and an actuator that displaces the shielding body. The actuator displaces the shielding body between a first position that prevents the sensor from detecting the information and a second position that allows the sensor to detect the information. The sensor system according to claim 1.

4. When the power to the self-propelled device is off, the shielding portion is in the first state. The sensor system according to claim 1.

5. The control unit enables the movement of the self-propelled device when predetermined conditions are met based on the detection results of the sensor unit. The predetermined conditions include the fact that the information is not detected by the sensor unit when the power of the self-propelled device is turned on. The sensor system according to claim 4.

6. The control unit enables the movement of the self-propelled device when predetermined conditions are met based on the detection results of the sensor unit. The predetermined conditions include the detection of the information by the sensor unit after the shielding unit has been switched from the first state to the second state. The sensor system according to claim 4.

7. The control unit enables the movement of the self-propelled device when predetermined conditions are met based on the detection results of the sensor unit. The predetermined conditions include the fact that the information is not detected by the sensor unit when the power to the self-propelled device is turned on, and that the information is detected by the sensor unit after the shielding unit is switched from the first state to the second state. The sensor system according to claim 4.

8. The sensor unit includes a plurality of sensors, The control unit enables the movement of the self-propelled device when a predetermined condition is met based on the detection result of each of the plurality of sensors. The sensor system according to claim 1.

9. The sensor unit includes a plurality of sensors, The control unit enables the movement of the self-propelled device when a predetermined condition is met based on the detection result of each of the plurality of sensors. The predetermined conditions include the fact that when the power to the self-propelled device is turned on, the information is not detected by each sensor, and that after the shielding portion is switched from the first state to the second state, the information is detected by each sensor. The sensor system according to claim 4.

10. The sensor system of Claim 1, The device comprises a main body on which the aforementioned sensor system is mounted, Self-propelled device.

11. A method for monitoring a sensor unit installed in a self-propelled device that detects information about the external environment, A first detection step in which, when the shielding unit installed on the self-propelled device is in a first state that prevents the sensor unit from detecting the information, the sensor unit attempts to detect the information; A switching step of switching the first state to a second state that allows the sensor unit to detect the information, The process includes a second detection step in which the sensor unit attempts to detect the information when the shielding unit is in the second state, A control unit, which consists of a hard circuit including a plurality of safety relays connected to the sensor unit, detects a malfunction in the sensor unit based on the detection results of the first detection step and the second detection step. Monitoring methods.

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