Electrical equipment

Abstract

To provide a technique which is capable of improving appearance when a display device is seen from outside a housing in an electrical device.SOLUTION: An electrical device is operated by electric power being supplied. The electrical device includes: a display device displaying the state about the electrical device; a control device controlling operation of the electrical device; and a power supply supplying the electrical device with power. The display device is provided with: a housing including a housing body for which a material low in visible light transmissivity is low, an opening provided by putting a part of the housing body through, and a transmission member for which a material high in visible light transmissivity is used and which covers nearly the whole of the opening; a light source device which is housed in the housing and can emit visible light; and a reflection body which is housed in the housing and has a reflection surface reflecting the visible light emitted by the light source device to the opening. The control device is configured to control operation of the light source device in accordance with a state related to the electrical device.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The technology disclosed in the present specification relates to an electrical apparatus.

Background Art

[0002] Patent Document 1 discloses an electrical apparatus that operates by being supplied with electric power. The electrical apparatus comprises a display device that displays a status related to the electrical apparatus, a control device that controls the operation of the electrical apparatus, and a power supply device that supplies electric power to the electrical apparatus. The display device comprises a housing including: a housing main body made of a material having low visible light transmittance; an opening provided through a part of the housing main body; and a transmissive member made of a material having high visible light transmittance and covering substantially the entire opening, and a light source device accommodated in the housing and capable of emitting visible light toward the opening. The control device is configured to control the operation of the light source device in accordance with the status related to the electrical apparatus.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of Invention

Problem to be Solved by the Invention

[0004] In the electrical apparatus of Patent Document 1, the light source device is configured to emit visible light toward the opening without using a reflector. In such a configuration, visible light from the light source device may not uniformly spread over the opening, resulting in non-uniform brightness on the display surface. Therefore, the appearance when the display device is viewed from the outside of the housing may be inferior. The present specification provides a technology capable of improving the appearance when the display device is viewed from the outside of the housing.

Means for Solving the Problem

[0005] The electrical equipment disclosed herein operates by being supplied with power. The electrical equipment comprises a display device for displaying the status of the electrical equipment, a control device for controlling the operation of the electrical equipment, and a power supply device for supplying power to the electrical equipment. The display device comprises a housing including a housing body made of a material with low visible light transmittance, an opening provided through a part of the housing body, and a transparent member made of a material with high visible light transmittance that covers substantially the entire opening; a light source device housed in the housing and capable of emitting visible light; and a reflector housed in the housing and having a reflective surface that reflects the visible light emitted from the light source device toward the opening. The control device is configured to control the operation of the light source device according to the status of the electrical equipment.

[0006] Generally, visible light emitted from a light source spreads out as it travels along the ray path from the light source. In a configuration without a reflector, the ray path from the light source to the aperture is provided without reversing. To extend the ray path from the light source to the aperture, the distance between the light source and the aperture must be increased. Therefore, if the distance between the light source and the aperture cannot be increased (for example, if the space inside the housing is limited), the ray path from the light source to the aperture cannot be sufficiently extended, and there is a risk that the visible light from the light source will not be uniformly distributed to the aperture. In contrast, with the above configuration, by using a reflector, the ray path from the light source to the aperture can be reversed. By reversing the ray path from the light source to the aperture, the ray path from the light source to the aperture can be extended without increasing the distance between the light source and the aperture. Therefore, even if the distance between the light source and the aperture cannot be increased, the ray path from the light source to the aperture can be sufficiently extended, and the visible light from the light source can be uniformly distributed to the aperture. This allows for uniform brightness of the display surface, improving the appearance of the display device when viewed from outside the housing. In this specification, "light ray path" refers to the path of visible light traveling along the optical axis of the light source device. The surface of the transmissive member that is exposed to the outside of the housing through the opening is called the "display surface." "Brightness of the display surface" refers to the brightness of the display surface when it is illuminated in conjunction with the emission of light from the light source device. [Brief explanation of the drawing]

[0007] [Figure 1] This is an overall view of the robotic lawnmower 1 according to this embodiment, seen from the left, and is a partial cross-sectional view showing the internal structure of the robot body 2. [Figure 2] This is a schematic diagram showing the main components of the robotic lawnmower 1 according to this embodiment. [Figure 3] This is a rear view of the robotic lawnmower 1 according to this embodiment. [Figure 4]This figure schematically shows the configuration of the front Hall sensor 204 (rear Hall sensor 206) according to this embodiment. [Figure 5] This figure schematically shows the configuration of the front inductive sensor 208 (rear inductive sensor 210) according to this embodiment. [Figure 6] This is an overall perspective view of the display device 24 according to this embodiment, viewed from the front left upper side. [Figure 7] This is an exploded view showing the components of the display device 24 according to this embodiment. [Figure 8] This is a cross-sectional view of the internal structure of the display device 24 according to this embodiment, taken from a direction perpendicular to the extending direction of the first reflective surface 282. [Figure 9] This is a cross-sectional view of the internal structure of the display device 24 according to this embodiment, taken from a direction perpendicular to the extension direction of the second reflective surface 284. [Figure 10] This is a cross-sectional view of the internal structure of the display device 24 according to this embodiment, taken from a direction perpendicular to the extension direction of the third reflective surface 286. [Figure 11] This diagram schematically shows the configuration of the first light source device 292 according to this embodiment. [Figure 12] This flowchart shows the display switching process executed by the control device 14 in the robotic lawnmower 1 according to this embodiment. [Figure 13] This flowchart shows the abnormality detection process performed by the control device 14 in the robotic lawnmower 1 according to this embodiment. [Modes for carrying out the invention]

[0008] Representative and non-limiting examples of the present invention are described below in detail with reference to the drawings. This detailed description is intended simply to show those skilled in the art details for carrying out preferred examples of the present invention and is not intended to limit the scope of the invention. Furthermore, the disclosed additional features and inventions may be used separately from or in conjunction with other features and inventions to provide further improved electrical equipment.

[0009] Furthermore, the combinations of features and processes disclosed in the following detailed description are not essential for carrying out the present invention in the broadest sense, and are described solely to illustrate representative examples of the present invention. Moreover, the various features of the following representative examples, as well as the various features described in the claims, do not necessarily have to be combined in the same way as the examples described herein, or in the order listed, to provide additional and useful embodiments of the present invention.

[0010] All features described herein and / or in the claims are intended to be disclosed individually and independently of each other, as limitations to the specific matters described in the original disclosure and in the claims, separate from the features described in the examples and / or in the claims. Furthermore, all descriptions of numerical ranges and groups or clusters are intended to disclose intermediate configurations as limitations to the specific matters described in the original disclosure and in the claims.

[0011] In one or more embodiments, the light source device and the aperture may be arranged adjacent to each other when viewed from the reflective surface.

[0012] For example, if the light source and the opening are positioned to overlap when viewed from the reflective surface, the visible light reflected by the reflective surface may be blocked by the light source and not reach the opening. Also, if the light source and the opening are positioned far apart when viewed from the reflective surface, the space required to house the light source and the opening will be relatively large, which may lead to a larger housing. With the above configuration, the light source can be positioned near the opening within a range that does not block the visible light reflected by the reflective surface. This minimizes the space required to house the light source and the opening, allowing for a smaller housing.

[0013] In one or more embodiments, in a normal use state of the electrical device, the opening may open substantially upward. The reflective surface may be configured to reflect visible light emitted from the light source device in a direction inclined upward relative to the horizontal direction. As used herein, "normal use state of the electrical device" means, for example, a state where the electrical device is used in a normal posture. The "normal posture" mentioned herein means a state where the electrical device is installed on the ground or a state where the electrical device is hung on a wall.

[0014] General electrical devices (for example, lawn mowing robots, cleaning robots, rebar tying robots, transport vehicles, compressors, cold and heat retaining devices) are used at positions lower than the line of sight of a standing user. For this reason, users mostly look at the display surface provided on the electrical device from above. According to the above configuration, visible light transmitted through the display surface tends to travel upward. This can increase the brightness of the display surface when viewed from above. Accordingly, the visibility of the display device can be improved.

[0015] In one or more embodiments, the light source device may be disposed below the opening. The light source device may be configured to emit visible light in a direction inclined downward relative to the horizontal direction.

[0016] In the housing, there may be excess space below the light source device. According to the above configuration, the light path from the light source device to the opening travels toward the space below the light source device, and then turns back toward the opening located above the light source device. Therefore, the excess space in the housing can be utilized to extend the light path from the light source device to the opening.

[0017] In one or more embodiments, the transmissive member may be configured to diffuse visible light.

[0018] With the above configuration, the brightness of the display surface can be made uniform by diffusing visible light. This improves the appearance of the display device when viewed from outside the housing.

[0019] In one or more embodiments, the opening may include a first opening that penetrates the housing body in a first direction, and a second opening that penetrates the housing body in a second direction different from the first direction and is connected to the first opening.

[0020] In the configuration described above, the opening can have a complex shape, making it difficult for visible light from the light source to spread uniformly throughout the opening, resulting in uneven brightness on the display surface. Therefore, the effect of the present invention in uniformizing the brightness of the display surface is more pronounced. Furthermore, with the above configuration, a seamless, integrated opening can be formed on the three-dimensional surface of the housing. This allows for a display surface with superior design.

[0021] In one or more embodiments, the opening may have an elongated shape.

[0022] In the configuration described above, the opening can have a complex shape, making it difficult for visible light from the light source to spread uniformly throughout the opening, resulting in uneven brightness on the display surface. Therefore, the effect of the present invention in uniformizing the brightness of the display surface is more pronounced. Furthermore, the above configuration allows for a display surface with superior design.

[0023] In one or more embodiments, the reflective surface may extend along the shape of the opening and have a smooth shape.

[0024] For example, if the reflective surface has a shape that is like multiple planes joined together (i.e., it does not have a smooth shape), the amount of visible light reflected by the reflective surface is likely to be uneven. This may result in uneven brightness on the display surface. In contrast, with the above configuration, the reflective surface has a smooth shape, so the amount of visible light reflected by the reflective surface is less likely to be uneven. This makes it possible to make the brightness of the display surface uniform.

[0025] In one or more embodiments, the reflective surface may have a concave curved shape in a cross section perpendicular to the extending direction of the reflective surface.

[0026] If the visible light reflected by the reflective surface spreads too much around the aperture, the amount of visible light transmitted through the display surface may decrease. In this case, the brightness of the display surface may decrease, potentially reducing the visibility of the display device. The above configuration makes it possible to suppress the spread of visible light reflected by the reflective surface. This makes it possible to increase the amount of visible light transmitted through the display surface. This makes it possible to increase the brightness of the display surface and improve the visibility of the display device.

[0027] In one or more embodiments, the light source device may comprise a plurality of light source elements capable of emitting visible light. The plurality of light source elements may be arranged to align along the shape of the aperture.

[0028] With the above configuration, multiple light source elements are arranged along the shape of the opening, making it easier for visible light from the light source device to spread uniformly throughout the opening. This allows for uniform brightness of the display surface and improves the appearance of the display device when viewed from outside the housing.

[0029] In one or more embodiments, the control device may be configured to switch the flashing pattern of the light source device depending on the state of the electrical equipment. The flashing pattern may include a first flashing pattern and a second flashing pattern different from the first flashing pattern.

[0030] The above configuration allows for an increase in the variations related to the display of the display device. This makes it possible to display the status of electrical equipment in detail.

[0031] In one or more embodiments, the control device may be configured to switch the chromaticity of the visible light emitted by the light source device depending on the state of the electrical equipment. The chromaticity of the visible light may include a first chromaticity and a second chromaticity different from the first chromaticity.

[0032] The above configuration allows for an increase in the variations related to the display of the display device. This makes it possible to display the status of electrical equipment in detail.

[0033] In one or more embodiments, the electrical equipment may further include a detection mechanism for detecting an abnormal condition of the electrical equipment. The condition relating to the electrical equipment may include the abnormal condition of the electrical equipment.

[0034] According to the above configuration, the display device can show abnormal conditions of electrical equipment. This allows the user to be prompted to inspect the electrical equipment. In this specification, "abnormal condition" means, for example, a condition in which the operation of the electrical equipment becomes impossible.

[0035] In one or more embodiments, the electrical equipment may further comprise a robot body supporting the control device, the power supply device, and the display device, and a mobile device for moving the robot body. The control device may be configured to autonomously control the operation of the mobile device. The electrical equipment may function as an autonomously mobile robot.

[0036] In the configuration described above, the electrical equipment may move autonomously, causing it to move to a location away from the user. When the electrical equipment moves away from the user, it becomes difficult for the user to see the display device. Therefore, the effect of improving the visibility of the display device by the configuration of this invention is more pronounced.

[0037] In one or more embodiments, the electrical equipment may be supported by the robot body and further comprise a lawnmower for cutting grass. The electrical equipment may function as an autonomously mobile robotic lawnmower.

[0038] When the electrical equipment is a robotic lawnmower, it may be used outdoors. When the electrical equipment is used outdoors, especially in direct sunlight, it becomes difficult for the user to see the display device. With the above configuration, the effect of improving the visibility of the display device by the configuration of this invention is more significantly demonstrated.

[0039] (Examples) As shown in Figure 1, the electrical equipment in this embodiment is a robotic lawnmower 1 used when installed on a ground G covered with grass. As will be described later, the robotic lawnmower 1 is a robot that mows the grass while moving autonomously.

[0040] The robotic lawnmower 1 comprises a robot body 2. The robot body 2 comprises a frame 4 and a body 6 supported by the frame 4. The body 6 is provided to cover the frame 4 from above. A front bumper 8 is located in front of the body 6. In this specification, the position of the front bumper 8 shown in Figure 1 may be referred to as the normal position of the front bumper 8. The front bumper 8 is mounted on the frame 4 so as to be movable rearward or upward from the normal position. The front bumper 8 is biased forward and downward relative to the frame 4 by a compression spring (not shown). A rear bumper 10 is located behind the body 6. In this specification, the position of the rear bumper 10 shown in Figure 1 may be referred to as the normal position of the rear bumper 10. The rear bumper 10 is mounted on the frame 4 so as to be movable forward or upward from the normal position. The rear bumper 10 is biased rearward and downward relative to the frame 4 by a compression spring (not shown). The body 6 is also equipped with a power switch (not shown) for powering on the robotic lawnmower 1, and an operation execution switch (not shown) for causing the robotic lawnmower 1 to perform a lawn mowing operation.

[0041] In this specification, the direction in which the ground G spreads is defined as the horizontal direction. The direction perpendicular to the ground G, from the ground G toward the robotic lawnmower 1, is defined as the upward direction, and the direction toward the ground G toward the robotic lawnmower 1 is defined as the downward direction. The direction perpendicular to the vertical direction, from the rear bumper 10 toward the front bumper 8, is defined as the forward direction, and from the front bumper 8 toward the rear bumper 10, is defined as the rear direction. The direction perpendicular to the front-rear and vertical directions is defined as the left-right direction. In this specification, unless otherwise specified, the robotic lawnmower 1 is described as being mounted on the ground G.

[0042] As shown in Figure 2, the robotic lawnmower 1 mainly comprises a power supply unit 12, a control unit 14, a mobile unit 16, a mowing device 18, a detection mechanism 20, and a display device 24. The power supply unit 12, control unit 14, mobile unit 16, mowing device 18, and display device 24 are each supported by the robot body 2. Specifically, the power supply unit 12, control unit 14, mobile unit 16, and mowing device 18 are supported by the frame 4 (see Figure 1). The display device 24 is supported on the upper part of the body 6 (see Figure 1).

[0043] (Configuration of power supply unit 12) The power supply unit 12 can supply power to the mobile device 16, the lawn mowing device 18, the detection mechanism 20, and the display device 24 via the power supply circuit 144 of the control device 14. The power supply unit 12 includes a rechargeable battery 122, such as a lithium-ion battery, and connection terminals (not shown) that are electrically connected to the battery 122. In this embodiment, the battery 122 is built into the robot body 2. The connection terminals are exposed to the outside of the robot body 2 and can be electrically connected to the charging terminals (not shown) of a dedicated charger 124 connected to an external power source. As a result, the battery 122 can be charged by power supplied from an external power source via the charger 124.

[0044] (Configuration of control device 14) The control device 14 comprises a processor 142 and a power supply circuit 144. The processor 142 is electrically connected to memory such as ROM or RAM (not shown). The processor 142 (i.e., the control device 14) is configured to autonomously control the operation of the power supply unit 12, the mobile unit 16, the lawn mowing unit 18, the detection mechanism 20, and the display device 24 according to a predetermined program stored in the memory. The memory also stores settings for the light emission pattern of the light source unit 244 (described later) and the rotational torque of the cutting blade motor 182.

[0045] The power supply circuit 144 is, for example, a circuit that includes a converter circuit or an inverter circuit. The power supply circuit 144 is configured to supply power from the battery 122 to the mobile device 16, the lawn mowing device 18, the detection mechanism 20, and the display device 24, respectively, in response to instructions from the processor 142. In this case, the power supply circuit 144 is configured to adjust the power supplied from the battery 122 to a power level suitable for each part.

[0046] (Configuration of the mobile device 16) As shown in Figures 2 and 3, the mobile device 16 includes a left-side motor 162, a right-side motor 164, a left-side drive wheel 168, a right-side drive wheel 170, a left-side auxiliary wheel 172, a right-side auxiliary wheel 174, a left-side caster 176, and a right-side caster 178.

[0047] The left-side moving motor 162 and the right-side moving motor 164 are, for example, brushless DC motors. The left-side moving motor 162 and the right-side moving motor 164 are supported at the rear of the frame 4 (see Figure 1). The left-side drive wheel 168 is connected to the output shaft of the left-side moving motor 162. The right-side drive wheel 170 is connected to the output shaft of the right-side moving motor 164. The left-side drive wheel 168 is rotationally driven by the left-side moving motor 162 around a rotation axis along the left-right direction. The right-side drive wheel 170 is rotationally driven by the right-side moving motor 164 around a rotation axis along the left-right direction. In this embodiment, the rotation direction and rotation speed of the left-side drive wheel 168 and the rotation direction and rotation speed of the right-side drive wheel 170 are configured to be controlled independently of each other.

[0048] The left caster 176 and the right caster 178 are supported at the front of the frame 4 (see Figure 1). The left caster 176 and the right caster 178 are each rotatable around an axis of rotation in the vertical direction. The left auxiliary wheel 172 is mounted to the left caster 176 so as to be rotatable around an axis of rotation in the left-right direction. The axis of rotation of the left auxiliary wheel 172 rotates around the axis of rotation of the left caster 176 as the left caster 176 rotates. The right auxiliary wheel 174 is mounted to the right caster 178 so as to be rotatable around an axis of rotation in the left-right direction. The axis of rotation of the right auxiliary wheel 174 rotates around the axis of rotation of the right caster 178 as the right caster 178 rotates.

[0049] The moving device 16 can move the robot body 2 along a desired path by independently rotating the left drive wheel 168 and the right drive wheel 170. The left auxiliary wheel 172 and the right auxiliary wheel 174 rotate in conjunction with the movement of the robot body 2, enabling smooth movement of the robot body 2.

[0050] (Configuration of lawn mowing device 18) As shown in Figure 1, the lawn mowing device 18 is equipped with a cutting motor 182 and a cutting blade 184. The cutting motor 182 is, for example, a brushless DC motor. The cutting motor 182 is supported by the frame 4 in a state where its output shaft is inclined from front to rear as it moves from top to bottom. The cutting motor 182 is positioned between the drive wheel and the auxiliary wheel in the front-rear direction. The cutting blade 184 is fixed to the output shaft of the cutting motor 182. The cutting blade 184 is a so-called rotating blade formed in a substantially disc shape. The lawn mowing device 18 can mow the grass by rotating the cutting blade 184 driven by the cutting motor 182.

[0051] (Configuration of detection mechanism 20) As shown in Figure 2, the detection mechanism 20 includes an acceleration sensor 202, a front Hall sensor 204, a rear Hall sensor 206, a front inductive sensor 208, a rear inductive sensor 210, and an overcurrent detection circuit 212. The acceleration sensor 202 is fixed to the frame 4 (see Figure 1). The front Hall sensor 204 is located at the front of the frame 4, corresponding to the front bumper 8. The rear Hall sensor 206 is located at the rear of the frame 4, corresponding to the rear bumper 10. The front inductive sensor 208 is located at the front of the frame 4, corresponding to the front bumper 8. The rear inductive sensor 210 is located at the rear of the frame 4, corresponding to the rear bumper 10.

[0052] The acceleration sensor 202 detects, for example, the tilt angle of the frame 4 (i.e., the robot body 2) relative to the horizontal. In the state shown in Figure 1, the tilt angle of the frame 4 relative to the horizontal is 0°. The acceleration sensor 202 transmits the detected tilt angle to the control device 14.

[0053] As shown in Figure 4, when the front bumper 8 (rear bumper 10) is in its normal position, the front Hall sensor 204 (rear Hall sensor 206) is facing the front magnet 214 (rear magnet 216), which is fixed to the front bumper 8 (rear bumper 10), in the left-right direction. When the front bumper 8 (rear bumper 10) moves relative to the frame 4 from its normal position, the front magnet 214 (rear magnet 216) moves to a position away from facing the front Hall sensor 204 (rear Hall sensor 206). The front Hall sensor 204 (rear Hall sensor 206) detects the magnitude of the magnetic field from the front magnet 214 (rear magnet 216). If the magnitude of the magnetic field from the front magnet 214 (rear magnet 216) exceeds a predetermined threshold, the front Hall sensor 204 (rear Hall sensor 206) transmits an H signal to the control device 14. The front Hall sensor 204 (rear Hall sensor 206) transmits an L signal to the control device 14 when the magnitude of the magnetic field from the front magnet 214 (rear magnet 216) is below a predetermined threshold.

[0054] As shown in Figure 5, the front inductive sensor 208 (rear inductive sensor 210) is provided on the front sensor substrate 218 (rear sensor substrate 220), which is fixed to the frame 4. The front sensor substrate 218 (rear sensor substrate 220) is further provided with a front coil pattern 222 (rear coil pattern 224) that is electrically connected to the front inductive sensor 208 (rear inductive sensor 210). Below the front sensor substrate 218 (rear sensor substrate 220), a front metal plate 226 (rear metal plate 228), which is fixed to the front bumper 8 (rear bumper 10), is positioned. The front sensor substrate 218 (rear sensor substrate 220) and the front metal plate 226 (rear metal plate 228) face each other in the vertical direction. When the front bumper 8 (rear bumper 10) moves upward relative to the frame 4 from its normal height, the front metal plate 226 (rear metal plate 228) approaches the front coil pattern 222 (rear coil pattern 224). At this time, due to the principle of mutual induction, the inductance of the front coil pattern 222 (rear coil pattern 224) changes. The front inductive sensor 208 (rear inductive sensor 210) detects whether the front bumper 8 (rear bumper 10) is moving upward based on the change in the inductance of the front coil pattern 222 (rear coil pattern 224). If the front bumper 8 (rear bumper 10) is moving upward, the front inductive sensor 208 (rear inductive sensor 210) transmits an H signal to the control device 14. The front inductive sensor 208 (rear inductive sensor 210) transmits an L signal to the control device 14 if the front bumper 8 (rear bumper 10) is not moving upward.

[0055] The overcurrent detection circuit 212 is provided as part of the power supply circuit 144 of the control device 14. The overcurrent detection circuit 212 is configured to detect the current values ​​supplied to the left-side moving motor 162, the right-side moving motor 164, and the cutting blade motor 182, respectively. The overcurrent detection circuit 212 transmits an H signal to the control device 14 if the current value supplied to the left-side moving motor 162 exceeds a predetermined first current threshold, the current value supplied to the right-side moving motor 164 exceeds a predetermined second current threshold, or the current value supplied to the cutting blade motor 182 exceeds a predetermined third current threshold. The overcurrent detection circuit 212 transmits an L signal to the control device 14 if the current value supplied to the left-side moving motor 162 is less than or equal to a predetermined first current threshold, the current value supplied to the right-side moving motor 164 is less than or equal to a predetermined second current threshold, and the current value supplied to the cutting blade motor 182 is less than or equal to a predetermined third current threshold.

[0056] (Configuration of display device 24) As shown in Figures 6 and 7, the display device 24 comprises a housing 242, a light source device 244, and a reflector 246. The housing 242 comprises a base body 248, a cover body 250, an opening 252, and a transparent member 254. The base body 248 is attached to the upper part of the body 6 (see Figure 1) of the robot body 2. The cover body 250 is attached to the upper part of the body 6 so as to cover the front of the base body 248 from above. In this specification, the base body 248 and the cover body 250 are sometimes collectively referred to as the "housing body 256". The light source device 244 and the reflector 246 are housed in the housing body 256. For example, polycarbonate is used for the base body 248. For example, polycarbonate is used for the cover body 250. The visible light transmittance of the polycarbonate used for the base body 248 and the cover body 250 is 1% or less. Thus, the housing body 256 is made of a material with low visible light transmittance (for example, a material with a visible light transmittance of 1% or less).

[0057] As shown in Figure 7, the opening 252 includes a first opening 258 provided by passing through a part of the cover body 250 from a first direction, a second opening 260 provided by passing through a part of the cover body 250 from a second direction, and a third opening 262 provided by passing through a part of the cover body 250 from a third direction. The first direction is a direction that substantially coincides with the direction from the front right upper to the rear left lower. The second direction is a direction that substantially coincides with the direction from the front upper to the rear lower. The third direction is a direction that substantially coincides with the direction from the front left upper to the rear right lower. The opening 252 generally opens substantially upward.

[0058] The first opening 258 has an elongated shape extending from the rear right to the front left. The second opening 260 has an elongated shape extending in the left-right direction. The third opening 262 has an elongated shape extending from the rear left to the front right. The front (left) part of the first opening 258 is connected to the right part of the second opening 260. The left part of the second opening 260 is connected to the front (right) part of the third opening 262. The opening 252 as a whole has a continuous elongated shape. The width of the opening 252 in the short direction is, for example, in the range of 10 mm to 50 mm, and in this embodiment, it is at most 24 mm or less. The opening area of ​​the opening 252 is, for example, 2000 mm². 2 From 10500mm 2 Within the range, in this embodiment, 5200 mm 2 Here, "width in the shorter direction" refers to the width formed by the periphery of the opening 252 when the opening 252 is viewed from a plane perpendicular to the extension direction of the opening 252. "Opening area" refers to the area of ​​the plane defined by the periphery of the opening 252.

[0059] The transparent member 254 is positioned below the cover body 250 and covers the entire opening 252. The upper surface of the transparent member 254 is shaped to conform to the lower surface of the cover body 250. The transparent member 254 comprises a display surface 264, a first mounting portion 266, a second mounting portion 268, and four positioning holes 270. The display surface 264 is the surface exposed to the outside through the opening 252. The first mounting portion 266 is placed on the first mounting surface 272 of the base body 248. The second mounting portion 268 is placed on the second mounting surface 274 of the reflector 246. Four positioning pins (not shown) of the cover body 250, corresponding to each of the four positioning holes 270, are inserted into the four positioning holes 270. The transparent member 254 is held by the base body 248, the cover body 250, and the reflector 246, with the cover body 250 positioned relative to the cover body 250 in the front-rear, left-right, and right directions.

[0060] The transparent member 254 is formed as a single, seamless piece. For example, acrylic is used for the transparent member 254. The visible light transmittance of the acrylic used for the transparent member 254 is 75% or more. Thus, a material with high visible light transmittance (for example, a material with a visible light transmittance of 75% or more) is used for the transparent member 254. Furthermore, the transparent member 254 is configured to diffuse visible light. This configuration for diffusing visible light is achieved, for example, by diffusing particles with a refractive index different from that of the acrylic (so-called diffusing material) inside the transparent member 254.

[0061] The reflector 246 is manufactured, for example, by applying a surface treatment (e.g., vapor deposition) using a metal material (e.g., aluminum) to a molded product using a resin material (e.g., polycarbonate). The reflector 246 is attached to the base portion 276 of the base body 248. When the reflector 246 is attached to the base portion 276, two protrusions 278 that protrude upward from the base portion 276 are inserted into two recesses (not shown) provided on the reflector 246. In this way, the reflector 246 is positioned relative to the base portion 276 in the front-rear, left-right, and right directions. The reflector 246 also includes a reflective surface 280 for reflecting visible light. The reflective surface 280 includes a first reflective surface 282 extending from the rear right to the front left, a second reflective surface 284 extending in the left-right direction, and a third reflective surface 286 extending from the rear left to the front right. The first reflective surface 282, the second reflective surface 284, and the third reflective surface 286 are smoothly connected. As a result, the reflective surface 280 has a shape that conforms to the shape of the opening 252.

[0062] As shown in Figure 8, the first reflective surface 282 has a concave shape in a cross-section perpendicular to the direction of extension of the first reflective surface 282. Specifically, the concave shape of the first reflective surface 282 is a curved surface shape in which the curvature increases from top to bottom.

[0063] As shown in Figure 9, the second reflective surface 284 has a concave shape in a cross-section perpendicular to the direction of extension of the second reflective surface 284. Specifically, the concave shape of the second reflective surface 284 is a curved surface shape in which the curvature increases from top to bottom.

[0064] As shown in Figure 10, the third reflective surface 286 has a concave curved shape in a cross section perpendicular to the direction of extension of the third reflective surface 286. Specifically, the concave shape of the third reflective surface 286 is a curved surface shape in which the curvature increases from top to bottom.

[0065] As shown in Figure 7, the light source device 244 comprises a first light source device 292, a second light source device 294, and a third light source device 296. The first light source device 292, the second light source device 294, and the third light source device 296 are connected in series to the power supply circuit 144 (see Figure 2) by electrical wiring (not shown). The first light source device 292, the second light source device 294, and the third light source device 296 are also fixed to the base body 248 by fasteners (e.g., clips) (not shown). In this way, the first light source device 292, the second light source device 294, and the third light source device 296 are held in a predetermined position relative to the base body 248. The first light source device 292 is positioned such that its longitudinal direction substantially coincides with the direction from the rear right to the front left. The second light source device 294 is positioned such that its longitudinal direction substantially coincides with the left-right direction. The third light source device 296 is positioned such that its longitudinal direction substantially coincides with the direction from the rear left to the front right.

[0066] As shown in Figure 11, the first light source device 292 comprises a circuit board 300 and three light source units 304 provided on the component side 302 of the circuit board 300. The three light source units 304 are arranged in a line along the longitudinal direction of the first light source device 292. Each of the three light source units 304 is equipped with three monochromatic LED chips 306 capable of emitting white visible light, and three bichromatic LED chips 308 capable of emitting red or green visible light. Thus, each of the three light source units 304 is configured to emit white, red, or green visible light. In each of the three light source units 304, the three monochromatic LED chips 306 are arranged in a line along the short direction of the first light source device 292. Similarly, the three bichromatic LED chips 308 are also arranged in a line along the short direction of the first light source device 292. The three monochromatic LED chips 306 and the three bichromatic LED chips 308 are arranged adjacent to each other in the longitudinal direction of the first light source device 292.

[0067] The second light source device 294 and the third light source device 296 have substantially the same configuration as the first light source device 292. Therefore, the second light source device 294 includes a circuit board 310, a component side 312, a light source unit 314, a monochromatic LED chip 316, and a two-color LED chip 318, corresponding to the configuration of the first light source device 292. The third light source device 296 includes a circuit board 320, a component side 322, a light source unit 324, a monochromatic LED chip 326, and a two-color LED chip 328, corresponding to the configuration of the first light source device 292. Although not shown, the total of 54 LED chips 306, 308, 316, 318, 326, and 328 in the light source device 244 are arranged to follow the shape of the opening 252. Hereinafter, the total of 54 LED chips 306, 308, 316, 318, 326, and 328 may be collectively referred to simply as "LED chip 330".

[0068] The first light source device 292, the second light source device 294, and the third light source device 296 are configured to emit white, red, or green visible light using their respective light source units 304, 314, and 324.

[0069] As shown in Figure 8, the upper end of the first light source device 292 is positioned below the lower end of the first aperture 258 and below the upper end of the first reflective surface 282. The lower end of the first light source device 292 is positioned above the lower end of the first reflective surface 282. When viewed from the first reflective surface 282, the first light source device 292 is positioned adjacent to the first aperture 258 in the vertical direction. The component surface 302 of the first light source device 292 is positioned opposite the first reflective surface 282. The normal direction of the component surface 302 is oriented in a direction inclined downward with respect to the horizontal direction. The angle that the normal direction of the component surface 302 makes with respect to the horizontal direction is, for example, in the range of 5° to 40°, and in this embodiment, it is 20°. Therefore, the direction e1 in which the first light source device 292 emits visible light is inclined downward by 20° with respect to the horizontal direction. In this specification, the normal direction of the component surface 302 is defined as the direction e1 in which the first light source device 292 emits visible light.

[0070] The first reflective surface 282 is configured to reflect visible light emitted from the light source device 244 (mainly the first light source device 292) toward the aperture 252 (mainly the first aperture 258). The direction r1 of visible light reflection at the first reflective surface 282 is inclined upward by 60° with respect to the horizontal. In this specification, the direction e1 in which the first light source device 292 emits visible light is considered as the incident direction of visible light, and the direction r1 of visible light reflection at the first reflective surface 282 is defined accordingly.

[0071] As shown in Figure 9, the upper end of the second light source device 294 is positioned below the lower end of the second aperture 260 and below the upper end of the second reflective surface 284. The lower end of the second light source device 294 is positioned above the lower end of the second reflective surface 284. When viewed from the second reflective surface 284, the second light source device 294 is positioned adjacent to the second aperture 260 in the vertical direction. The component surface 312 of the second light source device 294 is positioned opposite the second reflective surface 284. The normal direction of the component surface 312 is oriented in a direction inclined downward with respect to the horizontal direction. The angle that the normal direction of the component surface 312 makes with respect to the horizontal direction is, for example, in the range of 5° to 40°, and in this embodiment, it is 20°. Therefore, the direction e2 in which the second light source device 294 emits visible light is inclined downward by 20° with respect to the horizontal direction. In this specification, the normal direction of the component surface 312 is defined as the direction e2 in which the second light source device 294 emits visible light.

[0072] The second reflective surface 284 is configured to reflect visible light emitted from the light source device 244 (mainly the second light source device 294) toward the aperture 252 (mainly the second aperture 260). The reflection direction r2 of visible light at the second reflective surface 284 is inclined upward by 60° with respect to the horizontal. In this specification, the direction e2 in which the second light source device 294 emits visible light is considered as the incident direction of visible light, and the reflection direction r2 of visible light at the second reflective surface 284 is defined accordingly.

[0073] As shown in Figure 10, the upper end of the third light source device 296 is positioned below the lower end of the third aperture 262 and below the upper end of the third reflective surface 286. The lower end of the third light source device 296 is positioned above the lower end of the third reflective surface 286. When viewed from the third reflective surface 286, the third light source device 296 is positioned adjacent to the third aperture 262 in the vertical direction. The component surface 322 of the third light source device 296 is positioned opposite the third reflective surface 286. The normal direction of the component surface 322 is oriented in a direction inclined downward with respect to the horizontal direction. The angle that the normal direction of the component surface 322 makes with respect to the horizontal direction is, for example, in the range of 5° to 40°, and in this embodiment, it is 20°. Therefore, the direction e3 in which the third light source device 296 emits visible light is inclined downward by 20° with respect to the horizontal direction. In this specification, the normal direction of the component surface 322 is defined as the direction e3 in which the third light source device 296 emits visible light.

[0074] The third reflective surface 286 is configured to reflect visible light emitted from the light source device 244 (mainly the third light source device 296) toward the aperture 252 (mainly the third aperture 262). The reflection direction r3 of visible light at the third reflective surface 286 is inclined upward by 60° with respect to the horizontal. In this specification, the direction e3 in which the third light source device 296 emits visible light is considered as the incident direction of visible light, and the reflection direction r3 of visible light at the third reflective surface 286 is defined accordingly.

[0075] The display device 24 illuminates the display surface 264 by reflecting visible light emitted from the light source device 244 off the reflective surface 280. By illuminating the display surface 264, the display device 24 can display the status of electrical equipment.

[0076] (PWM control performed by control device 14) The control device 14 is configured to control the current supplied to the LED chip 330 by PWM (Pulse Width Modulation) control when the light source device 244 is illuminated. In this embodiment, the frequency of the PWM control is, for example, in the range of 100Hz to 1000Hz, and in this embodiment, it is 130Hz. The duty cycle of the PWM control is, for example, in the range of 10% to 100%, and in this embodiment, it is 50%. As a result, the illuminance of the LED chip 330 can be increased without changing the current value supplied to the LED chip 330, compared to when the LED chip 330 is continuously energized. In other words, the brightness of the display surface 264 can be increased.

[0077] The following describes the main processes performed by the control device 14.

[0078] (Main processing) When power is supplied to the robotic lawnmower 1 via the power switch, power is supplied from the battery 122 of the power supply unit 12 to the mobile device 16, mowing device 18, detection mechanism 20, and display device 24. When the operation execution switch is operated while the robotic lawnmower 1 is powered on, the control device 14 executes the main process. When the main process starts, the control device 14 operates the mobile device 16 to start the robotic lawnmower 1 moving, and operates the mowing device 18 to start the lawn mowing work by the robotic lawnmower 1. When the control device 14 determines that the lawn mowing work is complete, it moves the robotic lawnmower 1 to a predetermined position (for example, the position at the start of the main process). After that, the control device 14 stops the operation of the mobile device 16 and the mowing device 18 and terminates the main process. In addition, if the abnormal state determination flag described later is stored in memory during the execution of the main process, the control device 14 also stops the operation of the mobile device 16 and the mowing device 18 and terminates the main process.

[0079] (Display switching process) The control device 14 repeatedly performs the display switching process shown in Figure 12 while power is supplied from the battery 122.

[0080] In S2, the control device 14 determines whether or not the battery 122 is being charged by the charger 124. If the battery 122 is being charged (YES), the process proceeds to S4.

[0081] In S4, the control device 14 sets the light emission pattern of the light source device 244 to the first light emission pattern and causes the light source device 244 to emit light. The light emission pattern here refers to the combination of the blinking pattern of the light source device 244 and the chromaticity of the visible light emitted from the light source device 244. Note that the blinking pattern of the light source device 244 here is different from the blinking of the light source device 244 caused by PWM control. The first light emission pattern includes the first blinking pattern and the first chromaticity. The first blinking pattern is a pattern in which a 1-second ON period in which the light source device 244 emits light and a 1-second OFF period in which the light source device 244 does not emit light are repeated alternately. The first chromaticity is green.

[0082] In S2, if it is determined that charging of the battery 122 is not in progress (NO), the process proceeds to S6. In S6, the control device 14 determines whether the robotic lawnmower 1 is moving or not. For example, if the main process is in progress, the control device 14 determines that the robotic lawnmower 1 is moving. If the robotic lawnmower 1 is moving (YES), the process proceeds to S8.

[0083] In S8, the control device 14 sets the light emission pattern of the light source device 244 to the second light emission pattern and causes the light source device 244 to emit light. The second light emission pattern includes a second blinking pattern and a second chromaticity. The second blinking pattern is a pattern in which a 0.5-second ON period in which the light source device 244 emits light and a 1.5-second OFF period in which the light source device 244 does not emit light are repeated alternately. The second chromaticity is white.

[0084] In S6, if it is determined that the robotic lawnmower 1 is not moving (the result is NO), the process proceeds to S10. In S10, the control device 14 stops the light emission from the light source device 244. Once S10 is executed, the light emission from the light source device 244 ceases. Note that if the abnormal state determination flag described later is stored in memory, the control device 14 may terminate the process of S10 without stopping the light emission from the light source device 244.

[0085] After S4, after S8, or after S10, the process proceeds to S12. In S12, the control device 14 determines whether or not an abnormal condition has been detected in the robotic lawnmower 1. Specifically, the control device 14 determines whether or not the abnormal condition determination flag, which will be described later, is stored in memory. If no abnormal condition is detected in the robotic lawnmower 1 (NO), the process shown in Figure 12 ends. If an abnormal condition is detected in the robotic lawnmower 1 (YES), the process proceeds to S14.

[0086] In S14, the control device 14 sets the light emission pattern of the light source device 244 to the third light emission pattern and causes the light source device 244 to emit light. The third light emission pattern includes a third blinking pattern and a third chromaticity. The third blinking pattern is a pattern in which a 0.5-second ON period in which the light source device 244 emits light and a 0.5-second OFF period in which the light source device 244 does not emit light are repeated alternately. The third chromaticity is red. After S14, the process shown in Figure 12 is completed.

[0087] (Anomaly detection process) The control device 14 repeatedly executes the abnormality detection process shown in Figure 13 while power is supplied from the battery 122.

[0088] In S22, the control device 14 determines whether or not an overcurrent has been detected by the overcurrent detection circuit 212. If the control device 14 receives an H signal from the overcurrent detection circuit 212, it determines that an overcurrent has been detected by the overcurrent detection circuit 212. If no overcurrent is detected by the overcurrent detection circuit 212 (NO), the process proceeds to S24.

[0089] In S24, the control device 14 determines whether the robot body 2 has been lifted off the ground G while the robotic lawnmower 1 is moving. The control device 14 determines that the robot body 2 has been lifted off the ground G if it receives both an H signal from the front inductive sensor 208 and an H signal from the rear inductive sensor 210. If the robotic lawnmower 1 is not moving, or if it is determined that the robot body 2 has not been lifted off the ground G (NO), the process proceeds to S26.

[0090] In S26, the control device 14 determines whether the robot body 2 has come into contact with a steep slope while the robotic lawnmower 1 is moving. The control device 14 determines that the robotic body 2 has come into contact with a steep slope if the tilt angle of the frame 4 detected by the acceleration sensor 202 exceeds a predetermined first angle threshold (e.g., 10°) for a predetermined time (e.g., 3 seconds) or longer. If the robotic lawnmower 1 is not moving, or if it is determined that the robotic body 2 has not come into contact with a steep slope (NO), the process proceeds to S28.

[0091] In S28, the control device 14 determines whether the robot body 2 has collided with an obstacle while the robotic lawnmower 1 is moving. The control device 14 determines that the robot body 2 has collided with an obstacle if it detects that it has received at least one L signal from the front Hall sensor 204 and the rear Hall sensor 206 for a predetermined time (e.g., 3 seconds) or longer. If the robotic lawnmower 1 is not moving, or if it is determined that the robot body 2 has not collided with an obstacle (NO), the process proceeds to S30.

[0092] In S30, the control device 14 determines whether the robot body 2 has overturned while the robotic lawnmower 1 is moving. The control device 14 determines that the robotic body 2 has overturned if the tilt angle of the frame 4 detected by the acceleration sensor 202 exceeds a predetermined second angle threshold (for example, 90°). If the robotic lawnmower 1 is not moving, or if it is determined that the robotic body 2 has not overturned (NO), the process shown in Figure 13 ends.

[0093] If, in S22, the overcurrent detection circuit 212 determines that an overcurrent has been detected (if YES), if, in S24, the robot body 2 is determined to have been lifted off the ground G while the robot lawnmower 1 was moving (if YES), if, in S26, the robot body 2 is determined to have reached a steep slope while the robot lawnmower 1 was moving (if YES), if, in S28, the robot body 2 is determined to have collided with an obstacle while the robot lawnmower 1 was moving (if YES), or if, in S30, the robot body 2 is determined to have overturned while the robot lawnmower 1 was moving (if YES), the process proceeds to S32. In S32, the control device 14 stores an abnormal state determination flag in memory indicating an abnormal state of the robot lawnmower 1. After S32, the process shown in Figure 13 ends.

[0094] The abnormal state determination flag stored in memory in S32 is retained in memory until the power supply from battery 122 to control device 14 is cut off. The abnormal state determination flag is erased from memory when the power supply from battery 122 to control device 14 is cut off.

[0095] (modified version) In the above embodiment, a configuration was described in which the electrical equipment is a robotic lawnmower 1 equipped with a lawnmower 18. In another embodiment, the electrical equipment may be a robotic vacuum cleaner equipped with a cleaning device for collecting dust and other debris instead of the lawnmower 18 in this embodiment. In yet another embodiment, the electrical equipment may be a rebar tying robot equipped with a rebar tying device for tying together points where multiple rebars intersect, instead of the lawnmower 18 in this embodiment.

[0096] In the above embodiment, the control device 14 is configured to autonomously control the mobile device 16, and a configuration in which the electrical equipment functions as an autonomously mobile robot has been described. In another embodiment, instead of autonomously controlling the mobile device 16, the control device 14 may be configured to control the mobile device 16 in response to user operation. In this case, the electrical equipment may be a so-called transport vehicle equipped with a cargo bed capable of carrying various objects.

[0097] In the above embodiment, the electrical equipment does not necessarily have to be equipped with a mobile device 16. In this case, the electrical equipment may be a so-called air compressor equipped with a pressurizing device for pressurizing air and an air tank for storing pressurized air, instead of the lawn mowing device 18 in this embodiment. Alternatively, the electrical equipment may be a so-called refrigerator / warmer equipped with a heat exchanger that performs heat exchange via a heat transfer medium and a storage compartment for storing food and beverages, instead of the lawn mowing device 18 in this embodiment.

[0098] In the above embodiment, a configuration was described in which the display device 24 is mounted on the upper part of the body 6. In another embodiment, the display device 24 may be mounted on the front, right, left, rear, or bottom of the body 6. In this case, the opening 252 may open forward, to the right, to the left, to the rear, or downward.

[0099] In the above embodiment, the body 6 of the robot body 2 may be used as the housing body 256 of the display device 24. In this case, the light source device 244 and the reflector 246 may be housed inside the body 6.

[0100] In the above embodiment, the display device 24 may be provided on the charger 124. In this case, the display device 24 provided on the charger 124 may be configured to display the remaining battery level of the battery 122 being charged by the charger 124.

[0101] In the above embodiment, a configuration was described in which the battery 122 is charged with the connection terminals of the power supply 12 connected to the charging terminals of the charger 124. In other words, a configuration in which the battery 122 is wired charged was described. In another embodiment, the battery 122 may be wirelessly charged. For example, the charger 124 may be configured to be able to hold the robot body 2, and power may be supplied from the charger 124 to the battery 122 when the robot body 2 is placed on the charger 124.

[0102] In the above embodiment, a configuration was described in which the battery 122 is built into the robot body 2. In another embodiment, the battery 122 may be detachably attached to the robot body 2. For example, the battery 122 may be a battery pack.

[0103] In the above embodiment, a configuration was described in which the left-side moving motor 162, the right-side moving motor 164, and the cutting blade motor 182 are all brushless DC motors. In another embodiment, at least one of the left-side moving motor 162, the right-side moving motor 164, and the cutting blade motor 182 may be another type of electric motor (for example, a brushed motor).

[0104] Unlike the above embodiment, the material used for the base body 248 may be changed to a material other than polycarbonate (for example, ABS resin). The material used for the cover body 250 may also be changed to a material other than polycarbonate (for example, ABS resin). In this case as well, the visible light transmittance of the materials used for the base body 248 and the cover body 250 may be 1% or less.

[0105] Unlike the above embodiment, the material used for the transparent member 254 may be changed to a material other than acrylic (for example, polycarbonate or glass). In this case as well, the visible light transmittance of the material used for the transparent member 254 may be 75% or more.

[0106] In the above embodiment, a configuration in which visible light is diffused is described in which a diffusing material is diffused inside the transparent member 254. In another embodiment, the configuration in which visible light is diffused may be realized by providing fine irregularities on the surface of the transparent member 254. In yet another embodiment, the configuration in which visible light is diffused may be realized by attaching a visible light diffusing sheet to the transparent member 254.

[0107] Unlike the embodiments described above, the transparent member 254 does not need to be configured to diffuse visible light.

[0108] In the above embodiment, a configuration was described in which the reflector 246 is surface-treated using a metallic material. In another embodiment, the reflector 246 may be surface-treated in a different manner than in the above embodiment. The reflector 246 may be painted, for example, with a white paint that can reflect visible light. In yet another embodiment, the reflector 246 may not be surface-treated at all. In this case, the reflector 246 may be formed from a light-reflecting grade resin (i.e., a resin that can reflect visible light).

[0109] In the above embodiment, the shape of the opening 252 may be changed as appropriate. For example, the shape of the opening 252 may be a shape obtained by passing a part of the housing body 256 through in a substantially annular shape. Alternatively, the shape of the opening 252 may be discrete. For example, the opening 252 may consist of a plurality of discretely arranged openings.

[0110] In the above embodiment, a configuration was described in which the light source device 244 and the opening 252 are arranged adjacent to each other in the vertical direction when viewed from the reflective surface 280. In another embodiment, when viewed from the reflective surface 280, the light source device 244 and the opening 252 may be arranged adjacent to each other in directions other than the vertical direction (for example, the front-to-back direction, the left-to-right direction). In yet another embodiment, when viewed from the reflective surface 280, the light source device 244 and the opening 252 may be arranged spaced apart from each other.

[0111] In the above embodiment, the angle that the direction e1 in which the first light source device 292 emits visible light (or the direction e2 in which the second light source device 294 emits visible light, or the direction e3 in which the third light source device 296 emits visible light) makes with respect to the horizontal direction may be changed as appropriate.

[0112] In the above embodiment, a configuration was described in which the direction e1 in which the first light source device 292 emits visible light, the direction e2 in which the second light source device 294 emits visible light, and the direction e3 in which the third light source device 296 emits visible light are inclined downward with respect to the horizontal direction. In another embodiment, at least one of the directions e1 in which the first light source device 292 emits visible light, the direction e2 in which the second light source device 294 emits visible light, and the direction e3 in which the third light source device 296 emits visible light may be inclined upward with respect to the horizontal direction.

[0113] In the above embodiment, the angle that the visible light reflection direction r1 at the first reflective surface 282 (or the visible light reflection direction r2 at the second reflective surface 284, and the visible light reflection direction r3 at the third reflective surface 286) makes with respect to the horizontal direction may be changed as appropriate.

[0114] In the above embodiment, a configuration was described in which the visible light reflection direction r1 at the first reflective surface 282, the visible light reflection direction r2 at the second reflective surface 284, and the visible light reflection direction r3 at the third reflective surface 286 are inclined upward with respect to the horizontal direction. In another embodiment, at least one of the visible light reflection direction r1 at the first reflective surface 282, the visible light reflection direction r2 at the second reflective surface 284, and the visible light reflection direction r3 at the third reflective surface 286 may be inclined downward with respect to the horizontal direction.

[0115] In the above embodiment, a configuration was described in which the reflective surface 280 has a concave curved shape in a cross section perpendicular to the direction of extension of the reflective surface 280. In another embodiment, the reflective surface 280 may have a convex curved shape in a cross section perpendicular to the direction of extension of the reflective surface 280.

[0116] In the above embodiment, a configuration was described in which the reflective surface 280 has a smooth shape. In another embodiment, the reflective surface 280 may have a shape in which multiple planes are joined together.

[0117] In the above embodiment, a configuration was described in which the light source device 244 is capable of emitting white, red, or green visible light. In another embodiment, the light source device 244 may be capable of emitting visible light of a further chromaticity (e.g., blue).

[0118] In the above embodiment, the detection mechanism 20 may be capable of detecting further abnormal conditions. For example, the detection mechanism 20 may be equipped with an encoder capable of detecting the rotation of the cutting blade motor 182, and may also detect the locked state of the cutting blade motor 182. In this case, the control device 14 may cause the light source device 244 to emit light with a different light emission pattern from the first light emission pattern, the second light emission pattern, and the third light emission pattern, in response to detecting the locked state of the cutting blade motor 182.

[0119] In the above embodiment, the control device 14 may switch the light emission pattern of the light source device in a process separate from the display switching process shown in Figure 12. For example, the control device 14 may switch the light emission pattern of the light source device in response to a changeover switch (not shown) provided on the robot body 2 being operated by the user.

[0120] (Correspondence) As described above, the robotic lawnmower 1 (an example of an electrical device) operates when power is supplied. The robotic lawnmower 1 includes a display device 24 that displays the status of the robotic lawnmower 1, a control device 14 that controls the operation of the robotic lawnmower 1, and a power supply device 12 that supplies power to the robotic lawnmower 1. The display device 24 includes a housing 242 that includes a housing body 256 made of a material with low visible light transmittance, an opening 252 that penetrates a part of the housing body 256, and a transparent member 254 made of a material with high visible light transmittance that covers substantially the entire opening 252; a light source device 244 housed in the housing 242 and capable of emitting visible light; and a reflector 246 housed in the housing 242 and having a reflective surface 280 that reflects the visible light emitted from the light source device 244 toward the opening 252. The control device 14 is configured to control the operation of the light source device 244 according to the status of the robotic lawnmower 1.

[0121] Generally, visible light emitted from the light source 244 spreads out as it travels along the ray path from the light source 244. In a configuration without a reflector 246, the ray path from the light source 244 to the aperture 252 is provided without reversing. To extend the ray path from the light source 244 to the aperture 252, the distance between the light source 244 and the aperture 252 must be increased. Therefore, if the distance between the light source 244 and the aperture 252 cannot be increased, the ray path from the light source 244 to the aperture 252 cannot be sufficiently extended, and there is a risk that the visible light from the light source 244 will not be uniformly distributed to the aperture 252. In contrast, with the above configuration, by using a reflector 246, the ray path from the light source 244 to the aperture 252 can be reversed. By reversing the ray path from the light source 244 to the aperture 252, the ray path from the light source 244 to the aperture 252 can be extended without increasing the distance between the light source 244 and the aperture 252. Therefore, even if the distance between the light source device 244 and the aperture 252 cannot be increased, the light ray path from the light source device 244 to the aperture 252 can be sufficiently extended, and the visible light from the light source device 244 can be uniformly distributed to the aperture 252. This makes it possible to uniformize the brightness of the display surface 264 and improve the appearance of the display device 24 when viewed from outside the housing 242.

[0122] In one or more embodiments, the light source device 244 and the aperture 252 are arranged adjacent to each other when viewed from the reflective surface 280.

[0123] For example, if the light source device 244 and the opening 252 are positioned overlapping when viewed from the reflective surface 280, the visible light reflected by the reflective surface 280 may be blocked by the light source device 244 and may not reach the opening 252. Also, if the light source device 244 and the opening 252 are positioned spaced apart when viewed from the reflective surface 280, the space required to accommodate the light source device 244 and the opening 252 will be relatively large, which may lead to an increase in the size of the housing 242. With the above configuration, the light source device 244 can be positioned near the opening 252 within a range that does not block the visible light reflected by the reflective surface 280. This minimizes the space required to accommodate the light source device 244 and the opening 252, and allows for a smaller housing 242.

[0124] In one or more embodiments, under normal operating conditions of the robotic lawnmower 1, the opening 252 is open substantially upward. The reflective surface 280 is configured to reflect visible light emitted from the light source device 244 in a direction inclined upward with respect to the horizontal.

[0125] A typical robotic lawnmower 1 is used at a position lower than the user's eye level when standing. Therefore, the user almost always views the display surface 264 on the robotic lawnmower 1 from above. With the above configuration, visible light passing through the display surface 264 tends to be directed upwards. This makes it possible to increase the brightness of the display surface 264 when viewed from above. Consequently, the visibility of the display device 24 can be improved.

[0126] In one or more embodiments, the light source device 244 is positioned below the aperture 252. The light source device 244 is configured to emit visible light in a direction inclined downward with respect to the horizontal.

[0127] Within the housing 242, there may be extra space below the light source device 244. According to the above configuration, the ray path from the light source device 244 to the opening 252 will first head towards the space below the light source device 244, and then fold back towards the opening 252, which is above the light source device 244. Therefore, the extra space within the housing 242 can be used to extend the ray path from the light source device 244 to the opening 252.

[0128] In one or more embodiments, the transparent member 254 is configured to diffuse visible light.

[0129] With the above configuration, the brightness of the display surface 264 can be made uniform by diffusing visible light. This improves the appearance of the display device 24 when viewed from outside the housing 242.

[0130] In one or more embodiments, the opening 252 includes a first opening 258 (or a second opening 260) provided through the housing body 256 along a first direction (or a second direction), and a second opening 260 (or a third opening 262) provided through the housing body 256 along a second direction (or a third direction) different from the first direction (or a second direction), and connected to the first opening 258 (or the second opening 260).

[0131] In the configuration described above, the opening 252 may have a complex shape, making it difficult for visible light from the light source device 244 to spread uniformly through the opening 252, which tends to result in uneven brightness on the display surface 264. Therefore, the effect of the present invention in uniformizing the brightness of the display surface 264 is more pronounced. Furthermore, with the above configuration, a seamless, integrated opening 252 can be formed on the three-dimensional surface of the housing 242. This allows for a display surface 264 with a superior design.

[0132] In one or more embodiments, the opening 252 has an elongated shape.

[0133] In the configuration described above, the opening 252 may have a complex shape, making it difficult for visible light from the light source device 244 to spread uniformly across the opening 252, which tends to result in uneven brightness on the display surface 264. Therefore, the effect of the present invention in uniformizing the brightness of the display surface 264 is more pronounced. Furthermore, the above configuration allows for a display surface 264 with superior design.

[0134] In one or more embodiments, the reflective surface 280 extends along the shape of the opening 252 and has a smooth shape.

[0135] For example, if the reflective surface 280 has a shape that is like multiple planes joined together (i.e., it does not have a smooth shape), the amount of visible light reflected by the reflective surface 280 is likely to be uneven. This may result in uneven brightness of the display surface 264. In contrast, with the above configuration, since the reflective surface 280 has a smooth shape, the amount of visible light reflected by the reflective surface 280 is less likely to be uneven. This makes it possible to make the brightness of the display surface 264 uniform.

[0136] In one or more embodiments, in a cross-section perpendicular to the extending direction of the reflective surface 280, the reflective surface 280 has a concave curved shape.

[0137] If the visible light reflected by the reflective surface 280 spreads too much around the aperture 252, the amount of visible light transmitted through the display surface 264 may decrease. In this case, the brightness of the display surface 264 may decrease, and the visibility of the display device 24 may be reduced. With the above configuration, the degree to which the visible light is reflected by the reflective surface 280 spreads can be suppressed. This makes it possible to increase the amount of visible light transmitted through the display surface 264. This makes it possible to increase the brightness of the display surface 264 and improve the visibility of the display device 24.

[0138] In one or more embodiments, the light source device 244 includes LED chips 330 (an example of multiple light source elements) capable of emitting visible light. The LED chips 330 are arranged to align along the shape of the aperture 252.

[0139] With the above configuration, the LED chips 330 are arranged along the shape of the opening 252, making it easier for visible light from the light source device 244 to spread uniformly across the opening 252. This allows for uniform brightness of the display surface 264 and improves the appearance of the display device 24 when viewed from outside the housing 242.

[0140] In one or more embodiments, the control device 14 is configured to switch the flashing pattern of the light source device 244 depending on the state of the robotic lawnmower 1. The flashing pattern includes a first flashing pattern (or a second flashing pattern, a third flashing pattern) and a second flashing pattern (or a first flashing pattern, a third flashing pattern) that is different from the first flashing pattern (or a second flashing pattern, a third flashing pattern).

[0141] The above configuration allows for an increase in the variations displayed by the display device 24. This enables a detailed display of the status of the robotic lawnmower 1.

[0142] In one or more embodiments, the control device 14 is configured to switch the chromaticity of the visible light emitted by the light source device 244 depending on the state of the robotic lawnmower 1. The chromaticity of the visible light includes white (or red, green) (example of first chromaticity) and red (or white, green) different from white (or red, green) (example of second chromaticity).

[0143] The above configuration allows for an increase in the variations displayed by the display device 24. This enables a detailed display of the status of the robotic lawnmower 1.

[0144] In one or more embodiments, the robotic lawnmower 1 further comprises a detection mechanism 20 for detecting abnormal conditions of the robotic lawnmower 1. Conditions relating to the robotic lawnmower 1 include abnormal conditions of the robotic lawnmower 1.

[0145] With the above configuration, the display device 24 can display abnormal conditions of the robotic lawnmower 1. This allows the user to be prompted to inspect the robotic lawnmower 1.

[0146] In one or more embodiments, the robotic lawnmower 1 further comprises a robot body 2 supporting a control device 14, a power supply 12, and a display device 24, and a mobile device 16 for moving the robot body 2. The control device 14 is configured to autonomously control the operation of the mobile device 16. The robotic lawnmower 1 functions as an autonomously mobile robot.

[0147] In the configuration described above, the robotic lawnmower 1 may move to a position away from the user due to autonomous movement. When the robotic lawnmower 1 moves to a position away from the user, it becomes difficult for the user to see the display device 24. Therefore, the effect of improving the visibility of the display device 24 by the configuration of the present invention is more significantly demonstrated.

[0148] In one or more embodiments, the robotic lawnmower 1 is supported by a robotic body 2 and further comprises a mowing device 18 for cutting grass. The robotic lawnmower 1 functions as an autonomously mobile robotic lawnmower.

[0149] If the electrical equipment is a robotic lawnmower 1, the electrical equipment may be used outdoors. When the electrical equipment is used outdoors, especially under sunlight, it becomes difficult for the user to see the display device 24. With the above configuration, the effect of improving the visibility of the display device 24 by the configuration of the present invention is more significantly demonstrated. [Explanation of symbols]

[0150] 1: Robot lawnmower 2: Robot body 4: Frame 6: Body 8: Front bumper 10: Rear bumper 12: Power supply 14: Control device 16: Mobile device 18: Lawn mowing device 20: Detection mechanism 24:Display device 122: Battery 124: Charger 142: Processor 144: Power supply circuit 162: Left-side moving motor 164: Motor for moving the right side 168: Left drive wheel 170: Right-side drive wheel 172:Left side training wheel 174: Right side training wheel 176: Left-side caster 178: Right-side caster 182: Motor for cutting blades 184 :Kariblade 202: Accelerometer 204: Front Hall sensor 206: Rear Hall sensor 208: Front inductive sensor 210: Rear inductive sensor 212: Overcurrent detection circuit 214: Front magnet 216: Rear magnet 218: Front sensor board 220: Rear sensor board 222: Front coil pattern 224: Rear coil pattern 226: Front metal plate 228: Rear metal plate 242: Housing 244:Light source device 246:Reflector 248: Base body 250: Cover body 252: Opening 254: Transparent member 256: Housing body 258: First opening 260: Second opening 262: Third opening 264:Display surface 266: First mounting section 268: Second mounting section 270: Positioning hole 272: First mounting surface 274: Second mounting surface 276: Base 278:Protrusion 280: Reflective surface 282: 1st reflective surface 284:Second reflective surface 286:Third reflective surface 292: 1st light source device 294:Second light source device 296:Third light source device 300, 310, 320: Circuit board 302, 312, 322: Component side 304, 314, 324: Light source units 306, 316, 326: Single-color LED chips 308, 318, 328: Two-color LED chips 330: LED chip G: Ground

Claims

1. Electrical equipment that operates when power is supplied, A display device that shows the status of the aforementioned electrical equipment, A control device for controlling the operation of the aforementioned electrical equipment, It includes a power supply device that supplies power to the aforementioned electrical equipment, The aforementioned display device is A housing comprising: a housing body made of a material with low visible light transmittance; an opening provided through a part of the housing body; and a transparent member made of a material with high visible light transmittance that covers substantially the entire opening; A light source device housed in the aforementioned housing and capable of emitting visible light, The housing comprises a reflector having a reflective surface that reflects visible light emitted from the light source device toward the opening, The control device is configured to control the operation of the light source device according to the state of the electrical equipment. Under normal operating conditions of the aforementioned electrical equipment, The aforementioned opening is directed slightly upward. The reflective surface is configured to reflect visible light emitted from the light source device in a direction inclined upward with respect to the horizontal. The aforementioned light source device is It is positioned below the aforementioned opening, It is configured to emit visible light in a direction that is inclined downwards relative to the horizontal. The visible light emitted from the light source device is reflected by the reflective surface and folded back at an acute angle, and directed toward the opening of the electrical equipment.

2. The electrical apparatus according to claim 1, wherein the light source device and the opening are arranged adjacent to each other when viewed from the reflective surface.

3. The electrical device according to claim 1, wherein, in a cross-section along the vertical direction, the reflective surface is curved in a concave shape, and the curvature increases from top to bottom.

4. The vertical component of the visible light emitted from the light source is reflected by the reflective surface and reversed. The electrical device according to claim 1, wherein the horizontal component of the visible light emitted from the light source is reflected by the reflective surface and reversed.

5. The aforementioned opening is A first opening is provided that penetrates the housing body along the first direction, The electrical device according to claim 1, further comprising: a second opening provided through the housing body along a second direction different from the first direction, and connected to the first opening.

6. The electrical device according to claim 1, wherein the opening has an elongated shape.

7. The electrical device according to claim 5, wherein the reflective surface extends along the shape of the opening and has a smooth shape.

8. The electrical device according to claim 7, wherein in a cross-section perpendicular to the extending direction of the reflective surface, the reflective surface has a concave curved shape.

9. The aforementioned light source device comprises a plurality of light source elements capable of emitting visible light, The electrical device according to claim 5, wherein the plurality of light source elements are arranged to be aligned along the shape of the opening.

10. The control device is configured to switch the blinking pattern of the light source device according to the state of the electrical equipment. The electrical device according to claim 1, wherein the flashing pattern includes a first flashing pattern and a second flashing pattern different from the first flashing pattern.

11. The control device is configured to switch the chromaticity of the visible light emitted by the light source device according to the state of the electrical equipment. The electrical device according to claim 1, wherein the chromaticity of the visible light includes a first chromaticity and a second chromaticity different from the first chromaticity.

12. The device further includes a detection mechanism for detecting abnormal conditions in the aforementioned electrical equipment. The electrical equipment according to claim 1, wherein the state relating to the electrical equipment includes the abnormal state of the electrical equipment.

13. The robot body supporting the control device, the power supply device, and the display device, The robot further comprises a moving device for moving the robot body, The control device is configured to autonomously control the operation of the mobile device. An electrical device according to claim 1, which functions as an autonomously mobile robot.

14. The robot body is supported by the aforementioned robot and is further equipped with a lawn mowing device for cutting grass. The electrical device according to claim 13, which functions as an autonomously mobile robotic lawnmower.

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