JP7232079B2 - Autonomous vehicle device - Google Patents

Description

An embodiment of the present invention relates to an autonomous mobile device including an autonomous mobile body and a base device to which the autonomous mobile body returns.

Conventionally, there has been known a so-called autonomous running vacuum cleaner (cleaning robot) that cleans a floor surface by autonomously running on the floor surface to be cleaned while detecting obstacles using a sensor or the like. ing. In general, such a vacuum cleaner is controlled to autonomously return (homing) to a charging device to charge a built-in secondary battery after cleaning is completed. Therefore, a guidance signal such as an infrared ray is output from the charging device to guide the vacuum cleaner to the charging device.

At the time of such induction, the vacuum cleaner transmits a request signal, the charging device that receives the request signal returns the induction signal, and the vacuum cleaner that receives the induction signal induces the induction signal. After traveling a predetermined distance in accordance with the instructions, the request signal is sent again, and while repeating this operation, the vacuum cleaner approaches the front of the charging device to a position at a predetermined distance, and then moves toward the charging device from this position. Go straight and return to the charging station. Further, when the vacuum cleaner is connected to the charging device for charging the secondary battery of the vacuum cleaner, it is required to further improve the accuracy of the feedback of the vacuum cleaner to the charging device.

Japanese Patent Publication No. 2007-520012 JP 2004-275716 A

The problem to be solved by the present invention is to provide an autonomous mobile device capable of improving the accuracy of the return of the autonomous mobile device to the base device.

An autonomous vehicle device of an embodiment has an autonomous vehicle and a base device to which the autonomous vehicle returns. This base station includes a communication unit capable of receiving a radio signal and transmitting a radio signal at predetermined time intervals. The autonomous mobile body includes a main body case, a travel drive section, control means, and a wireless communication section. The travel drive unit makes the main body case travelable. The control means causes the main body case to autonomously travel by controlling the operation of the traveling drive section. The wireless communication unit can transmit and receive wireless signals. The control means has an approach control mode and a feedback control mode. In the approach control mode, the control means controls the operation of the traveling drive section based on the radio signal transmitted from the communication section so that the autonomous traveling body approaches the base device within a predetermined distance. In the return control mode, the control means controls the operation of the travel drive unit so that the autonomous mobile body that has approached the base device by a predetermined distance returns to the base device. The radio communication unit transmits the first request radio signal when the control means is in the approach control mode. Also, the radio communication unit transmits a second request radio signal different from the first request radio signal when the control means is in the feedback control mode. The communication unit sequentially transmits a plurality of different types of radio signals when receiving the first request radio signal. In addition, when receiving the second request radio signal , the communication unit transmits less kinds of radio signals than when receiving the first request radio signal , and transmits the autonomous mobile object included in the radio signal. The transmission frequency of the guiding signal for guiding to the base unit is higher than when the first request radio signal is received .

3A is a block diagram showing the internal structure of an autonomous mobile body of the autonomous mobile device of the first embodiment, and FIG. 4B is a block diagram showing the internal structure of a base device of the autonomous mobile device; FIG. It is a perspective view which shows an autonomous running body apparatus same as the above. It is a top view which shows an autonomous mobile body same as the above from the downward direction. FIG. 4 is a plan view schematically showing an operation when an autonomous running body of the same autonomous running body device approaches a base device; FIG. 4 is an explanatory diagram schematically showing a transmission/reception sequence of radio signals between the autonomous mobile body and the base device when the autonomous mobile body of the same autonomous mobile device approaches the base device; FIG. 10 is a plan view schematically showing the operation when the autonomous mobile body of the same autonomous mobile device returns to the base device; FIG. 4 is an explanatory diagram schematically showing a transmission/reception sequence of radio signals between the autonomous mobile body and the base device when the autonomous mobile body of the autonomous mobile device returns to the base device; FIG. 4 is a perspective view showing a state in which the autonomous running body of the autonomous running body device has returned to the base device; FIG. 10 is an explanatory diagram schematically showing a transmission/reception sequence of radio signals between an autonomous mobile body and a base device when the autonomous mobile body of the autonomous mobile device of the second embodiment returns to the base device;

The configuration of the first embodiment will be described below with reference to the drawings.

In FIG. 2, 10 denotes a vacuum cleaner (vacuum cleaning system), which is a cleaning device as an autonomous mobile device. and a dust station 12 as a base device for removing collected dust.

1 to 3, the electric vacuum cleaner 11 in this embodiment is a so-called self-propelled type that cleans the floor while autonomously traveling (self-propelled) on the floor, which is the surface to be cleaned as the traveling surface. It is a robot cleaner (cleaning robot). The electric vacuum cleaner 11 includes a hollow body case 20, a running section 21 for running the body case 20 on the floor surface, a cleaning section 22 for cleaning dust on the floor surface, etc., a wireless communication section 23, Sensor section 26, control means (control section) 27 for controlling traveling section 21, cleaning section 22, wireless communication section 23 and sensor section 26, and these traveling section 21, cleaning section 22, wireless communication section 23 and sensor section 26 and a secondary battery 28 as a main body power source for supplying power to the control means 27 and the like. Hereinafter, the direction along the traveling direction of the vacuum cleaner 11 (main body case 20) is defined as the front-rear direction (directions of arrows FR and RR shown in FIG. 3, etc.), and the left-right direction intersecting (perpendicular to) the front-rear direction. (Both sides) will be described as the width direction.

The main body case 20 is formed, for example, in a flat columnar shape (disk shape) from a synthetic resin or the like, and has a suction port 31, an exhaust port 32, and a suction port 31, which are dust collection ports, on a lower surface 30, which is a lower portion facing the floor surface. , and a dust discharge port 33 are opened.

The traveling portion 21 includes driving wheels 34, 34 as a plurality (a pair of) traveling driving portions, motors 35, 35 as driving means as operating portions for driving the driving wheels 34, 34, and a turning wheel for turning. 36, etc.

Each drive wheel 34 is for running (autonomously running) the vacuum cleaner 11 (main body case 20) in the forward direction and the backward direction on the floor surface, and rotates (not shown) along the left-right width direction. It has an axis and is arranged symmetrically in the width direction at positions on both sides in front of the suction port 31 . Therefore, these drive wheels 34, 34 allow the vacuum cleaner 11 (body case 20) to travel autonomously. Incidentally, these drive wheels 34 may be endless tracks or the like.

Each motor 35 is arranged, for example, corresponding to each driving wheel 34, and can drive each driving wheel 34 independently.

The slewing wheel 36 is a driven wheel that is positioned substantially in the widthwise center and front portion of the lower surface 30 of the main body case 20 and that can be slewing along the floor surface.

The cleaning unit 22 includes, for example, an electric blower 41 that is positioned inside the main body case 20 and sucks dust together with air from the suction port 31 and exhausts it from the exhaust port 32, and a rotating cleaning body that is rotatably attached to the suction port 31 and scrapes the dust. and a brush motor 43 for rotationally driving the rotating brush 42, and an auxiliary cleaning means (auxiliary cleaning portion) as a rotating cleaning portion that is rotatably attached to both sides such as the front side of the main body case 20 and collects dust. a side brush 44, a side brush motor 45 for driving the side brush 44, and a dust collecting portion (dust cup) 46 communicating with the suction port 31 to collect dust. Electric blower 41 , brush motor 43 and side brush motor 45 are driven by power supplied from secondary battery 28 , and their operations are controlled by control means 27 . Cleaning unit 22 may include at least one of electric blower 41 , rotating brush 42 and brush motor 43 , side brush 44 and side brush motor 45 .

The dust collection part 46 is a dust collection cup that can be attached to and detached from the body case 20, and is located at the rear of the body case 20, for example. The dust collection part 46 communicates with the suction port 31 . In addition, the dust collector 46 communicates with the suction side of the electric blower 41 in the present embodiment, and collects inside the dust sucked together with the air from the suction port 31 by the negative pressure generated by driving the electric blower 41. It's becoming Furthermore, the dust collection section 46 communicates with the dust discharge port 33 . Further, in the dust collection section 46, a filter section (not shown) may be arranged to prevent dust contained in passing air from being sucked into the electric blower 41. FIG.

The dust discharge port 33 is located on the bottom surface 30 of the main body case 20 and is open facing the floor surface. The dust discharge port 33 is formed in a rectangular shape, and is positioned, for example, in the center of the body case 20 in the left-right direction and near the rear end of the body case 20 . Further, the dust discharge port 33 can be opened and closed by a lid body 52 which is a shutter. The cover 52 is rotatably supported by the main body case 20, and is configured to open and close the dust outlet 33 by rotating. Further, the main body case 20 is exposed on the lower surface 30 of the main body case 20, and is urged upward, that is, in a direction to close the dust discharge port 33, by a coil spring (not shown) as a lid urging means. . In addition, the lid 52 is formed with a hooking groove 54 extending in the left-right direction to be hooked when the lid 52 is opened.

The wireless communication unit 23 includes a signal transmission unit 55 such as an infrared light emitting element that transmits a request signal that is a request wireless signal (request infrared signal) when returning to the dust station 12, and a signal transmission unit 55 for traveling from the dust station 12. For example, a pair of left and right signal receivers 56L and 56R such as a phototransistor that receives a guidance signal as a radio signal (infrared signal for traveling) and a collision prevention signal as a distance setting signal is provided, and a radio signal (infrared signal) is provided. Transmission and reception with the dust station 12 are possible.

The signal transmission unit 55 transmits (outputs) signals such as infrared rays to the dust station 12 and the like, and is arranged in the front upper portion of the main body case 20, for example.

The signal receivers 56L and 56R are for estimating the position of the dust station 12 by detecting infrared rays emitted from the dust station 12. It is placed in the position where

Further, the sensor unit 26 includes, for example, object detection means (object detection unit) 57, which is obstacle detection means (obstacle detection unit) for detecting the presence or absence of physical or virtual objects around the main body case 20, and A level difference detection means (level difference detection unit) 58 for detecting a level difference on the floor surface and the like are provided.

The object detection means 57 includes, for example, an ultrasonic sensor and an infrared sensor, and can detect objects (obstacles) located within a predetermined distance.

The step detection means 58 is, for example, an infrared sensor or the like, and can detect a step on the floor surface by detecting the distance between the lower portion of the vacuum cleaner 11 (main body case 20) and the floor surface.

The control means 27 includes, for example, a CPU that is a control means main body (control unit main body), a ROM that is a storage unit that stores fixed data such as programs read by this CPU, and a work area that is a work area for data processing by the program. It is a microcomputer including a RAM (not shown) that is an area storage unit that dynamically forms various memory areas such as. Further, in the present embodiment, the control means 27 operates in a traveling mode in which autonomous traveling is performed based on the detection results of the sensor section 26 (a cleaning mode in which cleaning is performed by the cleaning section 22 while autonomously traveling based on the detection results of the sensor section 26). ), a return mode for returning to the dust station 12, and a standby mode during operation standby. In this embodiment, the control means 27 is further provided with a charge mode for charging the secondary battery 28 and a transfer mode for transferring dust from the dust collector 46 to the dust station 12. at least one of the modes is not required. The control means 27 controls operations of the cleaning section 22 (the electric blower 41, the brush motor 43, and the side brush motor 45), the wireless communication section 23, the sensor section 26, and the like. Therefore, this control means 27 has the functions of cleaning control means (cleaning control section), wireless communication section control means (wireless communication section control section), and sensor section control section (sensor section control section). . Also, this control means 27 generates a control signal for transmitting a request signal from the wireless communication section 23 (signal transmission section 55). That is, this control means 27 has the function of a signal generator.

Further, in the running mode of the control means 27, for example, after the vacuum cleaner 11 (main body case 20) is run in a straight line, when the sensor unit 26 detects an obstacle such as a wall in front, the vacuum cleaner 11 ( Random travel control for controlling the operation of the driving wheels 34 (motors 35, 35) so as to repeat the motion of turning the main body case 20) at random angles within a predetermined angle range and then traveling in a straight line; , control the operation of drive wheels 34 (motors 35, 35) so that the vacuum cleaner 11 (main body case 20) runs along obstacles such as walls while maintaining a certain distance from them. A plurality of cruise control modes, such as wall running control, may be included.

Furthermore, the feedback mode of this control means 27 includes an approach control mode and a feedback control mode. In the approach control mode, the control means 27 moves the vacuum cleaner 11 (body case 20) from the dust station 12 to a predetermined distance, for example, 30 cm or more, based on a radio signal (infrared signal) transmitted from the dust station 12 side. The drive wheels 34, 34 (motors 35, 35) are controlled to move closer to each other by about 50 cm, and the wireless communication section 23 (signal transmission section 55) is controlled to transmit the first request signal. In the feedback control mode, the control means 27 controls the driving wheels 34 (motor) so that the vacuum cleaner 11 (body case 20), which has approached the dust station 12 within a predetermined distance, is returned to the dust station 12 and connected to the dust station 12. 35, 35), and controls the radio communication unit 23 (signal transmitting unit 55) to transmit a second request signal different from the first request signal.

The secondary battery 28 is electrically connected to, for example, charging terminals 59, 59 as connection portions exposed at positions spaced apart from both sides of the dust outlet 33 at the rear portion of the lower surface 30 of the main body case 20. , these charging terminals 59, 59 are electrically and mechanically connected to the dust station 12 side to be charged.

On the other hand, the dust station 12 is for departure and return of the electric vacuum cleaner 11 in this embodiment, and is arranged at a position that does not interfere with cleaning, such as near the walls that separate the rooms. The dust station 12 includes a case body 61, an electric blower 62 as suction means (suction device), a dust storage unit (dust box) 63, a communication unit 64 for transmitting and receiving wireless signals (infrared signals) to and from the vacuum cleaner 11, and A station control unit 66 as base unit control means (base unit control unit), and a power cord as a station power supply unit for supplying power to the electric blower 62 and the station control unit 66 from an external power supply such as a commercial AC power supply (not shown). 67 and. In this embodiment, since the dust station 12 has a function of charging the secondary battery 28 of the vacuum cleaner 11, the case body 61 further includes a charging circuit for charging the secondary battery 28, such as a constant current circuit. 68 is accommodated, and charging terminals 69, 69 electrically connected to the charging circuit 68 and electrically and mechanically connectable to the charging terminals 59, 59 of the vacuum cleaner 11 are arranged. If the dust station 12 does not have a charging function, the charging circuit 68 and the charging terminals 69, 69 are unnecessary. Hereinafter, when the vacuum cleaner 11 is connected to the dust station 12, the vacuum cleaner 11 is fixed at a predetermined position with respect to the dust station 12, and the dust discharge port 33 (suction port 31) and the dust suction port 74 described later are connected. are airtightly connected, and dust can be transferred from the vacuum cleaner 11 (the dust collecting portion 46) to the dust station 12 (the dust containing portion 63).

The case body 61 is made of synthetic resin, for example, and includes a main body portion 71 including an electric blower 62, a dust storage portion 63, a communication portion 64, a station control portion 66, a charging circuit 68, and the like, and a lower portion of the main portion 71. It is integrally provided with a mounting portion 72 protruding from.

The body portion 71 is formed along the up-and-down direction to stand on the floor surface.

The mounting portion 72 is a portion extending in a plate shape along the floor surface. Charging terminals 69, 69 are arranged on the mounting portion 72 so as to be spaced apart from each other in the width direction, and a (first) base unit inlet ( A dust suction port 74 (station suction port) is opened. The mounting unit 72 has a dust suction port 74 as a side dust suction port as a (second) base device suction port (station suction port) for sucking in dust collected by a dust control product such as a mop. may be provided separately.

The dust suction port 74 communicates with the dust containing portion 63 and also communicates with the dust discharge port 33 of the vacuum cleaner 11 when the vacuum cleaner 11 is connected to the dust station 12 . This dust suction port 74 is formed in, for example, a square shape. Inside the dust suction port 74, a hook 75 is protruded as a lid body opening/closing part for opening and closing the lid body 52 as the vacuum cleaner 11 is attached to and detached from the dust station 12. there is Furthermore, the dust suction port 74 is airtightly connected to the dust containing portion 63 via a duct portion (not shown). When the mounting portion 72 is provided with the side dust suction port, the duct portion is provided with switching means (such as a switching valve) so as to communicate with either the dust suction port 74 or the side dust suction port. It can be configured to be switched by a switching unit).

The hook 75 is pivotally supported by the case body 61 of the dust station 12 so as to be vertically rotatable. Further, the hook portion 75 is urged upward by a coil spring (not shown) as a hook urging means. As the vacuum cleaner 11 approaches the dust station 12, the tip of the hook 75 is inserted into the hook groove 54 of the lid 52. When pushed toward the vacuum cleaner 11 side, it is rotated downward to open the cover 52 downward until the charging terminals 69, 69 are connected to the charging terminals 59, 59, and the dust outlet is opened. 33 is exposed.

The electric blower 62 sucks the dust together with the air into the dust containing portion 63 through the dust suction port 74, and exhausts the dust-collected air from an exhaust opening (not shown) provided in the case body 61. It is configured.

The dust storage unit 63 is a dust collection box that is detachable from the case body 61 and that transfers and stores dust accumulated in the dust collection unit 46 of the vacuum cleaner 11 inside. The dust storage portion 63 has a communication opening (not shown) communicating with the dust suction port 74 (via the duct portion), and an exhaust opening (not shown) communicating with the suction side of the electric blower 62 in the front-rear direction. Separately from the communication opening, the air is driven by the electric blower 62 and the dust sucked from the dust suction port 74 is accumulated inside. In addition, a filter body (not shown) for preventing dust contained in the passing air from being sucked into the electric blower 62 is arranged in the dust containing portion 63 .

The communication unit 64 includes a station signal reception unit 77 as a base station signal reception unit, guidance signal transmission units 78L and 78R as base unit signal transmission units, and an anti-collision signal transmission unit 79 as a distance setting signal transmission unit. I have.

The station signal receiving section 77 is provided at a position above the placing section 72 in the main body section 71, for example. Then, when the station signal receiving unit 77 receives the request signal from the vacuum cleaner 11, the (one and the other) guidance signals, which are the (one and the other) traveling radio signals, are sent from the guidance signal transmission units 78L and 78R. The signals BL and BR are transmitted, and the anti-collision signal SS is transmitted from the anti-collision signal transmission unit 79 .

The guidance signal transmitters 78L and 78R are provided, for example, at positions above the placement section 72 and the station signal receiver 77 in the body section 71 so as to be separated from each other in the left and right direction. These guidance signal transmitters 78L and 78R transmit guidance signals BL and BR for making the vacuum cleaner 11 (main body case 20) approach toward the dust station 12 in an oval (elliptical) shape with relatively narrow directivity. It is designed to output. For example, a pair of the guidance signal transmitters 78L and 78R are provided in the present embodiment, and the guidance signals BL and BR can be output so that parts of the guidance signals BL and BR overlap each other (FIG. 4).

The anti-collision signal transmission section 79 is provided at a position above the placement section 72 and the station signal reception section 77 in the main body section 71, for example. The anti-collision signal transmitter 79 transmits an anti-collision signal SS for preventing collision (contact) between the vacuum cleaner 11 (main body case 20) and the dust station 12 (case body 61) with a relatively wide directivity. It is designed to output in a circular shape (semi-circular shape). That is, the anti-collision signal SS output from the anti-collision signal transmitter 79 is set to have a shorter arrival distance than the guide signals BL and BR, and the dust station 12 (main body 71 (anti-collision signal transmitter 79) ) to a predetermined distance, for example, within a range of 30 cm to 50 cm. The range of this anti-collision signal SS includes the dust station 12 (case body 61). Then, when this anti-collision signal SS is detected by the sensor unit 26, the control means 27 of the vacuum cleaner 11 determines that the anti-collision signal SS is an obstacle such as a pseudo wall. , that is, to avoid the dust station 12.

Station control unit 66 is, for example, a microcomputer, and operates electric blower 62, communication unit 64 (station signal reception unit 77, guidance signal transmission units 78L and 78R, and anti-collision signal transmission unit 79), charging circuit 68, and the like. are controlled respectively. The station control unit 66 has, for example, an anti-collision mode that operates only the anti-collision signal transmission unit 79 of the communication unit 64 without operating the electric blower 62 corresponding to the running mode of the control means 27 of the vacuum cleaner 11, It has an induction mode that operates at least a part of the communication section 64 without operating the electric blower 62 corresponding to the return mode of the control means 27 of the vacuum cleaner 11, and a standby mode that stops the operation of each section. In this embodiment, the station control unit 66 operates the charging circuit 68 corresponding to the charging mode of the control means 27 of the vacuum cleaner 11 to charge the secondary battery 28, and the charging mode of the vacuum cleaner 11. A transfer mode is further provided in which the electric blower 62 is operated corresponding to the transfer mode of the control means 27 to transfer the dust in the dust collecting section 46 of the vacuum cleaner 11 to the dust storage section 63. These modes is not required. The station control unit 66 also has the function of a base unit signal generation unit that generates control signals for generating radio signals to be transmitted from the communication unit 64 .

The guidance mode of the station control section 66 includes a first guidance control mode corresponding to the approach control mode of the control means 27 and a second guidance control mode corresponding to the feedback control mode of the control means 27. there is In the first guidance control mode, the station control unit 66 sequentially outputs the guidance signal BL, the guidance signal BR, and the anti-collision signal SS at predetermined intervals set in advance according to a predetermined format of radio signals (infrared signals). The operation of the communication unit 64 (the guidance signal transmission unit 78L, the guidance signal transmission unit 78R, and the anti-collision signal transmission unit 79) is controlled so as to do so. Further, in the second guidance control mode, the station control unit 66 outputs either the guidance signal BL or the guidance signal BR, in this embodiment, only the guidance signal BL. and guidance signal transmitter 78R). In this embodiment, a predetermined format such as the NEC format is used for wireless signals (infrared signals) transmitted and received between the vacuum cleaner 11 and the dust station 12 . Therefore, in the guidance mode, each signal is output every predetermined time T (for example, 108 msec).

Next, the operation of the first embodiment will be described.

In the vacuum cleaner 11, the control means 27 switches from the standby mode to the running mode at a predetermined timing, such as when a preset cleaning start time comes or when a command to start cleaning is received from a remote controller or the like. , drive the traveling part 21 to leave the dust station 12. Thereafter, in the dust station 12, the station controller 66 switches to the anti-collision mode, and the anti-collision signal transmitter 79 outputs the anti-collision signal SS. Then, the control means 27 drives the motors 35, 35 (drive wheels 34, 34) in response to detection from the object detection means 57 and the step detection means 58 of the sensor section 26 to avoid obstacles and steps. While running the electric vacuum cleaner 11 (main body case 20) on the floor surface in the cleaning area to every corner, the cleaning unit 22 is driven to clean the dust on the floor surface and collect it in the dust collecting unit 46.例文帳に追加

At this time, the rotating brush 42 rotated by the control means 27 (via the brush motor 43) scrapes dust on the floor surface. Then, due to the negative pressure acting on the suction port 31 by driving the electric blower 41, the dust on the floor surface and the dust scraped by the rotating brush 42 are sucked into the dust collection section 46 together with the air. Accumulated to 46. The air in which dust is accumulated in the dust collecting portion 46 is sucked into the electric blower 41 via the filter portion, and after cooling the electric blower 41, is discharged from the exhaust port 32 to the outside of the vacuum cleaner 11. exhausted. In addition, in the case where the electric blower 41 is not provided, the dust scraped by the rotating brush 42 is raised to the dust collecting section 46 by the rotation of the rotating brush 42 and collected in the dust collecting section 46. may

When the cleaning is finished or the remaining amount of the secondary battery 28 becomes less than a predetermined amount, the control means 27 controls the drive wheels 34 and 34 so as to return the vacuum cleaner 11 (main body case 20) to the dust station 12. It controls the operation of 34 (motors 35, 35). At the time of this return, roughly speaking, the controller 27 switches to the approach control mode and the station controller 66 switches to the first guidance control mode, so that the vacuum cleaner 11 (main body case 20) is moved to the dust station 12. an approach control sequence for controlling the operation of the drive wheels 34, 34 (motors 35, 35) so as to approach the , and the control means 27 switches to the feedback control mode, and the station control unit 66 switches to the second guidance control mode. A feedback control sequence is set to control the operation of drive wheels 34, 34 (motors 35, 35) so as to return and connect the vacuum cleaner 11 (body case 20) to the dust station 12 by switching to . be.

Specifically, in the access control sequence, the control means 27 in the access control mode causes the wireless communication section 23 (the signal transmission section 55) to transmit the first request signal. At this time, the control means 27 may stop the cleaning section 22 (the electric blower 41, the rotating brush 42 (brush motor 43), the side brush 44 (side brush motor 45), etc.). Further, when transmitting the first request signal, for example, the control means 27 controls the drive wheels 34, 34 (motors 35, 35) to turn the vacuum cleaner 11 (main body case 20) on the floor surface. may By transmitting the first request signal while rotating the vacuum cleaner 11 (main body case 20) in this way, it is possible to improve the probability that the first request signal is received by the dust station 12 side. . When the first request signal is received by the communication unit 64 (station signal reception unit 77), the station control unit 66 of the dust station 12 switches to the first guidance control mode, and the communication unit 64 (the guidance signal transmission unit 78L, guidance The signal transmission unit 78R and the anti-collision signal transmission unit 79) sequentially output the guide signal BL, the guide signal BR, and the anti-collision signal SS at predetermined time intervals (by time division) (FIGS. 4 and 5). Then, the control means 27 controls the drive wheels 34, 34 (motor 35, 35) is controlled to run the vacuum cleaner 11 (main body case 20).

More specifically, the control means 27 controls the drive wheels 34, 34 (motor 35) so as to run the vacuum cleaner 11 (body case 20) until the wireless communication unit 23 receives at least one of the guidance signals BL, BR. , 35). That is, the control means 27 first causes the vacuum cleaner 11 (main body case 20) to travel to a position where at least one of the guidance signals BL and BR is received by the wireless communication section 23 (one of the signal receiving sections 56L and 56R). The operation of the driving wheels 34, 34 (motors 35, 35) is controlled so as to At this time, the control means 27 may cause the vacuum cleaner 11 (main body case 20) to move straight, meander, or turn. Then, for example, when the control means 27 determines that the guidance signal BL is received by the wireless communication unit 23 (the signal receiving unit 56L), the vacuum cleaner 11 (the main body case 20) moves relatively to the left. Control the driving of the driving wheels 34, 34 (motors 35, 35) so that the vehicle travels a predetermined distance. relatively large). Further, when control means 27 determines that guidance signal BR or guidance signals BL, BR are received by wireless communication section 23 (signal receiving section 56R), vacuum cleaner 11 (main body case 20) is moved relatively. The driving of the driving wheels 34 (motors 35, 35) is controlled so that the driving wheels 34 (motors 35, 35) are driven toward the right for a predetermined distance (the number of revolutions of the right driving wheel 34 (motor 35) is controlled by the left driving wheel 34 (motor 35). ) relative to the number of rotations).

Then, the vacuum cleaner 11 and the dust station 12 perform the above-described control (transmission of the first request signal, transmission of the guidance signal BL, guidance signal BR, and anti-collision signal SS, and transmission of the vacuum cleaner 11 (body case 20). ), the vacuum cleaner 11 gradually approaches the area (for example, width of about 10 to 20 cm) where the guidance signals BL and BR overlap each other in the horizontal direction with the passage of time, and the guidance signal BL is received by the wireless communication unit 23 (signal receiving unit 56L), and travels along a position determined to have received the guidance signal BR or the guidance signals BL, BR by the wireless communication unit 23 (signal receiving unit 56R). will come to

When the radio communication unit 23 (at least one of the signal receiving units 56L and 56R) receives the anti-collision signal SS, the radio communication unit 23 (the signal receiving unit 56L) receives the guidance signal BL and performs radio communication. Only when the induction signal BR (or the induction signals BL, BR) is received by the unit 23 (signal receiving unit 56R), it is determined that the vacuum cleaner 11 (body case 20) has moved to the position P and returns. In other cases, it is determined that the dust station 12 has approached the dust station 12 from a direction other than the front. 20) is once driven to a position away from this anti-collision signal SS, the operation of the drive wheels 34, 34 (motors 35, 35) is controlled so as to turn, and the approach control sequence is repeated again.

A travel area in which the vacuum cleaner 11 (main body case 20) approaches the dust station 12 at a predetermined distance from the position P is defined as an approach travel area (approach travel area) A1. That is, the approaching travel area A1 is an area outside the anti-collision signal SS.

Further, in the feedback control sequence, the control means 27 in the feedback control mode causes the wireless communication section 23 (signal transmission section 55) to transmit the second request signal. When the second request signal is received by the communication unit 64 (station signal receiving unit 77), the station control unit 66 of the dust station 12 switches to the second guidance control mode, and the communication unit 64 sends a signal during the first guidance control mode. Radio signals (infrared signals) of fewer kinds than radio signals (infrared signals) to be transmitted, specifically, only guidance signals BL are output from the communication unit 64 (guidance signal transmission unit 78L) (FIGS. 6 and 7). At this time, the station control section 66 may cause the communication section 64 (the guidance signal transmission section 78R) to output only the guidance signal BR. Based on the state of reception of the guidance signal BL (or guidance signal BR) by the wireless communication unit 23 (the signal receiving unit 56L (or the signal receiving unit 56R)), the control means 27 controls the drive wheels 34, 34 (motors 35, 35). ) to drive the vacuum cleaner 11 (main body case 20) for a predetermined distance. That is, the control means 27 drives the drive wheels 34 (motors 35, 35) in the same direction at the same rotation speed. The control means 27 in the feedback control mode controls the drive wheels 34, 34 (motors 35, 35) so that, for example, the traveling distance and traveling speed of the vacuum cleaner 11 (main body case 20) are smaller than those in the approach control mode. is preferably operated.

Then, the vacuum cleaner 11 and the dust station 12 continue the above processes (transmission of the second request signal, induction signal BL (or transmission of guidance signal BR) and running of vacuum cleaner 11 (main body case 20)), vacuum cleaner 11 receives guidance signal BL by wireless communication unit 23 (signal receiving unit 56L). (or the position where the guidance signal BR is received by the wireless communication unit 23 (signal receiving unit 56R)). That is, the position P is the position in front of the dust station 12, and since the distance to the dust station 12 is short, the vacuum cleaner 11 can be detected by using only one of the induction signals BL and BR without using both the induction signals BL and BR. can travel toward the dust station 12 without substantially shifting.

Thus, the travel area from the position P at a predetermined distance from the dust station 12 until the vacuum cleaner 11 (main body case 20) is connected to the dust station 12 is defined as a return travel area (docking travel area) A2. That is, the return travel area A2 is an area inside the anti-collision signal SS and in front of the dust station 12. As shown in FIG. A position P is defined as a boundary position between the return travel area A2 and the approach travel area A1.

In the present embodiment, in the feedback control sequence, the control means 27 rotates the vacuum cleaner 11 (main body case 20) to turn the rear portion of the vacuum cleaner 11 (main body case 20) toward the dust station 12, The operation of the drive wheels 34, 34 (motors 35, 35) is controlled so as to return to the dust station 12 with the rear part directed toward the dust station 12, in other words, to move backward, but the dust station moves forward as it is. The operation of the driving wheels 34, 34 (motors 35, 35) may be controlled so as to return to 12.

When the vacuum cleaner 11 returns from the position P to the dust station 12 according to this return control sequence, the drive wheels 34, 34 ride on the mounting portion 72 of the dust station 12, and when it approaches the dust station 12, it is hooked. When the portion 75 is inserted into the hook groove portion 54 of the lid body 52 located on the lower rear side of the vacuum cleaner 11 (main body case 20) and further approaches the dust station 12, the hook portion 75 rotates downward. As the cover 52 is rotated downward, the charging terminals 59, 59 are mechanically and electrically connected to the charging terminals 69, 69 of the dust station 12, and the dust discharge port 33 (dust collection section 46) is opened. ) and the dust suction port 74 are airtightly connected.

Then, when the vacuum cleaner 11 returns to the dust station 12 and is connected (FIG. 8), the control means 27 terminates the return mode and stops the drive wheels 34, 34 (motors 35, 35) to stop the electricity. Vacuum cleaner 11 (main body case 20) stops, station control unit 66 terminates the guidance mode, and outputs guidance signal BL (or guidance signal BR) from guidance signal transmission section 78L (or guidance signal transmission section 78R). Stop. Next, the control means 27 switches to the transfer mode immediately after the feedback control mode ends or after a predetermined time of standby mode. At the same time, the station control section 66 also switches to transfer mode. By driving the electric blower 62 for a predetermined period of time, the station control unit 66 removes dust accumulated in the dust collection unit 46 of the vacuum cleaner 11 from the dust suction port 74 through the dust discharge port 33. It is sucked into the container 63 and transferred. At this time, the control means 27 rotates the rotating brush 42 (brush motor 43) and intermittently operates the electric blower 41 to transfer the dust adhering to the rotating brush 42 to the dust storage section 63. And so on.

When the transfer mode ends, the control means 27 and the station control unit 66 switch to the charge mode immediately or after a standby mode for a predetermined time, and the charging circuit 68 charges the secondary battery 28 . Then, when the charging of the secondary battery 28 is completed, the control means 27 and the station control section 66 are switched to standby mode.

As described above, according to the first embodiment, when the second request signal is transmitted and the second request signal is received, fewer types than in the first guidance control mode, this embodiment Since the operation of transmitting the guidance signal BL (or the guidance signal BR), which is one type of radio signal, is repeated, the control means 27 confirms the transmission and reception of the radio signal (infrared signal) with the dust station 12 each time. The vacuum cleaner 11 (body case 20) can be returned toward the dust station 12 more reliably.

A second embodiment will now be described with reference to FIG. It should be noted that the same reference numerals are given to the same configurations and actions as in the first embodiment, and the description thereof will be omitted.

In the second embodiment, during the feedback control sequence, the vacuum cleaner 11 transmits a second request signal from the wireless communication unit 23 (signal transmitting unit 55) when the control means 27 is switched to the feedback control mode. When the radio signal transmitted from the dust station 12 is received by the radio communication unit 23 (the signal receiving unit 56L (or the signal receiving unit 56R)), the radio vacuum cleaner 11 is wirelessly connected to the dust station 12 thereafter. A wireless signal (request signal) is not transmitted from the communication unit 23 (signal transmission unit 55). Here, since the vacuum cleaner 11 transmits the second request signal to the dust station 12 from the position P in front of the dust station 12, it is substantially certain that dust will be collected by transmitting the second request signal only once. It can be received by the communication unit 64 (station signal receiving unit 77) of the station 12. FIG. Therefore, the control means 27 may be configured to transmit the second request signal only once from the wireless communication section 23 (signal transmitting section 55) when switching to the feedback control mode.

Further, in the dust station 12, once the second request signal transmitted from the wireless communication unit 23 (signal transmitting unit 55) of the vacuum cleaner 11 is received by the communication unit 64 (station signal receiving unit 77), the vacuum cleaner 11 returns to the dust station 12 and is connected, the station control unit 66 sends only the guidance signal BL (or the guidance signal BR) from the communication unit 64 (the guidance signal transmitter 78L (or the guidance signal transmitter 78R)). Repeated transmission is continued every time T.

As a result, the time required for transmitting and receiving radio signals (infrared signals) between the radio communication unit 23 and the communication unit 64 can be shortened. Based on the radio signal (infrared signal) received by the radio communication unit 23, the vacuum cleaner 11 can be guided to the dust station 12 more accurately.

In each of the above embodiments, the radio signal transmitted from the communication unit 64 during the feedback control sequence (when the control means 27 is in the feedback control mode (when the station control unit 66 is in the second guidance control mode)) The number of types is greater than the number of types of radio signals transmitted from the communication unit 64 during the approach control sequence (when the control means 27 is in the approach control mode (when the station control unit 66 is in the first guidance control mode)). It is not limited to one kind of induction signal BL (or induction signal BR) as long as it is small.

Further, the radio signal transmitted from the communication unit 64 during the feedback control sequence (when the control means 27 is in the feedback control mode (when the station control unit 66 is in the second guidance control mode)) is the same as during the approach control sequence ( When the control means 27 is in the approach control mode (when the station control unit 66 is in the first guidance control mode), the radio signal of the same type as the radio signal transmitted from the communication unit 64 (guidance signal BL (or guidance signal BR)), but is not limited to this configuration and may transmit completely different types of radio signals.

Furthermore, the dust station 12 is used as the base device to transfer dust from the dust collecting portion 46 of the vacuum cleaner 11 to the dust containing portion 63 via the dust discharge port 33 and the dust suction port 74. Alternatively, it may be one that does not have a charging function. That is, the function of the base device does not matter as long as the vacuum cleaner 11 returns and connects at a predetermined timing such as when the cleaning is finished.

Also, although the autonomous mobile body is the electric vacuum cleaner 11 having the cleaning unit 22, the cleaning unit 22 is not an essential component. That is, the autonomous running body is not limited to one having a cleaning function.

According to at least one embodiment described above, when the wireless communication section 23 transmits the first request signal while the control means 27 is in the access control mode, the communication section 64 receives the first request signal. sequentially transmits a plurality of types of different radio signals (infrared signals), and when the radio communication unit 23 transmits a second request signal different from the first request signal when the control means 27 is in the feedback control mode, this second When receiving the second request signal, the communication unit 64 transmits fewer types of wireless signals (infrared signals) than when receiving the first request signal. That is, during the approach sequence, it is assumed that the positional relationship between the vacuum cleaner 11 and the dust station 12 is diverse, and various types of radio signals ( Infrared signal) is required, but when the vacuum cleaner 11 is returned to the dust station 12 from the position P in front of the dust station 12 after the approach running sequence, the vacuum cleaner 11 (main body case 20) is simply moved in a straight line. Since it is only necessary to run the vacuum cleaner 11 in a straight line, various wireless signals (infrared signals) are not required to guide the vacuum cleaner 11. Therefore, as described above, only the minimum required radio signal (infrared signal) is transmitted from the communication unit 64 during the feedback control sequence. Therefore, it is possible to shorten the time required for transmitting and receiving radio signals (infrared signals) when the vacuum cleaner 11 is returned to the dust station 12, and it is possible to relatively easily improve the capture accuracy and the frequency of transmission and reception. Based on the radio signal (infrared signal) received by unit 23, control means 27 can return and connect vacuum cleaner 11 to dust station 12 more accurately. That is, the accuracy of returning (guiding) the vacuum cleaner 11 to the dust station 12 can be improved.

In particular, in the return control mode, the control means 27 controls the driving wheels 34, 34 (motors 35, 35) so that the speed at which the vacuum cleaner 11 (body case 20) returns to the dust station 12 is lower than in the approach control mode. ), the wireless signal (infrared signal) can be transmitted and received between the wireless communication unit 23 and the communication unit 64 more frequently. In other words, in the return control mode, the control means 27 does not reduce the speed at which the vacuum cleaner 11 (main body case 20) returns to the dust station 12 compared to the approach control mode, but still communicates with the wireless communication unit 23. Since the frequency of transmission and reception of wireless signals (infrared signals) with the unit 64 does not decrease as compared with the conventional case, high-speed return and connection can be performed while maintaining the accuracy of the return of the vacuum cleaner 11 to the dust station 12. be possible.

Furthermore, when the control means 27 is in the feedback control mode (when the station control section 66 is in the second guidance control mode), that is, when the radio signal (infrared signal) transmitted from the communication section 64 during the feedback control sequence, the control means 27 is in the approach control mode (when the station control unit 66 is in the first guidance control mode), that is, includes the radio signal (infrared signal) transmitted from the communication unit 64 during the approach control sequence, in other words, feedback The radio signal transmitted from the communication unit 64 during the control sequence is part of the radio signal transmitted from the communication unit 64 during the access control sequence (the radio signal transmitted from the communication unit 64 during the feedback control sequence is the same as the radio signal transmitted during the access control sequence). included in the radio signal transmitted from the unit 64), processing such as generating a different radio signal is unnecessary, and control can be simplified.

In particular, when the secondary battery 28 is charged by the dust station 12, the positional accuracy of the vacuum cleaner 11 and the dust station 12 when the vacuum cleaner 11 returns to the dust station 12, that is, the charging terminals 59, 59 and Positional accuracy with respect to the charging terminals 69, 69 is important. Therefore, as described above, by improving the accuracy of the return of the vacuum cleaner 11 to the dust station 12, the charging terminals 59, 59 and the charging terminals 69, 69 can be connected more reliably, and the secondary battery 28 can be discharged. Reliable charging can be enabled.

Similarly, when the dust collected in the dust collection unit 46 of the vacuum cleaner 11 is transferred to the dust storage unit 63 of the dust station 12, the vacuum cleaner 11 when the vacuum cleaner 11 returns to the dust station 12 11 and the dust station 12, that is, the positional accuracy of the dust discharge port 33 and the dust suction port 74 is important. Therefore, as described above, by improving the accuracy of the return of the electric vacuum cleaner 11 to the dust station 12, the dust discharge port 33 and the dust suction port 74 can be more reliably connected, and the dust collection portion 46 can be connected to the dust storage portion. Reliable transfer of dust to 63 can be made possible.

While several embodiments of the invention have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention to these embodiments. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

10 Vacuum cleaner as an autonomous mobile device
11 Vacuum Cleaner as an Autonomous Vehicle
12 Dust station as base equipment
20 body case
23 Radio communication part
27 Control means
34 Driving wheels as traveling drive
64 Communications

Claims (1)

an autonomous vehicle;
Equipped with a base device to which this autonomous vehicle returns,
The base device includes a communication unit capable of receiving a radio signal and transmitting the radio signal at predetermined time intervals,
The autonomous running body is
body case,
a travel drive unit that allows the main body case to travel;
a control means for autonomously traveling the main body case by controlling the operation of the travel drive unit;
A wireless communication unit capable of transmitting and receiving wireless signals,
an approach control mode in which the control means controls the operation of the traveling drive unit so as to cause the autonomous mobile object to approach the base device within a predetermined distance based on the radio signal transmitted from the communication unit; a feedback control mode for controlling the operation of the traveling drive unit so as to return the autonomous traveling body that has approached the base device to the predetermined distance to the base device;
The radio communication unit transmits a first request radio signal when the control means is in an approach control mode, and transmits a second request radio signal different from the first request radio signal when the control means is in a feedback control mode. send a signal,
The communication unit sequentially transmits a plurality of types of different radio signals when receiving the first request radio signal, and transmits the first request radio signal when receiving the second request radio signal. transmitting a radio signal of fewer types than when the signal was received, and the transmission frequency of the guidance signal included in the radio signal for guiding the autonomous vehicle to the base device received the first request radio signal. higher than when
An autonomous mobile device characterized by:

Images