DETECTION DEVICE AND ROBOT DUST COLLECTOR

Description

CROSS-REFERENCE TO RELATED APPLICATION(S)

The present application claims priority to and incorporates by reference the entire contents of Japanese Patent Application No. 2024-016654 filed in Japan on Feb. 6, 2024.

TECHNICAL FIELD

The techniques disclosed herein relates to a detection device and a robot dust collector.

BACKGROUND ART

In the technical field related to robot dust collectors, a robot dust collector equipped with a detection device that detects surrounding objects, as disclosed in German Patent Application Publication No. 102013106294, is known. At least a portion of the detection device protrudes upward from the top surface of the main body of the robot dust collector. The robot dust collector performs autonomous traveling while detecting surrounding objects in a non-contact manner using the detection device. At least a portion of the detection device protruding upward from the top surface of the main body enables the detection device to detect an object around the main body in a non-contact manner.

Autonomous robot dust collectors are likely to enter a space under an object such as a shelf. The robot dust collector entering the space under an object is likely to cause a detection device to get caught on the underside of the object. If the detection device gets caught on the underside of the object, it will be difficult for the robot dust collector to escape from the space. The ability to detect the contact between the detection device and the object allows the robot dust collector to perform an avoidance action to avoid entering the space.

SUMMARY

One non-limiting object of the present teachings is to detect contact between the detection device and an object.

In one aspect of the present teachings, a detection device provided in a robot dust collector includes: an optical sensor configured to detect an object around the robot dust collector; a cover member arranged at least partially around the optical sensor and configured to move linearly; a detection member configured to move linearly in conjunction with the cover member; and a motion sensor configured to detect movement of the detection member.

According to the present teachings, it is possible to detect contact between the detection device and an object.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view from above illustrating a robot dust collector according to an embodiment;

FIG. 2 is a top view illustrating the robot dust collector according to the embodiment;

FIG. 3 is a bottom view illustrating the robot dust collector according to the embodiment; FIG. 4 is a side view illustrating the robot dust collector according to the embodiment;

FIG. 5 is a cross-sectional view illustrating the robot dust collector according to the embodiment;

FIG. 6 is a block diagram illustrating the robot dust collector according to the embodiment;

FIG. 7 is a perspective view from above illustrating a detection device according to an embodiment;

FIG. 8 is a perspective view from below illustrating the detection device according to the embodiment;

FIG. 9 is a side view illustrating the detection device according to the embodiment;

FIG. 10 is a top view illustrating the detection device according to the embodiment;

FIG. 11 is a cross-sectional view illustrating the detection device according to the embodiment;

FIG. 12 is a cross-sectional view illustrating the detection device according to the embodiment;

FIG. 13 is an exploded perspective view from above of the detection device according to the embodiment;

FIG. 14 is an exploded perspective view from below of the detection device according to the embodiment;

FIG. 15 is a perspective view from above of an optical sensor according to an embodiment;

FIG. 16 is a perspective cross-sectional view from above of the optical sensor according to the embodiment;

FIG. 17 is a cross-sectional view of the optical sensor according to the embodiment;

FIG. 18 is a perspective view from above of a cover member according to an embodiment;

FIG. 19 is a perspective view from below of the cover member according to the embodiment;

FIG. 20 is a top view of the cover member according to the embodiment;

FIG. 21 is a side view of the cover member according to the embodiment;

FIG. 22 is a cross-sectional view of the cover member according to the embodiment;

FIG. 23 is a perspective view from above of a holder member according to an embodiment;

FIG. 24 is a perspective view from below of the holder member according to the embodiment;

FIG. 25 is a top view of the holder member according to the embodiment;

FIG. 26 is a cross-sectional view of the holder member according to the embodiment;

FIG. 27 is a perspective view from above of a housing according to an embodiment;

FIG. 28 is a perspective view from below of the housing according to the embodiment;

FIG. 29 is a diagram illustrated to describe the operation of the cover member according to the embodiment;

FIG. 30 is a diagram illustrated to describe the operation of the cover member according to the embodiment;

FIG. 31 is a diagram illustrated to describe the operation of the cover member according to the embodiment;

FIG. 32 is a diagram illustrated to describe the operation of the cover member according to the embodiment;

FIG. 33 is a diagram illustrated to describe the operation of the detection member according to the embodiment; and

FIG. 34 is a diagram illustrated to describe the operation of the detection member according to the embodiment.

DETAILED DESCRIPTION

In one or more embodiments, a detection device provided in a robot dust collector may include: an optical sensor that detects an object around the robot dust collector; a cover member that is arranged at least partially around the optical sensor and configured to move linearly; a detection member that moves linearly in conjunction with the cover member; and a motion sensor that detects the movement of the detection member.

In the configuration mentioned above, the contact of an object with the cover member causes the cover member to move linearly due to an external force received from the object. This linear movement of the cover member causes the detection member to move linearly in conjunction with the cover member. The detection of the linear movement of the detection member by the motion sensor allows the detection of the contact between the cover member of the detection device and the object.

In one or more embodiments, the detection member is movable to linearly rearward.

In the configuration described above, in the case where the robot dust collector performs cleaning work on a cleaning target surface while moving forward or turning, an object is more likely to come into contact with the front part of the cover member. In the case where the robot dust collector is turning, an object is more likely to come into contact with the lateral part of the cover member. When an object comes into contact with the front part of the cover member, the cover member is guided rearward and moves linearly rearward. When an object comes into contact with the lateral part of the cover member, the cover member is guided left rearward or right rearward and moves linearly left rearward or right rearward. The detection member is capable of moving linearly rearward in conjunction with the cover member moving linearly rearward, left rearward, or right rearward.

In one or more embodiments, the detection device may further include a holder member that supports the cover member such that the cover member is linearly movable. At least a portion of the holder member is arranged downward of the optical sensor.

In the configuration mentioned above, the cover member is supported by the holder member to be linearly movable.

In one or more embodiments, the motion sensor may be held by the holder member.

In the configuration described above, the cover member is supported by the holder member, and the motion sensor is held by the holder member, so an increase in the number of parts of the detection device is prevented.

In one or more embodiments, the holder member may include a sensor-holding portion that holds the motion sensor. The sensor-holding portion may be provided on the underside of the holder member.

In the configuration described above, the motion sensor is arranged on the lower side of the holder member, so the motion sensor is protected by the holder member to prevent contact between the object and the motion sensor. The prevention of the contact between the object and the motion sensor allows the motion sensor to be protected, resulting in suppressing deterioration of the motion sensor.

In one or more embodiments, the motion sensor may be a non-contact sensor that emits detection light. The detection member may move linearly rearward to enter the optical path of the detection light.

In the configuration described above, the entry of the detection member into the optical path of the detection light enables the motion sensor to detect the linear rearward movement of the detection member.

In one or more embodiments, the cover member may move linearly in the horizontal direction upon coming into contact with an object. The detection member may move linearly rearward in conjunction with the cover member.

In the configuration described above, the detection member moves linearly rearward no matter in which direction the cover member moves linearly rearward, left rearward, or right rearward due to collision with an object. Thus, no matter in which direction the cover member moves linearly, the motion sensor is capable of detecting the linear movement of the detection member.

In one or more embodiments, the cover member may include at least one first support portion. The holder member may include a guide opening into which the first support portion is inserted and which has a diameter larger than the outer diameter of the first support portion. The guide opening may guide the first support portion such that the cover member moves linearly in the horizontal direction.

The configuration described above makes the outer diameter of the first support portion smaller than the diameter of the guide opening, so the first support portion is capable of moving inside the guide opening. Thus, the cover member is movable relative to the holder member. This guiding of the first support portion into the guide opening enables the cover member to move linearly in the horizontal direction.

In one or more embodiments, the detection member may have an elongated hole that is elongated in the left-right direction and into which the first support portion is inserted.

In the configuration described above, in the case where the first support portion moves linearly left rearward or right rearward, the first support portion is capable of moving leftward or rightward inside the elongated hole. Thus, even if the first support portion moves linearly left rearward or right rearward, the detection member is capable of moving linearly rearward.

In one or more embodiments, the detection device may include a housing fixed to the holder member, and at least a portion of the housing may be arranged above the holder member. The housing may include at least one second support portion. The cover member may have a slider opening into which the second support portion is inserted and which has a diameter larger than the outer diameter of the second support portion. The slider opening may be guided by the second support portion such that the cover member moves linearly in the horizontal direction.

In the configuration described above, the outer diameter of the second support portion is smaller than the diameter of the slider opening, so that the slider opening is capable of moving relative to the second support portion. Thus, the cover member is movable relative to the holder member. The slider opening slides relative to the second support portion, allowing the cover member to move linearly in the horizontal direction.

In one or more embodiments, the first support portion may have a columnar shape. The guide opening may include a guide apex portion and a pair of guide straight portions extending rearward from the guide apex portion.

In the configuration described above, the first support portion is guided by the left-side guide straight portion, allowing the cover member to move linearly left rearward. The first support portion is guided by the guide straight portion on the right side, allowing the cover member to move linearly right rearward.

In one or more embodiments, the second support portion may have a columnar shape. The slider opening may include a slider apex portion and a pair of slider straight portions extending forward from the slider apex portion.

The configuration described above allows the right-side slider straight portion to slide while contacting the second support portion, enabling the cover member to move linearly left rearward. The left-side slider straight portion slides while contacting the second support portion, which makes it possible for the cover member to move linearly right rearward.

In one or more embodiments, one or more first support portions and two or more second support portions may be provided in a left-right direction, or two or more first support portions and one or more second support portion may be provided in the lest-right direction.

In the configuration described above, the cover member is capable of moving linearly and stably in the horizontal direction.

In one or more embodiments, the cover member may move linearly in the inclined direction directed rearward and downward upon coming into contact with an object. The detection member may move linearly rearward in conjunction with the cover member.

In the configuration described above, even if the cover member moves linearly downward and rearward due to collision with an object, the detection member moves linearly rearward. Thus, no matter in which direction the cover member moves linearly, the motion sensor is capable of detecting the linear movement of the detection member.

In one or more embodiments, the cover member may include a slider portion. The holder member may include at least one guide portion. The guide portion may guide the slider portion such that the cover member moves linearly in the inclined direction.

In the configuration described above, the cover member is capable of moving linearly downward and rearward stably.

In one or more embodiments, a plurality of the guide portions may be provided around the optical sensor.

In the configuration described above, the cover member is capable of moving linearly downward and rearward stably.

In one or more embodiments, the detection device may further include a horizontal biasing member that is held by the housing and biases the cover member forward.

In the configuration described above, when no external force is acting on the cover member, the cover member is positioned at the front end of the movable range of the cover member.

In one or more embodiments, the detection device may further include a vertical biasing member held by the holder member and biases the cover member upward.

In the configuration described above, when no external force is acting on the cover member, the cover member is positioned at the upper end of the movable range of the cover member.

In one or more embodiments, the robot dust collector may include a main body and the detection device described above. At least a portion of the optical sensor may be arranged upward of the top surface of the main body. The motion sensor may be arranged in the internal space of the main body.

In the configuration described above, at least a portion of the optical sensor is arranged upward of the top surface of the main body, so the optical sensor is capable of detecting an object around the main body. The motion sensor is arranged in the internal space of the main body, so the motion sensor is protected. In addition, the adhesion of foreign matters to the motion sensor is prevented.

Embodiments of the present disclosure are now described with reference to the drawings, but the present disclosure is not limited to these embodiments. The components of the embodiments described below can be combined as appropriate. In addition, some components are not used in some cases.

In the present embodiments, the positional relationship of the respective components is described using the terms “left”, “right”, “front”, “rear”, “up”, and “down”. These terms indicate relative positions or directions with respect to the center of a robot dust collector 1.

Robot Dust Collector

FIG. 1 is a perspective view from above illustrating a robot dust collector 1 according to the embodiment. FIG. 2 is a top view illustrating the robot dust collector 1 according to the embodiment. FIG. 3 is a bottom view illustrating the robot dust collector 1 according to the embodiment. FIG. 4 is a side view illustrating the robot dust collector 1 according to the embodiment. FIG. 5 is a cross-sectional view illustrating the robot dust collector 1 according to the embodiment. FIG. 6 is an exploded perspective view illustrating the robot dust collector 1 according to the embodiment. FIG. 6 is a block diagram illustrating the robot dust collector 1 according to the embodiment.

The robot dust collector 1 collects dust while autonomously traveling over a cleaning target surface FL. As illustrated in FIGS. 1, 2, 3, 4, 5, and 6, the robot dust collector 1 includes a main body 2, a bumper 3, battery mounting portions 4, a fan unit 5, a dust box 6, casters 7, a roller 8, a traveling device 12, a main brush 13, a main brush motor 14, side brushes 15, side brush motors 16, a handle 17, obstacle sensors 19, an interface device 20, a detection device 30, and a control device 100.

The main body 2 has a top surface 2A, a bottom surface 2B that faces a cleaning target surface FL, and a lateral surface 2C that connects the peripheral edge of the top surface 2A and the peripheral edge of the bottom surface 2B. In a plane parallel to the top surface 2A, the outer shape of the main body 2 is substantially circular.

The main body 2 includes a housing 11 having an internal space. The housing 11 includes an upper housing 11A, a lower housing 11B arranged below the upper housing 11A and connected to the upper housing 11A, a cover plate 11C detachably attached to the upper housing 11A, and a bottom plate 11D attached to the lower housing 11B. The top surface 2A is arranged on the upper housing 11A and the cover plate 11C. The bottom surface 2B is arranged on the lower housing 11B and the bottom plate 11D.

The main body 2 has a suction port 18 provided on the bottom surface 2B. The suction port 18 is provided on the bottom plate 11D. The suction port 18 sucks in dust on the cleaning target surface FL. The bottom plate 11D is a suction member having the suction port 18. The suction port 18 faces the cleaning target surface FL. The suction port 18 is provided at the front part of the bottom surface 2B. The suction port 18 has a rectangular shape elongated in the left-right direction. In the left-right direction, the center of the suction port 18 coincides with the center of the main body 2. The center of the suction port 18 does not necessarily coincide with the center of the main body 2.

The bumper 3 is movable while facing at least a portion of the lateral surface 2C. The bumper 3 is movably supported on the main body 2. The bumper 3 faces the front part of the lateral surface 2C. Upon colliding with an object present around the robot dust collector 1, the bumper 3 moves relative to the main body 2, thereby adsorbing the impact acting on the main body 2.

The battery mounting portions 4 support battery packs BT. The battery packs BT are mounted on the battery mounting portions 4. The battery mounting portions 4 are provided on at least portions of the outer surface of the main body 2. Recesses are provided in the rear portion of the upper housing 11A. The battery mounting portions 4 are provided inside the respective recesses in the upper housing 11A. Two such battery mounting portions 4 in total are provided.

The battery packs BT mounted on the battery mounting portions 4 supply electrical power to the electrical or electronic equipment mounted on the robot dust collector 1. The battery pack BT is a general-purpose battery that can be used as a power source for various types of electrical equipment. The battery pack BT can be used as a power source for power tools. The battery pack BT can be used as a power source for other types of electrical or electronic equipment. The battery pack BT can be used as a power source for a dust collector other than the robot dust collector 1 according to the embodiment. Examples of the battery pack BT include a lithium-ion battery. The battery pack BT is a rechargeable battery. The battery mounting portion 4 has a structure equivalent to that of a battery mounting portion of a power tool.

A user of the robot dust collector 1 can mount the battery packs BT to the battery mounting portions 4 and remove the battery packs BT from the battery mounting portions 4 in a space outside of the housing 11. The battery mounting portion 4 includes a guide member that guides the battery pack BT to be mounted thereon, and a main body terminals that are connected to battery terminals provided on the battery pack BT. The user can mount the battery pack BT to the battery mounting portion 4 by inserting the battery pack BT into the battery mounting portion 4 from above. The battery pack BT is inserted into the battery mounting portion 4 by being guided by a guide member. With the battery pack BT mounted on the battery mounting portion 4, the battery terminals of the battery pack BT are electrically connected to the respective main body terminals of the battery mounting portion 4. The user of the robot dust collector 1 can remove the battery pack BT from the battery mounting portion 4 by moving the battery pack BT upward.

The fan unit 5 is housed in the main body 2. The fan unit 5 generates a suction force at the suction port 18 to suck in dust. The fan unit 5 is arranged in the internal space of the housing 11. The fan unit 5 is arranged between the two battery mounting portions 4 at the rear part of the main body 2. The fan unit 5 is connected to the suction port 18 via the dust box 6. The fan unit 5 generates the suction force at the suction port 18 via the dust box 6.

As illustrated in FIG. 5, the fan unit 5 includes: a casing 5A arranged in the internal space of the housing 11; a suction fan 5B provided inside the casing 5A; and a suction motor 5C that generates power to rotate the suction fan 5B. The casing 5A includes: an intake port 5D connected to the dust box 6; and an exhaust port 5E.

The suction motor 5C is driven by the electrical power supplied from the battery BT. In the case where the suction motor 5C is driven and the suction fan 5B rotates, an airflow is generated from the intake port 5D toward the exhaust port 5E. The intake port 5D is connected to the suction port 18 via the dust box 6. Upon the rotation of the suction fan 5B, an airflow is generated from the suction port 18 toward the exhaust port 5E. The generation of the airflow causes a suction force to be created at the suction port 18.

The dust box 6 is housed in the main body 2. The dust box 6 stores dust particles sucked in through the suction port 18. The dust box 6 is arranged in the internal space of the housing 11. The dust box 6 is arranged between the suction port 18 and the fan unit 5. The dust box 6 collects and stores the dust particles sucked in through the suction port 18.

As illustrated in FIG. 5, the dust box 6 includes: a main body member 6A; a tray member 6B arranged at the upper end of the main body member 6A; and an upper plate member 6C arranged at the upper end of the tray member 6B. An opening is provided at the upper end of the main body member 6A. The tray member 6B is arranged to close the opening at the upper end of the main body member 6A. An opening is provided at the upper end of the tray member 6B. The upper plate member 6C is arranged to close the opening at the upper end of the tray member 6B.

The dust box 6 has a storage space S inside. The dust from the suction port 18 is stored in the storage space S of the dust box 6. The storage space S includes: a lower storage space S1 defined between the main body member 6A and the tray member 6B; and an upper storage space S2 defined between the tray member 6B and the upper plate member 6C.

The dust box 6 includes: a lower recovery port 6D connected to the lower storage space S1 and configured to collect dust particles from the suction port 18; an upper recovery port 6E connected to the upper storage space S2 and configured to collect dust particles from the suction port 18; and an exhaust port 6F connected to the upper storage space S2 and configured to discharge air from the upper storage space S2.

The lower recovery port 6D is provided at the front part of the main body member 6A. The upper recovery port 6E is located above the lower recovery port 6D. The upper recovery port 6E is provided at the front part of the tray member 6B. The exhaust port 6F is arranged rearward of both the lower recovery port 6D and the upper recovery port 6E. The exhaust port 6F is provided at the rear part of the tray member 6B. The lower storage space S1 is connected to the suction port 18 via the lower recovery port 6D. The upper storage space S2 is connected to the suction port 18 via the upper recovery port 6E. The exhaust port 6F is connected to the intake port 5D of the fan unit 5. The fan unit 5 is connected to the suction port 18 via the exhaust port 6F and the upper storage space S2. A filter 6G that traps dust particles is arranged between the exhaust port 6F and the upper storage space S2.

The cover plate 11C is detachably attached to the upper housing 11A. The cover plate 11C is arranged to close an opening provided in the upper housing 11A. A user of the robot dust collector 1 can take out the dust box 6 from the internal space of the housing 11 through the opening of the upper housing 11A. The user of the robot dust collector 1 can place the dust box 6 in the internal space of the housing 11 through the opening of the upper housing 11A.

The casters 7 and the roller 8 each support the main body 2 in such a manner that allows the main body 2 to move. The casters 7 and the roller 8 each rotatably supported by the main body 2. Two such casters 7 in total are provided at the rear part of the bottom surface 2B. One of the two casters 7 is provided at the left part of the main body 2. The other caster 7 is provided at the right part of the main body 2. One such roller 8 in total is provided at the front part of the bottom surface 2B.

The traveling device 12 travels on the cleaning target surface FL so that the main body 2 including the bottom plate 11D moves in at least one of the forward or rearward directions. The traveling of the traveling device 12 allows the main body 2 to move at least one way forward and rearward. The traveling device 12 includes wheels 9 and wheel motors 10.

The wheels 9 support the main body 2 in such a manner that allows the main body 2 to move. The wheels 9 rotate about a wheel rotation axis extending in the left-right direction. At least a portion of each of the wheels 9 protrudes downward from the bottom surface 2B. With the wheels 9 placed on the cleaning target surface FL, the bottom surface 2B of the main body 2 faces the cleaning target surface FL with a gap therebetween. Two such wheels 9 in total are provided. One of the two wheels 9 is provided on the left side of the main body 2. The other wheel 9 is provided on the right side of the main body 2.

The wheel motors 10 generate power to rotate the wheels 9. The wheel motors 10 are driven by the electrical power supplied from the battery packs BT. The wheel motors 10 are arranged in the internal space of the housing 11. Two such wheel motors 10 in total are provided. One of the wheel motors 10 generates power to rotate the wheel 9 provided on the left side of the main body 2. The other wheel motor 10 generates power to rotate the wheel 9 provided on the right side of the main body 2. The robot dust collector 1 moves autonomously as the wheel 9 rotates.

The wheel motors 10 are capable of changing the rotation direction of the wheels 9. The robot dust collector 1 moves forward as the wheel 9 rotates in one direction. The robot dust collector 1 moves rearward as the wheels 9 rotate in the other direction. The two wheel motors 10 are capable of being driven with different amounts of driving force. The robot dust collector 1 turns as the two wheel motors 10 are driven with different amounts of driving force.

The main brush 13 is arranged at the suction port 18. The main brush 13 faces the cleaning target surface FL. The main brush 13 is elongated in the left-right direction. The main brush 13 rotates about a brush rotation axis extending in the left-right direction. The main brush 13 includes: a rod member 13R extending in the left-right direction; and a plurality of brushes 13B connected to the outer surface of the rod member 13R. The left and right ends of the rod member 13R are rotatably supported by the main body 2. The rod member 13R is supported by the main body 2 such that at least portions of the brushes 13B protrude downward from the bottom surface 2B. With the wheel 9 placed on the cleaning target surface FL, at least a portion of the main brush 13 makes contact the cleaning target surface FL.

The main brush motor 14 generates power to rotate the main brush 13. The main brush motor 14 is driven by the electrical power supplied from the battery packs BT. The main brush motor 14 is arranged in the internal space of the housing 11. The main brush motor 14 drives the main brush 13 to rotate. The rotation of the main brush 13 allows dust present on the cleaning target surface FL to be gathered up and sucked in through the suction port 18.

The side brushes 15 are arranged at the front part of the bottom surface 2B. The side brushes 15 face the cleaning target surface FL. At least a portion of the side brush 15 is arranged forward of the main body 2. Two such side brushes 15 in total are provided. One of the side brushes 15 is arranged to the left side of the suction port 18. The other side brush 15 is arranged to the right side of the suction port 18. The side brush 15 includes a disc member 15D and a plurality of brushes 15B radially connected to the disc member 15D. The disc member 15D is rotatably supported by the main body 2. The disc member 15D is supported by the main body 2 such that at least a portion of the brushes 15B protrudes outward beyond the lateral surface 2C. With the wheel 9 placed on the cleaning target surface FL, at least a portion of the side brush 15 makes contact with the cleaning target surface FL.

The side brush motors 16 generate power to rotate the side brushes 15. The side brush motors 16 are driven by the electrical power supplied from the battery packs BT. The side brush motors 16 are arranged in the internal space of the housing 11. The side brush motors 16 drive the side brushes 15 to rotate. The rotation of the side brushes 15 move dust present on the cleaning target surface FL around the main body 2 to the suction port 18.

The handle 17 is provided at the front part of the upper housing 11A. One end and the other end of the handle 17 are turnably coupled to the upper housing 11A. A user of the robot dust collector 1 can hold the handle 17 and lift the robot dust collector 1. The user of the robot dust collector 1 can carry the robot dust collector 1.

The interface device 20 is arranged at the rear part of the cover plate 11C. The interface device 20 has a plurality of operation units 20A and a plurality of display units 20B that are to be operated by a user of the robot dust collector 1. An example of the operation unit 20A of the interface device 20 is a power button. An example of the display unit 20B of the interface device 20 is a battery level indicator for displaying the remaining charge of the battery BT.

The obstacle sensors 19 detect, in a non-contact manner, an object located in at least a portion of an area surrounding the robot dust collector 1. The obstacle sensor 19 includes an ultrasonic sensor that detects the object by emitting ultrasonic waves. A plurality of such obstacle sensors 19 are provided at intervals on the lateral surface 2C of the main body 2. Based on detection data from the obstacle sensors 19, the control device 100 controls the wheel motors 10 to change the traveling direction of the traveling device 12 or stop traveling thereof so that the main body 2 or the bumper 3 can avoid making contact with the object. The control device 100 may change the traveling direction of the traveling device 12 or stop traveling thereof after the main body 2 or the bumper 3 comes into contact with the object.

Next, operation of the robot dust collector 1 is described. With the wheels 9 making contact with the cleaning target surface FL, the main brush 13 and the side brushes 15 make contact with the cleaning target surface FL. The electrical power output from the battery packs BT is supplied to the wheel motors 10, the suction motor 5C, the main brush motor 14, and the side brush motors 16.

When the wheels 9 rotate by having electrical power supplied to the wheel motors 10 from the battery packs BT with the wheels 9 making contact with the cleaning target surface FL, the robot dust collector 1 autonomously travels on the cleaning target surface FL.

When the suction fan 5B rotates with the electrical power supplied from the battery packs BT to the suction motor 5C, airflow is generated from the intake port 5D toward the exhaust port 5E. The intake port 5D is connected to the suction port 18 via the upper storage space S2 of the dust box 6. Thus, upon the rotation of the suction fan 5B, airflow is generated from the suction port 18 toward the exhaust port 5E via the upper storage space S2. As a results, suction force for sucking dust is generated at the suction port 18.

When the main brush 13 rotates with the electrical power supplied from the battery packs BT to the main brush motor 14, dust on the cleaning target surface FL is gathered up by the main brush 13. The suction port 18 sucks up at least some of the dust gathered up by the main brush 13.

When the side brushes 15 rotate with the electrical power supplied from the battery packs BT to the side brush motors 16, the side brushes 15 cause dust present on the cleaning target surface FL in an area surrounding the main body 2 to move to the suction port 18. The suction port 18 sucks in at least some of the dust caused by the side brushes 15 to move to the suction port 18 and gathered up by the main brush 13.

Relatively small or relatively light dust particles present on the cleaning target surface FL are sucked in through the suction port 18 and then sent into the upper storage space S2 via the upper recovery port 6E. The dust particles are stored in the upper storage space S2. A filter 6G is provided between the upper storage space S2 and the exhaust port 6F. Thus, the dust particles sent into the upper storage space S2 via the upper recovery port 6E are trapped by the filter 6G and stay in the upper storage space S2. Air sucked in through the suction port 18 passes through the filter 6G and is then sent to the fan unit 5 via the exhaust port 6F. Air sent to the fan unit 5 is discharged from the exhaust port 5E.

Relatively large or relatively heavy dust particles present on the cleaning target surface FL are gathered up by the main brush 13 and then sent into the lower storage space S1 via the lower recovery port 6D. The dust particles are stored in the lower storage space S1.

Detection Device

The detection device 30 detects an object around the robot dust collector 1. The detection device 30 is supported by the upper housing 11A. The detection device 30 is arranged at the rear part of the upper housing 11A. At least a portion of the detection device 30 is arranged above the top surface 2A of the main body 2. At least a portion of the detection device 30 is arranged in the internal space of the housing 11. As illustrated in FIGS. 5 and 6, a recess 21 is formed at the rear part of the upper housing 11A. At least a portion of the detection device 30 is arranged inside the recess 21.

FIG. 7 is a perspective view from above illustrating the detection device 30 according to the embodiment. FIG. 8 is a perspective view from below illustrating the detection device 30 according to the embodiment. FIG. 9 is a side view illustrating the detection device 30 according to the embodiment. FIG. 10 is a top view illustrating the detection device 30 according to the embodiment. FIG. 11 is a cross-sectional view illustrating the detection device 30 according to the embodiment. FIG. 12 is a cross-sectional view illustrating the detection device 30 according to the embodiment. FIG. 13 is an exploded perspective view from above illustrating the detection device 30 according to the embodiment. FIG. 14 is an exploded perspective view from below illustrating the detection device 30 according to the embodiment. FIG. 11 corresponds to the cross-sectional view taken along line A-A in FIG. 10. FIG. 12 corresponds to the cross-sectional view taken along line B-B in FIG. 9.

The detection device 30 includes: an optical sensor 40 that detects an object around the robot dust collector 1; a cover member 50 arranged at least partially around the optical sensor 40; a holder member 60 at least a portion of which is arranged downward of the optical sensor 40; horizontal biasing members 71 held by a housing 80; vertical biasing members 72 held by the holder member 60; a motion sensor 73 held by the holder member 60; the housing 80 at least a portion of which is arranged upward of the holder member 60; and a detection member 90 connected to the cover member 50.

Optical Sensor

The optical sensor 40 emits detection light to detect an object around the main body 2 in a non-contact manner. At least a portion of the optical sensor 40 is arranged upward of the top surface 2A of the main body 2. In the present embodiment, the optical sensor 40 includes a laser sensor (LIDAR: light detection and ranging) that detects an object by emitting a laser beam. The optical sensor 40 may include an infrared sensor that detects an object by emitting infrared light or a radar sensor (RADAR: radio detection and ranging) that detects an object by emitting radio waves.

FIG. 15 is a perspective view from above illustrating the optical sensor 40 according to the embodiment. FIG. 16 is a perspective cross-sectional view from above illustrating the optical sensor 40 according to the embodiment. FIG. 17 is a cross-sectional view illustrating the optical sensor 40 according to the embodiment.

As illustrated in FIGS. 15, 16, and 17, the optical sensor 40 includes a rotating body 41 that rotates about a rotation axis CX, a light emitter 42 held by the rotating body 41, a light receiver 43 held by the rotating body 41, and a support member 46 that supports the rotating body 41 in such a manner that allows the rotating body 41 to rotate.

The rotating body 41 includes a top plate portion 41A, a lateral plate portion 41B, and a holding plate portion 41C. The top plate portion 41A, the lateral plate portion 41B, and the holding plate portion 41C define an internal space of the rotating body 41. The light emitter 42 and the light receiver 43 are both arranged in the internal space of the rotating body 41. The top plate portion 41A is arranged above the light emitter 42 and the light receiver 43. The lateral plate portion 41B is arranged around the light emitter 42 and the light receiver 43. The lateral plate portion 41B has a first opening 41D through which the detection light emitted from the light emitter 42 passes, and a second opening 41E through which the detection light incident on the light receiver 43 passes. The holding plate portion 41C is arranged below the top plate portion 41A and the lateral plate portion 41B. The light emitter 42 and the light receiver 43 are held by the holding plate portion 41C.

The rotating body 41 rotates with the light emitter 42 and the light receiver 43 held therein. The rotation axis CX of the rotating body 41 is perpendicular to the top surface 2A of the main body 2. The rotation axis CX extends in the up-down direction. In the cross-section perpendicular to the rotation axis CX, the outer shape of the rotating body 41 is circular. In the present embodiment, the rotating body 41 rotates in a rotation direction indicated by the arrow in FIG. 17.

The light emitter 42 is held by the rotating body 41. The light emitter 42 emits detection light. The light emitter 42 emits a laser beam as the detection light. The light emitter 42 has a light-emitting surface 44 from which the detection light is emitted. The detection light emitted from the light-emitting surface 44 passes through openings provided in the cover member 50 and is applied to an object around the main body 2. As described later, the cover member 50 has a plurality of leg portions 52. The openings in the cover member 50 are defined between the adjacent leg portions 52.

The light receiver 43 is held by the rotating body 41. The light receiver 43 receives at least a portion of the detection light emitted from the light emitter 42. The light receiver 43 has a light-receiving surface 45 that the detection light enters. At least a portion of the detection light emitted from the light emitter 42 and applied to the object is reflected by the object. The detection light reflected by the object passes through the openings provided in the cover member 50 and enters the light-receiving surface 45. The light reception data obtained by the light receiver 43 is transmitted to the control device 100 via a signal line 47. The control device 100 detects whether an object is present around the main body 2 based on the detection light received by the light receiver 43. The control device 100 detects the distance to the object based on the detection light received by the light receiver 43.

The light-emitting surface 44 and the light-receiving surface 45 are arranged above the top surface 2A of the main body 2 (housing 11). The detection light emitted forward from the light-emitting surface 44 passes through a space above the top surface 2A of the main body 2 and is applied to the object around the main body 2. When the detection light is applied to the object around the main body 2, the detection light reflected by the object passes through the space above the top surface 2A of the main body 2 and enters the light-receiving surface 45. The optical sensor 40 can detect an object around the main body 2 without being obstructed by the main body 2.

The light emitter 42 and the light receiver 43 are fixed to the rotating body 41. The rotating body 41 rotates about the rotation axis CX with the light emitter 42 and the light receiver 43 held therein. The light emitter 42 emits the detection light while the rotating body 41 is rotating. The light receiver 43 receives the detection light while the rotating body 41 is rotating. When the light emitter 42 emits the detection light while the rotating body 41 is rotating, the detection light is applied to an object around the main body 2. The control device 100 can detect an object around the main body 2 based on the detection light received by the light receiver 43.

The support member 46 supports the rotating body 41 in such a manner that allows the rotating body 41 to rotate. The rotating body 41 rotates about the rotation axis CX while being supported by the support member 46. The support member 46 is arranged in the internal space of the housing 11. The support member 46 is fixed to the holder member 60. The holder member 60 is fixed to at least a portion of the upper housing 11A. The fixation of the support member 46 to the holder member 60 prevents the relative position between the rotating body 41 that holds the light emitter 42 and the receiver 43 and the housing 11 from varying in the left-right direction, the front-rear direction, and the up-down direction. In other words, the optical sensor 40 is prevented from displacing relative to the housing 11 in the left-right direction, the front-rear direction, and the up-down direction.

Cover Member

FIG. 18 is a perspective view from above illustrating the cover member 50 according to the embodiment. FIG. 19 is a perspective view from below illustrating the cover member 50 according to the embodiment. FIG. 20 is a top view illustrating the cover member 50 according to the embodiment. FIG. 21 is a side view illustrating the cover member 50 according to the embodiment. FIG. 22 is a cross-sectional view illustrating the cover member 50 according to the embodiment.

The cover member 50 is arranged to cover at least a portion of the optical sensor 40. The cover member 50 protects the optical sensor 40. The cover member 50 is displaceable relative to the optical sensor 40. The cover member 50 moves linearly upon making contact with an object. The cover member 50 is capable of linearly moving in the horizontal direction. The cover member 50 is capable of linearly moving rearward. The cover member 50 is capable of linearly moving left rearward. The cover member 50 is capable of linearly moving right rearward. The cover member 50 is capable of linearly moving rearward and downward.

The cover member 50 includes an upper plate portion 51, leg portions 52, a tubular portion 53, first support portions 54, protruding portion 55s, slider openings 56, and slider portions 57.

The upper plate portion 51 is arranged upward of the optical sensor 40. The upper plate portion 51 protects the rotating body 41. In a plane perpendicular to the rotation axis CX, the outer shape of the upper plate portion 51 is larger than the outer shape of the rotating body 41. A buffer member 58 is arranged on the lateral side of the upper plate portion 51. The buffer member 58 is annular. The buffer member 58 absorbs the impact acting on the cover member 50 when the cover member 50 collides with an object present around the robot dust collector 1. The buffer member 58 also suppresses damage to an object when the cover member 50 collides with the object present around the robot dust collector 1. The buffer member 58 is formed of an elastic material such as rubber.

The leg portions 52 support the upper plate portion 51. The leg portions 52 are arranged below the upper plate portion 51. A plurality of such leg portions 52 in total are provided around the rotating body 41 at intervals. In the present embodiment, four such leg portions 52 in total are provided around the rotating body 41. The detection light from the optical sensor 40 can pass through openings defined between adjacent ones of the leg portions 52.

The tubular portion 53 supports the leg portions 52. The tubular portion 53 is arranged below the leg portions 52. At least a portion of the tubular portion 53 is arranged around the rotating body 41. In a plane perpendicular to the rotation axis CX, the outer shape of the tubular portion 53 is circular. The diameter of the tubular portion 53 is larger than the diameter of the rotating body 41.

The first support portions 54 extend downward from the front part of the tubular portion 53. The first support portions 54 each have a columnar shape. At least one first support portion 54 is provided in the left-right direction. In the present embodiment, two such first support portions 54 are provided in total in the left-right direction. Alternatively, three or more such support portions 54 in total may be provided in the left-right direction. The two first support portions 54 are arranged at an interval in the left-right direction.

The protruding portions 55 protrude rearward from the rear part of the tubular portion 53. Two such protruding portions 55 are provided in total. One of the two protruding portions 55 is provided to protrude from the rear and left portion of the tubular portion 53 radially outward of the rotation axis CX. The other protruding portion 55 is provided to protrude from the rear and right portion of the tubular portion 53 radially outward of the rotation axis CX.

The slider openings 56 are provided in the protruding portions 55, respectively. One slider opening 56 is provided in one protruding portion 55, and the other slider opening 56 is provided in the other protruding portion 55. In a plane perpendicular to the rotation axis CX, the slider opening 56 is substantially triangular in shape. As illustrated in FIG. 20, the slider opening 56 includes a slider apex portion 56A and a pair of slider straight portions 56B extending forward from the slider apex portion 56A. The relative distance between the left-side slider straight portion 56B and the right-side slider straight portion 56B increases toward the front.

The slider portions 57 are provided on the underside of the tubular portion 53. The slider portions 57 protrude downward from the underside of the tubular portion 53. At least a portion of the underside of the slider portion 57 is inclined downward toward the rear. A plurality of such slider portions 57 are provided around the optical sensor 40. In the present embodiment, the slider portions 57 includes a first slider portion 57A arranged at the front part of the tubular portion 53, a second slider portion 57B arranged in the left portion of the tubular portion 53, and a third slider portion 57C arranged in the right portion of the tubular portion 53.

Holder Member

FIG. 23 is a perspective view from above illustrating the holder member 60 according to the embodiment. FIG. 24 is a perspective view from below illustrating the holder member 60 according to the embodiment. FIG. 25 is a top view illustrating the holder member 60 according to the embodiment. FIG. 26 is a cross-sectional view illustrating the holder member 60 according to the embodiment.

The holder member 60 holds the optical sensor 40 from below. The holder member 60 supports the cover member 50 in such a manner that allows the cover member 50 to linearly move. The holder member 60 holds the vertical biasing member 72. The holder member 60 holds the motion sensor 73.

The holder member 60 is fixed to the upper housing 11A. The holder member 60 includes a base portion 61, screw boss portions 62, horizontal biasing member-accommodating portions 63, vertical biasing member holding portions 64, a sensor-holding portion 65, guide openings 66, guide portions 67, and a front-rear guide portion 69.

The base portion 61 holds the support member 46 of the optical sensor 40 from below. The support member 46 is fixed to the top surface of the base portion 61. A plurality of screw openings 68 are provided in the base portion 61. As illustrated in FIG. 14, a plurality of screw holes 48 are provided in the underside of the support member 46. The support member 46 and the base portion 61 are fixed by screws 22. The screws 22 are inserted into the respective screw holes 48 through the screw openings 68. The threads of the screws 22 engage with the threaded grooves of the screw holes 48, thereby securing the support member 46 to the base portion 61.

The screw boss portions 62 are provided on the peripheral edge of the base portion 61. In the present embodiment, four such screw boss portions 62 in total are provided on the peripheral edge of the base portion 61.

The horizontal biasing member-accommodating portions 63 accommodates the respective horizontal biasing members 71. The horizontal biasing member-accommodating portions 63 are provided on the rear part of the base portion 61. In the present embodiment, two such horizontal biasing member-accommodating portions 63 are provided in total at a distance in the left-right direction at the rear part of the base portion 61.

The vertical biasing member holding portions 64 hold the respective vertical biasing members 72. The vertical biasing member holding portions 64 are provided on the top surface of the base portion 61. A plurality of such vertical biasing member holding portions 64 are provided around the optical sensor 40. In the present embodiment, three such vertical biasing member holding portions 64 are provided at a distance around the optical sensor 40.

The sensor-holding portion 65 holds the motion sensor 73. The sensor-holding portion 65 is provided on the underside of the base portion 61.

The guide openings 66 are provided at the front part of the base portion 61. Two such guide openings 66 are provided with a gap in the left-right direction. In a plane perpendicular to the rotation axis CX, the guide openings 66 are substantially triangular. As illustrated in FIG. 25, the guide opening 66 includes a guide apex portion 66A and a pair of guide straight portions 66B extending rearward from the guide apex portion 66A. The relative distance between the left-side guide straight portion 66B and the right-side guide straight portion 66B increases toward the rear.

The guide portions 67 is provided on the top surface of the base portion 61. The guide portions 67 protrude upward from the top surface of the base portion 61. At least a portion of the top surface of the guide portion 67 is inclined downward toward the rear. A plurality of such guide portions 67 are provided around the optical sensor 40. In the present embodiment, the guide portions 67 includes a first guide portion 67A arranged at the front part of the base portion 61, a second guide portion 67B arranged in the left portion of the base portion 61, and a third guide portion 67C arranged in the right portion of the base portion 61.

The guide portions 67 are contactable with the respective slider portions 57. The first guide portion 67A comes into contact with the first slider portion 57A, the second guide portion 67B comes into contact with the second slider portion 57B, and the third guide portion 67C comes into contact with the third slider portion 57C. The guide portions 67 guide the slider portions 57 such that the cover member 50 moves linearly in an inclined direction toward the rear and downward.

The front-rear guide portion 69 guides the detection member 90 in the front-rear direction. The front-rear guide portion 69 is arranged on the underside of the base portion 61.

Vertical Biasing Member

The vertical biasing members 72 are arranged downward of at least a portion of the cover member 50. The vertical biasing members 72 bias the cover member 50 upward. In the present embodiment, each of the vertical biasing members 72 is a leaf spring. The vertical biasing members 72 are held by the respective vertical biasing member holding portions 64. The vertical biasing members 72 are contactable with the underside of the tubular portion 53 of the cover member 50. Three such vertical biasing members 72 are arranged below the tubular portion 53 and spaced apart in the circumferential direction of the rotation axis CX.

Motion Sensor

The motion sensor 73 detects the movement of the detection member 90. The motion sensor 73 is arranged on the underside of the base portion 61. The motion sensor 73 is held by the sensor-holding portion 65. The motion sensor 73 is an optical sensor that emits detection light and detects the detection member 90 in a non-contact manner. The motion sensor 73 includes an emission portion 73A that emits detection light and a light-receiving portion 73B that is capable of receiving the detection light. The emission portion 73A and the light-receiving portion 73B are arranged in the left-right direction. The emission portion 73A and the light-receiving portion 73B face each other with a gap therebetween. The motion sensor 73 is arranged in the internal space of the main body 2 (housing 11).

Housing

FIG. 27 is a perspective view from above illustrating the housing 80 according to the embodiment. FIG. 28 is a perspective view from below illustrating the housing 80 according to the embodiment.

The housing 80 is fixed to the holder member 60. The housing 80 holds the horizontal biasing members 71. The housing 80 has an upper plate portion 81, a lateral plate portion 82, connecting portions 83, screw boss portions 84, second support portions 85, and horizontal biasing member holding portions 86.

The upper plate portion 81 is arranged around the cover member 50. The upper plate portion 81 is arranged around the tubular portion 53. An opening in which the cover member 50 is arranged is provided in the center of the upper plate portion 81. The upper plate portion 81 and the cover member 50 are separated from each other.

The lateral plate portion 82 is arranged so as to extend downward from the peripheral edge of the upper plate portion 81. The lateral plate portion 82 is provided so as to surround the holder member 60.

The connecting portions 83 are arranged at the front part of the housing 80. The connecting portions 83 are connected to the upper housing 11A.

The screw boss portions 84 are provided at the peripheral edge of the upper plate portion 81. The screw boss portions 84 protrude downward from the peripheral edge of the upper plate portion 81. In the present embodiment, four such screw boss portions 84 are provided on the peripheral edge of the upper plate portion 81.

The holder member 60 and the housing 80 are fixed together by screws 23. Screw openings are provided in the respective screw boss portions 62 of the holder member 60. Screw holes are provided in the respective screw boss portions 84 of the housing 80. The screws 23 are inserted into the screw holes of the screw boss portions 84 through the screw openings of the screw boss portions 62, respectively. Engaging the threads of the screws 23 with the threaded grooves of the screw boss portions 84 allows the holder member 60 and the housing 80 to be fixed together.

The second support portions 85 extend downward from the rear part of the underside of the upper plate portion 81. The second support portions 85 each has a columnar shape. One or more such second support portions 85 are provided. In the present embodiment, two such second support portions 85 are provided in the left-right direction. Alternatively, three or more such second support portions 85 may be provided in the left-right direction. The two second support portions 85 are arranged with a gap therebetween in the left-right direction.

The horizontal biasing member holding portions 86 hold the respective horizontal biasing members 71. The horizontal biasing member holding portions 86 are provided on the lateral plate portion 82 at a position facing the rear surface of the holder member 60.

Horizontal Biasing Member

With the housing 80 fixed to the holder member 60, the horizontal biasing members 71 are arranged rearward of the cover member 50. The horizontal biasing members 71 bias the cover member 50 forward. In the present embodiment, each of the horizontal biasing members 71 is a leaf spring. The horizontal biasing members 71 are held by the respective horizontal biasing member holding portions 86. The horizontal biasing members 71 are contactable with the rear surface of the tubular portion 53 of the cover member 50. Two such horizontal biasing members 71 in total are arranged rearward of the tubular portion 53 and spaced apart in the left-right direction. With the housing 80 fixed to the holder member 60, the horizontal biasing members 71 are accommodated in the respective horizontal biasing member-accommodating portions 63.

Detection Member

At least a portion of the detection member 90 is arranged downward of the holder member 60. At least a portion of the detection member 90 faces the underside of the holder member 60.

The detection member 90 is connected to the cover member 50. The detection member 90 moves linearly in conjunction with the cover member 50. The detection member 90 moves linearly rearward.

The cover member 50 moves linearly in the horizontal direction upon making contact with an object. Upon making contact with an object, the cover member 50 moves linearly in one of the horizontal directions of rearward, rearward and left, or rearward and right. The detection member 90 moves linearly rearward in conjunction with the cover member 50 moving in the horizontal direction.

The cover member 50 moves linearly in an inclined direction of rearward and downward upon making contact with an object. The detection member 90 moves linearly rearward in conjunction with the cover member 50 moving in the inclined direction.

The detection member 90 includes a connecting plate portion 91, a rib portion 92, and elongated holes 93 provided in the connecting plate portion 91.

The connecting plate portion 91 is arranged at the front part of the detection member 90. The connecting plate portion 91 is elongated in the left-right direction.

The rib portion 92 extends rearward from the connecting plate portion 91. The rib portion 92 is guided in the front-rear direction by the front-rear guide portion 69. As the detection member 90 moves rearward, the rib portion 92 enters between the emission portion 73A and the light-receiving portion 73B. The emission portion 73A emits detection light toward the light-receiving portion 73B. The gap between the emission portion 73A and the light-receiving portion 73B includes the optical path of the detection light emitted from the emission portion 73A. As the detection member 90 moves linearly rearward, the detection member 90 enters the optical path of the detection light of the motion sensor 73.

The elongated holes 93 are provided in the connecting plate portion 91. The elongated holes 93 are elongated in the left-right direction. Two such elongated holes 93 in total are provided with an interval in the left-right direction.

Relationship between Cover Member, Holder Member, Housing, and Detection Member

As described above, the holder member 60 is fixed to the upper housing 11A. The holder member 60 and the housing 80 are fixed by the screws 23. The cover member 50 is supported by the holder member 60 to be linearly movable. The detection member 90 is connected to the cover member 50. The detection member 90 moves linearly rearward in conjunction with the linearly moving cover member 50.

The first support portions 54 of the cover member 50 are inserted into the respective guide openings 66 of the holder member 60. The left-side first support portion 54 is inserted into the left-side guide opening 66, and the right-side first support portion 54 is inserted into the right-side guide opening 66. The guide opening 66 has a diameter larger than the outer diameter of the first support portion 54. The first support portions 54 are movable inside the respective guide openings 66.

The connecting plate portion 91 of the detection member 90 is arranged downward of the base portion 61 of the holder member 60. The elongated holes 93 of the detection member 90 are arranged directly below the guide openings 66 of the holder member 60. In a plane perpendicular to the rotation axis CX, at least a portion of the guide opening 66 overlaps with the elongated hole 93. The first support portions 54 are inserted into the respective guide openings 66 and the respective elongated holes 93. The left-side first support portion 54 is inserted into the left-side elongated hole 93, and the right-side first support portion 54 is inserted into the right-side elongated hole 93. The insertion of the first support portions 54 into the elongated holes 93 allows the detection member 90 and the cover member 50 to be connected. The elongated holes 93 each has a diameter larger than the outer diameter of the first support portion 54. The first support portions 54 are movable inside the respective elongated holes 93.

Screws 24 are inserted into the elongated holes 93 from below of the elongated holes 93. The screws 24 are inserted into screw holes 59 provided at the lower ends of the first support portions 54. Washers 25 are arranged around the respective screws 24. The washers 25 are arranged below the connecting plate portion 91. The washers 25 prevent the detection member 90 from falling.

The second support portions 85 of the housing 80 are inserted into the respective slider openings 56 of the cover member 50. The left-side second support portion 85 is inserted into the left-side slider opening 56, and the right-side second support portion 85 is inserted into the right-side slider opening 56. The slider opening 56 has a diameter larger than the outer diameter of the second support portion 85. The slider openings 56 are movable relative to the second support portions 85.

The cover member 50 and the detection member 90 are movable relative to the holder member 60 and the housing 80. The guide opening 66 has a diameter larger than the outer diameter of the first support portion 54, and the slider opening 56 has a diameter larger than the outer diameter of the second support portion 85. The movable range of the cover member 50 in the horizontal direction is determined by the guide opening 66 and the slider opening 56.

Operation

The operation of the cover member 50 and the detection member 90 according to the present embodiment is now described. FIGS. 29, 30, and 31 are diagrams illustrated to describe the operation of the cover member 50 according to the embodiment. In each of FIGS. 29, 30, and 31, the diagrammatic view on the left is an external view of the detection device 30 seen from above, and the diagrammatic view on the right corresponds to the cross-sectional view of line C-C in FIG. 9. FIG. 29 illustrates a normal condition in which no external force is acting on the cover member 50. FIG. 30 illustrates a state in which an object (obstacle) comes into contact with the front part of the cover member 50 and the cover member 50 is pushed rearward. FIG. 31 illustrates a state in which an object (obstacle) comes into contact with the right part of the cover member 50 and the cover member 50 is pushed leftward.

As illustrated in FIG. 29, in a normal condition where no external force is acting on the cover member 50, the cover member 50 is biased forward by the horizontal biasing members 71. Thus, each of the first support portions 54 is pressed against the guide apex portion 66A at the front end of the guide opening 66, and the slider apex portion 56A at the rear end of the slider opening 56 is pressed against the second support portion 85, thereby positioning the cover member 50 in place.

As illustrated in FIG. 30 and FIG. 31, when the cover member 50 is pushed horizontally by an obstacle, the first support portion 54 is guided by the guide opening 66 such that the cover member 50 moves linearly in the horizontal direction. The guidance to the second support portion 85 by the slider opening 56 moves the cover member 50 to move linearly in the horizontal direction.

As illustrated in FIG. 30, when the cover member 50 is pushed rearward by an obstacle, the first support portion 54 is pressed against the rear end of the guide opening 66 against the biasing force of the horizontal biasing member 71, and the cover member 50 moves linearly rearward until the front end of the slider opening 56 is pressed against the second support portion 85. As the cover member 50 moves rearward, the detection member 90 also moves rearward. The detection member 90 moves rearward while being guided by the front-rear guide portion 69.

As illustrated in FIG. 31, when the cover member 50 is pushed leftward by an obstacle, the first support portion 54 moves left rearward against the biasing force of the horizontal biasing member 71 while being guided by the left-side guide straight portion 66B of the guide opening 66, and the slider opening 56 moves left rearward with the right-side slider straight portion 56B in contact with the second support portion 85. The cover member 50 linearly moves left rearward until the first support portion 54 is pressed against the guide apex portion at the left rearward end of the guide opening 66 and the slider apex portion at the right front end of the slider opening 56 is pressed against the second support portion 85. The linear movement of the cover member 50 to the left rearward moves the detection member 90 linearly to the rear. The front-rear guide portion 69 that guides the rib portion 92 rearward is provided on the underside of the holder member 60. In addition, the first support portion 54 is inserted into the elongated hole 93 that is elongated in the left-right direction. Thus, in the case where the cover member 50 moves linearly left rearward, the first support portion 54 moves rearward while moving to the left inside the elongated hole 93. As a result, even if the cover member 50 moves left rearward, the detection member 90 does not move left rearward but moves linearly rearward.

Although not illustrated, upon the cover member 50 being pushed rightward by an obstacle, the first support portion 54 moves right rearward against the biasing force of the horizontal biasing member 71 while being guided by the right-side guide straight portion 66B of the guide opening 66, and the slider opening 56 moves right rearward while keeping the left-side slider straight portion 56B in contact with the second support portion 85. The cover member 50 moves linearly right rearward until the first support portion 54 is pressed against the guide apex portion at the right rearward end of the guide opening 66 and the slider apex portion at the left front end of the slider opening 56 is pressed against the second support portion 85. The linear movement of the cover member 50 right rearward moves the detection member 90 linearly to the rear. The front-rear guide portion 69 that guides the rib portion 92 rearward is provided on the underside of the holder member 60. In addition, the first support portion 54 is inserted into the elongated hole 93 that is elongated in the left-right direction. Thus, when the cover member 50 moves linearly right rearward, the first support portion 54 moves rearward while moving to the right inside the elongated hole 93. As a result, even if the cover member 50 moves right rearward, the detection member 90 does not move right rearward but moves linearly rearward.

FIG. 32 is a diagram illustrated to describe the operation of the cover member 50 according to the embodiment. FIG. 32 corresponds to the cross-sectional view of line D-D in FIG. 10. In FIG. 32, the diagrammatic view on the left illustrates a normal condition in which no external force is acting on the cover member 50. The diagrammatic view on the right illustrates the state in which an object (obstacle) comes into contact with the upper portion of the cover member 50, causing the cover member 50 to be pushed downward.

In the normal condition in which no external force is acting on the cover member 50, the cover member 50 is biased forward by the vertical biasing member 72. The cover member 50 is positioned at the upper end of the movable range of the cover member 50.

Upon the cover member 50 being pushed downward by an obstacle, the cover member 50 moves linearly in an inclined direction toward the rear and downward against the biasing force of the vertical biasing member 72. The guide portion 67 guide the slider portion 57 such that the cover member 50 moves linearly in the inclined direction.

FIGS. 33 and 34 are diagrams illustrated to describe the operation of the detection member 90 according to the embodiment. FIG. 33 is an external view of a portion of the detection device 30 including the detection member 90, as seen from below. FIG. 34 is a cross-sectional view illustrating a portion of the detection device 30 including the detection member 90. In each of FIGS. 33 and 34, the diagrammatic view on the left illustrates the normal condition in which no external force is acting on the cover member 50, and the diagrammatic view on the right illustrates the collision detection condition in which an object (obstacle) comes into contact with the cover member 50 and the detection member 90 moves linearly rearward.

In the normal condition, the detection member 90 is positioned at the front end of the movable range of the detection member 90. With the detection member 90 positioned at the front end of the movable range of the detection member 90, the detection member 90 is retracted from a position between the emission portion 73A and the light-receiving portion 73B. The detection light emitted from the emission portion 73A is received by the light-receiving portion 73B.

As described above, in each case where the cover member 50 is pushed horizontally and is pushed downward by an obstacle, the detection member 90 moves linearly rearward. In the collision detection condition in which the detection member 90 moves linearly rearward, the detection member 90 moves linearly rearward from the front end of the movable range of the detection member 90. When the detection member 90 moves linearly rearward, the rib portion 92 enters between the emission portion 73A and the light-receiving portion 73B. In other words, the rib portion 92 enters the optical path of the detection light of the motion sensor 73. When the rib portion 92 enters the optical path of the detection light of the motion sensor 73, the detection light emitted from the emission portion 73A no longer reaches the light-receiving portion 73B. Specifically, the entrance of the rib portion 92 into the optical path of the detection light of the motion sensor 73 prevents the light-receiving portion 73B from receiving the detection light. The motion sensor 73 is capable of detecting contact (collision) between the cover member 50 of the detection device 30 and an object based on whether the light-receiving portion 73B receives the detection light.

The control device 100 is capable of determining whether the cover member 50 comes into contact (collision) with an object based on whether the light-receiving portion 73B receives the detection light. When the control device 100 determines that the cover member 50 and the object have come into contact, the control device 100 is capable of performing an avoidance operation to prevent the robot dust collector 1 from entering the space under the object. The control device 100 is capable of controlling the wheel motors 10 to change the traveling direction of the traveling device 12 or stop traveling thereof so that the robot dust collector 1 is prevented from entering the space under the object.

Effects

As described above, In the embodiment, the detection device 30 is provided in the robot dust collector 1. The detection device 30 includes: the optical sensor 40 that detects the presence of an object around the robot dust collector 1; the cover member 50 that is arranged on at least partially around the optical sensor 40 and moves linearly; the detection member 90 that moves linearly in conjunction with the cover member 50; and the motion sensor 73 that detects the movement of the detection member 90.

In the configuration described above, in the case where the cover member 50 comes into contact with an object, the cover member 50 moves linearly due to the external force received from the object. This linear movement of the cover member 50 causes the detection member 90 to move linearly in conjunction with the cover member 50. The detection of the linear movement of the detection member 90 by the motion sensor 73 allows the detection device 30 to detect the contact between the cover member 50 and the object.

In the embodiment, the detection member 90 moves linearly rearward.

In the configuration described above, in the case where the robot dust collector 1 performs cleaning work on the cleaning target surface FL while moving forward or turning, an object is more likely to come into contact with the front part of the cover member 50. In the case where the robot dust collector 1 turns, it is highly likely that the object will come into contact with the lateral part of the cover member 50. When the object comes into contact with the front part of the cover member 50, the cover member 50 is guided rearward and moves linearly rearward. When an object comes into contact with the lateral part of the cover member 50, the cover member 50 is guided left rearward or right rearward and moves linearly left rearward or right rearward. The detection member 90 is capable of moving linearly rearward in conjunction with the cover member 50, which moves linearly rearward, left rearward, or right rearward.

In the embodiment, the detection device 30 includes the holder member 60 that supports the cover member 50 such that the cover member 50 is linearly movable. At least a portion of the holder member 60 is arranged downward of the optical sensor 40.

In the configuration described above, the cover member 50 is supported by the holder member 60 to be linearly movable.

In the embodiment, the motion sensor 73 is held by the holder member 60.

In the configuration described above, the cover member 50 is supported by the holder member 60, and the motion sensor 73 is held by the holder member 60, so an increase in the number of components of the detection device 30 is prevented.

In the embodiment, the holder member 60 includes the sensor-holding portion 65 that holds the motion sensor 73. The sensor-holding portion 65 is provided on the underside of the holder member 60.

In the configuration described above, the motion sensor 73 is arranged on the lower side of the holder member 60, so the motion sensor 73 is protected by the holder member 60, preventing contact between the motion sensor 73 and an object. This prevention of contact between the object and the motion sensor 73 allows the motion sensor 73 to be protected, resulting in suppressing deterioration of the motion sensor 73.

In the embodiment, the motion sensor 73 is a non-contact sensor that emits detection light. As the detection member 90 moves linearly rearward, the detection member 90 enters the optical path of the detection light.

In the configuration described above, the entrance of the detection member 90 into the optical path of the detection light enables the motion sensor 73 to detect that the detection member 90 has moved linearly rearward.

In the embodiment, the cover member 50 moves linearly in the horizontal direction upon coming into contact with an object. The detection member 90 moves linearly rearward in conjunction with the cover member 50.

In the configuration described above, the detection member 90 moves linearly rearward no matter in which direction the cover member 50 moves linearly rearward, left rearward, or right rearward due to collision with an object. Thus, the motion sensor 73 is capable of detecting the linear movement of the detection member 90 no matter in which direction the cover member 50 moves linearly.

In the embodiment, the cover member 50 includes the first support portion 54. The holder member 60 has the guide opening 66 into which the first support portion 54 is inserted and which has a diameter larger than the outer diameter of the first support portion 54. The guide opening 66 guides the first support portion 54 such that the cover member 50 moves linearly in the horizontal direction.

In the configuration described above, the outer diameter of the first support portion 54 is smaller than the diameter of the guide opening 66, so the first support portion 54 is capable of moving inside the guide opening 66. Thus, the cover member 50 is capable of moving relative to the holder member 60. The guidance of the first support portion 54 to the guide opening 66 allows the cover member 50 to move linearly in the horizontal direction.

In the embodiment, the detection member 90 has the elongated hole 93 that is elongated in the left-right direction and into which the first support portion 54 is inserted.

In the configuration described above, in the case where the first support portion 54 moves linearly left rearward or right rearward, the first support portion 54 is capable of moving left or right inside the elongated hole 93. Thus, even if the first support portion 54 moves linearly left rearward or right rearward, the detection member 90 is capable of moving linearly rearward.

In the embodiment, the detection device 30 includes the housing 80 at least a portion of which is arranged above the holder member 60 and which is fixed to the holder member 60. The housing 80 includes the second support portion 85. The cover member 50 has the slider opening 56 into which the second support portion 85 is inserted and which has a diameter larger than the outer diameter of the second support portion 85. The slider opening 56 is guided by the second support portion 85 such that the cover member 50 moves linearly in the horizontal direction.

In the configuration described above, the outer diameter of the second support portion 85 is smaller than the diameter of the slider opening 56, so the slider opening 56 is capable of moving relative to the second support portion 85. Thus, the cover member 50 is capable of moving relative to the holder member 60. The slider opening 56 slides relative to the second support portion 85, allowing the cover member 50 to move linearly in the horizontal direction.

In the embodiment, the first support portion 54 has a columnar shape. The guide opening 66 includes the guide apex portion 66A and the pair of guide straight portions 66B extending rearward from the guide apex portion 66A.

In the configuration described above, the first support portion 54 is guided by the left-side guide straight portion 66B, allowing the cover member 50 to move linearly left rearward. The first support portion 54 is guided by the right-side guide straight portion 66B, allowing the cover member 50 to move linearly right rearward.

In the embodiment, the second support portion 85 has a columnar shape. The slider opening 56 includes the slider apex portion 56A and the pair of slider straight portions 56B extending forward from the slider apex portion 56A.

In the configuration described above, the right-side slider straight portion 56B slides while in contact with the second support portion 85, allowing the cover member 50 to move linearly left rearward. The left-side slider straight portion 56B slides while in contact with the second support portion 85, allowing the cover member 50 to move linearly right rearward.

In the embodiment, one or more first support portions and two or more second support portions may be provided in a left-right direction, or two or more first support portions and one or more second support portion may be provided in the lest-right direction.

In the configuration described above, the cover member 50 is capable of moving linearly and stably in the horizontal direction.

In the embodiment, the cover member 50 moves linearly in an inclined direction directed rearward and downward upon coming into contact with an object. The detection member 90 moves linearly rearward in conjunction with the cover member 50.

In the configuration described above, even if the cover member 50 moves linearly downward and rearward upon a collision with an object, the detection member 90 moves linearly rearward. Thus, the motion sensor 73 is capable of detecting the linear movement of the detection member 90 no matter in which direction the cover member 50 moves linearly.

In the embodiment, the cover member 50 includes the slider portion 57. The holder member 60 includes the guide portion 67. The guide portion 67 guides the slider portion 57 such that the cover member 50 moves linearly in the inclined direction.

In the configuration described above, the cover member 50 is capable of moving linearly downward and rearward stably.

In the embodiment, a plurality of the guide portions 67 is provided around the optical sensor 40.

In the configuration described above, the cover member 50 is capable of moving linearly downward and rearward stably.

In the embodiment, the detection device 30 includes the horizontal biasing member 71 that is held by the housing 80 and biases the cover member 50 forward.

In the configuration described above, when no external force is acting on the cover member 50, the cover member 50 is positioned at the front end of the movable range of the cover member 50.

In the embodiment, the detection device 30 includes the vertical biasing member 72 that is held by the holder member 60 and biases the cover member 50 upward.

In the configuration described above, when no external force is acting on the cover member 50, the cover member 50 is positioned at the upper end of the movable range of the cover member 50.

In the embodiment, the robot dust collector 1 includes the main body 2 and the detection device 30 mentioned above. At least a portion of the optical sensor 40 is arranged upward of the top surface 2A of the main body 2. The motion sensor 73 is arranged in the internal space of the main body 2.

In the configuration described above, at least a portion of the optical sensor 40 is arranged upward of the top surface of the main body 2, so the optical sensor 40 is capable of detecting an object around the main body. The motion sensor 73 is arranged in the internal space of the main body 2, so the motion sensor 73 is protected. In addition, the adhesion of foreign substances to the motion sensor 73 is prevented.

Other Embodiments

In the embodiments described above, the motion sensor 73 is a non-contact sensor that detects the movement of the detection member 90 in a non-contact manner. The motion sensor 73 may be a contact sensor that detects the movement of the detection member 90 based on the presence or absence of contact with the detection member 90.

Although the invention has been described with respect to specific embodiments for a complete and clear disclosure, the appended claims are not to be thus limited but are to be construed as embodying all modifications and alternative constructions that may occur to one skilled in the art that fairly fall within the basic teaching herein set forth.