Self-propelled dust-collecting robot and reflection member, and method for controlling running of self-propelled dust-collecting robot

• US 10,588,475 B2
• Filed: 09/27/2016
• Issued: 03/17/2020
• Est. Priority Date: 10/27/2015
• Status: Active Grant

• Current Assignee: Makita Corporation
• Original Assignee: Makita Corporation
• Inventors: Koura, Kentaro, Shinma, Yasutoshi
• Primary Examiner(s): Holloway, Jason
• Application Number:
  US15/277,157
• Publication Number:
  US 20170112344A1
• Time in Patent Office: 1,267 Days
• CPC Class Codes: A47L 11/4008 Arrangements of switches, indicators or the like
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4013 Contaminants collecting devices, i.e. hoppers, tanks or the like
• CPC Class Codes: A47L 11/4038 Disk shaped surface treating tools
• CPC Class Codes: A47L 11/4041 Roll shaped surface treating tools
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/102 Dust separators cyclones A47L9/16
• CPC Class Codes: A47L 9/28 Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
• CPC Class Codes: A47L 9/2826 the condition of the floor
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2857 User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2884 Details of arrangements of batteries or their installation

Abstract

A self-propelled dust-collecting robot includes a main body having wheels, a dust-collecting unit collecting dust on a floor surface, infrared sensors each including an infrared transmission element that emits infrared light toward the floor surface and an infrared reception element that receives the infrared light reflected at the floor surface, and a controller controlling the wheels on the basis of a reflectance of the infrared light obtained from each infrared sensor. The controller, during running, determines whether the reflectance is higher than or equal to a predetermined threshold value. Upon determining that the reflectance is higher than or equal to the threshold value, the controller controls the wheels to perform an avoidance action with the position where the reflectance is detected being a virtual wall, thereby to control the self-propelled dust-collecting robot to perform cleaning within a cleaning range defined by a reflection member.

Claims

1. A self-propelled dust-collecting robot configured to clean a floor surface comprising:

a light sensor that detects light reflected from a light reflection member and the floor surface; and

a control unit that is configured to direct the self-propelled dust-collecting robot away from the light reflection member when the light sensor detects light reflected from the light reflection member as opposed to light reflected from the floor surface;

wherein;

the control unit, while the self-propelled dust-collecting robot is running, determines whether a reflectance sensed by the light sensor is higher than or equal to a predetermined threshold value; and

when the control unit determines that the reflectance is higher than or equal to the predetermined threshold value for a time period that is equal to or exceeds a predetermined time period, the control unit directs the self-propelled dust-collecting robot away from the light reflection member.

2. The self-propelled dust-collecting robot according to claim 1, wherein the light reflection member from which the light sensor detects light has a higher light reflection capability than the floor surface.

3. The self-propelled dust-collecting robot according to claim 1, wherein the light sensor is an infrared sensor having an infrared transmission section and an infrared reception section.

4. The self-propelled dust-collecting robot according to claim 1, wherein, when the control unit directs the self-propelled dust-collecting robot away from the light reflection member, the control unit provides instructions for the self-propelled dust-collecting robot to retract from its current position, causing the self-propelled dust-collecting robot to (1) turn at a predetermined angle and (2) advance.

5. The self-propelled dust-collecting robot according to claim 3, wherein a pair of right and left infrared sensors are provided at a foremost position on a bottom surface of a main body having a pair of wheels for running.

6. The self-propelled dust-collecting robot according to claim 5, wherein the infrared sensors each include an infrared transmission element facing downward at a front side of the infrared sensor, and an infrared reception element facing downward at a rear side of the infrared sensor.

7. The self-propelled dust-collecting robot according to claim 5, including, on the bottom surface of the main body, a falling prevention sensor having a lens plate on a detection surface facing downward, and a side brush that includes a plurality of radially-arranged brushes, and rotates, wherein

the lens plate is located at a position where, in a plan view, a part or entirety of the lens plate overlaps a rotation area of the brushes of the side brush.

8. The self-propelled dust-collecting robot according to claim 5, wherein

the main body has a cylindrical shape in a plan view, and accommodates:

right and left batteries;

right and left wheel motors that are rotationally driven with the batteries being power supplies, and allow each of the wheels to singly rotate forward and backward;

a fan unit disposed between the batteries; and

a dust-collecting box.

9. The self-propelled dust-collecting robot according to claim 8, wherein a pair of right and left casters located directly beneath the respective batteries are provided on the bottom surface of the main body.

10. The self-propelled dust-collecting robot according to claim 8, wherein the batteries can also be used as power supplies for power tools.

11. The self-propelled dust-collecting robot according to claim 5, wherein the main body includes a selection button for switching between ON and OFF of detection of the light reflection member.

12. The self-propelled dust-collecting robot according to claim 1, wherein a reflectance of the light reflection member is twice or more of a reflectance of white.

13. The self-propelled dust-collecting robot according to claim 1, wherein the light reflection member is a tape having a width greater than or equal to 20 mm.