JP7065275B2 - Autonomous vacuum cleaner - Google Patents

Description

The present invention relates to an autonomous traveling vacuum cleaner.

Conventionally, an autonomous traveling type vacuum cleaner having a body, a drive unit, a main brush, a suction unit, a side brush and the like is disclosed (see, for example, Patent Documents 1 to 4). The body of the autonomous traveling vacuum cleaner is equipped with various components. The drive unit moves the body. The main brush is placed in the suction port formed on the body and collects the dust existing on the cleaning surface. The suction unit sucks dust from the suction port of the body. The side brush collects dust on the floor that exists on the bottom of the body. That is, the autonomous traveling type vacuum cleaner is configured to rotate the side brush to collect dust such as dust on the cleaning surface and guide the dust to the suction port.

The conventional autonomous traveling vacuum cleaner described in each of the above patent documents is configured to rotate a side brush provided in front of the bottom surface of the body to collect dust on the floor surface. Therefore, most of the dust collected by the side brush is collected through the suction port on the bottom surface of the body.

Japanese Unexamined Patent Publication No. 2012-231937 Japanese Unexamined Patent Publication No. 2013-146303 Japanese Unexamined Patent Publication No. 2016-116541 Japanese Unexamined Patent Publication No. 2016-154597

However, a part of the dust adhering to the side brush may be swept out of the machine body again by the centrifugal force generated by the rotation of the side brush and scattered on the floor surface.

In addition, the side brush is provided on the front side of the bottom surface of the body in order to improve the dust collecting performance on the floor surface. Then, the side brush rotates at a position relatively close to the floor surface. Therefore, when carpet or fibrous dust easily gets entangled with the side brush and strong entanglement that locks the rotation of the side brush occurs, the rotation drive of the motor is applied to the base (adhesive part) of the side brush. Stress is applied directly. As a result, the flocked bristle bundle is likely to be crimped and fall off.

The present invention solves the above-mentioned conventional problems, and the rotation of the side brush prevents the dust from being swept out of the machine body again, and further suppresses the entanglement of the dust with the side brush to prevent the bristle of the side brush. It is an object of the present invention to provide an autonomous traveling type vacuum cleaner capable of extending the life of a bundle.

The autonomous traveling type vacuum cleaner of the present invention has a body, a side brush provided on the bottom surface of the body to sweep away dust on the floor surface , a brush cover arranged on the bottom surface of the body and having a suction port for sucking dust, and a brush. Featuring a cleaning brushed cloth that sweeps away dust adhering to the side brush within the rotating area of the side brush of the cover, the side brush contains a brush shaft and a pair of bristle bundles of different lengths and is short in length. The bristle bundle is configured so that at least the tip thereof has a length in contact with the cleaning brush cloth, the cleaning brush cloth is arranged with a predetermined gap from the floor surface, and the side brush is arranged. During rotation, the bristle bundle passes through the gap between the cleaning brushed cloth and the floor surface while being in contact with the cleaning brushed cloth, thereby wiping off the dust adhering to the bristle bundle.

It is equipped with a side brush provided on the bottom of the body to sweep away dust on the floor surface and a cleaning brush cloth that sweeps away dust adhering to the side brush in the rotation area of the side brush, and a cleaning brush cloth is specified between the floor surface and the side brush. By providing the gap, the side brush can wipe off the dust adhering to the side brush by passing through the gap between the cleaning brush cloth and the floor surface during rotation and passing while in contact with the cleaning brush cloth.

FIG. 1 is an overall perspective view of the autonomous traveling type vacuum cleaner according to the first embodiment of the present invention. FIG. 2 is a plan view of the autonomous traveling type vacuum cleaner. FIG. 3 is a bottom view of the autonomous traveling type vacuum cleaner. FIG. 4 is a front view of the autonomous traveling type vacuum cleaner. FIG. 5 is a left side view of the autonomous traveling type vacuum cleaner. FIG. 6 is a plan view of the autonomous traveling vacuum cleaner with the lid open. FIG. 7 is a perspective view of the autonomous traveling vacuum cleaner with the trash can unit taken out. FIG. 8 is a perspective view of the lower unit of the autonomous traveling type vacuum cleaner. FIG. 9 is a perspective view of the upper unit of the autonomous traveling type vacuum cleaner. FIG. 10 is a left sectional view of the autonomous traveling type vacuum cleaner. FIG. 11 is a left sectional view showing a state in which the trash can unit of the autonomous traveling type vacuum cleaner is taken out. FIG. 12 is a partial view showing the rotation region of the side brush as seen from the bottom surface of the autonomous traveling type vacuum cleaner. FIG. 13 shows a cross section taken along the line AA of FIG. 12, which is a cross-sectional view of a main part of the side brush. FIG. 14 shows a cross section taken along the line BB of FIG. 12, which is a cross-sectional view of a main part of the cleaning blanket. FIG. 15 is a partial view showing the state of the side brush when rotating as seen from the bottom surface of the autonomous traveling type vacuum cleaner. FIG. 16 is a partial view showing the state of the side brush in rotation as seen from the bottom surface of the autonomous traveling type vacuum cleaner.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to this embodiment.

(Embodiment 1)
Hereinafter, the configuration of the autonomous traveling type vacuum cleaner 10 (which may be simply referred to as “vacuum cleaner 10”) in the present embodiment will be described with reference to FIGS. 1 to 16.

FIG. 1 is an overall perspective view of an autonomous traveling type vacuum cleaner according to an embodiment of the present invention. FIG. 2 is a plan view of the autonomous traveling type vacuum cleaner. FIG. 3 is a bottom view of the autonomous traveling type vacuum cleaner. FIG. 4 is a front view of the autonomous traveling type vacuum cleaner. FIG. 5 is a left side view of the autonomous traveling type vacuum cleaner. FIG. 6 is a plan view of the autonomous traveling vacuum cleaner with the lid open. FIG. 7 is a perspective view showing a state in which the trash can unit of the autonomous traveling type vacuum cleaner is taken out. FIG. 8 is a perspective view of the lower unit of the autonomous traveling type vacuum cleaner. FIG. 9 is a perspective view of the upper unit of the autonomous traveling type vacuum cleaner. FIG. 10 is a left sectional view of the autonomous traveling type vacuum cleaner. FIG. 11 is a left sectional view showing a state in which the trash can unit of the autonomous traveling type vacuum cleaner is taken out. FIG. 12 is a partial view showing a rotation region of the side brush as seen from the bottom surface of the autonomous traveling type vacuum cleaner. FIG. 13 shows a cross section taken along the line AA of FIG. 12, which is a cross-sectional view of a main part of the side brush. FIG. 14 shows a cross section taken along the line BB of FIG. 12, which is a partial cross-sectional view of the cleaning blanket. FIG. 15 shows a state in which the side brush is rotated as seen from the bottom surface of the autonomous traveling type vacuum cleaner, and indicates a state in which the cleaning blanket is 0.5 mm or less from the floor surface. FIG. 16 shows a state when the side brush is rotated as seen from the bottom surface of the autonomous traveling type vacuum cleaner, and shows a state when the cleaning blanket is separated from the floor surface by 0.5 mm or more.

The autonomous traveling type vacuum cleaner 10 of the present embodiment is exemplified by a robot type vacuum cleaner that autonomously travels on the cleaning surface of the target area and sucks dust such as dust existing on the cleaning surface. The vacuum cleaner 10 includes a plurality of structural functional blocks. The target area is, for example, a room. The cleaning surface is, for example, the floor surface of a room.

As shown in FIGS. 1 to 13, the vacuum cleaner 10 of the present embodiment includes a body 20, a cleaning unit 40, a suction unit 50, a trash can unit 60, a pair of drive units 30, and a control, which are equipped with the following various components. The unit 70, the power supply unit 80, and the like are included. A part of the drive unit 30, a part of the cleaning unit 40, a trash can unit 60, a suction unit 50, a control unit 70, and a power supply unit 80 are arranged in the body 20.

Hereinafter, as shown in the drawing, the front surface 21 side of the body 20 will be referred to as the front direction, and the rear top portion 24 side will be referred to as the rear direction. Further, the cleaning surface side of the body 20 will be referred to as the lower side, the opposite side will be referred to as the upper side, and the right side of the body 20 with respect to the front surface 21 will be referred to as the right side and the left side will be referred to as the left side.

Specifically, the cleaning unit 40 collects dust existing in a target area such as a room. The suction unit 50 sucks the collected dust into the inside of the body 20. The trash can unit 60 collects the trash sucked by the suction unit 50.

As shown in FIG. 3, the drive unit 30 is composed of, for example, a pair, and is provided on the bottom surface side of the body 20. The drive unit 30 moves the body 20 in a predetermined direction in cooperation with a caster 90 that rotates following the rotation of the drive unit 30, which will be described later. The control unit 70 controls the operation of the drive unit 30, the cleaning unit 40, the suction unit 50, and the like. The power supply unit 80 supplies electric power to the drive unit 30, the cleaning unit 40, the suction unit 50, the control unit 70, and the like.

The body 20 includes a lower unit 100 (see FIG. 8) and an upper unit 200 (see FIG. 9). The lower unit 100 forms an outer shape on the lower side of the body 20. The upper unit 200 forms an outer shape on the upper side of the body 20. By combining the lower unit 100 and the upper unit 200, the outer shell of the body 20 is configured.

The upper unit 200 includes a cover 210, a lid 220 (see FIGS. 1 and 7), a bumper 230, and the like. The cover 210 forms the main part of the upper unit 200. The lid 220 is arranged on the cover 210 so as to be openable and closable. The bumper 230 is provided on the front surface 21 side of the cover 210. The bumper 230 constitutes the outer shell of the upper unit 200 and is configured to be displaceable with respect to the lower unit 100, and absorbs or alleviates the impact caused by a collision with an obstacle or the like.

Further, as shown in FIG. 3, the drive unit 30 is arranged on the bottom surface side of the lower unit 100 and includes a plurality of elements. The plurality of elements include a pair of, for example, a tire 34, a wheel 33 (see FIG. 10), a traveling motor 31, a housing 32, a support shaft 35, and the like. The tire 34 runs on the cleaning surface and moves the body 20. The wheel 33 holds the tire 34. The traveling motor 31 applies rotational torque to the wheel 33. The housing 32 accommodates the traveling motor 31. The housing 32 is housed in a recess (not shown) formed in the lower unit 100. The housing 32 rotatably supports the tire 34 by the lower unit 100.

The wheel 33 is arranged outside the traveling motor 31 in the width direction (longitudinal direction) of the main brush 43. With this arrangement, the distance between the wheel 33 on the right side and the wheel 33 on the left side becomes wider as compared with the case where the wheel 33 is arranged inside the traveling motor 31. Therefore, the stability of the body 20 during running or the like is improved.

The vacuum cleaner 10 of the present embodiment is operated by a two-wheel opposed drive system. That is, in the vacuum cleaner 10, the drive unit 30 on the right side and the drive unit 30 on the left side are arranged so as to face each other in the width direction (left-right direction) of the body 20. The rotation axis H of the right wheel 33 and the rotation axis H of the left wheel 33 shown in FIG. 3 are provided in parallel with the support shaft 35 for rotating the drive unit 30 and in the same direction. Further, the rotation shafts H of the left and right wheels 33 are fixed to the suspension 36 (see FIG. 8) via the support shaft 35. The suspension 36 serves as a cushion that alleviates vibration applied to the body 20 due to irregularities such as the surface to be cleaned during driving.

Further, the lower unit 100 includes the caster 90 described above on the lower surface side of the rear portion in the vicinity of the rear top portion 24 of the body 20. The caster 90 is rotatably supported by the lower unit 100 via the support shaft 91 and further via the support shaft 92. That is, the body 20 is supported by the left and right drive units 30 and the casters 90 with respect to the surface to be cleaned. Therefore, the body 20 can always be moved stably.

The cleaning unit 40 is arranged in the lower unit 100 and includes a plurality of elements, as shown in FIGS. 3 and 8. The plurality of elements include, for example, a brush drive motor 41, a gearbox 42, a main brush 43, a side brush 44, and the like. The brush drive motor 41 and the gearbox 42 are arranged inside the body 20. The main brush 43 is arranged at the suction port 101 of the body 20. As shown in FIG. 2, the side brush 44 is arranged on the left and right front top portions 23 at the intersection of the front surface 21 of the body 20 and the left and right side surfaces 22. The side brush 44 includes a brush shaft 44A and a bristle bundle 44B fixed to the brush shaft 44A and arranged so as to project downward from the body 20. The brush shaft 44A is fixed to the gearbox 42 (see FIG. 8).

As shown in FIG. 12, the side brush 44 is composed of, for example, 2 to 4 bristle bundles 44B composed of a first bristle bundle 44BA and a second bristle bundle 44BB having different lengths. At this time, the first bristle bundle 44BA is arranged at a position ahead of the second bristle bundle 44BB in the rotation direction. The length of the first bristle bundle 44BA is formed to be longer than the length of the second bristle bundle 44BB. At this time, the length of the second bristle bundle 44BB is configured such that the tip portion is at least in contact with the cleaning blanket 121 (see FIG. 3) described later when rotating. Specifically, the length of the first bristle bundle 44BA is about 52 mm, and the length of the second bristle bundle 44BB is about 44 mm.

Further, one pair of bristle bundles 44B and the other pair of bristle bundles 44B are provided at positions that are 180 degrees rotationally symmetric with respect to the rotation axis of the brush shaft 44A.

Further, the first bristle bundle 44BA and the second bristle bundle 44BB constituting the pair of bristle bundles 44B are flocked at different angles with respect to the brush shaft 44A. Specifically, as shown in FIG. 12, the first bristle bundle 44BA and the second bristle bundle 44BB rotate differently in substantially V-shape (including V-shape) with respect to the brush shaft 44A in the rotation direction. Hair is planted at an angle. For example, based on the second bristle bundle 44BB, the first bristle bundle 44BA is flocked with respect to the brush shaft 44A at a rotational angle advanced from 8 ° to 10 ° in the rotational direction.

Further, the second bristle bundle 44BB is inclined downward from the first bristle bundle 44BA in the vertical direction, for example, the hair is transplanted at a different inclination angle of 12 ° from the horizontal direction. Specifically, the first bristle bundle 44BA is flocked at an inclination angle of 31 ° from the horizontal direction on the brush shaft 44A, and the second bristle bundle 44BB is flocked at an inclination angle of 43 °.

That is, in the present embodiment, the lengths and angles of the first bristle bundle 44BA and the second bristle bundle 44BB constituting the pair of bristle bundles 44B are appropriate so that the collection area during rotation is wide. Will be decided.

As described above, the side brush 44 is arranged on the front top portion 23 protruding to the left and right of the vacuum cleaner 10 (see FIG. 1). With this arrangement, dust in the corners of the room can be collected with higher collection performance.

Further, the brush drive motor 41 and the gearbox 42 are attached to the lower unit 100 as shown in FIG. The output shaft (not shown) of the brush drive motor 41 is connected to the gearbox 42, the main brush 43 (see FIG. 3), and the left and right front side brushes 44. As a result, the rotational output of the brush drive motor 41 is transmitted to the main brush 43 and the side brush 44.

The length of the main brush 43 in the longitudinal direction has substantially the same length as the length of the suction port 101 formed in the lower unit 100 in the longitudinal direction. The main brush 43 is rotatably supported by a bearing portion (not shown) with respect to the lower unit 100. The bearing portion is arranged, for example, in one or both of the gearbox 42 and the lower unit 100. At this time, the main brush 43 rotates, for example, in the direction of sending dust to the front side of the body 20.

Further, the main brush 43 is protected by the brush cover 120 as shown in FIGS. 11 and 12. The brush cover 120 includes a cleaning brushed cloth 121 arranged on the surface to be cleaned. As shown in FIG. 14, the cleaning brushed cloth 121 is provided at a position slightly distant from the floor surface to provide a slight gap E to be described later with the floor surface.

As shown in FIG. 16, when the rotating side brush 44 passes through the cleaning brushed cloth surface, the side brush passes through a slight gap provided between the side brush 44 and the floor surface while expanding, so that the side brush 44 passes through the cleaning brushed cloth surface. The aim is to wipe off the dust adhering to the side brush 44 and clean it.

Therefore, the side brush 44 is always maintained in a state free of dust adhesion in the floor contact area portion of the bristle bundle 44B. That is, when collecting dust or the like while the main body is activated in the front-rear direction, relatively heavy dust is collected by the suction port 101 via the side brush 44 when the side brush 44 rotates, and is sucked. Will be done. However, for example, sebum components and fine dust that is fibrous and has a small mass tends to remain attached to the side brush 44. Therefore, the fine dust may not be reliably sucked and removed by the suction port 101, and may be swept out again by the centrifugal separation of the side brush 44. Therefore, in the present embodiment, a cleaning brushed cloth is provided in the rotating region of the side brush 44, and the cleaning brushed cloth 121 can be used to sweep away the dust adhering to the floor contact area of the side brush 44 so that it can be sucked and removed. It is configured in.

As shown in FIG. 14, it is effective to provide a slight gap from the floor surface of the cleaning brushed cloth 121, and the gap E is set to be at least 0.5 mm or more and 2.0 mm or less. Is desirable, and as a more effective dimension within that range, the cleaning blanket 121 is set to a distance from the floor surface, for example, 1.0 mm.

On the other hand, as shown in FIG. 15, when the gap between the cleaning brushed cloth and the floor surface is set to be less than 0.5 mm, the first bristle bundle 44BA of the side brush 44 causes the gap between the cleaning brushed cloth 121 and the floor surface. The first bristle bundle 44BA and the second bristle bundle 44BB both have a shape in which the bristle bundle is bent according to the rotational operation of the side brush.

In such a state as shown in FIG. 15, the first bristle bundle 44BA is swept away of dust adhering through the cleaning brushed cloth 121, but the second bristle bundle 44BB is the first bristle bundle 44BA. Since it is located after the cleaning brush 121 and does not come into contact with the cleaning brushed cloth 121, the adhering dust is not swept away and is swept out again by the centrifugal separation of the side brush 44.

Further, in the vacuum cleaner 10 of the present embodiment, as shown in FIG. 13, when the vacuum cleaner 10 is installed on a flat surface having a horizontal cleaning surface, the distance D between the brush shaft 44A of the side brush 44 and the floor surface is large. It is set to be 10 mm or more and 18 mm or less.

When the distance D exceeds 18 mm, the first bristle bundle 44BA and the second bristle bundle 44BB of the side brush 44 are flocked in the vertical direction at an inclination angle of more than about 60 ° from the horizontal direction on the brush shaft 44A. As a result, the area where the first bristle bundle 44BA and the second bristle bundle 44BB are curved and in contact with the cleaning surface is reduced. Therefore, the cleaning area by the side brush 44 may be reduced, and the cleaning efficiency may be lowered.

Specifically, in the vacuum cleaner 10 of the present embodiment, the distance D from the floor surface is set to, for example, 12 mm in a state where the tire 34 is most sunk. Normally, the vacuum cleaner 10 is configured so that the body 20 is lifted by the suspension 36 in order to cope with the step climbing property. Therefore, when the tire 34 completely protrudes from the body 20, it protrudes from the body 20 by about 40 mm.

However, in reality, the step sensor works when the floor is far away from the floor. Further, due to the weight of the body 20, the suspension 36 cannot be lifted up to 40 mm. Further, when the distance from the floor surface is large, the side brush 44 is separated from the floor surface, and the cleaning area is reduced. Therefore, in consideration of the above points, the distance D is preferably about 20 to 25 mm or less, more preferably 18 mm or less.

On the other hand, when the distance D, which is close to the floor surface, is set to less than 10 mm, the side brush 44 and the carpet are likely to be entangled when the body 20 approaches a carpet having a soft base material or a carpet having long hair. Further, when the brush shaft 44A gets over the step, the brush shaft 44A first comes into contact with the step of the carpet and cannot get over the carpet.

Therefore, the brush shaft 44A of the side brush 44, which is a rotating body, is arranged at a distance of about 10 mm or more and 18 mm or less from the floor surface. As a result, entanglement between the brush shaft 44A and the carpet or the like is suppressed. Further, it is possible to avoid a collision between the brush shaft 44A and, for example, a step corresponding to the thickness of the carpet.

As shown in FIGS. 8, 10 and 11, the suction unit 50 is arranged in the lower unit 100 and includes a plurality of elements. Specifically, the suction unit 50 is arranged, for example, on the rear side of the trash can unit 60 and on the front side of the power supply unit 80. The plurality of elements include, for example, a fan case 52, an electric fan 51 arranged inside the fan case 52, and the like.

The fan case 52 includes an intake port 52A which is arranged in front and is in contact with the outlet 61B of the trash can unit 60. The electric fan 51 sucks the internal air from the outlet 61B of the trash can unit 60 through the intake port 52A. The sucked air is discharged to the outside behind the electric fan 51. Specifically, the air discharged from the electric fan 51 passes through the space inside the fan case 52 and the space inside the body 20. Then, it is discharged from the inside of the body 20 to the outside through the exhaust port 211 (see FIG. 7) formed in the upper unit 200.

As shown in FIGS. 10 and 11, the trash can unit 60 is located on the rear side of the main brush 43 and on the front side of the suction unit 50, and further between the pair of drive units 30 (see FIG. 3) of the body 20. Placed inside. The trash can unit 60 can be detachably attached to the body 20 by opening the lid 220. That is, the trash can unit 60 has a detachable structure that can be attached to the body 20 and removed from the body 20.

Further, the trash can unit 60 is housed in the trash can storage unit 250 and includes a plurality of elements (see FIG. 11). The plurality of elements include, for example, a trash can 61 having an inlet 61A, an outlet 61B and a bottom 61C for collecting dust, a filter 62 for collecting fine dust, and the like.

The trash can unit 60 functions as follows.

First, the suction unit 50 sucks the dust on the floor surface together with the air through the suction port 101 (see FIG. 3) of the cleaning unit 40. The sucked dust-containing air enters the trash can 61 from the inlet 61A through the duct 110 (see FIG. 8) provided in the lower unit 100. Large dust in the trash can 61 collects in the bottom 61C. On the other hand, the air containing fine dust (small dust and the like) that has entered the inside of the trash can 61 is filtered by the filter 62 of the suction unit 50 that is in contact with the outlet 61B of the trash can 61. Then, the air from which the dust has been filtered is discharged to the outside from the exhaust port 211 (see FIG. 7) of the body 20 via the suction unit 50. As a result, dust is collected in the trash can unit 60 in a state where it can be disposed of.

As shown in FIGS. 8 and 10, the control unit 70 is arranged inside the body 20 on the rear side of the suction unit 50.

Further, the vacuum cleaner 10 of the present embodiment includes a plurality of sensors as shown in FIGS. 1 to 8. The plurality of sensors include, for example, an obstacle detection sensor 71, a side distance measurement sensor 72, a collision detection sensor 73, a floor surface detection sensor 74, a derailment detection switch 75, and the like.

The obstacle detection sensor 71 (see FIG. 1) is provided in the center of the front of the body 20 and detects an obstacle existing in front of the body 20. The obstacle detection sensor 71 includes a laser light emitting unit 71A and a laser light receiving unit 71B. Specifically, the obstacle detection sensor 71 irradiates the laser beam forward from the laser light emitting unit 71A. Then, the reflected light from an obstacle or the like is received by the laser light receiving unit 71B and read. Further, it is provided with an ultrasonic wave transmitting unit 71C and an ultrasonic wave receiving unit 71D. Specifically, the obstacle detection sensor 71 transmits ultrasonic waves forward from the ultrasonic wave transmitting unit 71C. Then, the reflection from an obstacle or the like is received by the ultrasonic wave receiving unit 71D and read. As a result, the obstacle detection sensor 71 detects an obstacle existing in front of the body 20.

Two side distance measuring sensors 72 (see FIG. 4) are provided on the front left and right sides of the side surface of the body 20, for example, and detect the distance between an obstacle existing on the side surface side and the body 20 to clean the wall surface. Realize. The collision detection sensor 73 (see FIG. 9) is provided in front of the upper unit 200 of the body 20 and detects a collision between the body 20 and a surrounding object. A plurality of floor surface detection sensors 74 (see FIG. 3) are provided at various locations in the lower unit 100 of the body 20, and detect whether or not there is a surface to be cleaned on the bottom surface side of the body 20. The derailment detection switch 75 (see FIG. 8) is arranged behind each of the left and right drive units 30 to detect derailment of a tire 34 or the like.

The obstacle detection sensor 71, the side distance measurement sensor 72, the collision detection sensor 73, the floor surface detection sensor 74, and the derailment detection switch 75 each output a detection signal to the control unit 70. The control unit 70 controls each unit based on the input detection signal.

Further, the vacuum cleaner 10 of the present embodiment includes an interface unit 240 as shown in FIG. The interface unit 240 includes, for example, a panel 241, an operation button 242, a display unit 243, and the like. The user can confirm each operation status and operation status of the vacuum cleaner 10 via the interface unit 240.

Specifically, the display unit 243 of the interface unit 240 is a vacuum cleaner detected by the obstacle detection sensor 71, the side distance measurement sensor 72, the collision detection sensor 73, the floor surface detection sensor 74, and the derailment detection switch 75. The error status of 10 is displayed. As a result, the user can confirm the error status of the vacuum cleaner 10 via the display unit 243.

Further, the user can instruct each operation of the body 20 via the operation buttons 242 of the interface unit 240 and the buttons of the panel 241.

Further, as shown in FIG. 10, the vacuum cleaner 10 of the present embodiment further includes a power supply unit 80 including a plurality of elements. The power supply unit 80 supplies electric power to the drive unit 30, the cleaning unit 40, the suction unit 50, and the control unit 70. Specifically, the power supply unit 80 is arranged on the rear side of the center of the body 20 in the front-rear direction and on the rear side of the suction unit 50. The plurality of elements include, for example, a battery case 81, a storage battery 82, and the like. The battery case 81 is attached to the lower unit 100. The storage battery 82 is housed in the battery case 81. The storage battery 82 is exemplified by a secondary battery such as a lithium battery.

As described above, the autonomous traveling type vacuum cleaner 10 of the present embodiment is an autonomous traveling type vacuum cleaner that collects dust on the floor surface. Specifically, the vacuum cleaner 10 includes a suction unit 50 that generates suction air and a trash can unit 60 that collects dust. The vacuum cleaner 10 has a suction port 101 on the bottom surface side on which a main brush 43 for collecting dust is mounted, and sides arranged on the left and right in front of the suction port 101 for collecting dust on the floor surface at the suction port 101. The brush 44 is mounted. Then, the vacuum cleaner 10 generates a flow of air that sucks dust in the suction unit 50. As a result, the dust on the floor surface is sucked in from the suction port 101, and the sucked dust is collected in the trash can unit 60.

Further, the vacuum cleaner 10 further includes a drive unit 30, a power supply unit 80, a control unit 70, and the like. The drive unit 30 is provided on the left and right sides of the bottom surface of the vacuum cleaner 10, and includes tires 34 that move in the front-rear direction and turn in the left-right direction on the floor surface. The power supply unit 80 supplies electric power to the suction unit 50, the traveling motor 31 mounted on the drive unit 30, and the like.

The control unit 70 has an obstacle detection sensor 71, a side distance measurement sensor 72, a collision detection sensor 73, a floor surface detection sensor 74, and the like that detect obstacles and the like, and the suction unit 50 is based on the detection signals thereof. It is configured to control the drive unit 30 and the like. As a result, the vacuum cleaner 10 is configured to be able to be cleaned while driving the tire 34 of the drive unit 30 and traveling on the surface to be cleaned based on the control of the control unit 70.

The vacuum cleaner 10 of the present embodiment includes at least a pair of side brushes 44 arranged on the bottom surface side of the vacuum cleaner 10. Specifically, the side brushes 44 are provided on the front top 23 on the left and right sides of the vacuum cleaner 10. The rotation trajectory of the right side brush 44 and the rotation trajectory of the left side brush 44 rotate in the direction from the front surface 21 toward the suction port 101 at the outer periphery of the vacuum cleaner 10, respectively.

That is, the left and right side brushes 44 rotate in opposite directions. As a result, when the vacuum cleaner 10 is moving forward, the side brush 44 collects dust toward the suction port 101. As a result, the dust on the floor surface is collected by the vacuum cleaner 10 and the room is cleaned.

Further, each side brush 44 includes, for example, 2 to 4 bristle bundles 44B and a brush shaft 44A. The one-to-two bristle bundle 44B is composed of two types of long and short bristle bundles 44BA having different lengths, a first bristle bundle 44BA and a second bristle bundle 44BB. The long first bristle bundle 44BA has a large turning radius and can pick up dust farther away. On the other hand, the short second bristle bundle 44BB has a small turning radius and can more reliably pick up nearby dust. Further, each of the first bristle bundle 44BA and the second bristle bundle 44BB is flocked at different rotation angles or inclination angles with respect to the brush shaft 44A in the rotation direction and the vertical direction. This makes it possible to cover a wide area for collecting dust on the floor surface.

Further, the brush cover 120 is provided with a cleaning brushed cloth 121 in the rotation region of the bristle bundle 44B of the side brush 44, and a slight gap is provided between the cleaning brushed cloth 121 and the floor surface. Therefore, the bristle bundle 44B passes through the gap between the cleaning brushed cloth 121 and the floor surface, and passes while contacting the cleaning brushed cloth 121. As a result, the dust adhering to the bristle bundle 44B during the rotation of the side brush 44 is wiped off by contact with the cleaning brushed cloth 121. For example, in the vacuum cleaner of the present embodiment, the gap between the cleaning blanket 121 and the floor surface is set to 1.0 mm as a more effective gap size. Then, the wiped-off dust is sucked into the trash can unit 60 from the suction port 101. As a result, dust such as fine dust adhering to the bristle bundle 44B is prevented from being swept out of the vacuum cleaner 10 again by the centrifugal force of the side brush 44.

Further, in the vacuum cleaner of the present embodiment, the brush shaft 44A of the side brush 44 is arranged at a position of 10 mm or more and 18 mm or less from the floor surface. As a result, it is possible to suppress the entanglement of the carpet or the like with the bristle bundle 44B as compared with the conventional autonomous traveling type vacuum cleaner having a brush shaft arranged at about 5 mm. Further, when overcoming a step or the like, the frequency of collision with the step or the like can be reduced. This makes it possible to realize a vacuum cleaner with high reliability and excellent cleanability.

In addition, as one form of the vacuum cleaner 10 of this embodiment, a plurality of drive units 30 for traveling the vacuum cleaner 10 are provided, and the plurality of drive units 30 are a first drive unit 30 and a second drive unit 30. including. Further, the first drive unit 30 and the second drive unit 30 may have a rotation axis (not shown) that exists coaxially. As a result, each drive unit 30 can be driven independently.

Further, as one embodiment of the vacuum cleaner 10 of the present embodiment, a control unit 70 for controlling a plurality of drive units 30 is provided, and the control unit 70 is such that at least a part of a quadrangular trajectory is formed by the body 20. The first drive unit 30 and the second drive unit 30 may be controlled.

According to the above configuration, by operating each drive unit 30 individually, the front portion of the vacuum cleaner 10 can be moved to or near the apex of the corner of the target area to be cleaned. That is, the suction port 101 of the vacuum cleaner 10 can be made closer to the apex of the corner of the target area. As a result, more and more reliable dust existing in the corners of the target area can be sucked and cleaned.

As described above, the autonomous traveling type vacuum cleaner of the present invention includes a body, a plurality of side brushes 44 provided on the bottom surface of the body to sweep away dust on the floor surface, and side brushes in the rotation region of the side brush 44. A cleaning brushed cloth 121 for sweeping off dust adhering to 44 is provided.

A slight gap is provided between the cleaning brushed cloth 121 and the floor surface, and the bristle bundle 44B passes through the gap between the cleaning brushed cloth 121 and the floor surface and while contacting the cleaning brushed cloth 121. do.

The side brush 44 includes a pair of bristle bundles 44B having different lengths and a brush shaft arranged at a predetermined distance and above the floor surface. The short second bristle bundle 44BB is configured to have at least a length at which the tip thereof comes into contact with the cleaning brushed cloth 121.

According to this configuration, the dust adhering to the side brush during rotation is swept off via the cleaning brushed cloth 121, so that the dust adhering to the side brush 44 is again removed from the body by centrifugal force. It can be prevented from being swept out. Further, the length of the bristle bundle 44B provided on the side brush 44 is short because the tip portion comes into contact with the cleaning blanket. Therefore, it is possible to suppress the entanglement of dust such as hair and fibers.

Further, the autonomous traveling type vacuum cleaner of the present invention may have a predetermined distance of 10 mm or more and 18 mm or less. As a result, it is possible to suppress the entanglement of the carpet or the like with the brush shaft. In addition, the collision between the brush shaft of the side brush 44 and the step, which occurs when overcoming a step or the like, is largely avoided. Therefore, the brush shaft of the side brush 44 can be prevented from being scratched or damaged.

Further, in the autonomous traveling type vacuum cleaner of the present invention, the side brush 44 may be arranged at a protruding position on the left and right front of the body. This makes it possible to more reliably collect dust existing in the corners of the room.

Further, in the autonomous traveling type vacuum cleaner of the present invention, a pair of bristle bundles 44B includes a first bristle bundle 44BA and a second bristle bundle 44BB formed by flocking. The first bristle bundle 44BA may be flocked at a predetermined rotation angle with respect to the second bristle bundle 44BB in the flocking direction in the rotation direction of the side brush. Further, in the autonomous traveling type vacuum cleaner of the present invention, the predetermined different rotation angles may be 8 ° or more and 10 ° or less.

Further, in the autonomous traveling type vacuum cleaner of the present invention, the pair of bristle bundles 44B includes a first bristle bundle 44BA and a second bristle bundle 44BB formed by flocking. The first bristle bundle 44BA may be flocked with a predetermined different inclination angle with respect to the second bristle bundle 44BB in the vertical direction of flocking.

Further, in the autonomous traveling type vacuum cleaner of the present invention, the predetermined different inclination angles may be 31 ° or more and 43 ° or less.

Further, in the autonomous traveling type vacuum cleaner of the present invention, the gap between the cleaning blanket 121 and the floor surface may be 0.5 mm or more and 2.0 mm or less.

According to these configurations, it is possible to reduce the frequency of cleaning the side brushes while ensuring the collection performance.

The autonomous traveling type vacuum cleaner of the present invention can suppress the entanglement of dust with the bristle bundle, prevent shrinkage and falling off, and extend the life of the bristle bundle. Therefore, it can be applied to various autonomous traveling vacuum cleaners used in various environments regardless of whether they are for home use or business use, where reduction in maintenance frequency of side brushes is required.

10 Autonomous driving type vacuum cleaner (vacuum cleaner)
20 Body 21 Front 22 Side 23 Front top 24 Rear top 30 Drive unit 31 Driving motor 32 Housing 33 Wheel 34 Tire 35 Support shaft 36 Suspension 40 Cleaning unit 41 Brush drive motor 42 Gearbox 43 Main brush 44 Side brush 44A Brush shaft 44B Bristle bundle 44BA 1st bristle bundle 44BB 2nd bristle bundle 50 Suction unit 51 Electric fan 52 Fan case 52A Intake port 60 Recycle bin unit 61 Recycle bin 61A Inlet 61B Exit 61C Bottom 62 Filter 70 Control unit 71 Obstacle detection sensor 71A Laser light receiving part 71C Ultrasonic wave transmitting part 71D Ultrasonic receiving part 72 Side distance measurement sensor 73 Collision detection sensor 74 Floor surface detection sensor 75 Derailment detection switch 80 Power supply unit 81 Battery case 82 Storage battery 90 Caster 91 Support shaft 92 Strut shaft 100 Lower unit 101 Suction port 110 Duct 120 Brush cover 121 Cleaning brushed cloth 200 Upper unit 210 Cover 211 Exhaust port 220 Lid 230 Bumper 240 Interface part 241 Panel 242 Operation button 243 Display part 250 Recycle bin storage part

Claims (7)

With the body
A side brush provided on the bottom surface of the body to sweep away dust on the floor surface,
A brush cover arranged on the bottom surface of the body and having a suction port for sucking dust,
A cleaning brush cloth for sweeping away dust adhering to the side brush is provided in the rotation area of the side brush of the brush cover .
The side brush comprises a brush shaft and a pair of bristle bundles of different lengths.
The short length of the bristle bundle is configured to have at least a length such that the tip is in contact with the cleaning blanket.
The cleaning blanket is arranged with a predetermined gap between it and the floor surface.
During rotation, the side brush wipes dust adhering to the bristle bundle by allowing the bristle bundle to pass through the gap between the cleaning brushed cloth and the floor surface while in contact with the cleaning brushed cloth. An autonomous driving type vacuum cleaner configured to drop. The autonomous traveling type vacuum cleaner according to claim 1, wherein the predetermined gap is 0.5 mm or more and 2.0 mm or less. The autonomous traveling type vacuum cleaner according to claim 1 or 2, wherein the side brush is arranged at a protruding position on the left and right front of the body. The pair of bristle bundles includes a first bristle bundle and a second bristle bundle formed by flocking, and the first bristle bundle has a flocking direction in the rotation direction of the side brush with respect to the second bristle bundle. 1. The hair is transplanted at a predetermined different rotation angle.
The autonomous traveling type vacuum cleaner according to any one of 3 to 3. The autonomous traveling type vacuum cleaner according to claim 4, wherein the predetermined different rotation angles are 8 ° or more and 10 ° or less. The pair of bristle bundles includes a first bristle bundle and a second bristle bundle formed by flocking. The autonomous traveling type vacuum cleaner according to any one of claims 1 to 5, wherein hair is transplanted at different inclination angles. The autonomous traveling type vacuum cleaner according to claim 6, wherein the predetermined different inclination angles are 31 ° or more and 43 ° or less.

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