JP2000135186A - Cleaning toy - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-traveling interactive cleaning toy. SOLUTION: A pair of oscillatable or turnable hand parts 12 are mounted at the outside part of a body 11 made of a lightweight synthetic resin to a nearly hermetic cylindrical shape. The lower part of this body is provided with leg parts 13. The outside part of the body 11 is covered by a stuffed animal 15 having a shape of an animal, doll or the like. A vacuum-cleaner is built into the body 11 such that the body is normally used as a dear ornament or as a interactive toy while moving the hands and the feet and is made usable also as a practicable cleaning robot capable of making vacuum-cleaning while traveling by itself as well.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an interactive cleaning toy which can perform cleaning while traveling by itself.

[0002]

2. Description of the Related Art Recently, there has been a cleaning robot which performs cleaning while traveling by itself. This cleaning robot travels along conductor rails previously laid on the floor, and is convenient in that cleaning can be performed efficiently without manual operation (Japanese Patent Publication No. 51-790). etc). Some toys also perform cleaning, but these toys are similar to those imitated by a doll with a broom (actually 7-
No. 4854).

[0003]

However, the former cleaning robot has a considerably large structure, requires a great deal of cost, and has to be laid with conductor rails. In particular, it is not something that can be freely moved and cleaned anywhere, and cleaning is not completed automatically when the vacuum cleaner is placed in a predetermined place and the switch is pressed. It has extremely low performance and practicality.

[0004] In addition, the latter cleaning toy cannot clean a room of a predetermined size even if it can be cleaned in an extremely small area, which is also extremely low in practical use. .

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the related art.
It is an object of the present invention to provide a cleaning toy that has a practicality of automatically performing cleaning when a switch is pressed, and that can be controlled by a conversation with a human, and that can be used as an ornament for interacting with a human.

[0006]

The object of the present invention is achieved by the following means. (1) A self-propelled self-propelled cleaning toy in which a cleaner is incorporated in a body and a leg provided in a lower part of the body is configured by a traveling wheel, and a sensing member for sensing a traveling obstacle. A sensing member that senses human voice, a steering unit that controls the traveling direction of the traveling wheel, and when a signal is input from at least one of the sensing members, the cleaner, the steering unit, and the traveling wheel And a control unit configured to output a control signal to the control unit.

(2) The body is provided with a hand portion on a side portion, and the hand portion and a steering wheel or a running wheel of the leg portion are connected to each other by:
It is characterized in that it is connected via a drive mechanism for converting a rotary motion into a rocking motion.

(3) The control unit outputs a predetermined response message from a speaker in response to a voice input sensed by the sensing member for sensing the voice of the person.

(4) The control unit outputs a control signal for the cleaner, the steering unit, and the traveling wheel when a signal is input from a remote control receiving unit.

(5) The obstacle sensing member protrudes a front running wheel of the leg portion forward from the body and enables a cover member provided to cover the front running wheel to be displaceable at least left and right independently. When a signal from the cover member displaced due to the collision with the obstacle is input to the control unit, the control unit controls the front running wheel so as to head in the opposite direction. .

(6) The control unit has a magnet that rotates together with the traveling wheel on one of the traveling wheels of the leg, and receives a signal from a magnetically responsive sensor provided facing the magnet, The steering angle and the travel distance are determined based on signals from the magnet and the magnetic sensor, and the vehicle travels along a preset cleaning pattern.

(7) The vacuum cleaner has a rotary brush at a blow port provided on a lower surface of the body, and the rotary brush has a position where the rotary brush contacts the floor surface and a retracted position where the rotary brush does not contact the floor surface. It is characterized in that it can be selectively taken.

(8) The vacuum cleaner emits a warning sound to warn that the dust collection capacity of the dust bag has reached a specified capacity when the amount of air discharged from the outlet to the outside falls below a predetermined value. It is characterized by having done.

(9) The body and the hand are characterized by being covered with a stuffed toy of a predetermined shape.

[0015]

An embodiment of the present invention will be described below with reference to the drawings. 1 is a schematic front view showing a main part of the cleaning toy according to the present embodiment, FIG. 2 is a schematic side view of the main part, FIG. 3 is a schematic sectional view taken along line 3-3 in FIG. 1, and FIG. 3 is a schematic cross-sectional view taken along line 4-4, FIG. 5 is a schematic bottom view of the essential part, FIG. 6 is a schematic cross-sectional view taken along line 6-6 in FIG.
3 is an enlarged view of a main part in FIG. 6, and FIGS. 8, 9, and 10 are 8-8 in FIG.
FIG. 11 is a schematic cross-sectional view taken along lines 9-9 and 10-10.
12 is a block diagram of a control unit, FIG. 12 is an explanatory diagram showing one pattern of cleaning, FIG. 13 is a schematic diagram of a rear wheel, FIG. 14 is an explanatory diagram showing signals generated by the rear wheel, FIG. 15 and FIG.
6 is a main flowchart, FIG. 17 is a flowchart showing a process of stopping automatic operation, and FIGS. 18 and 19 are flowcharts at the time of automatic operation.

As shown in FIGS. 1 and 2, a self-propelled interactive cleaning toy 10 according to the present embodiment swings or turns around a body 11 made of a lightweight synthetic resin and having a substantially closed cylindrical shape. A pair of movable hand portions 12 are attached, and leg portions 13 (a front wheel 13a which is a steering wheel and is a driving wheel, and a rear wheel 1
3b, the front and rear wheels may be collectively referred to as running wheels), and the outside of the body 11 is covered with a stuffed animal 15 shaped like an animal or a doll.
A vacuum cleaner 20 (see FIG. 3) is incorporated inside the body 11 and is used as a cute ornament or a toy that interacts while moving the limbs, and in some cases, a practical cleaning tool that performs cleaning while moving on its own. It is used as a robot.

This will be described more specifically. This cleaning toy 1
3, as shown in FIG. 3, the inside of the body 11 is partitioned back and forth by a central partition 16, and a cleaner 20 and a driving mechanism 40 for driving the hand 12 are provided at the rear of the central partition 16.
(See FIGS. 6 and 7), and a member 50 for detecting an obstacle, a member 55 for detecting a person's voice, and a traveling direction of the wheels of the leg 13 are provided at the front of the central partition wall 16. A steering unit 60 to be controlled, these control units C, and a battery B as a power source are provided.

First, the rear side of the central partition wall 16 will be described. As shown in FIG. 5, the cleaner 20 is provided with a rotating brush 22 having an inclined blade 22 a so as to face from a blow opening 21 opened on the lower surface of the body 11. As shown in FIGS. 3 and 4, the rotary brush 22 is supported by the ends of a pair of arms 23, one end of which is rotatably supported by the central partition wall 16, and is driven by a motor M1. The rotation of the motor M1 is controlled by a gear G1, an idle gear G2 attached to the rotating shaft M1a, and the rotating brush 22.
The rotation brush 22 is transmitted through a gear G3 provided on the shaft 22a.

The rotating brush 22 is configured to be able to selectively take a position where it contacts the floor surface and a retreat position where it does not abut. When used as a vacuum cleaner, it rotates the floor surface. Cleaning is performed while hitting with a brush 22, so that when used as a doll, the vehicle runs quietly and smoothly.

The structure for vertically displacing the rotating brush 22 is as follows.
Although any mechanism may be used, for example, as shown in FIG. 4, a rotating shaft M1a of the motor M1 is also protruded on the opposite side of the gear G1, and The support shaft 23a is connected via a clutch 24.
When the clutch 24 is turned on and off, the arm 23 is vertically displaced about the support shaft 23a using the rotational force of the motor M1.

A suction passage 25 communicates with an upper portion of the rotary brush 22. The upper portion of the suction passage 25 is
It is communicated with 6. As shown in FIG. 3, the dust collecting chamber 26 has a bottom portion formed by a flat portion 16a of the central partition wall 16, and a lid 2 detachably provided on the back surface of the body 11.
By opening 7, the dust collecting bag 28 can be stored inside. The dust collecting bag 28 is composed of a flange 28a and a breathable bag main body 28b. With the flange 28a applied to the flat portion 16a, a rotatable fixing member 29 is raised and fixed. It is designed to hold.

It is to be noted that a damper 30 which is lifted by air flowing through the suction passage 25 and returns to its original position when the air stops, is provided in the suction passage 25 and below the dust bag 28. preferable. This damper 3
This is to prevent the dust and the like collected by 0 from dropping to the rotating brush 22 side.

On the upper side of the dust collecting chamber 26, in addition to the filter F, a sealing member 31 is attached to the projection 16b of the central partition wall 16.
A fan scroll 32 supported through
A fan 33 composed of a multi-blade fan or the like is provided in the fan scroll 32, and the fan 33 is connected to a motor M2. An anti-vibration member 34 is provided between the motor M2 and the upper part of the central partition wall 16 so that vibration noise does not leak outside.

The air flow blown out of the fan scroll 32 is supplied to an air outlet 3 opened on the back of the body 11.
5 to the outside. In this case, for example, a sensor (not shown) composed of an electric resistance member or the like whose current value changes in accordance with the airflow flowing therethrough is provided near the outlet 35, and the air volume discharged to the outside is equal to or less than a predetermined value Then, it is preferable to emit a warning sound to warn that the dust collection capacity of the dust collection bag 28 has reached the specified capacity. The numeral 36 shown in FIG. 3 in the vicinity of the outlet 35 is a hole into which a finger enters for convenience when the cover 27 is removed.

As shown in FIGS. 6 and 7, the drive mechanism 40 of the hand portion 12 uses a rear wheel 13b constituting the leg portion 13 as a drive source. The drive mechanism 40 is attached to a shaft 41 of the rear wheel 13b. Pins 42a, 43a are attached to the outer peripheral edge of the rotating plate 42 having the small diameter d1 and the rotating plate 43 having the large diameter d2 attached to the shaft 42 of the hand portion 12, respectively.
a and 43 a are connected by a connecting rod 44.

As shown in FIG. 7, the hand drive mechanism 40 sets the diameters of the rotating plates 42 and 43 to a small diameter d1 and a large diameter d2, and even if the rotating plate 42 having the small diameter d1 makes one rotation, the large diameter d2 By preventing the rotating plate 43 from rotating once,
2 swings. The driving mechanism 40
Is not limited to the rear wheel 13b, but may be the front wheel 13a.

The front side of the center partition 16 will be described. As shown in FIGS. 1, 2, and 3, the obstacle sensing member 50 is provided so that a front wheel 13 a corresponding to a forefoot in the leg portion 13 projects forward from the body 11 and covers the front wheel 13 a. A pair of left and right cover members 51 are attached to the body 11 by pins and springs so as to be independently displaceable.

Then, for example, when it collides with an obstacle such as a pillar or furniture, the cover member 51 is displaced, and this displacement causes a sensor (not shown) provided at a position in the immediate vicinity of each cover member 51. The signal is input to the control unit C as shown in FIG. For example, when the left cover member 51 collides with an obstacle, the control unit C outputs a signal to the steering unit 60 so as to move rightward. The number of the cover members 51 is not limited to a pair of right and left, and it goes without saying that more cover members 51 may be provided such as a front portion and a left and right portion.

The voice sensing member 55 is a microphone provided on the front surface of the body 11, as shown in FIGS. 1 and 3, thereby detecting the voice of a person and, as shown in FIG. The voice of the response message identified by the voice recognition unit 56 and synthesized by the voice synthesis unit 57 is amplified by the amplifier 58 and then output from the speaker 59.

It should be noted that when the voice recognition unit 56 identifies the voice, a command may be input to the control unit C only for a limited voice. Thereby, the toy 10 is
A predetermined operation can be performed according to a specific person's command, and it can be used for dialogue with a specific person.

For this reason, in the present embodiment, as shown in FIG. 12, a memory 70 is connected to the control unit C of the toy 10,
Several kinds of predetermined response messages are stored in the memory 70 in advance, and the toy 10 emits a sound based on the response messages.

The steering section 60 imparts a predetermined steering angle to the front wheels 13a. As shown in FIGS. 3 and 8, the entire drive section 61 of the front wheels 13a is steered by a steering shaft 62. However, the rotational position of the steering shaft 60 is detected by the position detecting means 63, and a signal thereof is transmitted to the control unit C.
To be entered.

The drive section 60 is provided with a steering bracket 64 having a U-shaped cross section attached to a lower end of the steering shaft 62.
And a plurality of gears G3 to G8 driven by a motor M3 between the steering brackets 64.
Is driven by the pair of front wheels 13a.

At the lower end of the steering shaft 62, a partial gear G9 as shown in FIG. 9 is attached, and this partial gear G9 is meshed with a gear G10 to control the direction of driving the gear G10. When the motor M4 rotates, the partial gear G9 rotates via the gear G10. The motor M4 and the steering shaft 62 are supported by a support plate 16c protruding from the central partition wall 16.

On the other hand, at the upper end of the steering shaft 62, the steering shaft 62
Is provided with position detecting means 63 for detecting the rotational position of. In the position detecting means 63, a substrate 66 is attached to the lower surface of the support plate 16d on which the battery B is mounted, and a rotating arm 67 is provided to face the substrate 66. It is in contact with the angle confirmation pattern formed on the surface of the substrate 66.

As shown in FIG. 10, the angle confirmation pattern is formed so that the central angle is in the range of approximately 60 to 70 degrees, and at the innermost circumference, the front wheel 13a faces left or right. There is a first pattern P1 having three conductors (I, H, J) for detecting whether the rotary arm 67 is in a straight-ahead state or not. There is a second pattern P2 having relatively wide conductor portions (ag) divided into two parts,
On the outermost periphery, there is a third pattern P3 having seven conductors (A to G) having a narrow width and provided at intervals of 15 degrees. If the three patterns are concentrically formed in this manner, the current direction of the toy can be reliably determined.

For example, the rotating arm 67 is connected to the conductor (A,
a, H), the front wheel 13a is in a state in which it can go straight, and when it is in contact with the conductors (E, e, J), it is in a state of being rotated 15 degrees to the right. Yes, when it is in contact with the conductor (C, c, I), it is in a state of being rotated left 30 degrees.

The present invention is not limited to the three concentric patterns. If more concentric patterns are used, more accurate positional information can be obtained. The signal from the position detecting means 63 is also
As shown in FIG. 11, the position information of the toy is input to the control unit C.

In this way, the toy 10 is automatically cleaned while avoiding obstacles. However, if the toy 10 is simply moved while avoiding obstacles, the cleaned area is the obstacle. This is not preferable because it depends on the state of the object and the cleaning is random. For automatic cleaning, it is preferable not to clean the same location many times.

Therefore, in this embodiment, the memory 70
In this case, several kinds of predetermined cleaning patterns are stored in advance, and the toy 10 behaves according to the predetermined cleaning patterns.

FIG. 12 shows an example of this cleaning pattern. In the cleaning pattern shown in FIG. 12, the cleaning toy is
Initially, it is installed in the middle of the room. Next, the vehicle turns while gradually increasing the turning radius. After turning several times, for example, the direction is set to 45 degrees with respect to the reference direction of "north", that is, toward the corner of the room. When it arrives, it retreats, changes direction and proceeds in the direction of "South", and when it arrives, it retreats, changes direction and proceeds in the direction of "West", and when it arrives, it retreats and changes direction to "North" , And when it arrives, it retreats, changes direction, and proceeds in the “east” direction to complete the cleaning.

It should be noted that the reference direction is not limited to the direction such as "north", but may be any direction such as a pillar in a room as long as it can be specified by a sensor. It should be noted that a magnetic sensor may be used to specify the azimuth of “north”.

In order to perform the cleaning efficiently as described above, it is not sufficient to detect only the angle of the front wheel 13a alone. Therefore, in the present embodiment, the traveling signal from the rear wheel 13b is also transmitted to the control unit C. You are going to enter. In addition, since the traveling speed, the traveling distance, the traveling direction, and the like can be detected by using the traveling signal from the rear wheel 13b, the specification of the reference direction is smaller than when the magnetic sensor is used.
It is very inexpensive and is preferred.

The running signal from the rear wheel 13b is shown in FIG.
As shown in FIG. 3, a magnet Mg provided on the left and right rear wheels 13b and having NS poles sequentially magnetized, and a magnet Mg
And magnetically responsive travel sensors 68 attached to the positions facing each other. That is, the rear wheel 13b
Rotates, the magnet Mg also rotates at the same time. However, since the magnet Mg rotates while turning the running sensor 68 on and off, this on-off is used as a running signal.

For example, as shown in FIG. 14, when the vehicle is traveling straight (see FIG. 14A), the rear wheels rotate the same in both the left and right directions, so that the signal from the traveling sensor 68 outputs a synchronized signal. When this is input to the control unit C, it is determined that there is no rotation difference between the two rear wheels 13b,
It is determined that the vehicle is traveling straight.

When the vehicle is turning right or left (see FIGS. 14B and 14C), it is determined that the vehicle is turning because the number of signals generated differs between the left and right rear wheels 13b. You.

Further, the traveling distance can be calculated from the number of signals generated by the rotation of the rear wheels 13b and the traveling speed, and the cleaning pattern can be reliably executed from the traveling distance.

The fan motor M2 is turned on / off, the rotary brush motor M1 is turned on / off, the direction control motor M4 is driven forward / reverse, and the traveling motor M4 is turned on / off. Of the motor M3 is controlled in the forward and reverse directions, respectively.
Supplied from a DC12V battery via the
Is supplied from a DC 6 V battery via a switch SW2 interlocked with the main switch SW1.
Further, a remote control receiving section 71 may be connected to the control section C so that remote control can be performed.

Next, the operation of the present embodiment will be described with reference to the flowcharts of FIGS. The "go" and "stop" speech recognition routines described below are routines related to automatic driving, and the other "advance", "back", "right", and "left" speech recognition routines are: This is a routine related to driving as a toy.

First, to operate the toy by voice,
For example, a specific person makes a sound “go”. This voice is input to the voice recognition unit 56 via the microphone 55,
It is recognized that the sound is “go”. This recognition result is input to the control unit C in a state of waiting for the interruption of the voice command (S1, S2).

Upon receiving the voice recognition result, the control section C causes the voice of "Im sweeping" to be output from the speaker 59. This voice is obtained by extracting a response message (digital) stored in the memory 70, outputting this response message to the voice synthesizing unit 57, converting it into voice (analog), and amplifying the voice by the amplifier 58. (S3).

After outputting the sound, the control section C starts the automatic operation. When the automatic operation is started, the vacuum cleaner 20 is started and the wheels 13a, 13a are driven according to a predetermined pattern.
3b starts running and functions not only as a toy but also as a vacuum cleaner. This automatic operation is performed in accordance with a cleaning pattern stored in the memory 70 in advance (for example, one that behaves as shown in FIG. 12).

The automatic operation will be described in detail when describing the flowcharts of FIGS. 18 and 19 (S4).

Next, when the sound of "stop" is detected (S5), the sound of "Imstopping" is output from the speaker 29 (S6), and then the automatic operation is stopped, and both the operation and the traveling of the vacuum cleaner 20 are stopped. Both stop (S7).
The stop of the automatic operation is performed according to a flowchart shown in FIG. That is, upon detection of the sound of "stop", a timer interrupt automatic operation stop command is generated in the control unit C (S30), the driving motor M3 is stopped (S31), and the direction controlling motor M4 is stopped. (S3
2) The fan motor M2 is stopped (S33), and the rotating brush motor M1 is stopped (S34).

On the other hand, when the voice of "advance" is detected (S8), the control unit C sets "Im Go Ahead".
Is output from the speaker 29 (S9).
The front wheel 13a is rotated forward by the traveling motor M3 to advance the toy 10 (S10).

When the sound of "back" is sensed (S11), the sound of "Isle go back" is emitted (S12), and then the front wheel 13a is reversed and the toy 10 is retracted (S13).

When a sound "light" is detected (FIG. 1)
6 S14), the control unit C performs “Aisle turn light”
Is output from the speaker 29 (S1
5) The direction control motor M4 is driven to steer the front wheel 13a right, and the toy 10 is turned right (S16). Further, when the sound of “left” is detected (S17),
After uttering the sound “Isle Turn Left” (S1
8) The front wheel 13a is steered to the left, and the toy 10 is turned to the left (S19).

When the processes of steps S8 to S19 are performed, the portion functioning as the vacuum cleaner 20 is stopped, and the toy 10 functions only as a toy running around the room. Although the above operation is based on a voice command, the same operation can be performed using a remote controller.

Further, although not shown in the flowchart, when a voice saying "Good morning" is detected, a voice saying "Good morning" is output, and "Now"
When the voice is detected, the voice of "please go home" can be output. In this case, the toy 10 functions in a manner similar to a stuffed animal that simply emits sound. It should be noted that the audio output is not limited to only "good morning" and "go home" voices, and it is needless to say that various voices such as English voices and other words can be output. .

Next, "automatic operation" in step S4 of the main flowchart will be described with reference to FIGS.

In the case of automatic driving, for example, the toy 10 in a state where a predetermined pattern as shown in FIG.
Start cleaning with the in the middle of the room.

When a cleaning start command is issued (S4)
0), the rotating brush motor M1 and the fan motor M2 start (S41), but the timer is activated and the cleaner 20 is turned off.
The standby state is maintained until the suction force of the increases (S42).

When the cleaning state is attained, the traveling motor M
3 rotates forward, the toy 10 starts moving forward, and the direction control motor M4 rotates forward to move rightward (S43). As a result, the toy 10 starts turning while cleaning.

That is, the toy 10 in FIG.
When the traveling motor M3 rotates forward, a plurality of gears G3-G
The pair of front wheels 13a supported by the support shaft 65 via the drive shaft 8 is driven to move forward. When the direction control motor M4 rotates forward, the partial gear G9 rotates via the gear G10,
The partial gear G9 rotates the steering shaft 62, and the steering shaft 6
2 is a steering bracket 64 holding the entire drive unit 60
To rotate the toy 10.

The turning state is detected by the magnetically responsive traveling sensor 68 of both rear wheels 13b, and it is determined whether or not the turning direction coincides with the set direction (S44). If they match, the rotation of the direction control motor M4 stops (S45).
If it is on the + side, it is in a state of excessive turning, so that the rotation of the rotation of the direction control motor M4 is turned off and reversed (S46). On the negative side, the rotation of the direction control motor M4 is continued in the normal rotation because the rotation is insufficient (S4).
47).

When the running direction of the toy 10 matches the set direction in this way, the left and right obstacle sensing members 50
Until is turned off (S48), the toy 10 keeps turning while cleaning based on the pattern.

That is, the toy 10 in FIG.
The rotating brush 22 descends, and the blade 22 a
From the floor, and hits the floor to lift the dust while sucking up the dust by the suction force of the fan 33. The dust passes through the suction passage 25 and is guided into the dust bag 28 of the dust collection chamber 26. The air passes through the dust bag 28, is filtered by the filter F, and is discharged to the outside from the outlet 35. Is done.

When the left obstacle sensing member 50 is turned on during the turn (S49), the driving motor M3 is turned off (S50), and the direction controlling motor M4 is turned on by the front wheel 13a.
Is rotated to the left (S51), the motor M3 for running reversely rotates (S52), and the toy 10 is retracted. Then, the running motor M3 is turned off, the direction controlling motor M4 rotates the front wheel 13a in the opposite direction, that is, to the right (S53), and the running motor M3 rotates forward (S54). In this way, the vehicle starts traveling again, avoiding obstacles.

On the other hand, when the right obstacle sensing member 50 is turned on (S55), the traveling motor M3 is turned off (S56), and the direction control motor M4 rotates so as to turn the front wheel 13a to the right. (S57), the traveling motor M3
Is reversed (S58), and the toy 10 is retracted. And
The driving motor M3 is turned off, and the direction controlling motor M is turned off.
4 rotates the front wheel 13a in the opposite direction, that is, to the left (S59), and the traveling motor M3 rotates forward (S6).
0). After avoiding the obstacle, the toy 10 continues the turning state while cleaning again based on the pattern.

As described above, the cleaning toy of the present invention can be used as a cute stuffed animal that can always interact, as a toy that interacts while running around the room or moving the limbs, and furthermore, a practical toy that performs cleaning while traveling by itself. It can be used as a cleaning robot with the potential.

[0071]

As described above, according to the first aspect of the present invention, a sensing member for sensing a traveling obstacle and a sensing member for sensing a human voice are provided, and at least one of the sensing members is provided. Since the control of the vacuum cleaner, the steering unit and the running wheels is performed by the signal, it can be used as a toy for running around and interacting with a room, and can also be used as a practical cleaning robot that performs self-running cleaning. .

According to a second aspect of the present invention, a hand portion is provided on a side portion, and the hand portion and a steering wheel or a running wheel in the leg portion are connected to each other.
Since it is connected via the drive mechanism that converts the rotational motion into the oscillating motion, it is possible to interact while running around the room or moving the limbs, and it is possible to provide a cute cleaning toy with limb movements.

According to the third aspect of the present invention, a predetermined response message is output in response to a human voice input, so that a fun cleaning toy that responds to a command can be constructed.
In addition, a cleaning toy that responds only to a command from a specific person can be used. However, in this case, the owner's dedication is satisfied, and the cuteness of the cleaning toy as a toy can be promoted.

According to a fourth aspect of the present invention, when a signal is input from a remote control receiving unit, the cleaner,
Since the control signals for the steering unit and the running wheels are output, a cleaning toy having the same effect as the first aspect can be provided by a remote controller.

According to the fifth aspect of the present invention, the front running wheels are controlled so as to move in the opposite direction by a signal from the cover member displaced due to the collision with the obstacle, so that the cleaning can be performed while avoiding the obstacle. A practical cleaning toy that can be provided can be provided.

According to the sixth aspect of the present invention, the steering angle and the traveling distance are determined based on signals from the magnet and the magnetic sensor, and the vehicle travels in accordance with a preset cleaning pattern. Can provide a practical cleaning toy for cleaning a room.

According to a seventh aspect of the present invention, the rotating brush comprises:
The position where it touches the floor surface and the retreat position where it does not touch the floor surface can be selected selectively, so that when used as a toy that runs around the room or interacts with the room, the rotating brush does not hinder the running In this way, when the robot is used as a practical cleaning robot that performs cleaning while traveling by itself, efficient cleaning can be performed using a rotating brush.

According to the eighth aspect of the present invention, when the amount of air discharged from the outlet to the outside falls below a predetermined value, a warning sound is issued to warn that the dust collection capacity of the dust collection bag has reached the specified capacity. As a result, it is possible to easily know when to replace the dust bag.

According to the ninth aspect of the present invention, the body and the hand are
Since the outside is covered with a stuffed toy of a predetermined shape, it is not limited to a mere cleaning toy but can always be enjoyed as if it were an ornament or decoration in a room.

[Brief description of the drawings]

FIG. 1 is a schematic front view showing a main part of the present embodiment.

FIG. 2 is a schematic side view of the main part.

FIG. 3 is a schematic sectional view taken along line 3-3 in FIG. 1;

FIG. 4 is a schematic sectional view taken along line 4-4 in FIG. 3;

FIG. 5 is a schematic bottom view of the essential part.

FIG. 6 is a schematic sectional view taken along line 6-6 in FIG. 2;

FIG. 7 is an enlarged view of a main part of FIG. 6;

FIG. 8 is a schematic sectional view taken along line 8-8 in FIG. 3;

FIG. 9 is a schematic sectional view taken along line 9-9 in FIG. 3;

FIG. 10 is a schematic sectional view taken along line 10-10 in FIG. 3;

FIG. 11 is a block diagram of a control unit.

FIG. 12 is an explanatory diagram showing one cleaning pattern.

FIG. 13 is a schematic view of a rear wheel.

FIG. 14 is an explanatory diagram showing a signal generated by the rear wheel.

FIG. 15 is a main flowchart.

FIG. 16 is a main flowchart.

FIG. 17 is a flowchart illustrating a process of stopping automatic operation.

FIG. 18 is a flowchart at the time of automatic operation.

FIG. 19 is a flowchart at the time of automatic operation.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 ... Torso, 12 ... Hand part, 13 ... Leg part, 15 ... Stuffed animal, 20 ... Vacuum cleaner, 21 ... Inlet, 22 ... Rotary brush, 35 ... Outlet, 40 ... Drive mechanism 51 ... Obstacle sensing member (cover) 55) Voice sensing member, 59 ... Speaker, 60 ... Steering unit, 68 ... Magnetic sensitive sensor, 71 ... Remote control receiving unit, C ... Control unit, Mg ... Magnet.

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) A63H 3/00 A63H 3/00 L 3/33 3/33 A F-term (Reference) 2C150 CA01 DA06 DA27 DA28 DF01 DF02 DF03 DF31 DJ08 EB01 EB44 EC03 ED42 ED49 EF01 EF13 EF15 EF16 EH08 FA01 FA02 3B006 JA03 KA01 3B057 DA06 DA07 3B061 AA32 AA35 AD04 3B062 AK05 AK16

Claims (9)

[Claims] 1. A self-propelled cleaning toy in which a cleaner is built in a body and a lower part of the body is provided with a running wheel, and the traveling part detects a traveling obstacle. Member, a sensing member that senses a human voice, a steering unit that controls the traveling direction of the traveling wheel, and when a signal is input from at least one of the sensing members, the cleaner, the steering unit, and A control unit for outputting a control signal for the traveling wheel. 2. The body is provided with a hand portion on a side portion, and the hand portion and a traveling wheel of the leg portion are connected via a drive mechanism that converts a rotational motion into a rocking motion. The cleaning toy according to claim 1, wherein 3. The apparatus according to claim 1, wherein the control unit outputs a predetermined response message from a speaker in response to a voice input sensed by the sensing member that senses the voice of the person. The cleaning toy described. 4. The control unit according to claim 1, wherein when a signal from a remote control receiving unit is input, control signals for the vacuum cleaner, the steering unit, and the running wheels are output. Or the cleaning toy according to 2. 5. The obstacle sensing member protrudes a front running wheel of the leg portion forward from a body, and enables a cover member provided to cover the front running wheel to be displaceable at least left and right independently. When a signal from the cover member displaced due to the collision with the obstacle is input to the control unit, the control unit controls the front running wheel so as to head in the opposite direction. Item 3. The cleaning toy according to Item 1 or 2. 6. The control section has a magnet that rotates with one of the running wheels of the leg, and receives a signal from a magnetically responsive sensor that is provided to face the magnet. The cleaning toy according to claim 1 or 2, wherein a steering angle and a traveling distance are determined based on signals from the magnet and the magnetic sensor, and the vehicle travels along a preset cleaning pattern. 7. The vacuum cleaner has a rotary brush at an air inlet provided on a lower surface of the body, and selects between a position where the rotary brush contacts the floor surface and a retreat position where the rotary brush does not contact the floor surface. The cleaning toy according to claim 1, wherein the cleaning toy is designed to be removable. 8. The vacuum cleaner emits a warning sound to warn that the dust collection capacity of the dust bag has reached a specified capacity when the amount of air discharged from the outlet to the outside falls below a predetermined value. The cleaning toy according to claim 1, wherein: 9. The body and the hand are covered with a predetermined shape of a stuffed toy.
The cleaning toy described in 1.