JP2003079550A - Cleaning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electric vacuum cleaner capable of cleaning a floor face more positively. SOLUTION: When a wall is detected in a neighborhood of a body case 2 by an obstacle sensor, traveling wheels 3 are rotatively driven via a motor by a control circuit 24. The body case 2 moves and a suction opening body 10 approaches the wall. Since the suction opening body 10 approaches a floor face in a neighborhood of the wall and it cleans the floor face in the neighborhood of the wall, the floor face can be cleaned more positively. It can also be composed so that the body case 2 moves when the wall is detected by a distance sensor. The suction opening body 10 is rotated counterclockwise as seen from above via the motor by the control circuit 24. When a state of the suction opening body 10 directed toward the wall is maintained, the body case 2 is relatively rotated clockwise as seen from above. The body case 2 moves and cleans along a side face of the wall in a state of a distance between the suction opening body 10 and the wall maintained at a certain distance. Since the floor face in the neighborhood of the wall where dust easily accumulates is cleaned by the suction opening body 10, the floor face can be cleaned more positively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning device for cleaning while moving independently.

[0002]

2. Description of the Related Art Conventionally, a cleaning device of this type has a substantially hemispherical hollow main body case which is a main body, and a substantially central region of a bottom surface of the main body case faces a floor surface as a surface to be cleaned. An open suction port is provided. Further, a pair of running wheels are rotatably attached in the vicinity of the outer edge of the bottom surface of the body case so as to be coaxially opposed to each other. A motor for rotating the traveling wheels is attached to the traveling wheels, and the traveling wheels and the motor constitute a moving means.

A control circuit as a control means is housed in the main body case, and the drive of the motor is controlled by this control circuit to drive the running wheels to rotate to drive the main body case by itself. Further, a pair of turning wheels are attached near the outer edge of the bottom surface of the main body case in the traveling front-rear direction of these running wheels. In addition, a dust collection case communicating with the suction port and an electric blower communicating with the dust collection case are arranged in the main body case.

In this cleaning device, the main body case is self-propelled by the control circuit, and dust is sucked from the suction port by the drive of the electric blower for cleaning.

[0005]

However, in the above-described cleaning device, since the suction port is provided in the central area of the bottom surface of the main body case, for example, there is no area of the surface to be cleaned such as corners or gaps where dust is likely to accumulate. However, there is a problem that the main body case interferes with the suction port so that it cannot be cleaned.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a cleaning device capable of more reliably cleaning a surface to be cleaned.

[0007]

A cleaning device according to claim 1, wherein a main body, a moving means for moving the main body independently, a cleaning means provided around the main body for cleaning a surface to be cleaned, and an obstacle. An obstacle detection means for detecting the obstacle, and a control means for detecting the obstacle by the obstacle detection means and moving the main body by the moving means to bring the cleaning means closer to the obstacle. is there.

When the obstacle detecting means detects an obstacle such as a wall surface, the control means drives the moving means to move the main body so that the cleaning means approaches the obstacle. As a result, when the main body approaches the obstacle, the cleaning means approaches the surface to be cleaned in the vicinity of the obstacle and cleans the surface to be cleaned in the vicinity of the obstacle where dust is likely to accumulate, so that the surface to be cleaned is more reliably secured. To clean.

According to a second aspect of the present invention, there is provided a cleaning device, a main body, a moving means for independently moving the main body, and a cleaning means which is lower than the main body and which projects toward the periphery of the main body to clean a surface to be cleaned. And a gap detecting unit that detects a gap into which the cleaning unit can be inserted, and a control unit that causes the moving unit to move the main body and insert the cleaning unit into the gap by detecting the gap by the gap detecting unit. It is equipped with and.

The cleaning means is lower than the main body, and when the clearance detecting means detects a clearance into which the cleaning means can be inserted,
The control means moves the main body by the moving means and inserts the cleaning means into this gap, so that the cleaning means enters a gap where dust is easily collected and the main body cannot enter,
In order to clean this gap, the surface to be cleaned is cleaned more reliably.

According to a third aspect of the present invention, in the cleaning apparatus according to the first aspect, the control means detects the obstacle by the obstacle detecting means and moves the main body by the moving means to move the cleaning means and the obstacle. The main body is moved substantially along the side surface of the obstacle while maintaining a certain distance from the object.

When the obstacle detecting means detects an obstacle, the control means moves the main body by the moving means to maintain the distance between the cleaning means and the obstacle at a certain distance. By moving the object along the side surface of the obstacle, the surface to be cleaned in the vicinity of the obstacle where dust easily accumulates is cleaned by the cleaning means, so that the surface to be cleaned is more reliably cleaned.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION The configuration of a first embodiment of a cleaning device of the present invention will be described below with reference to FIGS.

1 is an electric vacuum cleaner as a cleaning device,
The electric vacuum cleaner 1 includes a substantially hemispherical hollow main body case 2 as a main body. The main body case 2 has a bottom plate portion 2a having a substantially circular plate shape, and a substantially hemispherical hollow cover 2b that covers the bottom plate portion 2a is assembled to the bottom plate portion 2a by screws (not shown) or the like. Has been found.

In the vicinity of the outer edge of the bottom plate portion 2a, a pair of traveling wheels as traveling means are arranged so as to oppose each other along the rotation axis 3a along a virtual center line along a direction substantially orthogonal to the traveling direction of the main body case 2. 3 is mounted coaxially. This running wheel 3
Is rotatably attached to the floor surface as a surface to be cleaned along the traveling direction, and a part of the outer peripheral edges of the traveling wheels 3 projects from the lower side of the main body case 2. Also,
These running wheels 3 are attached substantially symmetrically with respect to a virtual center line of the main body case 2 when viewed from the front.

Further, motors 4 as driving means for rotating the traveling wheels 3 are connected to the rotary shafts 3a. The traveling wheels 3 and the motor 4 form a moving unit 5, and the moving unit 5 allows the main body case 2 to be self-propelled, that is, self-propelled.

On the other hand, a slewing wheel 6 is attached near the outer edge of the bottom plate portion 2a on the virtual center line along the traveling direction. The slewing wheel 6 has a substantially circular attachment base end portion 6a attached to the bottom plate portion 2a so as to be rotatable along the surface direction of the floor surface.
And a substantially columnar wheel portion 6b that is vertically attached to the attachment base end portion 6a and is rotatable perpendicularly to the floor surface. The wheel portion 6b is mounted on the mounting base end portion 6a so that the lower side of the outer peripheral edge is located at substantially the same height as the lower side of the outer peripheral edge of the traveling wheel 3, and the traveling wheel 3 and the turning wheel 6 allow The weight balance of the main body case 2 is maintained.

A suction port body 10 having a substantially rectangular parallelepiped shape as a cleaning means is provided at a lower portion on the front side in the traveling direction of the main body case 2 along a direction substantially orthogonal to the traveling direction. The suction port body 10 has a longitudinal dimension substantially equal to the outer diameter dimension of the cover 2b. The height of the suction port body 10 is approximately one fourth of the height of the main body case 2, and is lower than the outer peripheral edge of the traveling wheel 3 protruding from the bottom plate portion 2a of the main body case 2. Also has a bottom portion 10a at a slightly higher position. Further, the thickness dimension of the suction port body 10, that is, the dimension in the left-right direction in FIG. 1 is approximately one fifth of the outer diameter dimension of the bottom plate portion 2a. The thickness direction projects from the front side in the forward direction of the main body case 2 by about 4/5 of the thickness of the suction port body 10. Here, the main body case 2 is substantially symmetrical in a front view of the main body case 2 in a state where the suction port body 10 is provided.

Further, the bottom face portion 10a of the suction inlet body 10 is provided with a substantially rectangular suction inlet 11 having a longitudinal direction along the longitudinal direction of the bottom face portion 10a. The suction port 11 is opened so as to face the floor surface. Further, in the vicinity of the upper side of the suction port body 10 on the front side of the cover 2b, a plurality of obstacles such as an infrared sensor as an obstacle detecting means for detecting the obstacle by detecting the distance between the main body case 2 and the obstacle. Sensor
Twelve are arranged. These obstacle sensors 12 are covered
They are arranged in the radial direction of the cover 2b along the circumferential direction of the 2b and the surface direction of the floor surface.

Further, in the lower part of the cover 2b of the main body case 2, at least one side of the main body case 2 in the advancing direction from the vicinity of the front side in the advancing direction of the main body case 2,
For example, a notch 13 having a substantially rectangular shape in plan view is provided along the circumferential direction and the floor surface of the main body case 2 to the left side in the traveling direction. The cutout portion 13 has a suction port body 10
A motor (not shown) or the like can rotate along the cutout portion 13 along the floor surface and the circumferential direction of the main body case 2. Further, the notch 13 is provided laterally of the main body case 2 by about 120 ° in a plan view with respect to an imaginary center line of the bottom plate portion 2a substantially along the traveling direction of the main body case 2. As a result, the suction port body 10 can be moved to a position where the thickness direction of the suction port body 10 is substantially orthogonal to the traveling direction of the main body case 2.

On the other hand, a rotary brush 14 as a rotary cleaning body having a rotary shaft 14a extending along the longitudinal direction of the suction port 11 is rotatably attached to the suction port 11. The rotary shaft 14a is connected to a motor 15 as a rotary cleaning body driving unit that drives the rotary brush 14 to rotate. In addition, the suction port 11 has a substantially cylindrical connecting pipe that is guided into the main body case 2.
20 are in communication.

The tip of the connecting pipe 20 is communicated with a hollow cylindrical dust collecting case 21 which is arranged in the lower center of the main body case 2 and accumulates dust. This dust collection case 21
An electric blower 22 as dust collecting means driven by electric power is airtightly connected to the upper side of the dust collecting case 21 via a dust collecting filter (not shown).

Further, behind the dust collection case 21 in the main body case 2, there is provided a battery pack 23 as a power supply means which is a secondary battery for supplying power, and is provided behind the suction port body 10. A control circuit 24 as a control unit that is operated by the electric power supplied from the battery pack 23 is provided on the front side of the main body case 2. An obstacle sensor 12 is electrically connected to the control circuit 24.
Obstacles are detected at 12. In addition, this control circuit 24
Controls the drive of the motor 4, the motor 15, and the electric blower 22.

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

First, the battery pack 23 supplies electric power to the control circuit 24 to operate the control circuit 24.

Next, in the control circuit 24, the battery pack
The motor 4 and the electric blower 22 are driven while adjusting the electric power supplied from the motor 23 to the motor 4 and the electric blower 22.

Then, the traveling wheels 3 are rotationally driven by the drive of the motor 4, the main body case 2 is self-propelled, and the electric blower 22 is driven.
The dust on the floor surface is sucked from the suction port 11 by driving.

At this time, the rotary brush 14 is moved through the motor 15.
Rotate and clean the floor by scraping out dust.

When the obstacle sensor 12 detects a wall as an obstacle, the control circuit 24 rotationally drives the traveling wheel 3 via the motor 4 to move the main body case 2 toward the wall. While the obstacle sensor 12 detects a wall or the like, the suction port body 10 is brought close enough to contact the wall or the like.

Further, a motor (not shown) is rotationally driven by the control circuit 24 so that the suction port body 10 rotates counterclockwise by 90 ° counterclockwise in plan view.

At this time, by keeping the suction port body 10 facing the wall or the like, the main body case 2 relatively rotates clockwise in plan view, that is, about 90 ° clockwise.

Then, the control circuit 24 rotationally drives the traveling wheels 3 via the motor 4, so that the main body case 2 extends along a wall in a direction intersecting with the traveling direction of the main body case 2, for example, a substantially orthogonal direction. While moving, the dust on the floor near the wall is sucked from the suction port 11 by the electric blower 22 to be cleaned.

As described above, according to the first embodiment, when the obstacle sensor 12 detects a wall or the like, the control circuit 24 rotationally drives the traveling wheels 3 via the motor 4,
By moving the main body case 2 to bring the suction port body 10 closer to a wall or the like, when the main body case 2 approaches a wall or the like, the suction port body 10 approaches a floor surface near the wall or the like,
Since this floor surface where dust is easily collected can be cleaned, the floor surface can be cleaned more reliably.

Next, the configuration of the second embodiment of the present invention will be described with reference to FIG.

The cleaning device shown in FIG. 5 has the same structure as that of the cleaning device shown in FIGS. 1 to 4, except that it serves as a distance detecting means such as an infrared sensor on the front surface of the suction port body 10 in the traveling direction. Distance sensors 30a and 30b are attached.

Here, the distance sensor 30a is attached to the upper right side in the traveling direction of the front surface of the suction port body 10 in the traveling direction. On the other hand, the distance sensor 30b is attached to the upper left side in the traveling direction of the front surface of the suction port body 10 in the traveling direction. And
These distance sensors 30a and 30b are attached to positions substantially symmetrical to each other with respect to the virtual center line of the main body case 2 when viewed from the front, and are attached to the front side in the traveling direction, electrically connected to the control circuit 24, and the suction port body 10 is connected. And the distance to the obstacle in front of the body case 2 is detected.

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

First, the control circuit 24 rotationally drives a motor (not shown) to rotate the suction inlet body 10 counterclockwise by 90 ° in a plan view.

Here, by keeping the suction port body 10 facing the wall 31, the body case 2 relatively rotates clockwise in plan view, that is, about 90 ° clockwise.

Then, the control circuit 24 rotationally drives the traveling wheels 3 via the motor 4 to move the main body case 2 in the vicinity of the wall 31 along the wall 31.

At this time, the obstacle sensor 12 detects the wall 32 laterally of the main body case 2 in the traveling direction, for example, near the right side of the main body case 2 in the traveling direction.

Then, the distance sensor 30 in the suction port body 10
While maintaining the distance between b and the wall 31, the main body case 2 is attached to the wall 3
Rotate along corners 1 and 32 near corner 33.

That is, when the distance sensor 30b detects the distance from the wall 31, the control circuit 24 rotates the traveling wheel 3 via the motor 4 while maintaining this distance, and the main body case 2 is sucked into the suction port body. Rotate clockwise with 10 in plan view.

Then, the distance sensor 30 in the suction port body 10
The vicinity of b approaches the wall 32 along the vicinity of the wall 31, and the suction port body 1
The vicinity of the distance sensor 30a at 0 moves along the wall 32 to the right in the traveling direction of the main body case 2.

Further, when the main body case 2 is rotationally moved until the traveling direction of the main body case 2 faces the wall 32, the front surface of the suction port body 10 in the traveling direction becomes substantially parallel to the wall 32.

Then, the traveling wheels 3 are rotationally driven by the control circuit 24 via the motor 4, and the main body case 2 moves again in the direction substantially orthogonal to the traveling direction, that is, in the direction along the wall 32.

As described above, according to the second embodiment, the substantially rectangular parallelepiped suction port body 10 is provided so as to project to the front side in the traveling direction of the main body case 2, and the outer peripheral surface and the floor surface of the cover 2b are provided. Since the obstacle sensor 12 is attached along the surface direction and has the same configuration as that of the first embodiment, the same operational effect as that of the first embodiment can be obtained.

When the obstacle sensor 12 detects the wall 32 in the vicinity of the side of the main body case 2 in the traveling direction, the control circuit 24 rotationally drives the traveling wheels via the motor 4 to drive the main body case 2. To move. Then, for example, the main body case 2 is moved along the side surfaces of the walls 31 and 32 while maintaining the distance between the wall 31 and the vicinity of the distance sensor 30b in the suction port body 10 at a certain fixed distance. As a result, the dust-prone wall 3
Since the floor near 1 and 32 can be cleaned, the floor can be cleaned more reliably.

In the second embodiment, the corners
When the main body case 2 rotationally moves in the vicinity of 33, the electric blower 22 may suck dust. In this case corner 33
The floor surface in the vicinity of can be cleaned without gaps, and the floor surface can be cleaned more reliably.

Even if the distance sensors 30a and 30b are not attached, if the obstacle sensor 12 can detect the distance to the obstacles near the left and right corners of the front surface of the suction port body 10, the distance sensors 30a and 30b are attached. The same effect as that of the case can be obtained.

Next, the configuration of the third embodiment of the present invention will be described with reference to FIGS. 6 to 10.

The cleaning device shown in FIGS. 6 to 10 is
Although it has the same configuration as the cleaning device shown in FIG. 5, gap sensors 40a and 40b such as infrared sensors are attached to both sides of the suction port body 10 in the traveling direction.

Here, the gap sensor 40a is attached to the suction port body 10 in a substantially central region on the upper side surface on the right side in the traveling direction. On the other hand, the gap sensor 40b is attached to the suction port body 10 in a substantially central region on the upper side surface on the left side in the traveling direction. Also,
These gap sensors 40a and 40b are attached at positions substantially symmetrical with respect to the virtual center line of the main body case 2 in plan view. The gap sensors 40a and 40b are provided on the suction port body 10
And the distance to an obstacle on the side of the main body case 2 in the traveling direction are detected, and the gap sensors 40a and 40b and the distance sensors 30a and 30b constitute a gap detection means 41. The gap detecting means 41 detects the height and width of the gap to detect the gap into which the suction port body 10 can be inserted.

Further, above the suction port body 10 on the front side in the traveling direction of the main body case 2, instead of the obstacle sensor 12, an obstacle sensor 42 as an obstacle detecting means is provided in front of the main body case 2 in the traveling direction. It is installed toward. The gap sensors 40a and 40b, the distance sensors 30a and 30b, and the obstacle sensor 42 are electrically connected to the control circuit 24.

Next, each control of the third embodiment will be described.

As shown in FIG. 8, the control circuit 24 rotates the traveling wheels 3 via the motor 4 to cause the main body case 2 to run on its own.

Further, the control circuit 24 drives the electric blower 22 to suck dust from the suction port 11.

Further, the control circuit 24 rotationally drives the rotary brush 14 via the motor 15 to scrape out dust on the floor surface.

Here, as shown in FIG. 9, when at least the distance sensors 30a and 30b detect the wall 50 in the vicinity of the main body case 2, the control circuit 24 causes the suction port body 10 via a motor (not shown). To the left in plan view, that is, counterclockwise by 9
Rotate about 0 °.

At this time, by keeping the suction port body 10 facing the wall 50, the main body case 2 relatively rotates clockwise in plan view, that is, about 90 ° clockwise.

Then, the control circuit 24 rotationally drives the traveling wheels 3 via the motor 4 to move the main body case 2 in a direction substantially orthogonal to the traveling direction of the main body case 2.

Further, the control circuit 24 causes the traveling wheel 3 to pass through the motor 4 until the distance sensor 30b no longer detects the wall 50.
Is rotated to move the main body case 2.

On the other hand, the control circuit 24 uses the distance sensors 30a and 30b.
The width of the gap 51 is detected by. That is, when the distance sensors 30a and 30b do not detect the wall 50 in the vicinity of the suction port body 10, the gap 51 is determined to be a gap into which the width of the suction port body 10 can be inserted.

At the same time, as shown in FIG.
The distance sensors 30a and 30b and the obstacle sensor 42 detect the height of the gap 51 in the forward direction of the main body case 2. That is, when only the obstacle sensor 42 detects the wall 52, the control circuit 24 determines that the gap 51 is a gap into which the height of the suction port body 10 can be inserted.

When the control circuit 24 determines that the gap 51 is a gap into which the width and height of the suction port body 10 can be inserted, the control circuit 24 turns the suction port body 10 clockwise through a motor (not shown) in plan view,
That is, it is rotated clockwise by about 90 °.

At this time, by maintaining the suction port body 10 facing the wall 52, the main body case 2 relatively rotates counterclockwise by 90 ° counterclockwise by a 90 ° counterclockwise rotation in plan view. 10 comes to the front side in the traveling direction of the main body case 2.

Then, the control circuit 24 rotationally drives the traveling wheels 3 via the motor 4 to move the main body case 2,
The suction port body 10 is inserted into the gap 51.

Further, the control circuit 24 rotates the suction port body 10 about 90 ° counterclockwise in plan view through a motor (not shown) so that the main body case 2 rotates 90 ° clockwise in plan view.
Rotate about °.

Then, the control circuit 24 rotates the traveling wheels 3 via the motor 4 while keeping the distance between the obstacle sensor 12 and the wall 53 at a certain constant distance, and the main body case along the wall 53. Move 2

Here, in the control circuit 24, the gap sensor 40a detects the distance to the wall 54, and the gap sensor 40b detects the distance to the wall 55. Then, for example, the gap sensor 40a
When the distance between the suction port body 10 and the wall 54 detected at is smaller than the predetermined distance, the control circuit 24 determines that the wall 54 is the end point of the gap 51.

Then, the control circuit 24 rotates the main body case 2 by keeping the suction port body 10 facing the wall 53 through a motor (not shown) to rotate the main body case 2, and the suction port body 10 is rotated. Return until it is located on the front side in the traveling direction of 2.

Further, the control circuit 24 rotationally drives the traveling wheels 3 via the motor 4 to retract the main body case 2 and cause the suction port body 10 to exit from the gap 51.

Then, the control circuit 24 rotates the suction port body 10 about 90 ° counterclockwise in plan view through a motor (not shown), and relatively rotates the main body case 2 clockwise 90 ° in plan view.
Rotate the body case 2 again by approx.
The vicinity of the wall 56 is moved in a direction substantially orthogonal to the traveling direction of.

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

The cleaning apparatus according to the third embodiment is the first
And cleaning is performed in the same manner as in the second embodiment.

Then, the gap detecting means 41 and the obstacle sensor 42 detect shapes such as height and width of the gap in front of the main body case 2 or obstacles, and detect these gaps and obstacles. Depending on the shape, etc., the suction port body 10 is inserted into the gap, or the main body case 2 is moved along an obstacle for cleaning.

As described above, according to the third embodiment, the suction port body 10 having a substantially rectangular parallelepiped shape is provided so as to project to the front side in the traveling direction of the main body case 2, and the front side of the suction port body 10 is separated by a distance. Since the sensors 30a and 30b have the same configuration as that of the second embodiment such that the sensors 30a and 30b are attached to the front side in the traveling direction of the main body case 2, the same control as that of the second embodiment can be performed. The same effects as those of the second embodiment can be obtained.

Further, the gap 51 in front of the main body case 2 is detected by the gap detecting means 41 and the obstacle sensor 42, and this gap is detected.
When it is determined that 51 is a gap into which the suction port body 10 can be inserted, the traveling wheel 3 is rotationally driven via the motor 4 to move the main body case 2, and the suction port body 10 is inserted into the gap 51. As a result, since the suction port body 10 enters into the gap 51 in which dust is likely to collect and the main body case 2 cannot enter to clean the floor surface, the floor surface can be more reliably cleaned.

Furthermore, since the gap detecting means 41 and the obstacle sensor 42 can detect the width, height, distance, etc. of the obstacle, a large number of infrared sensors and the like are attached along the circumferential direction and the floor surface of the cover 2b. No need, vacuum cleaner 1
The configuration can be simplified.

In the third embodiment, the obstacle sensor 42 is a contact type sensor for detecting contact, and the suction port is used until the contact type sensor detects contact between the wall 52 and the main body case 2. The body 10 may be inserted into the gap 51. In this case, since the control and the configuration are relatively simple, the configuration of the electric vacuum cleaner 1 can be made simpler.

When the suction port body 10 is inserted into the gap 51, it may move to the front side in the traveling direction of the main body case 2 to clean the floor surface of the gap 51 closer to the wall 53.

Next, a fourth embodiment of the present invention will be described with reference to FIG.
Will be described with reference to.

The cleaning device shown in FIG. 11 has basically the same structure as that of the cleaning device shown in FIG. 5, except that the clearance sensors 40a and 40b and the obstacle sensor 42 are not provided and the suction port body is not provided.
The longitudinal direction of 10 projects along the traveling direction of the main body case 2.

That is, the thickness of the suction port body 10 is
The outer diameter of the bottom plate portion 2a is approximately one half, and the width of the suction port body 10 is approximately one third of the outer diameter dimension of the bottom plate portion 2a. The portion where the suction port body 10 is attached to the main body case 2 is provided with protrusions 60a and 60b in a direction substantially orthogonal to the traveling direction of the main body case 2. The protrusion 60a is provided on the right side of the suction port body 10 in the traveling direction, and the protrusion 60b is provided on the left side of the suction port body 10 in the traveling direction. Suction mouth
10 is formed in a substantially convex shape in a plan view.

Next, the operation of the above fourth embodiment will be described.

The cleaning apparatus according to the fourth embodiment is the first
The cleaning is performed as in the case of the third embodiment.

Further, when neither of the distance sensors 30a and 30b detects a wall in front of the main body case 2, the control circuit 24
Determines that there is a gap 63 formed between the walls 61 and 62 in the forward direction of the main body case 2 and into which the suction port body 10 can be inserted.

Then, the control circuit 24 moves the body case 2 to insert the suction port body 10 into the gap 63 for cleaning.

As described above, according to the fourth embodiment, since the longitudinal direction of the suction port body 10 is along the traveling direction of the main body case 2, the suction port is provided in the narrower gap 63. Not only can the body 10 be allowed to enter, but the suction port body 10 further enters the gap 63 for cleaning,
You can clean more detailed parts and more reliably clean the floor.

In the fourth embodiment, the protrusions 60a and 60b are provided with the protrusions 60a and 60b and the main body case 2.
A distance sensor, such as an infrared sensor, for detecting the distance to an obstacle on the front side in the traveling direction of may be attached. In this case, these distance sensors are respectively attached to the main body case 2
Install it toward the front in the traveling direction of the
When they are inserted in, the distance sensors detect the distances between the protrusions 60a and 60b and the walls 61 and 62, respectively. Then, the main body case 2 is moved by the control circuit 24 until the distance between the protruding portions 60a, 60b and the walls 61, 62 becomes a predetermined distance. As a result, since the suction port body 10 does not contact the walls 61 and 62, it is possible to prevent the walls 61 and 62 from being damaged. Alternatively, the distance sensor is a contact type sensor, and the protrusions 60a and 60b and the wall 6 are provided.
The main body case 2 may be moved by the control circuit 24 until the contact with the 1, 62 is detected.

In each of the above embodiments, a brush or cloth may be attached to the bottom surface portion 10a of the suction port body 10. In this case, when the main body case 2 moves, dust on the floor surface can be scraped off with a brush or the like, or the floor surface can be wiped and polished with a cloth or the like for cleaning.

Further, the suction port body 10 need not be provided in front of the main body case 2 in the traveling direction as long as it projects toward the periphery of the main body case 2, and does not have to be a substantially rectangular parallelepiped shape.

The suction port body 10 is provided without providing the suction port 11.
A brush, cloth or the like may be attached to the entire bottom surface 10a of the above so as to face the floor surface, and the floor surface may be cleaned by wiping or polishing. In this case, the dust collection case
Since the 21 and the electric blower 22 are not required, the structure of the main body case 2 can be simplified, the size of the main body case 2 can be made relatively small, and the manufacturing cost can be suppressed. Therefore, the manufacturability is improved.

The notch 13 is provided on the right side of the main body case 2 in the moving direction if the thickness direction of the suction port body 10 is moved to a position substantially orthogonal to the front side of the main body case 2 in the moving direction. Alternatively, they may be provided on both sides in the traveling direction of the main body case 2 by approximately 120 ° in plan view with respect to the virtual center line of the bottom plate portion 2a.

[0095]

According to the cleaning device of the first aspect, when the obstacle detecting means detects an obstacle such as a wall surface, the control means drives the moving means to move the main body to obstruct the cleaning means. Bring things closer. As a result, when the main body approaches the obstacle, the cleaning means approaches the surface to be cleaned in the vicinity of the obstacle, and the surface to be cleaned where dust is easily collected can be cleaned, so that the surface to be cleaned can be cleaned more reliably.

According to the cleaning device of the second aspect, the cleaning means is lower than the main body, and when the gap detecting means detects the gap into which the cleaning means can be inserted, the control means causes the moving means to move the main body. By inserting the cleaning means into the lever gap, the cleaning means enters into the gap where dust easily collects and the main body cannot enter, and the dust in the gap can be cleaned, so that the surface to be cleaned can be cleaned more reliably.

According to the cleaning device of the third aspect, in addition to the effect of the cleaning device of the first aspect, the control means causes the moving means to move the main body when the obstacle detecting means detects the obstacle. By moving the main body along the side surface of the obstacle while keeping the distance between the cleaning means and the obstacle at a certain distance, the cleaning surface near the obstacle where dust easily collects becomes the cleaning means. Therefore, the surface to be cleaned can be cleaned more reliably.

[Brief description of drawings]

FIG. 1 is a side sectional view showing a first embodiment of a cleaning device of the present invention.

FIG. 2 is a front sectional view showing the above cleaning device.

FIG. 3 is a side view showing the same cleaning device.

FIG. 4 is a bottom view showing the above cleaning device.

FIG. 5 is an explanatory view showing a second embodiment of the cleaning device of the present invention.

FIG. 6 is a top view showing a third embodiment of the cleaning device of the present invention.

FIG. 7 is a side view showing the same cleaning device.

FIG. 8 is a block diagram showing control of the above cleaning device.

FIG. 9 is an explanatory view showing a cleaning state by the above cleaning device.

FIG. 10 is a side view showing a cleaning state by the above cleaning device.

FIG. 11 is a top view showing a fourth embodiment of the cleaning device of the present invention.

[Explanation of symbols]

1 Electric vacuum cleaner as a cleaning device 2 Body case as the body 5 means of transportation 10 Suction mouth as a cleaning means 12, 42 Obstacle sensor as an obstacle detection means 24 Control circuit as control means 41 Gap detection means

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Shinzo Suzuki             Toshiba Tec, 43 Horiyamashita, Hadano City, Kanagawa Prefecture             Hadano Factory Co., Ltd. (72) Inventor Chiyomi Sudo             Toshiba Tec, 43 Horiyamashita, Hadano City, Kanagawa Prefecture             Hadano Factory Co., Ltd. (72) Inventor Kensuke Sato             Toshiba Tec, 43 Horiyamashita, Hadano City, Kanagawa Prefecture             Hadano Factory Co., Ltd. (72) Inventor Makoto Tadokoro             Toshiba Tec, 43 Horiyamashita, Hadano City, Kanagawa Prefecture             Hadano Factory Co., Ltd. (72) Inventor Atsushi Otake             Toshiba Tec, 43 Horiyamashita, Hadano City, Kanagawa Prefecture             Hadano Factory Co., Ltd. F-term (reference) 3B057 DA00

Claims (3)

[Claims] 1. A main body, a moving means for independently moving the main body, a cleaning means provided around the main body for cleaning a surface to be cleaned, an obstacle detecting means for detecting an obstacle, and the obstacle detecting means. A cleaning device, comprising: a control means for moving the main body by the moving means to move the cleaning means closer to the obstacle when the obstacle is detected by the means. 2. A main body, a moving means for independently moving the main body, a cleaning means which is lower than the main body and which projects toward the periphery of the main body to clean a surface to be cleaned, and the cleaning means is inserted. It is provided with a gap detecting means for detecting a possible gap and a control means for detecting the gap by the gap detecting means and moving the main body by the moving means to insert the cleaning means into the gap. And a cleaning device. 3. The control means detects the obstacle by the obstacle detecting means, and moves the main body by the moving means to maintain the distance between the cleaning means and the obstacle at a certain distance. The cleaning device according to claim 1, wherein the main body is moved substantially along the side surface of the obstacle.