JP2004049593A - Self-propelled vacuum cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a small, light, and safe self-propelled vacuum cleaner by limiting cleaning to that of house dust during user's absence. <P>SOLUTION: The vacuum cleaner includes: a sucking part 19 which communicates with a sucking hole 28a opened toward a floor surface 39; electric driving wheel 23a, 23b for propelling a main body 20; a battery 35; a timer; and wall detecting sensors 31a, 31b. The main body 20 is propelled along a wall 32, and repeats an intermittent operation between propelling and pausing. Thus, the small, light, and safe self-propelled vacuum cleaner is provided by limiting cleaning to that of house dust during user'S absence. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a self-propelled vacuum cleaner that operates and pauses intermittently.
[0002]
[Prior art]
Dust naturally accumulates in homes, especially in corridors such as wooden floors.Dust accumulates naturally even in homes where there are many opportunities to keep the house empty, such as dual-use homes and single-person homes. In many cases, the dust is noticeable and unpleasant. There is a demand for an automatic cleaner that automatically cleans such dust while going out and makes the dust less noticeable when returning home.
[0003]
[Problems to be solved by the invention]
However, many proposed cleaning robots have a function of automatically cleaning the entire floor surface, and therefore require many batteries to be mounted, and are not suitable for automatic cleaning of a narrow corridor having a large weight and size.
[0004]
The present invention mainly performs automatic suction and cleaning of dust in a corridor, etc., is small and does not obstruct the passage of the corridor, is safe even if it collides with people or furniture, and is safe even if it is automatically operated during absence. It aims to provide a self-propelled vacuum cleaner.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides an electric blower having an intake port communicating with a suction port opened on the floor, an electric drive wheel for running the main body, and a wall detection for detecting the position of the main body with respect to the wall surface. With a configuration including a sensor, a timer for repeating intermittent operation of driving and resting, and a battery for power supply, it is small, lightweight, safe, and has low power consumption limited to movement along a wall surface. It is possible to provide a self-propelled vacuum cleaner dedicated to dust removal.
[0006]
BEST MODE FOR CARRYING OUT THE INVENTION
The invention according to claim 1 of the present invention has a suction unit communicating with a suction hole opened on the floor surface, an electric driving wheel for running the main body, a battery, a timer, and a wall detection sensor, and the main body is mounted on a wall. A self-propelled vacuum cleaner that runs along and repeats intermittent operation of running and resting automatically absorbs and cleans mainly dust, such as in an absent corridor, to maintain a comfortable environment. .
[0007]
According to a second aspect of the present invention, a self-propelled cleaner according to the first aspect is provided with a sensor for detecting contact with a wall in the traveling direction, thereby enabling a right-angled bend and having a wider range. Self-propelled cleaning becomes possible.
[0008]
According to a third aspect of the present invention, the self-propelled vacuum cleaner according to the first or second aspect of the present invention realizes a simple configuration having excellent suction performance by forming the suction unit with a centrifugal fan. it can.
[0009]
According to the invention described in claim 4 of the present invention, a larger suction force can be obtained particularly when the suction section is constituted by the piston and the cylinder in the self-propelled cleaner according to claim 1 or 2.
[0010]
In the invention according to claim 5 of the present invention, in particular, the self-propelled cleaner according to any one of claims 1 to 4 temporarily stops a plurality of times during traveling, performs a suction operation during that time, and thereafter pauses for several hours. With this configuration, the maximum current consumption can be reduced, and the load on the control circuit can be reduced.
[0011]
The invention according to claim 6 of the present invention is a self-propelled vacuum cleaner according to any one of claims 1 to 5, in which a configuration in which no power is consumed other than a timer during a halt is used to make a halt. The standby power during the operation can be further reduced, and long-time use or weight reduction can be achieved.
[0012]
The invention according to claim 7 of the present invention can reduce the power consumption, particularly by using the self-propelled vacuum cleaner according to any one of claims 2 to 6 by using a wall detection sensor as a mechanical type. It is possible to reduce the time and the weight of the device.
[0013]
In the invention according to claim 8 of the present invention, in particular, the self-propelled cleaner according to any one of claims 1 to 7 is set to have a pause time of 6 hours or more and a single travel distance of 50 cm or less. By including it, the house being absent can be automatically cleaned efficiently, and the suction performance and use time can be improved.
[0014]
According to a ninth aspect of the present invention, in particular, the self-propelled cleaner according to any one of the first to eighth aspects has a weight of 1000 g or less and a moving speed of 0.2 m / s or less. , More secure.
[0015]
According to a tenth aspect of the present invention, there is provided a self-propelled vacuum cleaner according to any one of the first to ninth aspects, wherein the main body has a substantially cylindrical shape, and its outer shape is 120 mm or less. The use of a wheelchair or the like becomes possible while driving the traveling vacuum cleaner, and the usability is further improved.
[0016]
【Example】
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0017]
(Example 1)
1 to 4 show the configuration of a self-propelled cleaner according to a first embodiment of the present invention. In FIG. 1, reference numeral 20 denotes a self-propelled cleaner main body. As shown in FIG. 1A, the shape viewed from the top is substantially circular. Reference numeral 21a denotes a right driving motor for traveling built in the self-propelled cleaner body 20, and 21b denotes a left driving motor. These drive motors have a built-in speed reducer, and a right electric drive wheel 23a and a left electric drive wheel side 23b are fixed to the reduced output shaft 22. Both electric driving wheels 23a and 23b are installed near the outer peripheral wall 20a of the self-propelled cleaner main body 20, and the rotation axis thereof coincides with the outer diameter axis 20b of the self-propelled cleaner main body 20 and is installed symmetrically. ing. Reference numeral 25 denotes a free wheel installed in the front-rear direction. A freely rotating ball 25a is supported by a bearing 25b.
[0018]
Reference numeral 26 denotes a suction unit 19, which indicates a fan motor for sucking dust, and is installed substantially on the central axis of the self-propelled cleaner main body. A centrifugal fan 27 having a plurality of blades 27a is fixed to the rotating shaft 26a. Reference numeral 28 denotes a suction pipe provided to face an air suction portion 27b near the center of the centrifugal fan 27. A suction hole 28a provided at one end is opened to face a floor surface 39, and a communication hole 28b at the other end is provided with a suction air. It is open to the portion 27b. As shown in FIGS. 2 and 4, a plurality of exhaust holes 29 are provided radially in the main body side wall 20 c outside the centrifugal fan 27. A band-shaped filter 30 is provided upstream of the exhaust hole 29.
[0019]
In FIG. 1, reference numerals 31a and 31b denote forward and backward wall detection sensors, which are mechanical sensors for detecting contact with the wall 32. The forward wall detection sensor 31a is used when moving forward, and the backward wall detection sensor 31b is used when moving backward. These wall detection sensors are of a type that mechanically detects contact with the wall 32, and includes a sliding piece 33 fitted in a groove 20 d provided in a side wall 20 c of the self-propelled cleaner main body 20 and a micro piece connected thereto. This is a system comprising a switch 34, a sliding piece 33 moves when it comes into contact with the wall 32, and operates a micro switch to turn on and off an electric signal. No power is required to operate the wall detection sensors 31a and 31b themselves, and the downtime No standby power is required. Reference numeral 35 denotes a control board including a microcomputer for configuring a timer, a transistor for controlling motors, and the like. Reference numeral 36 denotes a rechargeable battery, and as shown in FIG. 3, four cylindrical rechargeable batteries 36 are mounted.
[0020]
The wall detection sensor may be a photoelectric type or an ultrasonic type in addition to the mechanical type described above, but the mechanical type has the smallest standby power.
[0021]
Next, the operation will be described with reference to FIG. The hatched portion of the electric drive wheel shows the electric drive wheel that is rotating. When the wall detection sensors 31a and 31b are moved closer to the wall 32 and the forward switch is turned on, the right electric drive wheel 23a is rotated as shown in FIG. 5A, and the vicinity of the left electric drive wheel 23b is set as a fulcrum 44 as indicated by an arrow 37a. Rotate in the direction shown and advance to the wall side. When the forward wall detection sensor 31a comes into contact with the wall 32, as shown in FIG. 5B, the right electric driving wheel 23a stops, and at the same time, the left electric driving wheel 23b rotates. It rotates in the direction shown by 37b and advances in the direction away from the wall 32.
[0022]
Note that, when the vehicle is moving forward, the reverse wall detection sensor 31b irrelevant to the operation is not shown. When the advancing wall detection sensor 31a moves away from the wall 32 and moves away from the wall 32, the left electric driving wheel 23b stops and the right electric driving wheel 23a is driven at the same time as shown in FIG. Is rotated in the direction of the arrow 37 a with the fulcrum 44 as the fulcrum 44, and advances again in the direction approaching the wall 32. The self-propelled cleaner main body 20 advances along the wall 32 while repeating the above-described operation. Arrow 45 indicates the distance traveled forward. By setting an appropriate delay time between rotating and stopping the electric driving wheels 23a and 23b after detecting that the wall detection sensors 31b and 31a have contacted or separated from the wall 32, the movement can be smoothly performed. Moreover, it is possible to drive efficiently.
[0023]
During this time, since the fan motor 26 is also driven, the suction airflow flows as shown by the arrow 38 in FIG. 2 and the dust 41 on the floor surface 39 is sucked through the suction holes 28a. The airflow mixed with the dust 41 passes through the inside of the centrifugal fan 27 and is discharged to the outside in the centrifugal direction. The dust 41 is separated by the filter 30, and only the airflow is exhausted from the exhaust hole 29 to the outside of the main body. The separated dust 41 accumulates in the dust collection chamber 40 formed between the inside of the main body side wall 20c and the suction pipe 28. That is, the self-propelled cleaner body 20 moves forward along the wall while suction-cleaning the floor near the wall.
[0024]
In the present embodiment, the vehicle advances forward by the initially set distance and then reverses by the same distance. The reverse operation is the same as the above-described forward operation. The reverse wall detection sensor 31b is enabled, and the right drive motor 21a and the left drive motor 21b are alternately operated while detecting the wall 32, as shown in FIG. The reverse operation is performed by the same movement. After reversing and returning to almost the original position, both drive motors 21a and 21b and the fan motor 26 stop, and the self-propelled cleaner main body stops operating for the initially set time. After the elapse of the pause time, the forward and reverse travels are repeated once, and the operation is stopped again during the pause time.
[0025]
Note that the above-described method can be used not only for straight traveling with a wall, but also for an outwardly curved wall as shown in FIG. 7 while bending along the wall. That is, as shown in FIG. 7 (a), the left electric drive wheel 23b rotates near the corner 32b, rotates in the direction of the arrow 37a around the right electric drive wheel 23a as a fulcrum 44, and advances while moving away from the wall 32. As shown in FIG. 7C, when the right electric drive wheel 23a is driven after exceeding the corner portion 32b of the wall 32 as shown in FIG. 7B, it rotates in the direction of the arrow 37b with the vicinity of the left electric drive wheel 23b as a fulcrum. By this time, the self-propelled cleaner main body 20 is rotated by approximately 90 degrees before the forward wall detection sensor 31a contacts the wall 32, and thereafter, the traveling on the wall can be continued as shown in FIG. 7D. .
[0026]
Various methods can be considered for the driving and suction dust collection operation patterns. After running along the wall by rotating the right electric driving wheel 23a and the left electric driving wheel 23b alternately, a pause of several hours is performed, and based on the pattern of running again, FIG. This is a pattern in which reverse travel is performed once, the fan motor 26 is operated and dust-collected during that time, and then the first set pause time is completely stopped, and after the pause time elapses, forward travel and reverse travel are repeated once. FIG. 8A is a diagram showing ON-OFF patterns of the right drive motor, FIG. 8B is a left drive motor, and FIG.
[0027]
This method is relatively excellent in dust collection performance because the dust left behind by suction at the time of forward movement can be sucked at the time of reverse movement.
[0028]
FIG. 9 shows a pattern in which the vehicle moves forward by the initially set distance, pauses without moving backward, moves backward by the same distance after the elapse of the pause time, and returns to the original position. This method has an advantage that the position of the self-propelled cleaner main body 20 changes at every pause time, so that it is easy to visually recognize that the cleaner is moving.
[0029]
FIG. 10 shows a pattern in which the fan motor is stopped during traveling, and after traveling for a certain short distance, the traveling is stopped, and at the same time, the fan motor is driven for a certain period of time to perform suction dust collection. There is an advantage that the load on the power supply is reduced without driving the fan motor 26 at the same time.
[0030]
FIG. 11 shows a method in which, for example, when the drive is switched from the right drive motor 21a to the left drive motor 21b, both the drive motors 21a and 21b are stopped and a fan motor 26 is operated to collect the suction dust. This method has the advantage that the control is relatively simple.
[0031]
Even in an absent home room or corridor, or in a room or corridor that is not heavily used, dust accumulates over time due to the slight flow of air. In particular, dust drips easily form near the wall, and if the dust drips are automatically cleaned periodically, the unpleasant feeling of dust accumulation can be eliminated.
[0032]
Even in a limited area, the safety of a device that operates automatically is a problem. The weight is desirably as light as possible, but it is determined by the dust collection performance capable of collecting dust by suction, the self-propelled performance within the required range, and the amount of batteries required to obtain the required usage time, etc. . As a limit value of the speed when the weight moves at a constant speed and collides with a human body or the like, for example, the kinetic energy of the projectile is set to 0.02 (J) or less in safety standards (ST standard) for toys. . With reference to this value, the speed limit of a 1 kg mass is 20 cm / s or less. As a method of verification, when a mass of 1 kg is naturally dropped from a certain height and the effect on a human body is verified, a speed of 20 cm / s is almost equal to a fall from 0.2 cm, and a speed of 0.1 cm is 14 cm / s, 0 cm. At 0.3 cm, a drop from 24 cm / s and 0.4 cm corresponds to a velocity of 28 cm / s. When a 1 kg cylinder is actually dropped on a fingertip or the like and the numbers are verified, a drop from 0.4 cm has a considerable degree of pain, and a drop from 0.1 cm shows almost no pain. The range of about 0.2 cm and 0.3 cm is a sufficiently tolerable range, but considering individual differences, a drop from a height of 0.2 cm, that is, 20 cm / s is considered to be an appropriate numerical value as a limit value.
[0033]
Regarding the driving distance and the resting time, considering the usage form of automatically cleaning dust accumulated near the walls of rooms or corridors during the absence time, the distance is 0.5 m to 2 m, and the resting time is 2 hours to 6 hours. Is appropriate, and three setting methods are appropriate in terms of ease of use. It is considered that the usage time including a day's rest time is about 10 hours, and continuous use for about 6 days is required. That is, the power of the self-propelled cleaner is turned on when going out in the morning, and the power is turned off after returning home. This is continued for a week and charging is performed. This method of use is practical with less burden.
[0034]
In this embodiment, the travel distance is set by the travel time without using a distance sensor in order to increase the reliability at a low cost. Assuming a moving speed of 20 cm / s, a driving distance of 50 cm is a time of 2.5 seconds, and the accuracy is required at least 0.5 seconds.
[0035]
In order to realize a simple and highly reliable control circuit, it is desirable that the downtime and the operation time are controlled by the same timer. That is, it is necessary to set 6 hours with an accuracy of 0.5 (second), and in this example, it is realized by using a digital timer using a clock of a microprocessor.
[0036]
Regarding the size of the self-propelled cleaner body 20, it is important that when installed in a corridor, it does not hinder the passage of people. In consideration of barrier-free, a condition that a wheelchair of less than 60 cm can pass at least in a corridor of 75 cm width is required, and a diameter of 12 cm or less is a minimum requirement in consideration of a necessary gap with a wall. When the shape is an ellipse, its minor axis needs to be 12 cm or less.
[0037]
FIG. 12 is a control circuit block diagram used in this embodiment. Reference numeral 50 denotes a power supply control unit, which receives an output from the control microcomputer 51 and controls on / off of the left drive motor 21b, the right drive motor 21a, and the fan motor 26 or the rotation direction thereof.
[0038]
The control microcomputer 51 receives signals from the wall detection sensors 31a and 31b, setting switches, and controls the power control unit 50. The setting switch is a switch for specifying the moving distance and the pause time.In addition, a forward / backward switch, a power switch, a reset switch, etc. are required, and the signals related to these switches are used for the control microcomputer. 51 is input.
[0039]
Reference numeral 52 denotes a power source, which in this example is a rechargeable battery. A voltage is supplied from the power supply 52 to the power control unit 50 and the control microcomputer 51, and power is supplied to the drive motors 21a, 21b and the fan motor 26 via the power control unit 50.
[0040]
A relay 53 is inserted between the power supply 52 and the power supply control unit 50. When the relay 53 is opened during the idle time, the standby power of the power supply control unit 50 can be reduced to almost zero.
[0041]
FIG. 13 shows an example in which a timer microcomputer 60 is provided separately from a control microcomputer 61 that controls the power supply control unit 50 by receiving inputs from the wall detection sensors 31a and 31b, setting switches, and the like. The control microcomputer 61 is supplied with power from a power supply 52 via relays 62a and 62b. If the relays 62a and 62b are opened during the idle time, the standby power of the timer microcomputer 60 and the control microcomputer 61 can be reduced to zero, and the standby power generated during the idle time becomes only the timer microcomputer 60 part. More power-saving operation becomes possible.
[0042]
(Example 2)
A second embodiment of the present invention will be described with reference to FIGS. Numeral 65a denotes a front wall detection sensor, which detects that it has come into contact with a wall in the front direction when moving forward. Reference numeral 65b denotes a rearward wall detection sensor which detects that the vehicle has come into contact with a wall in the traveling direction when the vehicle is moving backward.
[0043]
The configuration of these sensors 65a and 65b is a mechanical sensor substantially similar to the above-described wall detection sensors 31a and 31b.
[0044]
By using these sensors 65a, 65b, the forward wall detection sensor 31a, and the reverse wall detection sensor 31b, it becomes possible to turn the inward right-angled wall shown in FIG. As shown in FIG. 15 (a), while traveling in the direction of the arrow 67 along the wall 32, if it comes into contact with the wall 32b in the traveling direction as shown in FIG. 15 (b), the left electric drive wheel 23b and the right electric drive The wheels 23a are simultaneously rotated in reverse, or only the right electric drive wheels 23a are rotated in reverse, as shown by an arrow 67a, to reverse slightly in the traveling direction and to move away from the front wall 32b.
[0045]
Next, at the retreated position, as shown in FIG. 15C, the right drive motor 21a and the left drive motor 21b are rotated in the directions opposite to each other by approximately 90 degrees in the direction of the arrow 67b. Subsequently, as shown in FIG. 15 (d), if only the right electric driving wheel 23a is rotated in the forward direction, it rotates in the direction of the arrow 67c, approaches the wall 32b, and moves along the wall 32b in the direction of the arrow 67d. You can continue to run. If the main body is rectangular, it is impossible to rotate near the right-angled wall while approaching the wall.In such a mode where the wall turns at a right angle, the shape of the main body must be almost circular or elliptical close to a circle become.
[0046]
Although the reverse wall detection sensor 31b and the rearward wall detection sensor 65b are not shown in the drawing, they can be similarly rotated at right angles in the reverse direction by using these sensors.
[0047]
It should be noted that even if a stop sensor is configured by using the movement of the free wheel 25 or the like instead of the front wall detection sensor 65a and the rearward wall detection sensor, it is possible to travel along the above-described right-angled wall.
[0048]
(Example 3)
A third embodiment of the present invention will be described with reference to FIGS. Reference numeral 70 denotes an endless track type wheel, and two right and left wheels are provided at symmetric positions. The endless track type wheel 70 includes a drive wheel 70a, a driven wheel 70b, and a crawler belt 70c stretched between them. 70d indicates a rotating shaft, and 70e indicates a bearing. The drive wheel 70a is driven by a drive motor 72 via a belt 73. That is, the endless track type wheel 70 is driven by the drive motor 72 by the fact that the flat gear 72b fixed to the motor-side pulley 72a connected to the drive wheel 70a meshes with the worm gear 72c fixed to the output shaft of the drive motor 72. . Reference numeral 72d denotes a rotation shaft of the motor-side pulley 72a, and 72e denotes a bearing. The endless track type wheel 70 has a large installation area and can be run on a carpet or the like.
[0049]
Reference numeral 75 denotes a piston-type suction unit, which is composed of a cylindrical cylinder 75a, and a piston 75b slidably fitted to the inner periphery of the cylinder 75a and having a bearing 75d supported by a fixed shaft 75c. I have. A plurality of suction holes 77 having a check valve 76 are provided at the lower end of the cylinder 75a, and face the floor surface 39. An exhaust port 81 provided with a fine filter 82 is provided in a part of the piston 75b. Three coil springs 80 are interposed between the upper end surface 78 of the piston 75b and the main body upper wall 79.
[0050]
The coil spring 80 is used in the pulling direction, and in a natural state, the piston 75b is pulled up to the top dead center side as shown in FIG.
[0051]
A rack gear 83 meshing with the pinion gear 84 is provided on the outer periphery of the bearing 75d. The pinion gear 84 is connected to a gear motor 86 via a clutch 85. 87 denotes a control circuit board, and 88 denotes a battery.
[0052]
Next, the operation will be described. The traveling operation for the wall is the same as in the first embodiment, and the description thereof is omitted. The suction of dust in this embodiment is intermittent. That is, while the self-propelled cleaner body 20 is traveling, the gear motor 86 is driven to push down the piston 75b in the direction of the arrow 89 while extending the coil spring 80 as shown in FIG. At this time, since the check valve 76 is closed, the air in the cylinder 75a is gradually discharged from the exhaust port 81. If the clutch 85 disconnects the gear motor 86 and the pinion gear 84 after the piston 75b reaches the bottom dead center as shown in FIG. Then, the inside of the cylinder 75a becomes negative pressure, the check valve 76 opens, and dust is sucked and collected from the floor surface 39 through the suction hole 77. The filter 82 is fine, has a large pressure loss, and most of the suction flow flows in from the suction hole 77. This operation is intermittently repeated to perform suction dust collection.
[0053]
Although this suction force is intermittent, it is greater than the suction force when a fan or the like is used, so that not only dust but also relatively heavy dust such as sand can be sucked. Further, since the drive motors 21a and 21b can be mounted on the upper part of the suction part 75, the suction part 75 can be installed near the floor surface 39, and the dust collection performance can be improved. Instead of the piston type suction unit 75, a suction unit using a fan may be provided near the floor surface 39 instead of the piston type suction unit 75. In order to position the drive motor of the traveling system above the suction unit, it is not necessary to use the endless track method, and in order to drive the wheels from a distance, it is easy to use a belt, crankshaft, gear, etc. in addition to the belt. Conceivable.
[0054]
In the method of the present embodiment, if a suction operation is performed during traveling, a large suction force acts between the floor surface 39 and the self-propelled cleaner main body 20 when sucking dust, and a large resistance to traveling is generated, and a driving system is generated. A heavy burden is added. For this reason, the above-described pattern of performing the suction operation when the traveling stops is useful for reducing the load on the drive system.
[0055]
Although common to all the embodiments, the cleaning performance can be further improved by adding a function of cleaning the floor by providing a fixed brush or a rotating brush on the bottom surface of the self-propelled cleaner main body 20.
[0056]
【The invention's effect】
As described above, according to the first to tenth aspects of the present invention, a self-propelled vacuum cleaner having a function of automatically cleaning dust on a floor surface or the like while being away from home is provided with a simple configuration, at a low cost and safely. And provide a comfortable living environment.
[Brief description of the drawings]
FIG. 1A is a sectional view taken along the line AA of the self-propelled vacuum cleaner according to the first embodiment of the present invention; FIG. 2B is a sectional view taken along the line AA showing the fan motor section; b) Front sectional view of FIG. 3 (a) AA sectional view for showing the battery unit (b) Front sectional view of FIG. 4 (a) Left front view of self-propelled cleaner (b) Fig. 5 (a) Diagram showing the same traveling operation (b) Another diagram showing the same traveling operation (c) Another diagram showing the same traveling operation [Fig. 6] (a) Traveling while traveling backward (B) Another drawing showing the traveling operation during backward movement. (C) Another drawing showing the traveling operation during backward movement. [FIG. 7] (a) A drawing showing the traveling operation at the same outward curved wall. (B) Another diagram showing the traveling operation on the outward curved wall (c) Another diagram showing the traveling operation on the outward curved wall (d) Another diagram showing the traveling operation on the same outward curved wall 8 shows the same operation pattern. FIG. 9 shows another operation pattern. FIG. 10 shows another operation pattern. FIG. 11 shows another operation pattern. FIG. 13 is a block diagram of the same control circuit. FIG. 14 is a block diagram of another control circuit. FIG. 14A is a cross-sectional view of the self-propelled cleaner according to the second embodiment of the present invention, taken along the line AA. (A) A diagram showing a traveling operation on the inward curved wall (b) Another diagram showing a traveling operation on the inward curved wall (c) Another diagram showing a traveling operation on the inward curved wall (d) Another view showing the traveling operation on the inwardly curved wall (e) Another view showing the traveling operation on the inwardly curved wall [FIG. 16] (a) The self-propelled cleaner according to the third embodiment of the present invention AA cross section (b) BB cross section (c) Front partial cross section [FIG. 17] (a) AA cross section (B) a front sectional view showing a position where the front sectional view (c) the piston is lowered EXPLANATION OF REFERENCE NUMERALS
19 suction unit 39 floor surface 28a suction hole 20 self-propelled cleaner main body 23a, 23b electric drive wheels 31a, 31b wall detection sensor 36 battery 27 centrifugal fan 75a cylinder 75b piston 60 microcomputer for timer

Claims (10)

A suction unit communicating with a suction hole opened on the floor surface, an electric drive wheel for the main body to travel, a battery, a timer, and a wall detection sensor are provided, and the main body travels along the wall, and A self-propelled vacuum cleaner that repeats intermittent operation during pauses. The self-propelled cleaner according to claim 1, further comprising a wall detection sensor that detects contact with a wall in a traveling direction. The self-propelled cleaner according to claim 1 or 2, wherein the suction unit is configured by a centrifugal fan. 3. The self-propelled cleaner according to claim 1, wherein the suction unit includes a piston and a cylinder. The self-propelled cleaner according to any one of claims 1 to 4, wherein the self-propelled cleaner is temporarily stopped a plurality of times during traveling, performs a suction operation during that time, and then pauses for several hours. The self-propelled vacuum cleaner according to any one of claims 1 to 5, wherein there is no power consumption other than the timer during the suspension. The self-propelled cleaner according to any one of claims 2 to 6, wherein the wall detection sensor is a mechanical type. The self-propelled vacuum cleaner according to any one of claims 1 to 7, wherein the setting includes a pause time of 6 hours or more and a single traveling distance of 50 cm or less. The self-propelled cleaner according to any one of claims 1 to 8, wherein the weight is 1000 g or less and the moving speed is 0.2 m / s or less. The self-propelled vacuum cleaner according to any one of claims 1 to 9, wherein the main body has a substantially cylindrical shape and an outer shape is 120 mm or less.

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