JP2005211493A - Self-propelled cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled cleaner capable of surely detecting a dust collecting chamber full of dust regardless of the kind of the dust and surely reporting dust full load information to a user. <P>SOLUTION: A side wall 51 having a connection hole 50 connected to a dust carrying pipe 6 of the dust collecting chamber 5 is formed in a slope shape having a prescribed angle θ to a bottom surface, and a photodetector 14 whose light receiving surface is along the side face 51 is arranged near the connection hole 50 of the side wall 51. On the upper surface of the dust collecting chamber 5, a photodiode 15 for irradiating the photodetector 14 with light is arranged. When the dust inside the dust collecting chamber 5 becomes in a full load state, since the dust is loaded on the photodetector 14, the photodetector 14 does not transmit photodetection signals. A control part 10 detects that, stops a cleaning operation through a cleaning control part 12 and makes an operation different from the one at the time of normal cleaning be performed through a movement control part 11. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a self-propelled cleaner that performs cleaning while automatically traveling in a cleaning range.

  The self-propelled cleaner includes a traveling unit that travels the main body and a cleaning unit that performs cleaning, and performs cleaning while automatically traveling in a preset cleaning range.

  FIG. 8 is a diagram showing a schematic configuration of a conventional self-propelled cleaner.

  As shown in FIG. 8, a conventional self-propelled cleaner includes a drive wheel 2 and a driven wheel 3 in a main body 1 and a nozzle 4 having a brush 40 that is in contact with the floor surface and winds up dust on the floor surface. And a dust collection chamber 5 for storing the dust wound up by the nozzle 4 and a dust transport pipe 6 for guiding the dust from the nozzle 4 to the dust collection chamber 5. In addition, the self-propelled cleaner controls the drive motor 16 that drives the drive wheels 2 to move the main body 1 along a predetermined path within a preset cleaning range, and the operation control of the brush 40. The cleaning control part 12 which performs control regarding cleaning, etc., and the control part 10 which controls operation | movement of the whole apparatus are provided.

Further, in such a conventional self-propelled cleaner, as shown in FIG. 8, dust detection means 13 for detecting the amount of dust in the dust collecting chamber 5 is provided, and this dust detection means 13 is a pressure sensor, The amount of dust in the dust collection chamber 5 was detected using an air volume sensor, a reflective sensor, and the like. When the dust collection chamber 5 is in a full state of dust, the user is notified of the full state of dust by stopping movement and cleaning, or issuing an alarm with light or voice (for example, see Patent Documents 1 to 4). .)
JP 2003-61882 A JP-A-3-173521 JP-A-6-22889 JP 2002-306387 A

  However, with the above-described conventional dust detection means, it is not easy to accurately detect the amount of dust in the dust collection chamber. For example, when a pressure sensor or air volume sensor is used, different pressures and air volumes are observed even if the dust volume in the dust collection chamber is the same, depending on the condition of the floor surface being cleaned. In order to detect the amount, correction according to the state of the floor surface that is being cleaned is required. In addition, when using a reflective sensor, it is judged that there is no dust in the dust collection chamber if the light irradiated from the light emitting unit to the dust collection chamber is not received by the light receiving unit, and if the light receiving unit receives light, the dust collection chamber is full. Although it is determined that the state is in a state, the amount of reflection is changed by the dust accumulated in the dust collecting chamber and the amount of light received by the light receiving unit is changed.

  When it is determined that the garbage is full, movement or cleaning is stopped as described above, or an alarm is issued by light emission or sound. For example, if it stops, it is broken or stopped. It is hard to judge the difference from the case of whether or not it is stopped. Moreover, since the light emitting body is a small light emitting body such as an LED, it is difficult for the user to identify the light emitting warning. Furthermore, an audio alarm cannot be used to clean an area where silence must be maintained.

  An object of the present invention is to provide a self-propelled vacuum cleaner capable of reliably detecting a dust full state of a dust collection chamber regardless of the type of dust and also informing a user of dust full information. .

  The present invention controls the cleaning means for storing the dust taken in from the cleaning nozzle in the box-shaped dust collecting chamber via the dust transport pipe, the traveling means for moving and rotating the main body, and controlling the traveling means. In a self-propelled cleaner provided with a movement control means for moving within a set area, a side wall including a connection hole with a dust conveyance pipe of a dust collection chamber is formed in a slope shape, and the vicinity of the connection hole of the side wall And a dust amount detecting means for detecting the amount of dust in the dust collecting chamber by detecting the light guided into the dust collecting chamber by the light detecting means.

  In this configuration, the dust guided to the dust collecting chamber sequentially flows and accumulates on the bottom surface side along the slope-shaped side wall. For this reason, since dust does not accumulate on the light detection means unless the dust in the dust collection chamber is full, the light detection means can receive light from the dust collection chamber and is not full of dust in the dust collection chamber. Is detected. On the other hand, if the dust in the dust collection chamber is full, dust accumulates on the light detection means, so that the light detection means cannot receive light and it is detected that the dust in the dust collection chamber is full.

  Further, the self-propelled cleaner of the present invention is characterized in that the light detection means detects the light guided into the dust collection chamber from the external light capturing window provided in the main body.

  In this configuration, if the dust in the dust collection chamber is not full, the light from the outside light intake window reaches the light detection means and is received. If the dust in the dust collection chamber is full, the light from the outside light intake window is received. The light does not reach the light detection means and is not received. Thereby, the dust full state as described above is detected.

  The self-propelled cleaner of the present invention is characterized in that a plurality of light detection means are provided at different height positions on the slope-shaped side wall.

  In this configuration, the dust collection chamber utilizes the fact that dust is gradually stacked from the bottom, and by providing light detection means at different height positions on the side walls, dust in multiple states corresponding to the amount of dust in the dust collection chamber can be obtained. The detection result is output.

  Further, the self-propelled cleaner of the present invention is characterized in that the side wall facing the side wall provided with the connection hole is formed in a slope shape, and dust detection means is also provided on the side wall side.

  In this configuration, the dust detection means is provided on the opposing side walls, so that the bias of the dust accumulated in the dust collection chamber is detected. For example, in the light detection means provided at the same height position on both side walls, when the light receiving element on the side wall on the connection hole side does not detect light and the light receiving element on the side wall on the opposite side detects light, It is identified that the side of the side wall including the holes has a higher dust accumulation height than the side of the opposing side wall and is biased.

  Further, the movement control means of the self-propelled cleaner according to the present invention is characterized in that when the dust detection means detects a full load of dust, the traveling means is given a moving turning control different from that during normal cleaning.

  In this configuration, when the dust in the dust collection chamber becomes full, the behavior of the main body changes from the normal time to notify the user of the dust full status in the dust collection chamber.

  According to the present invention, the side wall is formed in a slope shape so that the light detection means is shielded only after the dust is loaded up to the height at which the light detection means is provided, and the transmitted light sensor including the light detection means By configuring the dust detection means using the above, it is possible to reliably detect the full state of dust in the dust collection chamber without depending on the type of dust.

  In addition, according to the present invention, the dust detection means capable of reliably detecting the full state of dust as described above with a simple structure without using the light emission means by taking outside light as irradiation light to the light detection means. Can be configured.

  In addition, according to the present invention, the user can recognize the amount of dust in the dust collection chamber in a plurality of stages, so that in addition to the information on the fullness of dust, the user can reliably recognize information such as the dust collection chamber will soon be full of dust. Can do.

  In addition, according to the present invention, the dust detection means are provided on the opposite side walls, and the detection results of these dust detection means are compared to further detect the dust full load state and the accumulation state such as the dust bias in the dust collection chamber. It can be detected accurately.

  In addition, according to the present invention, the main body performs an operation different from the normal operation according to the result of detection of the full amount of dust detected by the dust detection means, so that a user at a relatively distant position can be surely notified that the dust is full. can do. In addition, it is possible to reliably notify the full state of garbage without being restricted by ambient conditions such as an environment that requires silence.

  A self-propelled cleaner according to a first embodiment of the present invention will be described with reference to the drawings. In addition, this embodiment demonstrates the self-propelled cleaner of the raising type which accommodates the dust which was raised with the brush in a nozzle in a dust collection chamber.

  FIG. 1A is a block diagram showing a schematic configuration of the self-propelled cleaner according to this embodiment, and FIG. 1B is an enlarged cross-sectional view of the dust collection chamber 5.

  The self-propelled cleaner is composed of movement control means and traveling means for moving the main body 1 along a predetermined track in the cleaning area, and cleaning means for removing and storing dust on the floor surface in the cleaning area. Is done.

  Drive wheels 2 and drive motors 16 that are connected to the drive wheels 2 and rotate the drive wheels 2 are provided on the left and right of the lower rear portion of the main body 1. 3 is provided. The driving wheel 2, the driving motor 16, and the driven wheel 3 correspond to “traveling means” of the present invention. The drive motor 15 is connected to the movement control unit 11.

  Further, the main body 1 is provided with a nozzle 4 for removing dust on the floor, a box-shaped dust collection chamber 5 for storing the dust, and the nozzle 4 and the dust collection chamber 5 connected to the main body 1 to remove dust. A dust transport pipe 6 leading to the dust collection chamber 5 is provided, and a brush 40 is disposed inside the nozzle 4. The main body 1 is provided with a cleaning control unit 12 that controls the cleaning operation. These nozzle 4, brush 40, dust collection chamber 5, dust transport pipe 6, and cleaning control unit 12 correspond to “cleaning means” of the present invention.

  As shown in FIG. 1B, the dust collection chamber 5 is formed with a connection hole 50 with the dust transport pipe 6 near the upper end of the side wall 51. The side wall 51 has a slope shape with respect to the bottom surface, that is, The angle θ formed by the bottom surface and the inner surface of the side wall 51 is formed into an obtuse angle larger than 90 °. The other side wall is formed perpendicular to the bottom surface. By adopting such a shape, even if dust that has reached the dust collection chamber 5 from the connection hole 50 gets on the surface of the side wall 51, it slides down toward the bottom surface due to the slope (inclination), and dust accumulates in order from the bottom surface. It will be done. A photodetector 14 having a light receiving surface in a direction parallel to the side wall 51 is installed in the vicinity of the connection hole 50 of the side wall 51. A photodiode 15 that irradiates light toward the photodetector 14 is installed in the vicinity of the connection hole 50 on the upper surface of the dust collection chamber 5.

  The photodiode 15 and the photodetector 14 are connected to the control unit 10 that controls the entire apparatus including the movement control unit 11 and the cleaning control unit 12, and the photodetector 14 cannot receive the light from the photodiode 15. Then, it is detected that the dust in the dust collection chamber 5 is full. The photodiode 15 and the photodetector 14 correspond to the “dust amount detecting means” of the present invention.

  Next, the normal cleaning operation of such a self-propelled cleaner will be described.

  When a cleaning start command is input from the user or when a preset cleaning start time is detected, the cleaning control unit 12 rotates the brush 40 to splash dust on the floor and take it into the nozzle 4. The dust taken into the nozzle 4 is accommodated in the dust collection chamber 5 through the dust transport pipe 6.

  The movement control unit 11 controls the driving motor 16 to rotate the driving wheel 2 and starts moving from the cleaning start position. At this time, a movement path (trajectory) of the main body 1 is stored in advance in a memory (not shown). For example, in the example shown in FIG. 4, it moves along the long side direction of the rectangular cleaning region (outward path), and when it reaches the boundary, it turns in the short side direction and moves by a predetermined distance along the short side direction. Next, it turns in the long side direction and moves along the long side direction in the opposite direction to the forward path. Then, it turns in the short side direction and moves by a predetermined distance. Hereinafter, this operation is repeated, and this track is generally referred to as a zigzag running track. The movement control unit 11 controls the drive motor 16 so as to move along this trajectory, and the drive motor 16 rotates in a predetermined direction in accordance with this control. Here, a plurality of sensors (not shown) are attached to the main body 1, and these sensors sense the situation around the main body 1. The detection result is input to the movement control unit 11, and the movement control unit 11 drives the drive motor 16 based on the detection result, thereby preventing collision with surrounding obstacles and walls.

  While cleaning is performed while moving in this way, light is radiated from the photodiode 15 to the photodetector 14 continuously or at a predetermined cycle. When the photodetector 14 receives this light, it generates a detection signal and generates a control signal. 10 is output. Based on this detection signal, the control unit 10 identifies that the dust collection chamber 5 is not in a fully packed state, and performs control to continue cleaning while moving to the cleaning control unit 12 and the movement control unit 11.

  When the cleaning of the set area is completed, the cleaning control unit 12 stops the rotation of the brush 40 and stops the cleaning. On the other hand, the movement control unit 11 stops on the spot or drives the drive motor 16 to move to a predetermined standby position (for example, a charging position or a cleaning start position).

  Next, the operation when the dust in the dust collection chamber 5 becomes full during cleaning will be described with reference to FIGS.

  2A and 2B are enlarged cross-sectional views of the dust collection chamber 5, wherein FIG. 2A shows a case where the amount of dust accumulated is small, and FIG. 2B shows a case where dust is full.

  FIG. 3 is a flowchart at the time of moving cleaning. FIG. 4 is a plan view showing a region, a trajectory, and a trajectory in which the self-propelled cleaner moves.

  As described above, when cleaning and movement are started (S1 → S2), the photodiode 15 emits light according to the applied voltage from the control unit 10. Here, as shown in FIG. 2A, when the accumulation amount of the dust 100 in the dust collection chamber 5 is small, the dust on the surface of the side wall 51 moves to the bottom side as described above. There is no dust on 14, and the light emitted from the photodiode 15 is received. When the photodetector 14 receives light, it outputs a detection signal to the control unit 10. The control unit 10 recognizes this detection signal to detect that the dust 100 in the dust collection chamber 5 is not fully loaded (S3), and issues a command to continue the movement and cleaning to the movement control unit 11 and the cleaning control unit 12. Output to. On the other hand, as shown in FIG. 2B, when the dust collection chamber 5 becomes full of dust 100, dust is also present on the photodetector 14 on the side wall 51, so that the photodetector 14 is irradiated from the photodiode 15. Cannot receive light. Thereby, the photodetector 14 does not generate a detection signal and does not output it to the control unit 10. The controller 10 cannot detect the detection signal, and detects that the dust 100 in the dust collection chamber 5 is full (S3). When detecting the full state of dust, the control unit 10 outputs a cleaning stop command due to full of dust to the movement control unit 11 and the cleaning control unit 12. Based on this command, the cleaning control unit 12 stops the operation of the brush 40 to stop the cleaning operation, and the movement control unit 11 stops the operation of the drive motor 16 (S4). Next, after confirming that the cleaning is stopped, the control unit 10 outputs a command for starting a special operation when the garbage is full to the movement control unit 11. On the basis of this command, the movement control unit 11 performs a special operation stored in advance, for example, as shown in FIG. To do. By this command, the right drive motor 16 rotates faster than the left drive motor 16, and the main body 1 continuously turns counterclockwise. Since such an operation does not exist during normal cleaning, the user can know that the dust in the dust collection chamber 5 is full by visually recognizing this turning motion. Then, the dust collecting chamber 5 is taken out from the main body 1, the dust 100 in the dust collecting chamber 5 is discarded, and the dust collecting chamber 5 is mounted on the main body 1 again. At this time, since the dust on the photodetector 14 is removed, the photodetector 14 generates a detection signal to the control unit 10. Based on this detection signal, the control unit 10 determines that the dust in the dust collection chamber 5 has run out (no longer full), and sends a control command to perform the normal cleaning operation again to the movement control unit 11 and the cleaning control unit 12. Output. The cleaning control unit 12 receives this control command, starts rotation of the brush 40 again, and the movement control unit 11 controls the drive motor 15 to move along the track of the uncleaned region.

  By adopting such a configuration, dust is loaded on the photo detector provided on the side wall of the dust collection chamber only when the dust is full, and light reception is blocked, so it is possible to reliably detect the dust full state. Can do. Further, since the amount of light detected by the type of dust does not change by using transmitted light, it is possible to reliably detect the full state of dust regardless of the type of dust. In addition, since the light receiving surface of the photo detector faces obliquely upward, light from the upper side of the dust collection chamber and the side facing the side provided with the photo detector can be received, so a wide range of photodiode mounting positions can be selected. be able to. In particular, since a photodiode can be attached to the upper surface side that is relatively easy to install, a self-propelled cleaner having the above-described effects can be realized with a simple structure. Furthermore, by making the light-receiving surface of the photo detector obliquely upward, it is possible to reliably detect the full state of dust even if a window for taking in external light is installed in the dust collection chamber instead of a light emitting diode on the top surface of the dust collection chamber. Therefore, the self-propelled cleaner having the above-described effect can be realized with a simpler structure.

  Further, with such a configuration, the user can recognize that the dust in the dust collection chamber is full with ease and certainty by looking at the behavior of the main body. In addition, by notifying the dust full state by the behavior of the main body, it is possible to notify the dust full state in a wider range than notifying the dust full state with a small light emitting element such as an LED. In addition, since the garbage full state is notified only by the behavior of the main body, even in an environment that requires silence (for example, a room with infants), it is possible to reliably notify the full state of garbage without destroying the quiet environment. it can. As described above, by using the configuration of the present embodiment, the user can be surely notified of the dust full state of the dust collection chamber even if the user is located at a relatively distant position without being affected by the use environment. .

  Next, a self-propelled cleaner according to a second embodiment will be described with reference to FIG. In addition, this embodiment demonstrates the suction-type self-propelled cleaner provided with the exhaust fan in the dust collection chamber.

  FIG. 5 is a side view showing a schematic configuration in the vicinity of the dust collection chamber of the self-propelled cleaner according to the present embodiment, (a) shows a state where the amount of dust accumulated in the dust collection chamber 5 is small, and (b) Indicates a dust-packed state in the dust collection chamber 5.

  The self-propelled cleaner shown in FIG. 5 includes a discharge fan 21 on a side wall 52 opposite to a side wall 51 having a connection hole 50 to the dust transport pipe 6 in the dust collection chamber 5. The discharge fan 21 is driven by a fan motor 22. The operation of the fan motor 22 is controlled by the cleaning control unit 12. Other configurations are the same as the self-propelled cleaner shown in FIG.

  In such a configuration, dust accumulates in the dust collection chamber 5 as shown in FIG. That is, dust gradually accumulates from the bottom surface on the side of the side wall 52 provided with the discharge fan 21. Even in such a deposition state, the operation of the photodetector 14 is not different from that of the first embodiment, and thus the effect obtained by the first embodiment can be obtained similarly. Furthermore, since the waste on the floor is forcibly sucked by using the discharge fan 21, cleaning can be performed more cleanly than in the first embodiment.

  Next, a self-propelled cleaner according to a third embodiment will be described with reference to FIG.

  FIG. 6 is a side view showing a schematic configuration in the vicinity of the dust collection chamber of the self-propelled cleaner according to the present embodiment, (a) shows a state where the amount of dust accumulated in the dust collection chamber 5 is small, and (b) Shows a state where the amount of accumulated dust in the dust collecting chamber 5 is almost full, and FIG.

  The self-propelled cleaner shown in FIG. 6 has photo detectors 14a and 14b attached to the side walls 51 of the dust collecting chamber 5 at different heights, and the photo detectors 14a and 14b are arranged on the upper surface of the dust collecting chamber 5, respectively. 1 is provided with photodiodes 15a and 15b for irradiating light, and the other configurations are the same as those of the self-propelled cleaner shown in FIG. Here, the photodetector 14a is installed in the vicinity of the connection hole 50 in the side wall 15 similarly to the photodetector 14 of FIG. 1, and the photodetector 14b is arranged adjacent to a position below the photodetector 14a by a predetermined distance. .

  When such a configuration is used, when the amount of accumulated dust is small, both the photodetectors 14a and 14b can receive light, and the control unit 10 can detect that the amount of dust in the dust collecting chamber 5 is small. Next, when dust is sequentially accumulated, first, the photodetector 14b cannot receive light from the photodiode, and the control unit 10 detects this. Here, since the photodetectors 14b are arranged adjacent to each other below a predetermined distance of the photodetectors 14a, the photodetectors 14a will soon be unable to receive light. In other words, this means that the garbage is approaching. When the control unit 10 detects this state, the control unit 10 issues information to the user indicating that the garbage will soon be full. This information transmission method may be, for example, by voice or light emission, but may temporarily perform an operation different from the special operation when the garbage is full. If the cleaning continues and the dust becomes full, the photodetector 14a can no longer receive light from the photodiode, and performs the operation of notifying the aforementioned dust full.

  By adopting such a configuration, the user can know in advance that the dust in the dust collection chamber will be full soon, and can obtain information about the full dust twice. Thereby, it is possible to more reliably recognize the full load of dust in the dust collection chamber. In addition, the user can throw away the garbage in the dust collection chamber by sending out the information before it is fully loaded, so the garbage can be thrown out before the cleaning operation stops when the garbage is full, Waste of cleaning time can be eliminated. In addition, since the special operation is different between the state before the garbage is full and the state where the garbage is full, the user can easily recognize whether it is immediately before the garbage is full or is in the state where the garbage is fully loaded.

  In the present embodiment, the number of photo detectors is two, but three or more photo detectors may be arranged at different height positions on the side wall according to the required specifications.

  Further, in the present embodiment, a configuration in which one photodiode is provided for one photodetector is shown, but a configuration in which one photodiode is provided for a plurality of photodetectors may be employed. With such a configuration, the number of photodiodes can be reduced.

  Next, a self-propelled cleaner according to a fourth embodiment will be described with reference to FIG.

  FIG. 7 is a side view showing a schematic configuration in the vicinity of the dust collection chamber of the self-propelled cleaner according to the present embodiment, where (a) shows a state in which almost no dust is present in the dust collection chamber 5, and (b) shows a dust. (C) shows a fully packed state of dust in the dust collection chamber 5.

  The self-propelled cleaner shown in FIG. 7 has a side wall 51 provided with a connection hole 50 of the dust collecting chamber 5 and a side wall 52 opposite to the side wall 51 formed in a slope shape. In addition, a photodetector 14a is disposed on the side wall 51 in the vicinity of the connection hole 50, and a photodetector 14c is disposed on the side wall 52 at the same height as the photodetector 14a. Photodiodes 15a and 15c for irradiating light to the photodetectors 14a and 14c are disposed on the upper surface of the dust collection chamber 5, respectively.

  By adopting such a configuration, as shown in (a), when there is no dust in the dust collection chamber 5, both the photodetectors 14 a and 14 c can receive light. It is possible to detect that there is almost no dust. Next, as shown in (b), when dust is deposited unevenly on the side wall 51 side, the photodetector 14a cannot receive light, but the photodetector 14c can receive light, so only the detection signal from the photodetector 14c is received. Is output to the control unit 10. By receiving this signal, the control unit 10 detects that the dust in the dust collection chamber 5 is biased and transmits information on the dust bias in the dust collection chamber 5. The user receives this information, and stops self-propelled cleaner 1 and shakes the main body, thereby eliminating the unevenness of dust and restarting cleaning. Here, as in the above-described special operation when the garbage is fully loaded, the unevenness of the dust may be eliminated by automatically moving the main body. Then, cleaning is performed again in a state in which the unevenness of dust is eliminated, and when the dust is loaded on the photodetectors 14a and 14c as shown in (c), both the photodetectors 14a and 14c cannot receive light, No detection signal is output. Thereby, the control part 10 identifies that the dust of the dust collection chamber 5 is a full load state, and controls the above-mentioned dust full load state.

  By adopting such a configuration, it is possible to check the bias of dust in the dust collection chamber without opening the main body, and it is possible to throw away the dust as needed and to start cleaning again after correcting the bias. . In addition, it is possible to prevent erroneous detection of the full load of dust due to the bias of dust in the dust collection chamber, and it is possible to configure a self-propelled cleaner that can reliably detect the full status of dust.

  In this embodiment, one photo detector is arranged on each of the opposing side walls. However, as shown in the third embodiment, a plurality of photo detectors may be arranged on each side wall.

  The third embodiment and the fourth embodiment are based on the configuration of the self-propelled cleaner of the splash type shown in the first embodiment, but the suction type as shown in the second embodiment. The configurations shown in the third and fourth embodiments can also be applied to the self-propelled cleaner.

The block diagram which shows schematic structure of the self-propelled cleaner concerning 1st Embodiment, and the expanded sectional view of the dust collection chamber 5 Sectional enlarged view according to the state of dust in the dust collection chamber 5 shown in FIG. Flowchart during mobile cleaning of the self-propelled cleaner according to the first embodiment. Plan view showing the area and track where the self-propelled cleaner moves The side view which shows schematic structure of the dust collection chamber vicinity of the self-propelled cleaner which concerns on 2nd Embodiment. The side view which shows schematic structure of the dust collection chamber vicinity of the self-propelled cleaner concerning 3rd Embodiment. The side view which shows schematic structure of the dust collection chamber vicinity of the self-propelled cleaner which concerns on 4th Embodiment. Block diagram showing the schematic configuration of a conventional self-propelled cleaner

Explanation of symbols

1-Main body of self-propelled cleaner 2-Drive wheel 3-Driven wheel 4-Nozzle 40-Brush 5-Dust collection chamber 50-Connection hole 51, 52-Side wall 6-Dust transfer pipe 10-Control unit 11-Movement control Unit 12-cleaning control unit 13-dust detection means 14, 14a, 14b, 14c-photodetectors 15, 15a, 15b, 15c-photodiode 16-drive motor 21-discharge fan 22-fan motor 100-dust

Claims (6)

A cleaning means for storing the dust taken in from the cleaning nozzle in a box-shaped dust collecting chamber via a dust transfer pipe;
Traveling means for moving and turning the body;
In the self-propelled cleaner comprising the movement control means for controlling the running means and moving the main body within a preset area,
A side wall provided with a connection hole with the dust transport pipe of the dust collection chamber and a side wall opposite to the side wall are formed in a slope shape,
The light detection means is arranged at a plurality of different height positions on the two side walls, including the vicinity of the connection hole of the side wall, and led to the dust collection chamber from the light irradiation means or the external light capturing window provided in the main body. Comprising dust amount detection means for detecting the amount of dust in the dust collection chamber by detecting light by the light detection means;
The self-propelled cleaner is characterized in that the movement control means gives a movement turning control different from that during normal cleaning to the traveling means when the dust detection means detects a full garbage. A cleaning means for storing the dust taken in from the cleaning nozzle in a box-shaped dust collecting chamber via a dust transfer pipe;
Traveling means for moving and turning the body;
In the self-propelled cleaner comprising the movement control means for controlling the running means and moving the main body within a preset area,
A side wall provided with a connection hole with the dust transport pipe of the dust collection chamber is formed in a slope shape,
A light detection means is disposed in the vicinity of the connection hole on the side wall, and includes dust amount detection means for detecting the amount of dust in the dust collection chamber by the light detection means detecting light guided into the dust collection chamber. A self-propelled vacuum cleaner characterized by   The self-propelled cleaner according to claim 2, wherein the light detection means detects light guided into the dust collection chamber from an external light intake window provided in the main body.   The self-propelled cleaner according to claim 2 or 3, wherein a plurality of light detection means are provided at different height positions of the side wall.   The self-propelled cleaner according to any one of claims 2 to 4, wherein a side wall facing the side wall including the connection hole is formed in a slope shape, and the dust detection means is also provided on the side of the side wall.   The self-propelled cleaner according to any one of claims 2 to 5, wherein, when the dust detection means detects a full load of dust, the movement control means gives the traveling means a movement turning control different from that during normal cleaning. .

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