JP2005224263A - Self-traveling cleaner - Google Patents

Self-traveling cleaner Download PDF

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JP2005224263A
JP2005224263A JP2004032917A JP2004032917A JP2005224263A JP 2005224263 A JP2005224263 A JP 2005224263A JP 2004032917 A JP2004032917 A JP 2004032917A JP 2004032917 A JP2004032917 A JP 2004032917A JP 2005224263 A JP2005224263 A JP 2005224263A
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Prior art keywords
rotating
rotating brush
suction
dust
comb
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Akitaka Shimizu
昭貴 清水
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Funai Electric Co Ltd
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Funai Electric Co Ltd
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Priority to JP2004032917A priority Critical patent/JP2005224263A/en
Priority to US11/055,726 priority patent/US20060037170A1/en
Publication of JP2005224263A publication Critical patent/JP2005224263A/en
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Electric Suction Cleaners (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-traveling cleaner which prevents cleaning from being performed in the state that a large amount of dust is stuck to a rotary brush by cleanly removing the dust stuck to the rotary brush at a prescribed timing. <P>SOLUTION: The self-traveling cleaner 1 performs a dust removing processing of removing the dust stuck to the rotary brush by bringing a comb close to the rotary brush at the prescribed timing. In the dust removing processing, since the comb is slid in the direction of approaching the brush, even the dust stuck to the root of the rotary brush is removed, and the self-traveling cleaner which prevents cleaning from being performed in the state that the large amount of the dust is stuck to the rotary brush is provided. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

この発明は清掃範囲を自動で走行しながら清掃を行う自走式掃除機に関するものである。   The present invention relates to a self-propelled cleaner that performs cleaning while automatically traveling in a cleaning range.

従来の掃除機には床のゴミをはねあげる回転ブラシを吸込口に設け、この回転ブラシでゴミをはねあげて吸込口から吸引する構成のものがある。回転ブラシは、床面にあるゴミを跳ね上げることから、表面にゴミがつきやすい。そこで、回転ブラシに付着するゴミの量を減らすことが特許文献１で提案されている。特許文献１で提案されている技術は、回転ブラシの両端部に給気部を設けるとともに外周面に吹出孔を設けた構成でり、給気部を介して回転ブラシの中に流れこませた、吸引空気流が吹出孔から流れ出る。この吹出孔から流れ出る空気が回転ブラシにゴミが付着するのを抑えるバリアとして機能する。最近では、自動で走行しながら掃除を行う、自走式の掃除機も提案されている。
特開平１１−１３７４８８号公報 Some conventional vacuum cleaners have a configuration in which a rotary brush that repels dust on the floor is provided at the suction port, and dust is repelled by this rotary brush and sucked from the suction port. Since the rotating brush bounces up dust on the floor surface, it tends to adhere to the surface. Therefore, Patent Document 1 proposes reducing the amount of dust attached to the rotating brush. The technique proposed in Patent Document 1 has a configuration in which an air supply portion is provided at both ends of the rotary brush and a blowout hole is provided in the outer peripheral surface, and the air is allowed to flow into the rotary brush through the air supply portion. , A suction air flow flows out of the blowout hole. The air flowing out from the blowout hole functions as a barrier that prevents dust from adhering to the rotating brush. Recently, a self-propelled vacuum cleaner that performs cleaning while running automatically has also been proposed.
JP-A-11-137488

しかしながら、従来の掃除機は、回転ブラシに付着したゴミをとる構成を有しておらずユーザが手作業で回転ブラシに付着しているゴミをとっていた。自走式でない掃除機であれば掃除中にゴミが回転ブラシから落下すると、掃除しているユーザーが回転ブラシに多量のゴミが付着していることを認識し、掃除を中断して回転ブラシのゴミ取りを行う。したがって、回転ブラシに多量のゴミが付着している状態で掃除が行われることはない。一方自走式掃除機の場合ユーザーが自走式掃除機の行っている掃除とは無関係に行動するので、ユーザが不在であることが多く、掃除中に回転ブラシからゴミが落下してもこのことに気がつかない。その結果回転ブラシに付着しているゴミを落下させながら走行し、回転ブラシから落下したゴミで部屋が汚れ、結果的に部屋の掃除が出来ていないという状態がおこる。このような状態を生じさせないためにも、回転ブラシに付着したゴミを常日頃からとっておけばよいが、この作業にかかるユーザの負担が大きいという問題があった。   However, the conventional vacuum cleaner does not have a configuration for removing dust attached to the rotating brush, and the user manually removes dust attached to the rotating brush. If the garbage falls from the rotating brush during cleaning if it is not a self-propelled vacuum cleaner, the cleaning user will recognize that a large amount of garbage has adhered to the rotating brush, stop cleaning, and Remove garbage. Therefore, cleaning is not performed in a state where a large amount of dust is attached to the rotating brush. On the other hand, in the case of a self-propelled cleaner, the user acts independently of the cleaning performed by the self-propelled cleaner, so the user is often absent, and even if garbage falls from the rotating brush during cleaning, this I don't notice it. As a result, the vehicle travels while dropping dust adhering to the rotating brush, and the room becomes dirty with the dust dropped from the rotating brush, and as a result, the room cannot be cleaned. In order to prevent such a situation from occurring, it is sufficient to always collect the dust attached to the rotating brush, but there is a problem that the burden on the user for this work is heavy.

この発明の目的は、所定のタイミングで回転ブラシに付着したゴミをきれいに取り除くことで、回転ブラシに多量のゴミが付着している状態で掃除が行われるのを防止し、ユーザの操作性の向上を図る、自走式掃除機を提供することにある。   An object of the present invention is to remove dust attached to the rotating brush at a predetermined timing, thereby preventing cleaning with a large amount of dust attached to the rotating brush and improving user operability. To provide a self-propelled vacuum cleaner.

この発明は、上記の課題を解決するために、以下の構成を備えている。
（１）装置本体を自律走行させる自律走行手段と、
吸引ファンを回転させ、装置本体に形成した吸込口から本体内部にゴミを吸い込む吸引手段と、
前記吸込口に回転自在に取り付けた回転ブラシを回転させる回転手段と、
回転ブラシに当接する位置に配置した櫛と、
予め設定されたエリア内で、前記自律走行手段により装置本体を自律走行させながら、前記吸引手段を動作させて前記吸込口からゴミを吸込む掃除手段と、を備えた自走式掃除機において、
前記櫛は、前記回転ブラシに対して接離する方向にスライド自在に取り付けられ、
所定のタイミングで、櫛の刃を回転ブラシに近づけ、前記吸引手段に吸引ファンを回転させるとともに、前記回転手段に前記回転ブラシを回転させるゴミ取り手段を備え、たことを特徴とする。 In order to solve the above problems, the present invention has the following configuration.
(1) autonomous running means for autonomously running the apparatus body;
A suction means for rotating the suction fan and sucking dust into the main body from the suction port formed in the main body of the apparatus;
Rotating means for rotating a rotating brush rotatably attached to the suction port;
A comb arranged at a position to contact the rotating brush;
In a self-propelled cleaner provided with a cleaning means that operates the suction means and sucks dust from the suction port while autonomously running the apparatus main body by the autonomous running means within a preset area,
The comb is slidably attached in a direction in which the comb is in contact with or separated from the rotating brush
At a predetermined timing, the comb blade approaches the rotating brush, the suction means rotates the suction fan, and the rotating means includes dust removing means for rotating the rotating brush.

この構成では、ゴミ取り手段が櫛をブラシに近づく方にスライドさせると共に、回転ブラシを回転させるので、回転ブラシの根元に付着しているゴミも取ることができる。従って、回転ブラシに付着しているゴミをきれいに取ることが出来る。このゴミが吸引ファンの回転により、吸引される。このように所定のタイミングで自動的に回転ブラシのゴミ取りを行うので、ユーザの操作性が向上できる。
（２） 装置本体を自律走行させる自律走行手段と、
吸引ファンを回転させ、装置本体に形成した吸込口から本体内部にゴミを吸い込む吸引手段と、
前記吸込口に回転自在に取り付けた回転ブラシを回転させる回転手段と、
回転ブラシに当接する位置に配置した櫛と、
予め設定されたエリア内で、前記自律走行手段により装置本体を自律走行させながら、前記吸引手段を動作させて前記吸込口からゴミを吸込む掃除手段と、を備えた自走式掃除機において、
前記櫛は回転ブラシを挟んで対向する両側に刃を有し、且つ回転ブラシの回転軸に対して垂直方向にスライド自在に取り付けられ、
前記掃除手段は、回転ブラシを回転方向側の櫛の刃に近づけ、
所定のタイミングで、掃除時に回転ブラシに近づけた櫛の刃と反対側の刃に近づけ、この状態で、前記吸引手段に吸引ファンを回転させるとともに、前記回転手段に前記回転ブラシを逆回転させるゴミ取り手段を備えたことを特徴とする。 In this configuration, since the dust removing means slides the comb closer to the brush and rotates the rotating brush, the dust attached to the root of the rotating brush can also be removed. Therefore, it is possible to clean the dust adhering to the rotating brush. This dust is sucked by the rotation of the suction fan. As described above, since the dust removal of the rotating brush is automatically performed at a predetermined timing, user operability can be improved.
(2) autonomous traveling means for autonomously traveling the apparatus body;
A suction means for rotating the suction fan and sucking dust into the main body from the suction port formed in the main body of the apparatus;
Rotating means for rotating a rotating brush rotatably attached to the suction port;
A comb arranged at a position to contact the rotating brush;
In a self-propelled cleaner provided with a cleaning means that operates the suction means and sucks dust from the suction port while autonomously running the apparatus main body by the autonomous running means within a preset area,
The comb has blades on opposite sides across the rotating brush, and is slidably attached in a direction perpendicular to the rotation axis of the rotating brush,
The cleaning means brings the rotating brush closer to the comb blade on the rotating direction side,
At a predetermined timing, close to the blade on the opposite side of the comb blade close to the rotating brush at the time of cleaning, and in this state, the suction means rotates the suction fan and the rotating means reversely rotates the rotating brush. It is characterized by having a taking means.

この構成では、掃除中は、回転ブラシを回転方向側の櫛の刃に近づけゴミ取りを行う。ここで、回転方向側の櫛の刃とは、回転している回転ブラシの毛がくしの上から下にあたる側にある刃である。さらに、ごみ取り手段が所定のタイミングで吸引ファンを回転させた状態で、回転ブラシを掃除中の回転方向とは逆の方向に回転させて、回転ブラシに付着しているゴミを取る。このとき、回転ブラシを逆回転させているので、掃除中に回転ブラシにからまったゴミがほぐれ、このほぐれたゴミが吸引ファンの回転により、吸引される。このように所定のタイミングで自動的に回転ブラシのゴミ取りを行うので、ユーザの操作性が向上できる。
（３） 前記ゴミ取り手段は、前記掃除手段による掃除終了後に前記吸引手段に吸引ファンを回転させるとともに、前記回転手段に前記回転ブラシを回転させることを特徴とする。 In this configuration, during cleaning, dust is removed by bringing the rotating brush closer to the comb blade on the rotating direction side. Here, the comb blade on the rotation direction side is a blade on the side where the bristles of the rotating brush that is rotating fall from above the comb. Further, in a state where the dust removing means rotates the suction fan at a predetermined timing, the rotating brush is rotated in a direction opposite to the rotating direction during cleaning, and dust adhering to the rotating brush is removed. At this time, since the rotating brush is rotated in the reverse direction, dust entangled in the rotating brush is loosened during cleaning, and the loosened dust is sucked by the rotation of the suction fan. As described above, since the dust removal of the rotating brush is automatically performed at a predetermined timing, user operability can be improved.
(3) The dust removing means is characterized in that after the cleaning by the cleaning means is completed, the suction fan is rotated by the suction means and the rotating brush is rotated by the rotating means.

この構成では、掃除が終わったときにゴミ取りを行うようにしたのでゴミがそれほど回転ブラシにからまっておらず、回転ブラシに付着しているゴミをきれいに取ることが出来る。   In this configuration, since dust removal is performed when cleaning is completed, the dust is not so entangled with the rotating brush, and the dust adhering to the rotating brush can be removed cleanly.

この発明によれば、掃除終了時等の所定のタイミングで自動的に回転ブラシのゴミ取りを行うので、ユーザの操作性が向上できる。   According to the present invention, since the dust removal of the rotating brush is automatically performed at a predetermined timing such as when cleaning is completed, user operability can be improved.

図１は、この発明の実施形態である自走式掃除機の構成を示すブロック図である。図２は、この発明の実施形態である自走式掃除機１を示す概略図であり、（Ａ）は側面断面図（Ｂ）は底面図である。自走式掃除機１は、本体の動作を制御する制御部２と、タイヤの回転数を個別に制御する走行部３と、吸引ファンを回転させ、装置本体に形成した吸込口から本体内部にゴミを吸い込む吸引部（本発明で言う吸引手段）４と、吸込口についている回転ブラシ５の回転方向を制御して、床面のゴミを跳ね上げたり回転ブラシに付着したゴミをとるブラシ制御部６とから構成されている。制御部２は、掃除の際に自走式掃除機をどのような経路で走行させるか等の情報を含んだマップを記憶する。マップとは、この情報をユーザが自由に入力できる。走行部３は制御部２からの指示にしたがって、装置本体を走行させる駆動輪７を回転させるモータの回転制御を行う。駆動輪７は、適当な間隔で対向配置した一対の車輪で構成されている。走行部３は、周知のＰＷＭ制御により、２つの駆動輪７の回転方向や回転速度を個別に制御して、装置本体の走行方向をコントロールする。また、８は装置本体の走行安定性を確保するために設けた従動輪である。駆動輪７と従動輪８の間に吹込口が形成されており、この吸込口に回転ブラシ５が取り付けられている。また、走行部３は、左右の駆動輪７の回転速度を個別に制御し、自走式掃除機１の走行方向を制御する。吸引部４は、吸引ファン９を回転させることで、吸込口において吸引力を生じさせる。吹込口から吸込んだゴミはゴミ搬送管１０を通って集塵室１１に送り込まれる。ブラシ制御部６は、掃除のとき回転ブラシ５を正方向に回転させて床のゴミをはね上げる。また、回転ブラシ５に付着しているゴミをとるときには、櫛１２を回転ブラシ５に近づく方向にスライドし、回転ブラシ５を正方向に回転させる。ここで、回転ブラシ５は正方向に回転しているとき、装置本体が前進しているときの駆動輪の回転方向と同じ方向に回転している。   FIG. 1 is a block diagram showing a configuration of a self-propelled cleaner that is an embodiment of the present invention. FIG. 2 is a schematic view showing a self-propelled cleaner 1 according to an embodiment of the present invention, in which (A) is a side sectional view (B) is a bottom view. The self-propelled cleaner 1 includes a control unit 2 that controls the operation of the main body, a traveling unit 3 that individually controls the number of rotations of the tire, and a suction fan that rotates from the suction port formed in the apparatus main body to the inside of the main body. A brush control unit that sucks up dust on the floor surface and picks up dust adhering to the rotating brush by controlling the rotation direction of the suction unit (suction means referred to in the present invention) 4 for sucking up dust and the rotating brush 5 attached to the suction port. 6. The control part 2 memorize | stores the map containing information, such as what kind of path | route a self-propelled cleaner is made to drive in the case of cleaning. With the map, the user can input this information freely. The traveling unit 3 performs rotation control of a motor that rotates the drive wheels 7 that travel the apparatus main body in accordance with instructions from the control unit 2. The drive wheel 7 is composed of a pair of wheels arranged to face each other at an appropriate interval. The traveling unit 3 controls the traveling direction of the apparatus main body by individually controlling the rotational direction and the rotational speed of the two drive wheels 7 by well-known PWM control. Reference numeral 8 denotes a driven wheel provided to ensure the running stability of the apparatus main body. A blowing port is formed between the drive wheel 7 and the driven wheel 8, and the rotating brush 5 is attached to the suction port. Moreover, the traveling unit 3 individually controls the rotational speeds of the left and right drive wheels 7 and controls the traveling direction of the self-propelled cleaner 1. The suction unit 4 rotates the suction fan 9 to generate a suction force at the suction port. Garbage sucked from the blow-in opening is fed into the dust collection chamber 11 through the garbage transport pipe 10. The brush control unit 6 rotates the rotating brush 5 in the forward direction to clean up dust on the floor during cleaning. Further, when removing dust adhering to the rotating brush 5, the comb 12 is slid in a direction approaching the rotating brush 5, and the rotating brush 5 is rotated in the forward direction. Here, when the rotating brush 5 is rotating in the forward direction, the rotating brush 5 is rotating in the same direction as the rotation direction of the drive wheels when the apparatus main body is moving forward.

次に、この実施形態の自走式掃除機１の実施形態１の動作を説明する。図３は、この発明の実施形態である自走式掃除機１の動作を示すフローチャートである。まず、自走式掃除機１は、掃除開始指示があるのを待っている（Ｓ１）。自走式掃除機１に対する掃除開始の入力は図示していない操作部やリモコン装置において、所定の操作で行える。自走式掃除機１はＳ１で掃除開始指示があったと判断すると制御部２に記憶しているマップを読み出す（Ｓ２）。このマップは掃除の開始点、終了点及びその間における装置本体の走行経路を示す情報が含まれている。次に自走式掃除機１は掃除開始位置へ移動する（Ｓ３）。この掃除開始位置はＳ２で制御部２が読み出したマップで示される位置であり、走行部３が駆動輪７を回転させて、装置本体を掃除開始位置まで移動する。ここで自走式掃除機１は、掃除開始位置に移動しているとき吸引ファンを回転しない。   Next, operation | movement of Embodiment 1 of the self-propelled cleaner 1 of this embodiment is demonstrated. FIG. 3 is a flowchart showing the operation of the self-propelled cleaner 1 according to the embodiment of the present invention. First, the self-propelled cleaner 1 waits for a cleaning start instruction (S1). The input of the cleaning start to the self-propelled cleaner 1 can be performed by a predetermined operation in an operation unit or a remote control device (not shown). When the self-propelled cleaner 1 determines that there is an instruction to start cleaning in S1, the map stored in the control unit 2 is read (S2). This map includes information indicating the cleaning start point, end point, and the travel route of the apparatus body in between. Next, the self-propelled cleaner 1 moves to the cleaning start position (S3). This cleaning start position is a position indicated by the map read by the control unit 2 in S2, and the traveling unit 3 rotates the drive wheel 7 to move the apparatus main body to the cleaning start position. Here, the self-propelled cleaner 1 does not rotate the suction fan when moving to the cleaning start position.

自走式掃除機は、掃除開始位置に達すると掃除を開始する（Ｓ４）。ここで制御部２はＳ２で読み出したマップが示す掃除開始位置から終了位置への走行経路に沿って装置本体を走行させるように走行部３に指示する。また、制御部２はブラシ制御部６に回転ブラシ５の正方向のへ回転の開始を指示するとともに、吸引部４に吸引ファン９の回転の開始を指示する。自走式掃除機は、この状態で掃除開始位置から終了位置まで走行することで今回の掃除エリアを掃除する。   The self-propelled cleaner starts cleaning when it reaches the cleaning start position (S4). Here, the control unit 2 instructs the traveling unit 3 to travel the apparatus main body along the traveling path from the cleaning start position to the end position indicated by the map read in S2. Further, the control unit 2 instructs the brush control unit 6 to start rotation of the rotary brush 5 in the positive direction, and instructs the suction unit 4 to start rotation of the suction fan 9. In this state, the self-propelled cleaner cleans the current cleaning area by running from the cleaning start position to the end position.

自走式掃除機は、装置本体が掃除終了位置に達するとＳ４で開始した掃除を終了する（Ｓ５，Ｓ６）。ここで、制御部２は、走行部３に対し走行を終了せよという指示を出し、装置本体の走行を停止する。また、ブラシ制御部６に回転ブラシ５の回転を停止させるとともに、吸引部４に吸引ファン９の回転を停止させる。次に制御部２は走行部３に対して装置本体を回転ブラシ５のゴミとり位置に移動することを指示する（Ｓ７）。ゴミ取り位置は、予め定められた位置でも良いが、以降に行う回転ブラシ５のゴミ取り時に回転ブラシ５に新たなゴミがつかない比較的きれいな位置が好ましいので、今回掃除した掃除エリアの内の場所が好ましい。例えば、掃除の終了位置で装置本体を１８０°転回した場所でも良い。Ｓ３と同様に、走行部３が装置本体をゴミ取り位置へ移動させる。装置本体がゴミ取り位置に達するとゴミ取り処理を開始する（Ｓ８）。   When the apparatus main body reaches the cleaning end position, the self-propelled cleaner ends the cleaning started in S4 (S5, S6). Here, the control unit 2 instructs the traveling unit 3 to end traveling, and stops traveling of the apparatus main body. Further, the brush control unit 6 stops the rotation of the rotary brush 5 and the suction unit 4 stops the rotation of the suction fan 9. Next, the control unit 2 instructs the traveling unit 3 to move the apparatus main body to the dust removal position of the rotating brush 5 (S7). The dust removal position may be a predetermined position, but a relatively clean position in which new dust does not adhere to the rotating brush 5 at the time of subsequent dust removal of the rotating brush 5 is preferable. Location is preferred. For example, the device main body may be rotated 180 ° at the cleaning end position. Similar to S3, the traveling unit 3 moves the apparatus main body to the dust removal position. When the apparatus main body reaches the dust removal position, dust removal processing is started (S8).

このゴミ取り処理は、ブラシ制御部６が、制御部２からの指示に従って、櫛１２を回転ブラシ５に近づけ、回転ブラシ５を回転しながら吸引部４が制御部２からの指示に従って吸引ファンを回転した状態を一定時間維持する処理である。一定時間は、ユーザが自由に設定できるようにしてもよいが、１分程度であれば十分である。   In this dust removal process, the brush control unit 6 moves the comb 12 closer to the rotating brush 5 according to the instruction from the control unit 2, and the suction unit 4 turns the suction fan according to the instruction from the control unit 2 while rotating the rotating brush 5. This is a process for maintaining the rotated state for a certain period of time. The fixed time may be set freely by the user, but about one minute is sufficient.

また、吸引ファンを回転させるので、ブラシがくしにあたってほぐれたゴミが吸引ファンの回転により吸引されるのでゴミが落ちることはない。また、櫛をブラシに近づく方にスライドさせるので、回転ブラシの根元に付着しているゴミも取れ、回転ブラシをきれいに出来る。さらに、掃除が終わったときに、このゴミ取りを行うのでついたゴミがそれほど回転ブラシにからまっておらず回転ブラシに付着しているゴミをきれいに取ることが出来る。従って、自動的に回転ブラシ５に付着しているゴミをきれいに取ることが出来、ユーザの操作性の向上が図れる。   Further, since the suction fan is rotated, dust loosened by the brush is sucked by rotation of the suction fan, so that dust does not fall. In addition, since the comb is slid toward the brush, dust attached to the root of the rotating brush can be removed, and the rotating brush can be cleaned. Further, when the cleaning is completed, the dust is removed, so that the attached dust is not so much entangled with the rotating brush, and the dust adhering to the rotating brush can be removed cleanly. Therefore, the dust adhering to the rotating brush 5 can be automatically removed and the user operability can be improved.

Ｓ８にかかる処理が終了すると今回指示された掃除エリアの掃除動作を終了する終了処理を行う（Ｓ９）。Ｓ９における終了処理は、走行部３に装置本体を待機位置まで移動させる処理である。この待機位置は、例えば装置本体の図示していないバッテリの充電器が置かれている場所である。なお、ゴミ取りは、掃除終了後としたが掃除開始前や掃除中などのタイミングで行うようにしてもよい。   When the process relating to S8 is completed, an end process for ending the cleaning operation of the cleaning area instructed this time is performed (S9). The termination process in S9 is a process for causing the traveling unit 3 to move the apparatus main body to the standby position. This standby position is a place where a battery charger (not shown) of the apparatus main body is placed, for example. Although the dust removal is performed after the cleaning is completed, it may be performed at a timing such as before the start of cleaning or during the cleaning.

次に、この発明の自走式掃除機１の別の実施形態についても説明する。この実施形態の自走式掃除機は、図４のように回転ブラシ５の両側に櫛を設け、櫛を左右にスライド可能とした点で上記実施形態と異なる。又、この実施形態の自走式掃除機も回転ブラシに付着しているゴミをとるゴミ取り機能（処理）を自動的に行う構成である。図４（Ａ）、（Ｂ）は掃除中における回転ブラシと櫛との位置関係を示しており、図４（Ｃ）、（Ｄ）は、ゴミ取り処理における回転ブラシと櫛との位置関係を示している。掃除中は、装置本体の前方に位置する櫛に回転ブラシ５があたり、この回転ブラシに付着している、ゴミを取る。このとき装置本体後方に位置する櫛には回転ブラシはあたらない。一方ゴミ取り時は、装置本体の後方に位置する櫛に回転ブラシ５があたり、この回転ブラシに付着している、ゴミを取る。このとき装置本体前方に位置する櫛には回転ブラシはあたらない。   Next, another embodiment of the self-propelled cleaner 1 of the present invention will be described. The self-propelled cleaner of this embodiment differs from the above-described embodiment in that combs are provided on both sides of the rotating brush 5 as shown in FIG. In addition, the self-propelled cleaner of this embodiment is also configured to automatically perform a dust removal function (processing) for removing dust adhering to the rotating brush. 4A and 4B show the positional relationship between the rotating brush and the comb during cleaning, and FIGS. 4C and 4D show the positional relationship between the rotating brush and the comb during dust removal processing. Show. During cleaning, the rotating brush 5 hits a comb located in front of the apparatus main body, and dust attached to the rotating brush is removed. At this time, the rotating brush is not applied to the comb located behind the apparatus main body. On the other hand, at the time of dust removal, the rotating brush 5 hits the comb located at the rear of the apparatus body, and the dust attached to the rotating brush is removed. At this time, the rotating brush is not applied to the comb located in front of the apparatus main body.

この実施形態の自走式掃除機は、上記実施形態とほぼ同じ動作であるが、以下に示すＳ８にかかるゴミ取り処理動作が異なる。   The self-propelled cleaner of this embodiment has substantially the same operation as that of the above embodiment, but the dust removal processing operation according to S8 shown below is different.

自走式掃除機１は、上記実施形態と同様にＳ１からＳ６の処理を行うとＳ７で回転ブラシのゴミ取り位置に移動する。ゴミ取り位置に移動したとき、回転ブラシは、図４（Ａ）、（Ｂ）に示す状態である。自走式掃除機１は、まず櫛を後方から前方にスライドさせ、これにより図４（Ｃ）、（Ｄ）に示す状態に移行する。そのとき後方の櫛が回転ブラシの根元にあたるようにする。そして、回転ブラシを逆回転させ、吸引ファンを回して，ゴミ取りを行う。   The self-propelled cleaner 1 moves to the dust removal position of the rotating brush in S7 when the processes from S1 to S6 are performed as in the above embodiment. When moved to the dust removal position, the rotating brush is in the state shown in FIGS. The self-propelled cleaner 1 first slides the comb from the rear to the front, thereby shifting to the state shown in FIGS. 4 (C) and 4 (D). At that time, the rear comb is made to hit the root of the rotating brush. Then, the rotating brush is rotated in the reverse direction, and the suction fan is rotated to remove dust.

このゴミ取り処理では、上記実施形態と同様の効果を奏するが、回転ブラシ５を掃除中とは逆方向に回転させるので、掃除中に回転ブラシ５にからまったゴミがほぐれやすく、一層きれいになる。   This dust removal process has the same effect as the above embodiment, but the rotating brush 5 is rotated in the direction opposite to that during cleaning, so that the dust caught on the rotating brush 5 is easily loosened during cleaning, and becomes even cleaner. .

この発明の実施形態である自走式掃除機の構成を示すブロック図である。It is a block diagram which shows the structure of the self-propelled cleaner which is embodiment of this invention. この発明の実施形態である自走式掃除機１を示す概略図であり、（Ａ）は側面断面図（Ｂ）は底面図である。BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic which shows the self-propelled cleaner 1 which is embodiment of this invention, (A) is side sectional drawing (B) is a bottom view. この発明の実施形態である自走式掃除機１の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the self-propelled cleaner 1 which is embodiment of this invention. この発明の別の実施形態である自走式掃除機１のブラシと櫛の位置関係を示す概略図であり、（Ａ）は掃除時の底面図であり、（Ｂ）は掃除時の側面断面図であり、（Ｃ）はゴミ取り時の底面図であり、（Ｄ）は、ゴミ取り時の側面断面図である。It is the schematic which shows the positional relationship of the brush and comb of the self-propelled cleaner 1 which is another embodiment of this invention, (A) is a bottom view at the time of cleaning, (B) is side surface cross section at the time of cleaning (C) is a bottom view when dust is removed, and (D) is a side cross-sectional view when dust is removed.

Claims (4)

装置本体を自律走行させる自律走行手段と、
吸引ファンを回転させ、装置本体に形成した吸込口から本体内部にゴミを吸い込む吸引手段と、
前記吸込口に回転自在に取り付けた回転ブラシを回転させる回転手段と、
回転ブラシに当接する位置に配置した櫛と、
予め設定されたエリア内で、前記自律走行手段により装置本体を自律走行させながら、前記吸引手段を動作させて前記吸込口からゴミを吸込む掃除手段と、を備えた自走式掃除機において、
前記櫛は、前記回転ブラシに対して接離する方向にスライド自在に取り付けられ、
前記掃除手段による掃除終了後、櫛をブラシに近づく方にスライドし、さらに、前記吸引手段に吸引ファンを回転させるとともに、前記回転手段に前記回転ブラシを回転させるゴミ取り手段とを備えたことを特徴とする自走式掃除機。 Autonomous traveling means for autonomously traveling the device body;
A suction means for rotating the suction fan and sucking dust into the main body from the suction port formed in the main body of the apparatus;
Rotating means for rotating a rotating brush rotatably attached to the suction port;
A comb arranged at a position to contact the rotating brush;
In a self-propelled cleaner provided with a cleaning means that operates the suction means and sucks dust from the suction port while autonomously running the apparatus main body by the autonomous running means within a preset area,
The comb is slidably attached in a direction in which the comb is in contact with or separated from the rotating brush,
After completion of cleaning by the cleaning means, the comb is slid toward the brush, and further, the suction means is rotated by a suction fan, and the rotating means is provided with dust removing means for rotating the rotating brush. Features a self-propelled vacuum cleaner. 装置本体を自律走行させる自律走行手段と、
吸引ファンを回転させ、装置本体に形成した吸込口から本体内部にゴミを吸い込む吸引手段と、
前記吸込口に回転自在に取り付けた回転ブラシを回転させる回転手段と、
回転ブラシに当接する位置に配置した櫛と、
予め設定されたエリア内で、前記自律走行手段により装置本体を自律走行させながら、前記吸引手段を動作させて前記吸込口からゴミを吸込む掃除手段と、を備えた自走式掃除機において、
前記櫛は、前記回転ブラシに対して接離する方向にスライド自在に取り付けられ、
所定のタイミングで、櫛の刃を回転ブラシに近づけ、前記吸引手段に吸引ファンを回転させるとともに、前記回転手段に前記回転ブラシを回転させるゴミ取り手段を備え、たことを特徴とする自走式掃除機。 Autonomous traveling means for autonomously traveling the device body;
A suction means for rotating the suction fan and sucking dust into the main body from the suction port formed in the main body of the apparatus;
Rotating means for rotating a rotating brush rotatably attached to the suction port;
A comb arranged at a position to contact the rotating brush;
In a self-propelled cleaner provided with a cleaning means that operates the suction means and sucks dust from the suction port while autonomously running the apparatus main body by the autonomous running means within a preset area,
The comb is slidably attached in a direction in which the comb is in contact with or separated from the rotating brush,
Self-propelled, characterized in that, at a predetermined timing, the blade of the comb is brought close to the rotating brush, the suction means is rotated by a suction fan, and the rotating means is provided with dust removing means for rotating the rotating brush. Vacuum cleaner. 装置本体を自律走行させる自律走行手段と、
吸引ファンを回転させ、装置本体に形成した吸込口から本体内部にゴミを吸い込む吸引手段と、
前記吸込口に回転自在に取り付けた回転ブラシを回転させる回転手段と、
回転ブラシに当接する位置に配置した櫛と、
予め設定されたエリア内で、前記自律走行手段により装置本体を自律走行させながら、前記吸引手段を動作させて前記吸込口からゴミを吸込む掃除手段と、を備えた自走式掃除機において、
前記櫛は回転ブラシを挟んで対向する両側に刃を有し、且つ回転ブラシの回転軸に対して垂直方向にスライド自在に取り付けられ、
前記清掃手段は、回転ブラシを回転方向側の刃に近づけ、
所定のタイミングで、掃除時に回転ブラシに近づけた櫛の刃と反対側の刃に近づけ、この状態で、前記吸引手段に吸引ファンを回転させるとともに、前記回転手段に前記回転ブラシを逆回転させるゴミ取り手段を備えたことを特徴とする自走式掃除機。 Autonomous traveling means for autonomously traveling the device body;
A suction means for rotating the suction fan and sucking dust into the main body from the suction port formed in the main body of the apparatus;
Rotating means for rotating a rotating brush rotatably attached to the suction port;
A comb arranged at a position to contact the rotating brush;
In a self-propelled cleaner provided with a cleaning means that operates the suction means and sucks dust from the suction port while autonomously running the apparatus main body by the autonomous running means within a preset area,
The comb has blades on opposite sides across the rotating brush, and is slidably attached in a direction perpendicular to the rotation axis of the rotating brush,
The cleaning means brings the rotating brush closer to the blade on the rotation direction side,
At a predetermined timing, close to the blade on the opposite side of the comb blade close to the rotating brush at the time of cleaning, and in this state, the suction means rotates the suction fan and the rotating means reversely rotates the rotating brush. A self-propelled cleaner characterized by having a removing means. 前記ゴミ取り手段は、前記掃除手段による掃除終了後に前記吸引手段に吸引ファンを回転させるとともに、前記回転手段に前記回転ブラシを回転させることを特徴とする請求項２〜３に記載の自走式掃除機。
The self-propelled type according to claim 2, wherein the dust removing means rotates the suction fan to the suction means after the cleaning by the cleaning means and rotates the rotating brush to the rotating means. Vacuum cleaner.
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