JP6837319B2 - Self-propelled vacuum cleaner - Google Patents

Description

The present invention relates to a self-propelled vacuum cleaner.

There is known a self-propelled vacuum cleaner that can detect obstacles in the surroundings by using an optical sensor and can be autonomously driven to avoid the obstacles.

Patent Document 1 discloses an upright portion detector mounted in a displaceable bumper 23 (0028 et al.).

Japanese Patent No. 4920724

A robot that is required to grasp the surrounding environment is usually provided with a plurality of sensors such as an upright portion detector. In this case, since the sensor mounting process may take a large amount of time, a structure capable of effectively performing the sensor mounting process is required. Patent Document 1 does not disclose this point.

The self-propelled electric vacuum cleaner of the present invention made in view of the above circumstances can be autonomously driven to perform a cleaning operation, and has a sensor, a displaceable bumper, and a control board. In an electric vacuum cleaner, the bumper is urged and installed by an elastic body, and the elastic body is deformed and displaced when it comes into contact with an obstacle, and has a sensor base attached to the bumper. A part of the bumper is fitted to the bumper, and the rest or another part is fitted to the sensor base. In addition to the sensor, a bumper sensor that detects the displacement amount of the bumper at the time of contact is provided. It is characterized by having.

It is a perspective view of the self-propelled vacuum cleaner which concerns on Embodiment 1. FIG. FIG. 5 is a perspective view of the self-propelled vacuum cleaner according to the first embodiment with the upper case, bumper, and dust case removed. It is a bottom view of the self-propelled vacuum cleaner which concerns on Embodiment 1. FIG. 5 is an exploded perspective view of a bumper, a sensor base, a sensor, and a sensor cover according to the first embodiment. FIG. 5 is an exploded perspective view of a bumper, a sensor base, a bumper frame, and a sensor according to the first embodiment. Of the sensors according to the first embodiment, (a) a front view of the sensor used as the sensor arranged on the oblique front side, (b) the front view of the sensor used as the sensor arranged on the center side and the sensor arranged on the side side. It is a figure which shows the mounting structure of the sensor of the self-propelled vacuum cleaner which concerns on Embodiment 1. It is the schematic of the structure of the sensor and control board of the self-propelled vacuum cleaner which concerns on Embodiment 1, and the wiring between them. It is a front view of the self-propelled vacuum cleaner which see through the bumper of the self-propelled vacuum cleaner which concerns on Embodiment 1. FIG. It is a top view of the self-propelled vacuum cleaner 1 which see through the upper case of the self-propelled vacuum cleaner which concerns on embodiment 1. It is a bottom view of the self-propelled vacuum cleaner 1 which concerns on Embodiment 1. It is sectional drawing cut along the line AA of FIG. It is a front view of the remote control 9 which concerns on embodiment 1.

Embodiments of the present invention will be described in detail with reference to the accompanying drawings. Similar components are designated by the same reference numerals, and the same description will not be repeated. The various components of the present invention do not necessarily have to be composed of one component unless excluded in the context, for example, one component is composed of a plurality of members, a plurality of components. It is allowed that an element is composed of one member, and that a part of one component and a part of another component overlap each other.

Of the directions in which the self-propelled vacuum cleaner 1 (see FIG. 1) travels, the direction in which the self-propelled vacuum cleaner 1 normally travels is forward, the direction opposite to the gravity direction is upward, and the drive wheels 116 (FIG. 1). The directions in which (see 3) face each other are left and right. That is, as shown in FIG. 1 and the like, front and back, top and bottom, and left and right are defined. In the present embodiment, the side brush 15 is attached to the front side of the self-propelled vacuum cleaner 1.

<Embodiment 1>
[Self-propelled vacuum cleaner 1]
FIG. 1 is a perspective view of the self-propelled vacuum cleaner 1 according to the present embodiment.
The self-propelled electric vacuum cleaner 1 is a vacuum cleaner that cleans while autonomously moving in a cleaning area (for example, indoors). The self-propelled vacuum cleaner 1 includes an upper case 111 which is an upper wall (and a part of the side wall), a lower case 112 which is a bottom wall (and a part of the side wall), and a bumper 18 installed at the front part. The main body 11 including the main body 11 is provided. The upper case 111 is arranged with a switch sheet 22, a circular operation button 221 and a ring-shaped operation button 222 as operation buttons for giving commands to the control board 2 of the self-propelled vacuum cleaner 1. The bumper 18 of the present embodiment is provided between the upper case 111 and the lower case 112 to form at least a part of the side surface of the self-propelled vacuum cleaner 1, and has a substantially annular shape.

Further, a dust case 4 is provided on the upper rear side of the self-propelled vacuum cleaner 1. The self-propelled vacuum cleaner 1 of the present embodiment autonomously drives and cleans the drive wheels 116, various brushes, and motors by the arithmetic processing of the control board 2, and receives a user command by a remote controller 9 or the like described later. May be driven. The self-propelled vacuum cleaner 1 has a receiving unit R capable of receiving signals such as infrared rays emitted by the remote controller 9. The receiving unit R is provided on the front end side of the upper surface side of the self-propelled vacuum cleaner 1.

[Lower case 112]
FIG. 2 is a perspective view of the self-propelled vacuum cleaner 1 with the upper case 111, the bumper 18, and the dust case 4 removed, and FIG. 3 is a self-propelled vacuum cleaner with the upper case 111, the bumper 18, and the dust case 4 removed. It is a side view of the electric vacuum cleaner 1.

Members such as the control board 2 and the front sensors 210 (210C, 210D, 210S) are assembled to the lower case 112. The control board 2 is located on the upper side of the assembled component, and can be provided at a position facing the upper case 111. The control board 2 is provided substantially vertically in the vertical direction, and is electrically connected to the front sensor 210, various motors, and the like via wiring. The control board 2 can transmit control commands to these electrically connected motors, sensors, and the like, and can receive sensor detection values and the like to perform calculations. Further, the lower case 112 has a bumper frame 1127 provided on the entire circumference of the side surface or substantially the entire circumference including the lower end side, preferably the lower end of the side surface. As the front sensor 210, an infrared sensor 210R that uses infrared rays to detect the presence or absence of an object, a PSD sensor 210P that uses infrared rays to detect the distance to an object, and the like can be adopted. In this embodiment, the central side sensor 210C and the side side sensor 210S, which will be described later, are provided with the PSD sensor 210P, and the oblique front side sensor 210D is provided with the infrared sensor 210R. The oblique front side sensor 210D is located between the central side sensor 210C and the side side sensor 210S.

The lower case 112 has a bumper frame 1127 provided on the entire circumference or substantially the entire circumference of the side surface, including the lower end side of the side surface, preferably the lower end. The bumper frame 1127 is made of a material that is softer than the members forming the other parts of the side surface, and for example, a resin material such as an elastomer can be adopted. Further, the bumper frame 1127 protrudes to the outer peripheral side from other parts on the side surface, for example, the bumper 18. As a result, even if the self-propelled vacuum cleaner 1 collides with furniture or the like, it is possible to prevent the furniture or the like from being damaged.

[Bumper 18 and sensor 210]
FIG. 4 is an exploded perspective view of the bumper 18, the sensor base 181 and the front sensor 210, and the sensor cover 5, and FIG. 5 is an exploded perspective view of the bumper 18, the sensor base 181 and the bumper frame 1127 and the sensor 210.
The bumper 18 formed including the front side of the side surface of the self-propelled vacuum cleaner 1 is installed so as to be movable in the front-rear direction, preferably further in the left-right direction, in response to a pressing force acting from the outside. .. The bumper 18 is urged in the forward direction by a pair of left and right bumper springs (not shown). When a pressing force from an obstacle acts on the bumper spring via the bumper 18, the bumper spring deforms, forcing the bumper 18 forward and allowing the bumper 18 to retreat. When the bumper 18 separates from the obstacle and the pressing force is released, the bumper 18 returns to its original position due to the urging force of the bumper spring. Incidentally, the retreat of the bumper 18 (that is, contact with an obstacle) is detected by a bumper sensor (for example, an infrared sensor), and the detection result is input to the control board 2. Since the displacement amount of the bumper 18 differs depending on the contact position of the obstacle or the like, it is possible to detect the position of the obstacle or the like with respect to the main body 11.

[Sensor base 181]
A sensor base 181 is attached to the front side portion of the self-propelled vacuum cleaner 1 which is an inner region of the bumper 18 having a substantially ring shape.

Of the front sensors 210, the center side sensor 210C and the oblique front side sensor 210D are fitted to the sensor base 181. In the process of attaching the bumper frame 1127 to the bumper 18, the sensor base 181 can be attached together with the bumper frame 127. A sensor cover 5, which will be described later, is attached to each front sensor 210.
More specifically, the sensor base 181 is located inside the bumper 18 having a substantially annular shape, and the bolt, which is an example of the insertion portion 6, is the insertion hole 1812 of the sensor base 181 and the insertion hole of the bumper 18. It is inserted through 182 and fixed to the bumper 18. Each of the insertion portions 6 is also inserted into the insertion hole 1123 of the bumper frame 1127 located below the bumper 18. Further, a part of the insertion portion 6 is further inserted into the insertion hole 1812 of the sensor base 181. The bumper frame 1127 is fixed to the bumper 18 and the sensor cover 181 is fixed to the bumper 18 by these insertion portions 6.
Further, a side sensor 210S is fitted inside the bumper 18 and on the side side of the bumper 18. As described above, a part of the sensor 210 is directly fitted to the bumper 18, and the other part or the rest is fitted to the sensor base 181 and indirectly attached to the bumper 18. As a result, the sensor 210 can be attached to the bumper 18 by reducing or eliminating the number of screws or the like that directly fix the sensor 210. Further, by fitting a part of the sensor 210 to the bumper 18 and fitting the rest or another part to the sensor base 181 so that the assembly process of the sensor 210 can be performed separately for the bumper 18 and the sensor base 181. Since it can be advanced, it is easy to shorten the time required for assembly. The sensor base 181 is preferably capable of mounting and fitting a plurality of sensors 210.

The portion of the bumper 18 facing each sensor 210 is a window portion 184 that transmits infrared rays. The window portion 184 of the present embodiment includes an oblique front window portion 184D facing the oblique front sensor 210D, a central window portion 184C facing the central sensor 210C, and a side window portion 184S facing the side sensor 210S. Have.

[Sensor 210]
6A and 6B are a front view of the infrared sensor 210R, which is the sensor 210, and a front view of the PSD sensor 210P.
The sensor 210 has a light emitting element 2101 and a light receiving element 2102 provided on the substrate 2100 and the substrate 2100, and a through groove 2103 provided between the light emitting element 2101 and the light receiving element 2102, and electrically supplies the substrate 2100 and the control board 2. A connector 2104 for attaching one end of the sensor-side wiring portion 81 to be connected can be attached.

Of these, in the infrared sensor 210R, two light emitting elements (for example, an infrared LED) 2101 and one light receiving element (for example, an infrared phototransistor) 2102 are arranged substantially horizontally on the substrate 2100, and the oblique front side sensor 210D Is attached to the bumper 18.
Of the three elements, the light receiving element 2102 is in the middle, and the light emitting element 2101 is located on each of the left and right sides of the light receiving element 2102. By arranging each element in the horizontal direction, the detection range in the horizontal direction can be widened. Further, by providing the light receiving element 2102 in the center, if an obstacle exists in the irradiation range of the light emitting element 2101 on either the left or right side, the obstacle can be detected, so that the detection range can be effectively expanded. ..
A sensor cover 5 is attached to the front of the infrared sensor 210R. Details of the sensor cover 5 will be described later.

Further, the PSD sensor 210P has one light emitting element 2101 and one light receiving element 2102 on the substrate 2100, and the elements are arranged in the vertical direction so that the central side sensor 210C and the side side sensor 210S are arranged. Is attached to the bumper 18.

Since the oblique front side sensors 210D are provided on both sides of the central side sensor 210C in the horizontal direction, the central side sensor 210C vertically transmits the light emitting element 2101 and the light receiving element 2102 as in the present embodiment from the viewpoint of reducing the arrangement space. It is oriented, but not limited to this.

[Line 183]
In the bumper 18 of the present embodiment, a wire 183 facing the through groove 2103 is provided in a portion where the PSD sensor 210P, in which the elements are mounted so as to be arranged in the vertical direction, is mounted, in the mounted state of the sensor 210. The streaks 183 are made of a material that is opaque to infrared rays and at least opaque to infrared rays than the window portion 184. As a result, it is possible to prevent the light of the light emitting element 2101 from directly incident on the light receiving element 2102. The wire 183 is integrally formed with the bumper 18, and for example, when the bumper 18 is formed of a resin member, it can be integrally formed with the bumper 18. On the other hand, for the infrared sensor 210R, the vertical portion 52 of the sensor cover 5, which will be described later, is inserted into the through groove 2103. However, the streak 183 integrally formed with the bumper 18 may be provided at a portion facing the infrared sensor 210R.
It should be noted that the above description does not necessarily mean that the sensors 210C and 210D on the center side and the oblique front side are performed by the sensor base 181 and the sensors 210S on the side side are performed by the wire 183 as the mounting mode of the sensor 210. However, it does not mean that the wire 183 can be opposed only to the PSD sensor 210P, nor does it mean that the sensor cover 5 can be provided only on the infrared sensor 210R. The combination of the wire 183, the sensor cover 5, and the sensor base 181 for the various sensors 210 is arbitrary, and this embodiment is only an example.

[Sensor cover 5]
FIG. 7 is a front view of (a) the sensor cover 5 and (b) a front view of the infrared sensor 210R to which the sensor cover 5 is attached.

The sensor cover 5 is located between the frame portion 51 surrounding the outer periphery of the light emitting element 2101 and the light receiving element 2102, and between the light emitting element 2101 and the light receiving element 2102, respectively, in a direction substantially orthogonal to the direction connecting the light emitting element 2101 and the light receiving element 2102. It has an extending vertical portion 52, a window portion 53 surrounding the light receiving element 2102, and a mounting portion 54 attached to the sensor base 181.
The insides of the frame portion 51 and the window portion 53 are open, and even when the sensor cover 5 is attached, each of the light emitting element 2101 and the light receiving element 2102 can be visually recognized from the front of the sensor 210.
The frame portion 51 is located in a part or all of the periphery of each of the light emitting element 2101 and the light receiving element 2102, and is a portion protruding in a direction orthogonal to the substrate 2100. A portion of the frame portion 51 located around the light emitting element 2101 is provided so as to protect the light emitting element 2101 from an external force. In this respect, since it is preferable that the irradiation range of the light emitting element 2101 is wide, it is not necessary to provide the frame portion 51 around the light emitting element 2101. The portion of the frame portion 51 located around the light receiving element 2102 can protect the light receiving element 2102 and limit the light rays incident on the light receiving element 2102.
The frame portion 51 and the window portion 53 do not necessarily have to surround the entire circumference of the light emitting element 2101 and the light receiving element 2102.

The vertical portion 52 is provided between the light emitting element 2101 and the light receiving element 2102, and the light of the light emitting element 2101 is directly incident on the light receiving element 2102, that is, light other than the reflected light reflected by an obstacle or the like is incident. It suppresses doing. The vertical portion 52 projects rearward (the side on which the sensor 210 is located) and is formed so that it can be inserted into the through groove 2103.

The window portion 53 has a certain degree of front-rear dimension (dimension in the direction orthogonal to the substrate 2100), is provided at a position closer to the light receiving element 2102 than the frame portion 51, and can be incident on the light receiving element 2102. The rays are restricted. In order to suppress false detection, the light rays that can be incident on the light receiving element 2102 are preferably limited to the front side of the light receiving element 2102, while the light emitting element 2101 is preferably capable of emitting a wide range of light rays. There is.

The mounting portion 54 is configured to partially overlap the substrate 2100 of the infrared sensor 210R in the vertical direction, and the substrate 2100 is sandwiched between the upper and lower side portions of the sensor cover 5. Further, the mounting portion 54 can be mounted in a known manner such as locking to the sensor base 181.

[Wiring between sensor 210 and control board 2]
FIG. 8 is a schematic view of the structure of the sensor 210, the control board 2, and the wiring between them, FIG. 9 is a front view of the self-propelled vacuum cleaner 1 which sees through the bumper 18, and FIG. 10 shows the upper case 111. It is a top view of the self-propelled vacuum cleaner 1. As the wiring between the sensor 210 and the control board 2, the sensor 210 and the control board 2 can be electrically connected by, for example, one wiring, and each part of this wiring is described below for convenience. It is referred to as a sensor side wiring portion 81, a board side wiring portion 82, and a center side wiring portion 83 according to the position.

One end of the wiring is connected to the connector 2104 of the sensor 210, and the other end is connected to the terminal of the control board 2, and the sensor 210 and the control board 2 are electrically connected by wiring. It is fixed by each of the sensor-side wiring fixing portion 71 and the board-side wiring fixing portion 72 provided between both ends. The sensor-side wiring fixing portion 71 is provided on the bumper 18, and the substrate-side wiring fixing portion 72 is provided on the portion assembled on the lower case 112. The fixing portions 71 and 72 can fix the wiring in various known modes such as locking, winding, sandwiching, and bonding.

For this reason, the portion of the wiring between the sensor 210 and the sensor-side wiring fixing portion 71 is referred to as the sensor-side wiring portion 81, and the portion between the control board 2 and the substrate-side wiring fixing portion 72 is referred to as the substrate-side wiring portion 82. The portion between the sensor-side wiring fixing portion 71 and the board-side wiring fixing portion 72 is referred to as a central-side wiring portion 83.

In the present embodiment, since the sensor 210 is attached to the bumper 18, when the self-propelled vacuum cleaner 1 comes into contact with an obstacle or the like and the bumper 18 is displaced, the sensor 210 is also displaced accordingly. On the other hand, the control board 2 is assembled on the lower case 112, for example, and is mounted so that the control board 2 is not displaced even if the bumper 18 is displaced. That is, when the bumper 18 is displaced, the sensor 210 and the control board 2 are relatively moved. Therefore, if the wiring is stretched and tension is generated when the wiring is relatively moved, there may be a problem that the wiring is disconnected from the connection point (connector or terminal) with the sensor 210 or the control board 2. There is sex.

In the present embodiment, the sensor-side wiring fixing portion 71 is provided between both ends of the wiring in a region that is displaced with the displacement of the bumper 18, and the substrate-side wiring fixing portion 72 is provided relative to the sensor-side wiring fixing portion 71. It is provided in a region where it can be displaced, and the wiring between the sensor-side wiring fixing portion 71 and the substrate-side wiring fixing portion 72 is bent (with a margin). Therefore, even if the bumper 18 is displaced, it is possible to prevent tension from acting on the sensor-side wiring portion 81 and the substrate-side wiring portion 82. Further, since the stretching of the wiring due to the displacement is absorbed by the bent portion, it is possible to suppress the application of tension to both ends of the wiring. The margin dimension of the central wiring portion 83 is preferably 100% or more, 125% or more, or 150% or more of the displaceable dimension of the bumper 18. That is, the length of the central side wiring portion 83 is the length required for connecting the sensor side wiring fixing portion 71 and the substrate side wiring fixing portion 72 by stretching a linear member, and the bumper 18 is used. It preferably has a length of 100% or more, 125% or more, or 150% or more of the displaceable dimension.

[Bottom side configuration]
FIG. 11 is a bottom view of the self-propelled vacuum cleaner 1, and FIG. 12 is a cross-sectional view taken along the line AA of FIG. The lower case 112 includes a drive mechanism accommodating portion 114 for accommodating a drive mechanism including a drive wheel 116, a traveling motor 1161, an arm 1141, and a reduction mechanism 1142, a side brush mounting portion 1121, a traveling motor 1161, and a rotation. It is a thin disk-shaped member to which a brush motor 1133, an electric blower 16, a rechargeable battery 19, a battery accommodating portion 115 for accommodating the rechargeable battery 19, a control board 2, a floor surface sensor 211, and a mouthpiece 113 are attached. The floor surface sensor 211 can be configured in the same manner as the front sensor 210 described above.

[Driving wheel 116]
Each of the drive wheels 116 is a member that receives the driving force of each of the traveling motors 1161 via the reduction mechanism 1142. As a result, the drive wheel 116 itself rotates, so that the main body 11 can be moved forward, backward, and turned. The drive wheels 116 are arranged on both the left and right sides.

[Remote control 9]
FIG. 13 is a front view of the remote controller 9. The remote controller 9 has a forward button 92, a left rotation button 94, a right rotation button 95, and a home button 96, and can emit an infrared signal corresponding to the pressing of each button to send a command to the self-propelled vacuum cleaner 1. Equipment. The self-propelled vacuum cleaner 1 can receive the command signal of the remote controller 9 by the receiving unit R.

When the forward button 92 is pressed, the remote controller 9 transmits a signal for controlling the drive wheels 116 so that the self-propelled vacuum cleaner 1 advances. When the self-propelled vacuum cleaner 1 receives the signal corresponding to the forward button 92, the self-propelled vacuum cleaner 1 advances itself. This forward operation continues until the signal corresponding to the forward button 92, the left rotation button 94 or the right rotation button 95 is received again. In this way, once the self-propelled vacuum cleaner 1 receives the command from the remote controller 9, the self-propelled vacuum cleaner 1 continues the operation of the command received immediately before until it receives a new command again. It is considered that the self-propelled vacuum cleaner 1 is autonomously driven, while the user holding the remote controller 9 is often stationary. In this case, if the self-propelled vacuum cleaner 1 is configured to be driven only while the command signal is continuously received, once the signal does not reach the area, if the user does not move, the self-propelled vacuum cleaner 1 escapes from there. It is easy to get into a situation where you cannot do it. On the other hand, as in the present embodiment, once a command signal is received, the operation is continued until a new command is received, so that the operation is continued even if the signal does not reach once. By doing so, it is possible to escape from the area, so that the operability is improved. Further, since the time required to send the command signal can be shortened, the battery can be used for a long period of time when the remote controller 9 is driven by the battery.

Upon receiving the signal corresponding to the forward button 92, the self-propelled vacuum cleaner 1 that has received the forward command stops the forward movement and stops the drive wheels 116. Upon receiving the signal corresponding to the left rotation button 94, the self-propelled vacuum cleaner 1 stops advancing and rotates counterclockwise. Upon receiving the signal corresponding to the right rotation button 95, the self-propelled vacuum cleaner 1 stops advancing and rotates clockwise.

Similarly, when the self-propelled vacuum cleaner 1 that has received the counterclockwise rotation command subsequently receives the signal corresponding to the counterclockwise rotation button 94, the self-propelled vacuum cleaner 1 stops the counterclockwise rotation and stops the drive wheel 116. When the signal corresponding to the forward button 92 is received, the counterclockwise rotation is stopped and the vehicle moves forward. When the signal corresponding to the right rotation button 95 is received, the left rotation is stopped and the right rotation is performed.

Similarly, when the self-propelled vacuum cleaner 1 that has received the right rotation command subsequently receives the signal corresponding to the right rotation button 94, the self-propelled vacuum cleaner 1 stops the right rotation and stops the drive wheel 116. When the signal corresponding to the forward button 92 is received, the clockwise rotation is stopped and the vehicle moves forward. When the signal corresponding to the left rotation button 94 is received, the right rotation is stopped and the left rotation is performed.

Further, the self-propelled vacuum cleaner 1 that has received a command corresponding to the home button 96 executes a return operation that attempts to return to the charging stand.

1 Self-propelled vacuum cleaner 11 Main body 111 Upper case 112 Lower case 1121 Side brush mounting part 1122 Auxiliary wheel mounting part 1123 Insertion hole 1124B Rear side sensor fitting part 1126 Exhaust port 1127 Bumper frame 1128 Mounting claw locking part 113 Suction port 1131 Suction port 1133 Rotating brush motor 114 Drive mechanism housing 1141 Arm (suspension)
1142 Deceleration mechanism 115 Battery housing part 116 Drive wheel 1161 Travel motor 117 Front lid 118 Airtight member 1181 Bridge part 1182 Swing shaft 1183 Frame body part 1184 Removal claw 1185 Bias part 1186 Driven roller 13 Scraping brush 14 Rotating brush 15 Side brush 151 Side brush holder 152 Side brush motor 153 Root elastic part 154 Brush part 16 Electric blower 161 Elastic body 17 Auxiliary wheel 171 Grounding part 172 Disc part 173 Fixed shaft 18 Bumper 181 Sensor base 1811C Central side sensor Fitting part 1811D Oblique front side sensor Fitting part 1812 Insertion hole 182 Insertion hole 183 Wire 184 Window part 19 Rechargeable battery 2 Control board 210 Sensor 210C Center side sensor 210D Oblique front side sensor 210S Side side placement sensor 210B Rear side placement sensor 2101 Light emission Element 2102 Light receiving element 2103 Through groove 2104 Connector 2105 Wiring 211 Sensors (floor surface sensor)
22 Switch sheet 221 Circular operation button 222 Ring-shaped operation button 4 Dust case 5 Sensor cover 51 Frame part 52 Vertical part 53 Window part 54 Mounting part 6 Insertion part 71 Sensor side wiring fixing part 72 Board side wiring fixing part 81 Sensor side wiring part 82 Board side wiring part 83 Center side wiring part 9 Remote control 92 Forward button 94 Left rotation button 95 Right rotation button 96 Home button R Receiver

Claims (5)

It can be driven autonomously to perform cleaning operations,
With the sensor
Displaceable bumper and
A self-propelled vacuum cleaner with a control board
The bumper is urged and installed by an elastic body, and the elastic body is deformed and displaced when it comes into contact with an obstacle.
It has a sensor base attached to the bumper
A part of the sensor is fitted to the bumper, the rest or another part is fitted to the sensor base, and the displacement amount of the bumper at the time of contact is detected separately from the sensor. A self-propelled vacuum cleaner characterized by having a bumper sensor. The sensor base is attached to the bumper by an insertion hole of the bumper and an insertion portion inserted into the insertion hole of the sensor base.
The self-propelled vacuum cleaner according to claim 1, wherein the insertion portion is further inserted into an insertion hole of a bumper frame provided below the bumper. The sensor is
It has a substrate, a light emitting element provided on the substrate, a light receiving element, and a through groove.
The through groove is located between the light emitting element and the light receiving element.
The self according to claim 1 or 2, wherein the bumper has a line facing the through groove or being inserted into the through groove when the sensor is attached to the bumper. Running electric vacuum cleaner. It has wiring that electrically connects the sensor and the control board.
The sensor and the control board are relatively displaced with the displacement of the bumper.
It has a sensor-side wiring fixing part and a board-side wiring fixing part for fixing a part of the wiring.
The self-propelled wiring according to any one of claims 1 to 3, wherein the central wiring portion between the sensor-side wiring fixing portion and the substrate-side wiring fixing portion of the wiring is bent. Type vacuum cleaner. The length of the central wiring portion is such that the bumper can be displaced in addition to the length required for connecting with the linear member stretched between the sensor side wiring fixing portion and the substrate side wiring fixing portion. The self-propelled electric vacuum cleaner according to claim 4, wherein the self-propelled electric vacuum cleaner has a length of 100% or more of a large size.

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