JPH05228090A - Self-traveling type cleaner - Google Patents
Self-traveling type cleanerInfo
- Publication number
- JPH05228090A JPH05228090A JP4033051A JP3305192A JPH05228090A JP H05228090 A JPH05228090 A JP H05228090A JP 4033051 A JP4033051 A JP 4033051A JP 3305192 A JP3305192 A JP 3305192A JP H05228090 A JPH05228090 A JP H05228090A
- Authority
- JP
- Japan
- Prior art keywords
- main body
- rotary
- floor surface
- brush
- self
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000428 dust Substances 0.000 claims abstract description 21
- 238000004140 cleaning Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 11
- 230000002411 adverse Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、清掃機能と移動機能と
を備え、床面上を自走しながら清掃を行なう自走式掃除
機に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vacuum cleaner having a cleaning function and a moving function, which cleans a floor surface while it is self-propelled.
【０００２】[0002]
【従来の技術】従来より、掃除機に移動機能を付加して
清掃時の操作性の向上を図った掃除機が開発されてい
る。特に近年では、これにマイクロコンピュータと各種
センサ類を搭載することにより、清掃場所を自分で判断
しながら移動し清掃する、いわゆる自立誘導型の自走式
掃除機の開発も行なわれている。2. Description of the Related Art Conventionally, there has been developed a vacuum cleaner having a moving function added to the vacuum cleaner to improve operability during cleaning. In recent years, in particular, a so-called self-supporting induction type self-propelled vacuum cleaner has been developed, which is equipped with a microcomputer and various sensors to move and clean the cleaning place while judging by itself.
【０００３】この種の自走式掃除機は、移動機能として
駆動輪や駆動モータ等の駆動装置を有するとともに、移
動時の障害物を検知する障害物検知手段や移動中の位置
を認識する位置認識手段を備えている。また清掃機能と
して、電動送風機や本体底部に設けた吸い込みノズル等
の集塵装置を備えている。特に壁際や部屋の隅部の清掃
能力を向上させるために、本体側方で回転ブラシを回転
させて床面のゴミを本体中央部に集めるサイドブラシ装
置を備えたものがある。This type of self-propelled cleaner has a drive device such as a drive wheel and a drive motor as a moving function, an obstacle detecting means for detecting an obstacle during movement, and a position for recognizing a moving position. Equipped with recognition means. Further, as a cleaning function, an electric blower and a dust collecting device such as a suction nozzle provided at the bottom of the main body are provided. In particular, in order to improve the cleaning ability near a wall or in a corner of a room, there is a device provided with a side brush device that rotates a rotating brush on the side of the main body to collect dust on the floor in the center of the main body.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、このよ
うな従来の自走式掃除機のサイドブラシ装置は、コンク
リートやタイル等のいわゆるベアフロア上の清掃を想定
して作られているものである。このため清掃領域にカー
ペットやじゅうたんがある場合は、本体の重量による沈
み込みにより回転ブラシと床面との接触圧力が強くな
り、回転ブラシが変形したり凹凸に引っかかったりして
走行に悪影響が生じるという課題を有している。However, such a side brush device for a conventional self-propelled cleaner is designed for cleaning a so-called bare floor such as concrete or tiles. Therefore, if there is a carpet or rug in the cleaning area, the contact pressure between the rotating brush and the floor surface will be increased due to the sinking due to the weight of the main body, and the rotating brush will be deformed or caught in irregularities, which will adversely affect traveling. Has the problem.
【０００５】また別の課題として、清掃領域に階段や敷
居等の大きな凹部段差を含む場合には、走行不能や転落
等の危険が生ずるため、この凹部段差を事前に検出し
て、このような事態を回避する手段が必要になるもので
ある。As another problem, when the cleaning area includes a large stepped portion such as a staircase or a sill, there is a danger that the vehicle cannot run or falls, so that the stepped portion is detected in advance. It requires a means to avoid the situation.
【０００６】そこで本発明は、このような従来の構成が
有している課題を解決しようとするものであり、床面の
種類に係わらず回転ブラシが変形したり、回転ブラシが
凹凸に引っかかることのない自走式掃除機を提供するこ
とを第一の目的としている。[0006] Therefore, the present invention is intended to solve the problems of such a conventional structure, in which the rotary brush is deformed or the rotary brush is caught by the unevenness regardless of the type of the floor surface. The first purpose is to provide a self-propelled vacuum cleaner that does not have any.
【０００７】また、走行床面に階段や敷居等の大きな凹
部段差ががある場合でも、走行不能や転落の危険性がな
い自走式掃除機を提供することを第二の目的としてい
る。It is a second object of the present invention to provide a self-propelled cleaner which is free from the risk of being unable to run or falling even when there is a large stepped portion such as a stairway or a threshold on the running floor.
【０００８】[0008]
【課題を解決するための手段】第一の目的を達成するた
めの本発明の第一の手段は、本体を移動させる駆動装置
と、床面のゴミを集塵する集塵装置と、水平方向に回転
して床面を掃くサイドブラシ装置とを本体に具備し、前
記サイドブラシ装置は、回転ブラシの回転軸と、この回
転軸を支持するとともに回転駆動する回転駆動部と、本
体の前後方向軸に対して回動自在に取り付けた本体の内
側方向に付勢された回動部材とを有し、前記回転駆動部
は前記回動部材に取り付けられた自走式掃除機とするも
のである。 また第二の目的を達成するための本発明の
第二の手段は、前記本発明の第一の手段の構成に加え、
回転駆動部に、回動部材の回動位置を検知する回動検知
手段を備えた自走式掃除機とするものである。A first means of the present invention for achieving the first object is to provide a drive device for moving a main body, a dust collecting device for collecting dust on a floor surface, and a horizontal direction. The main body is provided with a side brush device that rotates to sweep the floor surface, and the side brush device includes a rotary shaft of the rotary brush, a rotary drive unit that supports the rotary shaft and is rotationally driven, and a front-back direction of the main body. A rotary member that is urged inward of a main body that is rotatably attached to a shaft, and the rotary drive unit is a self-propelled cleaner attached to the rotary member. .. The second means of the present invention for achieving the second object, in addition to the configuration of the first means of the present invention,
The self-propelled cleaning device is provided with a rotation detection unit for detecting the rotation position of the rotation member in the rotation drive unit.
【０００９】[0009]
【作用】本発明の第一の手段による自走式掃除機は、回
動部材が本体の前後方向軸に対して回動自在であり、か
つ本体の内側回動方向に付勢されているので、回転ブラ
シの回転軸は鉛直方向から本体外側へ倒れた方向に傾き
角度が自在となる。また回転ブラシの本体外側先端部が
床面に接触するように付勢される。従ってじゅうたん上
で本体が沈み込んで本体と床面との距離が変化しても、
この距離に応じて回転ブラシの回転軸の角度が変化し
て、回転ブラシと床面との接触状態は適正に保たれる。
つまり、回転ブラシが変形したり凹凸に引っかかったり
して走行に悪影響が生ずることはないものである。In the self-propelled cleaner according to the first means of the present invention, the rotating member is rotatable about the longitudinal axis of the main body and is biased in the inner rotating direction of the main body. The rotary shaft of the rotary brush can be tilted in the direction tilted from the vertical direction to the outside of the main body. Further, the tip of the rotating brush outside the main body is urged so as to contact the floor surface. Therefore, even if the body sinks on the carpet and the distance between the body and the floor changes,
The angle of the rotary shaft of the rotary brush changes according to this distance, and the contact state between the rotary brush and the floor surface is appropriately maintained.
That is, the rotating brush is not deformed or caught in the unevenness, so that the running is not adversely affected.
【００１０】また本発明の第二の手段は、前記本発明の
第一の手段による作用に加え、回動検知手段の検知信号
によって、本体を停止し、回避動作を行なうことができ
るよう作用する。In addition to the function of the first means of the present invention, the second means of the present invention operates so that the main body can be stopped and the avoidance operation can be performed by the detection signal of the rotation detecting means. ..
【００１１】[0011]
（実施例１）以下、本発明の第一の手段の実施例の構成
を図１・図２に基づいて説明する。１は自走式掃除機の
本体、２は本体１の左右後方に設けた駆動輪で、駆動モ
ータ３で左右独立に駆動される。４は本体１の前方に回
転自在に取り付けた従輪である。以上、駆動輪２・駆動
モータ３・従輪４は本体１を移動させる駆動装置を構成
している。５は本体１前方の底部左右に設けたサイドブ
ラシ装置で、詳細な構成は後述する。６は本体１の周囲
に取り付けた弾性体からなるパンパである。７は電動送
風機、８は集塵室、９・１０はその内部に設けたフィル
ターである。１１は本体１の底部後方に設けた床ノズル
で、接続パイプ１２を介して集塵室８と接続している。
以上、電動送風機７・集塵室８・フィルタ９・１０・床
ノズル１１・接続パイプ１２は、床面Ａ上のゴミを集塵
する集塵装置を構成している。１３は操作部１４に設け
た操作ボタンである。１５は本体１の方向を計測する方
向計測装置で、本実施例ではレートジャイロおよびこの
出力を積分する積分器などからなっている。１６は本体
１の周囲に設けた超音波センサ等からなる測距センサ
で、本体１の前方・左右側方および後方にある物体まで
の距離を測定して障害物を検出する障害物検知装置を構
成している。１７は方向計測装置１５および障害物検知
装置等からのデータに基づいて駆動モータ３を制御し、
本体１の走行制御を行なう走行制御装置である。１８は
全体に電力を供給する蓄電池等からなる電源である。(Embodiment 1) The construction of the first embodiment of the present invention will be described below with reference to FIGS. Reference numeral 1 denotes a main body of the self-propelled cleaner, and 2 denotes drive wheels provided on the left and right rear sides of the main body 1, which are independently driven by a drive motor 3. Reference numeral 4 denotes a subordinate wheel rotatably attached to the front of the main body 1. As described above, the drive wheel 2, the drive motor 3, and the follower wheel 4 constitute a drive device for moving the main body 1. Reference numeral 5 is a side brush device provided on the left and right of the bottom portion in front of the main body 1, the detailed configuration of which will be described later. Reference numeral 6 denotes a bumper made of an elastic body attached to the periphery of the main body 1. Reference numeral 7 is an electric blower, 8 is a dust collecting chamber, and 9 and 10 are filters provided therein. A floor nozzle 11 is provided at the rear of the bottom of the main body 1, and is connected to the dust collection chamber 8 via a connection pipe 12.
As described above, the electric blower 7, the dust collecting chamber 8, the filters 9, 10, the floor nozzle 11, and the connecting pipe 12 constitute a dust collecting device that collects dust on the floor surface A. Reference numeral 13 denotes operation buttons provided on the operation unit 14. Reference numeral 15 is a direction measuring device for measuring the direction of the main body 1, and in this embodiment, it is composed of a rate gyro and an integrator for integrating the output. Reference numeral 16 is a distance-measuring sensor including an ultrasonic sensor or the like provided around the main body 1, and is an obstacle detection device that detects an obstacle by measuring a distance to an object located on the front, left and right sides, and behind the main body 1. I am configuring. Reference numeral 17 controls the drive motor 3 based on data from the direction measuring device 15 and the obstacle detection device,
A travel control device that controls travel of the main body 1. Reference numeral 18 is a power source including a storage battery or the like for supplying electric power to the whole.
【００１２】ここで図２に基づいて、サイドブラシ装置
５の構成を説明する。サイドブラシ装置５は、本体１の
左右に２組設けられている。サイドブラシ装置５を構成
する回転ブラシ２０Ｌ・２０Ｒは、それぞれ矢印ａ・ｂ
の方向に回転し、本体１の左右外側の床面Ａ上のゴミを
内側に集めるように作用する。つまり集塵装置の集塵能
力を高めるように作用するものである。この回転ブラシ
２０Ｌ・２０Ｒは、それぞれモータ２１Ｌ・２１Ｒと減
速機２２Ｌ・２２Ｒからなる回転駆動部の出力回転軸２
３Ｌ・２３Ｒに取り付けられている。２４Ｌ・２４Ｒは
本体１の前後方向に設けた回動軸２５Ｌ・２５Ｒに対し
て回動自在に取り付けた回動部材で、それぞれ矢印ｃ・
ｄに示す本体１の内側回動方向に付勢されている。この
ように回転ブラシ２０Ｌ・２０Ｒの回転駆動部は回動部
材２４Ｌ・２４Ｒに取り付けられているため、回転ブラ
シ２０Ｌ・２０Ｒの回転軸２３Ｌ・２３Ｒは鉛直方向か
ら本体１の外側へ倒れた方向に傾き角度が自在となると
共に、回転ブラシ２０Ｌ・２０Ｒの本体１の外側先端部
２０’Ｌ・２０’Ｒが常に床面に接触する。The structure of the side brush device 5 will be described with reference to FIG. Two sets of the side brush devices 5 are provided on the left and right of the main body 1. The rotary brushes 20L and 20R constituting the side brush device 5 are respectively indicated by arrows a and b.
, And acts to collect dust on the floor surface A on the left and right outer sides of the main body 1 inward. In other words, it works to enhance the dust collecting ability of the dust collecting device. The rotary brushes 20L and 20R are output rotary shafts 2 of a rotary drive unit including motors 21L and 21R and speed reducers 22L and 22R, respectively.
It is attached to 3L and 23R. Reference numerals 24L and 24R are rotary members that are rotatably attached to rotary shafts 25L and 25R provided in the front-rear direction of the main body 1, respectively.
The main body 1 is biased in the inner rotation direction shown in d. As described above, since the rotary drive units of the rotary brushes 20L and 20R are attached to the rotary members 24L and 24R, the rotary shafts 23L and 23R of the rotary brushes 20L and 20R are inclined from the vertical direction to the outside of the main body 1. The inclination angle can be freely set, and the outer end portions 20'L, 20'R of the main body 1 of the rotating brushes 20L, 20R are always in contact with the floor surface.
【００１３】また図３（ａ）（ｂ）に示しているよう
に、２６は検知レバー２６’により回動部材２４の回動
位置を検知する回動検知手段で、左右２組設けている。
本実施例では回動検知手段２６は、回転軸２３の倒れ角
度が一定値以上に達するとリミットスイッチがオンする
構成となっている。２７は回動部材２４を矢印ｅの回動
方向に付勢するねじりバネからなるスプリングである。As shown in FIGS. 3 (a) and 3 (b), reference numeral 26 is a rotation detection means for detecting the rotation position of the rotation member 24 by a detection lever 26 ', and two right and left sets are provided.
In the present embodiment, the rotation detecting means 26 has a structure in which the limit switch is turned on when the tilt angle of the rotating shaft 23 reaches a certain value or more. Reference numeral 27 is a spring formed of a torsion spring that biases the rotating member 24 in the rotating direction of arrow e.
【００１４】以下本実施例の動作について図３（ａ）
（ｂ）に基づいて説明する。図３（ａ）は本体１がコン
クリートやタイル等のベアフロアである床面Ａ上にある
場合を示している。床面Ａと本体１の底面との間の距離
Ｌ1は、駆動輪２および従輪４の設定寸法により決定さ
れている。このとき回動部材２４はスプリング２７の付
勢力によって回転し、回転ブラシ２０の回転軸２３は、
鉛直方向から本体１の外側方向に２０゜〜３０゜程度の
傾き角度を有し、回転ブラシ２０の外側先端部２０’は
床面Ａに押圧される。従って回転ブラシ２０が回転する
と、床面Ａ上の本体１の外側のゴミのみが本体１の中央
部に集められる。図３（ｂ）は例えば本体１が前記床面
Ａ上から、カーペットやじゅうたん等の床面Ｂ上に移動
した場合を示している。床面Ｂと本体１の底面との間の
距離Ｌ2は、本体１の重量による沈み込みのため前記Ｌ1
よりも小さくなる。しかしながら、このときは回転ブラ
シ２０の外側先端部２０’が床面Ｂから矢印ｆの方向に
力を受けるので、回動部材２４はスプリング２７の付勢
力に抗して回動し、回転ブラシ２０の回転軸２３の傾き
角度は小さくなる。つまり、回転ブラシ２０と床面Ｂと
の接触圧が極端に大きくなることはない。The operation of this embodiment will be described below with reference to FIG.
A description will be given based on (b). FIG. 3A shows a case where the main body 1 is on a floor surface A which is a bare floor such as concrete or tile. The distance L 1 between the floor surface A and the bottom surface of the main body 1 is determined by the set dimensions of the driving wheels 2 and the driven wheels 4. At this time, the rotating member 24 is rotated by the urging force of the spring 27, and the rotating shaft 23 of the rotating brush 20 is
The inclination angle of about 20 ° to 30 ° from the vertical direction to the outer side of the main body 1 is provided, and the outer front end portion 20 ′ of the rotating brush 20 is pressed against the floor surface A. Therefore, when the rotary brush 20 rotates, only the dust on the floor A outside the main body 1 is collected in the central portion of the main body 1. FIG. 3B shows, for example, a case where the main body 1 moves from the floor surface A to the floor surface B such as a carpet or a carpet. The distance L 2 between the floor surface B and the bottom surface of the main body 1 is L 1 due to the sinking due to the weight of the main body 1.
Will be smaller than. However, at this time, since the outer end portion 20 ′ of the rotating brush 20 receives a force from the floor surface B in the direction of the arrow f, the rotating member 24 rotates against the biasing force of the spring 27, and the rotating brush 20 is rotated. The inclination angle of the rotating shaft 23 becomes smaller. That is, the contact pressure between the rotating brush 20 and the floor surface B does not become extremely large.
【００１５】このように走行床面の種類や状態によっ
て、床面と本体１との間の距離が変化しても、回転ブラ
シ２０と床面との接触圧力が適正に調整されるので、走
行中に回転ブラシ２０が変形したり、凹凸に回転ブラシ
２０が引っかかったりして走行に悪影響が生ずることは
ない。なお集塵性能上、カーペットやじゅうたん等の床
面の場合は、回転ブラシ２０と床面との接触圧力をベア
フロアの床面の場合より大きくした方が良い。スプリン
グ２７の付勢力をこのように適正に設定しておけば、サ
イドブラシ装置５の最適調整の自動化も可能となるもの
である。As described above, even if the distance between the floor surface and the main body 1 changes depending on the type and state of the traveling floor surface, the contact pressure between the rotating brush 20 and the floor surface is properly adjusted, so that the vehicle travels. The rotating brush 20 is not deformed therein and the rotating brush 20 is caught in the unevenness, so that the running is not adversely affected. In terms of dust collection performance, it is better to make the contact pressure between the rotating brush 20 and the floor surface larger in the case of a carpet or carpet floor surface than in the case of a bare floor. If the biasing force of the spring 27 is properly set in this way, the optimum adjustment of the side brush device 5 can be automated.
【００１６】次に、図４を用いて本発明の第二の手段の
実施例の動作について説明する。図はサイドブラシ装置
５近傍の詳細な構成を示しており、本体１が床面Ｄ上を
走行中に段差Ｅに近づいた場合を示している。Next, the operation of the second embodiment of the present invention will be described with reference to FIG. The figure shows a detailed configuration in the vicinity of the side brush device 5, and shows a case where the main body 1 approaches the step E while traveling on the floor surface D.
【００１７】本体１が床面Ｄ上を移動して清掃している
間は、前記図３で説明したと同様に回転ブラシ２０の外
側先端部２０’が床面Ｄに接触しているので、回動部材
２４の傾き角度は一定値以内にある。従って回動検知手
段を構成しているリミットスイッチ２６はオフ状態とな
っている。しかし、図４に示すように回転ブラシ２０の
外側先端部２０’が段差Ｅにさしかかると、スプリング
２７の付勢力によって外側先端部２０’は矢印ｇの方向
に落ち込むことになる。従って回動部材２４の傾き角度
は大きくなり、回動検知手段２６の検知レバー２６’が
矢印ｈの方向に押され、回動検知手段２６がオンする。
本実施例では、リミットスイッチ２６は走行制御装置１
７に接続されており、回動検知手段２６がオンすると障
害物検知装置が作動した場合と同等の処理を行って、本
体１は一旦移動を停止して段差Ｅを回避する動作を行う
ようになっている。While the main body 1 is moving on the floor surface D for cleaning, the outer tip portion 20 'of the rotary brush 20 is in contact with the floor surface D as described with reference to FIG. The tilt angle of the rotating member 24 is within a certain value. Therefore, the limit switch 26 constituting the rotation detecting means is in the off state. However, as shown in FIG. 4, when the outer tip 20 ′ of the rotating brush 20 reaches the step E, the outer tip 20 ′ falls in the direction of arrow g due to the biasing force of the spring 27. Therefore, the tilt angle of the rotation member 24 becomes large, the detection lever 26 'of the rotation detection means 26 is pushed in the direction of the arrow h, and the rotation detection means 26 is turned on.
In this embodiment, the limit switch 26 is the travel control device 1
When the rotation detecting means 26 is turned on, the main body 1 performs the same process as when the obstacle detecting device is activated, and the main body 1 temporarily stops its movement to perform the operation of avoiding the step E. Is becoming
【００１８】このように本実施例によれば、本体１の移
動中に段差が前方にあっても、左右どちらかのサイドブ
ラシ装置５がこの存在を検知して回避動作を行うため、
走行不能や転落等の危険性はなくなるものである。As described above, according to this embodiment, even if the step is in front while the main body 1 is moving, either the left or right side brush device 5 detects the presence of the step and performs the avoidance operation.
There is no danger of being unable to run or falling.
【００１９】なおサイドブラシ装置５は、本実施例では
本体１の左右に２組設けているが、２組に限定する必要
はなく、１組あるいは３組以上であってもよい。In this embodiment, two sets of side brush devices 5 are provided on the left and right sides of the main body 1. However, the number of side brush devices is not limited to two, and one set or three or more sets may be provided.
【００２０】さらに回動検知手段２６は、本実施例では
回転軸２３Ｌ・２３Ｒの鉛直方向から本体１外側への倒
れ角度が一定値以上に達すると作動するリミットスイッ
チにより構成したが、例えばポテンショメータ・エンコ
ーダ等によって回動部材２４の回動角度を連続的に検出
する構成であっても同様の効果を得ることができるもの
である。Further, the rotation detecting means 26 is constituted by a limit switch which is activated when the tilt angle of the rotary shafts 23L and 23R from the vertical direction to the outside of the main body 1 reaches a certain value or more in this embodiment. The same effect can be obtained even with a configuration in which the rotation angle of the rotation member 24 is continuously detected by an encoder or the like.
【００２１】[0021]
【発明の効果】以上のように本発明の第一の手段は、本
体を移動させる駆動装置と、床面のゴミを集塵する集塵
装置と、水平方向に回転して床面を掃くサイドブラシ装
置とを本体に具備し、前記サイドブラシ装置は、回転ブ
ラシの回転軸と、この回転軸を支持するとともに回転駆
動する回転駆動部と、本体の前後方向軸に対して回動自
在に取り付けた本体の内側方向に付勢された回動部材と
を有し、前記回転駆動部は前記回動部材に取り付けられ
た自走式掃除機として、回転ブラシが変形したり、凹凸
に回転ブラシが引っかかって走行に悪影響が生じたりす
ることのない、清掃性能に優れた装置を実現するもので
ある。As described above, the first means of the present invention is the drive device for moving the main body, the dust collecting device for collecting dust on the floor surface, and the side for sweeping the floor surface by rotating in the horizontal direction. A brush device is provided in a main body, and the side brush device is attached to a rotary shaft of a rotary brush, a rotary drive unit that supports the rotary shaft and is rotationally driven, and rotatably attached to a longitudinal axis of the main body. As a self-propelled cleaner attached to the rotating member, the rotating brush is deformed or the rotating brush is uneven. The present invention realizes a device having excellent cleaning performance that is not caught and adversely affects traveling.
【００２２】また本発明の第二の手段は、本発明の第一
の手段を構成する回転駆動部に、回動部材の回動位置を
検知する回動検知手段を備えた自走式掃除機とすること
によって、凹部段差にさしかかると本体の移動を停止し
て、段差を回避する回避動作を行うことができ、安全性
・信頼性に優れた装置を実現するものである。A second means of the present invention is a self-propelled vacuum cleaner in which the rotation driving section constituting the first means of the present invention is provided with a rotation detecting means for detecting a rotation position of a rotating member. By so doing, the movement of the main body can be stopped when it approaches the stepped portion of the recess, and the avoidance operation for avoiding the stepped portion can be performed, and a device with excellent safety and reliability is realized.
【図１】本発明の第一の手段の実施例の自走式掃除機の
側断面図FIG. 1 is a side sectional view of a self-propelled vacuum cleaner according to an embodiment of the first means of the present invention.
【図２】同実施例の自走式掃除機の正断面図FIG. 2 is a front sectional view of the self-propelled vacuum cleaner of the same embodiment.
【図３】（ａ） 同ベアフロア床面での動作を説明する
断面図 （ｂ） 同じゅうたん床面での動作を説明する断面図FIG. 3 (a) is a sectional view for explaining the operation on the floor of the bare floor. (B) A sectional view for explaining the operation on the floor of the same carpet.
【図４】同第二の手段の実施例の自走式掃除機の動作を
説明する断面図FIG. 4 is a sectional view for explaining the operation of the self-propelled cleaner according to the embodiment of the second means.
１ 本体 ２ 駆動輪 ３ 駆動モータ ４ 従輪 ５ サイドブラシ装置 ７ 電動送風機 ８ 集塵室 ９・１０ フィルター １１ 床ノズル １２ 接続パイプ １７ 走行制御装置 ２０ 回転ブラシ ２１ モータ ２２ 減速機 ２３ 回転軸 ２４ 回動部材 ２５ 回動軸 ２６ 回動検知手段 ２７ スプリング 1 main body 2 drive wheel 3 drive motor 4 driven wheel 5 side brush device 7 electric blower 8 dust collection chamber 9/10 filter 11 floor nozzle 12 connection pipe 17 traveling control device 20 rotating brush 21 motor 22 reducer 23 rotating shaft 24 rotating member 25 rotation shaft 26 rotation detection means 27 spring
───────────────────────────────────────────────────── フロントページの続き (72)発明者 乾 弘文 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 高木 祥史 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 小川 光康 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hirofumi Inui 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Yoshifumi Takagi, 1006 Kadoma, Kadoma City, Osaka Matsushita Electric Industrial Co., Ltd. 72) Inventor Mitsuyasu Ogawa 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd.
Claims (2)
ミを集塵する集塵装置と、水平方向に回転して床面を掃
くサイドブラシ装置とを本体に具備し、前記サイドブラ
シ装置は、回転ブラシの回転軸と、この回転軸を支持す
るとともに回転駆動する回転駆動部と、本体の前後方向
軸に対して回動自在に取り付けた本体の内側方向に付勢
された回動部材とを有し、前記回転駆動部は前記回動部
材に取り付けられた自走式掃除機。1. A side brush device comprising: a drive device for moving the main body; a dust collecting device for collecting dust on the floor surface; and a side brush device for rotating horizontally to sweep the floor surface. Is a rotary shaft of the rotary brush, a rotary drive portion that supports and rotates the rotary shaft, and a rotary member that is rotatably attached to the main body in a longitudinal direction and is biased inward of the main body. The self-propelled cleaning device according to claim 1, wherein the rotation driving unit is attached to the rotating member.
知する回動検知手段を備えた請求項１記載の自走式掃除
機。2. The self-propelled cleaning device according to claim 1, wherein the rotation drive unit includes rotation detection means for detecting a rotation position of the rotation member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4033051A JPH05228090A (en) | 1992-02-20 | 1992-02-20 | Self-traveling type cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4033051A JPH05228090A (en) | 1992-02-20 | 1992-02-20 | Self-traveling type cleaner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH05228090A true JPH05228090A (en) | 1993-09-07 |
Family
ID=12375973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4033051A Pending JPH05228090A (en) | 1992-02-20 | 1992-02-20 | Self-traveling type cleaner |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH05228090A (en) |
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| JP2002366228A (en) * | 2001-06-05 | 2002-12-20 | Matsushita Electric Ind Co Ltd | Movable device |
| JP2009524503A (en) * | 2006-01-25 | 2009-07-02 | ジョンソンディバーシー・インコーポレーテッド | Apparatus and method for adjusting pressure between floor cleaning tool and floor |
| JP2010035773A (en) * | 2008-08-04 | 2010-02-18 | Fuji Heavy Ind Ltd | Side brush support device for cleaning robot |
| US7827654B2 (en) | 2004-07-29 | 2010-11-09 | Sanyo Electric Co., Ltd. | Self-traveling cleaner |
| JP2014128732A (en) * | 2002-12-16 | 2014-07-10 | Irobot Corp | Autonomous floor cleaning robot |
| JP2014176762A (en) * | 2005-12-02 | 2014-09-25 | Irobot Corp | Autonomous coverage robot |
| DE102014100866A1 (en) * | 2014-01-27 | 2015-07-30 | Miele & Cie. Kg | robotic vacuum |
| US9622635B2 (en) | 2001-01-24 | 2017-04-18 | Irobot Corporation | Autonomous floor-cleaning robot |
| US9811089B2 (en) | 2013-12-19 | 2017-11-07 | Aktiebolaget Electrolux | Robotic cleaning device with perimeter recording function |
| US9939529B2 (en) | 2012-08-27 | 2018-04-10 | Aktiebolaget Electrolux | Robot positioning system |
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| US10045675B2 (en) | 2013-12-19 | 2018-08-14 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
| CN108784539A (en) * | 2018-07-02 | 2018-11-13 | 哈尔滨理工大学 | A kind of welcome's sweeping robot device with super-silent walking |
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| US10209080B2 (en) | 2013-12-19 | 2019-02-19 | Aktiebolaget Electrolux | Robotic cleaning device |
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-
1992
- 1992-02-20 JP JP4033051A patent/JPH05228090A/en active Pending
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|---|---|---|---|---|
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| JP2002366228A (en) * | 2001-06-05 | 2002-12-20 | Matsushita Electric Ind Co Ltd | Movable device |
| JP2014128732A (en) * | 2002-12-16 | 2014-07-10 | Irobot Corp | Autonomous floor cleaning robot |
| US7827654B2 (en) | 2004-07-29 | 2010-11-09 | Sanyo Electric Co., Ltd. | Self-traveling cleaner |
| JP2014176762A (en) * | 2005-12-02 | 2014-09-25 | Irobot Corp | Autonomous coverage robot |
| JP2009524503A (en) * | 2006-01-25 | 2009-07-02 | ジョンソンディバーシー・インコーポレーテッド | Apparatus and method for adjusting pressure between floor cleaning tool and floor |
| US9119516B2 (en) | 2006-01-25 | 2015-09-01 | Diversey, Inc. | Device and method for adjusting the pressure between a floor cleaning implement and a floor |
| JP2010035773A (en) * | 2008-08-04 | 2010-02-18 | Fuji Heavy Ind Ltd | Side brush support device for cleaning robot |
| US9939529B2 (en) | 2012-08-27 | 2018-04-10 | Aktiebolaget Electrolux | Robot positioning system |
| US10219665B2 (en) | 2013-04-15 | 2019-03-05 | Aktiebolaget Electrolux | Robotic vacuum cleaner with protruding sidebrush |
| US10448794B2 (en) | 2013-04-15 | 2019-10-22 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
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