JPH07171074A - Self propelled vacuum cleaner - Google Patents

Abstract

PURPOSE:To protect the main body at the time of charging and to prevent malfunction by fitting freely rotatably a cover for a control panel part attached on the main body to a charging device. CONSTITUTION:When a power supply 13 of a main body 2 is charged, the main body 2 is connected to a charging device 16 and a power supply part 19 performs charging through a power reception part 8 of the main body 2 to the power supply 13. In this case, the cover 18 covers a display panel 12 of the main body 2, further, a space between the cover 18 and the display panel 12 is formed so that the finger does not enter the space to prevent the touch of the finger to the display panel 12 of the main body 2 at the time of charging. When the cover 18 is formed movable in the direction A, it may be raised after the end of charging to perform the control of the panel part 12 of the main body 2. Thus, the part 12 is protected and it can be prevented that the part 12 is erroneously touched at the time of charging or that the part 12 is mischievously operated to start the movement of the main part 2 suddenly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled cleaner having a charging function and a cleaning function and a moving function.

[0002]

2. Description of the Related Art In recent years, a vacuum cleaner has been developed in which a moving function is added to the vacuum cleaner to improve operability during cleaning. Particularly in recent years, so-called self-supporting induction type self-propelled vacuum cleaners in which a microcomputer and various sensors are mounted have been developed.

This type of self-propelled cleaner has a suction nozzle, a brush and the like at the bottom of the main body as a cleaning function, and has traveling wheels and steered wheels which are driven by a motor as a moving function. Inertial navigation means using a gyro are used for inductive control of the main unit, and a power supply such as a storage battery is usually provided inside, and contactless charging with an induction magnetic field is performed with a charging device. There are also things to do.

FIG. 11 shows a schematic configuration diagram of a conventional self-propelled cleaner, and FIG. 12 shows a cleaning path of the self-propelled cleaner, the operation of which will be briefly described below.

In the figure, 1 is an obstacle detecting means for detecting an obstacle existing in the forward direction of travel, and 2 is a self-propelled cleaner main body (hereinafter referred to as a main body), which is provided by the obstacle detecting means 1. A drive device (not shown) that processes signals and controls the moving direction and moving state of the main body 2 is built in. Further, a pair of steering / driving parts 3 which are independently driven on the left and right by a signal from the driving device, an auxiliary wheel 4 capable of swinging, and a main body 2 for protecting the main body 2 from obstacles are provided under the main body 2. Bumper 5
Is provided to form a traveling unit. Further, a rotating brush 6 and the like are further provided under the main body 2, and a fan motor 7 for generating a suction force is provided inside the main body 2 to form a cleaning function. 8 is a charging terminal provided in the main body 2,
Reference numeral 9 is a power supply terminal provided in the charging device 10 at a position opposite to this. Reference numeral 11 is an operation display unit for operating the charging device 10, 11-a is a time setting unit provided in the operation display unit 11, and 12 is an operation panel unit for operating the main body 2. The main body 2 is internally provided with a rechargeable power source 13 such as a storage battery as a power source. Further, 14 is a floor surface on which the main body 2 cleans.

With the above configuration, when the operation panel section 12 or the operation display section 11 is operated, the main body 2 starts the cleaning operation. By setting the cleaning start time in the time setting unit 11-a, the operation is started at the set time. The main body 2 is first moved by the obstacle detection means 1 along the wall while keeping a constant distance from the side wall as shown in FIG.
While cleaning, go around in the directions of (a) → (b) → (c) → (d). After that, the main body 2 is controlled to travel using inertial navigation means and the like, and while moving forward while cleaning the floor surface 14 until the obstacle detection means 1 detects an obstacle in the traveling direction inside the wall, When an object is detected, the robot moves forward while changing its direction to thoroughly clean the cleaning area and reach (e). When the cleaning is completed, the main body 2 is guided to the original position of the charging device 10, the main body 2 is connected to the charging device 10, and charging is started.

[0007]

However, in the above-mentioned conventional self-propelled cleaner, when the main body 2 is connected to the charging device 10 to charge the power source 13, the main body 2 and the operation panel section 12 of the main body 2 are charged. Since the battery is exposed, a special jig is required to erroneously touch the operation panel unit 12 during charging to perform an erroneous operation or to inspect the operation of the obstacle detection means 1, and also due to leakage of the charging magnetic field. There was a problem such as the influence on the surroundings.

The present invention solves the above-mentioned conventional problems, and has as its first object to cover and protect the operation panel section of the main body during charging, and also to cover the obstacle detection means section of the main body. By doing so, the second purpose is to enable the operation inspection of the obstacle detection means without preparing a special jig, and further, by providing a cover that covers the entire body, all obstacles can be detected. The third purpose is to enable self-inspection of means. A fourth object is to prevent the leakage of the charging magnetic field to eliminate the influence on the surroundings. Further, the temperature detecting means is provided inside the cover, and the correcting means detects the temperature depending on the temperature. The fifth purpose is to eliminate the influence on the temperature inspection by adding the influence correction, and to eliminate the influence on the self-inspection of charging by controlling the start of the self-inspection and the start time of charging in order. Is the sixth purpose,
Furthermore, a seventh object is to make a self-inspection of the obstacle detection means before starting cleaning even if unattended if the cleaning start time is reserved.

[0009]

In order to achieve the first object, a self-propelled cleaner according to the present invention includes a traveling section and a steering section for moving a main body, a fan motor for cleaning, and a main body. The main body is provided with an operation panel section for operating, a control means for controlling each of the above sections, and a power source for supplying electric power to each of the above sections, which is detachably connected to the main body and has an upper portion covering the operation panel section. It comprises a body, a charging device that has an operation display unit and charges the power source, and a signal connection unit that has a receiving unit and a transmitting unit and that communicates between the main body and the charging device. .

Further, the traveling section and the steering section for moving the main body, the obstacle detecting means for detecting an obstacle, the inspection means for inspecting the obstacle detecting means, the fan motor for cleaning, and the main body are operated. An operation panel unit for controlling the above-mentioned units, a control unit for controlling each unit, a main body including a power supply for supplying electric power to each unit, and a charging device that is detachably connected to the main unit and charges the power source. , A signal connecting means having a receiving part and a transmitting part for communicating between the main body and the charging device, and one side of the charging device that covers the main body has an open type cover.

Further, a traveling section and a steering section for moving the main body, an obstacle detecting means for detecting an obstacle, an inspection means for inspecting the obstacle detecting means, a fan motor for cleaning, and a main body are operated. An operation panel section for controlling the above-mentioned respective sections, a main body provided with a control means for controlling the above-mentioned respective sections, and a power source for supplying electric power to the respective sections, and an operation display section, which is detachably connected to the main body and is provided with the power source. As a configuration having a charging device for charging the battery, a signal connecting means having a receiving part and a transmitting part for communicating between the main body and the charging device, and a cover for covering the entire main body of the charging device. There is.

Further, a traveling section and a steering section for moving the main body, an obstacle detecting means for detecting an obstacle, an inspection means for inspecting the obstacle detecting means, a fan motor for cleaning, and a main body are operated. An operation panel section for controlling the above-mentioned respective sections, a main body provided with a control means for controlling the respective sections, and a power supply for supplying electric power to the respective sections, and an operation display section, which is detachably connected to the main body, A charging device having a cover for charging the power source, a signal connecting means having a receiving part and a transmitting part for communicating between the main body and the charging device, and a metal on the inner surface of the cover. It is configured to have a plate.

Further, a traveling section and a steering section for moving the main body, an obstacle detecting means for detecting an obstacle, an inspection means for inspecting the obstacle detecting means, a fan motor for cleaning, and a main body are operated. An operation panel section for controlling the above-mentioned respective sections, a main body provided with a control means for controlling the respective sections, and a power supply for supplying electric power to the respective sections, and an operation display section, which is detachably connected to the main body, A charging device having a cover for charging the power source, a signal connecting means having a receiving part and a transmitting part for communicating between the main body and the charging device, and a temperature inside the cover. Has a temperature detecting means for detecting the temperature, and a correcting means for correcting the temperature by the signal from the temperature detecting means.

Further, a traveling section and a steering section for moving the main body, an obstacle detecting means for detecting an obstacle, an inspection means for inspecting the obstacle detecting means, a fan motor for cleaning, and a main body are operated. An operation panel section for controlling the above-mentioned respective sections, a main body provided with a control means for controlling the respective sections, and a power supply for supplying electric power to the respective sections, and an operation display section, which is detachably connected to the main body, For a signal that has a cover that covers the battery and a charging control unit that controls charging, and that has a charging device that charges the power source, and that has a receiving unit and a transmitting unit and that performs communication between the main body and the charging device. It is configured to have connection means, inspection control means for controlling the inspection means, and the charge control means.

Further, the traveling section and the steering section for moving the main body, the obstacle detecting means for detecting an obstacle, the inspection means for inspecting the obstacle detecting means, the fan motor for cleaning, and the main body are operated. A main body having an operation panel unit for controlling the above, a control unit for controlling each of the above units, and a power source for supplying electric power to each of the above units, and detachably connected to the main unit to set the time to start the cleaning operation. A reserved time setting unit, an operation display unit having a current time setting unit for setting the current time, a time difference calculation unit for calculating a time difference set between the reserved time setting unit and the current time setting unit, and a cover for covering the main body. A body, an opening means for opening the cover, and an opening control means for controlling the opening means, a charging device for charging the power source, the opening control means, and the opening control means according to a signal from the time difference calculation unit. Control hand Wherein the inspection control means for controlling the testing means, includes a receiver and transmitter are configured to have a signal connection means for communicating between the said main charger and.

[0016]

According to the above construction, when the main body is connected to the charging device to charge the power source, the cover provided on the upper part of the charging device is arranged on the operation panel section of the main body. Protecting the operation panel by reducing the gap between the operation panel and cover of the main unit, and preventing accidental touching of the operation panel during charging, or operation of the operation panel by mischief, and sudden movement of the main unit it can.

Further, when the main body is connected to the charging device to charge the power source, the one-sided open type cover provided on the charging device covers the main body, and the operation display portion provided on the charging device prevents an obstacle from being present. When the detecting means is operated to perform self-inspection, a signal is output to the inspecting means via the signal connecting means, and the inspecting means outputs a signal to operate the obstacle detecting means. An obstacle called a cover is located near the obstacle detection means located on the left and right sides of the main body, and the obstacle detection means located on the left and right sides detect the left and right obstacles and return a signal to the inspection means for inspection. The means performs the determination, and the inspection means outputs the determination result to the operation display section via the signal connection means and displays the result on the operation display section of the charging device, and the operation panel section is accidentally touched or mischievous during charging. It is possible to prevent the main body from being suddenly moved by operating the operation panel section, and to perform self-inspection of the obstacle detecting means located on the left and right sides of the main body without specially preparing a jig.

Further, when the main body is connected to the charging device to charge the power source, the cover provided on the charging device covers the entire main body, and the operation display unit provided on the charging device allows the obstacle detecting means to detect itself. When operated to perform an inspection, a signal is output to the inspection means via the signal connection means, and the inspection means outputs a signal to operate the obstacle detection means. An obstacle called a cover is located in the vicinity of the obstacle detecting means in all directions, and the obstacle detecting means detects the obstacle and returns a signal to the inspecting means, and the inspecting means makes a judgment. The judgment result is output to the operation display unit via the signal connection means and the result is displayed on the operation display unit of the charging device. It is possible to prevent the movement of the obstacle and to perform self-inspection of the obstacle detecting means without preparing a special jig.

When a metal plate is further attached to the inside of the cover,
It is possible to prevent accidental touching of the operation panel during charging or sudden movement of the operation panel due to mischief, and to prevent self-inspection of the obstacle detection means without preparing a special jig. Further, the magnetic field generated by the charging such as the non-contact induction charging method can be shut off inside the cover to prevent the influence on the outside.

Further, in the self-inspection of the obstacle detecting means, the temperature detecting means provided inside the covering body detects the temperature inside the covering body in consideration of the temperature inside the covering body at the time of charging and outputs a temperature signal. Is output to the correction means, and the correction means inputs the signal from the temperature detection means and the signal from the obstacle detection means, corrects the detection distance corresponding to the temperature to the signal from the obstacle detection means, and corrects it. By outputting the signal to the inspection means, the inspection means performs self-inspection, and more accurate inspection of the obstacle detection means can be performed.

Further, by performing a single operation on the operation display portion of the charging device, the inspection control means controls the charging control means for controlling the charging of the power source and the order in which the operation of the inspection means is started, thereby obstructing the operation. It is possible to more accurately inspect the obstacle detecting means by removing extra elements such as a magnetic field due to charging during the self-inspection of the foreign matter detecting means.

Further, by setting the current time in the current time setting section and setting the cleaning start time in the reserved time setting section, the time difference calculation section down-counts the time difference between the current time and the cleaning start time. When it becomes zero, the inspection control means outputs a signal to the inspection means to inspect, and after the obstacle detection means is inspected, if normal, the opening control means outputs a signal to the opening means to open the cover. The cleaning can be started after confirming that the operation of the obstacle detecting means is normal.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to the drawings. The same parts as those of the conventional one are designated by the same reference numerals, and the description thereof will be omitted.

FIG. 1 (a) is a side view of a self-propelled cleaner according to the first embodiment of the present invention, and FIG. 1 (b) is a plan view of the self-propelled cleaner. In FIG. 1, 16 is a charging device, 17 is an operation display unit of the charging device 16, and 18
Is a cover provided on the charging device 16, and 19 is a power feeding unit.

According to the above configuration, when the power supply 13 of the main body 2 is charged, the main body 2 is connected to the charging device 16 so that the power supply unit 19 charges the power supply 13 via the power receiving unit 8 of the main body 2. Done. At this time, the cover 18 covers the display panel 12 of the main body 2 as shown in FIG. 1, and is provided at an interval between the cover 18 and the display panel section 12 so that fingers and the like do not enter. The second display panel section 12 cannot be touched. The cover 18 is shown in FIG.
If it is provided so as to be movable as shown by arrow A in (a), the cover 18 can be raised and the operation panel 12 of the main body 2 can be operated after charging is completed.

As described above, the charging device 16 covers the display panel 12 of the main body 2, and further the cover 18 and the display panel section 12.
By placing it so that fingers etc. do not get in between,
The operation panel unit 12 is protected so that the operation panel unit 12 is accidentally touched or mishandled during charging.
It is possible to prevent the main body 2 from moving suddenly by operating.

The second embodiment of the present invention will be described below with reference to the drawings. FIG. 2 (a) is a side view of a charging device for a self-propelled cleaner according to the second embodiment of the present invention, and FIG. 2 (b) is a front view thereof. FIG. 3 is an explanatory diagram of the operation, and FIG. 4 is a block diagram of the operation.

In FIG. 2, reference numeral 21 is a charging device, and 2
Reference numeral 2 is a cover, and 24 is a power feeding unit. In FIG.
Reference numeral 25 is a main body, and 26 is an obstacle detecting means provided on each of the left, right and front sides of the main body 25. 4, 27 is a steering unit for steering the moving direction of the main body 25, 28 is a traveling unit for moving the main body 25, 23 is a display operation unit of the charging device 21, and 25 is a main body 25.
It is configured so that the operation of starting cleaning can be performed. Reference numeral 29 is a fan motor provided inside the main body 25 for generating a suction force, 30 is a power receiving portion facing the power feeding portion 24 and provided in the main body 25 for charging, and 31 is the main body 2.
Reference numeral 32 denotes an operation panel section for performing operations such as 5
It is a rechargeable power source such as a storage battery installed in
Power is supplied to each part of. Reference numeral 33 is a control means for controlling the operations of the steering portion 27, the traveling portion 28, the fan motor 29, the obstacle detection means 26, and the like, and 34 is the obstacle detection means 2
Reference numeral 35 is an inspection means for performing the inspection, and reference numeral 35 is a signal connection means for exchanging signals between the charging device 21 including the transmission portion 36 and the reception portion 37 and the main body 25.

The self-propelled vacuum cleaner configured as described above will be described. When the main body 25 is connected to the charging device 21 and the power supply unit 24 is charging the power source 32 via the power receiving unit 30, the cover 22 of the charging device 21 is in the state shown in FIG. Has a shape such that only the front of the main body 25 is opened and the upper surface and side surfaces of the main body 25 are covered. The obstacle detecting means 26 are arranged on the side surface and the front surface as shown in FIG. 3A when the main body 25 is viewed from above, and the obstacle detecting means 26 located on the left and right side surfaces of the main body 25.
In contrast, as shown in FIG. 3B, an obstacle called a cover 22 exists near the detection direction. Now, in this state, when the operation display unit 23 is operated to perform the self-inspection of the obstacle detection means 26, a signal is output to the inspection means 34 via the signal connection means 35, and the inspection means 34 starts the inspection. The obstacle detecting means 26 sees the distance to the obstacle in the direction indicated by the arrow in FIG. 3A, and outputs a distance signal to the inspecting means 34. The relative positions of the charging device 21 and the main body 25 at the time of connection of the charging device 21 and the main body 25 are set to be the same each time, and the distance between the obstacle detecting means 26 and the cover 22 is set in advance in the inspection means 34. The setting value is set in advance, the set value is compared with the output from the obstacle detecting means 26, and the resulting signal is connected to the signal connecting means 35.
The result is output to the operation display unit 23 via the display to display the result, and the inspection means 34 starts the inspection. The cover 22 is shown in FIG.
If it is provided so as to be movable as shown by the arrow A in (b), the cover 22 can be raised and the operation panel portion 33 of the main body 25 can be operated after charging is completed.

As described above, when the main body 25 is connected, only the front of the main body 25 is opened and the charging device 21 having the cover 22 for covering the main body 25 and the left, right, and front of the main body 25 each have two obstacles. An obstacle detection unit 26 for detecting the distance to the object is provided, and the display operation unit 23 of the charging device 21 for displaying the inspection result configured to be able to also start the cleaning of the main body 25 and the obstacle detection unit 26 are covered. By providing an inspection means 34 for inspecting the obstacle detection means 26 by setting a distance to 22 in advance, the operation panel portion 31 is protected, and the operation panel portion 31 is erroneously touched or mischievously charged. The operation panel 31 is operated to prevent the main body 25 from moving suddenly, and the obstacle detection means 26 located on the left and right of the main body are self-inspected without special jigs. Can be, also, the cover 22 2
Even if the state shown in FIG.
Can be connected to the charging device.

A third embodiment of the present invention will be described below with reference to the drawings. FIG. 5: is a side view of the charging device of the self-propelled cleaner in the 3rd Example of this invention.

In FIG. 5, reference numeral 25 is a main body, 26 is an obstacle detecting means, 21 is a charging device, 50 is a cover, and 24 is a power feeding section. The difference from the second embodiment is that the cover 50 of the charging device is provided so as to cover the entire main body 25.

The self-propelled cleaner thus constructed will be described with reference to FIGS. 3, 4 and 5.

When the main body 25 is connected to the charging device 21 and charging the power source 32 from the power feeding part 24 via the power receiving part 30, the cover 50 of the charging device 21 is in the state shown in FIG.
The cover 50 is shaped so as to cover the entire main body 25. Further, the obstacle detecting means 26 is arranged as shown in FIG.
As shown in FIG. 3B, the obstacle detecting means 26 located on the left and right side surfaces of the cover 5 are covered in the vicinity of the detecting direction.
There is an obstacle called 0. Now, in this state, when the operation display unit 23 is operated so as to perform self-inspection of the obstacle detection unit 26, the inspection unit 3 is operated via the signal connection unit 35.
4 is output, and the inspection means 34 starts the inspection.
The obstacle detecting means 26 sees the distance to the obstacle in the direction indicated by the arrow in FIG. 3A, and outputs a distance signal to the inspecting means 34. When the charging device 21 and the main body 25 are connected, the relative positions of the charging device 21 and the main body 25 are set to be the same each time, and the distance between the obstacle detecting means 26 and the cover 50 is set in advance in the inspection means 34. The preset value is set and the output from the obstacle detection means 26 is compared, and the resulting signal is output to the operation display unit 23 via the signal connection means 35 to display the result. Further, if the cover 50 is provided so as to be movable as shown by the arrow A in FIG. 5, the cover 50 can be raised and the operation panel portion 33 of the main body 25 can be operated after charging is completed.

As described above, the charging device 21 having the cover 50 for covering the entire main body 25 and the obstacle detecting means 26 for detecting the distances to the obstacles by two each on the left, right and front of the main body 25 are provided. The display operation unit 23 of the charging device 21 that displays the inspection result, which is provided so as to be able to start cleaning the main body 25, and the distance from the obstacle detection means 26 to the cover 50 are set in advance. By providing the inspection means 34 for inspecting the means 26, the operation panel section 31
To prevent accidentally touching the operation panel section 31 at the time of charging, or to prevent the main body 25 from moving suddenly by mischievous operation of the operation panel section 31, and to prevent all obstacles without special jigs. Self-inspection of the detection means 26 can be performed.

A fourth embodiment of the present invention will be described below with reference to the drawings. FIG. 6A is a cross-sectional view of a charging device for a self-propelled cleaner according to a fourth embodiment of the present invention as seen from a side surface, and FIG. 6B is a cross-sectional view as seen from the front. The difference from the third embodiment is that a metal plate 68 is attached to the entire inner surface of the cover 62.

In FIG. 6, reference numeral 61 is a charging device, and 6
2 is a cover provided on the charging device 61, 63 is an operation display part of the charging device 61, 64 is a power feeding part provided on the charging device 61, 65 is a main body, 69 is an operation panel of the main body 65 66 is a power receiving unit provided in the main body 65, 67 is a rechargeable power source for supplying electric power to each unit of the main body 65, and charging is performed from the power feeding unit 64 via the power receiving unit 66. 68 is a metal plate attached to the inner surface of the cover 62.

The self-propelled vacuum cleaner thus configured will be described. When the main body 65 is connected to the charging device 61 and starts charging, the power feeding unit 64 of the charging device 61 is provided with a coil, and the power feeding unit 64 is charged with a magnetic field (hereinafter, referred to as a magnetic field).
(Charging magnetic field) is generated. The power receiving unit 66 of the main body 65 is also provided with a coil, receives a charging magnetic field to generate a current, and starts charging the power source 67. The cover 62 is made of a pressure-resistant and heat-insulating resin, and the metal plate 6 is placed inside the cover 62.
8 is attached, and the charging magnetic field generated at the time of charging can be shielded inside the cover 62. Further, if the cover 62 is provided so as to be movable as shown by an arrow A in FIG. 6B, the cover 62 can be raised and the operation panel 69 of the main body 65 can be operated after charging is completed.

As described above, in addition to the third embodiment, the power feeding portion 64 and the power receiving portion 66 for generating and charging the charging magnetic field, and the cover 62 made of resin having pressure resistance and heat insulation are further provided.
In addition to the effect of the third embodiment, the main body 65,
In the charging device 61 as well, the charging unit is not exposed and the influence of the charging magnetic field on the surroundings can be prevented.

The fifth embodiment of the present invention will be described below with reference to the drawings. FIG. 7 shows a block diagram of the operation in the fifth embodiment of the present invention. Third in FIG.
The difference from the embodiment of FIG.
The point is that the temperature detecting means 73 is provided inside, and the correcting means 74 corrects the condition change due to the temperature to the judgment condition of the inspecting means 76. Further, the obstacle detecting means 77 is assumed to detect the distance to the obstacle by ultrasonic waves. In the figure, reference numeral 70 denotes an operation display section of the charging device 71, and the main body 7
The cleaning operation of No. 5 can be started. 77
Is an obstacle detecting means, 76 is an inspecting means for inspecting the obstacle detecting means 77, and 78 is for exchanging signals between the charging device 71 including the transmitting portion 79 and the receiving portion 80 and the main body 75. It is a signal connection means.

The self-propelled vacuum cleaner thus configured will be described. When the main body 75 is connected to the charging device 71 and charging the power source 32 from the power feeding unit 24 via the power receiving unit 30, the cover 72 of the charging device 71 covers the entire main body 75, and thus The object detection means 77 is shielded from the outside world, and further, the inside of the cover 72 is charged,
Since electric power is supplied from the outside, it is expected that a temperature change having a larger inclination than that of the outside will appear, and the change in temperature affects the sound velocity and the distance detection of the obstacle detecting means 77. When the operation display unit 70 of the charging device 71 is operated to perform the self-inspection of the obstacle detection unit 77, the signal is output to the inspection unit 76 via the signal connection unit 78, and the inspection unit 76 starts the inspection. . In the cover 75,
The temperature detecting means 73 always detects the temperature inside the cover 72, outputs a temperature signal to the correcting means 74, and the correcting means 7
In 4, the signal value (reference value) of the distance from the obstacle detection means 77 to the cover 75 as an obstacle at a certain temperature is set in advance, and the reference value is corrected by the temperature signal from the temperature detection means 73. In addition, obstacle detection means 77 at the current temperature
The determination value for the signal of the distance detected by is output to the inspection means via the signal connection means 78, and the inspection means 76 compares the set value with the output from the obstacle detection means 77, and the resulting signal. Is output to the operation display unit 70 via the signal connection unit 78, and the result is displayed on the operation display unit 70.

As described above, as compared with the third embodiment, the obstacle detecting means 77 for detecting the distance to the obstacle by ultrasonic waves and the temperature detecting means 73 inside the cover 72 for covering the entire main body 75. Is provided and the correction means 74 is configured to add the correction of the sound velocity due to the temperature to the determination condition of the inspection means 76, thereby providing the cover 75 in addition to the effect of the third embodiment.
Accurate obstacle detection means 77 without being affected by the internal temperature
Can self-examine.

The sixth embodiment of the present invention will be described below. FIG. 8 shows a block diagram of the operation in the sixth embodiment of the present invention. In FIG. 8, 81 is a charging device, and 82
Is an operation display portion of the charging device 81, and is configured so that an operation for starting cleaning of the main body 85 can also be performed. Reference numeral 88 is an obstacle detecting means, 86 is an inspecting means for inspecting the obstacle detecting means 88, and 89 is a signal exchange between the charging device 81 including the transmitting portion 90 and the receiving portion 91 and the main body 85. It is a connecting means for signals.

The difference from the third embodiment is that the charging device 81
In addition, the charging control means 84 for controlling the power feeding of the power feeding portion 87 and the inspection control means 83 for controlling the inspection means 89 via the charging control means 84 and the signal connection means 89 are provided.

The self-propelled vacuum cleaner thus configured will be described. When the main body 85 and the charging device 81 are connected and the charging and the self-diagnosis of the obstacle detection means 88 are performed at the same time, the charging magnetic field is applied to the distance detection of the obstacle detection means 88 as shown in the fourth embodiment. A magnetic field is generated in the generated charging method, and a current flows in normal charging as well, so it is considered that the influence of changes in temperature may occur. When charging the power source 32 of the main body 85 with the charging device 81, the user operates the operation display unit 82 to output a signal to the inspection control unit 83. The inspection control means 83 does not output a signal to the charging control means 84 so as to start charging immediately.
A signal is output to the inspection means 86 via the signal connection means 90 so as to perform the self-diagnosis of the obstacle detection means 88, the self-diagnosis is performed as shown in the third embodiment, and the resulting signal is connected to the signal. It is output to the inspection control means 83 via the means 90.
At the time of receiving this signal, the inspection control means 83 outputs a result signal to the operation display portion 82, the operation display portion 82 displays the result, and judges that the obstacle detection means 88 has completed the self-diagnosis. Then, a signal is output to the charging control means 84 to start charging. The power feeding unit 87 inputs the signal and starts charging the power source 32 via the power receiving unit 30.

As described above, in addition to the third embodiment, the charging control means 8 for controlling the power feeding of the power feeding section 87 to the charging device 81.
4, by providing the inspection control means 83 for controlling the inspection means 89 via the charge control means 84 and the signal connection means 89, in addition to the effect of the third embodiment, the obstacle detection means 88 due to charging is provided. A more accurate self-inspection can be performed in the state where the influence of is removed.

The seventh embodiment of the present invention will be described below. FIG. 9 shows an operation explanatory diagram of the self-propelled vacuum cleaner in the seventh embodiment, and FIG. 10 shows a block diagram of the operation.

In FIG. 10, reference numeral 101 is a charging device, 102 is an operation display portion of the charging device 101, and the operation for starting cleaning of the main body 105 can be performed.
Reference numeral 108 is an obstacle detecting means, 107 is an inspecting means for inspecting the obstacle detecting means 108, and 113 is a signal exchange between the charging device 101 including the transmitter 114 and the receiver 115 and the main body 105. Reference numeral 116 denotes a signal connecting unit for supplying power, and 116 denotes a power feeding unit provided in the charging device 101.

The operation display unit 1 is different from the third embodiment.
02 is provided with a current time setting unit 104 for setting the current time and a reserved time setting unit 103 for the main body 105 to start cleaning, and the charging device 101 includes the time set by the current time setting unit 104 and the reserved time setting unit 103. 9, a time difference calculation unit 106 for measuring the time difference set, a opening means 111 for moving the cover 112 as shown by an arrow A in FIG. 9, an opening control means 110 for controlling the opening means 111, and a time difference calculation unit. The inspection means 107 is controlled by the signal from 106,
An inspection control means 109 is provided which controls the opening control means 110 by a signal from the inspection means 107 and outputs a signal to the control means 117 by a signal from the opening control means 110, and controls the control means 117 of the main body 105 from the inspection control means 109. It is also possible to start the operation command to each part of the main body 105 by the signal of.

The self-propelled vacuum cleaner thus configured will be described. Now, the main body 105 is connected to the charging device 101, and for example, the current time setting unit 104 is set to 8:00,
If the reservation time setting unit 103 is set to 10:00, the time difference calculation unit 106 downcounts the time of 2 hours from this point. When the count reaches zero, 2 hours have passed since the current time of 8:00 when it was set.
It is 0:00, and the time difference calculation unit 106 outputs a signal to the inspection control unit 109. The inspection control means 109
A signal is output to the inspection means 107 to inspect the obstacle detection means 108 via the signal connection means 113, and the inspection means 107 starts the inspection. Charging device 101 and main body 10
The relative positions of the charging device 101 and the main body 105 when connecting 5 are set to be the same each time, and the inspection means 107 is used.
In advance, the obstacle detection means 107 and the cover 11 as an obstacle
2 is set in advance, this set value is compared with the output from the obstacle detection means 108, and the resulting signal is output to the inspection control means 109 via the signal connection means 113, and the opening control is performed. The means 110 outputs a signal to the opening means 111. The inspection control unit 109 inputs this signal and displays the result on the operation display unit 102, and at the same time, the obstacle detection unit 1
It is determined that the inspection of 08 is completed, and if the result is acceptable, a signal is output to the opening control means 110 to open the cover 112. The opening means 111 is configured to mechanically open the cover 112 by electric power such as a motor, and operates the cover 112 as shown by an arrow A in FIG. The opening means 111 inputs the signal from the opening control means 110 to open the cover 112. Opening control means 110
When the opening means 111 has finished operating, it detects it and outputs a signal to the inspection control means 109 to inform that the cover 112 has been opened. Upon receiving this signal, the inspection control means 109 receives the signal via the signal connection means 113.
A signal to start cleaning is output to the control means 17 of
5 starts operation. If the result of the self-inspection by the inspection control means 109 is unacceptable, the inspection control unit 109 waits in the state of the inspection completion.

As described above, the operation display unit 102 is provided with the present time setting unit 104 for setting the present time and the reserved time setting unit 103 for the main body 105 to start cleaning, and the charging device 1
Reference numeral 01 denotes a time difference calculation unit 106 that measures the difference between the time set by the current time setting unit 104 and the time set by the reserved time setting unit 103, and an opening means for moving the cover 112 as indicated by arrow A in FIG. 111, the opening control means 110 for controlling the opening means 111, and the inspection means 107 by the signal from the time difference calculation unit 106, the opening control means 110 by the signal from the inspection means 107, and the opening control means 110 The inspection control means 109 for outputting a signal to the control means 117 according to the above signal is provided, and the control means 117 of the main body 105 is configured to be able to start the operation command to each part of the main body 105 by the signal from the inspection control means 109. As a result, in addition to the effect of the third embodiment, the obstacle detection means 108 automatically operates normally before the scheduled cleaning start time even when unattended. Sure, it is possible to start the cleaning.

Although the cover 62 is made of resin in the fourth embodiment, it goes without saying that it may be made of metal.

Although the self-inspection is started on the operation display section of the charging device, it goes without saying that the self-inspection may be started automatically when the charging is started.

[0054]

As described above, according to the present invention, the traveling section and the steering section for moving the main body, the fan motor for cleaning, the operation panel section for operating the main body, and the control means for controlling the above-mentioned sections, A charging device that includes a power source for supplying electric power to each of the above-mentioned units in a main body, has a cover body that is detachably connected to the main body, and covers the operation panel unit at an upper portion, and an operation display unit, and that charges the power source. By providing a signal connecting means having a receiving unit in the main body and a transmitting unit in the charging device, the operation panel unit is protected, and the operation panel unit is accidentally touched during charging, or the operation panel is tampered with. You can prevent the body from moving suddenly by operating the part.

Further, the charging device is provided with a cover whose one side is open and which covers the main body, and further has an inspection means for inspecting the obstacle detection means and a receiving portion in the main body, and By providing the signal connecting means having the transmitting portion, it is possible to further perform self-inspection of the obstacle detecting means located on the left and right sides of the main body without specially preparing a jig.

Further, by providing the charging device with a cover whose one side covers the main body and which is open, it is possible to perform self-inspection of all obstacle detecting means without preparing a special jig.

Further, by providing a structure having a metal plate on the inner surface of the cover, the magnetic field generated by charging such as a contactless induction charging method is blocked inside the cover to prevent external influence. It is also possible to detect the obstacle by detecting the temperature inside the cover by providing a temperature detecting means for detecting the temperature, a correcting means for correcting the temperature by a signal from the temperature detecting means, and an obstacle foreign matter detecting means. Eliminates the effect of temperature
More accurate self-inspection can be performed.

Further, by providing a charging control unit for controlling charging, and an inspection control unit for controlling the inspection unit and the charging control unit, extra elements such as a magnetic field due to charging can be removed during self-inspection. Accurate obstacle detection means can be inspected.

Furthermore, the reserved time setting section for setting the time to start the cleaning work, the operation display section having the present time setting section for setting the present time, the reserved time setting section and the present time setting section are set. Signal from the time difference calculator, a time difference calculator that calculates the time difference, a cover that covers the main body, a charging device that has an opening unit that opens the cover, and an opening controller that controls the opening unit, and a signal from the time difference calculator. By providing an inspection control means for controlling the inspection means and the control means, by starting the cleaning after confirming that the obstacle detection means automatically operates normally before the cleaning start reserved time even if unattended, It is possible to realize an excellent self-propelled vacuum cleaner that can perform cleaning safely and surely.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a self-propelled cleaner according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram of a charging device for the self-propelled vacuum cleaner.

FIG. 3 is an explanatory diagram of a self-propelled cleaner according to a second embodiment of the present invention.

FIG. 4 is a block diagram of the self-propelled vacuum cleaner.

FIG. 5 is a configuration diagram of a charging device for a self-propelled cleaner according to a third embodiment of the present invention.

FIG. 6 is a configuration diagram of a charging device for a self-propelled cleaner according to a fourth embodiment of the present invention.

FIG. 7 is a block diagram of a self-propelled cleaner according to a fifth embodiment of the present invention.

FIG. 8 is a block diagram of a self-propelled cleaner according to a sixth embodiment of the present invention.

FIG. 9 is an operation explanatory view of the self-propelled vacuum cleaner in the seventh embodiment of the present invention.

FIG. 10 is a block diagram of the self-propelled vacuum cleaner.

FIG. 11 is a schematic configuration diagram of a conventional self-propelled cleaner.

FIG. 12 is a movement route diagram of a conventional self-propelled cleaner.

[Explanation of symbols]

 1, 26, 77, 88, 108 Obstacle detecting means 2, 25, 65, 75, 85, 105 Main body 7 Fan motor 12, 31, 69 Operation panel section 13, 67 Power supply 16, 21, 61, 71, 81, 101 charging device 17, 23, 63, 70, 82, 102 operation display section 18, 22, 50, 62, 72, 112 cover 33, 107 control means 34, 76, 86, 107 inspection means 35, 78, 89, 113 Signal connection means 68 Metal plate 73 Temperature detection means 74 Correction means 83, 109 Inspection control means 84 Charging control means 103 Reserved time setting section 104 Current time setting section 106 Time difference calculation section 110 Opening control means 111 Opening means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hidetaka Yabuuchi 1006 Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Mitsuyasu Ogawa, 1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Toshiaki Fujiwara 1006, Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor, Osamu Eguchi, 1006, Kadoma, Kadoma-shi, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Hirofumi Inui, Osaka 1006, Kadoma, Kadoma, Fuchu City Matsushita Electric Industrial Co., Ltd. (72) Inventor, Yoshifumi Takagi, Kadoma, Kadoma City, Osaka Prefecture 1006 Kadoma, Matsushita Electric Industrial Co., Ltd. (72) Yoshitaka Kuroki, 1006 Kadoma, Kadoma City, Osaka Matsushita Denki Sangyo Co., Ltd.

Claims (7)

[Claims] 1. A traveling unit and a steering unit for moving a main body,
A main body having an obstacle detection means for detecting an obstacle, a cleaning fan motor, an operation panel portion for operating the main body, a control means for controlling the above respective portions, and a power source for supplying electric power to the respective portions, and A self-propelled cleaner including a charging device having a cover for covering the operation panel section and an operation display section. 2. A traveling unit and a steering unit for moving the main body,
An obstacle detecting means for detecting an obstacle, an inspection means for inspecting the obstacle detecting means, a cleaning fan motor,
A main body having an operation panel section for operating the main body, control means for controlling the respective sections, a power source for supplying electric power to the respective sections, a charging device having a cover for covering the main body, a receiving section and a transmitting section. A self-propelled cleaner having signal connecting means for carrying out communication between the main body and the charging device. 3. A traveling unit and a steering unit for moving the main body,
An obstacle detecting means for detecting an obstacle, an inspection means for inspecting the obstacle detecting means, a cleaning fan motor,
Charging for charging the power source, which has a main body having an operation panel section for operating the main body, control means for controlling the respective sections, a power supply for supplying electric power to the respective sections, and a cover for covering the entire main body A self-propelled cleaner including: a device; and a signal connecting unit having a receiving unit and a transmitting unit for performing communication between the main body and the charging device. 4. A traveling unit and a steering unit for moving the main body,
An obstacle detecting means for detecting an obstacle, an inspection means for inspecting the obstacle detecting means, a cleaning fan motor,
A charging device having a main body having an operation panel unit for operating the main body, control means for controlling the above respective units, a power supply for supplying electric power to the respective units, and a cover for covering the main body and providing a metal plate on an inner surface thereof A self-propelled cleaner including: a signal connecting unit that has a receiving unit and a transmitting unit and performs communication between the main body and the charging device. 5. A traveling unit and a steering unit for moving the main body,
An obstacle detecting means for detecting an obstacle, an inspection means for inspecting the obstacle detecting means, a cleaning fan motor,
An operation panel unit for operating the main body, a control unit for controlling each of the above units, a main body having a power source for supplying electric power to each of the above units, and an operation display unit, which covers the main unit and has a temperature detecting unit inside. A charging device having a cover provided and a correction means for performing temperature correction by a signal from the temperature detection means;
A self-propelled cleaner including a signal connecting means for communicating between the main body and the charging device, which has a receiving part and a transmitting part. 6. A traveling unit and a steering unit for moving the main body,
An obstacle detecting means for detecting an obstacle, an inspection means for inspecting the obstacle detecting means, a cleaning fan motor,
A main body having an operation panel section for operating the main body, a control means for controlling the respective parts, a power source for supplying electric power to the respective parts, a cover for covering the main body, a charging control section for controlling charging, and the inspection means. A self-propelled cleaning device including: a charging device having an inspection control unit that controls the charging control unit; and a signal connection unit that has a reception unit and a transmission unit and performs communication between the main body and the charging device. Machine. 7. A traveling unit and a steering unit for moving the main body,
An obstacle detecting means for detecting an obstacle, an inspection means for inspecting the obstacle detecting means, a cleaning fan motor,
A main body having an operation panel section for operating the main body, a control means for controlling each of the above sections, a power supply for supplying electric power to each of the above sections, a reserved time setting section for setting a time to start cleaning work, and a current time An operation display unit having a current time setting unit to be set, a time difference calculation unit that calculates a time difference set between the reserved time setting unit and the current time setting unit, a cover that covers the main body, and an opening unit that opens the cover. A charging device having an opening control means for controlling the opening means, the opening control means, the control means and an inspection control means for controlling the inspection means in response to a signal from the time difference calculation section; A self-propelled vacuum cleaner having a section and including signal connecting means for communicating between the main body and the charging device.