CN106535729A - Autonomous travel-type cleaner - Google Patents

Autonomous travel-type cleaner Download PDF

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Publication number
CN106535729A
CN106535729A CN201580034774.9A CN201580034774A CN106535729A CN 106535729 A CN106535729 A CN 106535729A CN 201580034774 A CN201580034774 A CN 201580034774A CN 106535729 A CN106535729 A CN 106535729A
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China
Prior art keywords
body
portion
side
unit
cleaner
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CN201580034774.9A
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Chinese (zh)
Inventor
松本千寿代
吉川达夫
恩田雅
恩田雅一
宫原敏文
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松下知识产权经营株式会社
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Priority to JP2014135124 priority Critical
Priority to JP2014136524 priority
Priority to JP2015051343 priority
Application filed by 松下知识产权经营株式会社 filed Critical 松下知识产权经营株式会社
Priority to PCT/JP2015/003242 priority patent/WO2016002186A1/en
Publication of CN106535729A publication Critical patent/CN106535729A/en

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    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02Nozzles
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02Nozzles
    • A47L9/04Nozzles with driven brushes or agitators
    • A47L9/0461Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466Rotating tools
    • A47L9/0472Discs
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02Nozzles
    • A47L9/04Nozzles with driven brushes or agitators
    • A47L9/0461Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466Rotating tools
    • A47L9/0477Rolls
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02Nozzles
    • A47L9/04Nozzles with driven brushes or agitators
    • A47L9/0461Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0488Combinations or arrangements of several tools, e.g. edge cleaning tools
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1409Rigid filtering receptacles
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/22Mountings for motor fan assemblies
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805Parameters or conditions being sensed
    • A47L9/281Parameters or conditions being sensed the amount or condition of incoming dirt or dust
    • A47L9/2815Parameters or conditions being sensed the amount or condition of incoming dirt or dust using optical detectors
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805Parameters or conditions being sensed
    • A47L9/2826Parameters or conditions being sensed the condition of the floor
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857User input or output elements for control, e.g. buttons, switches or displays
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2873Docking units or charging stations
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2884Details of arrangements of batteries or their installation
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894Details related to signal transmission in suction cleaners
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02Docking stations; Docking operations
    • A47L2201/022Recharging of batteries
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection

Abstract

An autonomous travel-type cleaner (10) is provided with: a body (20) having a suction opening (101); a drive unit (30); and an electrically driven fan. The suction opening (101) is disposed closer to the maximum-width portion of the body (20) than the drive unit (30), and as a result, the autonomous travel-type cleaner (10) can easily suck in dust present in a corner area in a region to be cleaned and can quickly move from the corner area to another place.

Description

自主行走型吸尘器 Self-running type vacuum cleaner

技术领域 FIELD

[0001] 本发明涉及一种自主行走型吸尘器。 [0001] The present invention relates to an autonomous running type vacuum cleaner.

背景技术 Background technique

[0002] —般地,自主行走型吸尘器具备:本体,其用于搭载各种构成部件;驱动装置,其使本体移动;主刷,其配置在形成于本体的吸入口处,用于收集清扫面上存在的垃圾;以及抽吸装置,其从本体的吸入口抽吸垃圾。 [0002] - camel, autonomous running type vacuum cleaner includes: a body for mounting various components; drive means which moves the main body; main brush, which is disposed in the suction port is formed in the body, for collecting cleaning the present garbage surface; and a suction means for sucking the trash from the suction port body. 如以专利文献I和专利文献2为代表的多数文献中公开的那样,以往的自主行走型吸尘器的本体具有大致圆形。 As in Patent Document I and Patent Document 2 for the majority of the literature, as represented disclosed, conventional autonomous running type cleaner main body has a substantially circular shape. 具有圆形的本体的自主行走型吸尘器具有高转动性。 Autonomous running type vacuum cleaner having a circular body having a high rotational resistance.

[0003] 另一方面,根据以往的具有圆形的本体的自主行走型吸尘器,自主行走型吸尘器即使最大限度地接近清扫的对象区域的角落,也会在本体的吸入口与角落的前端部分之间形成比较大的间隔。 [0003] On the other hand, according to conventional autonomous running type cleaner having a circular body, even when the automatically traveling cleaner type corner close to the maximum target area cleaned, also in the front end portion of the main body suction port and the corner of the formed between the relatively large interval. 因此,存在有时无法利用抽吸装置充分地抽吸清扫对象区域的角落存在的垃圾之类的问题。 Therefore, there may not be sufficient suction using the suction device like the garbage problem exists in the corner area of ​​the object to be cleaned.

[0004] 为了消除该问题,改良后的以往的自主行走型吸尘器还具备配置于本体的底面的一个或多个边刷。 [0004] In order to eliminate this problem, a conventional autonomous driving the improved vacuum cleaner further includes a bottom surface disposed at the body or a plurality of side brush. 这种改良型的自主行走型吸尘器例如被专利文献3〜6公开。 This improved self-running type vacuum cleaner is disclosed, for example, Patent Document 3 ~ 6. 在改良型的自主行走型吸尘器中,边刷具备与本体的轮廓相比向外侧突出的刷毛束。 Automatically traveling cleaner in the type of improved, compared to side brush is provided with bristle bundles protruding outwardly the contour of the body. 刷毛束将本体的轮廓的外侧存在的垃圾收集到本体的吸入口。 The presence of the tufts of bristles outer profile of the body of the garbage collector to the suction port body. 因此,专利文献3〜6的自主行走型吸尘器能够抽吸更多清扫对象区域的角落存在的垃圾。 Thus, Patent Document 3 ~ 6 automatically traveling cleaner capable of sucking type present in the cleaning area more corner garbage.

[0005] 但是,根据专利文献3〜6的自主行走型吸尘器,认为抽吸清扫对象区域的角落存在的垃圾的能力(以下,有时也简单地记载为“角落清扫能力”)主要由边刷的样式决定。 [0005] However, according to Patent Document 3 ~ 6 automatically traveling cleaner of the type, that there is a suction corner region the cleaning ability of the waste (hereinafter sometimes simply referred to as "corner cleaning ability") is mainly composed of the side brush style decision. 然而,在各种制约下设定刷毛束的样式。 However, to set the style tufts of bristles in a variety of constraints. 例如,当延长刷毛束的长度时,刷毛束容易钩挂障碍物或者干扰驱动装置等自主行走型吸尘器的其它构成部件,因此有可能妨碍自主行走型吸尘器的行走。 For example, when extending the length of the bristle bundles, bristle bundles obstacles likely to be caught or interfering with other components driven autonomous traveling cleaner type device or the like, and therefore may hinder walking autonomous running type cleaner. 因而,通过边刷得到的角落清扫能力也受到一定的制约影响。 Thus, the corner of the sweeping ability to get through the side brush is also subject to certain constraints impact.

[0006]另外,在利用边刷清扫清扫对象区域的角落存在的垃圾的情况下,边刷虽然能够扫出存在于角落的垃圾,但难以使扫出的所有垃圾直接送入吸入口,由于边刷而扩散的垃圾未被从吸入口吸入而残留于清扫对象区域。 [0006] Further, in the presence of the corner of the side brush cleaning using the cleaning area garbage, while side brush can be swept out of waste present in the corner, but is difficult to sweep out all the garbage directly into the inlet port, since the edge of brush not diffused from the waste remaining in the intake port and the cleaning area.

[0007]因此,如利用边刷清扫清扫对象区域的角落存在的垃圾的专利文献3〜6中所公开那样的自主行走型吸尘器的角落清扫能力有改善的余地。 [0007] Thus, using the edge as the presence of brush cleaning scavenging corner target area as in the Patent Document 3 ~ 6 automatically traveling cleaner of the type disclosed in corner cleaning that has room for improvement.

[0008]另一方面,专利文献7公开了进一步改善了角落清扫能力的自主行走型吸尘器的一例。 [0008] On the other hand, Patent Document 7 discloses a further example of the improved corner autonomous running type cleaning power of the cleaner. 专利文献7的自主行走型吸尘器具备具有大致D型形状的本体、形成于本体的底面侧的吸入口以及在本体的底面的犄角处安装的一对边刷。 Patent Document 7 autonomous running type vacuum cleaner includes a body having a substantially D-shape, the suction port is formed in the bottom side of the brush body and a pair of horn side of the bottom surface of the mounting body. 在专利文献7的自主行走型吸尘器位于清扫对象区域的角落时,例如与专利文献3〜6的自主行走型吸尘器位于对象区域的角落的情况相比,边刷的轴和本体的吸入口更加接近角落的顶点。 In the case of Patent Document 7 autonomous running type cleaner located at the corners of the cleaning area, for example, at the corner of the target region autonomous running type cleaner Patent Document 3 ~ 6 compared to the suction port side brush and the body of the closer shaft the apex of the corner. 因此,与如专利文献3〜6中公开的以往的自主行走型吸尘器相比,具有D型形状的本体能够抽吸更多的垃圾。 Thus, compared with the conventional self-running type vacuum cleaner as disclosed in Patent Document 3 ~ 6, having a D-shaped body can be sucked more junk.

[0009] 但是,在专利文献7的自主行走型吸尘器位于清扫对象区域的角落时,具有D型形状的本体的前表面和一个侧面与形成角落的墙壁接触或与墙壁接近到等同于接触的程度,因此自主行走型吸尘器不能在该场所进行旋转。 A front surface and a side surface when the [0009] However, in Patent Document autonomous running type cleaner 7 is located at the corner of the cleaning region, having a body D-shape in contact with the wall forming the corner or the wall close to the same extent as the contact Therefore autonomous running type vacuum cleaner can not be rotated in the property. 因此,在结束了清扫对象区域的角落的清扫之后从该角落向其它场所移动时的轨道对专利文献7的自主行走型吸尘器造成比较大的制约,因此存在移动中耗费时间的问题。 Accordingly, when moving from track to other places in the corners of the end of a corner of the cleaning the cleaning area to result in larger restrictions on traveling autonomous vacuum cleaner Patent Document 7, and therefore time-consuming problem of the presence of moving.

[0010] 专利文献I:日本特开2008-296007号公报 [0010] Patent Document I: Japanese Patent Publication Laid-Open No. 2008-296007

[0011] 专利文献2:日本特表2014-504534号公报 [0011] Patent Document 2: Japanese Unexamined Patent Publication No. 2014-504534

[0012] 专利文献3:日本特开2011-212444号公报 [0012] Patent Document 3: Japanese Laid-Open Patent Publication No. 2011-212444

[0013] 专利文献4:日本特开2014-073192号公报 [0013] Patent Document 4: Japanese Patent Publication Laid-Open No. 2014-073192

[0014] 专利文献5:日本特开2014-094233号公报 [0014] Patent Document 5: Japanese Patent Publication Laid-Open No. 2014-094233

[0015] 专利文献6:日本特表2014-512247号公报 [0015] Patent Document 6: Japanese Unexamined Patent Publication No. 2014-512247

[0016] 专利文献7:日本特开2014-061375号公报 [0016] Patent Document 7: Japanese Patent Publication Laid-Open No. 2014-061375

发明内容 SUMMARY

[0017] 本发明是鉴于上述那样的以往的自主行走型吸尘器的问题而完成的,其目的在于提供如下一种清扫效率高的自主行走型吸尘器,能够更加可靠地从吸入口直接吸入清扫对象区域的角落存在的垃圾,并且能够迅速地从清扫对象区域的角落向其它场所移动。 [0017] The present invention is made in view of the aforementioned problems of the conventional self-running type cleaner accomplished, it is an object to provide a highly efficient as a cleaning type automatically traveling cleaner can be more reliably sucked from the suction port directly target area cleaned corner presence garbage, and can be quickly moved from the corner of the cleaning area to other places.

[0018] 具体地说,本发明的自主行走型吸尘器具备具有吸入口的本体、使本体移动的驱动单元以及电动风扇。 [0018] Specifically, the present invention automatically traveling cleaner type includes a body having a suction port, the drive unit and the body movement of the electric fan. 本体具有限定本体的最大宽度的两个顶部,吸入口设置在本体的底面侧,并且配置在与驱动单元相比靠近本体的最大宽度的部分。 Two top body has a maximum width of the body defining a suction port provided on the bottom side of the body, and disposed close to the body as compared to the maximum width of the portion of the drive unit.

[0019] 根据这种结构,能够更加可靠地从吸入口直接吸入清扫对象区域的角落存在的垃圾,并且能够迅速地从清扫对象区域的角落向其它场所移动,能够提高清扫效率。 [0019] According to this structure, the presence of the suction more reliably the cleaning corner area directly from the suction port of the garbage, and can be quickly moved from the corner of the cleaning area to other places, the cleaning efficiency can be improved.

附图说明 BRIEF DESCRIPTION

[0020]图1是本发明的实施方式I的自主行走型吸尘器的俯视图。 [0020] FIG. 1 is an embodiment of the present invention I plan view of the autonomous running type vacuum cleaner.

[0021]图2是本发明的实施方式I的自主行走型吸尘器的仰视图。 [0021] FIG. 2 is an embodiment of the present invention I autonomous running type vacuum cleaner of a bottom in FIG.

[0022]图3是表示本发明的实施方式I的自主行走型吸尘器的电气系统的功能框图。 [0022] FIG. 3 is a functional block diagram showing an electrical system of an embodiment of the present invention I autonomous running type cleaner.

[0023]图4是表示以往的自主行走型吸尘器的动作的俯视图。 [0023] FIG. 4 is a plan view showing an operation of a conventional self-running type cleaner.

[0024]图5是用于说明本发明的实施方式I的自主行走型吸尘器的动作的俯视图。 [0024] FIG. 5 is an embodiment of the present invention for explaining an operation of automatically traveling cleaner of the type I in a plan view.

[0025]图6是用于说明本发明的实施方式I的自主行走型吸尘器的动作的另一个俯视图。 [0025] FIG. 6 is a view for explaining an operation of the embodiment of the present invention is an automatically traveling cleaner in type I another plan view.

[0026]图7是用于说明本发明的实施方式I的自主行走型吸尘器的动作的又一个俯视图。 [0026] FIG. 7 is a plan view for explaining another embodiment of the present invention I autonomous running type vacuum cleaner operation.

[0027]图8是本发明的实施方式2的自主行走型吸尘器的俯视图。 [0027] FIG. 8 is a top view of an embodiment of the present invention FIG automatically traveling cleaner of the type 2.

[0028]图9是本发明的实施方式2的自主行走型吸尘器的仰视图。 [0028] FIG. 9 is an embodiment of the present invention automatically traveling cleaner type bottom 2 of FIG.

[0029]图10是本发明的实施方式3的自主行走型吸尘器的立体图。 [0029] FIG. 10 is a perspective view of an automatically traveling vacuum cleaner according to an embodiment of the present invention is 3.

[0030]图11是本发明的实施方式3的自主行走型吸尘器的俯视图。 [0030] FIG. 11 is a plan view of an embodiment of the present invention FIG 3 autonomous running type of cleaner.

[0031]图12是表示本发明的实施方式3的自主行走型吸尘器的内部的俯视图。 [0031] FIG. 12 is a plan view of the embodiment of the present invention, an internal self-running type 3 of the cleaner.

[0032]图13是本发明的实施方式3的自主行走型吸尘器的仰视图。 [0032] FIG. 13 is a embodiment of the present invention automatically traveling cleaner type 3 a bottom view.

[0033]图14是从侧方看到的本发明的实施方式3的自主行走型吸尘器的图。 [0033] FIG. 14 is viewed from the side of the embodiment of the present invention automatically traveling cleaner type 3 of FIG.

[0034]图15是从正面侧看本发明的实施方式3的自主行走型吸尘器的结构的一部分时的分解立体图。 [0034] FIG. 15 is an exploded perspective view of part of the configuration of the embodiment of the present invention automatically traveling cleaner type 3 viewed from the front side.

[0035]图16是从底面侧看本发明的实施方式3的自主行走型吸尘器的结构的一部分时的分解立体图。 [0035] FIG. 16 is an exploded perspective view of part of the configuration of the embodiment of the present invention automatically traveling cleaner type 3 viewed from the bottom side.

[0036] 图17是沿图11的XVI1-XVII线的剖视图。 [0036] FIG. 17 is a sectional view taken along the line XVI1 XVII-11 of FIG.

[0037]图18是表示在图11的XVI1-XVII线处使本发明的实施方式3的自主行走型吸尘器的结构的一部分分解后的状态的剖视图。 [0037] FIG. 18 is a view showing the embodiment of this invention, an automatically traveling cleaner is a cross-sectional type view of a state after a portion of the structure 3 is an exploded XVI1-XVII line in FIG. 11.

[0038] 图19是沿图14的XIX-XIX线的剖视图。 [0038] FIG. 19 is a sectional view taken along line XIX-XIX in FIG. 14.

[0039]图20是表示本发明的实施方式3的自主行走型吸尘器的下部单元的内部构造的立体图。 [0039] FIG. 20 is a perspective view showing the internal structure of the lower unit of the embodiment of the present invention automatically traveling cleaner of the type 3.

[0040]图21是从侧方看到的本发明的实施方式3的自主行走型吸尘器的下部单元的内部构造的立体图。 [0040] a perspective view showing the internal structure of the lower unit of the embodiment of the present invention FIG 21 is seen from the side of the automatically traveling cleaner type 3.

[0041]图22是从正面侧看到的本发明的实施方式3的自主行走型吸尘器的下部单元的内部构造的立体图。 [0041] a perspective view showing the internal structure of the lower unit of the embodiment of the present invention FIG 22 is seen from the front side 3 of the automatically traveling cleaner type.

[0042]图23是从正面侧看到的本发明的实施方式3的自主行走型吸尘器的下部单元的内部构造的另一个立体图。 [0042] FIG. 23 is another perspective view showing the internal structure of the lower unit of the embodiment of the present invention seen from the front side 3 of the automatically traveling cleaner type.

[0043]图24是本发明的实施方式3的自主行走型吸尘器的上部单元的立体图。 [0043] FIG. 24 is a perspective view of the upper unit of the autonomous running type cleaner in embodiment 3 of the present invention.

[0044]图25是本发明的实施方式3的自主行走型吸尘器的上部单元的仰视图。 [0044] FIG. 25 is an embodiment of the present invention automatically traveling cleaner type 3 a bottom view of the upper unit.

[0045]图26是表示本发明的实施方式3的自主行走型吸尘器的电气系统的功能框图。 [0045] FIG. 26 is a functional block diagram showing an electrical system of an embodiment of the present invention self-running type 3 of the cleaner.

[0046]图27是本发明的实施方式4的自主行走型吸尘器的集尘盒单元的立体图。 [0046] FIG. 27 is a perspective view of the dust box unit of the autonomous running type vacuum cleaner according to an embodiment of the present invention 4.

[0047]图28是本发明的实施方式4的集尘盒单元的剖视图。 [0047] FIG. 28 is a cross-sectional view of an embodiment of the present invention, the dust box unit 4.

[0048]图29是本发明的变形例I的自主行走型吸尘器的俯视图。 [0048] FIG. 29 is a plan view of the autonomous running type cleaner modification I of the present invention.

[0049]图30是本发明的变形例2的自主行走型吸尘器的俯视图。 [0049] FIG. 30 is a plan view of the autonomous running type vacuum cleaner according to the present modified embodiment 2 of the invention.

[0050]图31是本发明的变形例3的自主行走型吸尘器的俯视图。 [0050] FIG. 31 is a plan view of a modified embodiment of the present invention of an automatically traveling cleaner type 3.

具体实施方式 Detailed ways

[0051]下面,一边参照附图一边说明本发明的实施方式。 [0051] Next, while being embodiments of the present invention with reference to the accompanying drawings. 此外,本发明并不限定于该实施方式。 Further, the present invention is not limited to this embodiment.

[0052](实施方式I) [0052] (Embodiment I)

[0053]图1是本发明的实施方式I的自主行走型吸尘器10的俯视图。 [0053] FIG. 1 is an embodiment of the present invention I autonomous running type vacuum cleaner 10 is a top view of FIG. 图2是本发明的实施方式I的自主行走型吸尘器10的仰视图。 FIG 2 is an embodiment of the present invention I autonomous running type vacuum cleaner 10 is a bottom view of FIG.

[0054]如图1所示,自主行走型吸尘器10是在清扫的对象区域(以下,有时称为“清扫对象区域”或简称为“对象区域”)的清扫面上自主地行走来抽吸清扫面上存在的垃圾的机器人型的吸尘器。 Cleaning the surface [0054] As shown, the automatically traveling cleaner 10 is in the type of the cleaning object area (hereinafter referred to as "the cleaning area" or simply "target area") 1 is running autonomously to suck the cleaning robotic vacuum cleaner presence of surface trash. 清扫的对象区域例如是房间,清扫面例如是房间的地面。 Cleaning the target area, for example, a room, for example, the cleaning surface of the room floor.

[0055] 根据本实施方式,自主行走型吸尘器10具有用于搭载各种构成部件的本体20、使本体20移动的驱动单元30 (参照图2)、收集存在于清扫对象区域的垃圾的清扫单元40 (参照图2)以及将垃圾抽吸到本体20的内部的抽吸单元50。 [0055] According to the present embodiment, the autonomous running type cleaner 10 having a main body for mounting the various members 20 constituting the driving unit 20 moves the body 30 (see FIG. 2), present in the garbage collection object to be cleaned in the cleaning unit area 40 (see FIG. 2) and drawn into the interior of the refuse body 20 of the suction unit 50. 自主行走型吸尘器10还具有集尘盒单元60和控制单元70,其中,该集尘盒单元60用于存留由抽吸单元50抽吸的垃圾,该控制单元70至少控制驱动单元30、清扫单元40以及抽吸单元50。 Automatically traveling cleaner 10 further includes a type dust box unit 60 and control unit 70, wherein the dust box unit 60 is retained by the suction for the suction unit 50 of trash, at least the control unit 70 controls the driving unit 30, cleaning unit 40 and a suction unit 50.

[0056] 本实施方式的自主行走型吸尘器10还具有脚轮90和电源单元80,其中,该脚轮90随着驱动单元30的旋转而旋转,该电源单元80向驱动单元30、清扫单元40以及抽吸单元50等供给电力。 [0056] automatically traveling cleaner type embodiment 10 of the present embodiment further includes a power supply unit 90 and the casters 80, wherein the caster 90 with the rotation drive unit 30 is rotated, the power supply unit 80 to the driving unit 30, a cleaning unit 40, and evacuated suction power supply unit 50 and the like.

[0057] 在图1和图2中,上侧是本体20的前方,下侧是本体20的后方。 [0057] In FIG 1 and FIG 2, the upper body 20 is a front, a rear side of the lower body 20. 以自主行走型吸尘器10的前进方向(在图1中为上侧)为基准来限定自主行走型吸尘器10的宽度方向。 In the forward direction automatically traveling cleaner 10 type (upper side in FIG. 1) is defined as a reference type automatically traveling cleaner 10 in the widthwise direction. 例如,在本实施方式中,相对于自主行走型吸尘器10的前进方向大致垂直的方向(图1和图2中的左右方向)被限定为自主行走型吸尘器10的宽度方向。 For example, in the present embodiment, with respect to the traveling direction of traveling autonomous vacuum cleaner 10 is substantially perpendicular to a direction (lateral direction in FIG. 1 and FIG. 2) is defined as the width direction of the automatically traveling cleaner 10 type.

[0058] 在本实施方式中,设置有一对驱动单元30,相对于本体20的俯视图中的宽度方向的中心,在左侧和右侧分别配置一个驱动单元30 (以下,有时将左侧的驱动单元30称为第一驱动单元,将右侧的驱动单元30称为第二驱动单元)。 [0058] In the present embodiment, is provided with a pair of drive unit 30, a plan view with respect to the central body 20 in the width direction, the left and right sides are arranged a drive unit 30 (hereinafter, the left side of the drive unit called a first driving unit 30, the right side of the drive unit 30 as a second drive unit). 此外,驱动单元30的个数并不限于两个,既可以是一个,也可以是三个以上。 Further, the number of the drive unit 30 is not limited to two, either one may be three or more.

[0059]另外,本体20具有形成本体20的下表面侧的外形的下部单元100 (参照图2)和形成本体20的上表面侧的外形的上部单元200 (参照图1)。 [0059] Further, the body 20 having the outer shape of the lower surface side of the body 20 of the lower unit 100 (see FIG. 2) and the outer shape is formed on the side surface of the upper unit 200 of the main body 20 (see FIG. 1). 通过将下部单元100和上部单元200相互组合来构成本体20。 By combining with each other the lower unit 100 and upper unit 200 is constituted of the body 20. 如图1所示,上部单元200具有形成该上部单元200的主要部分的罩210、以能够相对于罩210开闭的方式设置的盖220以及能够相对于罩210位移的缓冲器230。 1, the upper unit 200 has a main portion of the upper cover is formed of 210 of the unit 200, so as to be opened and closed with respect to the cover 210 of the cover 220 is provided and the cover 210 can be displaced with respect to buffer 230.

[0000] 优选的是,本体20的平面形状是勒洛三角形(reuleaux triangle)的形状、或具有与勒洛三角形大致相同的形状的勒洛多边形的形状、或在勒洛三角形或勒洛多边形的顶部具有R形状(图11和图31所示的圆弧R)的形状。 [0000] Preferably, the planar shape of the body 20 is shaped Reuleaux triangle (reuleaux triangle) or Reuleaux triangle having substantially the same shape of a Reuleaux polygon shape, or a Reuleaux triangle or Reuleaux polygon R top having a shape (circular arc R in FIG. 11 and FIG. 31) of the shape. 利用这种形状能够使本体20具有与勒洛三角形所具有的几何学性质相同或相似的性质。 With such a shape of the main body 20 can be identical or similar to the Reuleaux triangle geometric properties possessed properties. 即,由于勒洛三角形是定宽图形,因此无论在哪个方向上都能够在固定宽度(即,内接于勒洛三角形的等边三角形的边的长度)的四边形中一边内接一边旋转。 That quadrangle, because of constant width is a Reuleaux triangle, so no matter in which direction can be in a fixed width (i.e., length of the side connected to the Reuleaux triangle is equilateral triangle) inscribed in side while rotating. 由此,本体20能够描绘四边形(大致正方形)的轨迹。 Thus, the body 20 is capable of drawing a trajectory quadrangular (substantially square). 在本实施方式中,本体20如图1所示那样具有实质上与勒洛三角形相同的平面形状。 In the present embodiment, the body 1 as shown in FIG. 20 has substantially the same planar shape of the Reuleaux triangle.

[0061]另外,本体20具有多个外周面和多个顶部。 [0061] Further, the body having a plurality of outer circumferential surface 20 and a plurality of top. 在本实施方式中,多个外周面包括存在于自主行走型吸尘器10的前进侧(在图1中为上侧)的前表面21、在本体20的俯视图中相对于前表面21存在于右后方侧的右侧的侧面22、以及在本体20的俯视图中相对于前表面21存在于左后方侧的左侧的侧面22。 In the present embodiment, a plurality of outer peripheral surfaces including those present in the forward side of the autonomous running type cleaner 10 (upper side in FIG. 1) of the front surface 21, in a plan view of the body 20 relative to the front surface 21 is present on the right rear the right side of the side surface 22, 22 and 20 in a plan view of the body side with respect to the front surface 21 is present on the left side of the left rear side. 另外,在本实施方式中,前表面21具有朝向外侧弯曲的曲面。 Further, in the present embodiment, the front surface 21 having a curved face toward the outside. 朝向外侧弯曲的曲面也可以形成为缓冲器230。 Curved outward curved surface 230 may be formed as a buffer. 各侧面22具有至少一部分朝向外侧弯曲的曲面。 Each side surface 22 having at least a portion of a curved surface curved toward the outside. 在本实施方式中,朝向外侧弯曲的曲面也可以形成于缓冲器230的侧部和罩210的侦嘟。 In the present embodiment, the outwardly curved face may be formed on the side portion beep detect buffer 230 and the cover 210.

[0062] 在本实施方式中,多个顶部包括由前表面21和右侧的侧面22限定的右侧的前方顶部23以及由前表面21和左侧的侧面22限定的左侧的前方顶部23。 [0062] In the present embodiment, the top front of the front side comprises a plurality of top surface 21 and 22 defined by the right front top right side 23 and a front surface 21 and the left side of the left side 23 defined 22 . 多个顶部也可以还包括由右侧的侧面22和左侧的侧面22限定的后方顶部24。 It may further comprise a plurality of top 24 from the top rear surface of the right side 22 and left 22 defined. 如图1所示,前表面21的切线LI与两个侧面22的切线L2、L3分别形成的角均是锐角。 1, the front surface and the tangent of the tangent line L2 LI 21 two sides 22, the angle formed by L3 respectively are acute.

[0063]由本体20的多个顶部的顶点间的距离限定本体20的最大宽度。 [0063] The maximum width of the body 20 is defined by the distance between the tops of a plurality of the top body 20. 在本实施方式中,由右侧的前方顶部23和左侧的前方顶部23限定本体20的最大宽度。 In the present embodiment, the front top right side of the front top portion 23 and the left body 20 defines a maximum width of 23. 根据图1等图示的例子,由右侧的前方顶部23的顶点与左侧的前方顶部23的顶点的距离、即勒洛三角形所具有的三个顶点中的两个顶点间的距离限定本体20的最大宽度。 The distance between the vertices of the example illustrated in FIG. 1 and the like, the distance from the apex of the top front left vertex of the top 23 of the front right of 23, i.e., Reuleaux triangle has three vertices defining two bodies maximum width of 20.

[0064] 此外,在本体20中,将右侧的前方顶部23的顶点与左侧的前方顶部23的顶点相连接的线W (以下称为“本体20的最大宽度线W”)的线上及其附近被称为“本体20的具有最大宽度的部分”或“本体20的最大宽度部分”。 Online [0064] Further, in the body 20, the wire W in front of the apex of the top left vertex of the right side of the top front 23 of the connector 23 (hereinafter referred to as "the maximum line width W of the body 20 ') is and its vicinity is referred to as "main body portion has a maximum width of 20" or "20 of the maximum width portion of the body." 另外,“本体20的最大宽度线W的附近”和“本体20的靠近最大宽度线W的部分”是指本体20的靠近最大宽度线W的部分,即本体20的最大宽度线W与自主行走型吸尘器10的重心G (参照图2)之间的部分以及本体20的最大宽度线W与前表面21之间的部分,更具体地说,是指本体20的最大宽度线W与驱动单元30的靠本体20的前进方向侧的前端之间的部分、以及本体20的最大宽度线W与前表面21之间的部分。 Also, "near the maximum line width W of the body 20" and "body near 20 the portion of the maximum width of the line W" refers to a portion near the maximum width line W of the body 20, i.e., the maximum line width W of the body 20 of the autonomous driving portion of the maximum width W and the line between the front surface 21 and a body portion between the vacuum cleaner to the center of gravity G (see FIG. 2) of 10 20, more specifically, W is the maximum width of the line with the drive unit 30 of the body 20 between the front end portion on the advancing direction side of the body 20, and a portion 21 between the maximum width W of the line main body 20 and the front surface.

[0065]另外,本体20的最大宽度部分优选被设定在靠近本体20的前表面21的位置。 [0065] Further, the maximum width portion of the body 20 is preferably set at a position close to the front surface 21 of the body 20. 另外,本体20的最大宽度线W的延伸方向优选被设定为相对于本体20的前进方向大致垂直。 Further, the maximum line width W of the extending direction of the body 20 is preferably set with respect to the forward direction of the body 20 is substantially vertical.

[0066] 如图2所示,本体20还具有用于将垃圾抽吸到本体20的内部的吸入口101。 [0066] As shown in FIG. 2, the body 20 also has a trash into the interior of the suction inlet port 20 of the body 101. 吸入口101形成于本体20的下部单元100的底面。 Suction port 101 is formed in the bottom surface 100 of the lower unit body 20. 吸入口101具有横长形状,优选具有矩形形状或大致矩形形状。 Suction port 101 having a laterally elongated shape, preferably having a rectangular shape or a substantially rectangular shape. 此外,吸入口101的形状并不限于这些形状,也可以是椭圆形状、梯形形状以及沿本体20的外周形状弯曲的形状等。 Further, the shape of the suction port 101 is not limited to these shapes, and may be an elliptical shape, a trapezoidal shape, and the outer peripheral shape of the body 20 along the curved shape. 在本实施方式中,吸入口101具有长方形。 In the present embodiment, the suction port 101 having a rectangular shape. 另外,在本实施方式中,吸入口101以其长边方向位于与本体20的宽度方向实质上相同的方向、另外其短边方向位于与本体20的前后方向实质上相同的方向的方式配置于本体20的下部单元100的 Further, in the present embodiment, the suction port 101 is located in the width direction of the body 20 is substantially the same direction as the longitudinal direction thereof, while its short-side direction and the longitudinal direction of the body 20 is located in substantially the same direction are arranged in a lower portion of the main body 20 of the unit 100

/¾ dn。 / ¾ dn.

[0067]另外,在本体20的下部单元100的底面,在与本体20的具有最大宽度的部分靠近的部分形成吸入口101,更优选形成于靠近本体20的最大宽度线W的部分。 [0067] Further, the bottom surface 100 of the lower unit body 20 is formed in a portion near the suction port 101 and the body portion has a maximum width 20, the maximum line width W 20 of the body portion is more preferably near formed. 通过吸入口101相对于自主行走型吸尘器10的其它构成部件等的位置关系来更加具体地限定吸入口101的位置关系。 Through the suction port 101 with respect to the positional relationship of an automatically traveling cleaner type and the like other constituent member 10 to more specifically define the positional relationship between the suction port 101. 例如,通过以下两种位置关系中的一种或两种来进行限定。 For example, the two positions is defined by the following relation of one or both.

[0068] 第一种位置关系是,吸入口101位于与自主行走型吸尘器10的重心G (参照图2)相比靠本体20的前方侧的位置。 [0068] The first positional relationship, the position (see FIG. 2) on the front side of the main body suction port 101 is located at the center of gravity automatically traveling cleaner type G 10 20. 更具体地说,在与吸入口1I的长边方向大致相同的方向上延伸的吸入口101的中心线M (以下称为“吸入口101的长边方向的中心线”)位于与自主行走型吸尘器10的重心G (参照图2)相比靠本体20的前方侧的位置、即位于本体20的前部、即位于本体20的最大宽度部分。 More specifically, the centerline of the suction port extends in the longitudinal direction of the suction opening substantially in the same direction 1I 101 M (hereinafter referred to as "center line of the longitudinal direction of intake port 101 ') located autonomous running type compared against the front side 20 of the main body of the vacuum cleaner the position of the center of gravity G (see FIG. 2) 10, i.e., the front portion of the body 20, i.e., at the maximum width portion 20 of the body. 此外,吸入口101的长边方向的中心线也可以位于与本体20的最大宽度线W相比靠近前表面21的部分。 Further, the longitudinal direction of the suction port 101 may be located on the center line of the portion near the front surface 21 compared to the maximum line width W of the body 20.

[0069] 第二种位置关系是,吸入口101位于与驱动单元30相比靠近本体20的最大宽度线W的部分,优选位于本体20的最大宽度线W的线上或线附近,更优选位于与本体20的最大宽度线W相比靠近前表面21的部分。 [0069] The second positional relationship is compared with the portion 101 is located near the drive unit 30 close to the largest line width W of the body 20, preferably at the maximum width W of the line main body 20 of the suction port online or offline, and more preferably in portion adjacent the front surface 21 compared to the maximum line width W of the body 20.

[0070]另外,在本实施方式中,吸入口 101的长边方向的宽度被设定为比右侧的驱动单元30与左侧的驱动单元30之间的内侧的距离宽。 [0070] Further, in the present embodiment, the suction port 101 of the longitudinal direction of width is set to be wider than the distance between the inner side of the drive unit 30 and the drive unit 30 of the left side to the right. 这种结构例如能够通过上述与吸入口101有关的第二种位置关系等来实现。 This structure can be realized by, for example, the positional relationship related to the second inlet port 101 and the like described above. 根据这种结构,能够设置具有更宽的宽度的吸入口101,能够更加可靠地从吸入口101直接抽吸垃圾,并且能够使被抽吸到后述抽吸单元50的垃圾的量增加。 According to such a configuration, the suction port 101 can be provided with a wider width, the garbage can be more reliably sucked directly from the suction port 101, and enables the amount of waste after being sucked into said suction unit 50 is increased.

[0071] 接着,对驱动单元30进行说明。 [0071] Next, the driving unit 30 will be described.

[0072] 如图2所示,各驱动单元30配置在下部单元100的底面侧,且具有在清扫面上行走的轮33等多个部件。 [0072] As shown, each drive unit 2 disposed on the bottom surface 30 of the lower unit 100, and the cleaning member having a plurality of wheels 33 running surfaces and the like. 根据本实施方式,各驱动单元30除了具有在清扫面上行走的轮33以外,还具有对轮33施加转矩的行走用电动机31和收容行走用电动机31的外壳32。 According to the present embodiment, each drive unit 30 in addition to the cleaning surface of the traveling wheel 33, it also has a torque is applied to the traveling motor 31 and a pulley 33 with a housing 32 accommodating traveling motor 31. 在形成于下部单元100的凹部收容各轮33,各轮33以能够相对于下部单元100旋转的方式被下部单元100支承。 A concave portion formed in a lower portion of the housing unit 100 each wheel 33, each wheel 33 relative to the lower unit 100 rotatably supported by the lower unit 100 manner.

[0073] 各轮33配置在与对各轮33施加转矩的行走用电动机31相比靠本体20的宽度方向的外侧的位置。 [0073] Each wheel 33 is arranged on a position in the width direction of the outside of the body 20 as compared with the torque applied to the respective running wheel 33 of the motor 31. 根据这种结构,相比于将轮33配置在与行走用电动机31相比靠宽度方向的内侧的位置的情况,右侧的轮33与左侧的轮33的间隔变宽,因此本体20的稳定性提高。 According to such a configuration, compared to the case where the wheel 33 is disposed in the width direction compared with the position on the inner side of the moving electric motor 31, the right wheel 33 is widened and the spacer 33 of the left wheel, and therefore the body 20 stability is improved.

[0074] 本实施方式的自主行走型吸尘器10的驱动方式是对置双轮式。 [0074] The autonomous running type cleaner driving method according to the present embodiment is a counter wheel 10 of the formula. 即,右侧的驱动单元30与左侧的驱动单元30在本体20的宽度方向上对置地配置。 That is, the drive unit 30 and the right side of the left side of the drive unit 30 disposed to face in the width direction of the body 20. 另外,在本实施方式中,如图2所示那样配置为右侧的轮33的旋转轴H和左侧的轮33的旋转轴H实质上存在于同轴上。 Further, in the present embodiment, as shown in FIG. 2 H shaft configured to rotate the rotary shaft 33 of the right wheel and left wheel H 33 present in a substantially coaxially.

[0075]例如为了使自主行走型吸尘器10具有规定的转动性能而对旋转轴H与自主行走型吸尘器10的重心G的距离进行设定。 [0075] In order to e.g. autonomous running type cleaner 10 having a predetermined rotational behavior of the center of gravity G is set to a distance H and the rotational axis 10 of the automatically traveling cleaner type. 规定的转动性能是指能够使本体20形成与由上述勒洛三角形的轮廓形成的四边形的轨迹相同或相似的轨迹的转动性能。 Means a predetermined rotational behavior of the main body 20 can be formed in the same or similar quadrangular trajectories Reuleaux triangle formed by the rotational behavior of the contour of the track. 根据本实施方式,旋转轴H的位置被设定在与自主行走型吸尘器10的重心G相比靠本体20的后方侧的位置,将旋转轴H与重心G的距离设定为规定的距离。 According to the present embodiment, the position of the rotation axis H is set to a predetermined set distance as compared with the center of gravity G of the type automatically traveling cleaner 10 on the rear side of the position of the body 20, the rotary shaft and the center of gravity G of the distance H. 根据具有对置双轮式的自主行走型吸尘器10,根据这种结构,能够利用本体20与周围的物体的接触来形成上述轨迹。 The autonomous running type cleaner having opposed wheel formula 10, according to such a configuration, it is possible to form the body 20 by the contact with the track around the object.

[0076] 接着,对清扫单元40进行说明。 [0076] Next, the cleaning unit 40 will be described.

[0077] 如图2所示,清扫单元40配置在本体20的内部和外部,且具有刷驱动电动机41等多个部件。 [0077] 2, the cleaning unit 40 is disposed inside and outside the body 20, and having a plurality of brush driving motor 41 and other members. 根据本实施方式,清扫单元40除了具有配置在本体20的内部(吸入口101的右侧)的刷驱动电动机41以外,还具有齿轮箱42和配置于本体20的吸入口101的主刷43。 According to this embodiment, in addition to the cleaning unit 40 disposed inside the body 20 (the right side of the suction port 101) of the drive motor outside the brush 41, further comprising a gear box 42 and a suction port disposed in the main body 20 of the brush 43 101.

[0078] 刷驱动电动机41和齿轮箱42安装于下部单元100。 [0078] The brush drive motor 41 and a gear box 42 mounted on the lower unit 100. 齿轮箱42连接于刷驱动电动机 Brush gear box 42 is connected to a driving motor

41的输出轴和主刷43,来将刷驱动电动机41的转矩传递到主刷43。 And a main output shaft 41 of the brush 43 to the brush driving torque of the motor 41 is transmitted to the main brush 43.

[0079] 主刷43具有与吸入口101的长边方向的长度大致相同的长度,且以能够相对于下部单元100旋转的方式被轴承部支承。 [0079] The main brush 43 has a length of longitudinal direction of the suction port 101 of substantially the same length, and 100 is supported in a rotatable manner relative to the lower unit bearing portion. 轴承部例如形成于齿轮箱42和下部单元100中的一方或两方。 For example, bearing portions 100 formed on one of the gear case 42 and the lower unit or both. 根据本实施方式,如利用表示自主行走型吸尘器10的侧视图的图14的箭头AM所示的那样,主刷43的旋转方向被设定为使其旋转轨道在清扫面侧从本体20的前方朝向后方的方向。 According to the present embodiment, as shown by arrow using a AM represents a side view of the automatically traveling cleaner 10 of type shown in FIG. 14, the rotational direction of the front of the main brush 43 is set so as to track rotation of the cleaning surface side of the body 20 from toward the rear.

[0080] 接着,对抽吸单元50进行说明。 [0080] Next, the suction unit 50 will be described.

[0081]如图1所示,抽吸单元50配置在本体20的内部,且具有风扇罩52等多个部件。 [0081] As shown in FIG. 1, the suction unit 50 disposed inside the body 20, and a fan cover 52 having a plurality of members and the like. 根据本实施方式,抽吸单元50配置在集尘盒单元60的后方侧且后述电源单元80的前方侧。 According to the present embodiment, the suction unit 50 disposed on the rear side of the dust box unit 60 described later, and a front-side power supply unit 80. 抽吸单元50具有安装于下部单元100 (参照图2)的风扇罩52和配置在风扇罩52的内部的电动风扇51 ο Having a suction unit 50 is attached to the lower unit 100 (see FIG. 2) and a fan cover 52 disposed inside the fan cover 52 of the electric fan 51 ο

[0082]电动风扇51抽吸集尘盒单元60的内部的空气,并向电动风扇51的外部排出空气。 [0082] The electric fan 51 sucks air inside the dust box unit 60, and discharged to the air outside the electric fan 51. 从电动风扇51排出的空气通过风扇罩52的内部的空间和本体20的内部的风扇罩52的周围的空间被排放到本体20的外部。 Air discharged from the space around the electric fan 51 is discharged to the outside 52 of the body 20 through the inside of the internal space 52 of the fan cover and the fan cover body 20.

[0083] 接着,对集尘盒单元60进行说明。 [0083] Next, the dust box unit 60 will be described.

[0084] 如图2所示,集尘盒单元60在本体20的内部被配置在主刷43的后方侧且抽吸单元50的前方侧,并且被配置在驱动单元30之间。 [0084] As shown in FIG 2, the dust box unit 60 is disposed on the front side 43 of the rear side of the main brush and the suction unit 50 inside the body 20, and is disposed between the drive unit 30. 本体20和集尘盒单元60具有用户能够任意选择将集尘盒单元60安装于本体20的状态和从本体20卸下集尘盒单元60的状态的装卸构造。 Cartridge body 20 and the dust collecting unit 60 has a user can arbitrarily select the dust box 60 is attached to the unit body 20 and a state of detaching the detachable state of the dust box construction unit 60 from the body 20.

[0085] 接着,对控制单元70进行说明。 [0085] Next, the control unit 70 will be described.

[0086] 如图1所示,控制单元70在本体20的内部被配置在抽吸单元50的后方侧。 [0086] 1, the control unit 70 is arranged on the rear side of the suction unit 50 in the interior of the body 20. 如图1和图2所示,自主行走型吸尘器10还具有多个传感器。 As shown in FIG. 1 and FIG. 2, an automatically traveling cleaner 10 further includes a plurality of type sensors. 根据本实施方式,多个传感器包括障碍物检测传感器71 (参照图1)和距离测定传感器72 (参照图1),该障碍物检测传感器71检测存在于本体20的前方的障碍物,该距离测定传感器72检测本体20的周围存在的物体与本体20的距离。 According to the present embodiment, a plurality of obstacle detection sensor comprises a sensor 71 (see FIG. 1) and a distance measurement of the distance measuring sensor 72 (see FIG. 1), the obstacle detection sensor 71 detects an obstacle present in front of the body 20, distance around the sensor 72 detects the presence of the body 20 of the body 20 of the object. 多个传感器还具有检测本体20与周围的物体发生碰撞的情况的碰撞检测传感器73(参照图1)和检测存在于本体20的底面的清扫面的多个地面检测传感器74 (参照图2)。 Collision detection sensor further includes a plurality of sensors around the event of a collision with the detected object 73 of the body 20 (see FIG. 1) and the bottom surface of the body 20 to detect the presence of a plurality of floor cleaning surface detection sensors 74 (see FIG. 2). 障碍物检测传感器71、距离测定传感器72、碰撞检测传感器73以及地面检测传感器74分别向控制单元70输入检测信号 Obstacle detection sensor 71, the distance measuring sensor 72, the collision detection sensor 73 and the surface detection sensor 74 are inputted detection signal to the control unit 70

[0087] 对于障碍物检测传感器71,例如使用超声波传感器。 [0087] For the obstacle detection sensor 71, for example using an ultrasonic sensor. 障碍物检测传感器71具有发送部和接收部。 Obstacle detecting sensor 71 having a transmitter and a receiver portion. 对于距离测定传感器72和地面检测传感器74,例如使用红外线传感器。 The distance measuring sensor 72 and the surface detection sensor 74, for example using an infrared sensor. 距离测定传感器72和地面检测传感器74具有发光部和受光部。 The distance measuring sensor 72 and the surface detection sensor 74 has a light emitting portion and a light receiving portion. 对于碰撞检测传感器73,例如使用接触式位移传感器。 For the collision detection sensor 73, for example using a contact displacement sensor. 例如,碰撞检测传感器73具有随着缓冲器230被推向罩210而被接通的开关。 For example, the collision detection sensor 73 has a switch 230 with the buffer cover 210 is pushed while being turned.

[0088] 如图1所示,在本实施方式中,距离测定传感器72相对于本体20的俯视图中的宽度方向的中心被配置在右侧和左侧。 [0088] 1, in the present embodiment, the distance measuring sensor 72 with respect to a plan view of the central body 20 in the width direction is disposed on the right and left sides. 右侧的距离测定传感器72被配置于右侧的前方顶部23,朝向本体20的右斜前方输出光。 Right distance measuring sensor 72 is disposed at the front right side of the top 23, 20 toward the body diagonally forward right of the output light. 左侧的距离测定传感器72被配置于左侧的前方顶部23,朝向本体20的左斜前方输出光。 Measured from the left side of the sensor 72 is arranged on top of the left front 23, left diagonally forward toward the body 20 of the output light. 根据这种结构,能够在自主行走型吸尘器10转动时检测最接近本体20的轮廓的周围的物体与本体20的距离。 According to such a configuration, the object can be detected from the body closest to the body 20 around the contour 20 upon rotation of the automatically traveling cleaner 10 type.

[0089] 如图2所示,多个地面检测传感器74例如配置在与驱动单元30相比靠本体20的前方侧和后方侧的位置。 [0089] As shown in FIG. 2, for example, a plurality of ground detection sensor 74 disposed at a front side and a rear side position compared to the drive unit 30 against the body 20.

[°09°] 接着,对电源单元80进行说明。 [° 09 °] Next, the power supply unit 80 will be described.

[0091]自主行走型吸尘器10还具有向驱动单元30、清扫单元40、抽吸单元50、障碍物检测传感器71、距离测定传感器72、碰撞检测传感器73以及地面检测传感器74供给电力的电源单元80。 [0091] automatically traveling cleaner 10 further includes a type 40, the suction unit to the driving unit 30, cleaning unit 50, the obstacle detection sensor 71, the distance measuring sensor 72, power supply 80 of the power unit 73 and the ground collision detection sensor 74 detecting sensor . 电源单元80配置在与自主行走型吸尘器10的重心G相比靠本体20的后方侧的位置,并且配置在与抽吸单元50相比靠本体20的后方侧的位置,该电源单元80具有电源壳81等多个部件。 The power supply unit 80 disposed in the suction unit 50 as compared with a position on the rear side of the body 20, which has a power supply unit 80 on the rear side of the body 20 as compared to the position of the center of gravity G of the automatically traveling cleaner 10 type, and is disposed housing 81 and other components. 根据本实施方式,电源单元80具有安装于下部单元100的电源壳81、收容在电源壳81内的蓄电池82以及对从电源单元80向上述各部件的电力的供给和停止进行切换的主开关83。 According to the present embodiment, the power supply unit 80 having attached to the lower unit power shell 81 100, housed battery within the power source case 81, 82 and the main switch 80 is switched from the power unit to supply power to the respective parts and stop 83 . 对于蓄电池82,例如使用二次电池。 For the battery 82, for example using a secondary battery.

[0092] 接着,对由控制单元70控制自主行走型吸尘器10的控制方法进行说明。 [0092] Next, a control method of controlling the autonomous running type vacuum cleaner 70 by the control unit 10 will be described.

[0093]图3是表示自主行走型吸尘器10的电气系统的功能的框图。 [0093] FIG. 3 is a functional block diagram of an automatically traveling cleaner type of electrical system 10.

[0094] 控制单元70在本体20的内部被配置在电源单元80 (参照图1和图2)上,且与电源单元80电连接。 [0094] The control unit 70 is arranged on the power supply unit 80 (see FIG. 1 and FIG. 2) in the interior of the body 20 and is connected to the power supply unit 80. 控制单元70还与障碍物检测传感器71、距离测定传感器72、碰撞检测传感器73、地面检测传感器74、一对行走用电动机31、刷驱动电动机41以及电动风扇51电连接。 The control unit 70 further obstacle detection sensor 71, the distance measuring sensor 72, the collision detection sensor 73, the floor detection sensor 74, the pair of the moving electric motor 31, brush drive motor 41 and the motor fan 51 is electrically connected.

[0095] 控制单元70基于从障碍物检测传感器71输入的检测信号来判定在与本体20相比靠前方侧的规定范围内是否存在可能妨碍自主行走型吸尘器10的行走的物体。 [0095] The control unit 70 based on the obstacle detection sensor 71 detects the signal inputted from the object to determine whether there may hinder the traveling autonomous vacuum cleaner 10 is traveling in the predetermined range compared to the body 20 on the front side. 控制单元70基于从距离测定传感器72输入的检测信号来运算本体20的前方顶部23的周围存在的物体与本体20的轮廓的距离。 The control unit 70 based on the detection signal from the distance measuring sensor 72 is input to the operational top body 20 from the front contour 23 of an object existing around the body 20.

[0096] 控制单元70基于从碰撞检测传感器73输入的检测信号来判定本体20是否碰撞到周围的物体。 [0096] The control unit 70 detects an input signal 73 from a collision detection sensor determines whether or not the main body 20 collides with surrounding objects based. 控制单元70基于从地面检测传感器74输入的检测信号来判定在本体20的下方是否存在清扫对象区域的清扫面。 The control unit 70 based on the detection signal inputted from the surface detection sensor 74 to determine whether there cleaning surface of the cleaning area below the body 20.

[0097] 控制单元70使用上述判定和运算的结果中的一个或多个结果来控制行走用电动机31、刷驱动电动机41以及电动风扇51,使得利用自主行走型吸尘器10清扫对象区域的清扫面。 One or more of Results [0097] The control unit 70 uses the determination and calculation of the moving electric motor 31 is controlled, the brush drive motor 41 and the electric fan 51, so that the use of cleaning surface cleaned automatically traveling cleaner 10 type target region.

[0098]图4是表示以往的自主行走型吸尘器900的动作的俯视图。 [0098] FIG. 4 is a plan view showing an operation of a conventional self-running type of the cleaner 900.

[0099] 在图4中,作为清扫的对象区域的房间RX例如具有由第一墙壁Rl和第二墙壁R2形成的角落R3。 [0099] In FIG. 4, the corner of the room as R3 RX target area cleaned for example formed by a first wall and a second wall Rl R2. 根据图3等中图示的例子,角落R3大致是直角。 According to the example illustrated in FIG. 3 and the like, R3 is substantially a right angle corner. 自主行走型吸尘器900在到达角落R3时不能覆盖角落R3的前端部分R4。 Automatically traveling cleaner type corner 900 on the arrival R3 R3 can not cover the front end corner portion R4. 因此,在自主行走型吸尘器900的吸入口910与前端部分R4之间形成比较大的间隔。 Thus, a relatively large spacing between the autonomous running type vacuum cleaner suction port 900 and distal portion 910 R4. 此外,在自主行走型吸尘器900中搭载有边刷的情况下,能够利用边刷扫出存在于前端部分R4的垃圾。 Further, in the autonomous running type vacuum cleaner 900 mounted in a case where the side brush, the side brush can be utilized in the present sweep out garbage tip portion R4. 但是,存在于前端部分R4的垃圾在通过边刷的旋转力被扫出的同时向周围扩散,因此能够从设置于远离前端部分R4的位置的吸入口910直接抽吸的垃圾仅限于存在于前端部分R4的垃圾的一部分。 However, the front end portion of garbage R4 is diffused around the rotational force while the side brush is swept out, it is possible to present to the tip from a distal end portion disposed at a position remote from the inlet port 910 of R4 direct aspiration of waste only a portion of the waste portion R4.

[0100] 接着,对本实施方式的自主行走型吸尘器10清扫角落R3时的动作进行说明。 [0100] Next, an operation when the self-running type R3 of the cleaner 10 according to the present embodiment will be described cleaning corners.

[0101]图5〜图7是用于说明本实施方式的自主行走型吸尘器10清扫角落R3的动作的俯视图。 [0101] FIG -5 to FIG. 7 is a plan view for explaining the operation of the embodiment according to the present embodiment automatically traveling vacuum cleaner 10 for cleaning corners R3.

[0102] 控制单元70例如通过使自主行走型吸尘器10如下那样行走来清扫房间RX的角落R3。 [0102] The control unit 70 to clean a corner, for example, by reacting R3 RX room autonomous running type traveling cleaner 10 as described below. 即,如图5所示,控制单元70—边使本体20采取正对第一墙壁Rl的姿势,一边使自主行走型吸尘器10沿着第二墙壁R2向第一墙壁Rl前进。 That is, as shown in FIG. 5, the control unit 70 side of the main body 20 to take the normal posture of the first wall Rl, so that while automatically traveling cleaner 10 advances to the first type wall along a second wall Rl R2. 此时,自主行走型吸尘器10—边维持使一侧的前方顶部23接触到第二墙壁R2或与第二墙壁R2接近到等同于接触的程度的状态一边行走。 In this case, an automatically traveling cleaner type 10- maintained so that the top edge of the front side wall 23 contacts the second wall of the second proximity R2 or R2 identical to the extent of the contact state while traveling.

[0103] 如图6所示,当本体20的前表面21接触到第一墙壁Rl或与第一墙壁Rl接近到等同于接触的程度时,控制单元70在该位置处使自主行走型吸尘器10暂时停止。 [0103] As shown in FIG. 6, the front surface of the body 20 when the contact 21 of the first wall to the first wall Rl Rl or close to the same extent as the contact time, the control unit 70 causes the traveling autonomous vacuum cleaner 10 at the position temporary stop. 此时,前方顶部23的一部分覆盖角落R3的前端部分R4的一部分。 In this case, the front top portion 23 covers a portion of the front end corner portion of R3 and R4. 这样,与以往的自主行走型吸尘器900 (参照图4)最大限度地接近角落R3的情况相比,本实施方式的自主行走型吸尘器10的本体20的吸入口101更加接近角落R3的前端部分R4。 Thus, the conventional self running type vacuum cleaner 900 (refer to FIG. 4) near the corner where R3 compared to the maximum, the body automatically traveling cleaner type embodiment 10 of the present embodiment the suction port 20 closer to the corner 101 of the front end portion R3 R4 .

[0104] 接着,如图7所示,控制单元70使自主行走型吸尘器10反复执行以下动作:以使前表面21接触第一墙壁Rl的方式进行转动和以使右侧的侧面22接触第二墙壁R2的方式进行转动。 [0104] Next, as shown in FIG, 7 the control unit 70 customize the type of traveling cleaner 10 repeatedly executes the following actions: to front surface 21 in contact with the first wall Rl manner and be rotated so that the right side surface of the second contacts 22 R2 walls way rotation. 因此,利用由于前表面21与第一墙壁Rl的接触而作用于本体20的反作用力以及由于侧面22与第二墙壁R2的接触而作用于本体20的反作用力来使自主行走型吸尘器10—边改变重心G的位置一边向左方向转动。 Accordingly, since the use of the contact 21 and the first surface of the front wall Rl is a reaction force acting on the body 20 and due to contact a side wall 22 and the second reaction force R2 acting on the body 20 of the vacuum cleaner to enable autonomous running edge 10- changing the position of the center of gravity G while rotating in the left direction. 该转动动作是与勒洛三角形形成四边形的轨迹时的动作的一部分动作相同的动作。 Part of the same operation as the operation of the operation when rotational operation is formed with a quadrilateral locus Reuleaux triangle.

[0105]自主行走型吸尘器10从正对第一墙壁Rl的状态起转动规定的角度,由此如图7所示那样,右侧的前方顶部23指向角落R3的顶点或其附近,形成前方顶部23最接近角落R3的顶点的状态。 [0105] predetermined angle from the state of the first wall facing the rotary Rl automatically traveling cleaner 10 type, whereby as shown, the right front top or apex point 23 near the corners of R3 in FIG. 7, the front top forming state of vertex closest to the corner 23 of R3. 此时,本体20覆盖前端部分R4的比较广的范围。 At this time, the body 20 covers the front end portion of a relatively wide range R4. 另外,如上所述,吸入口101设置在由两个前方顶部23限定的本体20的最大宽度的附近,因此本体20的吸入口101与角落R3的前端部分R4的距离比以往的自主行走型吸尘器900 (参照图4)最大限度地接近角落R3的情况下的吸入口910与角落R3的前端部分R4的距离短。 As described above, the suction port 101 is provided near the maximum width defined by the tops of the two front 23 of the body 20, so the suction port body 20 from the corner of the front end portion 101 of the R3 R4 cleaner than conventional autonomous running type in the case where the suction port 900 (see FIG. 4) close to the maximum corner of the front end portion a short distance R3 R4 R3 910 and the corner.

[0106] 根据这种结构,能够更加可靠地从吸入口101直接吸入角落R3的前端部分R4存在的垃圾,与以往的自主行走型吸尘器900相比能够提高自主行走型吸尘器10的角落清扫能力。 [0106] According to such a configuration, it is possible to more reliably sucked directly from the suction port 101 of the front end portion of the presence R3 R4 corner garbage conventional autonomous running type vacuum cleaner 900 can be improved corner autonomous running type cleaning ability of the cleaner 10 is compared.

[0107] 关于本实施方式的自主行走型吸尘器10的这种角落清扫能力,还能够如下那样进行说明。 [0107] For the embodiment according to the present embodiment automatically traveling cleaner type cleaning power of this corner 10, it can also be described as follows. 根据本实施方式的自主行走型吸尘器10,如上所述,前表面21的切线LI与两个侧面22的切线L2、L3所成的角均是锐角。 The autonomous running type vacuum cleaner 10 according to the present embodiment, as described above, the front surface and the tangent of the tangent line L2 LI 21 two sides 22, L3 are formed by an acute angle. 因此,在自主行走型吸尘器10位于清扫的对象区域的角落R3的情况下,能够当场进行转动,并相对于角落R3采取多种姿势。 Thus, in the case where the corner of an automatically traveling cleaner 10 is located type cleaning target region R3 can be rotated on the spot, and with respect to the corner R3 take various postures. 该姿势例如包括本体20的前方顶部23指向包括清扫的对象区域的角落R3的顶点在内的前端部分R4或其附近的姿势。 For example, the gesture includes a front body 20 comprises a top apex point 23 of the corner R3 cleaning target region including the vicinity of the front end portion or R4 position.

[0108]与以往的具有圆形的本体的自主行走型吸尘器900最大限度地接近清扫对象区域的角落R3的情况相比,在自主行走型吸尘器10采取这种姿势的情况下,本体20的轮廓更加接近角落R3的顶点,本体20的吸入口101也更加接近角落R3的顶点。 Compared with the case [0108] Independent travel of the conventional vacuum cleaner having a circular body 900 to maximize the proximity of the corner of the cleaning region R3, in the case of an automatically traveling cleaner 10 to take such a posture type, the profile body 20 suction port 101 closer to the apex of the corner of R3, the body 20 is also closer to the apex of the corner R3. 因此,本体20能够更加可靠地从吸入口101直接吸入角落R3的清扫面上存在的垃圾。 Thus, the body 20 can be more reliably cleaning the suction surface corner presence R3 waste directly from the suction port 101. 即,与以往的具有圆形的本体的自主行走型吸尘器900相比,根据本实施方式的自主行走型吸尘器10的结构,能够更加可靠地从吸入口1I直接吸入清扫对象区域的角落R3存在的垃圾。 That is, compared with the conventional self-running type vacuum cleaner having a circular body 900, the structure of the present embodiment automatically traveling cleaner of the type of embodiment 10, suction can be more reliably the cleaning area from the suction port 1I present in R3 corner Rubbish.

[0109] 并且,自主行走型吸尘器10在采取本体20的前方顶部23指向包括角落R3的顶点在内的前端部分R4或其附近的姿势的情况下,能够当场进行旋转来进行方向转换。 [0109] Further, the automatically traveling cleaner 10 taking front type top point 23 of the body 20 of the leading end portion of R4 or near the apex of the gesture comprises at the inner corner of R3, can be performed on the spot by changing the direction of rotation. 因此,在从清扫对象区域的角落R3向其它场所移动时,如以往的具有D型本体的自主行走型吸尘器那样移动时受到制约的可能性低。 Thus, the possibility of moving from the corner of the cleaning region R3 to other places, such as when a constrained mobile autonomous running type as a conventional D-type vacuum cleaner having a lower body. 即,与以往的具有D型本体的自主行走型吸尘器相比,根据本实施方式的自主行走型吸尘器10的结构,能够迅速地从角落R3向其它场所移动。 That is, compared with the conventional self-running type D-type vacuum cleaner having a body, according to the structure type automatically traveling cleaner 10 of the present embodiment can be rapidly moved from the corner of R3 to other places.

[0110] 根据本实施方式的自主行走型吸尘器10,还能够获得以下效果。 [0110] The autonomous running type vacuum cleaner 10 according to the present embodiment, the following effects can also be obtained.

[0111] (I)本实施方式的自主行走型吸尘器10的吸入口101设置在本体20的最大宽度线W的附近。 [0111] (I) autonomous running type vacuum cleaner according to the present embodiment, the suction port 10 is provided in the vicinity of 101 W, the maximum width of a line of the body 20. 根据这种结构,即使在将吸入口101的长边方向的宽度设定为比驱动单元30间的间隔窄的情况下,也能够与以往的自主行走型吸尘器900相比更加可靠地从吸入口101直接抽吸垃圾,并能够抽吸更多的垃圾。 According to this structure, even when the width of the suction port 101 of the longitudinal direction is set to be narrower than a case where the interval between the drive unit 30 can be compared with the conventional self-running type vacuum cleaner 900 from the suction port more reliably 101 direct suction garbage, and capable of drawing more junk.

[0112] 另外,根据本实施方式的自主行走型吸尘器10,将吸入口101的长边方向的宽度设定为比驱动单元30间的间隔宽。 [0112] Further, autonomous running type vacuum cleaner according to embodiment 10 of the present embodiment, the suction port 101 in the longitudinal direction is set wider than the width of the spacing between the drive unit 30. 根据这种结构,与吸入口101的宽度比驱动单元30间的间隔窄的结构相比,能够从吸入口101直接抽吸更多的垃圾。 According to such a configuration, compared to the width of the suction opening 101 narrower than the spacing between the drive unit structures 30, garbage can be sucked more from the suction port 101. 由此,将吸入口101的宽度设置为比驱动单元30间的间隔宽的结构更为理想。 Thus, the width of the suction port 101 is set to be wider than the interval between the drive unit 30 is a structure more preferable.

[0113] (2)本实施方式的自主行走型吸尘器10的吸入口101设置在本体20的最大宽度线W的附近。 [0113] (2) traveling autonomous vacuum cleaner according to the present embodiment, the suction port 10 is provided in the vicinity of 101 W, the maximum width of a line of the body 20. 根据这种结构,即使在吸入口101形成在驱动单元30之间的情况下,也能够与以往的自主行走型吸尘器900相比更加可靠地从吸入口101直接抽吸角落R3的前端部分R4的垃圾。 According to this structure, even when the suction port 101 is formed in the case 30 between the drive unit, it can be compared with the conventional self-running type vacuum cleaner 900 more surely sucked from the suction port directly leading end corner portion 101 of the R4 R3 Rubbish.

[0114] 另外,根据本实施方式的自主行走型吸尘器10,吸入口101形成在与驱动单元30相比靠本体20的前方侧的位置,优选形成在本体20的最大宽度线W的附近,更优选形成在尽量靠近本体20的前表面21的位置处的本体20的最大宽度部分的附近。 [0114] Further, autonomous running type vacuum cleaner according to embodiment 10 of the present embodiment, the suction port 101 is formed on the front side of the body 20 compared with the position of the drive unit 30, preferably formed in the vicinity of the maximum width W of the line main body 20, and more preferably formed in the vicinity of the maximum width portion of the body at a position as close to the front surface of the body 21 of the 20. 根据这种结构,与吸入口101形成在驱动单元30之间的情况下的结构相比,当自主行走型吸尘器10接近墙壁时,吸入口101更加接近墙壁。 According to such a configuration, the suction port 101 is formed in the structure in the case of comparison between the drive unit 30, when the automatically traveling cleaner 10 close to the wall type, the suction port 101 closer to the wall.

[0115]由此,吸入口 101形成在与驱动单元30相比靠本体20的前方侧的位置,优选形成在本体20的最大宽度线W的附近,更优选形成在尽量靠近本体20的前表面21的位置处的本体20的最大宽度部分的附近,根据这种结构,能够更加可靠地从吸入口101直接抽吸垃圾。 [0115] Accordingly, as compared to the suction port 101 is formed on the front side of the body 20 and the position of the drive unit 30, preferably formed in the vicinity of the maximum width W of the line main body 20, and more preferably formed as close to the front surface of the body 20 near the maximum width portion of the body 20 at position 21, according to such a configuration, it is possible to more reliably sucked directly from the suction port 101 garbage.

[0116] (3)根据本实施方式的自主行走型吸尘器10,本体20的最大宽度由各前方顶部23限定。 [0116] (3) defined by the maximum width of the front apex portion 23 automatically traveling cleaner type embodiment 10 of the present embodiment, the body 20. 即,本体20的最大宽度由右侧的前方顶部23的顶点与左侧的前方顶部23的顶点的距离决定。 That is, the maximum width of the body 20 is determined by the distance from the apex of the top front left vertex of the top 23 of the front right 23.

[0117] 另外,根据自主行走型吸尘器10,本体20的后部的宽度比本体20的前部的宽度窄。 [0117] Further, according to the width of the rear portion 20 of the body 10 of the autonomous running type cleaner narrower than the front portion of the body 20. 即,以自主行走型吸尘器10的重心G为基准,后部的本体20的宽度比前部的本体20的宽度窄,其中,后部是与重心G相比靠本体20的后方侧的部分,前部是与重心G相比靠本体20的前方侧的部分。 That is, the autonomous running type of gravity G of the cleaner 10 as a reference, the rear portion of the width of the body 20 is narrower than the front portion 20 of the main body, wherein the rear part of the center of gravity is compared against the rear side of the body 20 G, the front portion of the front side is compared against the body 20 with the center of gravity G portion.

[0118] 根据这种结构,当在周围存在物体的场所进行转动时,本体20的后部接触该物体的风险降低,自主行走型吸尘器10能够更加迅速地移动,因此能够提高自主行走型吸尘器10的灵活性。 [0118] According to this structure, when the place object is rotated around the presence of, the rear body 20 contacts the object to reduce the risk, self running type vacuum cleaner 10 can be moved more quickly, it is possible to improve the traveling autonomous vacuum cleaner 10 flexibility.

[0119] (4)本实施方式的自主行走型吸尘器10还能够应用转向型的驱动方式。 [0119] (4) automatically traveling cleaner type embodiment 10 of the present embodiment can also be applied steering type driving method. 另一方面,本实施方式的自主行走型吸尘器10还能够如上所述那样应用对置双轮式的驱动方式。 On the other hand, self-running type cleaner 10 of the present embodiment can also be applied as the drive wheel formula opposed manner described above. 根据应用了对置双轮式的驱动方式的结构,与转向型的驱动方式相比能够使构造简化。 The application of the opposite wheel-type structure driving method, as compared with a steering-type driving method enables a simplified structure. 基于这一点,应用了对置双轮式的驱动方式的结构更为理想。 Based on this, a configuration application over the others opposed type wheel drive system.

[0120] (5)在本实施方式的自主行走型吸尘器10中,各驱动单元30的旋转轴H与自主行走型吸尘器10的重心G的位置关系是决定本体20的可动轨迹的主要因素之一。 [0120] (5) In the autonomous running type vacuum cleaner according to the present embodiment 10, the positional relationship between the center of gravity of each driving unit rotating axis H and self running type cleaner 30 10 G is a major factor in the decision to the movable track body 20 One. 自主行走型吸尘器10可以构成为驱动单元30的旋转轴H存在于与自主行走型吸尘器10的重心G相比靠本体20的后方侧的位置。 Automatically traveling cleaner 10 can be configured as a type G compared against the rear side of the center of gravity of the body 20 of the automatically traveling cleaner 10 type rotational shaft driving means is present in the H 30. 在这种结构的情况下,自主行走型吸尘器10易于利用与周围的物体的接触来形成一边改变自身的重心G在清扫对象区域内的位置一边转动的动作。 In the case of this configuration, an automatically traveling cleaner 10 is easy to use type while changing its center of gravity G in the region of the cleaning operation while rotating to the position of the contact is formed around the object. 因此,自主行走型吸尘器10能够利用本体20适当地形成上述勒洛三角形所描绘的四边形的轨迹的至少一部分,能够提高角落清扫能力。 Thus, the automatically traveling cleaner 10 type body 20 can be suitably formed using a quadrilateral locus Reuleaux triangle as depicted above at least part of the corner can be improved cleaning power.

[0121](实施方式2) [0121] (Embodiment 2)

[0122]图8是本发明的实施方式2的自主行走型吸尘器10的俯视图。 [0122] FIG. 8 is an embodiment of the present invention automatically traveling cleaner type 2 is a plan view of FIG. 10. 图9是本发明的实施方式2的自主行走型吸尘器的仰视图。 9 is an embodiment of the present invention automatically traveling cleaner type bottom 2 of FIG.

[0123] 本实施方式的自主行走型吸尘器10还具有在实施方式I中没有明示的以下结构。 [0123] Independent travel of the vacuum cleaner according to the present embodiment has a structure in embodiment 10 further embodiments of formula I is not in the explicit. 此外,在本实施方式的说明中附加有与实施方式I相同的附图标记的部件具有与实施方式I的对应部件相同或相似的功能。 In the description of the present embodiment has an additional embodiment embodiment the same reference numerals I have the same or similar components as in embodiment I corresponding member function.

[0124] 如图9所示,清扫单元40还具有边刷44和齿轮箱42,其中,该边刷44配置在本体20的下部单元100的底面侧,该齿轮箱42配置在吸入口101的左右。 [0124] As shown in FIG. 9, the cleaning unit 40 further includes a side brush 44 and a gear box 42, wherein the side brushes 44 arranged on the bottom side of the lower unit 100 of the main body 20, the gear box 42 is disposed in the suction port 101 about. 在本实施方式中,在本体20的下部单元100的底面侧,在左右两侧各设置有一个边刷44。 In the present embodiment, the bottom side of the lower portion 100 of the unit body 20, provided at each of left and right sides 44 there is a side brush.

[0125] 一侧(本体20的俯视图中的右侧)的齿轮箱42与刷驱动电动机41的输出轴、主刷43以及一侧的边刷44连接,将刷驱动电动机41的转矩传递到主刷43和一侧的边刷44。 [0125] (right side plan view of the body 20) of the gear case 42 and the output shaft of the brush drive motor 41, the main brush 43 and the brush 44 connected to the side edges, the torque of the brush drive motor 41 is transmitted to the main brush 43 and the side 44 of the side brush. 另一侧(本体20的俯视图中的左侧)的齿轮箱42与主刷43和另一侧的边刷44连接,将主刷43的转矩传递到另一侧的边刷44。 The other side (left side plan view of the body 20) of the gear box 42 is connected to the main brush 44 and the brush 43 of the other side edge of the main brush 43 is the torque transmitted to the other side 44 of the side brush.

[0126] 在本实施方式中,一对边刷44各自具有分别安装于本体20的两个前方顶部23的刷轴44A和安装于刷轴44A的多个刷毛束44B。 [0126] In the present embodiment, a pair of sides each having a brush 44 brush shaft 23 are mounted on the top of the body 20 in front of two of the plurality of 44A and 44A is mounted on the bristle bundle brush shaft 44B. 关于边刷44相对于本体20的位置,能够将垃圾收集到吸入口101的边刷44的旋转轨迹(指边刷44旋转一次所描绘的圆形轨迹。以下相同。)边刷44的旋转轨迹的一部分位于本体20的最大宽度部分。 About 44 side with respect to the brush body 20, garbage collection can be to the suction port 44 side of the brush rotation locus 101 (refer side brush 44 rotates a circular locus depicted hereinafter the same) side of the brush rotation locus 44 the maximum width portion of the body portion 20. 根据本实施方式,安装于各刷轴44A的刷毛束44B的个数为三个,各刷毛束44B以固定的角度间隔安装于刷轴44A。 According to the present embodiment, the number attached to each tuft of brush shaft 44A 44B is three, each bristle bundles 44B at fixed angular intervals attached to the brush shaft 44A.

[0127] 各刷轴44A具有沿着与本体20的高度方向相同或大致相同的方向延伸的旋转轴,且以能够相对于本体20旋转的方式被本体20支承,各刷轴44A配置在与吸入口101的长边方向的中心线相比靠本体20的前方侧的位置。 [0127] Each brush shaft having a rotary shaft 44A extending in the same direction of the height of the body 20 or substantially the same direction and to be capable of rotating relative to the body 20 of the support body 20 manner, each of the brush shaft 44A disposed at the suction the center line of the longitudinal direction of the port 101 as compared to the position on the front side of the body 20.

[0128] 刷毛束44B由多个刷毛构成,刷毛束44B以沿着与各刷轴44A的径向相同或大致相同的方向延伸的方式固定于刷轴44A。 [0128] 44B bristle bundle composed of a plurality of bristles, bristle bundles 44B so as to extend along the same radial direction of each brush shaft 44A or substantially the same direction as the axis 44A is fixed to the brush. 根据本实施方式,各刷毛束44B的长度被设定为各刷毛束44B的前端与本体20的轮廓相比向外侧突出的长度。 According to the present embodiment, the length of each bristle bundles 44B is set to a beam profile of each bristle tip end 44B of the body 20 protrudes outward as compared with the length.

[0129]如利用图8的箭头AS所示那样,各边刷44的旋转方向被设定为使边刷44的旋转轨迹在本体20的宽度方向的中心侧从本体20的前方朝向后方的方向。 [0129] The use of AS 8 as an arrow, the direction of rotation of each of the side brush shown in FIG. 44 is set so that the side brush 44 rotating in the center of the track in the width direction of the body 20 from the front toward the rear direction of the body 20 . 即,各边刷44向彼此相反的方向旋转。 That is, each of the side brush 44 is rotated in the opposite directions to each other. 在本实施方式中,在一个边刷44的旋转轨迹中的与另一个边刷44的旋转轨迹接近的部分,各边刷44从本体20的前方朝向后方旋转。 In the present embodiment, the rotation locus of a side brush 44 in rotation trajectory 44 close to the other edge portion of the brush, each of the side brush 44 rotating toward the rear from the front body 20.

[0130] 根据本实施方式的自主行走型吸尘器10,除了由上述实施方式I的自主行走型吸尘器10获得的⑴〜⑶的效果以外,还能够获得以下效果。 [0130] The autonomous running type vacuum cleaner 10 according to the present embodiment, in addition to the effects obtained by the embodiment 10 of the self-running type I ⑴~⑶ cleaner, but also the following effects can be obtained.

[0131] (6)本实施方式的自主行走型吸尘器10具有边刷44。 [0131] (6) automatically traveling cleaner type embodiment 10 of the present embodiment has a side brush 44. 根据这种结构,能够利用边刷44将清扫对象区域的角落R3 (参照图5〜7)存在的垃圾收集到本体20的吸入口101,因此能够进一步提高自主行走型吸尘器10的角落清扫能力。 According to such a configuration, the side brush 44 by using the cleaning corner region R3 (see FIG. 5 ~ 7) the presence of garbage collection 101 to the suction port body 20 can be further improved corner autonomous running type cleaning ability of the cleaner 10.

[0132] (J)本实施方式的自主行走型吸尘器10的边刷44分别安装于本体20的两个前方顶部23的底面侧。 Automatically traveling cleaner type [0132] (J) according to the present embodiment, the side brush 44 are attached to the bottom side of the two front top body 20 10 23. 根据这种结构,与以往的自主行走型吸尘器900相比,能够使边刷44的刷轴44A更加接近角落R3的顶点。 According to this structure, compared with the conventional autonomous running type vacuum cleaner 900, enabling the side brush 44 of the brush shaft 44A closer to the apex of the corner R3. 因此,能够进一步提高自主行走型吸尘器10的角落清扫能力。 Accordingly, the cleaning ability can be further improved corner automatically traveling cleaner 10 type.

[0133] ⑶根据本实施方式的自主行走型吸尘器10,两个边刷44向彼此相反的方向旋转。 [0133] ⑶ autonomous running type vacuum cleaner according to the embodiment 10 of the present embodiment, two side brushes 44 rotate in the opposite directions to each other. 在一个边刷44的旋转轨迹中的与另一个边刷44的旋转轨迹接近的部分,各边刷44从本体20的前方朝向后方旋转。 In a side brush 44 rotating in the other side of the trajectory of the brush rotation locus 44 near a portion 44 of each side brush rotation toward the rear from the front body 20. 根据这种结构,能够利用边刷44将垃圾从本体20的前方侧收集到吸入口101,因此例如与将垃圾从吸入口101的侧方附近收集到吸入口101的情况相比,垃圾易于被吸入口101吸入。 According to such a configuration, it is possible to use the garbage collector side brush 44 from the front side of the body 20 to the suction port 101, for example, as compared with the garbage collection from the vicinity of the side where the suction port 101 to the suction port 101, the garbage readily suction port 101 inhalation. 因此,能够有效地去除角落R3的清扫面上存在的垃圾。 Accordingly, it is possible to effectively remove the cleaning surface of the corner R3 presence garbage.

[0134] (9)根据以往的具有边刷的自主行走型吸尘器,为了将角落R3的清扫面上存在的垃圾收集到本体20的吸入口101,考虑需要将刷毛束的长度设定得较长。 [0134] (9) According to a conventional autonomous running type cleaner having a side brush, for cleaning the surface of the corner R3 presence of garbage collection 101 to the suction port body 20, need to consider the length of the bristle bundle set longer . 但是,在将刷毛束的长度设定得较长的情况下,在自主行走型吸尘器行走时刷毛束钩挂周围的物体的风险变尚O However, when the length of the bristle bundle set longer case, when the automatically traveling cleaner traveling tuft risk type hook around the object becomes still O

[0135] 另一方面,本实施方式的自主行走型吸尘器10的边刷44分别设置于本体20的两个前方顶部23。 [0135] On the other hand, self-running type vacuum cleaner according to the present embodiment, the side brush 4410 is provided at the top are two front 23 of the body 20. 根据这种结构,能够使本体20的吸入口101更加接近角落R3的前端部分R4,因此不需要将刷毛束的长度设定得较长,能够将刷毛束44B的长度设定为比较短的长度。 According to such a configuration, the suction port body 20 of the distal portion 101 closer to the corner of R4 R3, it is not necessary to set the length of the longer tufts of bristles, bristle bundles can be of relatively short length set 44B . 由此,能够降低刷毛束44B钩挂周围的物体的风险。 This reduces the risk of the bristle bundles 44B hooked around the object.

[0136] (10)根据以往的具有边刷的自主行走型吸尘器,随着刷毛束的长度变长,在刷毛束使垃圾移动时刷毛束容易弯曲。 [0136] (10) according to a conventional autonomous running type cleaner having a side brush, as the increase in the length of the bristle bundles, bristle tuft bundles garbage moved easily bent. 而且,在刷毛束大幅弯曲的情况下,刷毛束可能无法使垃圾恰当地移动到本体的吸入口。 Further, in the case of deeply curved bristle bundles, bristle bundles so that the garbage may not be appropriately moved to the suction port body.

[0137] 另一方面,本实施方式的自主行走型吸尘器10能够如上所述那样将刷毛束44B的长度设定得比较短。 [0137] On the other hand, self-running type embodiment according to the present embodiment as described above, the cleaner 10 can be the length of the bristle bundles 44B is set relatively short. 由于能够将刷毛束44B的长度设定为这种比较短的长度,因此刷毛束44B的弯曲量变小。 Since the length of the bristle bundles 44B is set to such a relatively short length, the bristle bundles 44B of the bending becomes small. 因此,能够利用刷毛束44B将角落R3存在的垃圾更加可靠地收集到吸入 Accordingly, it is possible to use the presence of tufts of bristles 44B corners R3 garbage collection to be more reliably sucked

PlOlo PlOlo

[0138](实施方式3) [0138] (Embodiment 3)

[0139]图10是本发明的实施方式3的自主行走型吸尘器10的立体图。 [0139] FIG. 10 is an embodiment of the present invention is self running type 3 is a perspective view of the vacuum cleaner 10. 本实施方式的自主行走型吸尘器10还具有在实施方式2中没有明示的以下结构。 Autonomous running type vacuum cleaner 10 according to the present embodiment further has the structure in Embodiment 2 does not express. 此外,在实施方式3的说明中附加有与实施方式2相同的附图标记的部件具有与实施方式2的对应部件相同或相似的功會K。 In the description of the third embodiment additionally has the same reference numerals member according to Embodiment 2 has the same or similar to corresponding components of the embodiment 2 will work K.

[0140] 图10所示的自主行走型吸尘器10更加具体地示出了图1〜图9示出的自主行走型吸尘器10。 [0140] autonomous running type vacuum cleaner 10 shown in FIG. 10 shows more particularly FIG. 1 ~ FIG. 9 shows the automatically traveling cleaner 10 type. 如图11所示,本体20的各前方顶部23和后方顶部24分别具有R形状(圆弧R)。 As shown in FIG. 11, each of the front top portion of the body 20 of the top 23 and rear 24 have an R-shape (circular arc R). 上部单元200具有将本体20的内部的空间与外部相连通的多个排气口211、形成于盖220的前方侧的凹部214、作为配置于凹部214的通信部的受光部212以及用于打开盖220的盖按钮213。 The upper unit 200 has a plurality of vents the space inside the body 20 connected to the outside through 211, forming recesses in the cover front 220 of side 214, as the light receiving unit of the communication unit is disposed in the recess 214, 212 for opening cover 220 of the cover button 213. 例如沿着盖220的边缘并排地形成多个排气口211。 For example, a plurality of parallel exhaust ports 211 are formed along an edge of the cover 220.

[0141] 受光部212接收从对自主行走型吸尘器10进行充电的充电台(省略图示)输出的信号或从用于操作自主行走型吸尘器10的遥控器(省略图示)输出的信号。 [0141] signal from the light receiving portion 212 (not shown) output from the charging station 10 for automatically traveling cleaner type charging or from a signal for operating the automatically traveling cleaner type remote controller 10 (not shown) outputs. 受光部212在接收到信号时将与该信号对应的受光信号输出到控制单元70 (参照图9和图15)。 A light receiving portion 212 upon receiving signal to a light signal corresponding to the signal output control unit 70 (see FIG. 9 and FIG. 15). 凹部214的面215包括凹部214的边缘,凹部214的面215是以本体20的外周侧的部分比本体20的中心侧的部分低的方式倾斜。 Recess 214 includes an edge surface 215 recessed portion 214, the concave portion 214 of the surface 215 is inclined portion of the outer peripheral side of the body portion 20 is lower than the center side of the body 20 of the embodiment. 根据这种结构,凹部214能够如抛物面天线那样发挥功能,能够使受光部212的通信性提高。 According to such a configuration, the recess 214 can function as such a parabolic antenna can be made by the communication unit 212 of the light is improved.

[0142]图11是本实施方式的自主行走型吸尘器10的俯视图。 [0142] FIG. 11 is a plan view of the autonomous running type embodiment according to the present embodiment of the vacuum cleaner 10 of FIG. 在本实施方式中,自主行走型吸尘器10相对于沿本体20的前后方向(在图11中,上侧为前方,下侧为后方)延伸的中心线实质上具有线对称的形状。 In the present embodiment, the automatically traveling cleaner 10 with respect to the type of front-rear direction of the body 20 (in FIG. 11, a front upper side, the lower side of the rear) having a centerline extending in a substantially line symmetric shape. 缓冲器230具有从前方顶部23突出的一对弯曲凸部231。 Buffer 230 has a pair of curved projecting portions 231 projecting from the top of the front 23. 弯曲凸部231以仿照侧面22的R形状(圆弧R)的方式弯曲,来形成本体20的轮廓的一部分。 Convex curved shape portion 231 so as to follow the side surface 22 of R (R arc) is curved to form a part of the contour of the body 20.

[0143] 接着,对本实施方式的自主行走型吸尘器10的上部单元200进行说明。 [0143] Subsequently, autonomous running type cleaner of the present embodiment 200 of the upper unit 10 will be described.

[0144]图12是表示本实施方式的自主行走型吸尘器10的盖220打开后的状态的俯视图。 [0144] FIG. 12 is a diagram showing autonomous running type vacuum cleaner according to the present embodiment, plan view of a cover 220 after the opening 10. 上部单元200除了具有罩210、盖220以及缓冲器230以外,还具有用于配置由用户操作的部件的接口部240和用于支承集尘盒单元60的集尘盒支架250。 The upper unit 200 in addition to the cover 210, outside cover 220 and a buffer 230, further comprising a member configured by an interface portion 240 and a user operation dust box holder 60 for supporting the dust collecting unit 250 of the cartridge. 盖220具有构成盖220的铰链构造的一对臂221。 Cover 220 having a pair of arms 220 constituting the lid hinge structure 221. 如表示上部单元200的底面侧的图24和表示上部单元200的上表面侧的图25所示,上部单元200还具有用于收容臂221的一对臂收容部260。 The side view showing the bottom surface 200 of the upper unit 24 shown in FIG indicating surface side 25 of the upper unit 200, upper unit 200 further has a pair of arm receiving portion 260 for receiving the arm 221.

[0145] 如图12所示,接口部240构成罩210的一部分,通过关闭盖220来封闭接口部240 (参照图11),通过打开盖220来打开接口部240。 [0145] As shown in FIG 12, the interface unit 240 constitutes a part of the cover 210, the cover 220 is closed by closing the interface portion 240 (see FIG. 11), the interface unit 240 is opened by opening the cover 220. 根据本实施方式,接口部240具有包括操作按钮242和显示部243等的面板241,其中,该操作按钮242用于开启和关闭自主行走型吸尘器10的动作,该显示部243显示与自主行走型吸尘器10有关的信息。 According to this embodiment, the interface unit 240 having a display panel 241242 and the like section 243 includes an operation button, wherein the operation button 242 for opening and closing operation of the autonomous traveling vacuum cleaner 10, the display unit 243 displays the autonomous running type information related to the vacuum cleaner 10. 面板241还具有用于输入与自主行走型吸尘器10的动作有关的各种设定的操作按钮(未图示)。 Panel 241 further includes an operation button (not shown) and the operation input type automatically traveling cleaner 10 about the various settings. 在本实施方式中,主开关83配置于接口部240。 In the present embodiment, the main switch 83 is disposed at the interface portion 240.

[0146]图24是自主行走型吸尘器10的上部单元200的底面侧的立体图。 [0146] FIG. 24 is a perspective view of a bottom side of the upper unit automatically traveling cleaner 10 type 200.

[0147] 集尘盒支架250是向上部单元200的上表面侧开口的箱状的物体,具有向本体20的底部侧开口的底部开口251和向本体20的后方侧开口的后方开口252。 [0147] The cartridge holder 250 is the dust on the surface side of the opening of the upper unit 200 of the box-shaped body, having an open bottom side of the body 20 to the bottom of the opening 251 and the rear opening 20 toward the rear side opening of the body 252. 如图12所示,向集尘盒支架250插入集尘盒单元60。 12, the dust box 250 is inserted into the dust collecting unit 60 to the cartridge holder.

[0148] 接着,对本实施方式的自主行走型吸尘器1的下部单元100进行说明。 [0148] Subsequently, autonomous running type of the lower portion of the vacuum cleaner according to the present embodiment is a unit 100 will be described.

[0149]图13是本实施方式的自主行走型吸尘器10的仰视图。 [0149] FIG. 13 is an autonomous running type vacuum cleaner according to the present embodiment is a bottom view of FIG. 10.

[0150] 下部单元100具有形成框架的基座110以及与吸入口101的长边方向平行地配置来支承脚轮90的支承轴91。 The base 110 [0150] The lower unit 100 has a configuration forming the frame and the longitudinal direction of intake port 101 is supported parallel to the support shaft 91 of the caster 90. 基座110具有向本体20的底面侧开口且具有与电源单元80对应的形状的电源口102以及与充电台(省略图示)连接的一对充电端子103。 The base 110 has an opening toward a bottom surface side of the body 20 and having a power supply unit 80 corresponding to the shape of the supply port 102 and a charging terminal connected to a charging station (not shown) 103.

[0151] 在本实施方式中,电源口102形成在与自主行走型吸尘器10的重心G相比靠本体20的后方侧的位置,电源口102的一部分形成在一对驱动单元30之间。 [0151] In the present embodiment, the power supply port 102 formed in the center of gravity G as compared with the type automatically traveling cleaner 10 on the rear side of the position of the body 20, a part of the power supply port 102 is formed between the pair of the drive unit 30. 另外,充电端子103形成在与吸入口101相比靠本体20的前方侧的位置。 Further, the charging terminal 103 is formed on the front side compared to the position of the body 20 with the inlet port 101. 根据本实施方式,各充电端子103在基座110的底面被配置在靠前表面21侧的部分。 According to the present embodiment, each charging terminal 103 is arranged on the side portion of the front surface 21 of the bottom surface of the base 110.

[0152] 基座110还具有用于支持支承轴91的底部轴承111。 [0152] The base 110 further includes a bearing 111 for supporting a bottom 91 of the support shaft. 底部轴承111形成在与驱动单元30相比靠本体20的后方侧的位置。 The bottom of the bearing 111 is formed on the rear side compared to the position of the body 20 of the drive unit 30. 根据本实施方式,底部轴承111在基座110的底面被配置在与电源口102相比靠本体20的后方侧的后方顶部24的底面侧的位置。 According to this embodiment, the bottom of the bearing 111 is arranged on the bottom surface side than the position of the power supply port 102 at the top of the body 20 rearward of the rear side of the bottom surface 24 of the base 110.

[0153] 支承轴91以使脚轮90能够旋转的方式被插入脚轮90。 [0153] 91 so that the casters support shaft 90 is rotatably inserted into the caster 90 embodiment. 支承轴91的端部分别被压入底部轴承111。 The end portion of the support shaft 91 are respectively pressed against the bottom bearing 111. 根据这种结构,脚轮90以能够相对于基座110旋转的方式被安装。 According to this structure, the caster 90 is attached to the base 110 so as to be rotatable with respect to.

[0154] 本实施方式的自主行走型吸尘器10还具有能够由配置于充电台的霍尔元件(省略图示)检测的磁体77。 [0154] autonomous running type vacuum cleaner according to the present embodiment further includes a Hall element 10 can be charged by a magnet 77 disposed on the table (not shown) detection. 期望将磁体77配置在充电端子103的附近。 The magnet 77 is desired in the vicinity of the charging terminal 103. 根据本实施方式,磁体77与充电端子103的距离比磁体77与吸入口101的距离短。 According to the present embodiment, the magnet 77 from the charging terminal 103 and the ratio of the magnet 77 and the suction port 101 of the short distance. 根据这种结构,当自主行走型吸尘器1接近充电台时,磁体77易于被充电台检测。 According to this structure, when the automatically traveling cleaner 1 close type charging station, the charging station magnet 77 is easily detected.

[0155]图14是从侧方看到的本实施方式的自主行走型吸尘器10的图。 [0155] FIG autonomous running type vacuum cleaner 14 is seen from a side of the present embodiment 10 of the embodiment of FIG.

[0156] 根据本实施方式,主刷43沿箭头AM的方向旋转。 [0156] According to the present embodiment, the rotational direction of the main brush 43 in the direction of arrow AM. 驱动单元30的轮33的旋转轴与脚轮90的旋转轴的间隔比轮33的旋转轴与主刷43的旋转轴的间隔宽。 Wide spacing of the rotational axis 30 of the wheel 33 and the rotary shaft 90 of the drive unit caster brush 43 than the rotary shaft 33 of the main wheel axis of rotation. 根据这种结构,能够使本体20的姿势稳定。 According to this structure, the posture of the main body 20 can be stabilized.

[0157]图15是从下部单元100的正面侧看到的分解立体图。 [0157] FIG. 15 is an exploded perspective view seen from the front side of the lower unit 100.

[0158] 在下部单元100的上表面侧安装有齿轮箱42 (在本实施方式中为一对齿轮箱42)、抽吸单元50、集尘盒单元60 (参照图12)以及控制单元70。 [0158] is attached to the gear case 42 (in the present embodiment, a pair of gear box 42), the suction unit 50, the dust box unit 60 (see FIG. 12), and a control unit 70 on the surface side of the lower unit 100. 刷驱动电动机41被收容于齿轮箱 Brush driving motor 41 is accommodated in the gear box

42 (在图15中为一对齿轮箱42中的一方)。 42 (in FIG. 15 as one of the gear case 42 one pair).

[0159] 下部单元100除了具有基座110以外,还具有安装于基座110的上表面侧的刷壳170。 [0159] In addition to the lower unit 100 has a base 110, it also has a brush attached to the housing 110 of the upper surface side of the base 170. 刷壳170具有通道171,该通道171具有用于收容主刷43的空间,并且连接于集尘盒单元 Brush housing 170 having a passage 171, the passage 171 has a main brush accommodating space 43, and connected to the dust box unit

60 ο 60 ο

[0160] 根据本实施方式,风扇罩52具有配置于电动风扇51的前方侧的前方侧壳体52Α和配置于电动风扇51的后方侧的后方侧壳体52Β。 [0160] According to the present embodiment, the fan cover 52 has a front side of the electric fan is disposed at the front side of the housing 51 and arranged 52Α 52Β rear side housing 51 in the electric fan of the rear side. 通过将前方侧壳体52Α与后方侧壳体52Β互相组合来构成风扇罩52。 By the front side and the rear side of the housing case 52Α 52Β combined with each other to form the fan housing 52. 风扇罩52还具有面向集尘盒61的出口61Β(参照图17)的吸入口52C、向驱动单元30侧开口的排出口52D (参照图19)以及覆盖吸入口52C的百叶窗52Ε。 The fan housing 52 further has an outlet 61Β (see FIG. 17) of the dust box 61 facing the suction port 52C, the opening of the discharge port 30 side of the drive unit 52D (see FIG. 19) and covering the suction port 52C shutters 52Ε.

[0161]图16是本实施方式的自主行走型吸尘器10的下部单元100的底面侧的分解立体图。 [0161] FIG. 16 is an exploded perspective view of a bottom side of the self-running vacuum cleaner according to the present embodiment, the lower portion 10 of unit 100.

[0162] 在下部单元100的底面侧安装有驱动单元30、主刷43、边刷44、脚轮90、以及电源单元80 ο在本实施方式中,如图16所示,在下部单元100的底面侧,左右设置一对驱动单元30,并且还左右设置一对边刷44。 [0162] mounted on the bottom surface side of the lower unit 100 with a drive unit 30, the main brush 43, the side brush 44, casters 90, and a power supply unit 80 ο In the present embodiment, as shown in FIG. 16, the bottom surface of the lower unit 100 side, a pair of right and left drive unit 30, and further a pair of right and left sides of the brush 44. 此外,驱动单元30和边刷44的设置个数并不限于一对。 Further, the drive unit 30 is provided and the number of side brush 44 is not limited to couple. 也可以设置一个或三个以上。 You may also be provided one or three or more.

[0163] 下部单元100还具有安装于刷壳170的底面侧的刷盖180和安装于电源口102 (参照图13)的保持框架190。 [0163] The lower unit 100 further includes a brush holding frame lid 180 is attached to the bottom surface 190 of the side brush case 170 and a power source attached to port 102 (refer to FIG. 13). 保持框架190通过被固定于电源口102来与基座110相配合地保持电源单元80。 Holding frame 190 is fixed to the power supply port 102 in cooperation with base 110 holding the power supply unit 80.

[0164] 基座110和刷盖180具有用户能够任意选择将刷盖180安装于基座110的状态和从基座110卸下刷盖180的状态的装卸构造。 [0164] brush base 110 and cover 180 having a user can arbitrarily select the brush cover 180 detachably attached to the state of the base structure 110 and a state detached from the base 110 of the cover 180 of the brush.

[0165] 另外,基座110和保持框架190具有用户能够任意选择将保持框架190安装于基座110的状态和从基座110卸下保持框架190的状态的装卸构造。 [0165] Further, the base 110 and the holding frame 190 having a user can arbitrarily select the holding frame 190 is attached to the base 110 and the detached state of the state holding frame 190 is constructed detachably from the base 110.

[0166]图20是表示本实施方式的自主行走型吸尘器10的下部单元100的构造的立体图。 [0166] FIG. 20 is a perspective view showing a structure of the type automatically traveling cleaner 10 according to the present embodiment, the lower unit 100. 图21是从侧方看到的本实施方式的自主行走型吸尘器10的下部单元100的立体图。 A perspective view of a lower traveling unit 100 of the autonomous vacuum cleaner 21 is seen from a side 10 of the embodiment of the present embodiment. 图22是从正面侧看到的本实施方式的下部单元100的立体图 FIG 22 is a perspective view of the lower unit viewed from the front side 100 of the embodiment of the present embodiment

[0167] 基座110具有多个功能区域。 [0167] base 110 having a plurality of functional regions. 例如,在本实施方式中,作为多个功能区域,基座110具有驱动用部分120、清扫用部分130、集尘盒用部分140、抽吸用部分150以及电源用部分160。 For example, in the present embodiment, a plurality of functional areas, the base 110 includes a driving section 120, cleaning portion 130, a portion of the dust box 140, with the suction portion 150 and the power supply section 160.

[0168] 驱动用部分120是收容驱动单元30的功能区域,具有多个部件。 [0168] 120 is a section for driving the drive unit accommodating the functional region 30, having a plurality of members. 例如,在本实施方式中,作为多个部件,驱动用部分120具有轮罩121和弹簧钩部122,其中,该轮罩121向基座110的底面侧开口,用于收容驱动单元30,该弹簧钩部122用于钩挂构成后述的悬挂机构的悬挂弹簧36 (参照图21)。 For example, in the present embodiment, as a plurality of members, the driving portion 121 and the wheel cover 120 having a spring hook portion 122, wherein the wheel cover 121 is opened to the bottom surface side of the base 110 for accommodating the drive unit 30, the spring hook portion 122 for hanging the rear suspension mechanism spring 36 is hooked configuration described later (refer to FIG. 21). 另外,在本实施方式中,与一对驱动单元30对应地设置有一对轮罩121,还与一对悬挂弹簧36对应地设置有一对弹簧钩部122。 Further, in the present embodiment, the pair of drive units 30 are provided corresponding to a pair of wheel cover 121 further has a pair of spring hook portion 122 and a pair of suspension spring 36 correspondingly.

[0169] 如图20所示,各轮罩121从基座110的上表面向上方,在基座110中形成于靠侧面22(参照图19)的部分。 [0169] As shown, each of the wheel cover 121 is formed upwardly from the upper surface 110 of the base 20 to the base portion 110 against the side surface 22 (see FIG. 19). 各弹簧钩部122形成于轮罩121的前方的部分,从轮罩121向大致上方突出。 Each spring hook portion 122 formed at a front portion of the wheel cover 121, a wheel cover 121 protrudes from substantially upward. 如图21所示,在各轮罩121的上部安装有脱轨检测开关75。 As shown in FIG. 21, the upper portion of each of the wheel cover 121 is mounted off-track detection switch 75. 随着驱动单元30 (参照图15)从清扫对象区域的清扫面脱轨,脱轨检测开关75被弹簧钩部32B压入。 As the drive unit 30 (see FIG. 15) from the cleaning area of ​​the cleaning surface derailment, track detection switch 75 is pressed into the spring hook portion 32B.

[0170]图20所示的清扫用部分130是用于支承清扫单元40 (参照图2)的功能区域,具有多个部件。 Cleaning shown in [0170] FIG. 20 is a functional portion 130 with the area supporting the cleaning unit 40 (see FIG. 2) having a plurality of members. 具体地说,在本实施方式中,作为多个部件,清扫用部分130具有耦合部132和一对轴插入部131,该用于配置齿轮箱42 (参照图22),一对轴插入部131用于支承边刷44的刷轴44A (参照图22)。 Specifically, in the present embodiment, a plurality of members, a cleaning section 130 has a coupling portion 132 and the shaft portion 131 is inserted into one pair, which is used to configure the gear box 42 (see FIG. 22), the pair of shaft insertion portion 131 for supporting the side brush 44 of the brush shaft 44A (see FIG. 22). 图16所示的刷壳170和刷盖180构成了清扫用部分130的一部分。 Brush shown in Figure 16 housing 170 and cover 180 form a brush portion of the cleaning part 130.

[0171] 图17是沿图11的XVI1-XVII线的剖视图。 [0171] FIG. 17 is a sectional view taken along the line XVI1 XVII-11 of FIG. 图18是表示在图11的XVI1-XVII线处将本实施方式的自主行走型吸尘器10的结构的一部分分解后的状态的剖视图。 FIG 18 is a sectional view showing a state in XVI1-XVII line of FIG. 11 will be part of the configuration of the autonomous running type vacuum cleaner 10 of the present embodiment is exploded. 图19是沿图14的XIX-XIX线的剖视图。 FIG 19 is a sectional view taken along line XIX-XIX in FIG. 14.

[0172] 如图17所示,主刷43配置在刷壳170的内部,由此主刷43的两端部分从刷壳170向耦合部132 (参照图20)突出。 [0172] shown in Figure 17, the primary brush 43 brush disposed inside the housing 170, whereby both ends of the main brush portion 43 projecting from the brush housing 170 to the coupling portion 132 (see FIG. 20). 图15所示的边刷44的刷轴44A被插入到形成于轴插入部131 (参照图20)的孔中。 Side brush shown in FIG. 15 of the brush shaft 44 is inserted into a hole 44A in the shaft insertion portion 131 (see FIG. 20).

[0173] 图15所示的一个齿轮箱42配置于一个耦合部132 (参照图20),与主刷43的一个端部和一个刷轴44A连接。 A gear box shown in [0173] Figure 15 a coupling portion 42 is disposed at 132 (see FIG. 20), a main brush and a terminal portion 43 connected to the brush shaft 44A. 另一个齿轮箱42配置于另一个耦合部132 (参照图20),与主刷43的另一个端部和另一个刷轴44A连接。 Another gear case 42 is disposed on the other coupling portion 132 (see FIG. 20), the other end portion and the other of the main brush 43 is connected to the brush shaft 44A.

[0174]如图20所示,集尘盒用部分140是在本体20的前后方向上形成于清扫用部分130与抽吸用部分150之间的功能区域,具有用于配置集尘盒支架250 (参照图18)的空间。 [0174] shown in Figure 20, the dust collecting box portion 140 is formed in the longitudinal direction of the body 20 is used for cleaning the dust box 130 and the suction holder portion 250 with functional regions between the portions 150, having a configuration space (see FIG. 18). 另外,抽吸用部分150是用于支承抽吸单元50 (参照图15)的功能区域,形成于基座110的大致中心或其附近。 Further, with the suction portion 150 is a 50 (refer to FIG. 15) in the region of the support function of the suction unit is formed at or near substantially the center of the base 110. 在抽吸用部分150的侧部形成轮罩121。 The wheel guard 121 is formed in the suction side portion of the portion 150. 在本实施方式中形成一对轮罩121。 A pair of wheel housing 121 in the present embodiment.

[0175] 电源用部分160是用于支承电源单元80 (参照图16)的功能区域,是从基座110的底面看向上表面侧凹陷的凹部。 [0175] 160 is a power supply section for supporting the functional areas of the power supply unit 80 (see FIG. 16) is viewed from the bottom surface of the base 110 upwardly concave surface side of the recessed portion. 控制单元70搭载于电源用部分160的上部。 The control unit 70 is mounted on the upper portion 160 of the power supply.

[0176] 如图17所示,刷盖180以与基座110的底面相比向下方突出的方式安装于基座110。 [0176] As shown in FIG. 17, as compared with the brush cover 180 to the bottom surface of the base 110 of the embodiment is attached to the downwardly projecting base 110. 刷盖180具有使主刷43向本体20的外部暴露的吸入口101和形成于本体20的前方部分的斜面181。 Brush cover 180 has a main brush 43 is exposed to the outside of the body 20 of the suction port 101 and the inclined surface 181 is formed at the front portion of the body 20. 斜面181是随着从本体20的后方趋向前方而与下部单元100的底面相距的距离增加的面。 181, with the inclined surface from the rear side toward the front body 20 with the bottom of the lower unit 100 to increase the distance from the surface. 根据这种结构,斜面181能够与清扫对象区域的清扫面上存在的台阶接触而使本体20的前方翘起。 This arrangement, the body 181 can chamfer the presence of a contact with a cleaning surface of the cleaning area based on the forward 20 and cocked.

[0177] 通道171具有大致沿本体20的上下方向延伸的形状,且具有收容主刷43的上部的入口172以及与集尘盒单元60的内部的空间连通的出口173。 [0177] Channel 171 has a shape substantially along the vertical direction of the body 20 extends, and having an upper portion 43 of the main brush accommodating an inlet 172 and an outlet and a space inside the dust box 60 of the communication unit 173. 出口173被插入到集尘盒支架250的底部开口251。 The dust outlet 173 is inserted into the cartridge holder 250 of the opening 251 at the bottom. 出口173的通路面积比入口172的通路面积窄。 Area of ​​the outlet passage 173 is narrower than the passage area of ​​the inlet 172. 根据图17等中图示的例子,随着从入口172趋向出口173,通道171内的通路略微向本体20的后方侧倾斜。 According to the example illustrated in FIG. 17 and the like, as it goes from inlet to outlet 172 173, the passage 171 is slightly inclined passage body 20 rearward. 根据这种结构,能够将经由吸入口101被抽吸到本体20的内部的垃圾引导到后述的过滤器62侧。 According to such a configuration, it is possible through the suction port 101 is sucked into the interior of the refuse body 20 guided to the side of the filter 62 to be described later.

[0178] 如图18所示,集尘盒单元60具有集尘盒61和安装于集尘盒61的过滤器62,其中,该集尘盒61具有存留垃圾的空间。 [0178] As shown, the dust box 60 having dust collecting unit 61 and the filter cartridge 62 is attached to the dust box 61, 18, wherein the dust collecting case 61 having a space remaining waste. 集尘盒61具有与通道171的出口173连接的入口61A、用于配置过滤器62的出口61B以及被设定为尺寸比上部尺寸小的底部61C。 The dust box 61 has an outlet passage 171 with an inlet 173 connected to 61A, to configure the filter outlet 61B 62 and is set to be smaller in size than the size of the bottom of the upper portion 61C.

[0179] 如图19所示,过滤器62以遍及集尘盒61的宽度方向的大致整体的方式配置于集尘盒支架250的后方开口252,且面向抽吸单元50。 As shown in [0179] 19, the filter 62 substantially across the entire width direction of the dust box 61 is disposed at the rear of the cartridge holder 250 of the dust collecting opening 252 and the suction unit 50 faces. 如图17所示,集尘盒61的底部61C配置在通道171的后方侧与风扇罩52的前方侧之间。 As shown in FIG. 17, the bottom 61C of the dust box 61 is disposed between the front side and the rear side 171 of the fan cover 52 of the channel. 根据这种结构,能够将本体20的高度方向上的底部61C的位置设定在更低的位置,来降低集尘盒61的重心。 According to such a configuration, the bottom 20 in the height direction of the body 61C of the position can be set at a lower position to reduce the center of gravity of the dust box 61.

[0180] 如图17所示,抽吸单元50以相对于基座110倾斜的方式配置。 As shown in [0180] 17, the suction unit 50 in a manner inclined relative to the base 110 arrangement. 具体地说,抽吸单元50以如下方式配置:抽吸单元50的底部位于与抽吸单元50的顶部相比靠本体20的前方侧的位置,抽吸单元50的顶部位于与抽吸单元50的底部相比靠本体20的后方侧的位置。 Specifically, the suction unit 50 is disposed so that: the bottom of the suction unit 50 is located on the front side of the body 20 as compared with the position of the top of the suction unit 50, suction unit 50 is located at the top of the suction unit 50 on the rear side of the body 20 as compared to the position of the bottom. 根据这种结构,能够将本体20的高度设定得较低。 According to such a configuration, the height of the body 20 can be set low.

[0181] 如图19所示,风扇罩52将一个侧部封闭,而在另一个侧部设置有排出口52D。 [0181] 19, the fan cover 52 is closed to one side, the other side portion provided with a discharge outlet 52D. 根据这种结构,能够使从电动风扇51排出的空气的流动稳定。 According to such a configuration, it is possible to stabilize the flow from the electric fan 51 discharging the air.

[0182]图23是从正面侧、从与图22不同的视点看到的本实施方式的自主行走型吸尘器10的下部单元100的内部构造的其它立体图。 [0182] FIG. 23 is a front side, seen from the present embodiment and the embodiment 22 of FIG different viewpoints other autonomous running type vacuum cleaner perspective view showing the internal structure 10 of the lower unit 100.

[0183] 如图21、图22以及图23所示,本实施方式的自主行走型吸尘器10的下部单元100具有齿轮箱42、主刷43、边刷44、抽吸单元50、控制单元70以及电源单元80 (参照图17)。 [0183] As shown in FIG 21, FIG 22 and FIG 23, the autonomous running type vacuum cleaner according to the present embodiment, the lower unit 10 has a gear box 42 100, the main brush 43, the brush 44 side, the suction unit 50, the control unit 70, and The power supply unit 80 (see FIG. 17).

[0184]图25是本实施方式的自主行走型吸尘器10的上部单元200的仰视图。 [0184] FIG. 25 is an autonomous running type vacuum cleaner according to the present embodiment, the upper unit 200 of FIG. 10 is a bottom view.

[0185] 通过将图24和图25所示的上部单元200安装于上述下部单元100来构成图10所示的本体20。 [0185] configuration shown in Figure 10 of the body 20 through the upper unit 24 shown in FIGS. 25 and 200 is attached to the lower unit 100.

[0186] 接着,详细地说明本实施方式的自主行走型吸尘器10的驱动单元30。 [0186] Next, the driving unit 30 customize the type traveling cleaner 10 according to the embodiment in detail.

[0187] 驱动单元30具有使自主行走型吸尘器10前进、后退以及转动等的功能,由多个部件构成。 [0187] The drive unit 30 has a vacuum cleaner 10 automatically traveling forward and backward rotation of such functions, composed of a plurality of members. 例如,根据本实施方式,作为多个部件,各驱动单元30如图15和16所示那样除了具有行走用电动机31 (参照图19)、外壳32以及轮33以外,还具有安装在轮33的周围且设置有块状的胎面花纹的轮胎34。 For example, according to the present embodiment, a plurality of members, each drive unit 30 as shown in FIGS. 15 and 16 in addition to the moving electric motor 31 (see FIG. 19), outside the housing 32 and wheel 33 further includes a wheel 33 mounted on around the block and is provided with a tread pattern of the tire 34.

[0188] 在本实施方式中,各驱动单元30还具有支承轴35和悬挂机构,其中,该支承轴35具有外壳32的旋转轴,该悬挂机构利用悬挂弹簧36 (参照图21)吸收对轮33施加的撞击。 [0188] In the present embodiment, each drive unit 30 further includes a support shaft 35 and a suspension mechanism, wherein, the support shaft 35 having a rotating shaft casing 32, the suspension mechanism using a suspension spring 36 (see FIG. 21) to absorb wheel 33 is applied impact.

[0189] 各外壳32具有电动机收容部32A、弹簧钩部32B以及轴承部32C,其中,该电动机收容部32A用于收容行走用电动机31,该弹簧钩部32B用于钩挂悬挂弹簧36的一个端部,该轴承部32C被压入支承轴35。 [0189] Each housing 32 has a motor housing portion 32A, 32B and the spring hook portion bearing portion 32C, wherein the motor housing portion 32A for accommodating the moving electric motor 31, the spring hook portion 32B for hooking a suspension spring 36 an end portion of the bearing portion 32C is pressed into the support shaft 35. 各轮33以能够相对于外壳32旋转的方式被外壳32支承。 Each wheel 33 so as to be rotatable relative to the housing 32 is supported by the housing 32.

[0190] 支承轴35的一个端部被压入轴承部32C,另一个端部被插入到形成于驱动用部分120的轴承部。 [0190] One end portion of the support shaft 35 is pressed into a bearing portion 32C, the other end portion is inserted into a bearing portion 120 formed on the driving. 根据这种结构,外壳32和支承轴35能够绕支承轴35的旋转轴而相对于驱动用部分120进行旋转。 According to such a configuration, the housing 32 and the support shaft 35 can rotate about the rotational axis of the support shaft 35 being driven to rotate with respect to section 120.

[0191]如图21所示,各悬挂弹簧36的另一个端部被钩挂于驱动用部分120的弹簧钩部122。 [0191] As shown in FIG 21, the other end portion of each of the suspension spring 36 is hooked to a spring hook portion 122 of the driving portion 120. 各悬挂弹簧36对外壳32施加反作用力,以将轮胎34 (参照图16)推向清扫对象区域的清扫面。 Each suspension spring 36 apply a reaction force to the shell 32 to the tire 34 (refer to FIG. 16) toward the cleaning surface of the cleaning object area. 根据这种结构,能够确保轮胎34在清扫面上接地的状态。 According to such a configuration, it is possible to ensure that the ground surface of the tire 34 in the cleaning state.

[0192]另一方面,当从清扫面向图16所示的轮胎34输入将轮胎34推向本体20侧的力时,外壳32绕支承轴35的中心线一边压缩悬挂弹簧36 (参照图21) —边从清扫面侧向本体20侧旋转。 [0192] On the other hand, when the force of the tire 34 toward the body 20 from the cleaning side view of a tire 34 for the input shown in FIG. 16, the housing 32 about the center line of the support shaft 35 while compressing the suspension spring 36 (see FIG. 21) - side edge 20 side from the rotating body cleaning surface. 根据这种结构,作用于轮胎34的力被悬挂弹簧36吸收。 According to such a configuration, the force acting on the tire 34 suspension spring 36 is absorbed.

[0193]另外,当轮33脱轨时,外壳32因悬挂弹簧36 (参照图21)的反作用力而相对于驱动用部分120进行旋转,弹簧钩部32B将脱轨检测开关75 (参照图21)压入。 [0193] Further, when the derailed wheel 33, the housing 32 due to the suspension spring 36 (see FIG. 21) of the reaction force relative to the drive section 120 rotates with the pressure, the spring hook portion 32B track detection switch 75 (see FIG. 21) into. 由此,图21所示的脱轨检测开关75向控制单元70输出信号。 Thus, the off-track detection switch 70 outputs a signal 75 shown in FIG. 21 to the control unit. 控制单元70基于该信号来使自主行走型吸尘器10停止行走。 The control unit 70 based on the signal type automatically traveling cleaner 10 so stopped walking.

[0194] 刷驱动电动机41与耦合于刷驱动电动机41的一对驱动单元30中的一个驱动单元30 (在本实施方式中为作为左侧的驱动单元30的第一驱动单元30)的距离比刷驱动电动机41与未耦和于刷驱动电动机41的另一个驱动单元30 (在本实施方式中为作为右侧的驱动单元30的第二驱动单元30)的距离短。 [0194] brush driving motor 41 coupled to the brush drive motor 41 is a driving unit 30 than the distance (the first driving unit 30 is a left side 30 of the drive unit in the present embodiment) a pair of drive unit 30 a short distance from the brush drive motor 41 is not coupled with the other and to the brush drive motor 41 of the drive unit 30 (in the present embodiment, the drive unit is a right side 30 of the second driving unit 30). 因此,刷驱动电动机41的重量更强地作用于第一驱动单元30的轮33和轮胎34。 Thus, the weight of the brush drive motor 41 is stronger on the first drive wheel 33 and tire 34 unit 30. 因此,在对各驱动单元30施加反作用力的悬挂弹簧36的弹性系数具有相同大小的情况下,轮33相对于本体20的位置有可能失衡。 Thus, in the case where the suspension spring is applied to the elastic coefficient of the reaction force of each drive unit 30 to 36 has the same size, the wheel 33 relative to the body 20 there could be unbalanced. 因此,对第一驱动单元30施加反作用力的悬挂弹簧36的弹性系数被设定为比对第二驱动单元30施加反作用力的悬挂弹簧36的弹性系数大。 Therefore, the elastic coefficient of the reaction force of the suspension spring 30 applies a first drive unit 36 ​​is set to be larger than the reaction force of the suspension spring is applied to the second drive unit 30 36 of elastic modulus.

[0195] 根据这种结构,轮33相对于本体20的位置的平衡不易打破。 [0195] According to this arrangement, the wheel 33 with respect to the equilibrium position of the body 20 is less likely to break.

[0196] 如图21〜图23所示,自主行走型吸尘器10具有多个地面检测传感器74。 [0196] As shown in Figure 23 21~, automatically traveling cleaner 10 having a plurality of floor-type detection sensor 74. 根据本实施方式,多个地面检测传感器74包括配置在与一对驱动单元30相比靠本体20的前方侧的三个地面检测传感器74和配置在与一对驱动单元30相比靠本体20的后方侧的两个地面检测传感器74。 According to the present embodiment, the detection sensor 74 comprises a plurality of ground compared with one pair disposed in the drive unit 30 is detected by three sensors front side surface 20 of the body 74 and disposed in the pair as compared to the drive unit 30 against the body 20 two ground sensor 74 detects the rear side.

[0197] 前方侧的三个地面检测传感器74例如是安装于基座110的前方的中央的传感器、安装于基座110的右侧的前方顶部23的传感器以及安装于基座110的左侧的前方顶部23的传感器。 [0197] three ground detection sensor 74, for example, the front side is attached to the front of the center of the sensor base 110 is mounted on the top right side of the front base 110 and the sensor 23 is mounted on the left side of the base 110 23 is a top front sensor. 如图19所示,后方侧的两个地面检测传感器74例如是安装在基座110的右侧的侧面22的附近的传感器和安装在基座110的左侧的侧面22的附近的传感器。 19, two sensors 74 detects the rear surface side, for example, a sensor mounted in the vicinity of the sensor near the right side surface 110 of the base 22 and the side surface of the base 110 on the left side 22.

[0198] 如图13所示,基座110具有与各地面检测传感器74对应的多个传感器窗112。 [0198] As shown, the base 110 and the surface detection sensor 13 has 74 corresponding to the plurality of sensors around the window 112. 多个传感器窗112包括与前方中央的地面检测传感器74对应的传感器窗112、与前方右侧的地面检测传感器74对应的传感器窗112以及与前方左侧的地面检测传感器74对应的传感器窗112。 Window 112 comprises a plurality of sensors of the front center floor detecting sensor 74 corresponding to the sensor window 112, and the front right side surface detecting sensor 74 corresponding to the sensor window 112 and a ground detecting sensor 74 corresponding to the left front of the sensor window 112. 多个传感器窗112还包括与后方右侧的地面检测传感器74对应的传感器窗112以及与后方左侧的地面检测传感器74对应的传感器窗112。 A plurality of sensors further comprises a window 112 and the right rear surface detecting sensor 74 corresponding to the sensor window 112 and a left side surface detecting sensor 74 corresponding to the rear window of the sensor 112.

[0199]如图24所示,障碍物检测传感器71具有输出超声波的一个发送部71A和用于接收被反射回的超声波的两个接收部71B。 [0199] As shown, the obstacle detection sensor 71 having a transmitting portion 71A and two output ultrasonic wave receiving section for receiving the ultrasonic wave reflected back 71B 24. 发送部71A和接收部71B分别安装于缓冲器230的背面。 Transmitting portions 71A and 71B are respectively mounted on the receiving portion 230 of the back buffer.

[0200] 上部单元200除了具有罩210、盖220以及缓冲器230以外,还具有多个窗。 [0200] In addition to the upper unit 200 has a cover 210, outside cover 220 and a buffer 230, also having a plurality of windows. 根据本实施方式,多个窗包括图10所示的前方中央部的发送用窗232、前方左右的接收用窗233以及左右的前方顶部23的一对距离测定用窗234。 According to the present embodiment, a plurality of windows shown in FIG 10 includes a front central portion of the transmission window 232, the left and right front window 234 with the received measurement and a pair of windows 233 from the top 23 of the front left and right.

[0201] 如图19所示,发送用窗232与障碍物检测传感器71的发送部71A相对应地形成于缓冲器230。 As shown in [0201] 19, 232 and the transmission window transmitting unit 71 of the obstacle detection sensor 71A is formed corresponding to the buffer 230. 由此,从发送部71A输出的超声波通过发送用窗232被引导到外部。 Thus, the output from the ultrasonic wave transmitting portion 71A is guided to the outside through the transmission window 232.

[0202] 接收用窗233与障碍物检测传感器71的各接收部71B相对应地形成于缓冲器230。 [0202] each of the receiving portions receiving the window 233 and the obstacle detection sensor 71 is formed in correspondence 71B buffer 230. 由此,从周围的物体反射回的超声波通过各接收用窗233被引导到各接收部71B。 Thereby, reflected back from the object around the ultrasonic wave is guided to each of the receiving portions 71B through the receiving window 233.

[0203] 一对各距离测定用窗234分别与距离测定传感器72相对应地形成于缓冲器230。 [0203] Each one pair of the distance measuring sensor 72 corresponding to the buffer 230 is formed with windows 234 and distance were measured. 如通过图19的虚线箭头所示那样,从距离测定传感器72输出的光通过距离测定用窗234而指向本体20的斜前方。 As measured by the distance sensor 72 outputs a dotted arrow shown in FIG. 19 by the distance measuring light window 234 and the body 20 directed obliquely forward.

[0204]图26是表示本实施方式的自主行走型吸尘器10的电气系统的功能的框图。 [0204] FIG. 26 is a functional block diagram of an automatically traveling cleaner type embodiment according to the present embodiment of an electrical system 10.

[0205] 控制单元70与障碍物检测传感器71、距离测定传感器72、碰撞检测传感器73、地面检测传感器74、脱轨检测开关75、受光部212、操作按钮242、一对行走用电动机31、刷驱动电动机41、电动风扇51以及显示部243电连接。 [0205] The control unit 70 with the obstacle detection sensor 71, the distance measuring sensor 72, the collision detection sensor 73, the floor detection sensor 74, the off-track detection switch 75, a light receiving portion 212, the operation button 242, the pair of the moving electric motor 31, brush drive motor 41, the electric fan 51 and a display portion 243 are electrically connected.

[0206] 本实施方式的自主行走型吸尘器10例如以如下方式进行动作。 [0206] The present embodiment automatically traveling cleaner type of embodiment 10 operates in the following manner for example.

[0207] 通过操作按钮242的操作来接通自主行走型吸尘器10的电源,控制单元70基于此使左右两侧的行走用电动机31、刷驱动电动机41以及电动风扇51开始动作。 [0207] power can be turned automatically traveling vacuum cleaner 10 by operating the operation button 242, the control unit 70 based on this so that the left and right traveling motor 31, brush drive motor 41 and the electric fan 51 starts its operation.

[0208]电动风扇51进行驱动,由此图17所示的集尘盒61的内部的空气被吸入电动风扇51,同时电动风扇51的内部的空气被排出到电动风扇51的周围。 [0208] the electric fan 51 is driven, whereby air inside the dust box 61 shown in FIG. 17 is sucked into the electric fan 51, while air inside the electric fan 51 is discharged to the surroundings of the electric fan 51. 因此,基座110的底面侧的空气经由吸入口101和通道171被吸入集尘盒61的内部,风扇罩52的内部的空气经由图10所示的多个排气口211被排出到本体20的外部。 Thus, the air side of the bottom surface of the base 110 via the air intake port 101 and the interior passage 171 is drawn into the interior of the dust box 61, the fan cover 52 via a plurality of exhaust ports 211 illustrated in FIG. 10 the body 20 is discharged to exterior. 即,图17所示的基座110的底部的空气按吸入口101、通道171、集尘盒61、过滤器62、电动风扇51、风扇罩52、本体20内的风扇罩52的周围的空间以及排气口211的顺序流动。 That is, the bottom air base 110 shown in Figure 17 by the suction port 101, passage 171, the dust box 61, filter 62, electric fan 51, the fan cover 52, the space around the body 20 in the fan cover 52 and an exhaust port 211 of the order flow.

[0209]图26所示的控制单元70基于从障碍物检测传感器71、距离测定传感器72、碰撞检测传感器73以及地面检测传感器74输入的检测信号来设定自主行走型吸尘器10的行走路线,使自主行走型吸尘器10按照所设定的行走路线行走。 The control unit shown in [0209] FIG 2670 based on the obstacle detection sensor 71, the distance measuring sensor 72, and the collision detection sensor 73 detects an input signal 74 is set to the ground detection sensor traveling routes autonomous vacuum cleaner 10, so that autonomous running type traveling cleaner 10 according to the set routes. 当行走路线包括清扫对象区域的角落R3时,与上述实施方式I的自主行走型吸尘器10清扫角落R3的情况(参照图5〜图7)同样地,控制单元70使自主行走型吸尘器10进行行走和转动等。 When the traveling route includes a corner area R3 of the cleaning, the above-described embodiment I of the autonomous running type cleaning corners where R3 cleaner 10 (see FIG -5 to FIG. 7) in the same manner, the control unit 70 automatically traveling cleaner 10 is traveling type and rotating the like.

[0210] 根据以上说明过的本实施方式的自主行走型吸尘器10,除了由上述实施方式2的自主行走型吸尘器10获得的(I)〜(10)的效果以外,例如能够获得以下效果。 [0210] The autonomous running type vacuum cleaner of the above described embodiment 10 of the present embodiment, in addition to the above-described embodiment of the automatically traveling cleaner 10 type 2 obtained effects (I) ~ (10), for example, the following effects can be obtained.

[0211] (II)本实施方式的自主行走型吸尘器10具有被设置为R形状(圆弧R)的前方顶部23和后方顶部24。 [0211] (II) an automatically traveling cleaner type embodiment 10 of the present embodiment is arranged to have an R shape (circular arc R) at the top front and top rear 23 24. 根据这种结构,当本体20接触到周围的物体而进行转动时,能够轻柔地接触该物体。 According to this structure, when the contact body 20 to be rotated around the object, the object can be gently contacts.

[0212](实施方式4) [0212] (Embodiment 4)

[0213]图27是表示本发明的实施方式4的自主行走型吸尘器10中设置的集尘盒单元300的构造的立体图。 [0213] FIG. 27 is a perspective view showing the structure of a dust box unit of the embodiment of the present invention automatically traveling cleaner type 10 4 300 provided. 图28是本实施方式的自主行走型吸尘器10的剖视图。 FIG 28 is a cross-sectional view of the autonomous running type embodiment according to the present embodiment of the vacuum cleaner 10.

[0214] 本实施方式的自主行走型吸尘器10的构造大部分与实施方式3的自主行走型吸尘器10的构造一致,主要在以下两点上不同。 Configuration [0214] autonomous running type cleaner 10 according to the embodiment most of Embodiment 3 automatically traveling cleaner consistent with structure type 10, mainly different in the following points.

[0215] 第一点是,如图27和图28所示那样设置有具有与上述实施方式3的集尘盒单元60不同的构造的集尘盒单元300。 [0215] The first point is, as shown in FIGS. 28 and 27 is provided with a dust box unit 300 having the above-described embodiment, the dust box 60 of the unit 3 shown in a different configuration.

[0216] 第二点是,如图28所示,本体20中的集尘盒单元300的周围的构造发生了变更。 [0216] The second point is, the configuration of the body 20 surrounding the dust box unit 300 has been changed at 28 in FIG. 此夕卜,在本实施方式的说明中附加有与实施方式3相同的附图标记的部件具有与实施方式3的对应部件相同或相似的功能。 Bu this evening, in the description of the present embodiment additionally has the same reference numerals member according to Embodiment 3 has the same or similar to corresponding components of Embodiment 3 of the function.

[0217] 如图28所示,本体20的内部的集尘盒单元300的位置与上述实施方式3的本体20中的集尘盒单元60的位置大致相同。 [0217] FIG position inside the dust box unit 28, the body 20 of the above-described embodiment 300 of embodiment 3 of the body 20 of dust box unit 60 is substantially the same position. 本体20和集尘盒单元300具有用户能够任意选择将集尘盒单元300安装于本体20的状态和从本体20卸下集尘盒单元300的状态的装卸构造。 Body 20 and the dust box unit 300 has a user can arbitrarily select the dust box 300 is attached to the unit body 20 and a state of detaching the detachable state of the dust box construction unit 300 from the body 20.

[0218] 如图27所示,集尘盒单元300具有集尘盒310、用于关闭作为集尘盒310的开口的出口313的盖320以及安装于盖320的过滤器330,其中,该集尘盒310具有存留垃圾的空间311。 [0218] As shown in FIG. 27, the dust box unit having a dust box outlet 300, opening 310, as the dust box 310 for closing the cap 320 and 313 attached to the cover 330 of the filter 320, wherein the set dust box 310 has a space 311 remaining waste. 集尘盒310与盖320通过铰链360进行连接。 The dust box 310 and the lid 320 are connected by a hinge 360. 集尘盒310具有与通道171的出口173(参照图28)连接的入口312和用于配置过滤器330的出口313。 The dust box 310 having an inlet connected to the outlet passage 173 (see FIG. 28) 171, 312 and 330 are used to configure the filter 313 outlet.

[0219] 如图28所示,通过关闭盖320来使空间311被盖320关闭。 [0219] As shown in FIG 28, to make the space 311 is closed by a lid 320 closing the cover 320. 通道171具有大致沿本体20的上下方向延伸的形状,且具有形成在主刷43的前方的入口172和向本体20的后方开口的出口173。 Channel 171 has a shape substantially along the vertical direction of the body 20 extends, and having formed in front of the main brush 172 and the inlet 43 of the outlet opening 173 of the body 20 rearward. 吸入口101与集尘盒310利用通道171的内部形成的流路174进行连接。 A suction port 101 and the dust box 310 with an internal passage 171 of the flow passage 174 are connected.

[0220] 本实施方式的自主行走型吸尘器10还具有垃圾检测传感器76,该垃圾检测传感器76检测与在通道171中流动的空气中包含的垃圾有关的信息。 [0220] The present embodiment automatically traveling cleaner type of embodiment 10 also has a sensor 76 detecting spam, information relating to the garbage and refuse detecting sensor 76 detects the air flowing in the passage 171 included. 如图28所示,垃圾检测传感器76配置在通道171的流路174内。 28, the garbage detection sensor 76 disposed in the flow path 174 of the passage 171. 垃圾检测传感器76优选在通道171的流路174中被配置在沿流路174内的空气的流动方向切断流路174的断面中的、与流路174的中心线175处的流速相比流速快的区域。 , The flow path cross-sectional flow centerline 175 spam detection sensor 76 is preferably arranged in the flow direction of the air flow passage 174 along the passage 174 in the flow passage 171 in the cutting flow path 174 compared to 174 fast flow rate Area. 关于垃圾检测传感器76,例如使用红外线传感器。 Rubbish detection sensor 76, for example using an infrared sensor. 垃圾检测传感器76具有发光部和受光部。 Garbage detection sensor 76 having a light emitting portion and a light receiving portion. 垃圾检测传感器76的检测信号被输入到控制单元70。 Garbage detection signal of the detection sensor 76 is input to the control unit 70.

[0221] 如图27所示,过滤器330具有收集部340和用于支承收集部340的框架350,其中,该收集部340是使空气通过并收集空气中的垃圾的部分。 [0221] As shown in FIG 27, the filter 340 and 330 has a frame 350 supporting portion 340 of the collecting portion collecting, wherein the collecting portion 340 through the air and is collected in the waste air portion. 框架350和盖320具有能够互相装卸的构造。 Frame 350 and a cover 320 having a configuration attachable and detachable from each other. 框架350具有用于配置收集部340的一对窗351和用于划分一对窗351的中间壁352。 A frame 350 having an intermediate wall portion disposed to collect a pair of windows 340 and 351 for dividing a pair of windows 351 352. 在空间311被盖320关闭的状态下,集尘盒310的入口312与框架350的中间壁352相向,而不与收集部340相向。 Space 311 in a state where the lid 320 is closed, the inlet 310 of the dust box 312 and frame 350 of intermediate wall 352 facing and not facing the collecting portion 340. 因此,通过入口312的空气流被中间壁352分离为两个方向的空气流,分离后的各空气流通过分别配置于一对窗351的收集部340。 Thus, the separated air flow through the inlet 312 of the intermediate wall 352 of the air flow in both directions, each of the air stream through the separation are arranged in the pair of collecting windows 351 340.

[0222] 根据以上说明过的本实施方式的自主行走型吸尘器10的结构,除了由上述实施方式I〜3的自主行走型吸尘器10获得(I)〜(11)的效果以外,例如能够获得以下效果。 [0222] The structure of the above described type autonomous traveling of the cleaner 10 according to the present embodiment, in addition to obtain the effect of (I) ~ (11) by the above-described embodiment of the autonomous running type cleaner I~3 than 10, the following can be obtained e.g. effect.

[0223] (12)根据本实施方式的自主行走型吸尘器10,垃圾检测传感器76在通道171的流路174中被配置在沿流路174内的空气的流动方向切断流路174的断面中的、与流路174的中心线175处的流速相比流速快的区域。 [0223] (12) The autonomous running type vacuum cleaner according to the present embodiment 10, the garbage detection sensor 76 is arranged a flow direction of the air in along the flow path 174 in flow path 174 passage 171 in the cutting section flow passage 174 in compared with the center line 175 of the flow passage 174 of the high flow rate region. 根据这种结构,即使在垃圾检测传感器76的表面附着有垃圾的情况下,也易于利用在流路174中流动的空气从垃圾检测传感器76的表面去除所附着的垃圾。 According to this structure, even when the surface detecting sensor 76 is attached trash garbage, but also easy to use air flowing in the flow passage 174 in the garbage is removed from the surface of the attached sensor 76 detecting spam.

[0224] (13)—般地,自主行走型吸尘器的可搭载的集尘盒的大小有限。 [0224] (13) - camel limited size of the dust box, automatically traveling cleaner can be mounted type. 因此,在过滤器的收集部被配置在与集尘盒的入口相向的部位的情况下,垃圾集中地堆积在收集部的与集尘盒相向的部分,即使在收集部的其它部分有用于堆积垃圾的余量,入口也往往会被垃圾堵塞。 Thus, the collector portion is disposed in the filter case and the inlet of the dust container facing parts of the garbage piled in a portion facing the dust box collecting portion, even if the other portions of the collecting portion for stacking garbage margin, entrance also tend to be clogged garbage.

[0225] 另一方面,根据本实施方式的自主行走型吸尘器10,集尘盒310的入口312与框架350的中间壁352相向,而不与收集部340相向。 [0225] On the other hand, according to the autonomous running type vacuum cleaner 10 according to the present embodiment, the dust box 310 and intermediate wall 312 and the inlet 352 of the frame 350 faces, facing the collecting portion 340 without. 根据这种结构,能够防止垃圾集中地堆积到收集部340的与集尘盒310的入口312相向的部分。 According to such a configuration, it is possible to prevent garbage packed with dust box facing the inlet portion 312 310 340 collecting portion.

[0226](变形例) [0226] (Modification Example)

[0227] 在本发明中除了包括以上说明过的各实施方式以外,例如还包括以下所示的变形例。 [0227] In the present invention, in addition to including the above described each embodiment, for example, further comprises a modification of the embodiment shown in FIG.

[0228] 本发明的变形例I〜3的自主行走型吸尘器10的本体20具有与上述各实施方式所例示的本体20不同的轮廓。 Body [0228] modification of the embodiment of the present invention I~3 automatically traveling cleaner 10 type 20 having different profiles 20 each of the above embodiments illustrated embodiment the body.

[0229](变形例I) [0229] (Modification I)

[0230]图29是本发明的变形例I的自主行走型吸尘器10的俯视图。 [0230] FIG. 29 is a plan view of the modified embodiment of the present invention, the autonomous running type I 10 of the vacuum cleaner of FIG. 图29中的双点划线表示上述实施方式I所代表的本体20的轮廓。 Double-dashed line in FIG. 29 showing the above-described embodiment of the body profile 20 is represented by I. 如图29所示,在本发明的变形例I的自主行走型吸尘器10的本体20中,各侧面22由形状互不相同的本体20的前方侧的侧面22A和后方侧的侧面22B构成。 29, in the modified embodiment of the present invention, the body I of the automatically traveling cleaner 10 type 20, each side 22 of a shape different sides of the front side 20 of the body side with the rear side 22A and 22B configured. 根据本变形例,前方侧的侧面22A具有曲面形状,后方侧的侧面22B具有平面形状。 According to this modification, the side surface 22A of the front side has a curved shape, the side surface 22B of the rear side has a planar shape.

[0231]由具有这种轮廓的本体20构成的自主行走型吸尘器10也能够获得与由上述各实施方式获得的效果相同的效果。 [0231] the autonomous running type cleaner body 20 having such a configuration profile 10 can be obtained with the effect obtained by the above-described embodiments the same effect.

[0232](变形例2) [0232] (Modification Example 2)

[0233]图30是本发明的变形例2的自主行走型吸尘器10的俯视图。 [0233] FIG. 30 is a plan view of a modified example of the present invention automatically traveling cleaner type 2 in FIG. 10. 图30中的双点划线表示上述实施方式I所代表的本体20的轮廓。 Double-dashed line in FIG. 30 represents the above-described embodiment of the body profile 20 is represented by I. 如图30所示,在本变形例的自主行走型吸尘器10的本体20中,省略包括后方顶部24在内的本体20的后部的一部分,重新形成后表面25。 30, type in the body automatically traveling cleaner 10 of the present modification 20, omitting a part of the rear portion 24 includes a top portion including a rear body 20, re-forming surface 25. 在本变形例中,后表面25具有以向外侧鼓出的方式弯曲的曲面形状。 In this modified embodiment, the rear surface 25 has a curved bulges outward curved shape. 此外,后表面25还能够由平面形状等形成。 Further, the rear surface 25 can also be formed by a planar shape.

[0234]由具有这种轮廓的本体20构成的自主行走型吸尘器10也能够获得与由上述各实施方式获得的效果相同的效果。 [0234] the autonomous running type cleaner body 20 having such a configuration profile 10 can be obtained with the effect obtained by the above-described embodiments the same effect.

[0235](变形例3) [0235] (Modification Example 3)

[0236]图31是本发明的变形例3的自主行走型吸尘器10的俯视图。 [0236] FIG. 31 is a plan view of a modified example of the present invention automatically traveling cleaner type 3 of FIG. 10. 图中的双点划线表示上述实施方式3所代表的本体20的轮廓。 Double-dashed line in FIG. Showing the third embodiment of the body represented by the contour 20. 如图31所示,本变形例的本体20省略包括后方顶部24在内的本体20的后部的一部分,新形成后表面25。 As shown in FIG 31, the body 20 of the present modification comprising omitting the top rear portion of the rear portion 24 of the inner body 20, the new surface 25 is formed. 后表面25具有平面形状。 After the surface 25 has a planar shape. 此外,后表面25还能够由以向外侧鼓出的方式弯曲的曲面等形成。 Further, the rear surface 25 can also be formed in a curved manner outwardly bulging curved surface and the like.

[0237]由具有这种轮廓的本体20构成的自主行走型吸尘器10也能够获得与由上述各实施方式获得的效果相同的效果。 [0237] the autonomous running type cleaner body 20 having such a configuration profile 10 can be obtained with the effect obtained by the above-described embodiments the same effect.

[0238](变形例4) [0238] (Modification Example 4)

[0239] 在本发明的变形例4的自主行走型吸尘器10中,在每个边刷44的旋转轨迹中的与另一个边刷44的旋转轨迹接近的部分,各边刷44从本体20的后方朝向前方旋转。 [0239] In the modified embodiment of the present invention, an automatically traveling cleaner type 4 10, the rotational trajectory of each side brush 44 in rotation trajectory 44 close to the other edge portion of the brush, the brush 44 from each side of the body 20 rotating the rear toward the front. 根据这种结构,能够使被边刷44移动的垃圾在本体20的宽度方向的中心侧朝向前方移动。 According to such a configuration, the side brush is moved forward movement 44 junk toward the center in the width direction of the body 20. 由此,在自主行走型吸尘器10正在前进时由边刷44收集到的垃圾易于接近吸入口101,因此不易在吸入口101的后方侧发生垃圾的抽吸残留。 Accordingly, when the automatically traveling cleaner 10 is type edge 44 advances from the collected waste accessible brush suction port 101, it is not easy in the rear side of the suction port 101 of the occurrence of residual suction waste.

[0240]具有这种结构的自主行走型吸尘器10也能够获得与由上述各实施方式获得的效果相同的效果。 [0240] Independent travel of the vacuum cleaner 10 having such a structure can be obtained with the effect obtained by the above-described embodiments the same effect.

[0241](变形例5) [0241] (Modification Example 5)

[0242] 在本发明的变形例5的自主行走型吸尘器10中,边刷44具有前端存在于与本体20的前表面21和侧面22相比靠内侧的位置处的刷毛束44B。 [0242] In the modified embodiment of the present invention automatically traveling cleaner 5 type 10, having a front end side brush 44 exists in the front surface and the side surface 21 of the body 20 as compared to 22 inwards of the bristle bundles 44B.

[0243]具有这种结构的自主行走型吸尘器10也能够获得与由上述各实施方式获得的效果相同的效果。 [0243] Independent travel of the vacuum cleaner 10 having such a structure can be obtained with the effect obtained by the above-described embodiments the same effect. 例如,根据上述本发明的实施方式2的自主行走型吸尘器10,边刷44分别设置在本体20的两个前方顶部23,从而能够使本体20的吸入口101更加接近角落R3的前端部分R4,因此能够获得与由实施方式2获得的效果相同的效果。 For example, according to an embodiment of the present invention automatically traveling cleaner 10 of the second type, the side brush 44 are disposed on tops of the two front 23 of the body 20, thereby enabling the suction port body 20 closer to the front end portion 101 of the corner R3, R4, it is possible to obtain the same effect as obtained by the embodiment 2 embodiment.

[0244](变形例6) [0244] (Modification Example 6)

[0245] 在本发明的变形例6的自主行走型吸尘器10中,具有对主刷43和其中一个边刷44施加转矩的刷驱动电动机以及对另一个边刷44施加转矩的刷驱动电动机。 [0245] In the modified embodiment of the present invention automatically traveling cleaner type 6 10, having a brush driving torque applied to the main brush 43 and the brush 44 wherein a side brush driving motor and the torque applied to the other side brush motor 44 .

[0246]具有这种结构的自主行走型吸尘器10也能够获得与由上述各实施方式获得的效果相同的效果。 [0246] Independent travel of the vacuum cleaner 10 having such a structure can be obtained with the effect obtained by the above-described embodiments the same effect.

[0247](变形例7) [0247] (Modification Example 7)

[0248] 本发明的变形例7的自主行走型吸尘器10具有三个刷驱动电动机,这三个刷驱动电动机分别安装于主刷43、右侧的边刷44以及左侧的边刷44,来分别对所对应的刷施加转矩。 Automatically traveling cleaner type [0248] Modification 7 of the present invention having three brush driving motor 10, the three brush driving motor 43 are attached to the main brush, the brush 44 and the left side of the right side of the brush 44 to respectively apply torque to the corresponding brush.

[0249]具有这种结构的自主行走型吸尘器10也能够获得与由上述各实施方式获得的效果相同的效果。 [0249] Independent travel of the vacuum cleaner 10 having such a structure can be obtained with the effect obtained by the above-described embodiments the same effect.

[0250](变形例8) [0250] (Modification Example 8)

[0251] 本发明的变形例8的自主行走型吸尘器10具有与超声波传感器不同类型的传感器来作为障碍物检测传感器71。 [0251] The modification of the present invention, the autonomous running type cleaner 8 and 10 having different types of sensors detecting the ultrasonic sensor as the obstacle sensor 71. 作为障碍物检测传感器71,例如能够使用红外线传感器。 The obstacle detection sensor 71, for example, using an infrared sensor.

[0252](变形例9) [0252] (Modification Example 9)

[0253] 本发明的变形例9的自主行走型吸尘器10具有与红外线传感器不同类型的传感器来作为距离测定传感器72。 [0253] modification of the present invention automatically traveling cleaner 10 9 type with different types of sensors having infrared ray sensor 72 as a distance measuring sensor. 作为距离测定传感器72,例如能够使用超声波传感器。 As the distance measuring sensor 72, for example, an ultrasonic sensor may be used.

[0254](变形例 IO) [0254] (Modification Example IO)

[0255] 本发明的变形例10的自主行走型吸尘器10具有与接触式位移传感器不同类型的传感器来作为碰撞检测传感器73。 [0255] automatically traveling cleaner type modified embodiment 10 of the invention 10 having a different type of contact-type displacement sensor as a collision sensor 73 detecting sensor. 作为碰撞检测传感器73,例如能够使用撞击传感器。 As the collision detection sensor 73, an impact sensor for example, may be used.

[0256](变形例 11) [0256] (Modification Example 11)

[0257] 本发明的变形例11的自主行走型吸尘器10具有与红外线传感器不同类型的传感器来作为地面检测传感器74。 [0257] modification of the present invention automatically traveling cleaner 11 type 10 with different types of sensors having infrared ray sensor 74 as a detecting sensor surface. 作为地面检测传感器74,例如能够使用超声波传感器。 As surface detection sensor 74, for example, an ultrasonic sensor may be used.

[0258](变形例 12) [0258] (Modification Example 12)

[0259] 本发明的变形例12的自主行走型吸尘器10具有配置在与驱动单元30相比靠本体20的后方侧的位置的多个脚轮90。 [0259] automatically traveling cleaner type modified embodiment 12 of the invention 10 having the plurality of casters 90 disposed on the rear side of the body 20 compared with the position of the drive unit 30.

[0260](变形例 13) [0260] (Modification Example 13)

[0261] 本发明的变形例13的自主行走型吸尘器10至少在与一对驱动单元30相比靠本体20的前方侧的位置处具有一个脚轮90。 [0261] modification of the present invention of an automatically traveling cleaner 10 type 13 having a caster 90 at a position at least as compared to a pair of drive unit 30 on the front side of the body 20.

[0262] 具有上述变形例8〜13的结构的自主行走型吸尘器10也能够获得与由上述各实施方式获得的效果相同的效果。 Automatically traveling cleaner type [0262] having the above-described modification of the configuration of 8~13 10 can be obtained with the effect obtained by the above-described embodiments the same effect.

[0263](变形例14) [0263] (Modification Example 14)

[0264] 本发明的变形例14的自主行走型吸尘器10具有外周面形成有凹凸形状的脚轮90。 [0264] automatically traveling cleaner type modification of the present invention 14 having an outer peripheral surface 10 is formed with a concavo-convex shape 90 of the caster. 脚轮90的外周面中的直径粗的凸部分即第一部分的摩擦系数小于脚轮的外周面中的直径比第一部分细的凹部分即第二部分的摩擦系数。 The crude diameter portion of the outer circumferential surface of the projection 90 of the caster, i.e. small diameter than the first portion of the concave portion i.e. the coefficient of friction of the second portion is smaller than the coefficient of friction of the first portion of the outer peripheral surface of the caster in.

[0265] 根据这种结构,在自主行走型吸尘器10行走的情况下,脚轮90的外周面中的第一部分的外周面主要与清扫面接触。 [0265] According to this structure, in the case of an automatically traveling cleaner 10 traveling type, the outer peripheral surface of the first portion 90 of the outer peripheral surface of the main castor in contact with the cleaning surface. 而且,由于第一部分的外周面的摩擦系数小于第二部分的外周面的摩擦系数,因此本体20直行的情况下的阻力小,从而能够顺利地移动。 Further, since the friction coefficient of the outer circumferential surface of the first portion is smaller than the friction coefficient of the outer circumferential surface of the second portion, so the resistance of the body 20 in the case of small straight, it is possible to smoothly move. 另外,在本体20转动的情况下脚轮90易于横向滑动,因此能够提高本体20的转动性。 Further, in a case where the main body 20 swivel caster 90 is easy to slide laterally, thereby improving the rotation of the body 20.

[0266](变形例 15) [0266] (Modification Example 15)

[0267] 本发明的变形例15的自主行走型吸尘器10具有转向型的驱动方式,来代替对置双轮式的驱动方式。 [0267] modified automatically traveling cleaner type embodiment 15 of the present invention, the drive system 10 having a steering type, instead of the opposite wheel-type drive.

[0268]以上说明过的各实施方式和各变形例是本发明的一例。 [0268] The above described each embodiment and each modification is an example of the present invention. 例如能够根据需要将上述各实施方式和一个或多个变形例互相组合。 For example, as required above embodiments and modification of one or more combinations with each other. 并且,本发明还包括如下实施方式。 The present invention further includes the following embodiments.

[0269](实施方式5) [0269] (Embodiment 5)

[0270] 本发明的实施方式5的自主行走型吸尘器10具备具有吸入口101的本体20、驱动单元30以及电动风扇51。 Automatically traveling cleaner type [0270] embodiment of the present invention comprises 20 5 to 10, the drive unit 30 and the electric fan 51 having a suction port body 101. 吸入口101设置于本体20的最大宽度部分。 Suction port 101 is provided in the maximum width portion 20 of the body. 如图31所示,本体20具有两个前方顶部23。 As shown in FIG. 31, a front body 20 having a top 23 two.

[0271] 另外,关于本实施方式的自主行走型吸尘器10,切线(第一切线)LI与本体20的两个侧面22或两个侧面22A中的切线(第二切线和第三切线)L2、L3分别形成的角均是锐角,其中,切线LI是本体20的俯视图中的外周的切线,且与将两个前方顶部23的各顶点相连接的线即本体20的最大宽度线W平行,切线L2、L3是本体20的俯视图中的外周的其它切线。 [0271] Further, autonomous running type on the cleaner 10 of the present embodiment, a tangent (first tangent) LI two sides 22 of the body 22A or both sides of the tangential line (tangent line of the second and third tangential) L2 of 20 angle and L3 are formed are at an acute angle, wherein the tangent LI is a plan view of the body 20 in the outer periphery of a tangent, and with the thread tops of the two front of each vertex of the connector 23, i.e. the body the maximum width of the line 20 W in parallel, tangent L2, L3 is a plan view of the body 20 in the outer periphery of the other tangent.

[0272] 根据这种结构,本体20的形状近似于勒洛三角形,因此易于在清扫对象区域的角落R3处转动。 [0272] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus easily rotated in the corner area R3 of the object to be cleaned. 另外,吸入口101易于到达清扫对象区域的角落,能够提高清扫效率。 Further, the suction port 101 reaches the corner of the cleaning area easily, it is possible to improve the cleaning efficiency.

[0273] 另外,在本实施方式的自主行走型吸尘器10中,吸入口101优选具有横长形状,更优选具有矩形形状或大致矩形形状。 [0273] Further, in the autonomous running type vacuum cleaner according to the present embodiment 10, the suction 101 preferably has a horizontally long shape, more preferably substantially rectangular shape or a rectangular shape. 本体20具有设置有向外侧弯曲的曲面的前表面21。 Having a body 20 provided with a curved outward curved front surface 21.

[0274] 另外,如图31所示,本实施方式的自主行走型吸尘器10的本体20的两个前方顶部23分别具有R形状(圆弧R)。 [0274] Further, as shown in Figure 31, the top two front main body automatically traveling cleaner type embodiment 10 of the present embodiment 20, R 23 each having a shape (circular arc R). 在本实施方式的自主行走型吸尘器10中,本体20的前表面21的曲面的曲率小于两个前方顶部23的R形状(圆弧R)的曲率。 In the autonomous running type vacuum cleaner 10 according to the present embodiment, the surface curvature 21 of the front surface of the body 20 is smaller than the R-shape (circular arc R) of curvature of the front apex portion 23 of the two.

[0275] 根据这种结构,本体20的形状近似于勒洛三角形,因此易于在清扫对象区域的角落R3处转动。 [0275] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus easily rotated in the corner area R3 of the object to be cleaned. 另外,吸入口101易于到达清扫对象区域的角落R3,能够提高清扫效率。 Further, the suction port 101 readily accessible corner region of the object to be cleaned R3, cleaning efficiency can be improved.

[0276] 另外,本实施方式的自主行走型吸尘器10的吸入口101配置在与驱动单元30相比靠近本体20的最大宽度部分的部分。 [0276] Further, autonomous running type vacuum cleaner according to the present embodiment, the suction port 101 disposed at portions 10 in comparison with the driving unit 30 near the maximum width portion of the body 20.

[0277] 根据这种结构,本体20的形状近似于勒洛三角形,因此易于在清扫对象区域的角落处转动。 [0277] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus easily rotated at a corner of the cleaning area. 另外,吸入口101易于到达清扫对象区域的角落R3,能够提高清扫效率。 Further, the suction port 101 readily accessible corner region of the object to be cleaned R3, cleaning efficiency can be improved.

[0278] 另外,本实施方式的自主行走型吸尘器10也可以还具有脚轮90。 [0278] Further, autonomous running type cleaner 10 of the present embodiment may also have casters 90. 在该情况下,在本体20的前后方向上,脚轮90配置在与驱动单元30相比离本体20的最大宽度部分远的部分,更优选配置在离本体20的前表面21远的部分。 In this case, in the longitudinal direction of the body 20, casters 90 disposed on the drive unit 30 as compared with the maximum width portion away from the body portion 20, and more preferably disposed in a portion away from the front surface of the body 20, 21.

[0279] 根据这种结构,由于脚轮90设置在远离清扫对象区域的角落R3的位置,因此能够防止角落R3的垃圾附着于脚轮90。 [0279] According to this construction, since the casters 90 provided at a position away from the corner of the cleaning region R3, R3 corner can be prevented casters 90 attached to the waste.

[0280] 另外,本实施方式的自主行走型吸尘器10也可以具有边刷44。 [0280] Further, autonomous running type vacuum cleaner 10 according to the present embodiment may have a side brush 44. 在该情况下,边刷44配置在与驱动单元30相比靠近本体20的最大宽度部分的部分,优选配置在靠近本体20的前表面21的部分,更优选配置在与本体20的最大宽度部分和前表面21均靠近的部分。 In this case, the side brush 44 disposed in the drive unit 30 than the portion near the maximum width portion of the body 20, is preferably disposed in a portion close to the front surface 21 of the body 20, and more preferably arranged in the maximum width portion 20 of the body and 21 are close to the front surface portion.

[0281] 根据这种结构,能够更加可靠地从吸入口101直接吸入由边刷44收集到的垃圾。 [0281] According to such a configuration, it is possible to more reliably by the suction brush 44 side garbage collected directly from the suction port 101.

[0282] 另外,本实施方式的自主行走型吸尘器10也可以具有地面检测传感器74。 [0282] Further, autonomous running type vacuum cleaner 10 according to the present embodiment may have a sensor 74 detects the ground. 在该情况下,地面检测传感器74在本体20的前后方向上被设置在与驱动单元30相比靠近本体20的最大宽度部分的位置。 In this case, the surface detection sensor 74 in the longitudinal direction of the body 20 is disposed close to the body as compared to the maximum width portion 20 of the driving unit 30 positions.

[0283] 根据这种结构,地面检测传感器74配置在本体20的前方侧,因此能够提前检测本体20的前进方向上有无清扫面,来防止驱动单元30的轮33脱轨。 [0283] According to this structure, the ground detection sensor 74 arranged on the front side of the body 20, it is possible to detect in advance whether or cleaning surface in the forward direction of the body 20, the drive unit 30 to prevent wheel derailment of 33.

[0284] 另外,本实施方式的自主行走型吸尘器10也可以具有充电端子103。 [0284] Further, autonomous running type vacuum cleaner 10 according to the present embodiment may have a charging terminal 103. 在该情况下,充电端子103在本体20的前后方向上被配置在与驱动单元30相比靠近本体20的最大宽度部分的位置。 In this case, the charging terminal 103 in the longitudinal direction of the body 20 is disposed close to the body as compared to the maximum width portion 20 of the driving unit 30 positions.

[0285] 根据这种结构,充电端子103配置在本体20的前方侧,因此充电端子103能够更加可靠地连接于充电台。 [0285] According to such a configuration, the charging terminal 103 is disposed on the front side of the body 20, the charging terminal 103 can be more reliably connected to the charging station.

[0286] 另外,本实施方式的自主行走型吸尘器10也可以具有电源单元80。 [0286] Further, autonomous running type vacuum cleaner 10 according to the present embodiment may have a power supply unit 80. 在该情况下,电源单元80配置在与驱动单元30相比离本体20的最大宽度部分远的部分,优选配置在离本体20的前表面21远的部分。 In this case, the power supply unit 80 is disposed in the drive unit 30 as compared to the maximum width of the body portion from the distal portion 20 is preferably disposed in a portion away from the front surface of the body 20, 21.

[0287] 根据这种结构,由于电源单元80的重量的影响,本体20的前部相对地翘起,因此例如能够减少配置于本体20的前方侧的障碍物检测传感器71等传感器与清扫面接触的情况。 [0287] According to such a configuration, due to the influence of the weight of the power supply unit 80, the front portion of body 20 opposite to the tilt, for example, can be reduced so arranged in contact with the cleaning surface sensor obstacle detection sensor 71 and the like on the front side of the body 20 Case.

[0288] 另外,在本实施方式的自主行走型吸尘器10具有边刷44的情况下,边刷44的旋转轨迹的一部分位于本体20的最大宽度部分。 [0288] Further, in the autonomous running type vacuum cleaner according to the present embodiment has a maximum width portion 10 of the body 20 of the case 44 of the side brush, the brush rotation locus 44 of the side part. 另外,在本实施方式的自主行走型吸尘器10中,边刷44以边刷44的一部分位于本体20的最大宽度部分的方式设置于本体20。 Further, in the autonomous running type vacuum cleaner 10 according to the present embodiment, the side brush 44 to the brush side of the body portion 44 of the maximum width portion 20 of the main body 20 is provided.

[0289] 根据这种结构,能够更加可靠地使由边刷44收集到的垃圾吸入到吸入口101。 [0289] According to such a configuration, it is possible more reliably collected by the side brushes 44 is sucked into the suction port 101 garbage.

[0290](实施方式6) [0290] (Embodiment 6)

[0291] 本发明的实施方式6的自主行走型吸尘器10具备具有吸入口101的本体20、驱动单元30以及电动风扇51。 [0291] Embodiment of the present invention is independent of the traveling vacuum cleaner 10 includes a 20 6, the drive unit 30 and the electric fan 51 having a suction port body 101. 本体20具有设置有朝向外侧弯曲的曲面的前表面21和两个侧面22。 Having a body 20 provided with a curved outward curved front surface 21 and two sides 22. 两个侧面22中的各侧面22的至少一部分设置有朝向外侧弯曲的曲面。 Two side surfaces 22 of each side 22 has at least a part of a curved surface curved toward the outside.

[0292] 另外,本体20具有由前表面21和右侧的侧面22限定的右侧的前方顶部23以及由前表面21和左侧的侧面22限定的左侧的前方顶部23。 [0292] Further, the body 20 has a top front right side of the front surface 21 and 22 defined on the right side of the front apex portion 23 and 23 from the left side of the front surface 21 and 22 defined on the left. 如图31所示,前表面21的切线LI与两个侧面22的切线L2、L3分别形成的角均是锐角。 31, the front surface and the tangent of the tangent line L2 LI 21 two sides 22, the angle formed by L3 respectively are acute. 即,如图31所示,关于本实施方式的自主行走型吸尘器10,第一切线LI与第二切线L2所成的角以及第一切线LI与第三切线L3所成的角均是锐角,其中,该第一切线LI是俯视图中的本体20的外周的切线,且与将两个前方顶部23的顶点相连接的线即本体20的最大宽度线W平行,该第二切线L2是俯视图中的本体20的外周的另一条切线,在与本体20的最大宽度线W相比靠本体20的后方侧的外周处相切,该第三切线L3是俯视图中的本体20的外周的又一条切线,在与本体20的最大宽度线W相比靠本体20的后方侧的外周处相切。 That is, as shown in FIG. 31, on autonomous running type vacuum cleaner 10 according to the present embodiment, the first tangent and the second tangent LI L2 and the angle formed by a first tangent line LI and the third angle formed by the tangent line L3 are an acute angle, wherein the first outer peripheral tangent line tangent LI is a plan view of the body 20, and the tops of the two front vertices of the line 23 is connected to the line, i.e. the maximum width W parallel to the body 20, the second tangent line L2 is a top view of another tangent outer periphery of the body 20, tangent to the outer periphery on the rear side of the body 20 as compared to the maximum line width W of the body 20 at the third tangent line L3 is the outer periphery of the plan view of the body 20 and a tangent line, tangent to the outer circumference of the line compared to the maximum width W of the body 20 on the rear side of the body 20.

[0293] 根据这种结构,本体20的形状近似于勒洛三角形,因此易于在清扫对象区域的角落R3处转动。 [0293] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus easily rotated in the corner area R3 of the object to be cleaned. 另外,吸入口101易于到达清扫对象区域的角落R3,能够提高清扫效率。 Further, the suction port 101 readily accessible corner region of the object to be cleaned R3, cleaning efficiency can be improved.

[0294] 另外,在本实施方式的自主行走型吸尘器10中,如图31所示,前方顶部23具有R形状(圆弧R)。 [0294] Further, in the autonomous running type vacuum cleaner 10 according to the present embodiment, as shown in FIG. 31, a top 23 having a front shape of R (R arc). 在本实施方式的自主行走型吸尘器10中,本体20的前表面21的曲面的曲率小于前方顶部23的R形状的曲率。 In the autonomous running type vacuum cleaner 10 according to the present embodiment, the surface curvature 21 of the front surface of the body 20 is smaller than the curvature R of the front apex portion 23 of the shape.

[0295] 根据这种结构,本体20的形状近似于勒洛三角形,因此易于在清扫对象区域的角落R3处转动。 [0295] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus easily rotated in the corner area R3 of the object to be cleaned. 另外,吸入口101易于到达清扫对象区域的角落R3,能够提高清扫效率。 Further, the suction port 101 readily accessible corner region of the object to be cleaned R3, cleaning efficiency can be improved.

[0296] 另外,本实施方式的自主行走型吸尘器10的吸入口101配置在与驱动单元30相比靠近本体20的最大宽度部分的部分。 [0296] Further, autonomous running type vacuum cleaner according to the present embodiment, the suction port 101 disposed at portions 10 in comparison with the driving unit 30 near the maximum width portion of the body 20.

[0297] 根据这种结构,吸入口101易于到达清扫对象区域的角落R3,能够提高清扫效率。 [0297] According to such a configuration, the suction port 101 within easy reach of the cleaning area of ​​the corner R3, cleaning efficiency can be improved.

[0298] 另外,本实施方式的自主行走型吸尘器10还具有脚轮90。 [0298] Further, autonomous running type cleaner 10 of the present embodiment also has a caster 90. 脚轮90配置与驱动单元30相比离本体20的最大宽度部分远的部分,优选配置在离本体20的前表面21远的部分。 And casters 90 disposed away from the drive unit 30 as compared to the maximum width of the portion of the body portion 20 is preferably disposed in a portion away from the front surface of the body 20, 21.

[0299] 根据这种结构,脚轮90远离清扫对象区域的角落R3,因此能够防止角落R3的垃圾附着于脚轮90。 [0299] According to such a configuration R3 corner, away from the caster 90 of the cleaning area, it is possible to prevent the corner R3 casters 90 attached to the waste.

[0300] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、驱动单元30、电动风扇51以及边刷44。 [0300] Further, autonomous running type embodiment according to the present embodiment includes a cleaner body 10 having a suction port 101 of 20, the drive unit 30, the electric fan 51 and the brush 44 side. 边刷44配置在与驱动单元30相比靠近本体20的最大宽度部分的部分。 Side brush 44 disposed in the driving unit 30 than the portion near the maximum width portion of the body 20.

[0301] 根据这种结构,能够更加可靠地从吸入口101吸入由边刷44收集到的垃圾。 [0301] According to such a configuration, it is possible to more reliably by the suction port 101 from the suction side of the brush 44 to garbage collection.

[0302] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、驱动单元30、电动风扇51以及地面检测传感器74。 [0302] Further, autonomous running type embodiment according to the present embodiment includes a cleaner body 10 having a suction port 101 of 20, the drive unit 30, the electric fan 51 and the sensor 74 detects the ground. 地面检测传感器74配置在与驱动单元30相比靠近本体20的最大宽度部分的部分,优选进一步配置在与吸入口101相比靠近本体20的最大宽度部分的部分。 Ground detection sensor 74 disposed near the portion of the maximum width portion of the body 20, preferably further disposed in the suction port than the portion near the maximum width portion 101 of the body 20 in comparison with the drive unit 30. 更优选的是,地面检测传感器74配置在靠近本体20的前表面21的位置。 More preferably, the surface detection sensor 74 disposed at a position close to the front surface 20 of the body 21.

[0303] 根据这种结构,地面检测传感器74配置在本体20的前方侧,因此能够提前检测本体20的前进方向上有无清扫面,来防止驱动单元30的轮33脱轨。 [0303] According to this structure, the ground detection sensor 74 arranged on the front side of the body 20, it is possible to detect in advance whether or cleaning surface in the forward direction of the body 20, the drive unit 30 to prevent wheel derailment of 33.

[0304] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、驱动单元30、吸入口101、电动风扇51以及充电端子103。 [0304] Further, autonomous running type embodiment according to the present embodiment includes a cleaner body 10 having a suction port 101 of 20, the drive unit 30, the suction port 101, the electric fan 51 and the charging terminal 103. 充电端子103配置在与驱动单元30相比靠近沿轮33的旋转轴的方向上的本体20的最大宽度部分的部分。 Charging terminal portion 103 disposed in the maximum width portion of the body near the rotational axis direction compared to the direction of the wheel 33 and the drive unit 30 20.

[0305] 根据这种结构,充电端子103配置在本体20的前方侧,因此充电端子103能够更加可靠地连接于充电台。 [0305] According to such a configuration, the charging terminal 103 is disposed on the front side of the body 20, the charging terminal 103 can be more reliably connected to the charging station.

[0306] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、驱动单元30、电动风扇51以及电源单元80。 [0306] Further, autonomous running type embodiment according to the present embodiment includes a cleaner body 10 having a suction port 101 of 20, the drive unit 30, the electric fan 51 and a power supply unit 80. 电源单元80配置在与驱动单元30相比离本体20的最大宽度部分远的部分。 The power supply unit 80 disposed in the body 20 from the maximum width portion compared to the distal portion of the drive unit 30.

[0307] 根据这种结构,由于电源单元80的重量的影响,本体20的前方侧的部分相对地翘起,因此例如能够减少配置在本体20的前方侧的障碍物检测传感器71等传感器与清扫面接触的情况。 [0307] According to such a configuration, due to the influence of the weight of the power supply unit 80, a front side portion of the body 20 is relatively lifted, thus for example possible to reduce the obstacle detection sensor 71 and the like arranged on the front side of the body 20 of the cleaning sensor in the case of surface contact.

[0308] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、驱动单元30、吸入口101、电动风扇51以及边刷44。 [0308] Further, autonomous running type embodiment according to the present embodiment includes a cleaner 10 20, the drive unit 30 has a main body suction port 101, suction port 101, the electric fan 51 and the brush 44 side. 本实施方式的自主行走型吸尘器10构成为边刷44的一部分位于本体20的最大宽度部分。 Type automatically traveling cleaner 10 according to the present embodiment is configured as an edge portion 44 of the brush at the maximum width portion 20 of the body. 更优选的是,本实施方式的自主行走型吸尘器10构成为边刷44的一部分和吸入口101位于本体20的最大宽度部分。 More preferably, the autonomous running type vacuum cleaner 10 according to the present embodiment is configured as an edge portion 44 and the suction brush maximum width portion 101 of the body 20 of the port.

[0309] 根据这种结构,能够更加可靠地从吸入口101抽吸由边刷44收集到的垃圾。 [0309] According to such a configuration, it is possible to more reliably sucked from the suction port 101 by the side brushes 44 to garbage collection.

[0310](实施方式7) [0310] (Embodiment 7)

[0311] 本发明的实施方式7的自主行走型吸尘器10具备具有吸入口101的本体20、使本体20移动的驱动单元30以及从吸入口101抽吸垃圾的电动风扇51。 Automatically traveling cleaner type [0311] Embodiment 7 of the present invention includes a main body 10 having a suction port 101 of 20, the driving unit 20 moves the body 30 and the electric fan 51 from the suction inlet port 101 garbage. 本体20至少具有两个顶部(前方顶部23)。 The body 20 has at least two (top of the front 23). 本体20具有由两个顶部的顶点间的距离限定的最大宽度(“本体20的最大宽度”)。 Body 20 has a maximum width ( "the maximum width of the body 20 ') by the distance between the two vertices defining the top. 吸入口101优选具有横长形状,更优选具有矩形形状或大致矩形形状。 Suction 101 preferably has a horizontally long shape, and more preferably has a rectangular shape or a substantially rectangular shape. 在本实施方式的自主行走型吸尘器10中,吸入口101以如下方式进行配置:设置在本体20的底面侧,并且吸入口101的长边方向与本体20的宽度方向(在图13中为左右方向)大致平行。 In the autonomous running type vacuum cleaner according to the present embodiment 10, the suction port 101 is configured in the following manner: provided on the bottom side of the body 20, and the suction longitudinal direction and the width direction of the body 20 of the port 101 (for the left and right in FIG. 13 direction) are substantially parallel.

[0312]另外,在本实施方式的自主行走型吸尘器10中,本体20具有设置有朝向外侧弯曲的曲面的前表面21和两个侧面22。 [0312] Further, in the autonomous running type vacuum cleaner 10 according to the present embodiment, the body 20 is provided having a curved front surface of the outer surface of the two side surfaces 21 and 22 toward the. 两个侧面22中的每个侧面22的至少一部分设置有朝向外侧弯曲的曲面。 Two side surfaces 22 of each side 22 is provided with at least a portion of the outward curved surface.

[0313]另外,本体20具有上述两个顶部、即由前表面21和右侧的侧面22限定的右侧的前方顶部23以及由前表面21和左侧的侧面22限定的左侧的前方顶部23。 [0313] Further, the body 20 having the above-described two top, i.e., the front top portion defined by a front top side of the front surface 21 and 22 on the right side of the right side surface 23 and the front surface 21 and 22 defined by the left side of the left twenty three. 如图31所示,前表面21的切线LI与两个侧面22中的切线L2、L3分别形成的角均是锐角。 31, the front surface and the tangent of the tangent line LI 21 L2 22 in the two sides of corners L3 are respectively formed at an acute angle. 即,如图31所示,关于本实施方式的自主行走型吸尘器10,第一切线LI与第二切线L2所成的角以及第一切线LI与第三切线L3所成的角均是锐角,其中,该第一切线LI是俯视图中的本体20的外周的切线,且与将两个前方顶部23的顶点相连接的线(“本体20的最大宽度线W”)平行,该第二切线L2是俯视图中的本体20的外周的另一条切线,在与本体20的最大宽度线W相比靠本体20的后方侧的外周处相切,该第三切线L3是俯视图中的本体20的外周的另一条切线,在与本体20的最大宽度线W相比靠本体20的后方侧的外周处相切。 That is, as shown in FIG. 31, on autonomous running type vacuum cleaner 10 according to the present embodiment, the first tangent and the second tangent LI L2 and the angle formed by a first tangent line LI and the third angle formed by the tangent line L3 are an acute angle, wherein the first outer peripheral tangent line tangent LI is a plan view of the body 20, and the line ( "line of the maximum width W of the body 20") in front of the two top vertex 23 is connected parallel to the first two tangential line L2 is a plan view of the body of another tangent outer periphery 20, tangent to the outer circumference compared to the maximum line width W of the body 20 on the body rear side 20, the third tangent line L3 is a plan view of the main body 20 another tangent line of an outer periphery, at a tangent to the outer periphery of the line compared to the maximum width W of the body 20 on the rear side of the body 20.

[0314] 根据这种结构,本体20的形状近似于勒洛三角形,因此自主行走型吸尘器10易于在清扫对象区域的角落R3处转动。 [0314] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus automatically traveling cleaner 10 is easy to type in the corners of rotation R3 of the cleaning object area. 另外,吸入口101易于到达清扫对象区域的角落R3,因此能够提高清扫效率。 Further, the suction port 101 within easy reach of the cleaning area R3 of the corner, it is possible to improve the cleaning efficiency.

[0315] 另外,本实施方式的自主行走型吸尘器1的本体20的前表面21的曲面的曲率小于本体20的前方顶部23的R形状(图31所示的圆弧R)的曲率。 [0315] Further, the curvature of the curved front surface of the autonomous running type according to the present embodiment is a cleaner body 20 of the body 21 is smaller than the top 20 of the front 23 of the R-shape (circular arc R shown in FIG. 31) curvature.

[0316] 根据这种结构,本体20的形状近似于勒洛三角形,因此自主行走型吸尘器10易于在清扫对象区域的角落R3处转动。 [0316] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus automatically traveling cleaner 10 is easy to type in the corners of rotation R3 of the cleaning object area. 另外,吸入口101易于到达清扫对象区域的角落R3,因此能够提高清扫效率。 Further, the suction port 101 within easy reach of the cleaning area R3 of the corner, it is possible to improve the cleaning efficiency.

[0317] 另外,在本实施方式的自主行走型吸尘器10中,吸入口101优选以如下方式进行配置:吸入口101的长边方向与本体20的最大宽度线W的延伸方向大致平行。 [0317] Further, in the autonomous running type vacuum cleaner 10 according to the present embodiment, the suction port 101 is preferably configured in the following manner: the extending direction of the longitudinal direction of the suction of the body port 101 the maximum width W of the line 20 is substantially parallel. 另外,更优选的是,吸入口101配置在与驱动单元30相比靠近本体20的最大宽度部分的部分。 Further, more preferably, the suction port 101 disposed in the drive unit 30 than the portion near the maximum width portion of the body 20.

[0318] 根据这种结构,吸入口101易于到达清扫对象区域的角落R3,因此能够提高清扫效率。 [0318] According to such a configuration, the suction port 101 within easy reach of the cleaning area R3 of the corner, it is possible to improve the cleaning efficiency.

[0319] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、使本体20移动的驱动单元30、脚轮90以及从吸入口101抽吸垃圾的电动风扇51,其中,该脚轮90配置在与驱动单元30相比在本体20的前后方向上靠后方的位置处,且随着驱动单元30的轮33的运动而进行从动。 [0319] Further, autonomous running type embodiment according to the present embodiment includes a main body 10 of the vacuum cleaner 101 having a suction port 20, the driving unit 20 moves the body 30 of the caster 90 from the suction port 101 and the suction fan 51 electric garbage, wherein the compared with casters 90 disposed on the drive unit 30 at a position behind, and with the movement of the drive wheel 33 of the unit 30 is driven is performed in the longitudinal direction of the body 20. 本体20具有作为宽度最宽的部分的最大宽度部分,吸入口101优选具有横长形状,更优选具有矩形形状或大致矩形形状。 Body 20 has a maximum width of the width of the widest portion of the suction port 101 preferably has a horizontally long shape, more preferably substantially rectangular shape or a rectangular shape. 在本实施方式的自主行走型吸尘器10中,吸入口101的长边方向沿着本体20的宽度方向,脚轮90配置在与驱动单元30相比离最大宽度部分远的部分。 In the autonomous running type vacuum cleaner 10 according to the present embodiment, the suction port 101 in the longitudinal direction along the width direction of the body 20, casters 90 disposed on the drive unit 30 from the maximum width portion compared to the distal portion.

[0320] 根据这种结构,脚轮90远离清扫对象区域的角落R3,因此能够防止角落R3的垃圾附着于脚轮90。 [0320] According to such a configuration R3 corner, away from the caster 90 of the cleaning area, it is possible to prevent the corner R3 casters 90 attached to the waste.

[0321] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、使本体20移动的驱动单元30、从吸入口101抽吸垃圾的电动风扇51以及配置在本体20的底面的边刷44。 [0321] Further, autonomous running type embodiment according to the present embodiment includes a main body 10 of the vacuum cleaner 101 having a suction port 20, the driving unit 30 of the body 20 moves from the suction inlet port 101 and waste the electric fan 51 disposed on the bottom surface of the body 20 side brush 44. 本体20具有作为宽度最宽的部分的最大宽度部分,吸入口101优选具有横长形状,更优选具有矩形形状或大致矩形形状。 Body 20 has a maximum width of the width of the widest portion of the suction port 101 preferably has a horizontally long shape, more preferably substantially rectangular shape or a rectangular shape. 在本实施方式的自主行走型吸尘器10中,吸入口101的长边方向沿着本体20的宽度方向,边刷44配置在与驱动单元30相比靠近本体20的最大宽度部分的部分。 In the autonomous running type vacuum cleaner 10 according to the present embodiment, the suction port 101 in the longitudinal direction along the width direction of the body 20, the side brush portion near the maximum width portion of the body 20 of the drive unit 30 as compared with 44 is disposed.

[0322] 根据这种结构,能够更加可靠地从吸入口101抽吸由边刷44收集到的垃圾。 [0322] According to such a configuration, it is possible to more reliably sucked from the suction port 101 by the side brushes 44 to garbage collection. 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、使本体20移动的驱动单元30、从吸入口101抽吸垃圾的电动风扇51以及检测本体20要行走的清扫面的地面检测传感器74。 Further, autonomous running type embodiment according to the present embodiment includes a cleaner body 10 having a suction port 20, 101, the drive unit 20 to move the body 30, the cleaning surface from the suction inlet port 101 and waste the electric fan 51 to the body 20 detected traveling of ground detection sensor 74. 本体20具有作为宽度最宽的部分的最大宽度部分,吸入口101优选具有横长形状,更优选具有矩形形状或大致矩形形状。 Body 20 has a maximum width of the width of the widest portion of the suction port 101 preferably has a horizontally long shape, more preferably substantially rectangular shape or a rectangular shape. 在本实施方式的自主行走型吸尘器10中,吸入口101的长边方向沿着本体20的宽度方向,地面检测传感器74配置在与吸入口101相比在本体20的前后方向上靠前方的位置处,且配置在与驱动单元30相比靠近本体20的最大宽度部分的部分。 In the autonomous running type vacuum cleaner 10 according to the present embodiment, the suction port 101 in the longitudinal direction along the width direction of the body 20, as compared to surface detection sensor 74 arranged on the front side suction port 101 in the longitudinal direction of the body 20 position, and is disposed in the drive unit 30 than the portion near the maximum width portion of the body 20.

[0323] 根据这种结构,地面检测传感器74配置在本体20的前方侧,因此能够提前检测本体20的前进方向上有无清扫面,来防止轮33脱轨。 [0323] According to this structure, the ground detection sensor 74 arranged on the front side of the body 20, it is possible to detect in advance whether or cleaning surface in the forward direction of the body 20, 33 to prevent wheel derailment.

[0324] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、使本体20移动的驱动单元30、从吸入口101抽吸垃圾的电动风扇51以及用于对能够向电动风扇51供给电力的电源进行充电的充电端子103。 [0324] Further, autonomous running type vacuum cleaner according to the present embodiment includes a main body 10 having a suction port 101 of 20, the driving unit 30 of the body 20 moves from the suction inlet port 101 and waste the electric fan 51 can be used for the electric fan 51 supplies a constant voltage charging terminal 103 for charging. 本体20具有作为宽度最宽的部分的最大宽度部分,吸入口101优选具有横长形状,更优选具有矩形形状或大致矩形形状。 Body 20 has a maximum width of the width of the widest portion of the suction port 101 preferably has a horizontally long shape, more preferably substantially rectangular shape or a rectangular shape. 在本实施方式的自主行走型吸尘器10中,吸入口101的长边方向沿着本体20的宽度方向,充电端子103配置在与吸入口101相比在本体20的前后方向上靠前方的位置处,且配置在与驱动单元30相比靠近本体20的最大宽度部分的部分。 In the autonomous running type vacuum cleaner 10 according to the present embodiment, the suction port 101 in the longitudinal direction along the width direction of the body 20, the charging terminal 103 is arranged at a position as compared with the suction port 101 on the front side in the longitudinal direction of the body 20 at, and arranged in the driving unit 30 than the portion near the maximum width portion of the body 20.

[0325] 根据这种结构,充电端子103配置在本体20的前方侧,因此充电端子103能够更加可靠地连接于充电台。 [0325] According to such a configuration, the charging terminal 103 is disposed on the front side of the body 20, the charging terminal 103 can be more reliably connected to the charging station.

[0326] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、使本体20移动的驱动单元30、从吸入口101抽吸垃圾的电动风扇51以及能够向电动风扇51供给电力的电源单元80。 [0326] Further, autonomous running type embodiment according to the present embodiment includes a main body 10 of the vacuum cleaner 101 having a suction port 20, the driving unit 30 of the body 20 moves from the suction inlet port 101 and waste the electric fan 51 can be supplied to the electric fan 51 the power supply unit 80. 本体20具有作为宽度最宽的部分的最大宽度部分,吸入口101优选具有横长形状,更优选具有矩形形状或大致矩形形状。 Body 20 has a maximum width of the width of the widest portion of the suction port 101 preferably has a horizontally long shape, more preferably substantially rectangular shape or a rectangular shape.

[0327] 在本实施方式的自主行走型吸尘器10中,吸入口101的长边方向沿着本体20的宽度方向,驱动单元30和电源单元80配置在与吸入口101相比在本体20的前后方向上靠后方的位置处,电源单元80配置在与驱动单元30相比远离本体20的最大宽度部分的部分。 [0327] In the autonomous running type vacuum cleaner 10 according to the present embodiment, the suction port 101 in the longitudinal direction along the width direction of the body 20, the drive unit 30 and the power supply unit 80 disposed at the suction port 101 as compared to before and after the body 20 at a position rearward in a direction, the power supply unit 80 is disposed as compared to the drive unit portion 30 away from the body 20 of the maximum width portion.

[0328] 根据这种结构,由于电源单元80的重量的影响,本体20的前方侧的部分相对地翘起,因此例如配置在本体20的前方侧的障碍物检测传感器71等传感器不易与清扫面接触。 [0328] According to such a configuration, due to the influence of the weight of the power supply unit 80, a front side portion of the body 20 is relatively lifted, for example, arranged so the obstacle detection sensor such as sensor 71 on the front side of the body 20 of the cleaning surface is less likely contact.

[0329] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、使本体20移动的驱动单元30、从吸入口101抽吸垃圾的电动风扇51以及配置在本体20的底面的边刷44。 [0329] Further, autonomous running type embodiment according to the present embodiment includes a main body 10 of the vacuum cleaner 101 having a suction port 20, the driving unit 30 of the body 20 moves from the suction inlet port 101 and waste the electric fan 51 disposed on the bottom surface of the body 20 side brush 44. 本体20具有作为宽度最宽的部分的最大宽度部分,吸入口101优选具有横长形状,更优选具有矩形形状或大致矩形形状。 Body 20 has a maximum width of the width of the widest portion of the suction port 101 preferably has a horizontally long shape, more preferably substantially rectangular shape or a rectangular shape.

[0330] 在本实施方式的自主行走型吸尘器10中,吸入口101以吸入口101的长边方向沿本体20的宽度方向的方式配置在本体20的底面侧。 [0330] In the autonomous running type vacuum cleaner 10 according to the present embodiment, the suction port 101 to suction port 101 in the longitudinal direction along the direction of width of the body 20 of the embodiment is arranged on the bottom side of the body 20. 另外,本实施方式的自主行走型吸尘器10构成为,边刷44的一部分在本体20的底面侧位于本体20的最大宽度部分。 Further, autonomous running type vacuum cleaner 10 according to the present embodiment is configured, the side brush portion 44 at the maximum width portion of the body 20 of the bottom side of the body 20. 更优选的是,边刷44的一部分和吸入口101配置在本体20的底面侧的、本体20的最大宽度部分。 More preferably, the edge portion 44 of the brush and the suction port 101 disposed on the bottom surface side of the body 20, the maximum width portion 20 of the body.

[0331] 根据这种结构,能够更加可靠地从吸入口101抽吸由边刷44收集到的垃圾。 [0331] According to such a configuration, it is possible to more reliably sucked from the suction port 101 by the side brushes 44 to garbage collection.

[0332](实施方式8) [0332] (Embodiment 8)

[0333] 本发明的实施方式8的自主行走型吸尘器10具有:本体20,其具有吸入口101;驱动单元30,其具有使本体20移动的轮33;以及电动风扇51,其从吸入口101抽吸垃圾。 [0333] Embodiment of the present invention autonomous running type cleaner 8, 10 has: a body 20 having a suction port 101; a drive unit 30 having wheels 33 so that the body 20 moves; and an electric fan 51, which is from the suction port 101 suction garbage. 本体20具有作为宽度最宽的部分的最大宽度部分。 The body portion 20 has a maximum width as the width of the widest part of.

[0334] 在本实施方式的自主行走型吸尘器10中,驱动单元30的轮33以轮33的中心轴沿着本体20的宽度方向的方式配置于本体20。 [0334] In the autonomous running type vacuum cleaner 10 according to the present embodiment, the drive wheel 33 of the unit 30 to the central axis of the wheel 33 is disposed in the body 20 along the direction of width of the body 20 of the embodiment of.

[0335]另外,在本实施方式的自主行走型吸尘器10中,本体20具有设置有朝向外侧弯曲的曲面的前表面21和两个侧面22。 [0335] Further, in the autonomous running type vacuum cleaner 10 according to the present embodiment, the body 20 is provided having a curved front surface of the outer surface of the two side surfaces 21 and 22 toward the. 两个侧面22中的各侧面22的至少一部分设置有朝向外侧弯曲的曲面。 Two side surfaces 22 of each side 22 has at least a part of a curved surface curved toward the outside.

[0336] 另外,本体20具有由前表面21和右侧的侧面22限定的右侧的前方顶部23以及由前表面21和左侧的侧面22限定的左侧的前方顶部23。 [0336] Further, the body 20 has a top front right side of the front surface 21 and 22 defined on the right side of the front apex portion 23 and 23 from the left side of the front surface 21 and 22 defined on the left.

[0337]如图31所示,前表面21的切线LI与两个侧面22中的切线L2、L3分别形成的角均是锐角。 [0337] shown in Figure 31, the front surface and the tangent of the tangent line LI 21 L2 22 in the two sides of corners L3 are respectively formed at an acute angle. 即,如图31所示,关于本实施方式的自主行走型吸尘器10,第一切线LI与第二切线L2所成的角以及第一切线LI与第三切线L3所成的角均是锐角,其中,该第一切线LI是俯视图中的本体20的外周的切线,且与将两个前方顶部23的各顶点相连接的线(“本体20的最大宽度线W”)平行,该第二切线L2是俯视图中的本体20的外周的另一条切线,在与本体20的最大宽度线W相比靠本体20的后方侧的外周处相切,该第三切线L3是俯视图中的本体20的外周的又一条切线,在与本体20的最大宽度线W相比靠本体20的后方侧的外周处相切。 That is, as shown in FIG. 31, on autonomous running type vacuum cleaner 10 according to the present embodiment, the first tangent and the second tangent LI L2 and the angle formed by a first tangent line LI and the third angle formed by the tangent line L3 are an acute angle, wherein the first outer peripheral tangent line tangent LI is a plan view of the body 20, and with the line ( "line of maximum width W of the body 20") in front of each of the two vertices of the top 23 is connected in parallel, the the second tangent line L2 is a plan view of the body of another tangent outer periphery 20, tangent to the outer circumference compared to the maximum line width W of the body 20 on the body rear side 20, the third tangent line L3 is a plan view of the body and an outer periphery of the tangent 20 at a tangent to the outer periphery of the line compared to the maximum width W of the body 20 on the rear side of the body 20.

[0338] 根据这种结构,本体20的形状近似于勒洛三角形,因此易于在清扫对象区域的角落R3处转动。 [0338] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus easily rotated in the corner area R3 of the object to be cleaned. 由此,能够迅速地从角落R3等移开。 Accordingly, it is possible to quickly move away from the corner R3 like. 另外,吸入口101易于到达对象区域的角落R3,因此能够提高清扫效率。 Further, the suction port 101 reaches the corner R3 easy target area, thereby improving cleaning efficiency.

[0339] 另外,在本实施方式的自主行走型吸尘器10中,本体20的各前方顶部23如图31所示那样具有R形状(圆弧R)。 [0339] Further, in the autonomous running type vacuum cleaner 10 according to the present embodiment, each of the front top portion 20 of the body 23 as shown in FIG. 31 has a R-shape (circular arc R). 本体20的前表面21的曲面的曲率小于各前方顶部23的R形状的曲率。 The curvature of the curved front surface of the body 20 is smaller than the top 21 of each of the front curvature of the R shape 23.

[0340] 根据这种结构,本体20的形状近似于勒洛三角形,因此在清扫对象区域的角落R3处自主行走型吸尘器10易于转动。 [0340] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus easily rotated at 10 R3 autonomous running type vacuum cleaner in the corner of the cleaning area. 另外,吸入口101易于到达对象区域的角落R3,因此能够提高清扫效率。 Further, the suction port 101 reaches the corner R3 easy target area, thereby improving cleaning efficiency.

[0341] 另外,在本实施方式的自主行走型吸尘器10中,吸入口101配置在与驱动单元30相比靠近本体20的最大宽度部分的部分。 [0341] Further, in the autonomous running type vacuum cleaner 10 according to the present embodiment, the suction port 101 disposed in the drive unit 30 than the portion near the maximum width portion of the body 20.

[0342] 根据这种结构,本体20的形状近似于勒洛三角形,因此在清扫对象区域的角落R3处自主行走型吸尘器10易于转动。 [0342] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus easily rotated at 10 R3 autonomous running type vacuum cleaner in the corner of the cleaning area. 另外,吸入口101易于到达清扫对象区域的角落R3,因此能够提高清扫效率。 Further, the suction port 101 within easy reach of the cleaning area R3 of the corner, it is possible to improve the cleaning efficiency.

[0343] 本实施方式的自主行走型吸尘器10还具有脚轮90,该脚轮90配置在与驱动单元30相比靠后方的位置处,且随着驱动单元30的轮33的运动而进行从动。 [0343] Independent travel of the vacuum cleaner according to the present embodiment also has a caster 90 embodiment 10, the caster 90 is disposed at a position compared to the driving unit 30 rearward, and with the movement of the drive wheel 33 of the driven unit 30 is performed. 在本实施方式的自主行走型吸尘器10中,驱动单元30的轮33的中心轴沿着本体20的宽度方向,脚轮90配置在与驱动单元30相比离本体20的最大宽度部分远的部分。 In the autonomous running type vacuum cleaner 10 according to the present embodiment, the central axis 33 of the wheel driving unit 30 in the width direction of the body 20, casters 90 disposed on the body 20 from the maximum width portion compared to the distal portion of the drive unit 30.

[0344] 根据这种结构,脚轮90远离清扫对象区域的角落R3,因此能够防止角落R3的垃圾附着于脚轮90。 [0344] According to such a configuration R3 corner, away from the caster 90 of the cleaning area, it is possible to prevent the corner R3 casters 90 attached to the waste.

[0345] 另外,本实施方式的自主行走型吸尘器10还具有配置在本体20的底面侧的边刷44。 [0345] Further, autonomous running type embodiment according to the present embodiment further has a cleaner 10 arranged on the bottom side of the body 20 of the brush 44 side. 在本实施方式的自主行走型吸尘器10中,轮33的中心轴沿着本体20的宽度方向,边刷44配置在与驱动单元30相比靠近本体20的最大宽度部分的部分。 In the autonomous running type vacuum cleaner 10 according to the present embodiment, the central axis 33 of the wheel body 20 in the width direction, the side brush 44 disposed in the driving unit 30 than the portion near the maximum width portion of the body 20.

[0346] 根据这种结构,能够更加可靠地从吸入口101抽吸由边刷44收集到的垃圾。 [0346] According to such a configuration, it is possible to more reliably sucked from the suction port 101 by the side brushes 44 to garbage collection.

[0347]另外,本实施方式的自主行走型吸尘器10还具有检测本体20要行走的清扫面的地面检测传感器74。 [0347] Further, autonomous running type embodiment according to the present embodiment further includes a floor cleaner 10 cleaning surface detection sensor 20 detects the body 74 to be walking. 在本实施方式的自主行走型吸尘器10中,地面检测传感器74在本体20的底面侧被配置在与吸入口101相比靠本体20的前后方向中的前方的位置处,且配置在与驱动单元30相比靠近本体20的最大宽度部分的部分。 In the autonomous running type vacuum cleaner 10 according to the present embodiment, the ground detecting sensor 74 is compared with the suction port 101 disposed at the forward position by front-rear direction of the body 20, and is arranged in the driving unit 20 on the bottom surface side of the body 30 compared to the portion near the maximum width portion 20 of the body.

[0348] 根据这种结构,地面检测传感器74配置在本体20的前方侧,因此能够提前检测本体20的前进方向上有无清扫面,来防止轮33脱轨。 [0348] According to this structure, the ground detection sensor 74 arranged on the front side of the body 20, it is possible to detect in advance whether or cleaning surface in the forward direction of the body 20, 33 to prevent wheel derailment.

[0349]另外,本实施方式的自主行走型吸尘器10还具有用于对能够向电动风扇51供给电力的电源进行充电的充电端子103。 [0349] Further, autonomous running type cleaner 10 of the present embodiment also has a power source capable of supplying electric power to the fan 51 for a charging terminal 103. 在本实施方式的自主行走型吸尘器10中,充电端子103在本体20的底面侧被配置在与吸入口101相比在本体20的前后方向上靠前方的位置处,且配置在与驱动单元30相比靠近最大宽度部分的部分。 In the autonomous running type vacuum cleaner 10 according to the present embodiment, the charging terminal 103 is arranged in the intake port 101 as compared with in the longitudinal direction against the body 20 at a position in front of the drive unit and disposed at the bottom side of the body 20 30 compared to the portion near the maximum width portion.

[0350] 根据这种结构,充电端子103配置在本体20的前方侧,因此充电端子103能够更加可靠地连接于充电台。 [0350] According to such a configuration, the charging terminal 103 is disposed on the front side of the body 20, the charging terminal 103 can be more reliably connected to the charging station.

[0351]另外,本实施方式的自主行走型吸尘器10还具有能够向电动风扇51供给电力的电源单元80。 [0351] Further, autonomous running type vacuum cleaner according to the present embodiment further includes a power supply unit 10 capable of supplying electric power to the fan 5180. 在本实施方式的自主行走型吸尘器10中,驱动单元30和电源单元80配置在与吸入口101相比在本体20的前后方向上靠后方的位置。 In the autonomous running type vacuum cleaner 10 according to the present embodiment, the drive unit 30 and the power supply unit 80 is disposed as compared with the suction port 101 at the rearward position in the longitudinal direction of the body 20. 另外,电源单元80配置在与驱动单元30相比离最大宽度部分远的部分。 Further, the power supply unit 80 is disposed in the drive unit 30 from the maximum width portion compared to the distal portion.

[0352] 根据这种结构,由于电源单元80的重量的影响,本体20的前方侧的部分相对地翘起,因此例如配置在本体20的前方侧的障碍物检测传感器71等传感器不易与清扫面接触。 [0352] According to such a configuration, due to the influence of the weight of the power supply unit 80, a front side portion of the body 20 is relatively lifted, for example, arranged so the obstacle detection sensor such as sensor 71 on the front side of the body 20 of the cleaning surface is less likely contact.

[0353] 另外,在本实施方式的自主行走型吸尘器10中,边刷44的一部分位于本体20的底面侧的最大宽度部分。 [0353] Further, in the autonomous running type vacuum cleaner 10 according to the present embodiment, the side brush portion 44 of the body portion of the maximum width of the bottom surface 20 side. 更优选的是,边刷44的一部分和吸入口101位于本体20的底面侧的最大宽度部分。 More preferably, the side brush and the suction portion 44 of the body portion of the maximum width of the bottom surface 20 of the side port 101.

[0354] 根据这种结构,能够更加可靠地从吸入口101抽吸由边刷44收集到的垃圾。 [0354] According to such a configuration, it is possible to more reliably sucked from the suction port 101 by the side brushes 44 to garbage collection.

[0355](实施方式9) [0355] (Embodiment 9)

[0356] 本发明的实施方式9的自主行走型吸尘器10具备具有吸入口101的本体20、具有轮33的驱动单元30、电动风扇51以及通信部212。 [0356] Embodiment of the present invention automatically traveling cleaner type 9 10 101 includes a main body having a suction port 20, a drive unit 30, the electric fan 51 and a communication unit 212 33. 通信部212配置在形成于本体20的凹部,凹部的面包括凹部的边缘,凹部的面以本体20的外周侧的部分比本体20的中心侧的部分低的方式倾斜。 The communication unit 212 disposed in a recess formed in the body 20, includes an edge surface of the concave portion of the concave portion, the surface of the recess portion to an outer peripheral side of the body 20 is inclined lower than the center side of the body portion 20 of the embodiment.

[0357] 根据这种结构,凹部如抛物面天线那样发挥功能,因此通信部212的通信性提高。 [0357] According to such a configuration functions as the recessed portion such as a parabolic antenna, the communication of the communication unit 212 is improved.

[0358] 并且,在本实施方式中,通信部212还能够接收从对自主行走型吸尘器10进行充电的充电台输出的信号或从用于操作自主行走型吸尘器10的遥控器输出的信号。 [0358] Further, in the present embodiment, the communication unit 212 is also capable of receiving signals outputted from the charging station to automatically traveling cleaner 10 is charged type or autonomous running type remote control signal 10 outputted from the cleaner for operation.

[0359](实施方式I O) [0359] (Embodiment I O)

[0360] 本发明的实施方式10的自主行走型吸尘器10具备具有吸入口101的本体20、具有轮33的驱动单元30、电动风扇51以及集尘盒单元60。 [0360] Embodiment of the present invention automatically traveling cleaner 10 includes a type 10 of the main body 101 having a suction port 20, 30 has a drive unit 33, the electric fan 51 and a dust box unit 60. 集尘盒单元60具有集尘盒61和过滤器62,其中,该集尘盒61具有与吸入口101连通的入口,该过滤器62安装于集尘盒61。 Dust box unit 60 having a dust box 61 and the filter 62, wherein the dust collecting box 61 has an inlet 101 communicating with the suction port, the filter 62 is mounted on the dust box 61. 在过滤器62中设置有收集部340,该收集部340是使空气通过并收集空气中的垃圾的部分。 It is provided with a filter 62 in the collection portion 340, the collecting portion 340 through the air and is collected in the waste air portion. 收集部340配置在不与入口312相向的部分。 Collecting portion 340 is not disposed facing the inlet portion 312.

[0361] —般地,在自主行走型吸尘器中,可搭载的集尘盒的大小有限。 [0361] - camel, the autonomous running type vacuum cleaner, the limited size of the dust box can be mounted. 因此,在收集部配置在与集尘盒的入口相向的部位的情况下,垃圾集中地堆积在收集部中的与集尘盒的入口相向的部分,即使收集部的其它部分有用于堆积垃圾的余量,入口也往往会被垃圾堵塞。 Thus, in the case where the collecting portion disposed at the inlet of the dust container facing portions, piled in the garbage collected portion of the dust box facing the inlet portion, even if the other portions of the collecting portion for accumulation of rubbish margin, entrance also tend to be clogged garbage.

[0362] 但是,在本实施方式的自主行走型吸尘器10中,收集部340配置在不与入口312相向的部分,因此能够防止垃圾集中地堆积在收集部340的与集尘盒310的入口312相向的部分。 [0362] However, in the autonomous running type vacuum cleaner 10 according to the present embodiment, the configuration is not collecting portion 340 facing the inlet portion 312, thereby preventing the garbage piled in the dust collecting box 310. The inlet portion 312 340 opposite part.

[0363] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、具有多个轮33的驱动单元30、多个悬挂弹簧36、电动风扇51、主刷43以及刷驱动电动机41。 [0363] Further, autonomous running type embodiment according to the present embodiment includes a main body 10 of the vacuum cleaner 101 having a suction port 20, a drive unit 30 having a plurality of wheels 33, a plurality of suspension springs 36, the electric fan 51, the main brush 43 and the brush driving motor 41. 悬挂弹簧36对轮33施加反作用力,使得轮33从本体20突出。 The reaction force of the suspension spring 36 is applied to wheel 33, so that the wheel 33 protrude from the body 20. 对第一轮33施加反作用力的悬挂弹簧36的弹性系数大于对第二轮33施加反作用力的悬挂弹簧36的弹性系数,其中,该第一轮33是多个轮33的其中一个轮33,该第二轮33是多个轮33中的、被配置在与第一轮33相比离刷驱动电动机41远的部分的轮33。 Suspension spring reaction force applied to the elastic coefficient of the first wheel 33 is applied to the suspension spring 36 is larger than the reaction force of the second wheel 33 to the modulus of elasticity of 36, wherein the plurality of first wheel 33 is a wheel 33 which wheel 33, the second wheel 33 are a plurality of wheels 33, 33 are arranged in the wheel 33 as compared with the first wheel away from the motor 41 driving the brush portion.

[0364] 根据这种结构,刷驱动电动机41的重量对第一轮33的作用力比对第二轮33的作用力强。 [0364] According to such a configuration, the weight of the brush drive motor 41 to force the first wheel 33 than for strong function of the second wheel 33. 因此,在对各轮33施加反作用力的悬挂弹簧36的弹性系数具有相同大小的情况下,轮33相对于本体20的位置有可能失衡。 Thus, in the case of having the same size of the suspension spring 33 is applied to the elastic coefficient of each reaction wheel 36, the wheel 33 relative to the body 20 there could be unbalanced. 但是,通过根据这种结构来设定悬挂弹簧36的弹性系数,轮33相对于本体20的位置的平衡不易打破。 However, by setting the spring constant of the spring suspension 36 according to this arrangement, the wheel 33 with respect to the equilibrium position of the body 20 is less likely to break.

[0365] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、具有轮33的驱动单元30、电动风扇51、集尘盒61以及垃圾检测传感器76。 [0365] Further, autonomous running type embodiment according to the present embodiment includes a cleaner body 10 having a suction port 101 of the 20, 33 has a drive unit 30, the electric fan 51, the dust box 61 and sensor 76 detecting spam. 垃圾检测传感器76在将吸入口1I与集尘盒310相连接的流路174内被配置在沿流路174内的空气的流动方向切断的断面中的、与流路174的中心线175处的流速相比流速快的区域。 In the cross-sectional flow direction inside suction port 1I flow path 310 connected to the dust box 174 is disposed in the air along the flow path 174 in the cutting, 175 spam detection sensor 76 and the flow path centerline 174 flow rate compared to the rapid flow of the region.

[0366] 根据这种结构,即使在垃圾检测传感器76的表面附着有垃圾的情况下,也易于利用在流路174中流动的空气从垃圾检测传感器76的表面去除该垃圾。 [0366] According to this structure, even when the surface detecting sensor 76 is attached trash garbage, but also easy to use air flowing in the flow passage 174 is removed from the surface of the refuse garbage detection sensor 76.

[0367] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、具有轮33的驱动单元30、电动风扇51、充电端子103以及磁体77。 [0367] Further, autonomous running type embodiment according to the present embodiment includes a cleaner body 10 having a suction port 101 of the 20, 33 has a drive unit 30, the electric fan 51, the charging terminal 103 and the magnet 77. 充电端子103能够与对电源充电的充电台的端子电连接,磁体77配置在靠近充电端子103的部位。 Charging terminal 103 can be electrically connected to the terminal of the power supply of a charging station, a magnet 77 disposed near the charging terminal 103 of the site.

[0368] 根据这种结构,在自主行走型吸尘器10接近充电台的情况下,磁体77易于被充电台检测到。 [0368] According to this structure, in the case of an automatically traveling cleaner 10 close type charging station, charging stand magnets 77 are easily detected.

[0369] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、驱动单元30、电动风扇51以及脚轮90。 [0369] Further, autonomous running type embodiment according to the present embodiment includes a cleaner body 10 having a suction port 101 of 20, the drive unit 30, the electric fan 51 and the casters 90. 脚轮90的旋转轴被配置为与吸入口101的长边方向平行或大致平行。 Caster rotation shaft 90 is arranged parallel to the longitudinal direction of the suction port 101 or substantially parallel. 另外,在本实施方式的自主行走型吸尘器10中,脚轮90具有直径粗的第一部分和直径比第一部分细的第二部分,且第一部分的外周面的摩擦系数小于第二部分的外周面的摩擦系数。 Further, in the autonomous running type vacuum cleaner according to the present embodiment 10, the caster 90 having a diameter of coarse first portion and diameter than the first part of the fine second portion, and the friction coefficient of the outer circumferential surface of the first portion is smaller than the outer peripheral surface of the second portion coefficient of friction.

[0370] 根据这种结构,当自主行走型吸尘器10行走时,脚轮90的外周面中的第一部分的外周面主要与清扫面接触。 [0370] According to this structure, when the automatically traveling cleaner 10 traveling type, the outer peripheral surface of the first portion of the outer circumferential surface of the main castor 90 in contact with the cleaning surface. 由于第一部分的外周面的摩擦系数小于第二部分的外周面的摩擦系数,因此本体20直行的情况下的阻力小,从而能够顺利地移动。 Since the coefficient of friction of the outer circumferential surface of the first portion is smaller than the friction coefficient of the outer circumferential surface of the second portion, so the resistance of the body 20 in the case of small straight, it is possible to smoothly move. 另外,在本体20转动的情况下,脚轮90易于横向滑动,因此能够提高本体20的转动性。 Further, in the case where the body 20 is rotated, the caster 90 is easy to slide laterally, thereby improving the rotation of the body 20.

[0371](实施方式11) [0371] (Embodiment 11)

[0372] 本发明的实施方式11的自主行走型吸尘器10具备具有吸入口101的本体20、使本体20移动且具有轮33的驱动单元30、从吸入口101抽吸垃圾的电动风扇51以及配置于本体20的集尘盒单元60。 Automatically traveling cleaner type [0372] Embodiment 10 of the present invention includes a main body 11 having a suction port 20, 101, move the main body 20 and the drive unit 30 having a wheel 33, the suction port 101 from the electric fan 51 and the suction waste disposed the main body of the dust box unit 6020. 集尘盒单元60具有用于存留由电动风扇51抽吸到的垃圾的集尘盒61和安装于集尘盒61的过滤器62。 Dust box unit 60 has retained by an electric fan 51 is drawn into the trash and dust box 61 is attached to the filter 61 of the dust box 62 is used. 过滤器62具有收集部340和用于支承收集部340的框架350,其中,该收集部340是使空气通过并收集空气中的垃圾的部分。 Frame 350 having a filter 62 and a collecting portion 340 for supporting the collecting portion 340, wherein the collecting portion 340 through the air and is collected in the waste air portion. 框架350包括与集尘盒310的入口312相向的部分,收集部340配置在不与集尘盒310的入口312相向的部分。 Includes a frame portion 350, and the dust collecting portion facing the cartridge inlet 312 310 340 disposed in the dust box is not opposed to the inlet portion 312,310.

[0373] —般地,自主行走型吸尘器的可搭载的集尘盒的大小有限。 [0373] - camel limited size of the dust box, automatically traveling cleaner can be mounted type. 因此,在收集部配置在与集尘盒的入口相向的部位的情况下,垃圾集中地堆积在收集部的与集尘盒的入口相向的部分,即使在收集部的其它部分有用于堆积垃圾的余量,入口也往往会被垃圾堵塞。 Thus, in the case where the collecting portion disposed at the inlet of the dust container facing parts of the garbage piled in the inlet portion of the dust box facing collecting portion, even if the other portions of the collecting portion for accumulation of rubbish margin, entrance also tend to be clogged garbage.

[0374] 但是,在本实施方式的自主行走型吸尘器10中,收集部340配置在不与集尘盒310的入口312相向的部分,因此能够减少垃圾集中地堆积在收集部340的与集尘盒310的入口312相向的部分。 [0374] However, in the autonomous running type vacuum cleaner 10 according to the present embodiment, the collection unit 340 disposed in the dust box is not opposed to the inlet portion 312,310, garbage can be reduced in the packed section and the dust collecting 340 box 312 310 facing the inlet portion.

[0375] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、配置于吸入口101的主刷43、使主刷43旋转的刷驱动电动机41以及使本体20移动的一对轮33 (第一轮33和第二轮33)。 [0375] Further, autonomous running type according to the present embodiment, the cleaner 10 includes a main body having a suction port 101 20 is disposed in the intake main port 101 of the brush 43, so that the primary brush 43 rotating brush driving motor 41 and the main body 20 is moved to a wheel 33 (the first wheel 33 and second wheel 33). 本实施方式的自主行走型吸尘器10还具有:第一弹簧36,其对第一轮33施加反作用力以使第一轮33在清扫面上接地;第二弹簧36,其对第二轮33施加反作用力以使第二轮33在清扫面上接地;以及电动风扇51,其用于从吸入口101抽吸垃圾。 Automatically traveling cleaner type embodiment 10 of the present embodiment further includes: a first spring 36, a reaction force which is applied to the first wheel 33 so that the cleaning 33 is grounded surface of the first round; a second spring 36, which is applied to the second wheel 33 the reaction force of the second wheel 33 to the cleaning surface of the ground; and an electric fan 51 for suction from the suction port 101 garbage. 刷驱动电动机41配置在靠近第一轮33和第二轮33中的第一轮33的部位。 Brush driving motor 41 disposed near the site of the first wheel 33 and second wheel 33 of the first wheel 33. 另外,在本实施方式的自主行走型吸尘器10中,第一弹簧36的弹性系数大于第二弹簧36的弹性系数。 Further, in the autonomous running type vacuum cleaner 10 according to the present embodiment, the elastic coefficient of the first spring 36 is greater than the elasticity coefficient of the second spring 36.

[0376] 根据这种结构,刷驱动电动机41的重量作用于第一轮33的力比刷驱动电动机41的重量作用于第二轮33的力强。 [0376] According to such a configuration, the weight of the brush drive motor 41 than the weight of the brush drive motor 41 to force the first wheel 33 to the wheel 33 of the second strong. 因此,在对各轮33施加反作用力的弹簧36的弹性系数具有相同大小的情况下,轮33相对于本体20的位置有可能失衡。 Thus, in the case of having the same size of the reaction force exerted by the spring 33 on the elastic coefficient of each wheel 36, the wheel 33 relative to the body 20 there could be unbalanced.

[0377] 但是,通过基于本实施方式的自主行走型吸尘器10的上述结构来设定弹簧36的弹性系数,轮33相对于本体20的位置的平衡不易打破。 [0377] However, the above-described configuration automatically traveling cleaner type embodiment 10 of the present embodiment is set based on the elastic coefficient of the spring 36, the wheel 33 with respect to the equilibrium position of the body 20 is less likely to break.

[0378] 另外,本实施方式的自主行走型吸尘器10具备:本体20,其具有吸入口101;驱动单元30,其使本体20移动且具有轮33;电动风扇51,其从吸入口101抽吸垃圾;集尘盒310,其用于存留由电动风扇51抽吸到的垃圾;以及垃圾检测传感器76,其配置在将电动风扇51与集尘盒310相连接的流路174中,用于检测与在流路174内移动的垃圾有关的信息。 [0378] Further, autonomous running type vacuum cleaner 10 according to the present embodiment includes: a body 20 having a suction port 101; a drive unit 30 which moves the main body 20 and a wheel 33; the electric fan 51, which is drawn from the suction port 101 garbage; dust box 310, which is retained by an electric fan 51 for sucking the waste; spam detection sensor 76 and, disposed in the flow path 174 and the electric fan 51 is connected to the dust box 310, a for detecting information relating to the movement in the flow path 174 garbage. 垃圾检测传感器76在流路174中被配置在空气的流速快的部位。 Garbage detection sensor 76 in the flow passage 174 is arranged in fast-flowing air portion.

[0379] 根据这种结构,在垃圾检测传感器76的表面附着有垃圾的情况下,易于利用在流路174内流动的空气从传感器垃圾检测传感器76的表面去除该垃圾。 [0379] According to this structure, the surface detection sensor 76 is attached trash garbage under the circumstances, by the air easily flows in the flow path 174 of the refuse is removed from the surface of the sensor 76 is a sensor detecting spam.

[0380] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、驱动单元30、从吸入口101抽吸垃圾的电动风扇51、用于对电动风扇51的电源进行充电的充电端子103以及能够由向充电端子103供给电力的充电台检测的磁体77。 [0380] Further, autonomous running type vacuum cleaner according to the present embodiment includes a main body 10 having a suction port 101 of 20, the drive unit 30, the suction from the suction port 101 garbage electric fan 51, an electric power for charging a fan 51 charging terminal 103 and a charging station detects a magnet capable of supplying electric power to the charging terminal 77 is 103. 在本实施方式的自主行走型吸尘器10中,磁体77与充电端子103的距离比磁体77与吸入口101的距离短。 In the short-distance running autonomous vacuum cleaner 10 according to the present embodiment, the distance from the magnet 77 and the charging terminal 103 than the magnet 77 and the suction port 101.

[0381] 根据这种结构,在自主行走型吸尘器10接近充电台的情况下,磁体77易于被充电台检测到。 [0381] According to this structure, in the case of an automatically traveling cleaner 10 close type charging station, charging stand magnets 77 are easily detected.

[0382] 另外,本实施方式的自主行走型吸尘器10具备具有吸入口101的本体20、驱动单元30、随着轮33运动而进行从动的脚轮90以及从吸入口101抽吸垃圾的电动风扇51。 [0382] Further, autonomous running type vacuum cleaner according to the present embodiment includes 20 embodiment 10, the drive unit 30 having a suction port body 101, with the movement for the driven wheel 33 of the caster 90 and the refuse sucked from the suction port 101 of the electric fan 51. 吸入口101具有横长形状,优选具有矩形形状或大致矩形形状。 Suction port 101 having a laterally elongated shape, preferably having a rectangular shape or a substantially rectangular shape. 吸入口101的长边方向沿着本体20的宽度方向,脚轮90的中心轴实质上与吸入口101的长边方向平行,脚轮90具有直径粗的第一部分和直径比第一部分细的第二部分,第一部分的外周面的摩擦系数小于第二部分的外周面的摩擦系数。 The longitudinal direction of the suction port 101 in the width direction of the body 20, the central axis of the caster 90 substantially in the longitudinal direction of the suction port 101 is parallel to the caster portion 90 thinner than the first portion of large diameter, a second portion and a first diameter coefficient of friction of the outer circumferential surface of the friction coefficient of the outer circumferential surface of the first portion is smaller than the second portion.

[0383] 根据这种结构,在自主行走型吸尘器10行走的情况下,脚轮90的外周面中的第一部分的外周面主要与清扫面接触。 [0383] According to this structure, in the case of an automatically traveling cleaner 10 traveling type, the outer peripheral surface of the first portion 90 of the outer peripheral surface of the main castor in contact with the cleaning surface. 由于第一部分的外周面的摩擦系数小于第二部分的外周面的摩擦系数,因此本体20直行的情况下的阻力小,从而能够顺利地移动。 Since the coefficient of friction of the outer circumferential surface of the first portion is smaller than the friction coefficient of the outer circumferential surface of the second portion, so the resistance of the body 20 in the case of small straight, it is possible to smoothly move. 另外,在本体20转动的情况下,脚轮90易于横向滑动,因此能够提高本体20的转动性。 Further, in the case where the body 20 is rotated, the caster 90 is easy to slide laterally, thereby improving the rotation of the body 20.

[0384](实施方式12) [0384] (Embodiment 12)

[0385] 本发明的实施方式12的自主行走型吸尘器10具备具有吸入口101的本体20、使本体20行走的多个驱动单元30以及搭载于本体20的抽吸单元50。 [0385] Embodiment of the present invention automatically traveling vacuum cleaner 10 includes a body 12 having a suction port 20, 101, a plurality of driving the suction unit 30 of the unit body 20 and a traveling body 20 is mounted to 50.

[0386] 本体20具备具有在俯视图中向外侧弯曲的形状的曲面的前表面21和多个侧面22,以及具有多个由前表面21和侧面22限定的顶部、即前方顶部23。 [0386] 20 includes a body having a front surface curved outward in plan view the shape of the curved surface 21 and a plurality of side surfaces 22, and a plurality of side surfaces defined by a front surface 21 and the top 22, i.e. the top of the front 23.

[0387] 本体20的最大宽度由多个顶部中的至少两个顶部(前方顶部23)限定。 The maximum width of the [0387] body 20 is defined by at least two (top of the front 23) of the plurality of the top. 另外,吸入口101设置于本体20的具有最大宽度的部分。 Further, a suction port 101 provided in the body portion 20 has a maximum width. 如上所述,“本体20的具有最大宽度的部分”或“本体20的最大宽度部分”是指将右侧的前方顶部23的顶点与左侧的前方顶部23的顶点相连接的线W (“本体20的最大宽度线W”)的线上及其附近。 As described above, "the maximum width portion of the body 20 '' section has a maximum width of the body 20" means lines or vertices W and the top front left vertex of the right side of the top front 23 of the connector 23 (the " maximum line width of the line and its vicinity of the body of the W 20 ") is.

[0388] 如图31所示,前表面21的切线(第一切线)LI与侧面22的切线(第二切线和第三切线)L2、L3所成的角均是锐角。 [0388] As shown in FIG 31, a tangent (first tangent) LI front surface 21 and the tangential line (tangent line of the second and third tangential) side surface 22 of the L2, L3 are formed by an acute angle.

[0389] 本实施方式的自主行走型吸尘器10还具有配置在本体20的底面侧的至少一个边刷44。 [0389] Independent travel of the vacuum cleaner according to the present embodiment has a further embodiment 10 of the body 20 disposed on the bottom side of at least one side brush 44. 边刷44的旋转轨迹的一部分位于本体20的最大宽度部分。 The side brush rotation trajectory of the body portion 44 of the maximum width portion 20. 更优选的是,边刷44位于本体20的最大宽度部分和吸入口101。 More preferably, the maximum width of the side brush 44 of the body portion 20 and the suction port 101.

[0390] 根据这种结构,能够利用边刷44经由设置在本体20的底面侧的吸入口101更加可靠地收集清扫对象区域的角落R3存在的垃圾。 [0390] According to such a configuration, the side brush 44 can utilize existing garbage collection corner R3 more reliably the cleaning area through the suction port 20 provided on the bottom side of the body 101. 因此,能够进一步提高抽吸清扫对象区域的角落R3存在的垃圾的能力。 This can further improve the ability to suction the presence of R3 corner of the cleaning area of ​​waste. 另外,不需要将构成边刷44的刷毛束44B的长度延长,因此能够降低边刷44钩挂障碍物的风险。 Further, the side brush is not necessary to constitute a length of the bristle bundles 44B of the extension 44, it is possible to reduce the risk of side brush 44 is hooked obstacle.

[0391] 在本实施方式中,也可以设置多个边刷44。 [0391] In the present embodiment, it may be provided a plurality of side brush 44. 在该情况下,多个边刷44包括配置于本体20的右侧的部分的右侧的边刷44和配置于本体20的左侧的部分的左侧的边刷44。 In this case, a plurality of brush 44 includes a right side portion of the right body 20 arranged on the side brush 44 and a brush 44 disposed at the left side of the left side portion of the body 20. 向吸入口1I送入垃圾的轨道由右侧的边刷44的旋转轨迹和左侧的边刷44的旋转轨迹形成。 Waste fed to the suction port of the brush rail 1I right side and the left side of the rotation path 44 of the side brush rotation locus 44 is formed.

[0392] 根据这种结构,能够利用多个边刷44经由本体20的吸入口101更加有效且可靠地收集清扫对象区域的角落R3存在的垃圾。 [0392] According to such a configuration, a plurality of side brush 44 can utilize existing garbage R3 corner more efficiently and reliably collecting the cleaning region 20 through the suction port body 101. 因此,能够进一步提高抽吸清扫对象区域的角落R3存在的垃圾的能力。 This can further improve the ability to suction the presence of R3 corner of the cleaning area of ​​waste.

[0393] 另外,在本实施方式中,在自主行走型吸尘器10具有多个边刷44的情况下,多个边刷44构成为:右侧的边刷44的旋转轨迹和左侧的边刷44的旋转轨迹在本体20的宽度方向的中心侧从本体20的前方朝向后方。 [0393] Further, in the present embodiment, the autonomous running type having a plurality of side brush cleaner 10 in the case 44, a plurality of side brush 44 is configured to: the right side and the left brush rotation locus 44 of side brush rotation trajectory of the center 44 in the width direction of the body 20 toward the rear from the front body 20. 即,多个边刷44中的每个边刷44向彼此相反的方向旋转,在各个边刷44的旋转轨迹中的与其它边刷44的旋转轨迹接近的部分,从本体20的前方朝向后方旋转。 That is, each of the plurality of sides of the side brush 44 brush 44 is rotated in the opposite directions to each other, each of the side brush in rotation trajectory 44 near the rotation path 44 of the other side portion of the brush, from the front toward the rear of the body 20 rotation.

[0394] 根据这种结构,利用边刷44将垃圾从本体20的前方侧收集到吸入口101,因此例如与将垃圾从吸入口101的侧方附近收集到吸入口101的情况相比,能够使垃圾更加可靠地被吸入口101吸入。 [0394] According to this structure, using the garbage collection side brush 44 from the front side of the body 20 to the suction port 101, for example, as compared with the garbage collection from the vicinity of the side where the suction port 101 to the inlet port 101, it is possible so that the garbage is more reliably suction port 101 inhalation.

[0395](实施方式13) [0395] (Embodiment 13)

[0396] 本发明的实施方式13的自主行走型吸尘器10具备底面具有吸入口101的本体20、使本体20行走的多个驱动单元30以及搭载于本体20的抽吸单元50。 [0396] Embodiments of the invention self running type cleaner 10 includes a main body 13 having a bottom surface 101 of the intake port 20, a plurality of drive units 20 traveling body 30 and the suction unit 50 mounted on the body 20.

[0397] 本体20具有最大宽度部分和后方部分,其中,该最大宽度部分存在于与自主行走型吸尘器10的重心G相比靠前方的位置,是宽度最宽的部分,该后方部分存在于与最大宽度部分相比靠后方的位置,随着趋向后方而宽度变窄。 [0397] body 20 has a maximum width portion and a rear portion, wherein the maximum width portion compared with the center of gravity G is present in the autonomous running type cleaner 10 further forward, the width of the widest portion, which is present in the rear portion compared to the maximum width portion being positioned further rearward, and the rear width is narrowed as it goes. 在本实施方式中,如图31所示,本体20的最大宽度部分的外周面具有R形状(圆弧R)。 In the present embodiment, shown in Figure 31, the outer peripheral surface of the maximum width portion of the body 20 has a R-shape (circular arc R).

[0398]另外,在本实施方式中,本体20的前表面21具有在本体20的俯视图中朝向外侧弯曲的形状的曲面。 [0398] Further, in the present embodiment, the front surface 21 of the body 20 has a curved shape toward the outer side of the curved body 20 in a plan view.

[0399]并且,在本实施方式中,本体20的前表面21的曲面的曲率小于本体20的最大宽度部分的外周面的R形状(圆弧R)的曲率。 [0399] Further, in the present embodiment, the curvature of the curved front surface of the body 20 is smaller than the maximum width portion 21 of the body 20 of the R-shape (circular arc R) of curvature of the outer circumferential surface.

[0400] 并且,在本实施方式的自主行走型吸尘器10中,在本体20的后方部分设置有侧面22。 [0400] Further, in the autonomous running type vacuum cleaner 10 according to the present embodiment, the rear portion of the body 20 has a side surface 22 is provided. 侧面22具有在本体20的俯视图中朝向外侧弯曲的形状的曲面。 Side surface 22 having a curved shape toward the outside of the body 20 in a plan view of a curved surface.

[0401] 在本实施方式中,本体20的侧面22的曲面的曲率小于本体20的最大宽度部分的外周面的R形状(圆弧R)的曲率。 [0401] In the present embodiment, the curvature of the curved side of the body 20 is smaller than the maximum width portion 22 of the body 20 of the R-shape (circular arc R) of curvature of the outer circumferential surface.

[0402] 根据这种结构,本体20的形状近似于勒洛三角形,因此易于在清扫对象区域的角落R3处转动。 [0402] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus easily rotated in the corner area R3 of the object to be cleaned. 由此,能够使自主行走型吸尘器10迅速地从清扫对象区域的角落R3等移开。 Thereby, the vacuum cleaner 10 automatically traveling quickly removed from the object to be cleaned like the corner region R3. 另夕卜,吸入口1I易于到达清扫对象区域的角落R3的前端部分R4,因此能够提高清扫效率。 Another Bu Xi suction port easily reach the front portion 1I R3 R4 corner of the cleaning region, thereby improving cleaning efficiency.

[0403] 另外,在本实施方式中,吸入口101配置在与自主行走型吸尘器10的重心G相比靠近本体20的最大宽度部分的部分。 [0403] Further, in the present embodiment, the suction port 101 is disposed in a portion compared with the center of gravity G of the automatically traveling cleaner 10 type near the maximum width portion of the body 20. 另外,在本实施方式中,抽吸单元50配置在与吸入口101相比在本体20的前后方向上靠后方的位置。 Further, in the present embodiment, the suction unit 50 is disposed at a position as compared with the suction port 101 rearward in the longitudinal direction of the body 20.

[0404] 根据这种结构,能够使吸入口101接近清扫对象区域的角落R3的顶点,因此能够更加可靠地从吸入口1I直接抽吸角落R3的前端部分R4等处存在的垃圾。 [0404] According to such a configuration, the suction port 101 near the apex of the corner of the cleaning region R3, it is possible to more reliably be sucked directly from the suction port 1I present in the front end portion corners, etc. R3 R4 garbage.

[0405] 在本实施方式中,驱动单元30也可以配置在在本体20的底面侧的宽度方向上与吸入口101相比靠外侧的位置。 [0405] In the present embodiment, the drive unit 30 may be disposed as compared to the position of the suction port 101 in the width direction of the bottom side of the body 20 on the outer side. 根据这种结构,吸入口101也被设置于本体20的最大宽度部分,因此能够有效地抽吸清扫面上存在的垃圾。 According to such a configuration, the suction port 101 is also provided in the maximum width portion of the body 20, it is possible to effectively clean the suction surface of the existing waste.

[0406](实施方式14) [0406] (Embodiment 14)

[0407] 本发明的实施方式14的自主行走型吸尘器10具备底面具有吸入口101的本体20、使本体20行走的多个驱动单元30以及搭载于本体20的抽吸单元50。 [0407] Embodiment of the present invention automatically traveling vacuum cleaner 10 includes a bottom surface 14 of the body 101 has a suction port 20, a plurality of drive units 20 traveling body 30 and the suction unit 50 mounted on the body 20.

[0408] 本体20具备具有在俯视图中向外侧鼓出的曲面的前表面21和多个侧面22。 [0408] 20 includes a body having a front surface bulging outward in a plan view and a plurality of side surfaces 21 22. 本体20还具有多个由前表面21和多个侧面22限定的顶部、即前方顶部23。 Body 20 further has a plurality of side surfaces 21 and a plurality of front surface 22 defined by the top, i.e., top front 23. 本体20的最大宽度由多个顶部中的至少两个顶部(前方顶部23)限定。 The maximum width of the body 20 is defined by at least two (top of the front 23) of the plurality of the top. 吸入口101设置于本体20的具有最大宽度的部分。 Suction port 101 is provided in the portion 20 has a maximum width of the body. 此外,如上所述,“本体20的具有最大宽度的部分”或“本体20的最大宽度部分”是指将右侧的前方顶部23的顶点与左侧的前方顶部23的顶点相连接的线W (“本体20的最大宽度线W”)的线上及其附近。 As described above, "a body portion 20 has a maximum width" or "maximum width portion of the body 20" refers to the vertex line W and the top front left vertex of the top front right 23 of the connector 23 line and the vicinity thereof ( "bulk of the maximum width of the line W 20") is.

[0409] 根据这种结构,前表面21的切线LI与侧面22的切线L2、L3所成的角被设定为锐角,因此在自主行走型吸尘器10位于清扫对象区域的角落R3的情况下,能够当场进行转动,并相对于角落R3采取多种姿势。 [0409] According to such a configuration, the front side tangent line LI and the tangent line 22 of surface 21 L2, L3 angle formed is set to an acute angle, and therefore the case of an automatically traveling cleaner 10 is located at a corner type R3 in the cleaning area, spot can be rotated, with respect to the corner and R3 take various postures. 这种本体20的姿势例如包括本体20的前方顶部23指向清扫对象区域的角落R3的顶点或其附近的姿势。 This position of the body 20 includes, for example, at or near the apex of the corner R3 posture of the cleaning area of ​​the point 23 of the front apex portion 20 of the body. 与以往的具有圆形的本体20的自主行走型吸尘器10最大限度地接近清扫对象区域的角落R3的情况相比,在自主行走型吸尘器10采取这种姿势的情况下,本体20的顶部(前方顶部23)更加接近角落R3的顶点,本体20的吸入口101也更加接近角落R3的顶点。 Compared with the case where the conventional circular body having self-running type of the cleaner 20 close to the maximum corner 10 the cleaning region R3, taking this position of the autonomous running type vacuum cleaner 10, the top of the body 20 (front suction port 101 at the top 23) closer to the apex of the corner of R3, the body 20 is also closer to the apex of the corner R3. 因此,能够更加可靠地从吸入口101抽吸角落R3的清扫面上存在的垃圾。 Accordingly, it is possible to more reliably clean the suction surface of the refuse present in the corner R3 suction port 101.

[0410]另外,根据上述那样的结构,在采取本体20的前方顶部23向角落R3的顶点或其附近靠近的姿势的情况下,能够当场进行转动。 In the case [0410] Further, according to the above-described configuration, the front top portion of the body 20 taking a posture closer to 23 or near the apex of the corner R3 can be rotated on the spot. 因此,与以往的具有D型的本体20的自主行走型吸尘器相比,本实施方式的自主行走型吸尘器10在从清扫对象区域的角落R3向其它场所移动时,能够迅速地从角落R3向其它场所移动。 Thus, compared with the autonomous running type vacuum cleaner having a conventional D-type body 20, an automatically traveling cleaner type embodiment 10 of the present embodiment is moved from the corner of the cleaning region R3 to other places, from the corner can be quickly to other R3 place to move.

[0411]并且,在本实施方式中,多个侧面22包括相对于本体20的宽度方向(在本实施方式中为相对于本体20的前进方向大致垂直的方向)的中心而形成在右侧的右侧的侧面22和相对于本体20的宽度方向的中心而形成在左侧的左侧的侧面22。 [0411] Further, in the present embodiment, comprises a plurality of side surfaces 22 with respect to the width direction of the body 20 (in the present embodiment is described with respect to the advancing direction of the body 20 is substantially perpendicular to a direction) is formed on the right of center right side surface 22 and side surfaces with respect to the center of the width direction of the body 20 is formed in the left side of the left side 22. 本体20具有由前表面21和右侧的侧面22限定的右侧的前方顶部2以及由前表面21和左侧的侧面22限定的左侧的前方顶部23。 A top body 20 has a front side from the front top right side of the front surface 21 and 22 defined by the side 2 and the right front surface 21 and a left side 22 of the left 23 defined. 右侧的前方顶部23和左侧的前方顶部23限定本体20的最大宽度。 Front top front top right side 23 and left 23 defines the maximum width of the body 20.

[0412] 另外,本实施方式的自主行走型吸尘器10的本体20的后方侧(后部)的宽度比本体20的前方侧(前部)的宽度窄。 [0412] Further, the width of the rear side (rear) of the body automatically traveling cleaner type embodiment 10 of the present embodiment 20 is narrower than the width of the front side of the body 20 (front portion). 根据这种结构,当自主行走型吸尘器10在周围存在物体的场所进行转动时,本体20的后部接触该物体的风险降低。 According to this structure, when the place object type independent traveling cleaner 10 is rotated around the presence of, the rear body 20 contacts the object to reduce the risk. 因此,能够提高自主行走型吸尘器10的灵活性。 Accordingly, it is possible to improve the flexibility of the automatically traveling cleaner 10 type.

[0413] 另外,在本实施方式中,多个驱动单元30包括第一驱动单元30和第二驱动单元30。 [0413] Further, in the present embodiment, the plurality of drive unit 30 includes a first driving unit 30 and the second driving unit 30. 第一驱动单元30和第二驱动单元30构成为分别具有旋转轴,且能够互相独立地驱动。 A first driving unit 30 and the second driving unit 30 is configured to have a rotating shaft, and each can be independently driven. 另外,在本实施方式中,多个驱动单元30的驱动方式是由第一驱动单元30和第二驱动单元30构成的对置双轮式。 Further, in the present embodiment, a plurality of drive units driving system 30 is constituted by a first drive unit 30 and the second driving unit 30 opposite wheel type. 根据这种结构,与具有转向型的驱动方式的自主行走型吸尘器相比,构造被简化。 According to this structure, compared with the autonomous running type cleaner having a steering-type driving method, the configuration is simplified.

[0414] 本实施方式的自主行走型吸尘器10还具有用于控制多个驱动单元30的控制单元70。 [0414] The present embodiment automatically traveling cleaner type of embodiment 10 further has a control unit 30 for controlling the plurality of drive units 70. 控制单元70控制多个驱动单元30,使得本体20形成勒洛三角形所描绘的四边形的轨迹的至少一部分轨迹。 The control unit 70 controls the plurality of drive units 30, such that the body 20 is formed a quadrilateral locus Reuleaux triangle depicted in at least part of the trajectory.

[0415] 根据这种结构,控制单元70使各驱动单元30进行动作,来使本体20的前方顶部23向清扫对象区域的角落R3的顶点或其附近靠近,从而能够使吸入口101更加接近清扫对象区域的角落R3的顶点。 [0415] According to such a configuration, the control unit 70 operates each driving unit 30 to cause the front top portion of the body 20 near the apex 23 or near the corner of the cleaning region R3, the suction port 101 can be closer to the cleaning corner vertices target region R3. 因此,本实施方式的自主行走型吸尘器10能够更加有效地抽吸清扫对象区域的角落R3存在的垃圾。 Thus, an automatically traveling cleaner type embodiment 10 of the present embodiment can more efficiently suck the presence of the corner of the cleaning area R3 garbage.

[0416]并且,在本实施方式中,第一驱动单元30和第二驱动单元30的旋转轴存在于与自主行走型吸尘器1的重心G相比靠本体20的后方侧的位置。 [0416] Further, in the present embodiment, the center of gravity is present in the automatically traveling cleaner 1 type G compared against the rear side of the body 20 of the rotary shaft of the first position and the second driving unit 30 drive unit 30.

[0417] 各驱动单元30的旋转轴与自主行走型吸尘器10的重心G的关系相当于决定本体20所能形成的轨迹的主要因素之一。 One of the major factors of [0417] Relationship between the respective center of gravity G of the drive unit and the rotation shaft 30 automatically traveling cleaner 10 corresponds to the determined type of the body 20 can be formed track. 如与驱动单元30的旋转轴一起说明过的那样,本发明的自主行走型吸尘器10具备具有吸入口101的本体20、驱动单元30、吸入口101以及电动风扇51。 As the rotation shaft of the driving unit 30 described above with autonomous running type vacuum cleaner of the present invention includes a main body 10 having a suction port 101 of 20, the drive unit 30, intake port 101 and the electric fan 51. 本体20具有限定本体20的最大宽度的两个顶部(前方顶部23),吸入口101设置于本体20的底面侧的具有最大宽度的部分,并且配置在与驱动单元30相比与本体20的具有最大宽度的部分靠近的部分。 Body 20 has a maximum width defining two top body 20 (the top of the front 23), the suction port 101 has a maximum width portion disposed on the bottom surface side of the body 20, as compared with the configuration and the drive unit 30 in the body 20 having portion near the maximum width portion.

[0418] 根据这种结构,本体20的形状近似于勒洛三角形,因此易于在清扫对象区域的角落R3处转动。 [0418] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus easily rotated in the corner area R3 of the object to be cleaned. 由此,能够从清扫对象区域的角落R3等迅速地移开。 Accordingly, it is possible to quickly removed from the object to be cleaned like the corner region R3. 另外,吸入口101易于到达清扫对象区域的角落R3的前端部分R4,因此能够提高清扫效率。 Further, the suction port 101 within easy reach of the cleaning area of ​​the corner portion of the front end of the R4 R3, cleaning efficiency can be improved.

[0419] 本发明的自主行走型吸尘器10还具有设置在本体20的底面侧的脚轮90。 [0419] Independent travel of the vacuum cleaner of the present invention also has a caster 10 disposed on the bottom side 90 of the body 20. 以本体20的最大宽度部分为基准,将脚轮90配置在与驱动单元30相比靠本体20的后方侧的位置。 In the maximum width portion of the body 20 as a reference, the position of the casters 90 arranged at the rear side as compared to the body 20 by the driving unit 30. 由于脚轮90设置在远离用于抽吸清扫对象区域的角落R3的垃圾的吸入口101的位置,因此能够防止清扫对象区域的角落R3的垃圾附着于脚轮90。 Since the casters 90 provided at a position away from the cleaning area for sucking corners R3 garbage inlet port 101, it is possible to prevent the corner area R3 of the cleaning waste to a caster 90 is attached.

[0420] 本发明的自主行走型吸尘器10还具有设置在本体20的底面侧的边刷44。 [0420] Independent travel of the vacuum cleaner of the present invention has a further edge 10 provided on the bottom side of the body 20 of the brush 44. 边刷44的旋转轨迹的一部分存在于本体20的具有最大宽度的部分。 The side brush rotation trajectory part 44 is present in the body portion 20 has a maximum width. 更优选的是,边刷44的旋转轨迹的一部分存在于吸入口101和本体20的具有最大宽度的部分。 More preferably, the locus of rotation 44 of side brush portion is present in the suction port 101 and the body portion 20 has a maximum width. 根据这种结构,能够将由边刷44收集到的垃圾更加可靠地抽吸到吸入口101。 According to such a configuration, the side brush 44 by the garbage collector to be more reliably sucked into the suction port 101.

[0421] 关于本发明的自主行走型吸尘器10,第一切线LI与第二切线L2所成的角以及第一切线LI与第三切线L3所成的角均是锐角,其中,该第一切线LI是俯视图中的本体20的外周的切线,且与将本体20的两个前方顶部23的各顶点相连接的线即本体20的最大宽度线W平行,该第二切线L2是俯视图中的本体20的外周的另一条切线,在与本体20的最大宽度线W相比靠本体20的后方侧的外周处相切,该第三切线L3是俯视图中的本体20的外周的又一条切线,在与本体20的最大宽度线W相比靠后方侧的外周处相切。 [0421] For autonomous running type vacuum cleaner 10 of the present invention, a first tangent and the second tangent LI L2 and the angle formed by the first and the third tangent line tangent LI L3 are formed by an acute angle, wherein the first all lines LI outer peripheral tangent plan view of the body 20, and with the thread tops of the two front main body 20 of each vertex of the connector 23, i.e., the maximum line width W parallel to the body 20, the second tangent line L2 is a plan view the body of the outer periphery of the other tangent 20, in yet a compared to the maximum line width W of the body 20 on the body rear side 20 of the tangent to the outer circumference, the third tangent line L3 outer peripheral plan view of the main body 20 tangent, tangent to the outer circumference of the line compared to the maximum width W of the body 20 on the rear side.

[0422] 根据这种结构,本体20的形状近似于勒洛三角形,因此易于在清扫对象区域的角落R3处转动。 [0422] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus easily rotated in the corner area R3 of the object to be cleaned. 由此,能够迅速地从清扫对象区域的角落R3等移开。 Thus, the corner can be quickly removed from the cleaning target region R3 and the like. 另外,吸入口101易于到达清扫对象区域的角落R3的前端部分R4,因此能够提高清扫效率。 Further, the suction port 101 within easy reach of the cleaning area of ​​the corner portion of the front end of the R4 R3, cleaning efficiency can be improved.

[0423] 本发明的自主行走型吸尘器10的本体20具有设置有曲面的外周面,该曲面在俯视图中朝向外侧弯曲。 [0423] Independent travel of the vacuum cleaner of the present invention, the body 20 is provided with a curved surface 10 having an outer peripheral surface, the curved surface is curved outward in a plan view. 另外,本体20具有限定本体20的最大宽度的两个顶部(前方顶部23)。 Further, the body 20 has two top defining a maximum width of the body 20 (the front apex portion 23). 两个顶部(前方顶部23)如图31所示那样具有R形状(圆弧R),本体20的外周面的曲面的曲率小于两个顶部的R形状的曲率。 Two (top of the front 23) as shown has an R shape (circular arc R) in FIG. 31, the curvature of the curved outer peripheral surface of the main body 20 is smaller than the curvature of the R shape of the top of the two.

[0424] 根据这种结构,本体20的形状近似于勒洛三角形,因此易于在清扫对象区域的角落R3处转动。 [0424] The shape of the Reuleaux triangle similar to such a configuration, the body 20, thus easily rotated in the corner area R3 of the object to be cleaned. 由此,能够迅速地从清扫对象区域的角落R3等移开。 Thus, the corner can be quickly removed from the cleaning target region R3 and the like. 另外,吸入口101易于到达清扫对象区域的角落R3的前端部分R4,因此能够提高清扫效率。 Further, the suction port 101 within easy reach of the cleaning area of ​​the corner portion of the front end of the R4 R3, cleaning efficiency can be improved.

[0425] 产业上的可利用性 [0425] INDUSTRIAL APPLICABILITY

[0426]如上所述,本发明提供如下一种清扫效率高的自主行走型吸尘器:能够更加可靠地从吸入口直接抽吸清扫对象区域的角落存在的垃圾,并且能够迅速地从清扫对称区域的角落向其它场所移动。 [0426] As described above, the present invention provides a high cleaning efficiency of the automatically traveling cleaner type: the presence of the suction more reliably the cleaning area corner waste from the suction port, and the cleaning can be quickly symmetric region from corner to move to other places. 由此,本发明能够应用于以家庭用的自主行走型吸尘器或办公用的自主行走型吸尘器为代表的、在各种环境中使用的自主行走型吸尘器。 Thus, the present invention is applicable to an automatically traveling cleaner in an autonomous running type vacuum cleaner for home use or office use typified by autonomous walking-type cleaner used in various environments.

[0427] 附图标记说明 [0427] REFERENCE NUMERALS

[0428] 10:自主行走型吸尘器;20:本体;21:前表面;22:侧面;22A:侧面;22B:侧面;23:前方顶部;24:后方顶部;25:后表面;30:驱动单兀;31:彳丁走用电动机;32:外壳;32A:电动机收容部;32B:弹簧钩部;32C:轴承部;33:轮;34:轮胎;35:支承轴;36:悬挂弹簧(弹簧);40:清扫单元;41:刷驱动电动机;42:齿轮箱;43:主刷;44:边刷;44A:刷轴;44B:刷毛束;50:抽吸单元;51:电动风扇;52:风扇罩;52A:前方侧壳体;52B:后方侧壳体;52C:吸入口; 52D:排出口; 52E:百叶窗;60:集尘盒单元;61:集尘盒;61A:入口;61B:出口; 61C:底部;62:过滤器;70:控制单元;71:障碍物检测传感器;7IA:发送部;71B:接收部;72:距离测定传感器;73:碰撞检测传感器;74:地面检测传感器;75:脱轨检测开关;76:垃圾检测传感器;77:磁体;80:电源单兀;81:电源壳;82:蓄电池;83:主开关;90:脚轮;91:支承轴;100:下部单兀;101:吸入口; 102:电源口; 103:充电端子;11 [0428] 10: autonomous running type cleaner; 20: a body; 21: a front surface; 22: side surface;. 22A: side; 22B: Side; 23: front top; 24: a top rear; 25: rear surface; 30: drive unit Wu; 31: left foot but-down motor; 32: a housing;. 32A: a motor housing portion; 32B: spring hook portion; 32C: a bearing portion; 33: wheel; 34: tire; 35: support shaft; 36: suspension spring (spring ); 40: cleaning unit; 41: brush driving motor; 42: gearbox; 43: main brush; 44: side brush;. 44A: brush shaft; 44B: tuft; 50: suction unit; 51: electric fan; 52 : fan cover; 52A: front side of the housing; 52B: rear side of the housing; 52C: a suction port; 52D: discharge port; 52E: blinds; 60: dust collecting box unit; 61: dust collecting box; 61A: an inlet; 61B : export; 61C: bottom; 62: filter; 70: control unit; 71: obstacle detection sensor; 7ia: transmitting unit; 71B: receiving portion; 72: a distance measuring sensor; 73: collision detection sensor; 74: ground detection sensor; 75: track detection switch; 76: garbage detection sensors; 77: a magnet; 80: power supply unit Wu; 81: power supply housing; 82: battery; 83: main switch; 90: caster; 91: support shaft; 100: a lower single Wu; 101: a suction port; 102: power port; 103: charging terminal; 11 0:基座;111:底部轴承;112:传感器窗;120:驱动用部分;121:轮罩;122:弹簧钩部;130:清扫用部分;131:轴插入部;132:耦合部;140:集尘盒用部分;150:抽吸用部分;160:电源用部分;170:刷壳;171:通道;172:入口;173:出口; 180:刷盖;181:斜面;190:保持框架;200:上部单元;210:罩;211:排气口; 212:受光部(通信部);213:盖按钮;220:盖;221:臂;230:缓冲器;231:弯曲凸部;232:发送用窗;233:接收用窗;234:距离测定用窗;240:接口部;241:面板;242:操作按钮;243:显示部;250:集尘盒支架;251:底部开口; 252:后方开口; 260:臂收容部;300:集尘盒单元;310:集尘盒;311:空间;312:入口;313:出口;320:盖;330:过滤器;340:收集部;350:框架;351:窗;352:中间壁;360:铰链;G:重心;H:轮的旋转轴;RX:房间;Rl:第一墙壁;R2:第二墙壁;R3:角落;R4:前端部分;LI:切线(第一切线);L2:切线(第二切线);L3:切线(第三切 0: a base; 111: bottom bearing; 112: sensor window; 120: driving portion; 121: a wheel cover; 122: spring hook portion; 130: cleaning portion; 131: shaft insertion portion; 132: Coupling portion; 140 : part of the dust box; 150: part by suction; 160: power supply portion; 170: brush case; 171: channel; 172: inlet; 173: outlet; 180: brush cover; 181: bevel; 190: holding frame ; 200: upper unit; 210: cover; 211: exhaust port; 212: light receiving unit (communication unit); 213: cover button; 220: a cover; 221: arm; 230: buffer; 231: convex curved portion; 232 : transmission window; 233: reception window; 234: distance measurement window; 240: an interface portion; 241: panel; 242: an operation button; 243: display unit; 250: dust box holder; 251: bottom opening; 252 : rear opening; 260: an arm accommodating portion; 300: the dust box unit; 310: dust collecting box; 311: space; 312: inlet; 313: outlet; 320: a cover; 330: filter; 340: collecting portion; 350 : a frame; 351: window; 352: intermediate wall; 360: hinge; G: center of gravity; H: wheel rotating shaft; the RX: room; Rl: a first wall; R2: a second wall; R3: corner; R4: front end part; LI: tangent (first tangent); L2: tangent (second tangent); L3: tangent (third cut )。 ).

Claims (5)

1.一种自主行走型吸尘器,具备: 本体,其具有吸入口; 驱动单元,其使所述本体移动;以及电动风扇, 其中,所述本体具有限定所述本体的最大宽度的两个顶部, 所述吸入口设置于所述本体的底面侧的、所述本体的具有所述最大宽度的部分,并且配置在与所述驱动单元相比与所述本体的具有所述最大宽度的部分靠近的部分。 An autonomous running type vacuum cleaner, comprising: a body having a suction port; a drive unit that moves said body; and an electric fan, wherein said body has a maximum width defining a top two of the body, the suction port is provided on the bottom side of the body, said body portion having the largest width, and is disposed close to the driving unit in comparison with the body portion having a maximum width of the section.
2.根据权利要求1所述的自主行走型吸尘器,其特征在于, 还具备设置在所述本体的底面侧的脚轮, 以所述本体的具有所述最大宽度的部分为基准,将所述脚轮设置在与所述驱动单元相比靠所述本体的后方侧的位置。 According to claim autonomous running type cleaner of claim 1, wherein further comprising casters provided at the bottom side of the body to the body portion having the maximum width as a reference, the caster disposed on a rear side of the body as compared with the position of the drive unit.
3.根据权利要求1或2所述的自主行走型吸尘器,其特征在于, 还具备设置在所述本体的底面侧的边刷, 所述边刷的旋转轨迹的一部分位于所述本体的具有所述最大宽度的部分。 The autonomous running type cleaner of claim 1 or claim 2, wherein further provided on a bottom surface side of the body side brush portion of the brush side of the rotation locus of the body having located said portion of the maximum width.
4.根据权利要求1〜3中的任一项所述的自主行走型吸尘器,其特征在于, 俯视图中的所述本体的外周的切线中,第一切线与第二切线所成的角以及第一切线与第三切线所成的角均是锐角, 其中,该第一切线是俯视图中的所述本体的外周的切线,与将所述本体的所述两个顶部的各顶点相连接的线平行,该第二切线是俯视图中的所述本体的所述外周的另一条切线,在与将所述本体的所述两个顶部的各顶点相连接的所述线相比靠所述本体的后方侧的位置处与外周相切,该第三切线是俯视图中的所述本体的所述外周的又一条切线,在与将所述本体的所述两个顶部的各顶点相连接的所述线相比靠所述本体的后方侧的位置处与外周相切。 The autonomous running type vacuum cleaner according to any one of 1~3 claim, wherein an outer periphery of a tangent of the body plan view, the first line and the second tangent line angle and the first tangent line tangent to the third angle are all acute, wherein the first outer peripheral tangent line of the body plan view tangent with the vertices of each of said body top two phases line connected in parallel, which second tangent is tangent to the outer periphery of the other of the body in plan view, than the line in each of the two vertices of the top of the body against the connecting at a position above the rear side of the body and the tangent to the outer periphery, the outer periphery of the third tangent line is tangent to the body and a top view, with the apex of each connecting two of the top of the body compared to the line at a position on the rear side of the body and tangential to the outer periphery.
5.根据权利要求1〜4中的任一项所述的自主行走型吸尘器,其特征在于, 在第一切线相切的所述本体的外周设置有具有在俯视图中朝向外侧弯曲的曲面的外周面,其中,该第一切线是俯视图中的所述本体的外周的切线,与将所述本体的所述两个顶部的各顶点相连接的线平行, 所述本体的所述两个顶部具有R形状, 所述本体的所述外周面的所述曲面的曲率小于所述两个顶部的所述R形状的曲率。 The autonomous running type vacuum cleaner according to any one of claim 1 ~ 4 claims, characterized in that the outer periphery of the first body is provided with a tangential line tangent to a curved surface curved outward in a plan view an outer peripheral surface, wherein the first outer peripheral tangent line of the body plan view tangent line parallel to each of the vertices of the top of the body is connected to two, the body of the two R shape having a top, a curvature of the curved surface of the outer peripheral surface of the body is smaller than the curvature of the R shape of the top two.
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