CN110881903A - Autonomous walking type electric dust collector - Google Patents

Abstract

The invention provides an autonomous traveling type electric dust collector which can restrain power consumption and can collect garbage efficiently. The autonomous traveling type vacuum cleaner of the present invention includes a dust sensor unit, and when the amount of dust detected by the dust sensor unit is small due to a small amount of dust, the input of an electric fan is increased, and when the amount of dust detected by the dust sensor unit is large due to a large amount of dust, traveling control is performed with a focus on a region where the amount of dust is large. And, distinguish the floor material that is difficult for collecting rubbish such as carpet according to the load of round brush motor, carry out the control that makes electric fan's input increase when the load increases to more than certain.

Description

Autonomous walking type electric dust collector

Technical Field

The present invention relates to an autonomous traveling type electric vacuum cleaner and its operation.

Background

As an electric vacuum cleaner that stores dust sucked through a suction port in a dust box, there is known an electric vacuum cleaner in which a structure for connecting the suction port and the dust box is formed between the suction port and the dust box. Further, a sensor for detecting the amount of dust may be provided in the structure.

Patent document 1 relates to an autonomous traveling type electric vacuum cleaner in which a suction nozzle 9 provided with a dust sensor 17 extends substantially in a horizontal direction, and is connected to a dust box 10 from a suction port 9a (fig. 1).

Patent document 2 relates to an autonomous traveling type vacuum cleaner that measures dust using a sensor provided in a part of a suction pipe (fig. 5).

Patent document 3 relates to an electric vacuum cleaner having a photo interrupter (paragraph 0008, fig. 1) for detecting dust passing through a suction port.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2005-211365

Patent document 2: japanese patent laid-open publication No. 64-2618

Patent document 3: japanese patent laid-open No. 2000-60782

Disclosure of Invention

Technical problem to be solved by the invention

In the autonomous traveling type electric vacuum cleaner, since there is a limitation in a battery as an energy source, it is necessary to efficiently collect garbage.

Patent document 1 discloses an electric vacuum cleaner that uses a dust detection sensor to detect dust, and then performs a motion operation in a spiral state, which takes time until the operation is completed. Therefore, the battery is excessively consumed, and the entire room may not be cleaned.

Patent document 2 discloses an electric vacuum cleaner in which a duct detection sensor determines that there is no dust in a cleaning area when there is no reaction for a certain period of time, and changes its direction to move to another place, and determines that a cleaning surface is clean and finishes cleaning when there is no reaction for a certain period of time. Therefore, in the cleaning, the cleaning may be ended in a case where a complicated area (a place difficult to move out) stays for a long time.

Patent document 3 is an electric vacuum cleaner of this type: when it is detected that the amount of the garbage is equal to or larger than the first set amount of the garbage and is equal to or smaller than the second set amount of the garbage, the direction is switched by 180 degrees to sweep the garbage in a region with a large amount of the garbage, and when the first set amount of the garbage is not detected after a predetermined time or after a predetermined distance has elapsed after the direction is switched, the direction returns to a point where the first direction is switched.

Means for solving the problems

In view of the above circumstances, an autonomous traveling type electric vacuum cleaner according to the present invention includes: a roller brush driven by a roller brush motor; a suction port portion having a suction port; an electric fan generating a negative pressure to generate an attractive force; and a dust box having a main reservoir, a part or all of a passage from the suction port to the main reservoir being surrounded by a duct integral with the dust box, the suction port section having a suction port section duct forming a part of a passage from the suction port to the main reservoir, a dust sensor unit separate from the dust box and the suction port section being disposed in the passage from the suction port to the main reservoir, and when the dust sensor unit detects a certain amount of dust, a rotation speed of the electric fan is increased to increase a suction force, and a rotation speed of the roll brush is increased in accordance with the rotation speed of the electric fan.

In addition, an autonomous traveling type electric vacuum cleaner is characterized by comprising: a roller brush driven by a roller brush motor; a suction port portion having a suction port; an electric fan generating a negative pressure to generate an attractive force; and a dust box having a main reservoir, a part or all of a passage from the suction port to the main reservoir being surrounded by a duct integral with the dust box, the suction port portion has a suction port portion duct forming a part of a passage from the suction port to the main reservoir portion, a dust sensor unit that is separate from the dust box and the suction port is disposed in a passage from the suction port to the main reservoir, when the dust sensor unit detects a certain amount of dust, the rotation speed of the electric fan is increased and the attraction force is increased, when the rotation speed of the drum brush is increased corresponding to the rotation speed of the electric fan and the amount of dust detected by the sensor unit is larger, reversed 180 degrees at a smaller radius and traveling straight for a distance approximately the same as the size of the body, then rotated 180 degrees at a larger radius and travels straight for a distance approximately the same as the size of the body.

Further, it is characterized in that: when the load of the rolling brush motor is more than a certain value, the rotating speed of the electric fan is increased and the rotating speed of the rolling brush at the earlier stage is also increased.

Drawings

Fig. 1 is a perspective view of an autonomous traveling type electric vacuum cleaner according to embodiment 1.

Fig. 2 is a perspective view of the autonomous traveling vacuum cleaner according to embodiment 1 with the upper case and the dust case removed.

Fig. 3 is a bottom view of the autonomous traveling type electric vacuum cleaner according to embodiment 1.

Fig. 4 is a sectional view a-a of fig. 1.

Fig. 5 is a perspective view of a suction port portion, a dust sensor unit, and a dust box of the autonomous traveling type electric vacuum cleaner according to embodiment 1.

Fig. 6 is an exploded view of the suction port section, the dust sensor unit, and the dust box of the autonomous walking type electric vacuum cleaner according to embodiment 1.

Fig. 7 is a front view of a dust sensor unit of the autonomous walking type electric vacuum cleaner according to embodiment 1.

Fig. 8 is a side view of a dust sensor unit of the autonomous walking type electric vacuum cleaner according to embodiment 1.

Fig. 9 is a cross-sectional view C-C of fig. 7.

Fig. 10 is a cross-sectional view taken along line D-D of fig. 8.

Fig. 11 is a perspective view of a dust box in the autonomous walking type electric vacuum cleaner main body according to embodiment 1.

Fig. 12 is a perspective view of a dust box in the autonomous walking type electric vacuum cleaner main body according to embodiment 1.

Fig. 13 is a perspective view of a region of the autonomous walking type electric vacuum cleaner main body according to embodiment 1, including a dust box attached thereto.

Fig. 14(a) is an enlarged view of a main portion of fig. 12.

Fig. 14(b) is an enlarged view of a main portion of fig. 12.

Fig. 15 is a sectional view B-B of fig. 5.

Fig. 16 is a perspective view of a small tool housing part and a small tool according to embodiment 1.

Fig. 17 is a rear perspective view of the main body to which the dust box of embodiment 1 is attached.

Fig. 18 is a perspective view of an autonomous traveling type vacuum cleaner with the upper case removed according to embodiment 1.

Fig. 19 is a cross-sectional view E-E of fig. 1.

Fig. 20 is a perspective view of a roll brush according to embodiment 1.

Fig. 21 is an enlarged perspective view of an auxiliary wheel according to embodiment 1.

Fig. 22 is an exploded perspective view of embodiment 1 with the airtight member removed from the main body.

Fig. 23 is a rear perspective view of the airtight member according to embodiment 1.

Fig. 24 is a configuration diagram showing a control device of an autonomous traveling type electric vacuum cleaner according to embodiment 1 and a device connected to the control device.

Fig. 25 is a perspective view of an autonomous traveling type vacuum cleaner according to embodiment 2 with the upper case removed.

Fig. 26 is a perspective view of the autonomous traveling type vacuum cleaner with the switch piece further removed from the state of fig. 25.

Fig. 27(a) is a front perspective view of the switch piece 22 according to embodiment 2.

Fig. 27(b) is a rear perspective view of the switch piece 22 according to embodiment 2.

Fig. 28 is a perspective view of a side brush according to embodiment 3.

Fig. 29 is a side view of a side brush of embodiment 3 when bent.

Fig. 30 is an operation diagram of the autonomous traveling type electric vacuum cleaner main body in the reaction of the dust sensor unit according to embodiment 1.

Fig. 31 is a diagram showing the suction force of the electric fan of the autonomous traveling type vacuum cleaner according to the type of floor and dust in embodiment 1.

Detailed Description

Embodiments of the present invention will be described in detail with reference to the accompanying drawings. The same components are denoted by the same reference numerals, and the same description will not be repeated. Various components of the present invention are not necessarily constituted by one member, and for example, it is permissible that one component is constituted by a plurality of members, a plurality of components are constituted by one member, or that a part of a component overlaps with a part of another component.

In the traveling direction of the autonomous traveling type electric vacuum cleaner 1 (see fig. 1), the direction in which the autonomous traveling type electric vacuum cleaner 1 normally travels is defined as the front direction, the direction opposite to the direction of gravitational force is defined as the upper direction, and the directions facing the drive wheels 116 (see fig. 3) are defined as the left and right directions. That is, as shown in FIG. 1, the front and back, the top and bottom, and the left and right are defined. In the present embodiment, a side brush 15 is attached to the front side of the autonomous traveling type vacuum cleaner 1.

< embodiment 1 >

[ autonomous traveling type electric vacuum cleaner 1]

Fig. 1 is a perspective view of an autonomous traveling type electric vacuum cleaner 1 according to the present embodiment.

The autonomous traveling type vacuum cleaner 1 is a cleaning machine that performs cleaning while autonomously moving in a cleaning area (for example, indoors). The autonomous traveling type electric vacuum cleaner 1 includes a main body 11, and the main body 11 is configured by an upper case 111 as an upper wall (and a part of a side wall), a lower case 112 as a bottom wall (and a part of a side wall), and a bumper 18 provided at a front portion. The upper case 111 is provided with: a switch sheet 22; and a circular operation button 221 and a ring-shaped operation button 222 as operation buttons for a user to give an instruction to the control section 2 of the autonomous walking type electric cleaner 1.

Further, a dust box 4 is provided on the upper rear side of the autonomous traveling type electric vacuum cleaner 1. The autonomous traveling type electric vacuum cleaner 1 of the present embodiment performs cleaning by autonomously driving the driving wheels 116 through arithmetic processing by the control device 2, but may be driven by receiving a command from a user through a remote controller or the like.

[ lower case 112]

Fig. 2 is a perspective view of the autonomous traveling vacuum cleaner 1 with the upper case 111 and the dust case 4 removed, fig. 3 is a bottom view of the autonomous traveling vacuum cleaner 1, fig. 4 is a cross-sectional view taken along line a-a of fig. 1, and fig. 5 is a perspective view of the suction port 113, the dust sensor unit 12, and the dust case 4.

The lower case 112 is a thin disk-shaped member, and is provided with a drive mechanism housing portion 114 for housing a drive mechanism composed of a drive wheel 116, a travel motor 1161, an arm 1141, and a speed reduction mechanism 1142, a side brush mounting portion 1121, a travel motor 1161, a roller brush motor 1133, an electric fan 16, a rechargeable battery 19, a battery housing portion 115 (see fig. 4) for housing the rechargeable battery 19, a control device 2, and a suction port portion 113.

The lower case 112 has a buffer frame 1127 provided on the lower end side including the side surface and preferably on the entire circumference or substantially the entire circumference of the side surface including the lower end. The cushion frame 1127 is made of a material softer than the material forming the other portions of the side surfaces, and for example, a resin material such as an elastomer can be used. The buffer frame 1127 protrudes to the outer peripheral side from the other portions of the side surface, for example, the buffer 18. Thus, even if the autonomous traveling vacuum cleaner 1 collides with furniture or the like, the furniture or the like can be prevented from being damaged.

In addition, since the autonomous traveling type electric vacuum cleaner 1 mainly travels forward, the side surface on the front side easily collides with furniture or the like. Therefore, the side surface preferably includes a front-side buffer frame 1127.

(balance of autonomous traveling type electric vacuum cleaner 1)

Among the components provided in the main body 11, the rechargeable battery 19 and the electric blower 16 are relatively heavy. The rechargeable battery 19 is often heavier than the electric fan 16. In order to obtain the weight balance of the main body 11 of the present embodiment, first, the electric blower 16 is provided at substantially the center of the lower case 112, and the rechargeable battery 19 is provided on the front side.

Here, a suction port 113 for accommodating the roller brush 14 and the sweeping brush 13 are provided on the rear side of the center of the lower case 112. The electric fan 16 is located at the center side (between 2 drive wheels 116) and the rechargeable battery 19 is located at the front side, so it is preferable to provide a weight at the rear side to achieve balance. Therefore, in the present embodiment, a weight is attached to the inner periphery of the brush 13 and fixed (not shown). This enables effective use of a so-called dead space (dead space) in the sweeper brush 13. In the present embodiment, since sweeping brush 13 is located on a side farther from the center than rolling brush 14, it is preferable to provide sweeping brush 13 with a weight. Of course, a weight may also be provided within the roller brush 14. In addition, from the viewpoint of left-right balance, the weight is preferably provided on the center side in the left-right direction of the main body 11.

(projection of lower case 112)

The lower case 112 is provided with at least a part of a rear protrusion 1123, which is a convex portion provided on the bottom surface of the lower case 112, on the outer side (right left side and right outer side) in the left-right direction of the roll brush 14. At least a portion of each rear protrusion 1123 is also located directly behind the drive wheel 116.

Further, a central front protrusion 1124 and a central rear protrusion 1125 are provided in a central region of the lower case 112 corresponding to a region between 2 driving wheels 116. The center front side protrusion 1124 is a convex portion located on the front end side of the driving wheel 116 in the front-rear direction and located on the center side of the lower case 112 in the left-right direction. The center rear protrusion 1125 is a convex portion extending in the front-rear direction at the rear side of the center front protrusion 1124.

In the autonomous traveling type vacuum cleaner 1 of the present embodiment, the rear end of the driving wheel 116 is close to the outer end of the roll brush 14. Specifically, the distance from the left and right inner portions of the rear end of the driving wheel 116 to the left and right outer portions of the front end of the drum brush 14 is 20mm or less from the viewpoint of, for example, downsizing. The roller brush 14 and/or an airtight member 118 described later protrude from the lower case 112 so as to be close to the floor to facilitate suction of dust, and the driving wheel 116 also protrudes so as to be in contact with the floor. Therefore, when an obstacle enters an area between the 2 driving wheels 116 (a central side area where the protrusions 1124 and 1125 are provided) and an area behind the driving wheels 116 (an area where the protrusions 1123 are provided), the obstacle may be embedded between the driving wheels 116 and the roll brush 14 to hinder the driving of the autonomous traveling type electric cleaner 1. In order to suppress such a situation, a protrusion 1123, a protrusion 1124, and a protrusion 1125 are provided. Any of the protrusions 1123, 1124, 1125 becomes a protrusion adjusted to a size spaced apart from the floor when the autonomous walking type electric vacuum cleaner 1 travels at least on a flat floor.

[ drive mechanism housing section 114]

The drive mechanism housed in the drive mechanism housing section 114 shown in fig. 3 and the like is a mechanism in which the drive wheel 116 is supported by the main body 11. The drive mechanism includes a travel motor 1161, an arm 1141 that supports the drive wheel 116 from the left and right inner sides, and a speed reduction mechanism 1142. The arm 1141 is provided between the 2 driving wheels 116, has one end serving as a rotation shaft extending in the front-rear direction and the other end connected to the driving wheels 116, and is a member capable of rotating each driving wheel 116 by rotating about the rotation shaft. Each rotational shaft is located between 2 driving wheels 116, and particularly, in the present embodiment, between each driving wheel 116 and the central protrusion 1124 and the protrusion 1125.

[ Battery storage section 115]

As shown in fig. 4 and the like, the battery housing section 115 is a space in which the secondary battery 19 is housed, and is located on the front side of the center of the lower case 112. The battery housing 115 has an opening facing downward for replacing the rechargeable battery 19. Further, side brush attachment portions 1121 to which the side brushes 15 can be attached are formed on the left and right of the battery housing portion 115.

[ Driving wheel 116]

As shown in fig. 3 and the like, the drive wheels 116 receive the drive force of each travel motor 1161 via each speed reduction mechanism 1142. Thus, the main body 11 can be moved forward, backward, and rotated by the rotation of the driving wheel 116 itself. The driving wheels 116 are disposed on the left and right sides.

[ front cover 117]

As shown in fig. 3 and the like, the front cover 117 is a substantially rectangular plate-shaped member that closes the opening of the battery housing section 115 (see fig. 4) formed on the front end side of the lower case 112 from the lower surface of the lower case 112. The front cover 117 has a circular auxiliary wheel mounting portion 1122 to which the auxiliary wheel 17 is mounted near the center of the lower case 112.

[ auxiliary wheel 17]

Fig. 21 is an enlarged perspective view of the auxiliary wheel 17. As shown in fig. 3, 20, and the like, the auxiliary wheel 17 is an auxiliary wheel provided on the lower case 112, and is used to smoothly move the autonomous traveling type vacuum cleaner 1 while the lower case 112 is spaced apart from the floor. The auxiliary wheel 17 is supported by the fixed shaft 173 so as to be rotated by the friction force generated between the main body 11 and the floor as the main body is moved by the driving wheel 116. The auxiliary wheel 17 includes a substantially circular ground engaging wheel 171 and a circular plate portion 172 rotatably provided about a fixed shaft 173 as a rotation axis. The ground contact wheel 171 is in contact with the floor and rotates as the autonomous traveling electric vacuum cleaner 1 travels. The circular plate portion 172 is adjacent to the ground engaging wheel 171, and is configured to have a diameter smaller than the ground engaging wheel 171 and larger than the fixed shaft 173. When the hair waste or the like adheres to the ground contact wheel 171 in accordance with the rotation of the ground contact wheel 171, the hair waste or the like may rotate around the fixed shaft 173 and be twisted around the fixed shaft 173. At this time, since the circular plate portion 172 is adjacent to the ground contact wheel 171, the hair waste and the like are not easily twisted around the fixed shaft 173 and are easily twisted around the circular plate portion 172. Therefore, by rotating the disk portion 172 around the fixed shaft 173, the hair waste can be easily removed.

The auxiliary wheel 17 is configured to be rotatable by 360 ° in the horizontal direction. The auxiliary wheel 17 shown in fig. 3 is provided at the center in the left-right direction in front of the main body 11 and attached to the auxiliary wheel attachment portion 1122.

The ground engaging wheels 17 may be replaced with driven rollers 1186 described later, and the airtight member 118 may be provided with the same structure as the disk portion 172.

[ buffer 18]

The damper 18 is movably provided in the front-rear direction, preferably, the left-right direction in accordance with a pressing force applied from the outside. The damper 18 is biased in the forward direction by a pair of left and right damper springs (not shown). When the resistance force from the obstacle acts on the damper spring via the damper 18, the damper spring deforms, and urges the damper 18 forward and allows the damper 18 to retreat. When the damper 18 is spaced apart from the obstacle and the resistance force disappears, the damper 18 returns to the original position by the urging force of the damper spring. Then, the backward movement of the bumper 18 (i.e., the contact with the obstacle) is detected by a bumper sensor (infrared sensor), and the detection result is input to the control device 2. Since the amount of displacement of the bumper 18 varies depending on the contact position of the obstacle or the like, the position of the obstacle or the like with respect to the main body 11 can be detected.

[ sweeping Brush 13]

The sweeping brush 13 has bristles implanted on a part of or substantially the entire surface thereof, and is a brush whose axis is oriented in a direction substantially parallel to a rolling brush 14 described later, and is driven to rotate or pivot by contact with the floor in the present embodiment. In the case of rotation, the rotation range is limited by providing a stopper or the like. In the case of cleaning the floor (between the boards), the height position of the bristles of the cleaning brush 13 is preferably spaced from the floor by an interval of about 0.5 mm. In addition, when the carpet is cleaned, the position of the bristles of the cleaning brush 13 is preferably overlapped with the bristles of the carpet. Therefore, the sweeping brush 13 can be collected so as to sweep dust from the carpet surface.

When the sweeping brush 13 is used to rotate with the stopper provided, the sweeping brush 13 can sweep out dust by continuously contacting a predetermined area on the floor. At this time, the area of the sweeper brush 13 which is in continuous contact with the floor is preferably flat. That is, the shape of the wiper 13 is preferably a shape in which a part of the cylindrical shape is replaced with a flat plane (for example, a shape obtained by cutting a part of a circle in a chord or a substantially half-moon shape) when viewed from the axial direction.

[ Rolling brush 14]

Fig. 20 is a perspective view of the roll brush 14. The roll brush 14 is disposed substantially parallel to an axis (left-right direction) passing through the rotation center of the drive wheel 116 (see fig. 3). The rolling brush 14 is a cylindrical shape having a rotation axis in the horizontal direction (in the present embodiment, the left-right direction), and is rotatably supported by the suction port 113. The roller brush 14 is rotationally driven by a driving force applied thereto by a roller brush motor 1133 (see fig. 2). The roller brush 14 has a plurality of bristles 142 projecting in the normal direction from the outer peripheral surface of the shaft portion 141. The bristles 142 of the roller brush 14 include a plurality of kinds of bristles, such as bristles having different lengths and bristles having different hardness, and the bristles are arranged in a spiral manner on the rotating shaft in a row (see fig. 20).

A nonwoven fabric 143 is provided adjacent to each of the bristles 142. The nonwoven fabrics 143 and the bristles 142 have a common root portion. When the roller brush 14 is rotated by the roller brush motor 1133, the nonwoven fabric 143 adjacent to the flocked hair 142, for example, the flocked hair 142 and the nonwoven fabric 143 having a common root portion in the present embodiment, are arranged so that the nonwoven fabric 143 contacts the floor before the flocked hair 142. Therefore, the hair waste or the like existing on the floor is first brought into contact with the nonwoven fabric 143, and therefore, the hair waste or the like can be prevented from being entangled with the flocked hair 142. Further, the nonwoven fabric 143 is provided with 1 or 2 or more slits 1431 extending in the radial direction. This can suppress the nonwoven fabric from twisting.

Further, a structure in which spike (woven) members made of an elastic material such as rubber are arranged in a spiral shape may be added between the bristles 142 arranged in a spiral shape, and the structure may be modified as appropriate. The dust swept by the roller brush 14 is accumulated in the dust box 4 through the opening 17. In order to prevent the flocked fabric 142, the nonwoven fabric 143, or the spike from coming into contact with the bridge 1181 of the airtight member 118, which will be described later, a part of the length of the flocked fabric, the nonwoven fabric 143, or the spike may be shortened, or a notch may be provided.

[ Airtight member 118]

Fig. 22 is an exploded perspective view of the airtight member 118 removed from the main body 11, and fig. 23 is a rear perspective view of the airtight member 118.

An airtight member 118 is attached to a portion located below the roll brush 14. When the autonomous traveling type electric vacuum cleaner 1 is viewed from below, the airtight member 118 includes: a bridge 1181 provided over an area below the roll brush 14 in the front-rear direction; a swing shaft 1182 extending in the left-right direction; a frame portion 1183 having a shape surrounding the roll brush 14; a removal claw 1184 used when removing the airtight member 118; a biasing unit 1185 and a driven roller 1186 for biasing the bridge 1181 and the frame 1183 downward.

The airtight member 118 is a member that swings separately from the suction port 113 and the roller brush 14, and is biased downward by a biasing unit 1185. Therefore, the air seal member 118 moves up and down in accordance with uneven travel of the autonomous walking type electric vacuum cleaner 1. This maintains the airtight member 118 at a position close to or in contact with the floor, and therefore, the airtightness can be improved. Further, since the airtight member 118 swings separately from the mouthpiece 113 and the roller brush 14, there is no need to provide a swing space for the mouthpiece 113 in the main body 11, which contributes to downsizing of the main body 11.

The oscillating shaft 1182 of the present embodiment is provided coaxially with the sweeping brush 13, and the sweeping brush 13 can be attached to the oscillating shaft 1182. Thus, when the airtight member 118 and the brush 13 are provided together, the installation space can be reduced, which contributes to downsizing of the autonomous vacuum cleaner 1. The swing shaft 118 is provided on the rear end side of the airtight member 118.

The removal claws 1184 are attached to the left and right sides of the airtight member 118, and the removal claws 1184 can be removed from the main body 11 by being pushed in the left-right direction (in the present embodiment, inward in the left-right direction). Since the autonomous traveling type electric vacuum cleaner 1 mainly moves in the front-rear direction, the air-tight member 118 can be prevented from falling off from the main body 11 during traveling by being moved in the left-right direction and being detached.

The biasing unit 1185 is provided on the back surface side of the airtight member 118, and is, for example, a spring-like member that can bias downward at the frame unit 1183 or its vicinity. The air-tight member 118 is biased by the biasing portion 1185 so as to be in contact with the floor during the travel of the autonomous walking type electric vacuum cleaner 1. This improves the airtightness around the roller brush 14, and thus improves the dust collection efficiency.

The driven rollers 1186 are provided on the right and left outer portions of the airtight member 118, respectively, and are capable of supporting the airtight member 118 by coming into contact with the floor as the autonomous vacuum cleaner 1 travels. Thus, even if the airtight member 118 is biased downward, frictional resistance with the floor panel can be suppressed, and energy loss and damage to the floor panel can be suppressed. In addition, since the driven roller 1186 is positioned on the opposite side of the auxiliary wheel 17 with respect to the front-rear direction with respect to the driving wheel 116, the autonomous traveling type electric vacuum cleaner 1 can be effectively supported by the 3 components.

[ side brushes 15]

The side brush 15 illustrated in fig. 3 and the like is a brush that guides dust, which is located outside the main body 11 in a corner of a room or the like and is not easy to reach by the roller brush 14, to the suction port 113 (suction port 1131). The rotation axis of the side brush 15 is vertical, and a part of the side brush 15 is exposed from the main body 11 in a plan view. The side brushes 15 include 3 bundles of brushes extending radially at 120 ° intervals in plan view, and are disposed on the front left and right sides of the lower case 112. The root of the side brush 15 is fixed to the side brush holder 151.

In the brush of each side brush 15, a base elastic portion 153 having flexibility such as an elastic body is provided on the side of the side brush holder 151 (on the base side), and a brush portion 154 as a brush is provided on the tip side. In the present embodiment, the side brush holder 151 and the root elastic portion 153 that form the rotation shaft (hub) of the side brush 15 are integrally molded. By providing the root portion of the side brush 15 with an elastic body such as the root elastic portion 153, the brush portion 154 is less likely to bend than the brush portion 154 extending from the root portion to the tip end, and therefore the durability of the side brush 15 can be improved.

The bristles of the side brush 15 are inclined so as to approach the floor as they go to the front end, and the vicinity of the front end thereof is in contact with the floor.

The side brush holder 151 is provided near the bottom surface of the lower case 112 and is coupled to a side brush motor 152 (see fig. 2). When the side brush motor 152 is driven, the side brush 15 rotates inward (in the direction indicated by the arrow in fig. 3), and the dust is swept to the suction port 1131.

[ electric blower 16]

The electric blower 16 shown in fig. 4 includes a fan blade having a shaft in the front-rear direction, and has the following functions: the fan is rotationally driven to discharge air in the dust box 4 to the outside to generate negative pressure, and dust is sucked from the floor through the suction port 1131 (the suction port 113). An elastic body 161 is provided on the outer peripheral surface of the electric blower 16. By interposing the elastic member in this manner, vibration of the electric fan 16 is attenuated and is not easily transmitted to the main body 11, and vibration and noise of the main body 11 can be reduced. In the present embodiment, the electric fan 16 is disposed near the center of the lower case 112.

[ suction port part 113]

Fig. 6 is an exploded perspective view of the suction port 113, the dust sensor unit 12, and the dust box 4, fig. 7 is a front view of the dust sensor unit 12, and fig. 8 is a right side view of the dust sensor unit 12.

The suction port 113 is a member in which a suction port 1131 communicating with the dust box 4 is formed and which houses the sweeping brush 13 and the rolling brush 14. A brush motor 1133 may be attached to the suction port 113. The space on the upstream side (the roller brush 14 side) of the suction port 1131 accommodates the roller brush 14, and has a larger cross-sectional area than the suction port 1131.

In the present embodiment, the air sucked by the negative pressure of the electric fan 16 passes through the suction port 1131, the dust sensor unit 12, the duct 42 and the main storage chamber 41 of the dust box 4, the dust collection filter 46, the electric fan 16, and the exhaust port 1126 in this order. The air often contains dust, and the dust is trapped by the dust collection filter 46 and accumulated in the dust box 4. Hereinafter, the direction (front view direction of the frame 121) of the suction port 1131 and the frame 121 of the dust sensor unit 12, which is substantially perpendicular thereto, is referred to as a main direction. Further, the air outlet 1126 is provided in the lower case 112, and 6 air outlets are provided between 2 driving wheels 116 in the present embodiment.

The suction port 113 of the present embodiment does not have a portion extending in the main direction from the suction port 1131, but may have a suction port duct extending in the main direction and integrated with the suction port 113, for example, like the duct 42 of the dust box 4 described later. In this case, the suction port duct, the dust sensor unit 12, and the duct 42 constitute a passage from the suction port 1131 into the dust box 4. In this regard, as described later, from the viewpoint of increasing the volume of the dust box 4, it is preferable that the length (for example, the main direction length) of the duct 42 is longer than the length (for example, the main direction length) of the suction port duct and the length (for example, the main direction length) of the frame 121 in the passage.

[ dust sensor Unit 12]

The dust sensor unit 12 is disposed between the suction port 113 and the dust box 4. The dust sensor unit 12 includes: a block 121; a light emitting section 122 and a light receiving section 123 provided in the frame 121 and facing each other; a close contact member 124 attached to the frame 121 on the dust box 4 side; and a circuit board 127. The dust sensor unit 12 is formed separately from the suction port portion 113 and the dust box 4, and can be attached in a state in which the frame 121 is in contact with the suction port portion 113, thereby allowing the light emitting portion 122, the light receiving portion 123, the connector 126, and the adhesion member 124 to be attached at the same time. Therefore, the dust sensor unit 12 of the present embodiment is superior in assemblability.

(frame 121)

The frame 121 is a member that secures a space on the optical axis connecting the light emitting section 123 and the light receiving section 124 and that can mount the light emitting section 123 and the light receiving section 124 on the frame 121 itself or in the vicinity thereof. The frame 121 of the present embodiment has a shape in the longitudinal direction and the short-side direction, and can be formed into a rectangular shape, for example. In the present embodiment, the shape is substantially rectangular. The light receiving unit 123 and the circuit board 127 are mounted on one side in the longitudinal direction of the frame 121. A light emitting unit 122 is attached to the other side of the frame 121 in the longitudinal direction. The light emitting unit 122 and the light receiving unit 123 may be provided in the short direction of the frame 121. In addition, the frame 121 may have a square shape, a circular shape, an elliptical shape, an oval shape, or the like.

(light emitting section 122 and light receiving section 123)

The light emitting section 122 and the light receiving section 123 face each other, and light such as infrared rays emitted from the light emitting section 122 is received by the light receiving section 123. The substance emitted by the light emitting unit 122 is not limited to light, and may be any known substance such as ultrasonic waves that can detect the presence or absence of dust. The light emitting unit 122 and the light receiving unit 123 may be provided on the same side, but an opposing system is preferable from the viewpoint of downsizing and the like.

(Wiring 125, connector 126, Circuit Board 127)

The circuit board 127 can be equipped with a driving circuit of the light emitting unit 122, an amplifying circuit of the light receiving unit 123, a comparator that outputs a decrease in the amount of light received due to the passage of dust as a pulse by comparing the amplified signal with a certain reference voltage, and the like. Instead of the comparator or by adding a device, it is also possible to detect that the amount of light received by the light receiving unit 123 continues to decrease. In this case, it can be estimated whether or not the dust box 4 is full.

The light emitting unit 122 and the circuit board 127 are electrically connected by a wiring 125. The wiring 125 is disposed near the frame 121 or in the frame 121 along the direction in which the light emitting section 122 and the light receiving section 123 face each other, and is interposed between the frame 121 and the contact member 124. In the wiring 125, a driving current of the light emitting section 122 flows. The light receiving unit 123 is also electrically connected to the circuit board 127 via a wire (not shown). The wiring is electrically connected to the connector 126.

(contact member 124)

The close contact member 124 has a shape matching the peripheral shape of the frame 121, and in the present embodiment, has a hollow substantially rectangular shape. The shape of the frame 121 matches the shape of the suction port 1131. As the adhesion member 124, a gasket or the like can be used.

(advantages of dust sensor Unit 12)

The dust sensor unit 12 configured as described above can hold the light emitting unit 122 and the light receiving unit 123 integrally, and thus the optical axes can be easily aligned. Further, since the light receiving unit 123 can be disposed close to the circuit board 127, the distance from the light receiving unit 123 to the amplifier circuit can be shortened, and the influence of electromagnetic noise on a weak signal, that is, the output of the light receiving unit 123 can be reduced. The wiring 125 of the light emitting unit 122 is also integrated in the dust sensor unit 12, and when electrically connected to the control device 2, only the wiring (not shown) can be connected to the connector 126, which is superior in mountability.

Further, it is preferable to use a material having elasticity such as an elastomer for the close contact member 124 which is a member to be in contact with the dust box 4, and such a material deteriorates faster than other members. Further, dirt, scratches, and the like due to dust are likely to be generated on the surfaces of the light emitting section 122 and the light receiving section 123. According to the present embodiment, since the parts necessary for replacement due to such deterioration, contamination, and scratches can be replaced at the same time by replacing the dust sensor unit 12, the maintainability is excellent.

(dimensions of the frame 24 other than the opposing direction, etc.)

Fig. 9 is a cross-sectional view C-C of fig. 7. In the dust sensor unit 12, a direction substantially perpendicular to the facing direction of the light emitting unit 122 and the light receiving unit 123 in a direction parallel to the frame 121 (a direction perpendicular to the main direction) is referred to as a non-facing direction. In the frame 121, when the width in the non-opposing direction on the suction port 1131 side is defined as "a" and the width in the non-opposing direction on the dust box 4 side is defined as "b", a ≈ b and a < b. This suppresses an increase in loss due to the necessity of narrowing the cross-sectional area of the surface perpendicular to the main direction. The center line 90 (substantially parallel to the main direction) of the region surrounded by the frame 121 is a straight line passing through the midpoints of the dimensions a and b. That is, as illustrated in fig. 9, when a straight line in which a1 is a2 and b1 is b2 and b/2 is considered, a1 and b1 are located above the center line and a2 and b2 are located below the center line. In this case, the light emitting unit 122 and the light receiving unit 123 are arranged below the center line 90 in the non-opposing direction. Since dust is heavier than air and has a high probability of passing below the center line 90, the dust can be detected with high accuracy by providing the light emitting unit 122 and the light receiving unit 123 on the lower side.

Fig. 10 is a cross-sectional view taken along line D-D of fig. 8. The light emitting unit 122 includes a light emitting element 1221 and a transparent resin cap 1239, and the light receiving unit 123 includes a light receiving element 1232 and a transparent resin cap 1239. With respect to the transparent resin cap 1239 to be attached, the regions between the light emitting element 1221 and the light receiving element 1232 each have a size small in the direction perpendicular to the optical axis of the light emitted from the light emitting element 1221. This allows the light from the light emitting element 32 to be guided while protecting the elements by the transparent resin cap 1239, and also prevents the dust sensor unit 12 from being increased in the vertical and longitudinal dimensions.

(the size of the frame 24 in the opposite direction, etc.)

Among the directions parallel to the frame 121, a direction substantially parallel to the opposing direction of the light emitting section 122 and the light receiving section 123 is referred to as an opposing direction. If the width in the opposing direction on the suction port 1131 side is denoted by e and the width in the opposing direction on the dust box 4 side is denoted by d, e > d. That is, the size of the relative direction of the frame 121 becomes smaller as going to the dust box 4 side. Accordingly, when the air containing dust flows in the direction of the arrow 91, the dust flows with a space from the wall surface due to inertia. Therefore, the transparent resin cap 1239 can be prevented from being scratched or stained.

[ dust case 4]

Fig. 11 and 12 are perspective views of a state in which the dust box 4 is detached from the main body 11, fig. 12 is a perspective view of a region of the autonomous walking type electric vacuum cleaner 1 including the main body 11 to which the dust box 4 is attached, fig. 14(a) and 14(B) are enlarged views of a main portion of fig. 12, fig. 15 is a sectional view taken along line B-B of fig. 5, fig. 16 is a perspective view including the small tool housing portion 1102 and the small tool 95, and fig. 17 is a rear perspective view of the main body 11 to which the dust box 4 is attached.

The dust box 4 is a container for accumulating dust sucked from the floor through the suction port 1131 (the suction port 113). The dust box 4 includes: a duct 42 formed on the suction port 1131 side; a main reservoir 41 for storing mainly the collected dust; a cover 45 capable of taking out the accumulated dust from the filter 46 side (upper side); a reverse flow prevention valve 44 that can open and close an opening on the lower side (the duct 42 side) of the main reservoir 77 by rotating; and a foldable handle 43. The dust box 4 is installed obliquely downward from the upper side of the main body 11.

(Main reservoir 41)

The main reservoir 41 is formed of, for example, a resin material, and is an area of an inner space, and can suppress leakage of dust from the space to the outside due to the cover 45 and the backflow suppressing valve 44. The lid 45 can close the opening on the horizontal direction side of the main reservoir 41, and the backflow prevention valve 44 can close the opening on the lower side of the main reservoir 41. The cross-sectional area of the space enclosed in the main reservoir 41 is larger than the cross-sectional area of the frame 121. The cross-sectional area of the space enclosed in the main reservoir 41 referred to herein may be, for example, a cross-sectional area in a direction perpendicular to the filter 46.

(pipe 42)

The pipe 42 has one end on the lower side of the main reservoir 41 and the other end openable and closable by a backflow prevention valve 44. The duct 42 is a part that forms a part, substantially all, or all of a passage from the suction port 1131 to the main storage chamber 41 and is integrated with the dust box 4. The duct 42 of the present embodiment has a shape in which one end side extends substantially vertically and extends obliquely downward from the middle to the other end side, but may be configured by only a portion extending obliquely downward toward the latter, i.e., the other end side.

Thus, the duct 42 extends obliquely downward from one end to the other as a whole. One end of the duct 42 can be provided, for example, on the lower surface of the main storage chamber 41, and is preferably provided at a position farther than the other end of the duct 42 with respect to the center of the lower surface of the main storage chamber 41 in plan view. This facilitates reduction in the size of the dust box 4 in plan view.

(handle 43)

The handle 43 is a member provided rotatably with the upper side of the main reservoir 41 as a rotation axis, and includes a grip portion 431, a retaining portion 432, an operating point portion 433, and an engagement portion 434. The handle 43 can be rotated about 90 ° to 100 ° from the front of the rotational axis to the upper side of the rotational axis. The rotatable range is approximately 135 ° or less, preferably 120 ° or less, exceeding 90 ° in order to function as both the operating point portion 433 and the engaging portion 434, which will be described later. Here, the state in which the grip 431 is stored (the state in which the grip 431 is engaged with the engagement portion 434) is set as the rotation angle of 0 °. In addition, the state illustrated in fig. 17 is a state in which the rotation angle is approximately 90 °.

The grip 431 is a portion that is easily used for attachment and detachment operations and the like by a user gripping the dust box 4, and has an engagement portion 434 at a front end thereof. In a state where the dust box 4 is attached to the main body 11, the engaging portion 434 engages with an engaged portion (not shown) provided in the upper box 111, and can engage with the handle 43.

The retaining portion 432 is a projection-shaped portion provided in the vicinity of the pivot shaft and closer to the engaging portion 434 than the pivot shaft (closer to the pivot angle of 0 °). In a state where the handle 43 is positioned on the front side, the stopper 432 enters the main body 11 and comes into contact with a portion inside the main body 11 to generate frictional resistance. This can suppress the removal of the handle 43.

The operating point 433 is a portion that comes into contact with the upper surface side of the main body 11 when the user further applies a force rearward (in a direction in which the rotation angle exceeds 90 °) with the handle 43 positioned on the upper side. In this state, the operating point 433 serves as an operating point for lifting the dust box 4 from the main body 11, and the pivot shaft serves as a fulcrum. This can assist the user in removing the dust box 4. The upper surface side of the main body 11 is not particularly limited, but for example, a guide step 119 described later can be formed.

[ shape of dust case 4 and Small tool storage section ]

The dust box 4 has a shape that protrudes rearward from the rear upper side, and the rear upper side forms a part of the side surface of the autonomous vacuum cleaner 1 when the dust box is attached to the main body 11 (see fig. 17 and the like). Therefore, the main body 11 also forms a part of the side surface of the autonomous traveling vacuum cleaner 1 in a region facing directly below the rear upper region in the dust box 4. In the present embodiment, a small tool housing 1102 as illustrated in fig. 16 and the like is provided in the vicinity of a part of the side surface formed by the main body 11, and a cleaning brush 95 as an example of a small tool is housed therein. The cleaning brush 95 is a member that can be used by a user to clean the inside of the dust box 4, for example, and has a shape that is curved along the outer peripheral shape of the main body 11. This allows a space necessary for housing the cleaning brush 95 to be provided along the inner periphery of the side surface of the main body 11. Instead of the cleaning brush 95 or an additional member, a jig or other small tool for detaching the side brush 15 may be housed.

The mode of housing the small tools is not limited to the above-described mode, and the region surrounded by the main body 11 and the dust box 4 may be provided in the main body 11 in a state where the dust box 4 is attached to the main body 11.

(reverse flow suppressing valve 44)

The backflow suppressing valve 44 includes a main surface 441 capable of closing an opening that is the other end of the pipe 42, a protruding portion 442 that is integrally or separately attached to the main surface 441 and protrudes outward from the pipe 42 in a direction substantially parallel to the main surface 441, and a biasing portion 443 that biases the main surface 441 and the protruding portion 442 in a direction in which they rotate. In the present embodiment, the protruding portions 442 are provided on respective outer sides in a direction substantially parallel to the main surface 441.

The biasing portion 443 is a member that biases the backflow suppressing valve 44 in a direction in which the main surface 441 closes the opening, and various known members, for example, a spring, can be used. When the biasing portion 443 is, for example, a coil spring, it can be used as a rotation shaft. Therefore, the backflow suppressing valve 44 closes the other end of the duct 42 in a state where no external force acts.

When the dust box 4 is attached to the main body 11, the protruding portion 442 contacts the guide step 119, which is a counter urging portion, provided in the region where the dust box 4 is housed. The guide steps 119 are 2 step portions provided in the main body 11 in an area visible to the naked eye when the dust box 4 is detached. The guide steps 119 are provided along the mounting direction of the dust box 4, and extend from the upper rear to the lower front in the present embodiment.

When the dust box 4 moves downward as the dust box 4 is attached to the main body 11, the protruding portions 442 slide in contact with the guide steps 119, and the main surface 441 receives a force in the direction of opening the opening. Thus, the reverse flow prevention valve 44 opens the other end of the pipe 42 against the biasing force of the biasing portion 443. As in the guide step 119 exemplified in the present embodiment, the main surface 441 can receive a force in the direction opposite to the biasing direction of the biasing portion 443 by the contact between the counter biasing portion and the protruding portion 442, and can open the opening as the other end of the duct 42.

Specifically, the backflow suppressing valve 44 rotates about its longitudinal direction as an axis, and the other end of the duct 42 is opened. Since the backflow suppressing valve 44 of the present embodiment has a substantially rectangular shape, the space required for rotation of the backflow suppressing valve 44 about the short-side direction thereof or about the direction perpendicular to the main surface 441 is large, and therefore rotation about the long-side direction thereof is preferable. That is, the biasing portion 443 pivots the backflow suppressing valve 44 about the longitudinal direction of the main surface 441.

The protrusion 442 may be in contact with any member (counter biasing portion) of the autonomous traveling vacuum cleaner 1 to open the backflow prevention valve 44.

In the present embodiment, a gap 1101 is provided forward of the front end of the guide step 119, and the backflow prevention valve 44 is pressed against the guide step 119 and is accommodated in the gap 1101 in a state where the dust box 4 is attached to the main body 11. The gap 1101 is located outside the main direction projection plane of the frame 121. Therefore, in the state where the dust box 4 is attached, the other end of the duct 42 is in contact with the dust sensor unit 12, and in particular, in the present embodiment, is in close contact with the close contact member 124.

[ Structure provided from suction port 1131 to main reservoir 41 ]

In particular, as illustrated in fig. 15, a dimension 92 of the dust sensor unit 12 is shorter than a dimension 93 of the other end side of the duct 42 in the main direction. That is, a part of the passage connected from the suction port 1131 to the main reservoir 41 is preferably formed to have a size 93 larger than the size 92 at the other end side of the duct 42. Thus, a part of the dust box 4 can be provided in the region from the suction port 1131 to the main storage chamber 41, and therefore the volume of the dust box 4 can be enlarged.

Here, the duct 42 may have an upright portion 421 formed at one end side of the duct 42 to extend up and down with a dimension 94. The rising portion 421 can suppress leakage of dust from the main reservoir 41 to the other end side of the duct 42.

Here, as the dimension 93, a distance from the plane to the dust sensor unit 12 measured by setting the lower surface of the dust box 4 to be a plane (making the main storage chamber 41 approximately box-shaped) and setting the dimension 92 of the dust sensor unit 12 to be a substantially parallel straight line may be considered. The main reservoir 41 of the present embodiment may be box-shaped.

[ closure of the pipe 42 by the backflow suppressing valve 44 ]

As described above, the backflow prevention valve 44 is housed above the roller brush 14 in a state where the dust box 4 is attached to the main body 11. When the dust box 4 is detached from the main body 11, the reverse flow prevention valve 44 is rotated by the biasing force of the biasing portion 443, and the opening at the other end on the duct 42 side is closed. This can prevent dust from overflowing the dust box 4 and falling even if dust accumulates in the duct 42. The main surface 441 may be flat or mesh-shaped to prevent dust from passing therethrough.

[ detection of fullness of dust ]

When the autonomous traveling vacuum cleaner 1 sucks in dust, the sucked dust is first accumulated in the main storage chamber 41, and when the main storage chamber 41 is full, the dust is accumulated in the duct 42. Since the duct 42 is inclined downward toward the horizontal direction side with respect to the gravity direction, the dust can be prevented from falling from the duct 42. Further, since the dust is directed to the gravity direction side with respect to the horizontal direction, the dust is likely to be accumulated in the duct 42 more quickly after the main reservoir chamber 41 is filled, and the dust is likely to be detected by the dust sensor unit 12.

Further, the upright portion 421 can suppress the flow of dust and the dust from falling into the duct 42 regardless of whether or not the main reservoir 41 is in a surplus state. In the dust box 4 of the present embodiment, a portion of an excessive proportion of the space included in the main storage chamber 41 is provided on the front side of one end of the duct 42, and therefore dust is easily stored on the front side. However, since the upright portion 421 is provided between the excessive portion of the space and the duct 42, even if the dust moves rearward as the autonomous walking type electric vacuum cleaner 1 accelerates forward in the main movement direction, that is, the forward direction, the dust can be effectively prevented from falling into the duct 42. That is, a portion of a excessive proportion of the space enclosed by the main reservoir 41, the upright portion 421, and one end of the duct 42 are provided in this order from the front to the rear.

When the duct 42 is substantially full of dust as well, the dust continues to block the light from the light emitting unit 122, and the light receiving amount of the light receiving unit 123 continues to decrease. By detecting this state, the full state of the dust box 4 can be detected, and the user can be notified or control to return the autonomous vacuum cleaner 1 to a charging stand (not shown) can be started.

[ detection of amount of dust passing ]

When the light of the light emitting section 122 is momentarily blocked, the amount of light received by the light receiving section 123 decreases in a pulsed manner. This allows detection of the passage of dust toward the dust box 4. In the present embodiment, the cross-sectional area in the main direction is large from the suction port 1131 toward the roller brush 14, small at the frame 121 and the duct 42, and large at the main reservoir 41. That is, the sectional area in the passage from the housing space of the roll brush 14 to the main reservoir 41 is smallest at the frame 121 and/or the duct 42. Therefore, the sucked dust is concentrated on the frame 121 having a small cross-sectional area in accordance with the shape of the duct 42. Since the light emitting unit 122 and the light receiving unit 123 are provided in the frame 121, most dust passes between the light emitting unit 122 and the light receiving unit 123. That is, the amount of dust can be measured with high accuracy.

Further, since the dust having passed through the frame 121 passes through the duct 42 having a substantially same cross-sectional area as the frame 121, the dust is less likely to generate a vortex in the vicinity of the frame 121. That is, it is possible to suppress the multiple detection of the dust caused by the reverse flow due to the vortex. Further, since the cross-sectional area after passing through the duct 42 is enlarged, wind loss can be suppressed.

Further, the cross-sectional area on the upstream side of the dust sensor unit 12, that is, the cross-sectional area from the suction port 113 to the dust sensor unit 12 may be decreased monotonously. In this way, an eddy current is generated upstream of the dust sensor unit 12, and the dust can be prevented from being detected by the dust sensor unit 12 a plurality of times.

[ layout ]

Fig. 18 is a perspective view of the autonomous traveling type electric vacuum cleaner 1 with the upper case 111 removed, and fig. 19 is a cross-sectional view taken along line E-E of fig. 1.

In order to reduce the vertical size of the autonomous traveling vacuum cleaner 1, the vertical size of the main body 11 is made substantially the same as the vertical size of the electric blower 16. As illustrated in fig. 18, the upper case 111 is removed, and a convex shape 113 covering a part of the upper surface of the electric blower 16 is visible. Thereby, reduction in the up-down dimension of the main body 11 is facilitated. The bottom surface side of the main body 11 has a convex shape protruding downward at a position overlapping the electric fan 16 in a bottom view.

In addition, in general, when the cylindrical electric fan 16 is disposed in an inclined manner, it is necessary to increase the vertical dimension of the main body 11, and the axial direction of the electric fan 16 is deviated by ± 10 degrees or less, preferably by ± 5 degrees or less in the horizontal direction.

When the electric blower 16 is viewed in the axial direction, as illustrated in fig. 19, the rotation axis side of the arm 1141 is located inside a substantially square region circumscribed with the cylindrical electric blower 16. This area is likely to cause a dead space, and thus, by disposing a part of the arm 1141, the space can be effectively utilized to downsize the autonomous traveling vacuum cleaner 1. Further, since the exhaust port 1126 is positioned directly below the electric fan 16 or directly below the downstream-side opening of the electric fan 16, the exhaust air passage can be shortened.

The present embodiment has various configurations for downsizing, and as a result, the vertical dimension can be made close to the vertical dimension of the electric blower 16. Specifically, even when the influence of the driving wheels 116 on the size is taken into consideration, the vertical dimension of the electric fan 16 is configured to be in a range of 70% or more, preferably 75% or more or 85% or more, of the vertical dimension of the autonomous walking type electric vacuum cleaner 1 (that is, the vertical dimension of the state in which the arm 1141 is turned upward and the driving wheels 116 are housed) in a state in which the autonomous walking type electric vacuum cleaner 1 is placed on the floor.

The upper and lower dimensions of the areas of the upper and lower cases 111 and 112 surrounding the upper and lower sides are substantially the same as the upper and lower dimensions of the electric blower 16. Specifically, the vertical dimension of the electric blower 16 is 90% or more, preferably 95% or more of the vertical dimension of the region surrounding the upper case 111 and the lower case 112.

As described above, the rechargeable battery 19 and the electric fan 16, which are placed on the structure of the main body 11 and have a large weight, are provided. Since the wiring and the like are easily obstructed when the secondary battery 19 is disposed on the center side, the electric blower 16 is disposed on the center side and the secondary battery 19 is disposed on the front side in the present embodiment.

[ rotation speed of side brush 15]

The autonomous traveling type electric vacuum cleaner 1 has side brushes 15 on the left and right sides, respectively. In the present embodiment, the rotation speed of each side brush 15 can be changed. Specifically, the autonomous traveling type electric vacuum cleaner 1 performs control so that the rotation speed of the side brush 15 on the left side, which is the same side as the wall, is faster than the rotation speed of the other side brush 15 when performing the wall-following cleaning mode in which the wall travels on the left side. This enables wall cleaning to be performed more efficiently. The wall-following cleaning mode can be executed by various known methods, and can be realized by performing travel control such that the distance measuring sensor 210 provided on the left side of the main body 11 continuously detects a wall surface (obstacle), for example.

In addition, the same control can be performed even in the wall-following cleaning mode in which the wall travels to the right. The same effect can be obtained by controlling the rotation speed of the side brush 15 on the wall side during the period in which the wall cleaning mode is executed to be higher than the rotation speed during the period in which the other control mode is executed, for example, the reflex travel mode in which the travel route is changed in the direction away from the wall surface or the obstacle and the travel is performed again when the wall surface or the obstacle is detected.

[ Torque of the side brush 15]

Each side brush 15 is driven by a side brush motor 152 driven by the electric power of the rechargeable battery 19. In the present embodiment, a DC motor is used as the side brush motor 152. The DC motor has the same voltage value of the average output over time, and can transmit a high torque to the one with a high duty ratio (long voltage application time). When the side brush 15 comes into contact with a wall or an obstacle, the torque is reduced by the friction, and thus the cleaning efficiency is likely to be lowered.

Therefore, in the present embodiment, for example, when the wall-following cleaning mode in which the wall travels to the left side is performed, it is possible to control the duty ratio of the side brush motor 152 that transmits torque to the left side brush 15, which is the same side as the wall, to be higher than the duty ratio of the side brush motor 152 that transmits torque to the other side brush 15.

When the energy of the secondary battery 19 decreases and the output voltage decreases, the torque decreases even at the same duty ratio, and therefore the duty ratio increases as the residual power of the secondary battery 19 decreases.

For the same reason, the duty ratio may be determined according to the type of the floor since the torque to be output differs according to the material of the floor. For example, it is possible to control so that the duty ratio in carpet cleaning is high as compared with that in floor cleaning.

Further, the duty ratio can be reduced as the number of dust detections by the dust sensor unit 12 increases. This prevents the side brush 15 from sweeping dust in a region where a large amount of dust is present.

The same effect can be obtained by setting the duty ratio of the side brush 15 on the wall side during the period in which the wall cleaning mode is executed to be higher than the duty ratio during the period in which the other control mode is executed, for example, the reflex travel mode in which the travel route is changed in the direction away from the wall surface or the obstacle and the travel is performed again when the wall surface or the obstacle is detected.

[ Sensors ]

Fig. 24 is a schematic configuration diagram showing the control device 2 of the autonomous traveling type electric vacuum cleaner and a device connected to the control device 2. The bumper sensor (obstacle detecting device) is a sensor that detects the backward movement of the bumper 18 (i.e., the contact with an obstacle).

The distance measuring sensor 210 (obstacle detecting device) illustrated in fig. 2 and the like is an infrared sensor that detects a distance to an obstacle. In the present embodiment, the distance measuring sensors are provided at 5 positions in total, 3 positions on the front surface and 2 positions on the side surface.

The distance measuring sensor 210 includes a light emitting portion (not shown) that emits infrared rays and a light receiving portion (not shown) that receives reflected light that is returned after the infrared rays are reflected by an obstacle. The distance to the obstacle can be calculated based on the reflected light detected by the light receiving unit. At least the vicinity of the distance measuring sensor in the buffer 18 is formed of resin or glass that transmits infrared rays.

The floor distance measuring sensor 211 (floor detecting device) illustrated in fig. 3 and the like is an infrared sensor for measuring a distance to a floor, and is provided at 4 positions on the lower surface of the lower case 112, front, rear, left, and right. More specifically, it is located on the front side of the auxiliary wheel 17, on the rear side of the roll brush 14 and the sweep brush 13, on the front side and on the left-right direction outer side of each drive wheel 116.

The autonomous traveling vacuum cleaner 1 can be prevented from falling (from a step or the like) by detecting a large height difference such as a step by the floor distance measuring sensor. For example, when a height difference of about 30mm ahead is detected by the floor distance measuring sensor, the control device 2 controls the travel motor to move the main body 11 backward, thereby switching the travel direction.

Further, the control device 2 may continue to advance the main body 11 as it is when the floor distance sensor 211 on the front side of the auxiliary wheel 17 (the front end side of the lower box 112) detects that the distance from the floor is long and the floor distance sensor 211 on the rear side of the drum brush 14 (the rear end side of the lower box 112) detects that the distance from the floor is short. Because in such a detected combination, the autonomous walking type electric vacuum cleaner 1 is generally considered to be riding on a level difference. Similarly, when the floor distance sensor 211 on the front side of the auxiliary wheel 17 detects a short distance from the floor and the floor distance sensor 211 on the rear side of the drum brush 14 detects a long distance from the floor, the control device 2 may continue the forward movement of the main body 11 as it is. Here, "near" means, for example, a distance that is equal to or less than a distance detected by the floor distance measuring sensor 211 when the autonomous traveling type electric vacuum cleaner C travels on a flat floor, and "far" means, for example, a distance that exceeds a distance detected by the floor distance measuring sensor 211 when the autonomous traveling type electric vacuum cleaner C travels on a flat floor. Further, 1 or 2 appropriate thresholds may be set and compared with these thresholds.

The rotational speed and the rotational angle of the travel motor 1161 are detected by the travel motor pulse output shown in fig. 24. Further, the control device 2 calculates the moving speed and the moving distance of the main body 11 based on the rotation speed and the rotation angle detected by the traveling motor pulse output, the gear ratio of the reduction mechanism, and the diameter of the driving wheel 116.

The travel motor current meter is a meter that measures the current flowing through the rotor winding of the travel motor 1161. Similarly, the electric fan current meter measures the current value of the electric fan 16, and the rolling brush motor current meter measures the current value of the rolling brush motor 1133. The 2 side brush motor current measuring devices measure the current value of the side brush motor 152. Each current measuring device outputs the measured current value to the control device 2. For example, an abnormality in which a foreign object is entangled in the drum brush and the rotation is stopped can be detected by the detection result of the current value, and the user can be notified by the operation button.

In addition, the following control is performed: the state of the floor on which the main body 11 travels is detected based on the current value of the drum brush motor 1133, and for example, the input of the electric fan 16 is increased by recognizing that the floor is a carpet where collection of garbage is difficult, the rotational speed is increased to increase the suction force, and the rotational speed of the drum brush is also increased to effectively improve the dust collection performance, and the input of the electric fan 16 is decreased to suppress the set rotational speed, and the rotational speed of the drum brush is also suppressed to suppress the power consumption of the rechargeable battery 19 on the floor where collection of garbage is easy (fig. 31).

When the dust sensor unit 12 detects dust, the input of the electric fan 16 is increased for a certain time to increase the rotation speed (fig. 31). The operation of determining the input increase time (for example, extension) of the electric blower 16 based on the detected amount of dust is not performed. This can suppress power consumption of the electric fan 16. Further, the rotation speed of the roller brush is also increased in accordance with the rotation speed of the electric fan, whereby the dust collecting performance can be further improved as compared with the case where only the rotation speed of the electric fan is increased. Further, when more dust is detected, the main body is reversed by 180 degrees at R50, advanced by about 250mm, and then rotated by 180 degrees at a larger radius R150, advanced again by 250mm (fig. 31).

Here, since the autonomous traveling vacuum cleaner has a size of 250mm long × 250mm wide × 92mm high, it can sufficiently collect garbage since it rotates at R50 and then passes through a place where the garbage is reflected again (passes through the same place). After the rotation at R150, the position where the autonomous traveling vacuum cleaner was operated before the sensor response was deviated from the position by the width of 1 autonomous traveling vacuum cleaner, and the peripheral region where the garbage was reflected can be more widely cleaned (fig. 31).

Accordingly, the output of the electric fan 16 and the operation of the autonomous electric vacuum cleaner can efficiently clean garbage, and power consumption can be suppressed.

In the present embodiment, when the dust sensor unit detects dust and counts 1 when the number of the dust becomes equal to or greater than a certain threshold value, the input of the electric blower is increased to increase the rotation speed and the rotation speed of the roller brush is also increased when the number of the dust sensor unit changes from 1s to 3 s, and the operation is also performed when the number of the dust sensor unit changes to 6.

[ Driving device ]

The traveling motor driving device (left) and (right) shown in fig. 24 are an inverter for driving the traveling motors 1161 on the left and right sides or a pulse waveform generator by PWM control, and operate in accordance with a command from the control device 2. The same applies to the electric fan driving device, the motor driving device for the rolling brush, and the motor driving device for the side brush (left) (right). The above-described drive devices are provided in the control device 2 (see fig. 2) in the main body 11.

[ control device 2]

The control device 2 is, for example, a Microcomputer (not shown), reads a program stored in a rom (read only memory), expands the program in a ram (random Access memory), and executes various processes by a cpu (central processing unit). The control device 2 executes arithmetic processing based on the switch pieces 22 (see fig. 1) and signals input from the sensors, and outputs command signals to the driving devices.

The autonomous traveling type electric vacuum cleaner of the present invention has been described in detail with reference to the embodiments. The present invention is not limited to the embodiments, and can be modified and changed as needed within a range not departing from the gist thereof. In the present embodiment, the autonomous traveling type vacuum cleaner is described as an example, but the same effects are obtained when the autonomous traveling type vacuum cleaner is applied to a horizontal type vacuum cleaner, an upright type vacuum cleaner, and a portable type vacuum cleaner.

< embodiment 2 >

The structure of embodiment 2 may be the same as embodiment 1 except for the following points.

[ switch sheet 22]

Fig. 25 is a perspective view of the autonomous traveling type electric vacuum cleaner 1 with the upper case 111 removed, fig. 26 is a perspective view of the autonomous traveling type electric vacuum cleaner 1 with the switch piece 22 further removed from the state of fig. 25, fig. 27(a) is a front perspective view of the switch piece 22, and fig. 27(b) is a rear perspective view of the switch piece 22.

The switch sheet 22 is disposed between the upper case 111 and the control circuit board 21. The control circuit board 21 is located in the main body 11 on the lower side of the upper case 111. Further, for example, a resin support plate 80 for placing the switch piece 22 is provided between the control circuit board 21 and the switch piece 22.

The switch piece 22 has operation buttons 221 and 222 and a soft portion 223 for outputting an operation signal corresponding to an operation by a user to the control device 2. The operation buttons 221 and 222 include a circular operation button 221 having a circular shape and a ring-shaped operation button 222 having a ring shape surrounding the circular operation button 221. By pressing the operation buttons 221 and 222, a signal can be output to the control device 2. The operation buttons 221 and 222 and the soft portion 223 are assembled in advance to form one member.

The operation buttons 221 and 222 are exposed on the upper surface of the autonomous traveling vacuum cleaner 1. The operation buttons 221 and 222 may have a function of outputting signals for turning on/off the power supply, starting/ending the cleaning, and changing the cleaning mode to the control device 2, for example.

The soft portion 223 may be a flexible rubber member, for example, surrounding the operation buttons 221 and 222. By placing the soft portion 223 on the support plate 80 and sandwiching the soft portion 223 between the upper case 111 and the support plate 80, it is possible to prevent water droplets and the like from entering from the vicinity of the operation buttons 221 and 222 exposed on the upper surface of the autonomous vacuum cleaner 1. With this configuration, since the operation buttons 221 and 222 can be exposed on the upper surface of the autonomous vacuum cleaner 1 while suppressing intrusion of water droplets and the like, the necessity of surrounding the push-down operation buttons 221 and 222 and the like with a waterproof member can be reduced, and thus the appearance can be improved.

The soft portion 223 has 1 or 2 or more through holes 2231. A light emitting portion (not shown) such as an LED is provided on the side opposite to the upper case 111 through the through hole 2231. The light emitting section can be provided on the control circuit board 21, for example. As the operation buttons 221 and 222 are pressed, the color of the light emitted by the light emitting unit changes, and the user can be notified that the control device 2 recognizes the operation performed by the operation buttons 221 and 222. When the switch sheet 22 is viewed from the front, the through-hole 2231 is spaced apart from the operation buttons 221 and 222. This can prevent water droplets from entering the through-holes 2231.

The display panel driving device is a device that applies a voltage to the electrodes of the display panel in accordance with a command from the control device 2 to operate the light emitting section. The light emitting unit indicates, for example, an operation state mode (automatic or manual) or a state (notification of whether or not to throw garbage or a remaining charge value) of the autonomous vacuum cleaner 1, a clock reservation time or an input mode (strong, medium, or weak) of the electric blower, and the like.

The support plate 80 has a through hole 801 at a position overlapping each of the operation buttons 221 and 222. The operation buttons 221 and 222 have protrusions 2211 and 2221 and support protrusions 2232 on the back surfaces. The support projection 2232 prevents the projections 2211, 2221 from coming into contact with the switch of the control circuit board 21 when the operation buttons 221, 222 are not pressed, and the projections 2211, 2221 enter the through hole 801 when the operation buttons 221, 222 are pressed, and can come into contact with the switch of the control circuit board 21. The through hole 802 is also provided at a position where the light-emitting portion overlaps the through hole 2231.

The operation buttons 221 and 222 do not have a display unit for notifying detection of dust. When dust is detected, the input mode of the electric blower changes, and thus the electric blower also serves as an input mode display unit. This can reduce the cost of the display unit.

The rechargeable battery 19 is, for example, a secondary battery that can be reused by charging, and is housed in the battery housing section 115 (see fig. 4). The electric power from the rechargeable battery 19 is supplied to the sensors, the motors, the driving devices, and the control device 2.

< embodiment 3 >

The structure of this embodiment mode can be the same as embodiment mode 1 or 2 except for the following points.

[ shape of side brush 15]

Fig. 28 is a perspective view of the side brush 15, and fig. 29 is a view showing a state in which the side brush 15 is bent. In the root elastic portion 153 of the side brush 15, the thin portion 1531 on the side of the side brush holder 151 (root side) is thinner than the thick portion 1532 on the side of the brush portion 154. Further, since the thin portion 1531 is connected to the side brush holder 151, the thick portion 1532 and the brush portion 154 can be bent relatively easily about the thin portion 1531. Therefore, even if the power cord or the like comes into contact with the side brush 15, the side brush 15 can easily continue to rotate without being twisted around the power cord or the like by being bent about the thin portion 1531 as illustrated in fig. 29.

When the autonomous vacuum cleaner S is placed on a floor, the dimension (length dimension) of the root elastic portion 153 along the brush portion 154 is such that the root elastic portion 153 cannot reach the floor even when the root elastic portion 153 is bent toward the floor. Thus, for example, even if the power cord or the like contacts the side brush 15 and the side brush 15 is bent, the root elastic portion 153 is prevented from contacting the floor and the side brush 15 is prevented from being folded back sharply from the root. That is, the root elastic portion 153 is adjusted to a size such that the tip thereof does not contact the floor during the travel of the autonomous walking type electric vacuum cleaner 1.

Further, the distance in the direction perpendicular to the brush part 154 from the upper surface portion of the thin part 1531 to the upper surface portion of the thick part 1532 (the height difference between the thin part 1531 and the thick part 1532) is 1.2mm or less.

(other technical ideas)

The present application includes the following technical ideas. The technical ideas described as m-n (m and n are natural numbers) can be arbitrarily combined as long as the contexts do not contradict each other. The "electric vacuum cleaner" disclosed below includes electric vacuum cleaners such as a horizontal type or a vertical type.

[ additional notes 1-1 ]

An autonomous walking electric vacuum cleaner, comprising:

a suction port portion having a suction port; and

a dust box with a main storage part,

a part or all of a passage from the suction port to the main reservoir is surrounded by a duct integrally formed with the dust box.

According to supplementary note 1-1, a small autonomous traveling type vacuum cleaner with an increased dust collection capacity can be provided.

[ additional notes 1-2 ]

The autonomous walking type electric vacuum cleaner according to supplementary note 1-1, characterized in that:

the suction port portion has a suction port portion duct forming a part of a passage from the suction port to the main reservoir portion, the suction port portion duct having a length shorter than that of the duct.

[ additional notes 1-3 ]

The autonomous traveling type electric vacuum cleaner according to supplementary note 1-1 or 1-2, characterized in that:

a passage from the suction port to the main reservoir, the passage including a dust sensor unit that is separate from the dust box and the suction port,

the duct forms a passage longer than a passage forming the dust sensor unit in a passage from the suction port to the main reservoir.

[ additional notes 1-4 ]

A dust sensor unit, comprising:

framing; a light emitting section and a light receiving section provided in the frame and opposed to each other; and a close contact member attached to the frame.

[ additional notes 1-5 ]

A dust box integrally comprising a box-shaped main reservoir and a duct extending obliquely downward from the main reservoir,

a reverse flow suppressing valve capable of opening and closing the conduit,

the backflow suppressing valve has a main surface, a protrusion, and an urging portion.

[ supplement 2-1 ]

An autonomous walking electric vacuum cleaner, comprising:

an electric fan;

a suction part having a suction port;

a dust sensor unit having a light emitting section and a light receiving section facing each other, the dust sensor unit being capable of detecting dust passing through the light emitting section and the light receiving section; and

a dust box is arranged at the bottom of the dust box,

a cross-sectional area perpendicular to a main direction, which is a direction in which air mainly flows by driving of the electric fan, is smaller from an upstream side of the suction port toward the dust sensor unit, and is larger from the dust sensor unit toward the dust box.

According to supplementary note 2-1, can offer one kind to have dust sensor unit of the dust quantity that can detect effectively and pass through. As can be seen from patent document 1, since the dust detection sensor is provided in the dust box unit, the sectional area is clearly reduced. In such a configuration, since the cross-sectional area on the downstream side of the dust detection sensor is reduced, the air volume is reduced, and the dust detection sensor does not necessarily have to be present in such a small cross-sectional area, and therefore there is room for improvement in the dust detection accuracy. The same applies to patent document 2. Patent document 3 mentioned above describes that the cross-sectional area is substantially constant.

[ supplement 2-2 ]

The autonomous walking type electric vacuum cleaner described in supplementary note 2-1, characterized in that:

in the suction port, the dust sensor unit, and the dust box, a cross-sectional area of a portion of the light emitting portion facing the light receiving portion is substantially the smallest or the smallest.

[ additional notes 2-3 ]

The autonomous traveling type electric vacuum cleaner according to supplementary note 2-1 or 2-2, characterized in that:

the dirt box has a duct formed integrally therewith,

the dust sensor unit is long in size in the main direction compared to the duct.

[ additional notes 3-1 ]

An electric vacuum cleaner, characterized in that:

comprises a dust box, the dust box is provided with a main storage chamber and a handle which can rotate by taking a rotating shaft as a shaft,

the handle has an action point portion that can be an action point for applying force to the handle by rotating the handle to contact the electric vacuum cleaner.

According to supplementary note 3-1, can offer one kind to carry on the electric dust collector of the disassembling of the dust box easily.

[ supplement 4-1 ]

An electric vacuum cleaner having a dust box detachably attached to a main body, characterized in that:

the main body has a region surrounded by the main body and the dust box in a state where the dust box is attached to the main body,

an electric vacuum cleaner in which a small tool is accommodated in the region.

According to supplementary note 4-1, an electric vacuum cleaner capable of accommodating a small tool, preferably a small tool related to a dust box, can be provided.

[ supplement 4-2 ]

The electric vacuum cleaner described in supplementary note 4-1, characterized in that:

the widget is a brush having a shape curved along a shape of a side surface of the main body.

[ supplement 5-1 ]

An autonomous traveling type electric vacuum cleaner characterized in that:

comprises a suction port part for accommodating a rolling brush and an airtight component arranged on the lower side of the rolling brush and the suction port part,

the airtight member is urged downward and swings with respect to the roller brush and the suction port portion.

According to supplementary note 5-1, a small autonomous traveling type vacuum cleaner can be provided.

[ supplement 5-2 ]

The airtight member is provided with a removal claw,

when the detaching claw is moved in the left-right direction, the airtight member can be detached from the autonomous traveling type vacuum cleaner.

[ additional notes 6-1 ]

An autonomous traveling type electric vacuum cleaner, comprising:

a box is lowered;

2 driving wheels installed at the lower box side; and

a rolling brush which is arranged in front of or behind the driving wheels and has a rotating shaft in a direction approximately parallel to the relative direction of the 2 driving wheels,

the distance between the driving wheel and the end part of each rolling brush is less than 20mm,

comprising: a rear protrusion provided directly in front of or directly behind the driving wheel and on an extension line of the rotation shaft; and/or a central protrusion disposed between 2 of the drive wheels.

According to supplementary note 6-1, can offer one can inhibit the embedded autonomous walking type electric dust collector of the obstacle.

[ supplement 7-1 ]

An autonomous traveling type electric vacuum cleaner characterized in that:

comprises electric fans arranged in an upper box and a lower box and a driving wheel arranged at the side of the lower box,

in the autonomous traveling type vacuum cleaner in which the driving wheels are placed on the floor in contact with the floor, the axial direction of the electric fan is inclined by 10 degrees or less with respect to the horizontal direction,

the upper case and/or the lower case has a recess in a direction spaced apart from the electric blower in the vicinity of upper and lower end surfaces of the electric blower.

According to supplementary note 7-1, a small autonomous traveling type vacuum cleaner can be provided.

[ supplement notes 7-2 ]

The autonomous walking type electric vacuum cleaner according to supplementary note 7-1, characterized in that:

the ratio of the vertical dimension of the electric blower attached to a region surrounding the upper case and the lower case at the upper and lower sides to the vertical dimension of the region is 0.90 or more.

[ additional notes 7-3 ]

The autonomous walking type electric vacuum cleaner according to supplementary note 7-2, characterized in that:

comprises a driving wheel arranged at the lower box side and a driving mechanism for rotating the driving wheel,

the vertical dimension of the region surrounding the upper case and the lower case is 70% or more of the vertical dimension of the state in which the autonomous traveling vacuum cleaner is placed on the floor and the drive wheels are in contact with the floor.

[ supplement notes 8-1 ]

An autonomous traveling type electric vacuum cleaner characterized in that:

comprises 2 driving wheels, an electric fan, a rechargeable battery and a brush with a rotating shaft in the horizontal direction,

in the front-back direction,

the electric fan and 2 driving wheels are located at the center side of the autonomous traveling type electric cleaner,

the rechargeable battery is located at one side with respect to the electric blower,

the brush is located on the other side with respect to the electric fan,

the brush has a weight inside.

According to supplementary note 8-1, an autonomous traveling type vacuum cleaner in which a center of gravity is balanced and an electric fan is disposed on the center side can be provided.

[ supplement 9-1 ]

An autonomous traveling type electric vacuum cleaner characterized in that:

comprises a DC motor for transmitting power to the side brush and a sensor for detecting wall surface,

the dc motor performs control for increasing the rotational speed of the side brush or increasing the duty ratio of the dc motor during execution of a wall-following cleaning mode in which the autonomous traveling vacuum cleaner travels along a wall.

According to supplementary note 9-1, the cleaning efficiency in the along-wall cleaning mode can be improved.

[ supplement 9-2 ]

An autonomous traveling type electric vacuum cleaner characterized in that:

comprises a DC motor for transmitting power to a side brush and a sensor for detecting and distinguishing more than 2 floor types,

and the direct current motor controls the rotation speed of the side brush or controls the duty ratio of the direct current motor according to the type of the floor detected by the sensor.

According to supplementary note 9-2, cleaning can be appropriately performed according to the type of floor.

[ supplement 9-3 ]

An autonomous traveling type electric vacuum cleaner characterized in that:

comprises a DC motor for transmitting power to the side brush and a sensor for detecting the amount of dust passing through the suction port,

the DC motor is controlled so that a negative correlation between the number of dusts detected by the sensor and the duty ratio of the DC motor is established.

According to supplementary note 9-3, the side brush can be prevented from sweeping the dust in the area with much dust.

[ appendix 10-1 ]

An electric vacuum cleaner, characterized in that:

has a rolling brush which rotates by using a motor with a horizontal direction as an axis,

the rolling brush has bristles and a non-woven fabric adjacent to each other, and is provided in a rotation direction of the motor such that the non-woven fabric contacts the floor before the bristles.

According to the supplementary note 10-1, it is possible to provide an electric vacuum cleaner having a rolling brush in which the tangling of hair and the like is suppressed.

[ appendix 10-2 ]

The electric vacuum cleaner described in supplementary note 10-1, characterized in that:

the nonwoven fabric has slits extending in the radial direction of the roll brush.

[ appendix 11-1 ]

An electric vacuum cleaner, characterized in that:

comprises a side brush having a brush part rotating with a side brush holder as an axis,

a member is provided between the brush portion and the side brush holder, the member being formed integrally with the side brush holder by a root elastic portion as an elastic body.

According to supplementary note 11-1, the durability of the side brush can be improved.

[ appendix 11-2 ]

An electric vacuum cleaner, characterized in that:

the side brush is arranged on the lower box of the electric dust collector,

the root elastic portion is shorter than a length from a floor to the lower case when the electric vacuum cleaner is grounded.

According to supplementary note 11-2, the root elastic portion can be prevented from bending and twisting due to contact with the ground.

[ appendix 12-1 ]

An electric vacuum cleaner having an auxiliary wheel rotated by a drive, characterized in that:

the auxiliary wheel includes: a fixed shaft fixed to the electric vacuum cleaner; a ground wheel with the fixed shaft as a rotating shaft; and a circular plate portion adjacent to the ground engaging wheel,

the circular plate portion has a larger diameter than the fixed shaft and a smaller diameter than the ground engaging wheel.

According to the supplementary note 12-1, it is possible to suppress hair waste and the like from being tangled on the fixed shaft.

[ additional notes 13-1 ]

An apparatus, comprising:

a switch sheet having an operation button and a soft portion, a housing, a control circuit board, and a support plate,

the support plate is located on one side of the control circuit board,

the soft portion is sandwiched between the support plate and the housing,

the operation button is exposed from the housing.

According to supplementary note 13-1, an apparatus can be provided which improves the appearance of the operation button and can suppress the intrusion of water into the case. The device is not limited to the autonomous traveling type electric vacuum cleaner, and various known electric devices can be applied.

[ appendix 14-1 ]

An electric vacuum cleaner, characterized in that:

comprises a dust box with a reverse flow inhibiting valve arranged at an opening,

the reverse flow suppressing valve includes:

a main surface capable of closing the opening;

a biasing portion that biases the main surface in a direction closing the opening; and

a protrusion extending in a substantially parallel direction on the main surface and reaching outside the opening,

the biasing portion can bias the main surface to rotate with a longitudinal direction of the backflow suppressing valve as a rotation axis,

the electric vacuum cleaner has a counter-urging portion capable of applying a force to the main surface in a direction in which the protrusion comes into contact with the main surface to open the opening.

[ appendix 14-2 ]

The electric vacuum cleaner described in supplementary note 14-1, characterized in that:

the counter force part is a guiding step arranged on the step of the electric dust collector,

the backflow suppressing valve is housed in a gap provided above the roller brush in a state of being attached to the electric vacuum cleaner.

[ additional notes 14-3 ]

The electric vacuum cleaner described in supplementary note 14-1 or 14-2, characterized in that:

the dust box has an upright portion extending in the up-down direction on a downstream side of the opening.

[ appendix 15-1 ]

An autonomous traveling type electric vacuum cleaner characterized in that:

having a lower case and a buffer provided at a side surface, controlling a driving wheel to autonomously travel,

the side surface has a resinous cushion frame located on the outer peripheral side of the cushion over the entire or substantially the entire periphery.

Description of the reference numerals

1 autonomous traveling type electric vacuum cleaner

11 main body

111 upper box

112 lower box

1121 side brush attachment part

1122 auxiliary wheel mounting part

1123 posterior protrusion

1124 central front side protrusion

1125 central rear projection

1126 exhaust port

1127 buffer frame

1128 mounting claw engaging part

113 suction port

1131 suction port

1133 Rolling brush motor

114 drive mechanism housing part

1141 arm (Suspension)

1142 speed reducing mechanism

115 battery housing part

116 drive wheel

1161 traveling motor

117 front cover

118 airtight member

1181 bridge member

1182 swing shaft

1183 frame body

1184 disassembling claw

1185 force applying part

1186 driven roller

119 guide step

1101 gap

1102 small tool storage part

12 dust sensor unit

121 frame

122 light emitting part

1221 light emitting element

123 light receiving part

1232 light receiving element

1239 transparent resin cap

124 clinging component

125 wiring

126 connector

127 circuit board

13 sweeping brush

14 rolling brush

141 shaft part

142 planting hair

143 nonwoven fabric

1431 slit

15 side brush

151 side brush fixing member

152 side brush motor

153 root elastic part

1531 thin part

1532 thick part

154 bristle part

155 mounting claw

16 electric fan

161 elastomer

17 auxiliary wheel

171 ground part

172 circular plate part

173 fixed shaft

18 buffer

19 rechargeable battery

2 control device

21 control circuit board

210 sensors (distance measuring sensor)

211 sensors (distance measuring sensor for floor)

22 switch sheet

221 circular operating button

222 annular operating button

4 dust box

41 Main reservoir

42 pipeline

421 vertical part

43 handle

431 gripping part

432 coming-off preventing part

433 point of action part

434 engaging part

44 reverse flow suppressing valve

441 major face

442 projection

443 force applying part

45 cover

46 filter

80 support plate

90 center line

91 arrow head

92 main direction size of dust sensor unit

93 size of the other end side of the pipe (inclined size)

94 size (up-down size) of one end side of the pipe.

Claims (4)

1. An autonomous traveling type electric vacuum cleaner, comprising:

a roller brush driven by a roller brush motor, a suction port part with a suction port, an electric fan generating negative pressure to generate suction force, and a dust box with a main storage part,

a part or all of a passage from the suction port to the main reservoir is surrounded by a duct integrally formed with the dust box,

the suction port portion has a suction port portion duct forming a part of a passage from the suction port to the main reservoir portion,

a dust sensor unit that is separate from the dust box and the suction port is disposed in a passage from the suction port to the main reservoir,

when the dust sensor unit detects a certain amount of dust, the rotational speed of the electric blower is increased and the suction force is increased,

the rotational speed of the drum brush is also increased in accordance with the rotational speed of the electric fan.

2. An autonomous traveling type electric vacuum cleaner, comprising:

a roller brush driven by a roller brush motor, a suction port part with a suction port, an electric fan generating negative pressure to generate suction force, and a dust box with a main storage part,

a part or all of a passage from the suction port to the main reservoir is surrounded by a duct integrally formed with the dust box,

the suction port portion has a suction port portion duct forming a part of a passage from the suction port to the main reservoir portion,

a dust sensor unit that is separate from the dust box and the suction port is disposed in a passage from the suction port to the main reservoir,

when the dust sensor unit detects a certain amount of dust, the rotational speed of the electric blower is increased and the suction force is increased,

the rotation speed of the drum brush is also increased according to the rotation speed of the electric fan, and when the amount of dust detected by the sensor unit is larger, the drum brush is reversed by 180 degrees at a smaller radius and travels straight by a distance substantially equal to the size of the main body, and then rotated by 180 degrees at a larger radius and travels straight by a distance substantially equal to the size of the main body.

3. The autonomous walking electric cleaner according to claim 1 or 2, characterized in that:

the dust sensor unit includes: the light emitting device includes a frame, a light emitting portion and a light receiving portion provided in the frame and facing each other, and a close contact member attached to the frame.

4. The autonomous walking electric cleaner according to any one of claims 1 to 3, characterized in that:

when the load of the brush motor is equal to or greater than a certain level, the rotational speed of the electric fan increases and the rotational speed of the brush also increases.

Images