CN112770658A - Storage device - Google Patents

Abstract

The invention provides a storage device, which can improve convenience. The self-propelled sweeper (1) is provided with a sweeper body (2) as a moving body moving in an environment and a charging station (6) as a storage device for storing the sweeper body (2). The charging station (6) has a charging unit (52) for supplying energy to the sweeper body (2) as a power source and a device-side operation execution unit for causing the sweeper body (2) to execute a predetermined operation. The device-side operation execution means causes the main body (2) of the cleaning machine to execute a predetermined operation based on an instruction from a user.

Description

Storage device

Technical Field

The present invention relates to a storage device for storing a mobile body that moves in an environment.

Background

Conventionally, a mobile body such as a self-propelled cleaner that moves in an environment, which includes a traveling unit, a dust collecting unit that collects dust removed from a floor surface, and a battery that supplies electric power to the traveling unit and the like, is known (for example, see patent document 1 and the like), and the battery of the self-propelled cleaner is separately provided on the floor surface and charged from a charging stand (storage device) connected to a power supply. The self-propelled sweeper controls the driving wheel of the walking unit to return to the charging table according to a return signal from the charging table, detects that the return to the charging table is completed by the electric connection between the charging terminal of the self-propelled sweeper and the power supply terminal of the charging table, and stops the driving of the walking unit and the dust collecting part.

Prior art document-patent document

Patent document 1: japanese patent application (laid-open) JP2014-188062

Disclosure of Invention

Problems to be solved by the invention

However, in the conventional self-propelled cleaner as described in patent document 1, the charging stand is a stand for charging only the battery of the self-propelled cleaner, and when the self-propelled cleaner is caused to perform a predetermined operation, for example, when cleaning is started, a user has to operate the self-propelled cleaner to start cleaning, which causes a problem of low convenience of the charging stand.

The invention aims to provide a storage device capable of improving convenience.

Means for solving the problems

The storage device of the present invention is a storage device for storing a mobile body moving in an environment, comprising: a supply unit for supplying energy to the movable body as a power source; and a device-side operation execution unit that causes the mobile body to execute a predetermined operation, the device-side operation execution unit causing the mobile body to execute the predetermined operation based on an instruction from a user.

According to the present invention, the housing device includes a supply means for supplying energy to the movable body as a power source and a device-side operation executing means for causing the movable body to execute a predetermined operation. Further, since the apparatus-side operation executing means causes the movable body to execute the predetermined operation based on the instruction of the user, the user can cause the movable body to execute the predetermined operation by instructing the storage apparatus without instructing the movable body, and the convenience of the storage apparatus can be improved.

In the present invention, it is preferable that the mobile body further includes a supply switching unit that switches the supply unit between a supply state in which energy can be supplied and a non-supply state in which energy cannot be supplied, and the mobile body includes: supply judging means for judging whether or not the supply means is switched from a supply state to a non-supply state; and a moving body side operation executing unit that executes the predetermined operation when the supply determining unit determines that the supply unit is switched to the non-supply state, wherein the apparatus side operation executing unit causes the moving body to execute the predetermined operation by switching the supply unit to the non-supply state by the supply switching unit based on an instruction of a user.

According to this configuration, the apparatus-side operation executing means causes the mobile body to execute the predetermined operation by switching the supply means to the non-supply state by the supply switching means based on the instruction of the user, and therefore the user can cause the mobile body to execute the predetermined operation only by the instruction of switching the supply means to the non-supply state.

Preferably, the present invention further includes a transmission unit for transmitting information to the mobile object, and the mobile object includes: a receiving unit that receives the information transmitted from the transmitting unit; and a mobile body side operation execution unit that executes the predetermined operation when the information transmitted from the transmission unit is received by the reception unit, wherein the apparatus side operation execution unit causes the mobile body to execute the predetermined operation by transmitting the information to the mobile body by the transmission unit based on an instruction of a user.

According to this configuration, the device-side operation execution means transmits information to the mobile body by the transmission means based on the instruction of the user so that the mobile body executes a predetermined operation, and therefore the configuration of the storage device can be simplified.

The present invention preferably has: a locking portion for locking a part of one end side of the movable body; and a lifting unit configured to lift the engaging portion, which engages with a part of the movable body, by the lifting unit, and to lift the movable body so that the movable body can be stored in a standing state in which one end side thereof faces upward, the movable body including: a posture detection unit that detects a change in posture of the moving body; and a moving body side operation executing unit that executes the predetermined operation when the change in the posture of the moving body is detected by the posture detecting unit, wherein the apparatus side operation executing unit causes the engaging portion, which engages with a part of the moving body, to descend by the lifting unit based on an instruction of a user to change the posture of the moving body so that the moving body executes the predetermined operation.

According to this configuration, the apparatus-side operation executing means causes the movable body to execute the predetermined operation by lowering the engaging portion, which engages with the part of the movable body, by the lifting means based on the instruction of the user to change the posture of the movable body, so that the user can cause the movable body to execute the predetermined operation only by the instruction to lower the engaging portion, which engages with the part of the movable body, by the lifting means.

Drawings

Fig. 1 is a front view of a self-propelled cleaner according to an embodiment of the present invention.

Fig. 2 is a side view showing the main body of the self-propelled cleaner and a cross-sectional view showing the storage device.

Fig. 3 is a side view showing a suspended state of the main body of the self-propelled cleaner.

Fig. 4 is a side view showing a storage state of the cleaner body in the self-propelled cleaner.

Fig. 5 is a functional block diagram showing a schematic configuration of the self-propelled cleaner.

Fig. 6 is a perspective view showing the cleaner body as viewed from above.

Fig. 7 is a perspective view showing the cleaner body viewed from below.

Fig. 8 is a perspective view of the peripheral cleaning unit in the cleaner body as viewed from above in a protruding state.

Fig. 9 is a perspective view of the cleaner body as viewed from below showing a protruding state of the peripheral cleaning unit.

Fig. 10 is a front view showing a protruding state of the peripheral cleaning unit in the cleaner body.

Fig. 11 is a right side view showing a protruding state of the peripheral cleaning unit in the cleaner body.

Fig. 12 is a rear view showing a protruding state of the peripheral cleaning unit in the sweeper body.

Fig. 13 is a perspective view showing the storage device of the self-propelled cleaner.

Fig. 14 is a front view showing the storage device.

Fig. 15 is a sectional view showing the storage device.

Fig. 16(a) to (D) are cross-sectional views showing the operation of the storage device.

Fig. 17(a) and (B) are enlarged sectional views showing a part of the storage device.

Fig. 18 is a sectional view showing a detection unit of the storage device.

Fig. 19(a) and (B) are sectional views showing the lifting unit of the storage device.

Fig. 20 is an enlarged sectional view of the lifting unit of the storage device.

Fig. 21 is an enlarged cross-sectional view of the lifting unit of the storage device.

Fig. 22 is a side view and a sectional view showing the operation of the storage device.

Fig. 23 is a side view and a cross-sectional view showing the operation of the storage device described above, following fig. 22.

Fig. 24 is a side view and a cross-sectional view showing the operation of the storage device described above, following fig. 23.

Fig. 25 is a side view and a cross-sectional view showing the operation of the storage device described above, following fig. 24.

Fig. 26(a) to (C) are enlarged cross-sectional views of the charging unit of the storage device.

Fig. 27 is a perspective view of a sweeper body according to a modification of the present invention, as viewed from below.

Fig. 28 is a perspective view of the peripheral cleaning unit in the cleaner body viewed from below in a protruding state.

Fig. 29 is a perspective view of a sweeper body according to a modification of the present invention, as viewed from below.

Fig. 30 is a perspective view showing a storage device of a self-propelled cleaner according to a modification of the present invention.

Detailed Description

An embodiment of the present invention will be described below with reference to fig. 1 to 26.

Fig. 1 is a front view of a self-propelled cleaner according to an embodiment of the present invention, and fig. 2 is a side view of a cleaner main body of the self-propelled cleaner and a sectional view of a storage device.

The self-propelled cleaner 1 is an electric moving body that cleans the floor surface F while traveling along the floor surface F. The self-propelled cleaner 1 includes a cleaner body 2, which is a cleaning robot as a moving body, and a charging station 6 as a storage device for storing the cleaner body 2 during non-cleaning.

In the present embodiment, the sweeper body 2 is described as an example of the movable body, but the movable body may be a product different from the sweeper body 2. For example, the moving body main body may be a vehicle, a scooter, an electric bicycle, an unmanned aerial vehicle, or the like. In short, the mobile body main body may be any product that can move in the environment by electric power.

The sweeper body 2 is provided with: as will be described later, the cleaner includes a travel driving unit 12 having a pair of left and right wheels 121 for self-traveling, an elevating unit 13 provided to be elevated upward and downward from the upper surface 101 of the body 10, an intake unit 14 for taking in dust on the floor surface F, a main body operating unit 15 (see fig. 5) for operating the cleaner main body 2, and a battery 18 (see fig. 5) for supplying electric power to the travel driving unit 12, the elevating unit 13, and the like. The charging station 6 is immovably installed at a predetermined position in a room, and is connected to a power supply such as a socket.

Fig. 3 is a side view showing a state where a sweeper body of the self-propelled sweeper is suspended, and fig. 4 is a side view showing a state where the sweeper body of the self-propelled sweeper is stored.

As shown in fig. 3 and 4, the charging stand 6 is configured to be able to suspend the sweeper body 2 so that the rear portion, which is one end side, faces upward and store the sweeper body in an upright state. The charging station 6 includes a hook 64 as a locking portion to be locked to a locked portion 16 (described later) provided on the rear side of the sweeper body 2, and a lifting/lowering driving portion 51 (described later) as a lifting/lowering means to lift and lower the hook 64.

Fig. 5 is a functional block diagram showing a schematic configuration of the self-propelled cleaner.

As shown in fig. 5, the sweeper body 2 includes: a periphery cleaning unit 3 for cleaning the periphery of the cleaner body 2, a sensor part 4 for detecting obstacles around the cleaner body 2, and a control part 5 as a control unit for driving and controlling the cleaner body 2, the periphery cleaning unit 3, and the sensor part 4.

The periphery cleaning unit 3 includes: a pair of arms 21 that protrude laterally from the sweeper body 2 and are rotatable, a motor 22 that rotationally drives the arms 21, a load sensor 23 that detects a load applied to the motor 22 from the outside, and an angle sensor 24 that detects a rotational angle of the arms 21 are provided on the left and right sides of the front portion of the sweeper body 2.

The sensor unit 4 includes: a front sensor 31 provided at the front of the sweeper body 2, a periphery sensor 32 provided at the lifting unit 13, a rear sensor 33 provided at the rear of the sweeper body 2, and an attitude detection sensor 34 provided inside the sweeper body 2. The posture detecting sensor 34 functions as a posture detecting unit that detects a change in the posture of the sweeper body 2. The posture detection sensor 34 may be any sensor as long as it can detect a change in the posture of the sweeper body 2, and for example, an acceleration sensor, a gyro sensor, or the like may be used.

The control unit 5 includes: a travel control unit 41 for controlling the travel drive unit 12, a suction Write control unit 42 for controlling the suction unit 14, a detection calculation unit 43 for processing detection signals from the front sensor 31, the periphery sensor 32, the rear sensor 33, the posture detection sensor 34, the load sensor 23 of the periphery cleaning unit 3, the angle sensor 24 of the sensor unit 4, and an arm control unit 44 for controlling the motor 22 of the periphery cleaning unit 3 to rotate the arm 21.

The charging station 6 includes: a lifting/lowering drive unit 51 as a lifting/lowering means for lifting/lowering the hook 64, a charging unit 52 as a charging means for charging the battery 18 of the sweeper body 2 by supplying power, a position detection unit 53 as a detection means for detecting the position of the sweeper body 2 returned to the charging station 6, and a charging control unit 54 for controlling the supply of power by the charging unit 52.

Next, the structure of the sweeper body 2 will be described with reference to fig. 6 to 12.

Fig. 6 is a perspective view of the sweeper body viewed from above, and fig. 7 is a perspective view of the sweeper body viewed from below. Fig. 8 is a perspective view of the sweeper body from above showing a protruding state of the peripheral cleaning unit, and fig. 9 is a perspective view of the sweeper body from below showing the protruding state of the peripheral cleaning unit. Fig. 10 to 12 are front, right and rear views showing a protruding state of the peripheral cleaning unit in the cleaner body.

The sweeper body 2 is provided with: a body 10 having an upper surface 101, a front surface 102, right and left side surfaces 103, and a rear surface 104; a chassis 11 constituting a bottom surface portion 105; a travel driving unit 12 having a pair of left and right wheels 121 for self-traveling; a lifting unit 13 which is provided to be lifted and lowered upward from the upper surface 101 of the body 10; a suction unit 14 provided on the bottom surface 105 of the body 10 and sucking dust on the floor surface F; a main body operation part 15 (fig. 5) for operating the sweeper main body 2. The main body operation unit 15 is, for example, a touch sensor type switch (not shown) provided on the upper surface 101 of the cleaner main body 2, and the cleaner main body 2 is operated by a touch operation of a user and the cleaner main body 2 is stopped by a touch operation during operation.

The arm 21 of the periphery cleaning unit 3 includes: a first arm 21A having one end rotatably supported by the sweeper body 2; and a second arm 21B rotatably supported on the other end side of the first arm 21A. The first arm 21A is formed in an overall hollow shape, and one end side thereof is rotatably supported by the chassis 11. The second arm 21B is formed in an overall elongated bowl shape that opens downward, and an intermediate portion thereof is rotatably supported on the other end side of the first arm 21A. The second arm 21B has a sub suction port 25 which opens downward and sucks dust on the floor surface F, and the sub suction port 25 communicates with the duct of the suction unit 14 and the dust collecting chamber through the inner spaces of the second arm 21B and the first arm 21A. A rotary ball 26 as a guide means for rolling and guiding the front side (the other end side) of the sweeper body 2 lifted by the charging stand 6 as will be described later is provided on the lower surface of the second arm 21B.

The sensor unit 4 includes: a front sensor 31 provided on the front surface 102 of the body 10; a periphery sensor 32 as a periphery detecting unit provided in the elevating portion 13; a rear sensor 33 provided on the rear surface portion 104 of the body 10; the aforementioned posture detecting sensor 34. The front sensor 31 is composed of an ultrasonic sensor, an infrared sensor, or the like, and detects a harmful object in front of the sweeper body 2. The periphery sensor 32 is a Laser scanner (LIDAR (Laser Imaging Detection and Ranging) that is rotationally driven inside the elevating unit 13 and irradiates Laser such as infrared Laser to measure a distance, and calculates a distance to and/or a shape of the obstacle. The periphery sensor 32 is not limited to being provided in the elevating unit 13, and may be provided at any position of the body 10. The rear sensor 33 detects a distance and/or a position with respect to the charging station 6, and communicates with an infrared ray emitting unit 53C (see fig. 13) of the position detecting unit 53 of the charging station 6 by infrared rays or the like.

The travel driving unit 12 includes a pair of left and right wheels 121 and motors (not shown) for independently driving the pair of wheels 121. In addition, an auxiliary wheel 122 is provided at the rear of the chassis 11. The suction unit 14 is connected to a rotary brush 141, a passage not shown, a suction fan, a dust collecting chamber, and an exhaust port, and the sucked dust and the like are collected by a filter member of the dust collecting chamber and the sucked air is discharged from the exhaust port. The passage of the suction portion 14 is communicated with the inner space of the arm 21 of the surrounding cleaning unit 3.

Next, the structure of the charging station 6 will be described with reference to fig. 13 to 18.

Fig. 13 is a perspective view showing a storage device of the self-propelled cleaner, and fig. 14 is a front view showing the storage device. Fig. 15 is a sectional view showing the storage device, and is a sectional view at a position indicated by a line a-a in fig. 14. Fig. 16(a) to (D) are cross-sectional views showing the operation of the storage device. Fig. 17(a) and (B) are cross-sectional views showing a part of the storage device in an enlarged manner, and are partially enlarged views of fig. 2. Fig. 18 is a sectional view showing a detection unit of the storage device.

As shown in fig. 13 to 15, the charging station 6 as the storage device includes: a base 61 placed on the floor F; a pair of right and left pillar portions 62 standing from right and left of the base portion 61; an arch-shaped top 63 connecting the upper ends of the column parts 62; a pair of hooks 64 as trim portions. The base portion 61 has a wedge-shaped base front portion 61A inclined upward from the front side to the rear side (from the lower left side to the upper right side in fig. 13), and a box-shaped base rear portion 61B rising behind the base front portion 61A, and is hollow as a whole. The column portion 62 is raised continuously from the base rear portion 61B, has a column front surface portion 62A, a column inner surface portion 62B, a column outer surface portion 62C, and a column rear surface portion 62D, and is formed in a cylindrical shape as a whole. The base portion 61 and the column portion 62 are provided therein with a lifting drive portion 51, a charging portion 52, a position detection portion 53, and a charging control portion (control board) 54.

A slope 61C for guiding the auxiliary wheel 122 of the sweeper body 2 is provided at the center of the upper surface of the base front portion 61A. The slope 61C has an ascending slope from the front side to the rear side, and the auxiliary wheel 122 of the sweeper body 2 approaching while moving backward to the charging station 6 turns up the slope 61C, so that the rear side (one end side) of the sweeper body 2 is guided obliquely upward as shown in fig. 2. A substantially horizontal flat portion (see fig. 18) is provided at the rear end portion of the slope 61C, and the auxiliary wheel 122 is turned up by the flat portion, so that the sweeper body 2 is less likely to slip down to the front side. Further, second slopes 61D are provided at both left and right end portions of the upper surface of the base front portion 61A, and the rotating ball 26 provided on the front portion side (the other end side) of the sweeper body 2 is guided by the second slopes 61D as shown in fig. 4.

A plurality of infrared light emitting units 53C constituting the position detecting unit 53 are provided on the front surface of the base rear portion 61B. The infrared rays emitted from the infrared ray emitting unit 53C are received by the rear sensor 33 of the sweeper body 2, and the sweeper body 2 detects the left and right positions and/or the distance of the sweeper body relative to the charging station 6 while moving backward toward the charging station 6. The sweeper body 2 moves backward while appropriately adjusting the travel driving unit 12 based on the detection of the rear sensor 33 until it enters a predetermined liftable position (a parking position shown in fig. 2) in the charging station 6. Further, a slit 62E for vertically guiding the hook 64 is formed from the base rear portion 61B to the column inner side surface portion 62B of the column portion 62. The front pillar portion 62A and the slit 62E of the pillar portion 62 are provided so as to be inclined rearward as they go upward, and thereby the rear portion side of the sweeper body 2 is lifted obliquely upward as shown in fig. 2 to 4.

A cleaning start switch 63A (see fig. 13) is provided at the center of the upper surface of the ceiling 63. The cleaning start switch 63A is pressed, and the cleaning machine body 2 starts cleaning.

As shown in fig. 16, the hook 64 is configured to be movable up and down from the base portion 61 and the vertical cross column portion 62 by being driven by the up-and-down driving portion 51. That is, the hook 64 is configured to be able to move up and down from the retracted position shown in fig. 16(a), through the locking position shown in fig. 16(B), the mid-suspension position shown in fig. 16(C), and to the storage position shown in fig. 16 (D).

As shown in fig. 17, the hook 64 includes a hook base 64A coupled to the elevation drive unit 51 and an extension piece 64B extending substantially horizontally forward from the hook base 64A, i.e., toward the cleaner body 2, and a retaining recess 64C recessed in an arc shape is formed on an upper surface of a distal end portion of the extension piece 64B. On the other hand, on the rear side (one end side) of the bottom surface portion of the sweeper body 2, as shown in fig. 7, 9, and 17, a pair of engaged portions 16 engaged with the hooks 64 are provided. The fastened portion 16 is formed in a cylindrical shape having a diameter smaller than that of the fastening recess 64C, and is fastened so as to be movable back and forth by a small distance in the fastening recess 64C and rotatable with respect to the fastening recess 64C. The secured portion 16 is electrically connected to a battery 18 of the sweeper body 2, and functions as a charging terminal of the sweeper body 2 as will be described later.

As shown in fig. 18, the position detection unit 53 includes a hall sensor substrate 53A provided inside the base front portion 61A and a hall element 53B provided on the hall sensor substrate 53A, in addition to the infrared light emitting unit 53C. On the other hand, a magnet 17 is provided on the rear side (one end side) of the bottom surface portion of the sweeper body 2. When the sweeper body 2 is retracted and the auxiliary wheel 122 is turned up over the flat portion over the slope 61C, the sweeper body 2 is returned to a parking position where it can be lifted by the hook 64. At this time, the hall element 53B detects the magnet 17, and the position detecting unit 53 detects that the sweeper body 2 has returned to the rest position.

Before the position detection unit 53 detects that the sweeper body 2 is returned to the stop position, the elevation drive unit 51 lowers the hook 64 to the retracted position in advance so that the hook 64 does not contact the fixed part 16 during the backward movement of the sweeper body 2, as shown in fig. 17 (a). On the other hand, after the position detecting portion 53 detects that the sweeper body 2 has returned to the rest position, as shown in fig. 17(B), the elevation driving portion 51 raises the hook 64 to the engaging position, and engages the engaged portion 16 via the engaging recess 64C. The hook 64 functions as a power supply terminal for supplying power from the charging unit 52 to the sweeper body 2, and the secured unit 16 is electrically connected to the battery 18 inside the sweeper body 2. Then, charging control unit 54 switches charging unit 52 to a power supply state in which power can be supplied. Thereby, the electric power supplied from the hook 64 is supplied to the battery 18 via the secured portion 16.

In the present embodiment, the locking position is set at a position where the hook 64 is raised by about several millimeters from the position where the locking recess 64C of the hook 64 contacts the locked portion 16. In other words, the fastening position is set to a position where the sweeper body 2 is slightly lifted by the fastening recess 64C of the hook 64 being brought into contact with the fastened part 16.

Accordingly, the charging station 6 can increase the contact pressure between the engaging recess 64C of the hook 64 and the engaged portion 16, and therefore the engaging recess 64C of the hook 64 can be reliably conducted to the engaged portion 16.

Since the engaging recess 64C is formed so as to be recessed in an arc shape, the hook 64 can be set to a position where the hook 64 is further raised by about several millimeters than the position where the engaging recess 64C of the hook 64 is in contact with the engaged portion 16, and this can be corrected when the sweeper body 2 is displaced from the charging stand 6.

Next, the elevating drive unit (elevating means) 51 of the charging station 6 will be described with reference to fig. 19 to 21.

Fig. 19(a) and (B) are a sectional view showing the elevating unit of the storage device, and a sectional view showing positions indicated by lines B-B and C-C in fig. 14, respectively. Fig. 20 is an enlarged sectional view of the lifting unit of the storage device, and fig. 21 is an enlarged sectional view of the lifting unit of the storage device.

As shown in fig. 19 to 21, the elevation drive unit 51 includes: a motor 71, a drive spindle 72, a pair of left and right ball screw shafts 73, ball screws 74 fixed to the left and right hooks 64, respectively, and linear guides (linear guides) 75 for guiding the ball screws 74 up and down.

The drive main shaft 72 extends in the left-right direction, and worm gears 72A are fixed to both ends thereof. As shown in fig. 20, a pinion gear 71A is fixed to an output shaft of the motor 71, and a driven gear 72B is fixed to an intermediate portion on one side (left side in the figure) of the drive spindle 72. A gear train including a first gear 76A and a second gear 76B is provided between the pinion gear 71A and the driven gear 72B of the motor 71, and the output of the motor 71 is transmitted to the drive spindle 72 via the gears 71A, 76B, and 72B, whereby the drive spindle 72 rotates.

The ball screw shaft 73 extends vertically from the base portion 61 across the column portion 62, and its upper and lower ends are pivotally supported. A worm wheel (worm) 73A is fixed to a lower end portion of the ball screw shaft 73, the worm wheel 73A meshes with a worm gear 72A of the drive main shaft 72, and when the drive main shaft 72 rotates, the rotation thereof is converted into rotation of the ball screw shaft 73. The ball screw 74 engages with the ball screw shaft 73, and when the ball screw shaft 73 rotates, the ball screw 74 and the hook 64 move up and down. The linear guide 75 includes a rail 75A extending vertically from the base portion 61 to the column portion 62 and fixed thereto, and a movable portion 75B fixed to the ball screw 74 and guided by the rail 75A, and linearly movably guides the ball screw 74 and the hook 64.

Here, when the hook 64 is being lifted by the lifting drive unit 51, the charging control unit 54 switches the charging unit 52 to the non-power-supply state in which power cannot be supplied.

As described above, in the present embodiment, charge control unit 54 functions as a charge changeover unit that switches charging unit 52 between a power supply state in which power can be supplied and a non-power supply state in which power cannot be supplied.

Here, the charging unit 52 functions as a charging means for charging the battery 18 of the sweeper body 2 and also functions as a supply means for supplying energy serving as a power source to the sweeper body 2 serving as a moving body.

The charge control unit 54 also functions as a supply switching means for switching the charging unit 52 between a supply state in which energy can be supplied and a non-supply state in which energy cannot be supplied.

In the present embodiment, electric power is exemplified as energy to be a power source of the mobile body, but other energy such as gasoline and hydrogen may be used. When energy other than electric power is used as energy to be a power source of the moving body, the moving body may not be electrically driven.

Next, the charging unit (charging means) 52 of the charging station 6 will be described with reference to fig. 22 to 26.

Fig. 22 to 25 are a side view and a sectional view showing the operation of the storage device, and each drawing (B) is a sectional view of a position shown by a line a-a in each drawing (a). Fig. 26(a) to (C) are enlarged sectional views showing the charging unit of the storage device, fig. 26(a) is an enlarged sectional view showing a part of fig. 22(B), fig. 26(B) is an enlarged sectional view showing a part of fig. 23(B), and fig. 26(C) is an enlarged sectional view showing a part of fig. 25 (B).

Charging unit 52 includes a power supply unit 52A (see fig. 17 to 21) connected to a power supply via a socket, and as shown in fig. 22 to 25, first terminals 52B provided vertically across the inside of base portion rear portion 61B from the inside lower side of left and right pillar portions 62 and second terminals 52C provided on the inside upper side of left and right pillar portions 62 are electrically connected to power supply unit 52A. The first terminal 52B is mounted in a cantilever manner downward at a terminal fixing portion 52D whose upper end portion is fixed to the inner surface of the post outer side surface portion 62C. The second terminal 52C is attached to a terminal fixing portion 52E, which is fixed at its lower end portion to the inner surface of the post outer surface portion 62C, in a cantilever manner upward. The first terminal 52B is formed to have a first contact portion 52F protruding inward in the left-right direction as shown in fig. 26(a) and (B), and the second terminal 52C is formed to have a second contact portion 52G protruding inward in the left-right direction as shown in fig. 26 (C). On the other hand, the hook 64 is formed with a conduction portion 64D that protrudes outward in the left-right direction and can contact the first contact portion 52F and the second contact portion 52G.

The first contact portion 52F of the first terminal 52B is not in contact with the conduction portion 64D when the hook 64 is at the retracted position as shown in fig. 26(a), and is in contact with the conduction portion 64D when the hook 64 is at the latched position as shown in fig. 26 (B). As shown in fig. 26(C), the second contact portion 52G of the second terminal 52C contacts the conduction portion 64D when the hook 64 is at the storage position. On the other hand, as shown in fig. 24, when the hook 64 is in the suspended position, the conductive portion 64D is not in contact with both the first contact portion 52F and the second contact portion 52G.

As described above, the hook 64 in the locking position is electrically connected to the charging unit 52 via the first terminal 52B, and the hook 64 in the storage position is electrically connected to the charging unit 52 via the second terminal 52C. Since the fastened part 16 of the sweeper body 2 is fastened by the hook 64, the charging control part 54 supplies the electric power from the charging part 52 to the battery 18 inside the sweeper body 2 via the hook 64 and the fastened part 16, so that the battery 18 is charged.

Specifically, the charging control portion 54 switches the charging portion 52 to a power supply state capable of supplying power when the hook 64 is in the chucking position or the storage position. Thereby, the electric power supplied from the hook 64 is supplied to the battery 18 via the secured portion 16.

In addition, the charging station 6 can select a position at which the hook 64 is stopped between the locking position and the storage position in response to an operation input by the user when charging the battery 18 of the sweeper body 2. For example, the charging station 6 may be configured to raise the hook 64 from the locked position to the storage position or lower the hook 64 from the storage position to the locked position when the user presses the cleaning start switch 63A for a long time.

Further, charge control unit 54 confirms the state of energization of charging unit 52. Therefore, in the present embodiment, the charging control unit 54 also functions as a power supply determination means for determining whether or not the battery 18 of the sweeper body 2 can supply power when the charging control unit 54 is switched to the power supply state.

When the charging control unit 54 determines that the power supply to the battery 18 of the sweeper body 2 is not available, the charging control unit 54 switches the charging unit 52 to the non-power supply state.

When the charging control unit 54 determines that the power supply to the battery 18 of the sweeper body 2 is not available, the elevation drive unit 51 lowers the hook 64 to the retracted position.

Next, the operation of the self-propelled cleaner 1 will be described. When the sweeper body 2 having finished cleaning the floor surface F returns to the vicinity of the charging station 6, the rear side (the rear surface portion 104 side) thereof is directed toward the charging station 6, and the rear sensor 33 receives infrared rays from the infrared ray emitting portion 53C of the charging station 6 and moves backward while detecting the distance and/or position to the charging station 6. Further, the auxiliary wheel 122 of the sweeper body 2 turns up the ramp 61C of the base front portion 61A, is guided obliquely upward, and is retracted to the rest position shown in fig. 2, 17 and 18. As shown in fig. 18, the magnet 17 is detected by the hall element 53B of the position detector 53 to detect that the cleaner body 2 has retreated to the parking position, and at this time, the drive of the travel driver 12 is stopped by the cleaner body 2.

In the present embodiment, when the sweeper body 2 returns to the vicinity of the charging station 6, the rear side (the rear surface portion 104 side) thereof is directed toward the charging station 6, and the rear sensor 33 receives infrared rays from the infrared ray emitting portion 53C of the charging station 6 and moves backward while detecting the distance and/or position to the charging station 6.

On the other hand, for example, the sweeper body 2 may store the horizontal sectional shape of the charging station 6 in advance, detect the distance and/or position to the charging station 6 by comparing the horizontal sectional shape of the charging station 6 with the shape of the obstacle calculated by the periphery sensor 32, and then retreat as in the present embodiment.

Accordingly, even when the installation position of the charging station 6 when the sweeper body 2 returns to the vicinity of the charging station 6 is different from the installation position of the charging station 6 when cleaning is started, the installation position of the charging station 6 can be reliably grasped, and the sweeper body can be more reliably moved back to the parking position.

After the sweeper body 2 retreats to the parking position, the lifting drive portion 51 of the charging stand 6 raises the hook 64 from the retreat position shown in fig. 17(a) to the engaging position shown in fig. 17(B), and engages the engaged portion 16 with the engaging recess 64C. As described above, when the hook 64 is in the locking position and the locked portion 16 is locked, the charging portion 52 and the battery 18 of the sweeper body 2 are electrically connected through the first terminal 52B, the hook 64 and the locked portion 16, and the charging control portion 54 supplies power from the charging portion 52, thereby charging the battery 18, as shown in fig. 26 (B).

In this way, when cleaning is resumed after the battery 18 is charged at the stop position, the user only needs to press the cleaning start switch 63A.

When cleaning start switch 63A is pressed, charging control unit 54 switches charging unit 52 to the non-power-feeding state.

As described above, when the charging control unit 54 determines that the power supply to the battery 18 of the sweeper body 2 is not available, the elevation drive unit 51 lowers the hook 64 from the engaging position to the retracted position.

The control unit 5 of the sweeper body 2 determines whether or not the charging unit 52 of the charging station 6 has switched from the power feeding state to the non-power feeding state, and if the charging unit 52 is determined to have switched to the non-power feeding state, disengages from the charging station 6 and causes the sweeper body 2 to start cleaning.

As described above, in the present embodiment, the control unit 5 of the sweeper body 2 functions as supply determination means for determining whether or not the charging unit 52 of the charging station 6 is switched from the power supply state to the non-power supply state (whether or not the supply means is switched from the supply state to the non-supply state).

The control unit 5 of the sweeper body 2 functions as a moving body-side action execution means for executing the start of cleaning as a predetermined action when the control unit 5 of the sweeper body 2 determines that the charging unit 52 is switched to the non-supply state.

In the present embodiment, the start of cleaning is exemplified as the predetermined operation, but an operation other than this may be adopted.

In the present embodiment, the cleaning start switch 63A functions as an apparatus-side operation execution unit that causes the cleaner body 2 to execute the start of cleaning by switching the charging unit 52 to the non-power-feeding state by the charging control unit 54 in response to an instruction from the user.

When the sweeper body 2 is stored in the charging station 6, the lifting/lowering driving unit 51 raises the hook 64 engaged with the engaged portion 16. As the hook 64 is raised in this manner, the rear side of the sweeper body 2 is lifted obliquely upward as shown in fig. 3. During this suspension, the rotary ball 26 provided on the front side of the sweeper body 2 rolls along the floor surface F, and further, the rotary ball 26 rolls over the second slope 61D of the base front portion 61A, and the rotary ball 26 rolls along the second slope 61D, so that the sweeper body 2 is smoothly guided. The lifting/lowering drive unit 51 further raises the hook 64, and when the hook 64 reaches the storage position, the sweeper body 2 is stored in the charging station 6 in a standing state with the rear side thereof directed upward, as shown in fig. 4.

In the state where the sweeper body 2 is accommodated in this manner, as shown in fig. 26(C), the charging unit 52 and the battery 18 of the sweeper body 2 are electrically connected via the second terminal 52C, the hook 64 and the fastened unit 16, and the charging unit 52 is supplied with power through the charging control unit 54, whereby the battery 18 is charged.

When the cleaning is started again, the user only needs to press the cleaning start switch 63A.

When cleaning start switch 63A is pressed, charging control unit 54 switches charging unit 52 to the non-power-feeding state.

The control unit 5 of the sweeper body 2 determines whether or not the charging unit 52 of the charging station 6 is capable of supplying power, and does not cause the sweeper body 2 to start cleaning when the attitude sensing sensor 34 senses that the sweeper body 2 is tilted in attitude, i.e., the sweeper body 2 is in the standing state, even if it is determined that power is not capable of being supplied.

Thereafter, the elevation driving portion 51 lowers the hook 64, which is fastened to the fastened portion 16. At this time, the sweeper body 2 is lowered not only by its own weight but also by the hook 64 pushing down the chassis 11. The hook 64 is lowered in this manner, and the rear side of the sweeper body 2 is guided obliquely downward. At this time, the spin ball 26 provided on the front side of the sweeper body 2 rolls along the second slope 61D of the base front portion 61A, and further, the spin ball 26 rolls along the floor surface F, whereby the sweeper body 2 is smoothly guided.

When the charging control unit 54 determines that the power supply to the battery 18 of the sweeper body 2 is not available as described above, the elevation drive unit 51 lowers the hook 64 from the engaging position to the retracted position.

The control unit 5 of the sweeper body 2 determines whether or not the charging unit 52 of the charging station 6 is capable of supplying power, and if it is determined that the charging unit is not capable of supplying power, the control unit is disengaged from the charging station 6 to start cleaning the sweeper body 2.

Here, the control unit 5 of the sweeper body 2 determines whether or not the charging unit 52 of the charging station 6 is in the state of being able to supply power, and if it is determined that the charging unit is not in the state of being able to supply power, the attitude sensing sensor 34 detects that the attitude of the sweeper body 2 is not tilted, that is, if the sweeper body 2 is in the standing state, causes the sweeper body 2 to start cleaning.

In the present embodiment, when the control unit 5 of the sweeper body 2 determines whether or not the charging unit 52 of the charging station 6 is in the state of being able to supply power and is determined not to be in the state of being able to supply power, the attitude detection sensor 34 detects that the attitude of the sweeper body 2 is not tilted, that is, when the sweeper body 2 is in the upright state, the sweeper body 2 is caused to start cleaning.

On the other hand, when the attitude sensing sensor 34 does not sense the inclination of the attitude of the sweeper body 2, that is, when the sweeper body 2 is in the standing state, the control unit 5 of the sweeper body 2 can start cleaning the sweeper body 2 regardless of whether or not the charging unit 52 of the charging station 6 is capable of supplying power.

As described above, in the present embodiment, the control unit 5 of the sweeper body 2 functions as the moving body side action execution means for executing the start of cleaning as a predetermined action when the change in the attitude of the sweeper body 2 is detected by the attitude detection sensor 34.

In the present embodiment, the start of cleaning is exemplified as a predetermined operation, and an operation other than this may be adopted.

In the present embodiment, the cleaning start switch 63A functions as an apparatus-side operation execution unit that causes the cleaner body 2 to execute the start of cleaning by lowering the hook 64, which is fastened to a part of the cleaner body 2, by the elevation driving unit 51 in accordance with an instruction from the user to change the posture of the cleaner body 2.

According to the present embodiment as described above, the following operations and effects can be achieved.

(1) The charging station 6 lifts up the rear side of the sweeper body 2 to store the sweeper body in a standing state, so that the projected area of the stored sweeper body 2 to the ground surface F can be reduced, and the total occupied space of the sweeper body 2 in the stored state and the charging station 6 can be reduced. Further, since charging control unit 54 switches charging unit 52 to the non-power-feeding state when hook 64 is being raised and lowered by lift drive unit 51, it is possible to prevent interference due to chattering caused by vibration of hook 64 during the raising and lowering.

(2) The charging station 6 functions as a power supply terminal by the hook 64 for lifting the sweeper body 2, so that the battery 18 of the lifted sweeper body 2 can be easily supplied with power without separately preparing a power supply terminal, and the battery 18 can be easily supplied.

(3) The charging unit 52 has a first terminal 52B and a second terminal 52C that are in contact with the hook 64 and can supply power, and the battery 18 of the sweeper body 2 can be charged at both the rest position and the storage position via the hook 64 by conducting the hook 64 to the first terminal 52B at the locking position before lifting and conducting the hook 64 to the second terminal 52C at the storage position after lifting, without directly connecting wires to the movable hook 64.

(4) In the charging station 6, the lifting drive unit 51 lowers the hook 64 to the retracted position in advance before the sweeper body 2 comes to the parking position, thereby preventing a part of the sweeper body 2 from sliding in contact with the hook 64 and reducing the wear of the hook 64, and also eliminating the protrusion of the hook 64 from the base 61 when the sweeper body 2 is not in the charging station 6, thereby preventing the feet or clothes of a person from being caught on the hook 64.

(5) In the charging station 6, after the position detection portion 53 detects that the sweeper body 2 comes to the stop position, the lifting drive portion 51 raises the hook 64 to the engaging position, so that the engaged portion 16 of the sweeper body 2 can be reliably engaged by the hook 64, and the sweeper body 2 can be stably lifted.

(6) The lifting drive unit 51 lifts and lowers the hook 64 in the backward inclined direction, so that the rear side of the sweeper body 2 can be lifted obliquely upward, and the sweeper body 2 can be stably and smoothly lifted up compared with the case of lifting in the vertical direction.

(7) The auxiliary wheel 122 of the sweeper body 2 retracted is guided obliquely upward by the slope 61C, so that the rear portion of the sweeper body 2 can be lifted up by the hook 64 after being tilted upward, and the sweeper body 2 can be lifted up more smoothly.

(8) A fastening recess 64C recessed in an arc shape is formed on the upper surface of the extension piece 64B of the hook 64, and the sweeper body 2 is provided with the cylindrical fastened part 16 having a smaller diameter than the fastening recess 64C, whereby the fastened part 16 can be reliably fastened by the fastening recess 64C.

(9) As the angle between the sweeper body 2 and the charging station 6 is changed as the rear side of the sweeper body 2 is lifted, the cylindrical engaged portion 16 is rotatable in the arcuate engaging recess 64C, so that resistance can be suppressed while maintaining a stable engaged state, and the sweeper body 2 can be smoothly lifted.

(10) By providing the rotary ball 26 on the front side of the sweeper body 2 and rolling the rotary ball 26 along the ground surface F or the second slope 61D of the charging station 6, the sliding contact resistance between the front side of the sweeper body 2 and the ground surface F or the charging station 6, which varies angularly with the upward and downward movement, can be reduced, and the sweeper body 2 can be moved up and down more smoothly.

(11) By guiding the rear side of the sweeper body 2 obliquely downward via the second slope 61D of the charging station 6, when the hook 64, which engages with the engaged portion 16 of the sweeper body 2, is lowered by the elevation driving portion 51, the sweeper body 2 can be lowered more smoothly, and the sweeper body 2 can be prevented from being planted toward the charging station 6.

(12) Since the hook 64 engages with a part of the rear side of the sweeper body 2, the sweeper body 2 is retreated toward the charging station 6, and when it reaches a predetermined position where it can be lifted, a part of the rear side of the sweeper body 2 is engaged with the hook 64. Therefore, the sweeper body 2 may be provided with the rear sensor 33 for detecting the left-right position and/or distance of the sweeper body 2 with respect to the charging stand 6 only at the rear side of the sweeper body 2, and may not be provided at the front side of the sweeper body 2, so that the space at the front side of the sweeper body 2 can be effectively utilized.

(13) The charging station 6 includes a charging control unit 54 that switches the charging unit 52 between a power supply state in which power can be supplied and a non-power supply state in which power cannot be supplied, and the charging control unit 54 switches the charging unit 52 between the non-power supply state when the hook 64 is moved up and down by the up-and-down driving unit 51. Therefore, since the elevating drive unit 51 and the charging unit 52 do not use large power at the same time, the charging unit 52 can be downsized, and the charging station 6 can be provided.

(14) When the charging control unit 54 determines that the power supply to the battery 18 of the sweeper body 2 is not possible, the charging control unit 54 switches the charging unit 52 to the non-power supply state, so that the safety of the user can be improved.

(15) When the charging control unit 54 determines that the power supply to the battery 18 of the sweeper body 2 is not possible, the lifting drive unit 51 lowers the hook 64 to the retracted position, so that the hook 64 does not protrude, thereby preventing the feet, clothes, etc. of a person from being caught and improving the safety of the user.

(16) The charging station 6 includes a charging unit 52 for supplying energy to the sweeper body 2 as a power source and a cleaning start switch 63A for causing the sweeper body 2 to perform a predetermined operation. Further, since the cleaning start switch 63A causes the cleaning machine main body 2 to perform a predetermined operation based on the instruction of the user, the user can cause the cleaning machine main body 2 to perform the predetermined operation without giving an instruction to the cleaning machine main body 2 and without giving an instruction to the charging station 6, and the convenience of the charging station 6 can be improved.

(17) Since the cleaning start switch 63A causes the cleaning machine main body 2 to perform a predetermined operation by switching the charging unit 52 to the non-supply state by the charging control unit 54 based on the instruction of the user, the user can cause the cleaning machine main body 2 to perform the predetermined operation only by the instruction of switching the charging unit 52 to the non-supply state.

(18) The cleaning start switch 63A causes the cleaner body 2 to perform a predetermined operation by lowering the hook 64, which is engaged with a part of the cleaner body 2, by the elevation driving unit 51 based on the instruction of the user and changing the posture of the cleaner body 2, so that the user can cause the cleaner body 2 to perform the predetermined operation only by the instruction of lowering the hook 64, which is engaged with a part of the cleaner body 2, by the elevation driving unit 51.

[ variation of embodiment ]

The present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within a range in which the object of the present invention can be achieved are included in the present invention.

For example, in the self-propelled cleaner 1 of the above embodiment, the periphery cleaning unit 3 is provided in the cleaner body 2, but the periphery cleaning unit 3 may be omitted. Further, the guide means is configured by providing the rotary ball 26 on the arm 21 of the peripheral cleaning unit 3 and rolling the rotary ball 26 along the ground surface F or the second slope 61D of the charging stand 6, but the rotary ball 26 may be provided at the lower front portion of the body 10 of the sweeper body 2. The guide means is not limited to the configuration in which the rotary ball 26 is guided to roll, and may be configured such that a sliding surface with low frictional resistance is provided on the front portion of the sweeper body 2 and is guided to slide along the ground surface F or the second slope 61D. Further, the guide unit is not limited to being provided on the cleaner body, and may be constituted by a rolling portion or a sliding portion provided on the storage device (for example, the second slope 61D).

In the above embodiment, the hook 64 functions as a power supply terminal and supplies power to the battery 18 of the sweeper body 2 via the hook 64 and the fastened part 16, but a power supply terminal may be separately provided independently of the hook 64. In this case, the power supply terminal may be raised and lowered in synchronization with the engaging portion in the storage device, or one or more power supply terminals may be provided at a predetermined height without being raised and lowered. Further, the power supply structure for supplying power to the battery 18 of the sweeper body 2 is not limited to a contact type in which the terminals are in contact with each other, and may be a non-contact power supply structure of an electromagnetic induction type, for example.

In the above embodiment, the charging unit 52 has the first terminal 52B and the second terminal 52C, and charges the battery 18 of the sweeper body 2 at the locked position before the lifting and the storage position after the lifting, but the chargeable position is not limited to the two positions of the locked position and the storage position, and may be any one of the locked position and the storage position, or three or more chargeable positions may be provided above the two positions of the locked position and the storage position. The charging unit (charging means) 52 is not limited to the first terminal 52B and the second terminal 52C, and these terminals may be formed of a continuous and integral terminal member.

In the above embodiment, the magnet 17 of the sweeper body 2 is detected by the hall element 53B of the position detecting portion (detecting unit) 53 of the charging station 6 to detect that the sweeper body 2 is located at the suspended position, and the hook 64 is started to be lifted based on the detection, but the configuration of the detecting unit is not limited, and a contact sensor may be used, for example. The hook (engaging portion) 64 may be lowered to the retracted position before the sweeper body 2 reaches the stop position, or the engaged portion of the sweeper body may be lowered to the engaging position and engaged with the engaging portion.

In the above embodiment, the hook (engaging portion) 64 has the engaging recess 64C, and the engaged portion 16 is formed in a cylindrical shape, but the structure of the engaging portion and the engaged portion is not limited to the above embodiment, and any engaging structure may be adopted. For example, the engaging portion may be formed in a cylindrical shape, a recess recessed upward may be formed in a lower surface of the engaged portion, and the engaging portion may be engaged with the recess.

In the above embodiment, the elevating drive unit (elevating means) 51 of the charging stand 6 is configured to include the motor 71, the drive main shaft 72, the pair of left and right ball screw shafts 73, the ball screw 74, and the linear guide 75, and the configuration of the elevating means is not particularly limited. The lifting means may be configured to include a rope, a belt, or the like for lifting and lowering the engaging portion, or may be configured to lift and lower the engaging portion by a linear motor.

In the above embodiment, the hook 64 engages a portion of the sweeper body 2 on the rear side thereof, and the rotary ball 26 is provided on the front side of the sweeper body 2, but the portion of the sweeper body engaged by the engaging portion and the position where the guide unit is provided are not particularly limited. For example, the engaging portion may engage a part of the front side of the sweeper body, and the guide unit may be provided on the rear side of the sweeper body.

Fig. 27 is a perspective view of a sweeper body according to a modification of the present invention, viewed from below. Fig. 28 is a perspective view of the cleaner body from below showing the peripheral cleaning unit in a protruding state.

In the above embodiment, the pair of engaged portions 16 engaged with the hooks 64 are provided on the rear side of the bottom surface portion of the sweeper body 2, but in the present modification, the pair of engaged portions 16A engaged with the hooks 64 are provided on the front side (one end side) of the bottom surface portion of the sweeper body 2 as shown in fig. 27 and 28.

In the above embodiment, the rotary ball 26 as the guide means for rolling and guiding the front side of the sweeper body 2 suspended by the charging station 6 is provided on the lower surface of the second arm 21B, but in the present modification, the rotary ball 26A as the guide means for rolling and guiding the rear side of the sweeper body 2 suspended by the charging station 6 is provided on the rear side of the bottom surface portion of the sweeper body 2.

In the present modification, the second arm 21B is shorter than the above-described embodiment in order to dispose the pair of fastened parts 16A on the bottom surface portion of the sweeper body 2. In the present modification, the magnet 17 is provided on the front side of the bottom surface portion of the sweeper body 2, and the rear sensor 33 is provided on the front portion (not shown) of the sweeper body 2.

According to such a modification, the hook 64 engages with a part of the front side of the sweeper body 2, so that the sweeper body 2 moves forward toward the charging station 6, and when the sweeper body 2 reaches a predetermined position where it can be lifted, the hook 64 engages with a part of the front side of the sweeper body 2. Therefore, the sweeper body 2 may be provided with the rear sensor 33 for detecting the left-right position and/or distance of the sweeper body 2 with respect to the charging station 6 on the front side of the sweeper body 2, so that the size of the rotary ball 26A provided on the rear side of the sweeper body 2 can be reduced, and the sweeper body 2 can be moved up and down more smoothly.

Further, since other sensors such as the front sensor 31 provided at the front portion of the sweeper body 2 are used together with the rear sensor 33 to detect the left-right position and/or distance of the sweeper body from the charging station 6, the sweeper body 2 can be reliably moved to a predetermined liftable position in the charging station 6.

Further, since the sweeper body 2 is formed such that the width of the front portion side is larger than the width of the rear portion side, the distance between the pair of engaged portions 16A can be larger than the distance between the pair of engaged portions 16 in the above embodiment. Accordingly, the charging station 6 can stably lift the sweeper body 2. In addition, when the distance between the pair of fixed portions 16A is increased in this manner, the distance between the pair of hooks 64 may be increased in accordance with the distance between the pair of fixed portions 16A.

In the above-described embodiment, when the control unit 5 of the sweeper body 2 determines that the charging unit 52 is switched to the non-supply state, the device-side operation executing unit causes the charging unit 52 to be switched to the non-supply state by the charging control unit 54 in response to an instruction from the user to start cleaning, as the start of cleaning execution by a predetermined operation. When the posture detection sensor 34 detects a change in the posture of the sweeper body 2, the moving body side operation execution unit starts cleaning in a predetermined operation, and the apparatus side operation execution unit causes the lifting/lowering drive unit 51 to lower the hook 64, which engages with a part of the sweeper body 2, in response to an instruction from the user to change the posture of the sweeper body 2, so that the sweeper body 2 starts cleaning.

In contrast, the storage device may include a transmission unit that transmits information to the mobile body, and the mobile body may include a reception unit that receives the information transmitted from the transmission unit, and a mobile body side operation execution unit that executes a predetermined operation when the reception unit receives the information transmitted from the transmission unit. The apparatus-side operation executing unit is configured to cause the cleaner body 2 to execute a predetermined operation by transmitting information to the mobile body by the transmitting unit based on an instruction from the user.

Fig. 29 is a perspective view of a sweeper body according to a modification of the present invention, as viewed from below. Fig. 30 is a perspective view showing a storage device of a self-propelled cleaner according to a modification of the present invention.

In the present modification, as shown in fig. 29, an infrared transmitting/receiving unit 131 is provided on the rear side of the bottom surface portion of the sweeper body 2.

As shown in fig. 30, an infrared transmitting/receiving unit 61E is provided on the second slope 61D of the charging station 6. The pillar portion 62 of the charging stand 6 is provided with an infrared transmitting/receiving portion 62F.

The infrared transmitting/receiving unit 61E is provided at a position corresponding to the infrared transmitting/receiving unit 131 of the cleaner body 2 when the cleaner body 2 is at the rest position.

The infrared transmitting/receiving unit 62F is provided at a position corresponding to the infrared transmitting/receiving unit 131 of the sweeper body 2 when the sweeper body 2 is at the lifted position.

When the cleaner body 2 is at the stop position and cleaning is resumed, the user may press the cleaning start switch 63A as in the above-described embodiment.

When cleaning start switch 63A is pressed, charging control unit 54 switches charging unit 52 to the non-power-feeding state.

As described above, when the charging control unit 54 determines that the power supply to the battery 18 of the sweeper body 2 is not available, the elevation drive unit 51 lowers the hook 64 from the engaging position to the retracted position.

Thereafter, the charging station 6 transmits information to the infrared transmitting/receiving unit 131 of the sweeper body 2 via the infrared transmitting/receiving unit 61E, and when the control unit 5 of the sweeper body 2 receives the information transmitted from the infrared transmitting/receiving unit 61E (transmitting means) by the infrared transmitting/receiving unit 131 (receiving means), the control unit is separated from the charging station 6 to start cleaning the sweeper body 2.

As described above, in the present modification, the control unit 5 of the cleaner body 2 functions as the moving body side operation execution means for executing the start of cleaning as a predetermined operation when the information transmitted from the infrared transmission/reception unit 61E is received by the infrared transmission/reception unit 131.

In the present embodiment, the start of cleaning is exemplified as the predetermined operation, but an operation other than this may be adopted.

In the present embodiment, the cleaning start switch 63A functions as an apparatus-side operation execution unit that causes the cleaner body 2 to start cleaning by transmitting information to the cleaner body 2 via the infrared transmission/reception unit 61E in response to an instruction from the user.

Accordingly, the cleaning start switch 63A transmits information to the cleaner body 2 by the infrared transmitting/receiving unit 61E based on the instruction of the user so that the cleaner body 2 performs a predetermined operation, and therefore, the cleaner body 2 can be made to perform the predetermined operation reliably, and the configuration of the charging station 6 can be simplified.

In the present modification, when the sweeper body 2 is at the lifted position and cleaning is resumed, the user may press the cleaning start switch 63A as in the above-described embodiment. Accordingly, the elevation driving portion 51 can lower the hook 64, which is engaged with the engaged portion 16, as in the above embodiment. Thereafter, as described above, the sweeper body 2 is detached from the charging station 6, and cleaning can be started.

In the present modification, when the sweeper body 2 is at the lifted position and cleaning is resumed, the user may operate the body operating unit 15 of the sweeper body 2.

Accordingly, the control unit 5 of the sweeper body 2 transmits information to the infrared transmitting and receiving unit 62F of the charging station 6 via the infrared transmitting and receiving unit 131, and the lifting drive unit 51 can lower the hook 64, which is engaged with the engaged portion 16, in the same manner as in the above embodiment. Thereafter, as described above, the sweeper body 2 is detached from the charging station 6, and cleaning can be started.

Industrial applicability

As described above, the present invention can be suitably used for an electric moving body such as a self-propelled cleaner which moves in an environment.

Description of reference numerals:

1-self-propelled sweeper, 2-sweeper body, 5-control part (moving body side action execution unit), 6-charging station (storage device), 26-rotating ball (guide unit), 14-suction part (cleaning unit), 16-clamped part, 18-battery, 34-attitude detection sensor (attitude detection unit), 51-lifting drive part (lifting unit), 52-charging part (charging unit, supply unit), 54-charging control part (charging switching unit, supply switching unit, power supply determination unit, supply determination unit), 52B-first terminal, 52C-second terminal, 53-position detection part (detection unit), 61C-slope, 63A-cleaning start switch (device side action execution unit), 64-hook (fastener), 64B-extension piece, 64C-fastener recess, 121-wheel, F-ground.

Claims (4)

1. A storage device for storing a mobile body moving in an environment,

comprising: a supply unit for supplying energy to the movable body as a power source; and

a device-side operation execution unit that causes the mobile body to execute a predetermined operation,

the device-side operation execution means causes the mobile body to execute a predetermined operation based on an instruction from a user.

2. The storage device of claim 1,

a supply switching unit for switching the supply unit between a supply state in which energy can be supplied and a non-supply state in which energy cannot be supplied,

the moving body includes:

supply judging means for judging whether or not the supply means is switched from a supply state to a non-supply state; and

a moving body side motion executing means for executing the predetermined motion when the supply determining means determines that the supply means is switched to the non-supply state,

the device-side operation executing means causes the moving body to execute a predetermined operation by switching the supply means to the non-supply state by the supply switching means based on an instruction from a user.

3. The storage device of claim 1,

a transmission unit for transmitting information to the mobile unit,

the moving body includes:

a receiving unit that receives the information transmitted from the transmitting unit; and

a mobile body side action execution unit that executes the predetermined action when the information transmitted from the transmission unit is received by the reception unit,

the device-side operation executing means causes the mobile body to execute a predetermined operation by transmitting information to the mobile body by the transmitting means based on an instruction from a user.

4. The storage device of claim 1,

comprising: a locking portion for locking a part of one end side of the movable body; and

a lifting unit for lifting the clamping part,

the lifting means lifts the engaging portion engaging with a part of the movable body to lift the movable body, and the movable body can be stored in a standing state with one end side thereof directed upward,

the moving body includes:

a posture detection unit that detects a change in posture of the moving body; and

a moving body side motion execution means for executing the predetermined motion when the posture detection means detects a change in the posture of the moving body,

the apparatus-side operation executing unit causes the movable body to execute a predetermined operation by lowering the engaging portion, which engages with a part of the movable body, by the lifting unit based on an instruction of a user to change the posture of the movable body.

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