JP2001258807A - Self-traveling vacuum cleaner - Google Patents

Self-traveling vacuum cleaner

Info

Publication number
JP2001258807A
JP2001258807A JP2000079318A JP2000079318A JP2001258807A JP 2001258807 A JP2001258807 A JP 2001258807A JP 2000079318 A JP2000079318 A JP 2000079318A JP 2000079318 A JP2000079318 A JP 2000079318A JP 2001258807 A JP2001258807 A JP 2001258807A
Authority
JP
Japan
Prior art keywords
bumper
self
steering
vacuum cleaner
traveling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2000079318A
Other languages
Japanese (ja)
Inventor
Mitsuharu Ninomiya
光治 二宮
Original Assignee
Sharp Corp
シャープ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sharp Corp, シャープ株式会社 filed Critical Sharp Corp
Priority to JP2000079318A priority Critical patent/JP2001258807A/en
Publication of JP2001258807A publication Critical patent/JP2001258807A/en
Application status is Pending legal-status Critical

Links

Abstract

PROBLEM TO BE SOLVED: To provide a self-traveling vacuum cleaner capable of performing a cleaning while autonomic traveling with a simple structure at a low cost. SOLUTION: This self-traveling vacuum cleaner comprises a box-shaped steering and driving means 18 integrally rotatable with a vertical shaft 25, an electric blower 3 for generating an air flow for sucking dust, a bumper 24 arranged on the advancing directional side of a cleaner body 40, a traveling motor 10 for rotating a drive shaft 11 through the vertical shaft 25, and a rotatable movable member 29 having one end connected to the bumper 23 and the other end energized to the steering and driving means 18 side and attachably and detachably engaged with the steering and driving means 18. When the bumper 23 collides with an obstacle, the movable member 29 is rotated against the energization to release the engagement, and a prescribed quantity of load or more is applied to the vertical shaft 25 to integrally rotate the vertical shaft 25 with the steering and driving means 18, whereby the direction of the cleaner body 40 is varied to clean a floor surface F while self-traveling.

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【発明の属する技術分野】本発明は、自立走行しながら清掃を行う自走式電気掃除機に関するものである。 BACKGROUND OF THE INVENTION The present invention relates to a self-propelled vacuum cleaner for cleaning while the self-traveling.

【0002】 [0002]

【従来の技術】従来の自走式掃除機の一例が、特開平4 BACKGROUND ART One example of a conventional self-propelled cleaner, JP-4
−263822号公報に開示されている。 It disclosed in -263,822 JP. この従来の自走式掃除機は、図11に示すように、移動手段である操舵兼駆動手段102,103,104と、前方並びに左右方向の障害物を検知する障害物検知手段107,11 The conventional self-propelled cleaner, as shown in FIG. 11, the steering and driving means 102, 103, 104 is a mobile unit, the obstacle detection means for detecting the forward and lateral direction of the obstacle 107,11
0と、前記障害物検知手段107,110の出力に基づいて前記操舵兼駆動手段102,103,104を制御する移動制御手段111と、ファンモータ105等から成る清掃手段と、前記各手段に電力を供給するバッテリー116とを備えた自走式掃除機本体101と、前記自走式掃除機本体101に連結され、自走式掃除機本体1 0, and the movement control means 111 for controlling the steering and driving means 102, 103 and 104 based on the output of the obstacle detecting means 107 and 110, a cleaning means comprising a fan motor 105 or the like, electric power to each of the units a self-propelled cleaner body 101 having a supply battery 116, is connected to the self-propelled cleaner body 101, self-propelled cleaner body 1
01に電力を供給する補助バッテリー119を備えたバッテリー貨車120とを有するものである。 01 is one having a battery wagons 120 with an auxiliary battery 119 supplies power. 上記構成により、本体101内に設置されたバッテリー116だけでは清掃不可能な領域においても清掃が可能としたものである。 With the above configuration, only the battery 116 installed in the main body 101 is obtained by enabling cleaning even impossible cleaning area.

【0003】 [0003]

【発明が解決しようとする課題】しかしながら、上記従来の自走式掃除機では、操舵兼駆動手段102,10 [SUMMARY OF THE INVENTION However, the above conventional self-propelled cleaner, steering and drive means 102,10
3,104、障害物検知手段107,110、ファンモータ105等を長時間安定して作動させるための補助バッテリー119を備え、本体101とは分離したバッテリー貨車120が必要であるため、部品点数が増えてコストが高くなるだけでなく、外観的な見栄えも悪いといった問題があった。 3,104, obstacle detecting means 107 and 110, an auxiliary battery 119 for operating a long time stably the fan motor 105 or the like, since the main body 101 is required battery wagon 120 separated, the number of parts not only the cost is increased more and more, aesthetic appearance was also a problem of bad.

【0004】本発明は、デザインを含む外観形状に大幅な変更を加えることなく、簡単な構成で自律走行しながら清掃が行える自走式電気掃除機を低コストで提供することを目的とする。 [0004] The present invention, without significant changes in the appearance shape including a design, and to provide a self-propelled vacuum cleaner capable of performing cleaning while autonomously traveling with a simple structure at low cost.

【0005】 [0005]

【課題を解決するための手段】上記目的を達成するために、本発明による自走式電気掃除機は、回動可能に支持される垂直軸と、該垂直軸の回転により回転駆動される駆動輪と、該駆動輪が回転自在に支持され前記垂直軸に所定量以上の負荷がかかると前記垂直軸の回転に伴って一体に回動して前記駆動輪の向きを変える操舵部と、該操舵部の回動を阻止する回動阻止手段と、掃除機本体の進行方向側に設けられ前記回動阻止手段による前記操舵部の上記回動の阻止を解除するバンパーとを備えたことを特徴とする。 To achieve the above object, according to the solution to drive self-propelled vacuum cleaner according to the present invention includes a vertical shaft which is rotatably supported, which is driven to rotate by the rotation of said vertical axis a wheel, a steering unit for drive wheel changes the rotatably supported by the orientation of the drive wheel rotates integrally with the rotation of a predetermined amount or more of load is applied said vertical axis to the vertical axis, the features and rotation preventing means for preventing rotation of the steering section, that a bumper for releasing the steering portion of the rotation of the blocking by the rotation preventing means is provided in the traveling direction of the cleaner body to.

【0006】これによると、前記バンパーが障害物に衝突すると、前記回動阻止手段による前記操舵部の回動の阻止が解除され、前記操舵部が前記垂直軸の回転と共に一体に回動する。 [0006] According to this, the bumper when colliding with an obstacle, wherein the steering unit of the rotation of the blocking by the rotation preventing means is released, the steering unit is rotated together with the rotation of the vertical shaft. 従って、自走式電気掃除機は進行方向を変え、障害物を回避しながら自律走行を続ける。 Therefore, self-propelled vacuum cleaner may change the direction of travel, continue the autonomous while avoiding obstacles.

【0007】また、本発明による自走式電気掃除機は、 [0007] In addition, self-propelled vacuum cleaner according to the present invention,
回転可能に支持される垂直軸と、回転可能に支持される駆動輪を有し垂直軸と一体に回動可能な箱体状の操舵兼駆動手段と、ゴミの吸い込み気流を発生させる電動送風機と、掃除機本体の進行方向側に配設されたバンパーと、前記駆動輪を前記垂直軸を介して回転駆動する走行モータと、一端が前記バンパーに連結若しくは当接されるとともに他端が前記操舵兼駆動手段側に付勢され前記操舵兼駆動手段に係脱自在に係合される回動自在な可動部材とを備え、前記バンパーが障害物に衝突したとき、 A vertical shaft rotatably supported, a rotatable box shape of the steering and drive unit on the vertical axis and integrally has a drive wheel which is rotatably supported, and the electric blower for generating a suction airflow dust a bumper disposed in the traveling direction of the cleaner body, a traveling motor for rotationally driving said driving wheel through said vertical shaft, the steering and the other end with one end connected or abutting on the bumper and is urged to the driving means side and a rotatable movable member engaged detachably engaged to the steering and drive unit, when the bumper collides with an obstacle,
前記可動部材が上記付勢に抗して回動することにより上記係合が解除されるとともに、前記垂直軸に所定量以上の負荷がかかることにより前記垂直軸と前記操舵兼駆動手段が一体に回動することを特徴とする。 Together with the engagement is released by the movable member is rotated against the said biasing, the steering and driving means and the vertical axis by a predetermined amount or more of load is applied to the vertical axis together characterized by rotating.

【0008】これによると、前記バンパーが障害物に衝突すると、前記可動部材と前記操舵兼駆動手段との係合が解除され、前記駆動兼操舵手段が前記垂直軸の回転と共に一体に回動する。 [0008] According to this, when the bumper collides with an obstacle, the engagement between the movable member and the steering and driving means is released, the driving and steering means is rotated integrally with the rotation of the vertical shaft . 従って、自走式電気掃除機は進行方向を変え、障害物を回避しながら自律走行を続ける。 Therefore, self-propelled vacuum cleaner may change the direction of travel, continue the autonomous while avoiding obstacles.

【0009】尚、前記バンパーを、その中央部が掃除機本体の進行方向側の最も前方にあり、その両側部は前記中央部から後方に遠ざかるように退避する形状とすることにより、進行方向に対しどの方向から障害物と接触しても、障害物からの回避がスムーズになる。 [0009] Incidentally, the bumper is in the most forward in the traveling direction side of the central portion cleaner body, by its sides to shape retracted away rearward from the central portion, the traveling direction be in contact with an obstacle from any direction against avoidance from the obstacle becomes smooth.

【0010】そして、前記バンパー及び前記可動部材に略半球形状の凹部を設け、これらの凹部に球面摺接構造により滑動自在に挟持される球体を介して上記連結を行うことにより、衝突により前記バンパーが受ける外力を前記可動部材の回動動作に容易に変換できる。 [0010] Then, the recess of substantially hemispherical shape to said bumper and said movable member is provided, by performing the coupling through a sphere that is slidably held by a spherical sliding contact structure of these recesses, the bumper by the collision the external force is subjected can be easily converted to rotation of the movable member.

【0011】若しくは、前記バンパーに先端が尖った押圧部材を凸設し、該押圧部材によって一点で上記当接を行うことにより、衝突により前記バンパーが受ける外力を前記可動部材の回動動作に容易に変換できる。 [0011] Alternatively, to projectingly provided a pressing member distal to the bumper pointed, by performing the contact at one point by the pressing member, facilitates external force the bumper is subjected by the collision to the rotation of said movable member It can be converted to. しかも、進行方向に対しどの方向から障害物と接触しても、 Moreover, even if the contact from any direction to the traveling direction of the obstacle,
前記押圧部材の先端は前記可動部材に当接しながらその表面を滑動できる。 Tip of the pressing member can slide the surface while in contact with the movable member.

【0012】更に、前記バンパーを、掃除機本体の進行方向側に付勢するとともに一定の範囲内で前後左右に移動できるようにすると、前記バンパーは障害物との衝突による外力の方向や強さに対してフレキシブルに対応できるようになる。 Furthermore, the bumper, the cleaner when to move to and fro within a certain range urges the traveling direction side of the main body, the bumper force direction and intensity of the due to the collision with the obstacle It becomes possible flexibly against.

【0013】そして、前記電動送風機及び前記走行モータに電力を供給するバッテリーを備えることにより、掃除機本体とは別体の補助バッテリーが不要となる。 [0013] Then, by providing the battery supplying electric power to the electric blower and the traveling motor, the auxiliary battery from other body becomes unnecessary and the cleaner body.

【0014】 [0014]

【発明の実施の形態】以下、本発明の実施の形態について図面を参照して説明する。 BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, will be explained with reference to the drawings, embodiments of the present invention. 図1、図2は本発明の一実施形態の自走式の電気掃除機を示す側面断面図及び底面図である。 1, FIG. 2 is a side sectional view and a bottom view showing a self-propelled vacuum cleaner according to an embodiment of the present invention. 電気掃除機本体40の外形は回転自在に支持される後輪12を有する台車1が本体カバー2に覆われて形成されている。 The outer shape of the vacuum cleaner main body 40 is carriage 1 having wheels 12 after being rotatably supported is formed is covered with the body cover 2. 図3は、本体カバーを取り外した状態の上面図である。 Figure 3 is a top view of a state where removal of the body cover.

【0015】これらの図に示すように、台車1の前部には凹部1aが形成されており、該凹部1aには前輪11 [0015] As shown in these drawings, the front part of the truck 1 has a recess 1a, the front wheels in the recess 1a 11
の車軸11aを回転可能に支持する操舵部(駆動兼操舵手段)18が配されている。 Steering unit for supporting the axle 11a rotatably (driving and steering means) 18 is disposed. 本体カバー2の天井部の内面には、バッテリー26が取り付けられている。 The inner surface of the ceiling portion of the cover 2, the battery 26 is mounted.

【0016】第4ギヤ22には第3ギヤ21が噛合している。 [0016] The fourth gear 22 and the third gear 21 meshes with. 第3ギヤ21はシャフト25と一体化されている。 The third gear 21 is integrated with the shaft 25. シャフト25は操舵部18及び凹部1aに設けられる貫通孔18b,1bを貫通し、台車1と一体に形成される支持部1cにより回転可能に支持されている。 Shaft 25 is a through hole 18b provided in the steering portion 18 and the recessed portion 1a, through the 1b, and is rotatably supported by the support portion 1c formed on the carriage 1 integrally.

【0017】凹部1aの上部後方には前輪11を駆動する走行モータ10が配されている。 [0017] The upper back of the recess 1a traveling motor 10 which drives the front wheels 11 are arranged. シャフト25には第2ギヤ20が一体化され、第2ギヤ20は走行モータ1 The shaft 25 is integrated second gear 20, second gear 20 is traveling motor 1
0のモータ軸10aに固着される第1ギヤ19と噛合している。 It meshes with the first gear 19 which is fixed to 0 in the motor shaft 10a. 走行モータ10はバッテリー26により電力が供給されるようになっている。 The travel motor 10 is adapted to the power supplied by the battery 26. 尚、27はバッテリー2 In addition, 27 battery 2
6を充電するための充電端子、28は走行モータ10をON/OFFする運転スイッチである。 Charging terminals for charging the 6, 28 is a operation switch for turning ON / OFF the driving motor 10.

【0018】従って、走行モータ10の駆動により、第1ギヤ19、第2ギヤ20、シャフト25、第3ギヤ2 [0018] Thus, by driving the driving motor 10, the first gear 19, second gear 20, shaft 25, third gear 2
1及び第4ギヤ22を介して前輪11(駆動輪)が回転されるようになっている。 Front wheels 11 through the first and fourth gear 22 (driving wheel) is adapted to be rotated. また、第3ギヤ21及び第4 The third gear 21 and fourth
ギヤ22により、立設されるシャフト25(垂直軸)の回転を横設される車軸11a(水平軸)の回転に変換する変換部が形成されている。 The gears 22, converter for converting the rotation of the axle 11a (horizontal axis) which is laterally disposed the rotation of the shaft 25 provided upright (vertical axis) are formed.

【0019】台車1の後方の下面には開口部1dが形成されている。 [0019] The lower surface of the rear carriage 1 opening 1d is formed. 開口部1dから台車1の下方に突出して回転ブラシ4が横設されている。 Rotary brush 4 protrudes from the opening 1d in the lower carriage 1 is laterally disposed. 回転ブラシ4の周面に突設されるブラシ4aは床面Fに接触するようになっている。 Brush 4a is projected from the peripheral surface of the rotating brush 4 is made into contact with the floor surface F. 回転ブラシ4の軸部4bはベルト14によりブラシ駆動モータ13のモータ軸13aに連結されている。 Shaft portion 4b of the rotary brush 4 is connected to a motor shaft 13a of the brush drive motor 13 by a belt 14.

【0020】回転ブラシ4の上部には電動送風機室32 [0020] upper part of the rotating brush 4 is an electric blower chamber 32
が台車1と一体に形成されている。 There is formed integrally with the carriage 1. 電動送風機室32には吸気を発生させる電動送風機3が配されている。 Electric blower 3 for generating suction is arranged in the electric blower chamber 32. 電動送風機3の端部には電動送風機室32との隙間を埋めて防振する防振ゴム16が周設されている。 The ends of the electric blower 3 anti-vibration rubber 16 for vibration isolation fill the gap between the electric blower chamber 32 is circumferentially provided. 電動送風機室32の後部には塵埃Dを収容する集塵室9が配され、フィルター15を介して電動送風機室32と連通している。 The rear portion of the electric blower chamber 32 dust collecting chamber 9 for housing the dust D is disposed, and communicates with the electric blower chamber 32 via the filter 15.

【0021】本体カバー2は後方が開口しており、矢印Aのように集塵室9が脱着可能になっている。 The body cover 2 is rear opened, dust collection chamber 9 is in detachable as shown by the arrow A. 集塵室9 Dust collection chamber 9
の側壁には吸気により開成する弁30が設けられており、電動送風機3の停止中は弁30が閉じられるようになっている。 The side wall of the is provided with a valve 30 to open by an intake, during stop of the electric blower 3 is as valve 30 is closed. これにより、塵埃Dの廃棄を容易にするとともに、集塵室9を脱着した際の塵埃Dの飛散を防止している。 Thus, the ease of disposal of the dust D, thereby preventing scattering of the dust D at the time of desorbed dust collection chamber 9.

【0022】集塵室9にはパッキン(不図示)等により機密保持される吸気パイプ5が隣接し、弁30を介して連通している。 [0022] An intake pipe 5 that is confidential and flanked by packing (not shown) or the like in the dust collecting chamber 9 communicates via a valve 30. 吸気パイプ5は台車1の開口部1dから下方に突出している。 A suction pipe 5 projects downward from the opening portion 1d of carriage 1. 吸気パイプ5の先端の吸気口7は回転ブラシ4の後方に配され、ブラシ4aと床面Fとの接触部分に向けて開口している。 Inlet 7 of the distal end of the intake pipe 5 is disposed rearward of the rotating brush 4, it is opened toward the contact portion between the brush 4a and the floor surface F. 吸気口7の床面Fに対する傾斜角θ1は約45゜になっている。 Angle of inclination θ1 with respect to the floor F of the intake port 7 is made approximately 45 °.

【0023】電動送風機室32には電動送風機3の排気が通る排気パイプ6が連通している。 [0023] The electric blower chamber 32 exhaust pipe 6 through which the exhaust of the electric blower 3 is communicated. 排気パイプ6は台車1の開口部1dから下方に突出している。 Exhaust pipe 6 protrudes downward from the opening portion 1d of carriage 1. 排気パイプ6の先端の排気口8は回転ブラシ4の前方に配され、ブラシ4aと床面Fとの接触部分に向けて開口している。 Exhaust port 8 at the tip of the exhaust pipe 6 is disposed in front of the rotary brush 4, it is opened toward the contact portion between the brush 4a and the floor surface F.
排気口8の床面Fに対する傾斜角θ2は約45゜になっている。 Inclination angle θ2 with respect to the floor F of the exhaust port 8 has become about 45 degrees.

【0024】従って、電動送風機3の駆動により排気が排気パイプ6を通って排気口8から矢印Bのようにブラシ4aと床面Fとの間に向けて吹付けられ、吸気が排気とともに吸気口7から矢印Cのように吸気パイプ5、集塵室9を通って電動送風機室32に至る循環路が形成されている。 [0024] Thus, exhaust by driving the electric blower 3 is blown toward between the brush 4a and the floor surface F as indicated by an arrow B from the exhaust port 8 through the exhaust pipe 6, inlet air together with the exhaust a suction pipe 5 to 7 as arrow C, the circulation path to the electric blower chamber 32 through the dust collection chamber 9 is formed. 尚、ブラシ駆動モータ13及び電動送風機3 Incidentally, the brush driving motor 13 and the electric blower 3
はバッテリー26に接続され、運転スイッチ28により前述の走行モータ10とともにON/OFFされるようになっている。 Is connected to the battery 26, and is ON / OFF the running motor 10 described above by the operation switch 28.

【0025】電気掃除機本体40の進行方向側の下方には、直進している電気掃除機が障害物に衝突したときに受ける衝撃を緩和するバンパー23が配設されている。 [0025] Below the traveling direction of the cleaner main body 40, a bumper 23 to mitigate the impact received when the vacuum cleaner goes straight collides with an obstacle is disposed.
このバンパー23は、図4に示すように、側面がコの字状になった部分で台車1が挟むように配設されている。 The bumper 23, as shown in FIG. 4, are disposed so as to sandwich the carriage 1 side is turned U-shaped portion.

【0026】台車1の前部には、略凸五角形の開口部1 [0026] At the front of the cart 1, generally convex pentagonal opening 1
eが左右の2カ所に貫通して設けられており、それぞれの開口部1eの前方には引っ掛けピン35が固定されている。 e is provided through in two places of the right and left, the pin 35 hooked in front of each opening 1e is fixed. 一方、バンパー23にも、開口部1eを貫通するように引っ掛けピン34が取り付けられている。 On the other hand, the bumper 23, a pin 34 hooked to penetrate the opening 1e is attached.

【0027】これらの引っ掛けピン34,35の間には、バネ36が設けられており、このバネ36によりバンパー23は電気掃除機の進行方向側に常に付勢されている。 [0027] Between these hooking pins 34 and 35, a spring 36 is provided, the bumper 23 is always biased in the traveling direction of the vacuum cleaner by the spring 36. 更に、台車1のバンパー23に挟まれている部分の上下には、図示の如く、隙間が存在するため、バンパー23の垂直方向(Hの方向)の微動にも無理なく対応できる設計となっている。 Furthermore, the upper and lower portions sandwiched bumper 23 of the bogie 1, as shown in the figure, a gap is present, becomes also reasonably accommodate design fine movement in the vertical direction (direction of H) bumper 23 there.

【0028】図5は、本発明に係る自走式電気掃除機の要部側面断面図であり、図6はそのy−y線階段断面図である。 [0028] Figure 5 is a fragmentary side sectional view of the self-propelled vacuum cleaner according to the present invention, FIG. 6 is a y-y line offset sectional view. バンパー23の線対称軸近傍の背面には、略直方体形状をした押圧部材23aが接着等により固定されている。 On the back of the line symmetry axis near the bumper 23, the pressing member 23a is fixed by bonding or the like having a substantially rectangular parallelepiped shape. 本体1の凹部1aの前方にはアングル24が取り付けられており、その下端には水平方向に延びる回転軸29aでもって可動部材29が回転軸29aを中心として回動自在に設けられている。 In front of the recess 1a of the body 1 and the angle 24 is mounted at its lower end has the movable member 29 with the rotation axis 29a extending in a horizontal direction is provided rotatably around a rotation axis 29a. 尚、押圧部材23aはバンパー23と一体的に設けられた部材であってもよい。 The pressing member 23a may be a member provided integrally with the bumper 23 manner.

【0029】そして、押圧部材23aの後部と可動部材29の下端とには、共に略半球形状に窪んだ凹部が凹設されており、これらの凹部に球体31が球面摺接構造によって滑動自在に挟持されている。 [0029] Then, the lower end of the rear movable member 29 of the pressing member 23a are both are recessed recess recessed substantially hemispherical shape, slidably sphere 31 by the spherical sliding contact structure these recesses It is held. 一方、可動部材29 On the other hand, the movable member 29
は、上端付近においてバネ33によりアングル24と連結されている。 It is coupled to the angle 24 by a spring 33 in the vicinity of the upper end.

【0030】操舵部18の前方上部には、掃除機の進行方向に対し平行で、かつ、平坦な面を有する係止片18 [0030] The upper front of the steering portion 18, parallel to the traveling direction of the cleaner, and the locking piece 18 having a flat surface
aが設けられており、該係止片18aに可動部材29の上端に切欠き形成された段部29bが係合できるようになっている。 a is provided, the notch formed stepped portion 29b at the upper end of the movable member 29 is adapted to be engaged in engaging piece 18a. 上述したようにバンパー23は、掃除機の進行方向側にバネ36(図4)により付勢されているので、直進走行中は、図6に示すように、係止片18aと段部29bとの上記係合が維持されることとなる。 Bumper 23 as described above, because it is biased by a spring 36 (FIG. 4) in the traveling direction of the cleaner, during straight running, as shown in FIG. 6, the engaging piece 18a and the stepped portion 29b the engagement will be maintained in the.

【0031】上記構成の電気掃除機おいて、運転スイッチ28がONされると、ブラシ駆動モータ13、電動送風機3及び走行モータ10に電力が供給される。 [0031] at the vacuum cleaner having the above structure, when the operation switch 28 is turned ON, the brush driving motor 13, power is supplied to the electric blower 3 and the traveling motor 10. 走行モータ10のモータ軸10aの回転により第1、第2ギヤ19、20、シャフト25及び変換部を介して前輪11 The Rotation of the motor shaft 10a of the driving motor 10 1, the second gear 19, the front wheels via a shaft 25 and a converter 11
が駆動され、電気掃除機本体40が前進する。 There is driven, vacuum cleaner main body 40 is moved forward.

【0032】ブラシ駆動モータ13のモータ軸13aの回転により、回転ブラシ4が回転し、床面Fの塵埃が掻上げられる。 [0032] By the rotation of the motor shaft 13a of the brush drive motor 13, the rotary brush 4 is rotated, the dust on the floor F is raised the take. また、電動送風機3の駆動により排気口8 The exhaust port 8 by driving the electric blower 3
から排気が床面Fに吹付けられて床面Fの塵埃を舞上げ、吸気口7から排気とともに塵埃が吸込まれる。 Exhaust is sprayed on the floor F to rise up the dust on the floor F, the dust is sucked together with the exhaust gas from the intake port 7.

【0033】そして、開成される弁30を通って集塵室9に吸気が導かれる。 [0033] Then, the intake to the dust collecting chamber 9 is led through the valve 30 to be opened. 塵埃Dはフィルター15により濾過されて集塵室9内に収容され、清浄な空気が電動送風機室32を通って再度排気口8から排気されて循環する。 Dust D is filtered by a filter 15 is accommodated in the dust collecting chamber 9, clean air is circulated is exhausted from the exhaust port 8 again through the electric blower chamber 32. このようにして、電気掃除機本体40は自律走行しながら床面Fの掃除を行う。 In this way, the vacuum cleaner main body 40 performs a cleaning of the floor surface F while autonomous.

【0034】電気掃除機本体40が壁面等の障害物と衝突すると、前輪11の回転が停止される。 [0034] When the vacuum cleaner main body 40 collides with an obstacle such as a wall, the rotation of the front wheel 11 is stopped. そして、第3 The third
ギヤ22の回転が拘束され、第3ギヤ22には第2ギヤ21による負荷がかかる。 Rotation of the gear 22 is restrained, the third gear 22 takes the load of the second gear 21. このとき、図5の矢印Pの如く、バンパー23が外力を受けるため、同時に押圧部材23aも押し込まれ、バネ36(図4)の付勢に抗してピン35(図4)が開口部1e(図4)内を移動するとともに、バンパー23が後方に押動される。 At this time, as indicated by an arrow P in FIG. 5, since the bumper 23 is subjected to external forces, it is also pressed pressing member 23a at the same time, the spring 36 the pin 35 (FIG. 4) against the bias (Fig. 4) an opening 1e with move (Fig. 4) in the bumper 23 is pushed rearward. そして、その外力が球体31を介して可動部材29に作用する。 Then, the external force acts on the movable member 29 via the balls 31.

【0035】それに伴い、図7及び図8に示すように、 [0035] Along with this, as shown in FIGS. 7 and 8,
可動部材29が回転軸29aを中心として矢印G(図5)の方向に回動し、バネ33が圧縮されるとともに、 The movable member 29 is rotated in the direction of arrow G (FIG. 5) about the rotation axis 29a, the spring 33 is compressed,
可動部材29の段部29bと係止片18aとの上記係合が解除される。 Is the engagement between the stepped portion 29b and the engaging piece 18a of the movable member 29 is released. これにより、操舵部18が矢印Eのようにシャフト25と共に回転し、前輪11の向きが可変される。 Thus, the steering unit 18 is rotated together with the shaft 25 as shown by an arrow E, the orientation of the front wheel 11 is variable.

【0036】前輪11の向きが変わると、後輪12の一方を支点に電気掃除機本体40が回動する。 [0036] When the orientation of the front wheel 11 is changed, while the vacuum cleaner main body 40 to the fulcrum of the rear wheel 12 rotates. バンパー2 Bumper 2
3が障害物から離れると、バネ36の付勢によってバンパー23は進行方向側の所定位置に戻るとともに、圧縮されたバネ33の復元力によって可動部材29が回転軸29aを中心として矢印G(図5)とは逆方向に回動して、図6に示すように、段部29bは再び操舵部18の係止片18aと係合する。 3 When leaves the obstacle with the bumper 23 by the bias of the spring 36 returns to the predetermined position in the advancing direction, arrow G (FIG movable member 29 by the restoring force of the compressed spring 33 around the rotation axis 29a 5) and is rotated in the opposite direction, as shown in FIG. 6, the stepped portion 29b is engaged with the engaging piece 18a of the steering unit 18 again. 従って、電気掃除機本体40 Therefore, the vacuum cleaner main body 40
が障害物を回避して継続して走行できる。 There can travel to continue to avoid the obstacle.

【0037】これにより、家具等が配置されない室内では電気掃除機本体40は壁面に沿って周回するだけであるが、多くの家具等の障害物が配置された室内では障害物と衝突する毎に電気掃除機本体40の向きが変わるので様々な方向に電気掃除機本体40が走行して室内の隅々まで無人で掃除を行うことが可能になる。 [0037] Thus, for each but the room furniture is not placed cleaner main body 40 is only circulates along the wall surface, in the room where the obstacle such as a number of furniture arranged to collide with an obstacle it is possible to perform the cleaning unattended to every corner of the indoor vacuum cleaner main body 40 in various directions since the orientation change of the vacuum cleaner main body 40 is traveling.

【0038】本実施形態によると、電動送風機3の排気により床面Fの塵埃を舞上げて吸塵するため吸塵効率を向上させることができる。 [0038] According to this embodiment, the dust of the floor surface F can be improved dust suction efficiency for dust suction raising Mai by the exhaust of the electric blower 3. また、排気を吸気口7から回収して循環するため、吸引力が小さくても吸塵することができる。 Further, in order to circulate by recovering exhaust from the intake port 7 may be attractive force dust suction be small. これにより、電動送風機3の消費電力を低減することができ、バッテリー26による長時間の走行が可能になる。 Thus, it is possible to reduce the power consumption of the electric blower 3 allows long running by battery 26. 更に、外部に放出される排気を減少させることができ、周辺環境の汚染を低減できる。 Furthermore, it is possible to reduce the exhaust gas is discharged to the outside, can reduce contamination of the surrounding environment.

【0039】また、走行モータ10によるシャフト25 [0039] In addition, the shaft 25 by the driving motor 10
(垂直軸)の回転を車軸11a(水平軸)の回転に変換する変換部を有することで、電気掃除機本体40が障害物に衝突すると変換部に負荷がかかって前輪11を垂直な軸の周りに回動させることができる。 By having a converter for converting the rotation of the rotating axle 11a (vertical axis) (horizontal axis), the vacuum cleaner main body 40 is an axis perpendicular to the front wheel 11 under load to the converter and collides with the obstacle it can be pivoted around.

【0040】これにより、従来例のような操舵用モータ、位置認識手段及び障害物検知手段を必要とせず、簡単な構成で電気掃除機本体40の向きを可変して障害物を回避しながら電気掃除機本体40を走行させることができる。 [0040] Thus, the steering motor as in the prior art, without the need for position recognition means and the obstacle detecting means, varying the orientation of the vacuum cleaner main body 40 with a simple structure electrically while avoiding obstacles it is possible to run the vacuum cleaner main body 40. 従って、電気掃除機の消費電力を更に削減してバッテリー26によるより長時間の走行が可能になるとともに、電気掃除機を安価にすることができる。 Therefore, the long running is possible than with further reductions to the battery 26 to the power consumption of the vacuum cleaner, the vacuum cleaner can be made inexpensive.

【0041】尚、ダンパー23と可動部材29との連結に球体31を用いず、図9及び図10に示すように、ダンパー23の背面から先細になった円錐状の押圧部材2 [0041] Incidentally, the damper 23 and without the sphere 31 in connection with the movable member 29, 9 and 10, the pressing member 2 back from conical tapering of the damper 23
3bを凸設し、可動部材29と一点で当接するようにしてもよい。 And projectingly the 3b, may be contact at one point with the movable member 29. この場合は、電気掃除機本体40の正面からだけでなく、図10の矢印P'で示すように、任意の方向から障害物がバンパー23に当たっても、押圧部材2 In this case, not only from the front of the vacuum cleaner main body 40, as shown by the arrow P 'in FIG. 10, also obstacle from any direction against the bumper 23, the pressing member 2
3bの先端が可動部材29と当接しながら滑動するため、図中の点線で示すように、開口部1e内をピン34 Since the tip of 3b to slide while being in contact with the movable member 29 equivalents, as indicated by a dotted line in the figure, the pin within the opening 1e 34
が移動できる範囲内でバンパー23に加わる外力を可動部材29の回転軸29bを中心とする回動動作に確実に変換することができる。 There can be certainly changed the external force applied to the bumper 23 within the range that can be moved in the rotational movement about the rotation axis 29b of the movable member 29.

【0042】 [0042]

【発明の効果】以上説明したように本発明によると、自走式電気掃除機の進行方向側に設けられたバンパーと、 According to the present invention as described in the foregoing, a bumper provided on the traveling direction side of the self-propelled vacuum cleaner,
回転可能に支持される駆動輪を有する垂直軸の回りに回転自在な箱形状の駆動兼操舵手段と、一端が前記バンパーに連結若しくは当接されるとともに他端が前記操舵兼駆動手段側に付勢され前記操舵兼駆動手段に係脱自在に係合される回動自在な可動部材とを備え、前記バンパーが障害物に衝突したとき、前記可動部材が上記付勢に抗して回動することにより上記係合が解除されて前記垂直軸の回転により前記操舵兼駆動手段が前記垂直軸の回りに回動し、自走式電気掃除機の向きを可変して障害物を回避しながら自立走行させることができる。 With a driving and steering means of the rotatable box shape about a vertical axis, to the steering and driving means side and the other end with one end connected or abuts on the bumper having a drive wheel which is rotatably supported and a rotatable movable member is engaged freely engaged disengageably the energized by the steering and drive unit, wherein the bumper when bumping into an obstacle, the movable member is rotated against the said biasing independence while avoiding the engagement is released to pivot about said steering and drive unit the vertical shaft by the rotation of the vertical shaft, the obstacle by varying the orientation of the self-propelled vacuum cleaner by it is possible to travel.

【0043】これにより、従来のような障害物検知手段や補助バッテリーが不要となるため、デザインを含む外観形状に大幅な変更を加えることなく、消費電力を更に削減してバッテリーによる長時間の自立走行が可能な自走式電気掃除機を安価に提供できる。 [0043] Thus, since the conventional such obstacle detecting means and the auxiliary battery is not required, long freestanding by further reduction to the battery without power consumption to make significant changes in the appearance shape including a design traveling can be provided at a low cost to the self-propelled vacuum cleaner as possible.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】 本発明の一実施形態に係る自走式電気掃除機の側面断面図である。 1 is a side sectional view of the self-propelled vacuum cleaner according to an embodiment of the present invention.

【図2】 その自走式電気掃除機の底面図である。 FIG. 2 is a bottom view of the self-propelled vacuum cleaner.

【図3】 その自走式電気掃除機の本体カバーを取り外した状態の上面図である。 3 is a top view of the state removing the body cover of the self-propelled vacuum cleaner.

【図4】 図3におけるx−x線断面図である。 4 is a x-x line sectional view in FIG.

【図5】 その自走式電気掃除機が直進しているときの要部側面断面図である。 5 is a partial side sectional view of when the self-propelled vacuum cleaner goes straight.

【図6】 図5におけるy−y線階段断面図である。 6 is a y-y line offset sectional view in FIG.

【図7】 その自走式電気掃除機が障害物に衝突したときの要部側面断面図である。 7 is a partial side sectional view of when the self-propelled vacuum cleaner collides with an obstacle.

【図8】 図7におけるy−y線階段断面図である。 8 is a y-y line offset sectional view in FIG.

【図9】 本発明の他の実施形態に係る自走式電気掃除機の側面断面図である。 9 is a side sectional view of the self-propelled vacuum cleaner according to another embodiment of the present invention.

【図10】 図9におけるy−y線階段断面図である。 10 is a y-y line offset sectional view in FIG.

【図11】 従来の自走式掃除機の一例の側面断面図である。 11 is a side cross-sectional view of an example of a conventional self-propelled cleaner.

【符号の説明】 DESCRIPTION OF SYMBOLS

1 台車 2 本体カバー 3 電動送風機 4 回転ブラシ 5 吸気パイプ 6 排気パイプ 7 吸気口 8 排気口 9 集塵室 10 走行モータ 11 前輪(駆動輪) 11a 車軸(水平軸) 12 後輪 13 ブラシ駆動モータ 14 ベルト 15 フィルター 16 防振ゴム 18 操舵部 19 第1ギヤ 20 第2ギヤ 21 第3ギヤ 22 第4ギヤ 23 バンパー 25 シャフト(垂直軸) 26 バッテリー 27 充電端子 28 運転スイッチ 29 可動部材 30 弁 31 球体 32 電動機室 33,36 バネ 34,35 引っ掛けピン 40 電気掃除機本体 D 塵埃 F 床面 1 cart 2 cover 3 electric blower 4 rotary brush 5 intake pipe 6 exhaust pipe 7 inlet 8 outlet 9 dust collecting chamber 10 traveling motor 11 front (driving wheel) 11a axles (horizontal axis) 12 rear wheel 13 brush driving motor 14 belt 15 filter 16 rubber cushion 18 steering unit 19 first gear 20 second gear 21 third gear 22 4th gear 23 bumper 25 shaft (vertical shaft) 26 battery 27 charge terminal 28 operating the switch 29 the movable member 30 valve 31 sphere 32 motor chamber 33, 36 spring 34 hooked pins 40 cleaner body D dust F floor

フロントページの続き (51)Int.Cl. 7識別記号 FI テーマコート゛(参考) A47L 9/08 A47L 9/08 Of the front page Continued (51) Int.Cl. 7 identification mark FI theme Court Bu (Reference) A47L 9/08 A47L 9/08

Claims (7)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】 回動可能に支持される垂直軸と、該垂直軸の回転により回転駆動される駆動輪と、該駆動輪が回転自在に支持され前記垂直軸に所定量以上の負荷がかかると前記垂直軸の回転に伴って一体に回動して前記駆動輪の向きを変える操舵部と、該操舵部の回動を阻止する回動阻止手段と、掃除機本体の進行方向側に設けられ前記回動阻止手段による前記操舵部の上記回動の阻止を解除するバンパーとを備えたことを特徴とする自走式電気掃除機。 1. A vertical shaft which is rotatably supported, a drive wheel which is rotated by the rotation of the vertical axis, a predetermined amount or more of load to the vertical axis drive wheel is rotatably supported according and a steering unit for changing the direction of the drive wheel rotates integrally with the rotation of the vertical shaft, and rotation preventing means for preventing rotation of the steering unit, provided in the traveling direction of the cleaner body self-propelled vacuum cleaner, characterized in that a bumper for releasing the steering portion of the rotation preventing by said rotation preventing means is.
  2. 【請求項2】 回転可能に支持される垂直軸と、回転可能に支持される駆動輪を有し垂直軸と一体に回動可能な箱体状の操舵兼駆動手段と、ゴミの吸い込み気流を発生させる電動送風機と、掃除機本体の進行方向側に配設されたバンパーと、前記駆動輪を前記垂直軸を介して回転駆動する走行モータと、一端が前記バンパーに連結若しくは当接されるとともに他端が前記操舵兼駆動手段側に付勢され前記操舵兼駆動手段に係脱自在に係合される回動自在な可動部材とを備え、前記バンパーが障害物に衝突したとき、前記可動部材が上記付勢に抗して回動することにより上記係合が解除されるとともに、前記垂直軸に所定量以上の負荷がかかることにより前記垂直軸と前記操舵兼駆動手段が一体に回動することを特徴とする自走式電気掃除機。 A vertical axis wherein is rotatably supported, and rotatably pivotable box-like steering and drive means to the vertical axis and integrally has a drive wheel which is supported, the suction airflow dust an electric blower for generating a bumper disposed in the traveling direction of the cleaner body, a traveling motor for rotationally driving said driving wheel through said vertical shaft, with one end connected or abutting on the bumper the other end and a rotatable movable member engaged detachably engaged with the energized the steering and driving means to said steering and drive means side, when the bumper collides with an obstacle, said movable member the engagement with is released, the said vertical axis by a predetermined amount or more of load is applied to the vertical axis steering and drive means to rotate integrally with but be rotated against the said biasing self-propelled vacuum cleaner, characterized in that.
  3. 【請求項3】 前記バンパーは、その中央部が掃除機本体の進行方向側の最も前方にあり、その両側部は前記中央部から後方に遠ざかるように退避する形状をしていることを特徴とする請求項1又は請求項2に記載の自走式電気掃除機。 Wherein the bumper is in the most forward of the traveling direction side of the central portion cleaner body, and wherein it is both side portions thereof which has a shape to be saved away rearward from the central portion self-propelled vacuum cleaner according to claim 1 or claim 2.
  4. 【請求項4】 前記バンパー及び前記可動部材に略半球形状の凹部を設け、これらの凹部に球面摺接構造により滑動自在に挟持される球体を介して上記連結を行うことを特徴とする請求項2又は請求項3に記載の自走式電気掃除機。 Wherein a recess of substantially hemispherical shape to said bumper and said movable member, the claims by the spherical sliding contact structure in these recesses over the spheres which are slidably sandwiched and performs the connection self-propelled vacuum cleaner according to 2 or claim 3.
  5. 【請求項5】 前記バンパーに先端が尖った押圧部材を凸設し、該押圧部材によって一点で上記当接を行うことを特徴とする請求項2又は請求項3に記載の自走式電気掃除機。 5. A projectingly provided a pressing member having a sharp tip to the bumper, self-propelled electric vacuum according to claim 2 or claim 3, characterized in that performing the contact at one point by the pressing member machine.
  6. 【請求項6】 前記バンパーを、掃除機本体の進行方向側に付勢するとともに一定の範囲内で前後左右に移動できるようにしたことを特徴とする請求項1〜請求項5のいずれかに記載の自走式電気掃除機。 Wherein said bumper, in any one of claims 1 to 5, characterized in that to be able to move to and fro within a certain range urges the traveling direction of the cleaner body self-propelled vacuum cleaner described.
  7. 【請求項7】 前記電動送風機及び前記走行モータに電力を供給するバッテリーを備えたことを特徴とする請求項2〜請求項6のいずれかに記載の自走式電気掃除機。 7. A self-propelled vacuum cleaner according to any one of claims 2 to 6, characterized in that a battery supplying electric power to the electric blower and the travel motor.
JP2000079318A 2000-03-16 2000-03-16 Self-traveling vacuum cleaner Pending JP2001258807A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2000079318A JP2001258807A (en) 2000-03-16 2000-03-16 Self-traveling vacuum cleaner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2000079318A JP2001258807A (en) 2000-03-16 2000-03-16 Self-traveling vacuum cleaner

Publications (1)

Publication Number Publication Date
JP2001258807A true JP2001258807A (en) 2001-09-25

Family

ID=18596583

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2000079318A Pending JP2001258807A (en) 2000-03-16 2000-03-16 Self-traveling vacuum cleaner

Country Status (1)

Country Link
JP (1) JP2001258807A (en)

Cited By (53)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US8239992B2 (en) 2007-05-09 2012-08-14 Irobot Corporation Compact autonomous coverage robot
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US8456125B2 (en) 2004-01-28 2013-06-04 Irobot Corporation Debris sensor for cleaning apparatus
US8478442B2 (en) 2000-01-24 2013-07-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
WO2013105431A1 (en) * 2012-01-13 2013-07-18 シャープ株式会社 Dust collection device
JP2013144024A (en) * 2012-01-13 2013-07-25 Sharp Corp Dust collecting device and self-propelled vacuum cleaner including the same
JP2013144022A (en) * 2012-01-13 2013-07-25 Sharp Corp Dust collecting device and self-propelled vacuum cleaner including the same
JP2013144023A (en) * 2012-01-13 2013-07-25 Sharp Corp Dust collecting device and self-propelled vacuum cleaner including the same
JP2013144028A (en) * 2012-01-13 2013-07-25 Sharp Corp Dust collector and self-propelled vacuum cleaner including the same
JP2013144027A (en) * 2012-01-13 2013-07-25 Sharp Corp Dust collecting device and self-propelled vacuum cleaner including the same
US8515578B2 (en) 2002-09-13 2013-08-20 Irobot Corporation Navigational control system for a robotic device
US8572799B2 (en) 2006-05-19 2013-11-05 Irobot Corporation Removing debris from cleaning robots
US8627542B2 (en) 2007-03-27 2014-01-14 Samsung Electronics Co., Ltd. Robot cleaner with improved dust collector
US8661605B2 (en) 2005-12-02 2014-03-04 Irobot Corporation Coverage robot mobility
US8739355B2 (en) 2005-02-18 2014-06-03 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
CN103860108A (en) * 2012-12-12 2014-06-18 金宝电子工业股份有限公司 Motion device and self-propelled cleaner having same
US8761931B2 (en) 2005-12-02 2014-06-24 Irobot Corporation Robot system
US8780342B2 (en) 2004-03-29 2014-07-15 Irobot Corporation Methods and apparatus for position estimation using reflected light sources
US8838274B2 (en) 2001-06-12 2014-09-16 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8855813B2 (en) 2005-02-18 2014-10-07 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8868237B2 (en) 2006-03-17 2014-10-21 Irobot Corporation Robot confinement
US8887340B2 (en) 2003-05-14 2014-11-18 Kärcher North America, Inc. Floor cleaning apparatus
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
US8954192B2 (en) 2005-12-02 2015-02-10 Irobot Corporation Navigating autonomous coverage robots
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US8985127B2 (en) 2005-02-18 2015-03-24 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US9008835B2 (en) 2004-06-24 2015-04-14 Irobot Corporation Remote control scheduler and method for autonomous robotic device
US9015887B1 (en) 2003-05-14 2015-04-28 Kärcher North America, Inc. Floor treatment apparatus
WO2015068432A1 (en) * 2013-11-11 2015-05-14 シャープ株式会社 Self-propelled vacuum cleaner
US9038233B2 (en) 2001-01-24 2015-05-26 Irobot Corporation Autonomous floor-cleaning robot
WO2015075967A1 (en) * 2013-11-25 2015-05-28 シャープ株式会社 Self-propelled vacuum cleaner
JP2015157138A (en) * 2015-05-08 2015-09-03 シャープ株式会社 Dust collector and self-propelled vacuum cleaner including the same
US9215957B2 (en) 2004-01-21 2015-12-22 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
JP2016005812A (en) * 2015-10-09 2016-01-14 シャープ株式会社 Dust collection device and self-propelled vacuum cleaner including the same
JP2016027917A (en) * 2015-11-20 2016-02-25 シャープ株式会社 Dust collector, and self-propelled vacuum cleaner having the same
JP2016027918A (en) * 2015-11-20 2016-02-25 シャープ株式会社 Dust collector, and self-propelled vacuum cleaner having the same
JP2016028776A (en) * 2015-11-20 2016-03-03 シャープ株式会社 Dust collection device and self-propelled cleaner mounted with the same
JP2016041297A (en) * 2015-11-20 2016-03-31 シャープ株式会社 Dust collector, and self-propelled vacuum cleaner having the same
JP2016047271A (en) * 2015-11-20 2016-04-07 シャープ株式会社 Dust collector and self-propelled vacuum cleaner provided with same
US9420741B2 (en) 2014-12-15 2016-08-23 Irobot Corporation Robot lawnmower mapping
US9510505B2 (en) 2014-10-10 2016-12-06 Irobot Corporation Autonomous robot localization
US9516806B2 (en) 2014-10-10 2016-12-13 Irobot Corporation Robotic lawn mowing boundary determination
US9538702B2 (en) 2014-12-22 2017-01-10 Irobot Corporation Robotic mowing of separated lawn areas
US9554508B2 (en) 2014-03-31 2017-01-31 Irobot Corporation Autonomous mobile robot
US9582005B2 (en) 2001-01-24 2017-02-28 Irobot Corporation Robot confinement
JP2018051344A (en) * 2017-11-30 2018-04-05 シャープ株式会社 Self-propelled cleaner
US10021830B2 (en) 2016-02-02 2018-07-17 Irobot Corporation Blade assembly for a grass cutting mobile robot
JP2019051377A (en) * 2018-11-30 2019-04-04 シャープ株式会社 Self-propelled cleaner
US10314449B2 (en) 2010-02-16 2019-06-11 Irobot Corporation Vacuum brush

Cited By (108)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8565920B2 (en) 2000-01-24 2013-10-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US9446521B2 (en) 2000-01-24 2016-09-20 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8478442B2 (en) 2000-01-24 2013-07-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US9144361B2 (en) 2000-04-04 2015-09-29 Irobot Corporation Debris sensor for cleaning apparatus
US9622635B2 (en) 2001-01-24 2017-04-18 Irobot Corporation Autonomous floor-cleaning robot
US9038233B2 (en) 2001-01-24 2015-05-26 Irobot Corporation Autonomous floor-cleaning robot
US9582005B2 (en) 2001-01-24 2017-02-28 Irobot Corporation Robot confinement
US9167946B2 (en) 2001-01-24 2015-10-27 Irobot Corporation Autonomous floor cleaning robot
US8838274B2 (en) 2001-06-12 2014-09-16 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US9104204B2 (en) 2001-06-12 2015-08-11 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US8793020B2 (en) 2002-09-13 2014-07-29 Irobot Corporation Navigational control system for a robotic device
US9949608B2 (en) 2002-09-13 2018-04-24 Irobot Corporation Navigational control system for a robotic device
US8515578B2 (en) 2002-09-13 2013-08-20 Irobot Corporation Navigational control system for a robotic device
US8781626B2 (en) 2002-09-13 2014-07-15 Irobot Corporation Navigational control system for a robotic device
US9451861B2 (en) 2003-05-14 2016-09-27 Kärcher North America, Inc. Floor treatment apparatus
US8887340B2 (en) 2003-05-14 2014-11-18 Kärcher North America, Inc. Floor cleaning apparatus
US9015887B1 (en) 2003-05-14 2015-04-28 Kärcher North America, Inc. Floor treatment apparatus
US9757005B2 (en) 2003-05-14 2017-09-12 Kärcher North America, Inc. Floor treatment apparatus
US9510721B2 (en) 2003-05-14 2016-12-06 Karcher North America, Inc. Floor cleaning apparatus
US9730566B2 (en) 2003-05-14 2017-08-15 Kärcher North America, Inc. Floor treatment apparatus
US9192276B2 (en) 2003-05-14 2015-11-24 Karcher North America, Inc. Floor cleaning apparatus
US9215957B2 (en) 2004-01-21 2015-12-22 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8456125B2 (en) 2004-01-28 2013-06-04 Irobot Corporation Debris sensor for cleaning apparatus
US8780342B2 (en) 2004-03-29 2014-07-15 Irobot Corporation Methods and apparatus for position estimation using reflected light sources
US9360300B2 (en) 2004-03-29 2016-06-07 Irobot Corporation Methods and apparatus for position estimation using reflected light sources
US9008835B2 (en) 2004-06-24 2015-04-14 Irobot Corporation Remote control scheduler and method for autonomous robotic device
US9486924B2 (en) 2004-06-24 2016-11-08 Irobot Corporation Remote control scheduler and method for autonomous robotic device
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US9229454B1 (en) 2004-07-07 2016-01-05 Irobot Corporation Autonomous mobile robot system
US8874264B1 (en) 2004-07-07 2014-10-28 Irobot Corporation Celestial navigation system for an autonomous robot
US9223749B2 (en) 2004-07-07 2015-12-29 Irobot Corporation Celestial navigation system for an autonomous vehicle
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US8782848B2 (en) 2005-02-18 2014-07-22 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8985127B2 (en) 2005-02-18 2015-03-24 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US9445702B2 (en) 2005-02-18 2016-09-20 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8966707B2 (en) 2005-02-18 2015-03-03 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8739355B2 (en) 2005-02-18 2014-06-03 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8855813B2 (en) 2005-02-18 2014-10-07 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8761931B2 (en) 2005-12-02 2014-06-24 Irobot Corporation Robot system
US9392920B2 (en) 2005-12-02 2016-07-19 Irobot Corporation Robot system
US8661605B2 (en) 2005-12-02 2014-03-04 Irobot Corporation Coverage robot mobility
US9144360B2 (en) 2005-12-02 2015-09-29 Irobot Corporation Autonomous coverage robot navigation system
US9149170B2 (en) 2005-12-02 2015-10-06 Irobot Corporation Navigating autonomous coverage robots
US9599990B2 (en) 2005-12-02 2017-03-21 Irobot Corporation Robot system
US8954192B2 (en) 2005-12-02 2015-02-10 Irobot Corporation Navigating autonomous coverage robots
US8978196B2 (en) 2005-12-02 2015-03-17 Irobot Corporation Coverage robot mobility
US10037038B2 (en) 2006-03-17 2018-07-31 Irobot Corporation Lawn care robot
US9713302B2 (en) 2006-03-17 2017-07-25 Irobot Corporation Robot confinement
US9043952B2 (en) 2006-03-17 2015-06-02 Irobot Corporation Lawn care robot
US8868237B2 (en) 2006-03-17 2014-10-21 Irobot Corporation Robot confinement
US9043953B2 (en) 2006-03-17 2015-06-02 Irobot Corporation Lawn care robot
US8954193B2 (en) 2006-03-17 2015-02-10 Irobot Corporation Lawn care robot
US9955841B2 (en) 2006-05-19 2018-05-01 Irobot Corporation Removing debris from cleaning robots
US8572799B2 (en) 2006-05-19 2013-11-05 Irobot Corporation Removing debris from cleaning robots
US10244915B2 (en) 2006-05-19 2019-04-02 Irobot Corporation Coverage robots and associated cleaning bins
US9492048B2 (en) 2006-05-19 2016-11-15 Irobot Corporation Removing debris from cleaning robots
US9317038B2 (en) 2006-05-31 2016-04-19 Irobot Corporation Detecting robot stasis
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US8627542B2 (en) 2007-03-27 2014-01-14 Samsung Electronics Co., Ltd. Robot cleaner with improved dust collector
US8857012B2 (en) 2007-03-27 2014-10-14 Samsung Electronics Co., Ltd. Robot cleaner with improved dust collector
US8839477B2 (en) 2007-05-09 2014-09-23 Irobot Corporation Compact autonomous coverage robot
US8347444B2 (en) 2007-05-09 2013-01-08 Irobot Corporation Compact autonomous coverage robot
US8370985B2 (en) 2007-05-09 2013-02-12 Irobot Corporation Compact autonomous coverage robot
US10070764B2 (en) 2007-05-09 2018-09-11 Irobot Corporation Compact autonomous coverage robot
US10299652B2 (en) 2007-05-09 2019-05-28 Irobot Corporation Autonomous coverage robot
US8726454B2 (en) 2007-05-09 2014-05-20 Irobot Corporation Autonomous coverage robot
US8239992B2 (en) 2007-05-09 2012-08-14 Irobot Corporation Compact autonomous coverage robot
US9480381B2 (en) 2007-05-09 2016-11-01 Irobot Corporation Compact autonomous coverage robot
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
US10314449B2 (en) 2010-02-16 2019-06-11 Irobot Corporation Vacuum brush
JP2013144024A (en) * 2012-01-13 2013-07-25 Sharp Corp Dust collecting device and self-propelled vacuum cleaner including the same
WO2013105431A1 (en) * 2012-01-13 2013-07-18 シャープ株式会社 Dust collection device
JP2013144023A (en) * 2012-01-13 2013-07-25 Sharp Corp Dust collecting device and self-propelled vacuum cleaner including the same
JP2013144027A (en) * 2012-01-13 2013-07-25 Sharp Corp Dust collecting device and self-propelled vacuum cleaner including the same
JP2013144028A (en) * 2012-01-13 2013-07-25 Sharp Corp Dust collector and self-propelled vacuum cleaner including the same
JP2013144022A (en) * 2012-01-13 2013-07-25 Sharp Corp Dust collecting device and self-propelled vacuum cleaner including the same
CN103860108A (en) * 2012-12-12 2014-06-18 金宝电子工业股份有限公司 Motion device and self-propelled cleaner having same
JP2015092992A (en) * 2013-11-11 2015-05-18 シャープ株式会社 Self-propelled vacuum cleaner
CN105517473A (en) * 2013-11-11 2016-04-20 夏普株式会社 Self-propelled vacuum cleaner
WO2015068432A1 (en) * 2013-11-11 2015-05-14 シャープ株式会社 Self-propelled vacuum cleaner
JP2015100513A (en) * 2013-11-25 2015-06-04 シャープ株式会社 Self-propelled vacuum cleaner
WO2015075967A1 (en) * 2013-11-25 2015-05-28 シャープ株式会社 Self-propelled vacuum cleaner
CN105491930A (en) * 2013-11-25 2016-04-13 夏普株式会社 Self-propelled vacuum cleaner
US9687127B2 (en) 2013-11-25 2017-06-27 Sharp Kabushiki Kaisha Self-propelled vacuum cleaner
US9554508B2 (en) 2014-03-31 2017-01-31 Irobot Corporation Autonomous mobile robot
US9516806B2 (en) 2014-10-10 2016-12-13 Irobot Corporation Robotic lawn mowing boundary determination
US9510505B2 (en) 2014-10-10 2016-12-06 Irobot Corporation Autonomous robot localization
US9854737B2 (en) 2014-10-10 2018-01-02 Irobot Corporation Robotic lawn mowing boundary determination
US10067232B2 (en) 2014-10-10 2018-09-04 Irobot Corporation Autonomous robot localization
US10274954B2 (en) 2014-12-15 2019-04-30 Irobot Corporation Robot lawnmower mapping
US9420741B2 (en) 2014-12-15 2016-08-23 Irobot Corporation Robot lawnmower mapping
US10159180B2 (en) 2014-12-22 2018-12-25 Irobot Corporation Robotic mowing of separated lawn areas
US9538702B2 (en) 2014-12-22 2017-01-10 Irobot Corporation Robotic mowing of separated lawn areas
US9826678B2 (en) 2014-12-22 2017-11-28 Irobot Corporation Robotic mowing of separated lawn areas
JP2015157138A (en) * 2015-05-08 2015-09-03 シャープ株式会社 Dust collector and self-propelled vacuum cleaner including the same
JP2016005812A (en) * 2015-10-09 2016-01-14 シャープ株式会社 Dust collection device and self-propelled vacuum cleaner including the same
JP2016027918A (en) * 2015-11-20 2016-02-25 シャープ株式会社 Dust collector, and self-propelled vacuum cleaner having the same
JP2016041297A (en) * 2015-11-20 2016-03-31 シャープ株式会社 Dust collector, and self-propelled vacuum cleaner having the same
JP2016028776A (en) * 2015-11-20 2016-03-03 シャープ株式会社 Dust collection device and self-propelled cleaner mounted with the same
JP2016027917A (en) * 2015-11-20 2016-02-25 シャープ株式会社 Dust collector, and self-propelled vacuum cleaner having the same
JP2016047271A (en) * 2015-11-20 2016-04-07 シャープ株式会社 Dust collector and self-propelled vacuum cleaner provided with same
US10021830B2 (en) 2016-02-02 2018-07-17 Irobot Corporation Blade assembly for a grass cutting mobile robot
JP2018051344A (en) * 2017-11-30 2018-04-05 シャープ株式会社 Self-propelled cleaner
JP2019051377A (en) * 2018-11-30 2019-04-04 シャープ株式会社 Self-propelled cleaner

Similar Documents

Publication Publication Date Title
RU2267977C1 (en) Drive apparatus for robot-vacuum cleaner
EP2570065B1 (en) Compact autonomous coverage robot
US7412748B2 (en) Robot cleaning system
CN1143651C (en) Electric suction cleaner
US8065778B2 (en) Robot cleaner
CN102083352B (en) Positioning a robot capable of moving the product, the application position control and navigation systems
KR100429113B1 (en) Electric vacuum cleaner
KR101226355B1 (en) Self-traveling cleaner
EP2578126A1 (en) Robot cleaner
EP1906807B1 (en) Robotic cleaning device
US20090049640A1 (en) Robot cleaner system having robot cleaner and docking station
US7603744B2 (en) Robotic appliance with on-board joystick sensor and associated methods of operation
ES2611356T3 (en) Self-contained cleaning device
US20030192144A1 (en) Robot vacuum cleaner with air agitation
US5638573A (en) Vacuum cleaner
US6581239B1 (en) Cleaner head for a vacuum cleaner
US20070006404A1 (en) Remote control sweeper
JP3249931B2 (en) Upright vacuum cleaner
RU2312578C2 (en) Automatic cleaning apparatus
EP1987407B1 (en) Robotic vacuum cleaning
US6601265B1 (en) Vacuum cleaner
US8438698B2 (en) Robot cleaner with improved dust collector
US8584305B2 (en) Modular robot
US20100313912A1 (en) Cleaning apparatus and dust collecting method using the same
CN103027633B (en) Robot vacuum cleaner