JP2002360471A - Self-travelling vacuum cleaner - Google Patents

Self-travelling vacuum cleaner

Info

Publication number
JP2002360471A
JP2002360471A JP2001169243A JP2001169243A JP2002360471A JP 2002360471 A JP2002360471 A JP 2002360471A JP 2001169243 A JP2001169243 A JP 2001169243A JP 2001169243 A JP2001169243 A JP 2001169243A JP 2002360471 A JP2002360471 A JP 2002360471A
Authority
JP
Japan
Prior art keywords
electric blower
self
drive motor
dust
cleaner
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.)
Granted
Application number
JP2001169243A
Other languages
Japanese (ja)
Other versions
JP4017840B2 (en
Inventor
Kiminori Kato
公軌 加藤
Hiroshi Mori
宏 森
Naoyuki Ohara
直行 尾原
Toru Kodachi
徹 小立
Hidetaka Yabuuchi
秀隆 藪内
Hiroyuki Kayama
博之 香山
Miki Yasuno
幹 保野
Masayo Haji
雅代 土師
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial Co Ltd
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 Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Priority to JP2001169243A priority Critical patent/JP4017840B2/en
Publication of JP2002360471A publication Critical patent/JP2002360471A/en
Application granted granted Critical
Publication of JP4017840B2 publication Critical patent/JP4017840B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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  • Electric Suction Cleaners (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)

Abstract

PROBLEM TO BE SOLVED: To provide a self-travelling vacuum cleaner which has a self-travelling function of its vacuum cleaner main body, and automatically carries out cleaning of a surface to be cleaned, wherein the self-advancing vacuum cleaner can stop its operation through simple operation when cleaning is halted during traveling thereof, and is easily portable. SOLUTION: According to the vacuum cleaner, a sucker 3 having a rotary brush 2, scrapes up dust adherent to the surface to be cleaned, and an electric blower 4 for generating dust-sucking air current for sucking dust, collects the sucked dust to a dust collecting section 5, followed by advancing the vacuum cleaner main body 1 by a roller 11 driven by a driving motor 8. A power source section 6 supplies electric power to the electric blower 4 and the driving motor 8, and a control means 15 halts at least one of the rolling brush 2, the electric blower 4, and the driving motor 8. Halting operation of the control means 15 is carried out by a grip 20 arranged on the vacuum cleaner main body 1.

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、掃除機本体に自走
機能を有し、被掃除面の清掃を自動的に行う自走式掃除
機に関するものである。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled cleaner having a self-propelled function in a cleaner body and automatically cleaning a surface to be cleaned.

【0002】[0002]

【従来の技術】従来、この種の自走式掃除機は、電動送
風機により発生する塵埃を吸い込む空気の流れにより、
吸込具より被掃除面上に付着した塵埃を吸い込み、吸い
込んだ塵埃を集塵部に集塵するよう構成し、さらに、電
動送風機と後述する駆動モータに電源を供給する電池
と、光(赤外線)により距離を検知する複数のセンサと
を設けて掃除機本体を構成し、この掃除機本体を駆動モ
ータにより駆動されるローラーにより走行できるように
構成している。
2. Description of the Related Art Conventionally, a self-propelled vacuum cleaner of this type has a structure in which a flow of air sucking dust generated by an electric blower is used.
A suction device configured to suck dust adhering to the surface to be cleaned from the suction tool, collect the sucked dust in a dust collection portion, and further provide a battery for supplying power to an electric blower and a drive motor to be described later; And a plurality of sensors for detecting distances are provided to form a cleaner body, and the cleaner body can be run by rollers driven by a drive motor.

【0003】このように構成した自走式掃除機は、掃除
機本体に設けた電源スイッチをオンし、スタートスイッ
チをオンして運転を開始すると、電動送風機が作動し、
駆動モータにより駆動されるローラーにより直進走行を
開始する。走行中は、複数のセンサにより家具などの障
害物までの距離を測定し、さらに被掃除面の段差を確認
して、障害物、段差を回避して走行し、同時に、電動送
風機により発生する空気の流れにより、吸込具より被掃
除面上に付着した塵埃を吸い込み、被掃除面の清掃を自
動的に行う。
In the self-propelled vacuum cleaner configured as described above, when the power switch provided on the cleaner body is turned on and the start switch is turned on to start the operation, the electric blower operates,
Straight running is started by a roller driven by a drive motor. While traveling, measure the distance to obstacles such as furniture with multiple sensors, further confirm the steps on the surface to be cleaned, run around obstacles and steps, and at the same time, air generated by the electric blower The dust adheres to the surface to be cleaned from the suction tool by the flow of the suction, and the surface to be cleaned is automatically cleaned.

【0004】[0004]

【発明が解決しようとする課題】このような従来の構成
では、走行中に掃除を中止する場合には、掃除機本体に
設けた停止スイッチを押して、電動送風機、駆動モータ
などを停止させた後、抱えるように持って収納場所また
は電池を充電する充電場所に運ぶ必要があり、操作が面
倒である上、形状が大きく重いため、持ち運びにくいと
いう問題を有していた。
In such a conventional structure, when cleaning is stopped during traveling, the stop switch provided on the cleaner body is pressed to stop the electric blower, the drive motor, and the like. However, it is necessary to carry the battery to a storage place or a charging place for charging the battery, so that the operation is troublesome and the shape is large and heavy, so that it is difficult to carry the battery.

【0005】また、被掃除面が絨毯の場合は、絨毯の上
を走行させて掃除をすると、ローラーの走行痕跡が絨毯
の表面に残り、きわめて見苦しいという問題も有してい
た。
Further, when the surface to be cleaned is a carpet, there is a problem that when the carpet is run on the carpet for cleaning, traces of the rollers remain on the surface of the carpet, making it extremely unsightly.

【0006】さらに、被掃除面に凸状の段差があると
き、段差が高く吸込具が当たる程度の高さの場合は、そ
の段差を乗り越えない場合があり、手動で乗り越えさせ
るか、段差を回避させる必要があり、自走式掃除機であ
りながら取扱いが面倒であるという問題を有していた。
Further, when there is a convex step on the surface to be cleaned, if the step is so high that the suction tool hits it, the step may not be overcome. And it is troublesome to handle even though it is a self-propelled vacuum cleaner.

【0007】本発明は上記従来の課題を解決して、使用
性の高い自走式掃除機を提供するもので、走行中に掃除
を中止する場合などに、簡単な操作で動作を停止させる
とともに、容易に持ち運びができるようにすることを第
1の目的としている。
The present invention solves the above-mentioned conventional problems and provides a self-propelled vacuum cleaner having high usability. In the case where cleaning is stopped during traveling, the operation can be stopped by a simple operation. The first object is to make it easy to carry.

【0008】また、被掃除面が絨毯であっても、ローラ
ーやキャスターの走行痕跡が残らないようにし、掃除後
の美観を向上することを第2の目的としている。
It is a second object of the present invention to prevent traces of running of rollers and casters from remaining even if the surface to be cleaned is a carpet, thereby improving the aesthetic appearance after cleaning.

【0009】また、被掃除面に凸状の段差があっても、
段差を容易に乗り越えて掃除ができるようにし、取扱い
を容易にして使い勝手を向上することを第3の目的とし
ている。
Further, even if the surface to be cleaned has a convex step,
It is a third object of the present invention to make it easy to clean over a step, to facilitate handling, and to improve usability.

【0010】[0010]

【課題を解決するための手段】本発明は上記第1の目的
を達成するために、回転ブラシを有する吸込具により被
掃除面上に付着した塵埃を掻き上げ、塵埃を吸い込む空
気の流れを発生させる電動送風機により吸い込んだ塵埃
を集塵部に集塵し、駆動モータにより駆動されるローラ
ーにより掃除機本体を走行させ、電動送風機、駆動モー
タに電源部より電源を供給し、回転ブラシ、電動送風
機、駆動モータのうち少なくとも1つを停止手段により
停止させるよう構成し、前記停止手段は前記掃除機本体
に設けた前記掃除機本体運搬用の把手を操作することに
より停止させるよう構成したものである。
According to the present invention, in order to achieve the first object, dust adhering to a surface to be cleaned is lifted up by a suction tool having a rotating brush to generate a flow of air for sucking the dust. The dust sucked by the electric blower to be collected is collected in a dust collecting section, the cleaner body is caused to travel by a roller driven by a drive motor, and power is supplied from a power supply section to the electric blower and the drive motor, and the rotating brush, the electric blower And at least one of the drive motors is stopped by stop means, and the stop means is stopped by operating a handle for transporting the cleaner body provided on the cleaner body. .

【0011】これにより、走行中に掃除を中止する場合
などに、把手により持ち上げるだけの簡単な操作で動作
を停止することができるとともに、容易に持ち運びをす
ることができる。
Thus, when the cleaning is stopped while the vehicle is running, the operation can be stopped by a simple operation of lifting with a handle, and the device can be easily carried.

【0012】また、上記第2の目的を達成するために、
電動送風機により発生する塵埃を吸い込む空気の流れに
より、吸込具より被掃除面上に付着した塵埃を吸い込
み、吸い込んだ塵埃を集塵部に集塵するよう構成し、駆
動モータにより駆動されるローラーにより掃除機本体を
走行させるとともに、キャスターにより掃除機本体を走
行自在に支持し、ローラーまたはキャスターの走行痕跡
を起毛布で構成した痕跡消去機構により消去するように
したものである。
In order to achieve the second object,
The air blower sucks the dust generated by the electric blower, so that the dust attached to the surface to be cleaned is sucked by the suction tool, and the sucked dust is collected in the dust collecting portion. In addition to running the cleaner body, the cleaner body is movably supported by casters, and the running traces of the rollers or the casters are erased by a trace erasing mechanism constituted by a brushed cloth.

【0013】これにより、被掃除面が絨毯であっても、
ローラーやキャスターの走行痕跡が残らないようにで
き、掃除後の美観を向上することができる。
Thus, even if the surface to be cleaned is a carpet,
It is possible to prevent traces of running of the rollers and casters from remaining, thereby improving the aesthetic appearance after cleaning.

【0014】また、上記第3の目的を達成するために、
電動送風機により発生する塵埃を吸い込む空気の流れに
より、吸込具より被掃除面上に付着した塵埃を吸い込
み、吸い込んだ塵埃を集塵部に集塵するよう構成し、駆
動モータにより駆動されるローラーにより掃除機本体を
走行させ、吸込具は、第1の回動軸により回動自在の支
持した支持体に第2の回動軸により床面に対して略水平
に支持し、支持体により上下動自在に構成したものであ
る。
Further, in order to achieve the third object,
By the air flow that sucks the dust generated by the electric blower, the dust attached to the surface to be cleaned is sucked by the suction tool, and the sucked dust is collected in the dust collecting portion. The cleaner body is run, and the suction tool is supported on a supporter rotatably supported by a first rotation axis so as to be substantially horizontal to the floor surface by a second rotation axis, and is vertically moved by the supporter. It is freely configured.

【0015】これにより、被掃除面に凸状の段差があっ
ても、吸込具が段差を容易に乗り越えて掃除をすること
ができ、取扱いを容易にして使い勝手を向上することが
できる。
Thus, even if there is a convex step on the surface to be cleaned, the suction tool can easily move over the step to perform cleaning, and the handling can be facilitated and the usability can be improved.

【0016】[0016]

【発明の実施の形態】本発明の請求項1に記載の発明
は、被掃除面上に付着した塵埃を掻き上げる回転ブラシ
を有する吸込具と、塵埃を吸い込む空気の流れを発生さ
せる電動送風機と、前記電動送風機により吸い込んだ塵
埃を集塵する集塵部と、駆動モータにより駆動され掃除
機本体を走行させるローラーと、前記電動送風機、前記
駆動モータに電源を供給する電源部と、前記回転ブラ
シ、電動送風機、駆動モータのうち少なくとも1つを停
止させる停止手段と、掃除機本体運搬用の把手を備え、
前記停止手段は前記把手を操作することにより停止させ
るよう構成したものであり、走行中に掃除を中止する場
合などに、把手により掃除機本体を持ち上げると、把手
により回転ブラシ、電動送風機、駆動モータの少なくと
も1つを停止させるため、把手により掃除機本体を持ち
上げると同時に停止させることができ、そのままの状態
で持ち運びができ、簡単な操作で動作を停止することが
できるとともに、容易に持ち運びをすることができる。
DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention according to claim 1 of the present invention relates to a suction tool having a rotary brush for scraping dust adhered to a surface to be cleaned, and an electric blower for generating a flow of air for sucking dust. A dust collecting unit that collects dust sucked by the electric blower, a roller driven by a drive motor to run a cleaner body, a power supply unit that supplies power to the electric blower, the drive motor, and the rotating brush. , An electric blower, stopping means for stopping at least one of the drive motor, and a handle for carrying the cleaner body,
The stopping means is configured to stop by operating the handle, and when cleaning is stopped during running, for example, when the cleaner body is lifted by the handle, the rotating brush, the electric blower, the drive motor by the handle. In order to stop at least one of the vacuum cleaners, the vacuum cleaner body can be lifted and stopped at the same time as the handle, so that it can be carried as it is, the operation can be stopped with a simple operation, and it is easily carried. be able to.

【0017】請求項2に記載の発明は、上記請求項1に
記載の発明において、把手を掃除機本体の上面に設けた
ものであり、走行中に掃除を中止する場合などに、把手
により掃除機本体を容易に持ち上げることができ、把手
により持ち上げると同時に回転ブラシ、電動送風機、駆
動モータの少なくとも1つを停止させることができ、そ
のままの状態で持ち運びができ、取扱いを容易にするこ
とができる。
According to a second aspect of the present invention, in the first aspect of the present invention, the handle is provided on the upper surface of the cleaner body. The main body of the machine can be easily lifted, and at least one of the rotating brush, the electric blower, and the drive motor can be stopped at the same time as being lifted by the handle, and can be carried as it is, thereby facilitating handling. .

【0018】請求項3に記載の発明は、上記請求項1ま
たは2に記載の発明において、把手を掃除機本体より引
き出し可能とし、把手を引き出した状態で、回転ブラ
シ、電動送風機、駆動モータの少なくとも1つを停止さ
せるようにしたものであり、把手を掃除機本体に収納し
た状態では把手は邪魔になることがなく、走行中に掃除
を中止する場合などに、把手を引き出すことで回転ブラ
シ、電動送風機、駆動モータの少なくとも1つを停止さ
せることができ、そのままの状態で持ち運びができ、取
扱いを容易にすることができる。
According to a third aspect of the present invention, in the first or the second aspect of the present invention, the handle can be pulled out from the cleaner body, and when the handle is pulled out, the rotating brush, the electric blower, and the drive motor can be pulled out. At least one of the brushes is stopped. When the handle is stored in the main body of the vacuum cleaner, the handle does not become an obstacle. , At least one of the electric blower and the drive motor can be stopped, the portable device can be carried as it is, and the handling can be facilitated.

【0019】請求項4に記載の発明は、上記請求項1ま
たは2に記載の発明において、把手を可倒式とし、把手
を直立した状態で、回転ブラシ、電動送風機、駆動モー
タの少なくとも1つを停止させるようにしたものであ
り、把手を倒した状態では把手は邪魔になることがな
く、走行中に掃除を中止する場合などに、把手を直立す
ることで回転ブラシ、電動送風機、駆動モータの少なく
とも1つを停止させることができ、そのままの状態で持
ち運びができ、取扱いを容易にすることができる。
According to a fourth aspect of the present invention, in the first or second aspect of the present invention, the handle is foldable and at least one of a rotating brush, an electric blower, and a drive motor is provided in a state where the handle is upright. When the handle is down, the handle is not in the way, and when cleaning is stopped during running, the handle is upright to make the rotating brush, electric blower, drive motor At least one can be stopped, can be carried as it is, and handling can be facilitated.

【0020】請求項5に記載の発明は、上記請求項1に
記載の発明において、駆動モータは、減速ギヤを内蔵し
たギヤードモータで構成したものであり、走行中に掃除
を中止する場合などに、駆動モータへの通電を止めた状
態で、手動で掃除機本体を押して移動させようとする
と、ギヤードモータに内蔵した減速ギヤが負荷となっ
て、大きな力を加えないと動かないが、把手により持ち
運ぶことで、容易に移動させることができ、取扱いを容
易にすることができる。
According to a fifth aspect of the present invention, in the first aspect of the present invention, the drive motor is constituted by a geared motor having a built-in reduction gear. If you try to move the vacuum cleaner manually by turning off the power to the drive motor, the reduction gear built into the geared motor becomes a load and will not move unless a large force is applied, but it will not move. By carrying, it can be easily moved and handling can be facilitated.

【0021】請求項6に記載の発明は、上記請求項1〜
4に記載の発明において、把手は、掃除機本体を懸垂し
た状態から床面に設置するとき、吸込具がローラーより
後に床面に当接する位置に設けたものであり、把手によ
り掃除機本体を持ち運ぶときなど、掃除機本体を把手で
懸垂した状態から床面に設置するとき、ローラーが先に
床面に当接することで、掃除機本体を床面に設置すると
きに吸込具に大きな力がかかることがなく、吸込具の破
損を防止することができる。
[0021] The invention described in claim 6 is the above-mentioned claim 1-
In the invention described in Item 4, the handle is provided at a position where the suction tool comes into contact with the floor surface after the roller when the cleaner body is installed on the floor from a suspended state. When installing the cleaner on the floor from the state where it is suspended with the handle, such as when carrying it, the roller comes in contact with the floor first, so a large force is applied to the suction tool when installing the cleaner on the floor. Without this, the breakage of the suction tool can be prevented.

【0022】請求項7に記載の発明は、被掃除面上に付
着した塵埃を吸い込む吸込具と、塵埃を吸い込む空気の
流れを発生させる電動送風機と、前記電動送風機により
吸い込んだ塵埃を集塵する集塵部と、駆動モータにより
駆動され掃除機本体を走行させるローラーと、前記掃除
機本体を走行自在に支持するキャスターと、前記電動送
風機、前記駆動モータに電源を供給する電源部とを備
え、前記ローラーまたはキャスターの走行痕跡を消去す
る痕跡消去機構を起毛布で構成したものであり、電動送
風機を作動しながら、駆動モータにより駆動されるロー
ラーにより走行させる場合に、被掃除面が絨毯でローラ
ーまたはキャスターの走行痕跡がついても、起毛布によ
り走行痕跡を消去することができ、掃除後の美観を向上
することができる。
According to a seventh aspect of the present invention, there is provided a suction device for sucking dust attached to a surface to be cleaned, an electric blower for generating a flow of air for sucking dust, and collecting dust sucked by the electric blower. A dust collection unit, a roller driven by a drive motor to run the cleaner body, a caster for supporting the cleaner body so as to be able to travel, the electric blower, a power supply unit for supplying power to the drive motor, A trace erasing mechanism for erasing the running trace of the roller or the caster is constituted by a brushed cloth.When the electric blower is operated and driven by a roller driven by a driving motor, the surface to be cleaned is a carpet. Alternatively, even if there are running traces of the casters, the running traces can be erased by the brushed cloth, and the appearance after cleaning can be improved.

【0023】請求項8に記載の発明は、上記請求項7に
記載の発明において、ローラーの後方にキャスターを設
け、キャスターの後方にばねで付勢した痕跡消去機構を
設けたものであり、ローラーとキャスターの後方にばね
で付勢した痕跡消去機構を設けることで、ローラーやキ
ャスターの走行痕跡を確実に消去することができ、掃除
後の美観を向上することができる。
According to an eighth aspect of the present invention, in the above-mentioned seventh aspect, a caster is provided behind the roller, and a trace erasing mechanism biased by a spring is provided behind the caster. And a trace erasing mechanism urged by a spring behind the caster, it is possible to surely erase the running traces of the rollers and the casters, and to improve the appearance after cleaning.

【0024】請求項9に記載の発明は、被掃除面上に付
着した塵埃を吸い込む吸込具と、塵埃を吸い込む空気の
流れを発生させる電動送風機と、前記電動送風機により
吸い込んだ塵埃を集塵する集塵部と、駆動モータにより
駆動され掃除機本体を走行させるローラーと、前記電動
送風機、前記駆動モータに電源を供給する電源部とを備
え、前記吸込具は、第1の回動軸により回動自在の支持
した支持体に第2の回動軸により床面に対して略水平に
支持し、前記支持体により上下動自在に構成したもので
あり、被掃除面に凸状の段差があると、支持体が第1の
回動軸を中心として上方に回動することにより、吸込具
を上方向に移動させることができ、吸込具が段差を容易
に乗り越えて掃除をすることができ、取扱いを容易にし
て使い勝手を向上することができる。
According to a ninth aspect of the present invention, there is provided a suction device for sucking dust adhered on a surface to be cleaned, an electric blower for generating a flow of air for sucking dust, and collecting dust sucked by the electric blower. A dust collector, a roller driven by a drive motor to move the cleaner body, and a power supply unit for supplying power to the electric blower and the drive motor, wherein the suction tool is rotated by a first rotating shaft. It is supported substantially horizontally with respect to the floor surface by a second rotating shaft on a movably supported support, and is configured to be vertically movable by the support. The surface to be cleaned has a convex step. By rotating the support upward about the first rotation axis, the suction tool can be moved upward, and the suction tool can easily climb over the step and perform cleaning. Easy handling and improved usability Rukoto can.

【0025】請求項10に記載の発明は、上記請求項9
に記載の発明において、吸込具の前面に、後方側が下が
る傾斜面を設けたものであり、被掃除面に凸状の段差が
あると、吸込具の前面に設けた傾斜面により吸込具を持
ち上げることができて、吸込具が段差を容易に乗り越え
て掃除をすることができ、取扱いを容易にして使い勝手
を向上することができる。
[0025] The invention according to claim 10 is the above-mentioned claim 9.
In the invention described in (1), the suction tool is provided with an inclined surface whose rear side is lowered on the front surface, and when the surface to be cleaned has a convex step, the suction tool is lifted by the inclined surface provided on the front surface of the suction tool. Therefore, the suction tool can easily go over the step to clean the device, and the handling can be facilitated and the usability can be improved.

【0026】[0026]

【実施例】以下、本発明の実施例について、図面を参照
しながら説明する。
Embodiments of the present invention will be described below with reference to the drawings.

【0027】(実施例1)図1に示すように、掃除機本
体1は、前方底部に2個の回転ブラシ2を有する吸込具
3を設け、回転ブラシ2により被掃除面上に付着した塵
埃を掻き上げるよう構成している。電動送風機4は、塵
埃を吸い込む空気の流れを発生させるもので、集塵部5
を介して吸込具3に連通し、電動送風機4により吸込具
2から吸い込んだ塵埃を集塵部5に集塵するよう構成し
ている。
(Embodiment 1) As shown in FIG. 1, a cleaner main body 1 is provided with a suction tool 3 having two rotating brushes 2 at a front bottom portion, and dust adhered to a surface to be cleaned by the rotating brushes 2. Is configured to be lifted. The electric blower 4 generates a flow of air that sucks dust.
, And is configured to collect the dust sucked from the suction tool 2 by the electric blower 4 into the dust collection unit 5.

【0028】電源部6は、充電可能な二次電池を複数収
納した電池パック7で構成し、電動送風機4と後述する
駆動モータ8に電源を供給する。測距センサ9は、光
(赤外線)を照射し家具などの障害物により反射してき
た反射光の照射光との間の角度で距離を測定するもの
で、図2に示すように、掃除機本体1の前方、側方、後
方にそれぞれ複数設けている。段差センサ10は、被掃
除面の段差を検知するもので、上述の測距センサ8と同
様に構成し、掃除機本体1のコーナー部に斜め下方に向
けて設けている。
The power supply section 6 comprises a battery pack 7 containing a plurality of rechargeable secondary batteries, and supplies power to the electric blower 4 and a drive motor 8 described later. The distance measuring sensor 9 measures a distance by irradiating light (infrared rays) and irradiating light of reflected light reflected by an obstacle such as furniture. As shown in FIG. A plurality is provided on each of the front, side, and rear sides of one. The level difference sensor 10 detects a level difference on the surface to be cleaned, has the same configuration as the distance measuring sensor 8 described above, and is provided obliquely downward at a corner of the cleaner main body 1.

【0029】ローラー11は、掃除機本体1を走行させ
るもので、掃除機本体1の左右に設け、駆動モータ8に
より左右独立して駆動される。駆動モータ8は、減速ギ
ヤ(図示せず)を内蔵したギヤードモータで構成してい
る。キャスター12は掃除機本体1を走行自在に支持し
ている。
The rollers 11 are for moving the cleaner main body 1 and are provided on the left and right sides of the cleaner main body 1 and are independently driven by the drive motor 8 on the left and right sides. The drive motor 8 is constituted by a geared motor having a built-in reduction gear (not shown). The casters 12 support the cleaner body 1 so that it can run freely.

【0030】操作部13は文字などを表示する機能と触
れるとオン、オフする機能を有するパネルスイッチを備
え、表示部14は発光ダイオード、ブザーなどの表示器
を備え、これら操作部13と表示部14は制御装置15
に接続しており、使用者がパネルスイッチを操作するこ
とにより、制御装置15により電動送風機4、駆動モー
タ8などの動作を制御して、電動送風機4により塵埃を
吸引しながら、駆動モータ8により駆動されるローラー
11により自動走行するように構成している。なお、1
6は電源スイッチである。
The operation unit 13 includes a panel switch having a function of displaying characters and the like, and has a function of turning on and off when touched. The display unit 14 includes a display such as a light emitting diode and a buzzer. 14 is a control device 15
When the user operates a panel switch, the control device 15 controls the operation of the electric blower 4, the drive motor 8, and the like. It is configured to run automatically by driven rollers 11. In addition, 1
Reference numeral 6 denotes a power switch.

【0031】掃除機本体1は、吸込具3、電動送風機
4、集塵部5、電源部6、駆動モータ8、測距センサ
9、段差センサ10、制御装置15などを内包し、図2
または図3に示すように、透明または半透明の外郭17
で覆っている。このため、測距センサ9および段差セン
サ10は外郭17を通して光(赤外線)の送受を行い、
段差センサ10は、掃除機本体1のコーナー部に斜め下
方に向けて設けているので、外郭17の一部を突出させ
た突出部18を通して光(赤外線)の送受を行う。
The cleaner body 1 includes a suction device 3, an electric blower 4, a dust collector 5, a power supply 6, a drive motor 8, a distance measuring sensor 9, a level difference sensor 10, a control device 15, and the like.
Alternatively, as shown in FIG.
It is covered with. For this reason, the distance measuring sensor 9 and the step sensor 10 transmit and receive light (infrared rays) through the outer shell 17, and
Since the level difference sensor 10 is provided obliquely downward at the corner of the cleaner body 1, light (infrared rays) is transmitted and received through a protruding portion 18 that protrudes a part of the outer shell 17.

【0032】ここで、これらのセンサは、光(赤外線)
の送受を行っており、一般に、熱源は赤外線を放射して
いるので、熱源も検知することができる。外郭17の下
方に、弾性体で構成したバンパー19を設けている。
Here, these sensors use light (infrared)
Since the heat source generally emits infrared rays, the heat source can also be detected. A bumper 19 made of an elastic body is provided below the outer shell 17.

【0033】把手20は、掃除機本体1の上面に引き出
し可能に設けて掃除機本体1を持ち運ぶもので、図4に
示すように、この把手20を引き出したとき、引き出し
たことを検知する検知手段(図示せず)により、停止手
段を構成する制御装置15は、回転ブラシ2、電動送風
機4、駆動モータ8の少なくとも1つを停止させるよう
構成している。
The handle 20 is provided on the upper surface of the cleaner main body 1 so as to be able to be pulled out, and carries the cleaner body 1, as shown in FIG. By means (not shown), the control device 15 constituting the stopping means is configured to stop at least one of the rotating brush 2, the electric blower 4, and the driving motor 8.

【0034】この把手20は、図5に示すように、掃除
機本体1を把手20により懸垂したとき、吸込具3がロ
ーラー11より上方になるように傾く位置に設け、この
状態から床面に設置するとき、吸込具3がローラー11
より後に床面に当接するようにしている。
As shown in FIG. 5, the handle 20 is provided at a position where the suction tool 3 is inclined above the roller 11 when the cleaner body 1 is suspended by the handle 20, and from this state, the handle is placed on the floor. When installing, the suction tool 3 is
It comes into contact with the floor later.

【0035】上記構成において動作を説明する。電源ス
イッチ16を入れて掃除機本体1を清掃領域の壁面にほ
ぼ平行に置き、操作部13のスタートボタンを押すと、
電動送風機4が作動し、駆動モータ8によりローラー1
1が駆動されて前方へ直進走行を開始する。走行中は、
電動送風機4により集塵作業を行ないながら、常に測距
センサ9により周囲の家具などの障害物までの距離を測
定するとともに、段差センサ10により被掃除面の段差
を確認している。
The operation of the above configuration will be described. When the power switch 16 is turned on, the cleaner body 1 is placed substantially parallel to the wall of the cleaning area, and the start button of the operation unit 13 is pressed,
The electric blower 4 is operated, and the roller 1 is driven by the drive motor 8.
1 is driven to start traveling straight ahead. While driving,
While performing dust collection work with the electric blower 4, the distance measurement sensor 9 always measures the distance to obstacles such as surrounding furniture, and the step sensor 10 confirms the step on the surface to be cleaned.

【0036】掃除機本体1から家具などの障害物までの
距離が所定の距離まで接近すると、一旦停止後、所定角
度だけ角度を振って方向変換して走行する。被掃除面に
段差がある場合も同様である。このように、家具などの
障害物や段差を回避しながら清掃領域を自動走行して掃
除を行う。
When the distance from the cleaner main body 1 to an obstacle such as furniture approaches a predetermined distance, the vehicle temporarily stops, then swings by a predetermined angle, changes direction, and travels. The same applies to the case where there is a step on the surface to be cleaned. In this way, cleaning is performed by automatically traveling in the cleaning area while avoiding obstacles such as furniture and steps.

【0037】つぎに、走行中に掃除を中止する場合など
に、把手20により掃除機本体1を持ち上げると、把手
20を引き出したとき、制御装置15は、回転ブラシ
2、電動送風機4、駆動モータ8の少なくとも1つを停
止させるよう構成しているので、把手20により掃除機
本体1を持ち上げると同時に停止させることができ、そ
のままの状態で持ち運びができ、簡単な操作で動作を停
止することができるとともに、容易に持ち運びをするこ
とができる。
Next, when the cleaner 20 is lifted by the handle 20 when the cleaning is stopped during running or the like, when the handle 20 is pulled out, the control device 15 controls the rotating brush 2, the electric blower 4, the drive motor 8 is stopped so that the cleaner body 1 can be lifted up by the handle 20 and stopped at the same time, the portable device can be carried as it is, and the operation can be stopped by a simple operation. It can be easily carried.

【0038】ここで、把手20を掃除機本体1の上面に
設けているので、走行中に掃除を中止する場合などに、
把手20により掃除機本体1を容易に持ち上げることが
でき、そのままの状態で持ち運びができ、取扱いを容易
にすることができる。
Here, since the handle 20 is provided on the upper surface of the cleaner main body 1, when the cleaning is stopped during traveling or the like,
The handle 20 allows the cleaner body 1 to be easily lifted, can be carried as it is, and can be easily handled.

【0039】また、把手20を掃除機本体1より引き出
し可能とし、把手20を引き出した状態で、回転ブラシ
2、電動送風機4、駆動モータ8の少なくとも1つを停
止させるようにしているので、把手20を掃除機本体1
に収納した状態では把手20は邪魔になることがなく、
走行中に掃除を中止する場合などに、把手20を引き出
すことで回転ブラシ2、電動送風機4、駆動モータ8の
少なくとも1つを停止させることができ、そのままの状
態で持ち運びができ、取扱いを容易にすることができ
る。
Further, the handle 20 can be pulled out from the cleaner body 1 and at least one of the rotating brush 2, the electric blower 4, and the drive motor 8 is stopped in a state where the handle 20 is pulled out. 20 for the vacuum cleaner body 1
The handle 20 does not get in the way when stored in
For example, when the cleaning is stopped during running, at least one of the rotating brush 2, the electric blower 4, and the driving motor 8 can be stopped by pulling out the handle 20, the portable device can be carried as it is, and the handling is easy. Can be

【0040】また、駆動モータ8は、減速ギヤを内蔵し
たギヤードモータで構成しているので、走行中に掃除を
中止する場合などに、駆動モータ8への通電を止めた状
態で、手動で掃除機本体1を押して移動させようとする
と、ギヤードモータに内蔵した減速ギヤが負荷となっ
て、大きな力を加えないと動かないが、把手20により
持ち運ぶことで、容易に移動させることができ、取扱い
を容易にすることができる。
Further, since the drive motor 8 is constituted by a geared motor having a built-in reduction gear, it is necessary to manually clean the drive motor 8 in a state where the power supply to the drive motor 8 is stopped when the cleaning is stopped during traveling. If the user tries to move the machine body 1 by pushing, the reduction gear built into the geared motor becomes a load and does not move unless a large force is applied. Can be facilitated.

【0041】なお、本実施例では、把手20を掃除機本
体1より引き出し可能としているが、図6に示すよう
に、把手20aを可倒式とし、図7に示すように、把手
20aを直立した状態で、回転ブラシ2、電動送風機
4、駆動モータ8の少なくとも1つを停止させるように
してもよく、この場合は、把手20aを倒した状態では
把手20aは邪魔になることがなく、走行中に掃除を中
止する場合などに、把手20aを直立することで回転ブ
ラシ2、電動送風機4、駆動モータ8の少なくとも1つ
を停止させることができ、そのままの状態で持ち運びが
でき、取扱いを容易にすることができる。
In this embodiment, the handle 20 can be pulled out from the cleaner body 1. However, as shown in FIG. 6, the handle 20a is of a retractable type, and as shown in FIG. 7, the handle 20a is upright. In this state, at least one of the rotary brush 2, the electric blower 4, and the drive motor 8 may be stopped. In this case, the handle 20a is not obstructed when the For example, when cleaning is to be stopped during cleaning, at least one of the rotating brush 2, the electric blower 4, and the drive motor 8 can be stopped by erecting the handle 20a, the portable device can be carried as it is, and handling is easy. Can be

【0042】(実施例2)図8および図9に示すよう
に、起毛布21は、掃除機本体1の下面に取り付けて、
ローラー11の走行痕跡を消去する痕跡消去機構を構成
するもので、ローラー11の後方に設け、起毛布22
は、同様に掃除機本体1の下面に取り付けて、ローラー
11の後方に設けたキャスター12の走行痕跡を消去す
る痕跡消去機構を構成するもので、キャスター12の後
方に設けている。起毛布22は、図10に示すように、
ばね23で下方に付勢している。他の構成は上記実施例
1と同じである。
(Embodiment 2) As shown in FIGS. 8 and 9, the brushed cloth 21 is attached to the lower surface of the cleaner main body 1, and
A trace erasing mechanism for erasing the running trace of the roller 11 is provided behind the roller 11,
Is similarly attached to the lower surface of the cleaner body 1 and constitutes a trace erasing mechanism for erasing the running trace of the caster 12 provided behind the roller 11, and is provided behind the caster 12. The raised cloth 22 is, as shown in FIG.
It is urged downward by a spring 23. Other configurations are the same as those in the first embodiment.

【0043】上記構成において動作を説明する。電動送
風機を作動しながら、駆動モータにより駆動されるロー
ラー11により走行させるとき、被掃除面が絨毯の場合
は、絨毯の表面にローラー11またはキャスター12の
走行痕跡がつくことがある。
The operation of the above configuration will be described. When running with the roller 11 driven by the drive motor while operating the electric blower, when the surface to be cleaned is a carpet, a running trace of the roller 11 or the caster 12 may be formed on the surface of the carpet.

【0044】この場合でも、ローラー11の後方に起毛
布21を設けているので、起毛布21によりローラー1
1の走行痕跡を消去することができ、また、キャスター
12の後方には、ばね23で付勢した起毛布22を設け
ることで、キャスター12の床面に対する荷重を軽減す
ることができ、キャスター12の走行痕跡を確実に消去
することができ、掃除後の美観を向上することができ
る。
Also in this case, since the raised cloth 21 is provided behind the roller 11, the raised cloth 21
1 can be eliminated, and a raised cloth 22 urged by a spring 23 can be provided behind the casters 12 to reduce the load on the floor of the casters 12. Can be reliably erased, and the aesthetic appearance after cleaning can be improved.

【0045】(実施例3)図11に示すように、吸込具
3は、第1の回動軸24により回動自在の支持した支持
体25に第2の回動軸26により床面に対して略水平に
支持し、支持体25により上下動自在に構成し、前面に
後方側が下がる傾斜面27を設けている。他の構成は上
記実施例1と同じである。
(Embodiment 3) As shown in FIG. 11, the suction tool 3 is supported on a support 25 which is rotatably supported by a first rotating shaft 24 and a second rotating shaft 26 with respect to the floor. , And is configured to be vertically movable by a support 25, and an inclined surface 27 whose rear side is lowered is provided on the front surface. Other configurations are the same as those in the first embodiment.

【0046】上記構成において動作を説明する。電動送
風機を作動しながら、駆動モータにより駆動されるロー
ラー11により走行させるとき、被掃除面に凸状の段差
があると、吸込具3はの前面に設けた傾斜面27により
被掃除面の凸状の段差に乗り上げ、同時に、支持体25
が第1の回動軸24を中心として上方に回動することに
より、吸込具3を上方向に移動させることができ、吸込
具3が段差を容易に乗り越えて掃除をすることができ、
取扱いを容易にして使い勝手を向上することができる。
The operation of the above configuration will be described. When running with the roller 11 driven by the drive motor while operating the electric blower, if there is a convex step on the surface to be cleaned, the suction tool 3 is raised by the inclined surface 27 provided on the front surface of the suction device. Rides on the steps of
By rotating upward about the first rotating shaft 24, the suction tool 3 can be moved upward, and the suction tool 3 can easily climb over the step and perform cleaning.
Handling can be facilitated and usability can be improved.

【0047】[0047]

【発明の効果】以上のように本発明によれば、走行中に
掃除を中止する場合などに、簡単な操作で動作を停止さ
せるとともに、容易に持ち運びができる使用性の高い自
走式掃除機を提供できる。
As described above, according to the present invention, a self-propelled vacuum cleaner having a high usability that can be stopped easily by a simple operation and easily carried when the cleaning is stopped during traveling or the like. Can be provided.

【0048】また、被掃除面が絨毯であっても、ローラ
ーやキャスターの走行痕跡が残らないようにし、掃除後
の美観を向上できる。
Further, even if the surface to be cleaned is a carpet, traces of running of rollers and casters are not left, so that the appearance after cleaning can be improved.

【0049】また、被掃除面に凸状の段差があっても、
段差を容易に乗り越えて掃除ができるようにし、取扱い
を容易にして使い勝手を向上できる。
Even if the surface to be cleaned has a convex step,
Cleaning can be performed by easily overstepping a step, and handling can be facilitated and usability can be improved.

【図面の簡単な説明】[Brief description of the drawings]

【図1】本発明の第1の実施例の自走式掃除機の縦断面
FIG. 1 is a longitudinal sectional view of a self-propelled cleaner according to a first embodiment of the present invention.

【図2】同自走式掃除機の外郭を透明にした状態の斜視
FIG. 2 is a perspective view of the self-propelled vacuum cleaner with a transparent outer shell.

【図3】同自走式掃除機の半外郭を透明にした状態の斜
視図
FIG. 3 is a perspective view of the self-propelled cleaner in a state where a half outer shell is transparent.

【図4】同自走式掃除機の把手を引き出した状態の斜視
FIG. 4 is a perspective view of the self-propelled cleaner in a state where a handle is pulled out.

【図5】同自走式掃除機の把手で懸垂した状態の斜視図FIG. 5 is a perspective view of the self-propelled cleaner in a state of being suspended by a handle.

【図6】同自走式掃除機の他の例の半外郭を透明にした
状態の斜視図
FIG. 6 is a perspective view of another example of the self-propelled cleaner in which a semi-outer shell is transparent.

【図7】同自走式掃除機の把手を直立した状態の斜視図FIG. 7 is a perspective view of the self-propelled vacuum cleaner in a state in which a handle is upright.

【図8】本発明の第2の実施例の自走式掃除機の下面図FIG. 8 is a bottom view of a self-propelled cleaner according to a second embodiment of the present invention.

【図9】同自走式掃除機の側面図FIG. 9 is a side view of the self-propelled vacuum cleaner.

【図10】同自走式掃除機の一部切欠した拡大側面図FIG. 10 is an enlarged side view of the self-propelled vacuum cleaner with a portion cut away.

【図11】本発明の第3の実施例の自走式掃除機の縦断
面図
FIG. 11 is a longitudinal sectional view of a self-propelled cleaner according to a third embodiment of the present invention.

【符号の説明】[Explanation of symbols]

1 掃除機本体 2 回転ブラシ 3 吸込具 4 電動送風機 5 集塵部 6 電源部 8 駆動モータ 11 ローラー 15 制御装置(停止手段) 20 把手 DESCRIPTION OF SYMBOLS 1 Vacuum cleaner main body 2 Rotary brush 3 Suction implement 4 Electric blower 5 Dust collection part 6 Power supply part 8 Drive motor 11 Roller 15 Control device (stop means) 20 Handle

───────────────────────────────────────────────────── フロントページの続き (72)発明者 尾原 直行 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 小立 徹 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 藪内 秀隆 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 香山 博之 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 保野 幹 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 (72)発明者 土師 雅代 大阪府門真市大字門真1006番地 松下電器 産業株式会社内 Fターム(参考) 3B006 GA00 KA01 3B061 AA05 AD05  ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Naoyuki Ohara 1006 Kazuma Kadoma, Osaka Pref. Matsushita Electric Industrial Co., Ltd. (72) Inventor Hidetaka Yabuuchi 1006 Kazuma Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. (72) Inventor Hiroyuki Kayama 1006 Oji Kadoma Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. No. 1006, Kadoma, Kadoma, Futoma, Matsushita Electric Industrial Co., Ltd.

Claims (10)

【特許請求の範囲】[Claims] 【請求項1】 被掃除面上に付着した塵埃を掻き上げる
回転ブラシを有する吸込具と、塵埃を吸い込む空気の流
れを発生させる電動送風機と、前記電動送風機により吸
い込んだ塵埃を集塵する集塵部と、駆動モータにより駆
動され掃除機本体を走行させるローラーと、前記電動送
風機、前記駆動モータに電源を供給する電源部と、前記
回転ブラシ、電動送風機、駆動モータのうち少なくとも
1つを停止させる停止手段と、掃除機本体運搬用の把手
を備え、前記停止手段は前記把手を操作することにより
停止させるよう構成した自走式掃除機。
1. A suction tool having a rotating brush for scraping dust adhered to a surface to be cleaned, an electric blower for generating a flow of air for sucking dust, and a dust collector for collecting dust sucked by the electric blower. Unit, a roller driven by a drive motor to run the cleaner body, a power supply unit for supplying power to the electric blower, the drive motor, and stopping at least one of the rotating brush, the electric blower, and the drive motor. A self-propelled cleaner comprising a stopping means and a handle for carrying the cleaner body, wherein the stopping means is stopped by operating the handle.
【請求項2】 把手を掃除機本体の上面に設けた請求項
1記載の自走式掃除機。
2. The self-propelled cleaner according to claim 1, wherein a handle is provided on an upper surface of the cleaner body.
【請求項3】 把手を掃除機本体より引き出し可能と
し、把手を引き出した状態で、回転ブラシ、電動送風
機、駆動モータの少なくとも1つを停止させるようにし
た請求項1または2記載の自走式掃除機。
3. The self-propelled type as claimed in claim 1, wherein the handle can be pulled out of the cleaner body, and at least one of the rotating brush, the electric blower and the drive motor is stopped when the handle is pulled out. Vacuum cleaner.
【請求項4】 把手を可倒式とし、把手を直立した状態
で、回転ブラシ、電動送風機、駆動モータの少なくとも
1つを停止させるようにした請求項1または2記載の自
走式掃除機。
4. The self-propelled cleaner according to claim 1, wherein the handle is foldable, and at least one of a rotary brush, an electric blower, and a drive motor is stopped in a state where the handle is upright.
【請求項5】 駆動モータは、減速ギヤを内蔵したギヤ
ードモータで構成した請求項1記載の自走式掃除機。
5. The self-propelled cleaner according to claim 1, wherein the drive motor is a geared motor having a built-in reduction gear.
【請求項6】 把手は、掃除機本体を懸垂した状態から
床面に設置するとき、吸込具がローラーより後に床面に
当接する位置に設けた請求項1〜4のいずれか1項に記
載の自走式掃除機。
6. The grip according to claim 1, wherein the handle is provided at a position where the suction tool comes into contact with the floor after the roller when the cleaner is placed on the floor from a suspended state. Self-propelled vacuum cleaner.
【請求項7】 被掃除面上に付着した塵埃を吸い込む吸
込具と、塵埃を吸い込む空気の流れを発生させる電動送
風機と、前記電動送風機により吸い込んだ塵埃を集塵す
る集塵部と、駆動モータにより駆動され掃除機本体を走
行させるローラーと、前記掃除機本体を走行自在に支持
するキャスターと、前記電動送風機、前記駆動モータに
電源を供給する電源部とを備え、前記ローラーまたはキ
ャスターの走行痕跡を消去する痕跡消去機構を起毛布で
構成した自走式掃除機。
7. A suction device for sucking dust attached to a surface to be cleaned, an electric blower for generating a flow of air for sucking dust, a dust collecting unit for collecting dust sucked by the electric blower, and a drive motor. A roller for driving the cleaner main body driven by the motor, a caster for supporting the cleaner main body movably, a power supply unit for supplying power to the electric blower and the drive motor, and a running trace of the roller or caster. Self-propelled vacuum cleaner with a brush erasing mechanism that erases traces.
【請求項8】 ローラーの後方にキャスターを設け、キ
ャスターの後方にばねで付勢した痕跡消去機構を設けた
請求項7記載の自走式掃除機。
8. The self-propelled cleaner according to claim 7, wherein a caster is provided behind the roller, and a trace erasing mechanism biased by a spring is provided behind the caster.
【請求項9】 被掃除面上に付着した塵埃を吸い込む吸
込具と、塵埃を吸い込む空気の流れを発生させる電動送
風機と、前記電動送風機により吸い込んだ塵埃を集塵す
る集塵部と、駆動モータにより駆動され掃除機本体を走
行させるローラーと、前記電動送風機、前記駆動モータ
に電源を供給する電源部とを備え、前記吸込具は、第1
の回動軸により回動自在の支持した支持体に第2の回動
軸により床面に対して略水平に支持し、前記支持体によ
り上下動自在に構成した自走式掃除機。
9. A suction device for sucking dust adhered to a surface to be cleaned, an electric blower for generating a flow of air for sucking dust, a dust collecting portion for collecting dust sucked by the electric blower, and a drive motor. And a power supply unit that supplies power to the electric blower and the drive motor, and the suction unit includes a first power supply unit that supplies power to the electric blower and the drive motor.
A self-propelled cleaner configured to be supported substantially horizontally with respect to the floor surface by a second rotating shaft on a supporting member rotatably supported by the rotating shaft, and to be vertically movable by the supporting member.
【請求項10】 吸込具の前面に、後方側が下がる傾斜
面を設けた請求項9記載の自走式掃除機。
10. The self-propelled cleaner according to claim 9, wherein an inclined surface whose rear side is lowered is provided on a front surface of the suction tool.
JP2001169243A 2001-06-05 2001-06-05 Self-propelled vacuum cleaner Expired - Fee Related JP4017840B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2001169243A JP4017840B2 (en) 2001-06-05 2001-06-05 Self-propelled vacuum cleaner

Publications (2)

Publication Number Publication Date
JP2002360471A true JP2002360471A (en) 2002-12-17
JP4017840B2 JP4017840B2 (en) 2007-12-05

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ID=19011344

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Country Link
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