JP2003070703A - Vacuum cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vacuum cleaner which is simply constituted and easily controlled. SOLUTION: A bag body 14 is attached along the outer circumferential face of a cover 11b of the main body case 11 set along a floor face. When the main body case is brought in contact with an obstacle, the bag body 14 is brought in contact with the obstacle and the obstacle pushes the bag body 14 causing to vary pressure of water 13 in the bag body 14. The control circuit detects the obstacle by detecting variation of pressure of the water 13 via a pressure sensor. An obstacle can be easily detected by only by detecting variation of pressure of the water 13 in the bag body 14 with simple constitution by the control circuit. Accordingly the constitution and control of the vacuum cleaner can be made simpler.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning device for cleaning while moving independently.

[0002]

2. Description of the Related Art Conventionally, as a cleaning device of this type, for example, a structure of an electric vacuum cleaner shown in FIG. 7 has been known.

That is, this cleaning device comprises a substantially hemispherical hollow main body case 1 which is the main body of the cleaner, and a plurality of infrared sensors 2 for detecting obstacles are provided on the front surface of the main body case 1 in the moving direction. It is attached in the radial direction along the circumferential direction. Further, on the bottom surface of the main body case 1, a pair of traveling wheels 3 as a moving means and a pair of swivel wheels 4 are rotatably attached, respectively, and a suction port opened facing the floor surface as a surface to be cleaned. 5 are provided. A motor (not shown) for rotating the traveling wheels 3 is attached to the traveling wheels 3. A control circuit (not shown) as a control means is attached in the main body case 1. When the infrared sensor 2 detects an obstacle, the control circuit causes the traveling wheel 3 to pass through the motor.
Is driven to rotate so that the main body case 1 is moved independently, that is, self-propelled to avoid the obstacle. Further, inside the main body case 1, a dust collection case 6 communicating with the suction port 5 and an electric blower 7 communicating with the dust collection case 6 are attached.

The cleaning device is self-propelled while avoiding the obstacle by rotating the traveling wheel 3 through the motor while detecting the obstacle through the infrared sensor 2 in the control circuit. The electric blower 7 sucks dust from the suction port 5 into the dust collection case 6 to clean the floor surface.

[0005]

However, the above-mentioned cleaning device has a problem that the structure becomes complicated for the following reasons. First, although the infrared sensor 2 is provided as an obstacle sensor, for example, the main body case 1
When the door located on the front side in the traveling direction is opened while the vehicle is traveling or a person appears on the front side in the traveling direction, the infrared sensor 2 cannot avoid the collision. A bumper having a cushioning function when a collision occurs is indispensable, and the cleaning device described above requires both the bumper and the infrared sensor 2.
Secondly, in the case where the infrared sensors 2 are arranged side by side on the outer peripheral surface of the main body case 1, the position of each infrared sensor 2 must be surely set in order for each infrared sensor 2 to reliably receive its own light emission. This means that the configuration for that is not easy.

The present invention has been made in view of the above points, and an object thereof is to provide a cleaning device having a simple structure.

[0007]

A cleaning device according to claim 1, wherein a cleaner body for cleaning dust on a surface to be cleaned, a moving means for moving the cleaner body, and an outer surface of the cleaner body. A bag body which is attached and contains a fluid therein, a pressure detecting means for detecting a change in the pressure of the fluid inside the bag body, and the moving means according to the detection of an obstacle by the pressure detection of the pressure detecting means. And a control means for controlling the independent movement of the cleaner body.

When the cleaner body comes into contact with the obstacle, the bag body comes into contact with the obstacle and the pressure of the fluid in the bag changes, and the control means changes the pressure of the fluid. The moving means controls the independent movement of the cleaner body in accordance with the detection of the obstacle by the pressure detection means. As a result, the cleaner body moves independently while easily detecting an obstacle only by detecting the change in the pressure of the fluid inside the bag, which has a relatively simple structure, by the control means. It will be easy.

A cleaning device according to a second aspect is the cleaning device according to the first aspect, wherein the bag body is divided along the outer periphery of the main body of the cleaner, and the pressure detecting means is provided in each of the divided bags. It detects changes in the pressure of the fluid in the body.

Since the bag body is divided along the outer periphery of the cleaner body, when the cleaner body contacts an obstacle, the bag body contacts the obstacle in each of the divided bag bodies. However, the pressure of the fluid inside changes. As a result, by detecting the changed pressure of the fluid with the pressure detecting means, it is possible to detect which part of the cleaner body is in contact with the obstacle. Detect.

According to a third aspect of the present invention, in the cleaning apparatus according to the first or second aspect, the cleaner body has a mounting recess on the outer peripheral surface thereof, and the bag body has a half or more in cross section in the mounting recess. It is fitted.

Since more than half of the bag body is fitted in the mounting recess on the outer peripheral surface of the cleaner body in cross section, the bag body is received by the cleaner body when it comes into contact with an obstacle. Therefore, the bag body is less likely to be damaged, and even if the cleaner body moves or contacts an obstacle, the bag body does not easily come off from the cleaner body.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION The configuration of an embodiment of the cleaning device of the present invention will be described below with reference to FIGS.

In FIG. 1, reference numeral 10 denotes an electric vacuum cleaner as a cleaning device. The electric vacuum cleaner 10 includes a substantially hemispherical hollow main body case 11 which is the main body of the cleaner. The main body case 11 is composed of a substantially circular plate-shaped bottom plate portion 11a and a substantially hemispherical hollow cover 11b that covers the bottom plate portion 11a,
The bottom plate portion 11a and the cover 11b are assembled with screws or the like not shown.

A mounting recess 12 having a substantially arcuate cross section is provided at the lower front side of the outer surface of the cover 11b in the traveling direction.
The outer side surface, that is, the outer peripheral surface is provided along the circumference of the outer peripheral surface in a plan view for approximately half the circumference, and the mounting recess 12 is provided with a bag body 14 in which a fluid 13 such as water is stored. There is. The bag body 14 has a substantially circular arc shape in cross section as viewed in cross section when it contains water, and has a mounting recess.
More than half fit in 12 in cross section. Bag 14 is a cover
When it is attached to the cover 11b, it slightly protrudes outward in the radial direction of the cover 11b from the cover 11b and also functions as a bumper.

Further, as shown in FIG. 2, in the vicinity of the outer edge of the bottom plate portion 11a, which is slightly rearward of the center in the traveling direction, a pair of traveling wheels 20 as moving means are arranged along the traveling direction of the bottom plate portion 11a. The traveling wheels 20 are coaxially attached to each other symmetrically with respect to the center line, and the traveling wheels 20 are rotatable in a direction perpendicular to the floor surface as the surface to be cleaned and along the traveling direction. These traveling wheels 20 have a part of their outer peripheral edges protruding downward from the main body case 11 in a state of being attached to the bottom plate portion 11a. In addition, the running wheels inside the body case 11
Motors 21 as driving means for rotationally driving the traveling wheels 20 are attached to inner surfaces of the respective wheels 20.

On the other hand, in the vicinity of the outer edge of the bottom plate portion 11a on the virtual center line along the traveling direction, a pair of turning wheels 22 having an outer diameter dimension smaller than that of the traveling wheel 20 are arranged along a direction substantially orthogonal to the traveling direction. The bottom plate portion 11a is attached symmetrically with respect to the virtual center line. These swivel wheels 22 have a substantially circular mounting base end portion 22a attached to the bottom plate portion 11a, and a substantially circular cylinder having an outer diameter dimension slightly smaller than that of the traveling wheel 20 vertically attached to the mounting base end portion 22a. And a wheel portion 22b having a shape. The turning wheel 22 is mounted on the bottom plate portion 11a, and the lower side of the outer peripheral edge of the wheel portion 22b is the running wheel 20.
Is located at substantially the same height as the lower side of the outer peripheral edge of the mounting base end 22a is rotatable along the floor surface, and the wheel portion 22b is rotatable perpendicular to the floor surface. Here, the vacuum cleaner 10 is
The running wheels 20 and the turning wheels 22 can run on the floor while maintaining a weight balance.

Further, the front turning wheel 2 in the bottom plate portion 11a
Between the traveling wheel 20 and the traveling wheel 20, there is provided a substantially rectangular suction port 23 having a longitudinal direction along a direction substantially orthogonal to the traveling direction of the main body case 11 and opening facing the floor surface. There is.

The suction port 23 in the main body case 11
A communication pipe 24, which is a tubular body bent at a substantially right angle toward the rear of the main body case 11, is connected to the upper side of the main body case 11, and the other end of the communication pipe 24 in the main body case 11 has a substantially rectangular shape. The hollow dust collection case 25 is communicated with. Further, on the rear side of the dust collection case 25 in the main body case 11, an electric blower 26 as a dust suction means that is driven by electric power and sucks dust from the suction port 23 is directed to the rear of the main body case 11 with a blowing direction.
It is airtightly attached to the dust collection case 25 via a dust collection filter (not shown).

Further, behind the electric blower 26 in the main body case 11, there is arranged a battery pack 30 having a substantially rectangular parallelepiped shape, which is a battery in which, for example, ten secondary batteries are arranged in parallel, and which serves as a power supply means for supplying power. It is set up. A control circuit 31 as a control means is provided on the front side of the main body case 11.
(Only shown in FIG. 4) is provided. And bag 14
A pressure sensor 32 as a pressure detecting means for detecting a change in the pressure of the water 13 in the bag body 14 is attached to the.
The pressure sensor 32 is electrically connected to the control circuit 31, and the control circuit 31 detects an obstacle based on a change in the pressure of the water 13 detected by the pressure sensor 32.

Next, each control of the above one embodiment will be described.

As shown in FIG. 4, the control circuit 31 controls the electric power supplied from the battery pack 30 to the motor 21, the electric blower 26, etc., and the driving of the motor 21 causes the traveling wheels 20 to rotate and drive. The case 11 is cleaned by driving the electric blower 26 while the floor surface is self-propelled, that is, self-propelled.

Further, when the main body case 11 contacts an obstacle, the bag body 14 contacts. Then, the bag body 14 is pushed by an obstacle at the time of contact, so that the pressure of the water 13 in the bag body 14 increases. Then, the pressure sensor 32 detects the change in the pressure of the water 13, and the water 13 detected by the pressure sensor 32 is detected.
If the change in the pressure is larger than the predetermined value, the control circuit 31 determines that the obstacle is the wall 40 as shown in FIG. 5, for example. In this case, the control circuit 31 controls the motor 21
The traveling wheels 20 are driven via the traveling direction to change the traveling direction to a direction substantially orthogonal to the traveling direction, for example, a direction along the wall 40, and the traveling speed is reduced to cause the main body case along the wall 40.
While 11 is self-propelled, the electric blower 26 is driven to increase the suction force. Further, when the pressure of the water 13 in the bag body 14 detected by the pressure sensor 32 is smaller than a predetermined magnitude, the control circuit 31 determines that the obstacle is not the wall 40, and the motor
The traveling wheels 20 are driven via 21 to avoid the main body case 11 from this obstacle.

Next, the operation of the above embodiment will be described.

First, the battery pack 30 supplies electric power to the control circuit 31 to operate the control circuit 31.

Next, in the control circuit 31, the battery pack
Electric power supplied from 30 to the motor 21 and the electric blower 26 is controlled to drive the motor 21 and the electric blower 26.

Then, the traveling wheels 20 are rotationally driven by the drive of the motor 21, and the main body case 11 is self-propelled.

On the other hand, when the electric blower 26 is driven, the suction port
Clean by sucking dust from the floor from 23.

Here, when the main body case 11 contacts an obstacle while self-propelled, the control circuit 31 judges the obstacle according to the change in the pressure of the water 13 in the bag body 14 detected by the pressure sensor 32. Then, according to the obstacle, the control circuit 31 avoids the main body case 11 from the obstacle or cleans the main body case 11 along the obstacle.

As described above, according to the above-described embodiment, when the main body case 11 comes into contact with an obstacle, the bag body 14 comes into contact with the obstacle and the pressure of the water 13 contained therein changes. ,
The obstacle can be easily detected only by detecting the change in the pressure of the water 13 with the pressure sensor 32. As a result, the main body case 11 is self-propelled while detecting an obstacle with the bag 14 having a relatively simple structure without using a relatively complicated structure and control using a plurality of infrared sensors, for example. The structure and control of the vacuum cleaner 10 can be simplified.

Further, since the bag body 14 has a substantially annular shape in cross section and is fitted into the mounting recess 12 of the main body case 11 more than half in cross section, even if the main body case 11 makes relatively strong contact with an obstacle, Since it is received by the case 11, it is possible to prevent the bag body 14 from being damaged and to prevent the bag body 14 from coming off from the main body case 11.

In addition, since the bag body 14 containing the water 13 and the like is flexible, even if the main body case 11 comes into contact with an obstacle or the like, the water 13 serves as a cushioning material, so that the obstacle or the like. Can be hard to damage.

When the main body case 11 comes into contact with the wall 40, the traveling speed of the main body case 11 is reduced and the electric blower 26
The wall that collects dust easily increases the suction force of
Can clean the floor near 40.

Furthermore, since the bag body 14 also serves as a bumper, a separate bumper is not required, and the electric vacuum cleaner 10 can be made simpler.

Further, since the change of the pressure of the water 13 is constant at any position of the bag body 14, it is only necessary to attach one pressure sensor 32 to the bag body 14 and all the radial direction of the cover 11b to which the bag body 14 is attached. The obstacle can be detected, so the configuration can be simplified.

In addition, in the above-mentioned one embodiment, the bag body 14
Although the water 13 is contained therein, if the pressure inside the bag 14 can be detected by the pressure sensor 32, for example, a gel, liquid or gas fluid may be contained therein.

Further, as shown in FIG. 6, the bag body 14 is divided along the outer periphery of the cover 11b, and the pressure sensor 32 is attached to each bag body 1.
May be connected to 4. At this time, for example, when the pressure sensor 32 detects a change in the pressure of the water 13 in the single bag body 14, the control circuit 31 determines that the obstacle is a relatively small obstacle. Furthermore, when the pressure sensor 32 detects a change in the pressure of the water 13 in the plurality of adjacent bag bodies 14, the control circuit 31 determines that the obstacle is a relatively large obstacle such as a wall. Alternatively, if the pressure sensor 32 detects a change in the pressure of the water 13 in the plurality of bags 14 that are separated from each other, the control circuit
31 determines that the obstacle is a corner of a wall. As a result, the position, shape, or the like of the obstacle with respect to the body case 11 can be detected more specifically, and the body case 11 can be more accurately self-propelled against the obstacle by the control circuit 31.

The bag body 14 may be attached along the outer surface of the main body case 11 over the entire circumference. Furthermore, if the bag body 14 has a substantially annular shape that does not easily come off from the main body case 11, it has a substantially arcuate shape in cross section. It doesn't have to be.

[0039]

According to the cleaning device of the first aspect, when the cleaner body comes into contact with an obstacle, the bag body comes into contact with the obstacle and the pressure of the fluid in the bag body changes, The control means controls the independent movement of the cleaner body by the moving means in accordance with the detection of the obstacle by detecting the change in the pressure of the fluid by the pressure detecting means. As a result, the cleaner body can move independently while easily detecting an obstacle only by detecting the change in the pressure of the fluid inside the bag, which has a relatively simple structure, by the control means. Easy to do.

According to the cleaning device of the second aspect, in addition to the effect of the cleaning device of the first aspect, since the bag body is divided along the outer periphery of the cleaner body, the cleaner body is obstructed. When it comes into contact with, the pressure of the fluid inside the divided bag body that contacts the obstacle changes. As a result, by detecting the changed pressure of the fluid with the pressure detecting means, it is possible to detect which part of the cleaner body is in contact with the obstacle. Can be detected.

According to the cleaning device of the third aspect, in addition to the effect of the cleaning device of the first or second aspect, more than half of the bag body is fitted in the mounting recess of the outer peripheral surface of the cleaner body in a sectional view. Since this bag body is received by the cleaner body when it comes into contact with an obstacle, this bag body is less likely to be damaged, and even if the cleaner body moves or contacts with an obstacle, etc. , This bag can be hard to come off from the cleaner body.

[Brief description of drawings]

FIG. 1 is a side sectional view showing an embodiment of a cleaning device of the present invention.

FIG. 2 is a bottom view showing the above cleaning device.

FIG. 3 is a perspective view showing the same cleaning device.

FIG. 4 is a block diagram showing control of the above cleaning device.

FIG. 5 is an explanatory view showing a cleaning state by the above cleaning device.

FIG. 6 is a perspective view showing another example of the cleaning device of the present invention.

FIG. 7 is a perspective view showing a conventional cleaning device.

[Explanation of symbols]

10 Electric vacuum cleaner as a cleaning device 11 Body case as the body of the vacuum cleaner 12 Mounting recess 14 bags 20 Running wheels as a means of transportation 31 Control circuit as control means 32 Pressure sensor as pressure detection means

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Toshihiko Nagashima             Toshiba Tec, 43 Horiyamashita, Hadano City, Kanagawa Prefecture             Hadano Factory Co., Ltd. (72) Inventor Makoto Tadokoro             Toshiba Tec, 43 Horiyamashita, Hadano City, Kanagawa Prefecture             Hadano Factory Co., Ltd. (72) Inventor Atsushi Otake             Toshiba Tec, 43 Horiyamashita, Hadano City, Kanagawa Prefecture             Hadano Factory Co., Ltd. (72) Inventor Chiyomi Sudo             Toshiba Tec, 43 Horiyamashita, Hadano City, Kanagawa Prefecture             Hadano Factory Co., Ltd. (72) Inventor Kensuke Sato             Toshiba Tec, 43 Horiyamashita, Hadano City, Kanagawa Prefecture             Hadano Factory Co., Ltd. (72) Inventor Shinzo Suzuki             Toshiba Tec, 43 Horiyamashita, Hadano City, Kanagawa Prefecture             Hadano Factory Co., Ltd. F-term (reference) 3B057 DA00

Claims (3)

[Claims] 1. A cleaner body for cleaning dust on a surface to be cleaned, moving means for moving the cleaner body, and a bag body attached to an outer surface of the cleaner body and containing a fluid therein. Pressure detection means for detecting a change in the pressure of the fluid in the bag body, and control means for controlling the independent movement of the cleaner body by the movement means in accordance with the detection of an obstacle by the pressure detection by the pressure detection means. A cleaning device comprising: 2. The bag body is divided along the outer periphery of the cleaner body, and the pressure detecting means detects a change in pressure of the fluid in each of the divided bag bodies. Claim 1
The described cleaning device. 3. The cleaning device according to claim 1, wherein the cleaner body has a mounting recess on the outer peripheral surface thereof, and the bag body is fitted in the mounting recess by half or more in cross section. apparatus.