JP2004350713A - Self-traveling cleaner - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-traveling cleaner with which a cleanable area is enlarged. <P>SOLUTION: This self-traveling cleaner is provided with a pair of driving wheels 4a and 4b, motors 3a and 3b for traveling which independently drive the drive wheels, a suction port body 2 facing a floor surface, a dust collecting case 6 for housing dust sucked from the suction port body, a suction unit 7 for sucking the dust, and a cleaner body having each of the elements. The suction port body is movable in a direction lateral to an advancing direction, an end part projected from the cleaner body is formed so as to be projected in a projecting direction, and a contact sensor 8 is stuck on the projected part. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vacuum cleaner, and more particularly to a self-propelled vacuum cleaner that performs cleaning while moving autonomously.
[0002]
[Prior art]
An example of a conventional self-propelled cleaner is described in Patent Document 1. In the self-propelled cleaner described in this publication, the cleaning unit is slidably slid outward on the side of the robot body in order to remove dust left along the walls and obstacles. A contact roller is provided at the leading end in the sliding direction. Further, a contact pressure detecting unit for detecting a force component applied to the contact roller is provided, and the contact roller is brought into contact with a wall surface or an obstacle to slide the driving wheel steering and cleaning unit based on the force detected by the contact pressure detecting unit. Controlling the quantity.
[Patent Document 1]
JP-A-6-4130
[Problems to be solved by the invention]
In the self-propelled cleaner described in Patent Document 1, in order to remove dust accumulated on the wall of a room, which has been difficult with a self-propelled vacuum cleaner, a cleaning unit is disposed outside a side surface of the robot body by a predetermined amount. The slide is in contact with the wall surface, so that dust along the wall surface and obstacles can be removed. However, in the self-propelled cleaner described in this publication, cleaning in a place where a cleaning unit such as a corner of a room is difficult to protrude from the robot body is not sufficiently considered. That is, although dust tends to accumulate significantly in the corners of the room as compared with other places in the room, it is difficult to clean the corners of the room, so manual cleaning is indispensable.
[0004]
SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned disadvantages of the related art, and an object of the present invention is to expand a cleaning area of a self-propelled cleaner. It is another object of the present invention to reliably remove dust in a room with a self-propelled cleaner.
[0005]
[Means for Solving the Problems]
A feature of the present invention that achieves the above object is that, in a self-propelled cleaner including a main body having a dust collecting case and a suction body that can be protruded or retracted, the protruding side end of the suction body is formed to protrude toward the protruding side. It was formed. And in this feature, it is good to round the corner formed by the convex part, and when the mouthpiece is pulled into the main body side, the mouthpiece is set so that the protruding end of the mouthpiece is inside the main body. It is good to arrange.
[0006]
In the above feature, the main body has a base plate, a dust collection case is mounted on the base plate, and a battery that supplies power to an electric motor that drives the main body above the dust collection case; It is preferable to attach a suction unit having a blower connected thereto.The dust collecting case is arranged on the front side in the traveling direction of the self-propelled cleaner relative to the suction body, and an opening for taking out the dust collecting case outside the main body is provided in the main body. And a shutter capable of covering the opening is preferably provided in the main body. Further, it is desirable to provide a sensor for detecting contact with a wall surface or an obstacle at the protruding end of the mouthpiece.
[0007]
Another feature of the present invention that achieves the above object is a self-propelled vacuum cleaner having a suction body that takes in dust, a dust collection case that stores dust taken in from the suction body, and a suction unit that takes in dust from the suction body. , The mouthpiece is movable in a direction perpendicular to the traveling direction, and the tip of the mouthpiece in the moving direction is convex when viewed from above. In this feature, the convex shape is a polygonal shape having at least three corners, and it is preferable to round each corner and attach a contact sensor on the convex shape. At least one groove may be provided on the lower surface of the tip. Further, in the individual features, it is preferable that the suction body and the dust collection case are arranged side by side at the bottom, and the dust collection case is arranged on the front side in the traveling direction with respect to the suction body.
[0008]
Still another feature of the present invention that achieves the above object is a suction body that captures dust, a dust collection case that stores dust captured from the suction body, a dust collection unit that captures dust from the suction body, a suction body and dust collection. In a self-propelled cleaner having a main body for storing a case and control means for controlling the movement of the main body, the mouthpiece is movable in a direction orthogonal to a traveling direction, and the control means is provided for moving from a corner along a wall to a corner. When moving to the section, the main body is controlled so as to reduce the distance between the main body and the wall.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a top sectional view of a self-propelled cleaner according to the present invention, and FIG. 2 is a side sectional view thereof. The external shape of the self-propelled cleaner main body 1 is substantially circular in a top view so that the self-propelled cleaner can rotate even if there is an obstacle around the self-propelled cleaner main body 1. A pair of drive wheels 4a and 4b are attached to a lower portion of the substantially circular self-propelled cleaner main body 1 and on both sides. The power generated by the traveling motors 3a, 3b is transmitted to the respective drive wheels 4a, 4b after being reduced by the reduction gears 5a, 5b. With this driving force, the self-propelled cleaner travels forward, backward or rotates.
[0010]
The upper side in FIG. 1 is the forward direction (traveling direction). A suction body 2 is provided on the rear side of the main body 1 of the self-propelled vacuum cleaner, facing the floor surface. The suction body 2 is movable in a direction perpendicular to the traveling direction of the self-propelled cleaner. The mouthpiece 2 is attached to a base plate 1a which is the bottom surface of the self-propelled cleaner main body 1. A dust collecting case 6 is arranged on the base plate 1a adjacent to the front of the mouthpiece 2. A suction unit 7 whose bottom is open to the dust collection case 6 is attached to the front upper surface of the dust collection case 6. The suction unit 7 has a blower. The blower sucks air around the suction body 2 to take in dust from the suction body 2 and collects the dust in the dust collection case 6.
[0011]
Above the dust collecting case 6 and behind the suction unit, a battery for supplying power to the traveling motors 3a and 3b for driving the left and right driving wheels 4a and 4b and a blower for the suction unit 7 is provided with a battery replacement door. 15 is held. A shutter 14 for taking out the dust collection unit 6 is attached to a portion of the main body 1 located in front of the dust collection unit 6. The shutter 14 is closed while the self-propelled cleaner is running.
[0012]
In FIG. 1, the mouthpiece 2 is movable so as to protrude from the right side of the main body 1 to the outside. However, the mouthpiece 2 may protrude leftward or may protrude in both left and right directions. The mouthpiece 2 is driven by driving means such as a ball screw, a rack and pinion, a timing belt, and a wire. The suction body 2 is slidable relative to the dust collecting case 6. An opening is provided between both the suction body 2 and the dust collection case 6 so that the air sucked from the suction body 2 is guided to the dust collection case 6 without leaking even if the suction body 2 moves left and right. And means for sealing.
[0013]
The protruding end of the mouthpiece 2 is formed in a convex shape when viewed from above. The convex shape is, for example, a polygonal shape having at least three or more corners when viewed from above. In the embodiment shown in FIG. 1, the mouthpiece 2 has a front end A and a rear end B, and a triangular shape having a vertex at a point C which is an intermediate portion between A and B in the front-rear direction and protrudes outward. The vertex C is located behind the midpoint of the line segment L connecting the vertices A and B in the traveling direction. When the position of the vertex C is selected in this way, it is possible to adapt to the corner shape of the room without making the tip of the mouthpiece 2 an extremely convex shape.
[0014]
A cleaning auxiliary device such as a rotating brush (not shown) is incorporated in the mouthpiece 2. If the mouthpiece 2 has an extremely convex shape, it will be difficult to incorporate these cleaning assisting devices. Therefore, the vertex C is selected to be behind the middle point of the line segment L in the traveling direction. A contact sensor 8 is provided at the protruding end of the mouthpiece 2. The contact sensor 8 detects a wall or an obstacle in the room and prevents the mouthpiece 2 from being pressed against the corner with excessive force when the mouthpiece 2 is hit against a corner of the room. In addition, when the tip of the mouthpiece 2 is protruded and travels along a wall or the like, it is also used to detect that a foreign object collides with the mouthpiece 2 and to retract the mouthpiece 2. As the contact sensor, a pressure-sensitive rubber or a multi-stage contact switch formed in a thin strip shape is used.
[0015]
FIG. 3 shows details of the tip of the mouthpiece 2. FIG. 3 is a partial perspective view when the mouthpiece 2 is turned upside down. A concave portion is formed in the mouthpiece 2, and a rotating brush 9 is held inside the concave portion. A strip-shaped contact sensor 8 is attached to a tip end of the mouthpiece 2 on the protruding side at a middle portion in the height direction of the mouthpiece 2. The contact sensor 8 is provided along the convex shape of the tip, and is bent at a corner. As a result, a malfunction is likely to occur due to bending. In order to avoid this problem, each corner of the mouthpiece 2 is rounded 10a, 10b, 10c. The contact sensor 8 is stuck to the roundness to stabilize the operation of the contact sensor 8.
[0016]
In addition, a groove 11 was formed on the front end portion of the mouthpiece 2, which faced the floor surface. As a result, the flow velocity of the suction air near the front end is increased, and the suction performance at the corner of the room is improved. Although the shape of the groove 11 is linear in FIG. 3, when suction is performed from a wider floor range, it is preferable that the groove 11 has a fan shape with a wide front end and a narrow inside. When a particularly high flow rate is required, it is preferable to form an inverted fan shape having a narrow distal end and a wide internal side. The number of grooves 11 is not limited to one. If a plurality of grooves 11, 11,... Are formed and opened at different portions, a wider floor area can be sucked.
[0017]
The operation of the mouthpiece 2 in the present embodiment configured as described above will be described with reference to FIGS. FIG. 4 is a top cross-sectional view of the self-propelled cleaner, and illustrates a state in which the mouthpiece 2 is retracted and stored in the self-propelled cleaner main body 1. When the mouthpiece 2 is pulled into the main body 1 from the state shown in FIG. 1, the mouthpiece 2 moves to a position where it is completely accommodated in the main body 1. At this time, since the tip of the mouthpiece 2 is formed in conformity with the shape of the self-propelled cleaner main body 1, there is no portion protruding from the main body 1, and the main body 1 is moved or stored in a substantially circular main body 1 shape. it can.
[0018]
With reference to FIGS. 5 to 8, a description will be given of a situation in which the interior of a room is cleaned using the self-propelled cleaner shown in this embodiment. FIG. 5 is a view showing a state of cleaning a corner of a room formed at a substantially right angle, and the work proceeds in the order of FIGS. FIG. 5A shows a state in which the main body 1 of the self-propelled cleaner has reached a corner formed by the wall 12b and the wall 12a while traveling along the wall 12b. ing. The tip end of the mouthpiece 2 having a convex shape protruding from the main body 1 is in contact with the wall 12b or runs near the wall 12b with a slight interval. When the main body 1 of the self-propelled cleaner reaches the corner, the main body 1 starts to turn left to clean the corner (FIG. 9B). As the main body 1 rotates to the left, the tip of the mouthpiece 2 having the convex shape temporarily moves to the inside of the main body 1 so as to approach the wall 12b.
[0019]
When the left rotation operation of the main body 1 further proceeds, the mouthpiece 2 once drawn into the main body 1 starts to protrude outward from the main body side. Then, as shown in FIG. 5 (C), the mouthpiece 2 reaches the corner where the movement is substantially maximum. At this time, the maximum length portion (corresponding to the point C in FIG. 1) of the protruding tip portion abuts on the corner.
[0020]
When the tip having the convex shape reaches the inside of the corner, the extra space that can be used for rotating the main body 1 is small. Therefore, even if the main body 1 rotates, there is a possibility that the protrusion or retraction of the mouthpiece 2 is not synchronized. If such a synchronous movement is deviated, the rotation of the main body 1 is temporarily stopped, the mouthpiece 2 is extended to the back of the corner, and then the suction body 2 is drawn back into the main body 1 to rotate the main body 1 again. It is better to When the main body 1 and the mouthpiece 2 are linked, the time required for cleaning can be reduced by continuously projecting or retracting the mouthpiece 2 while rotating the main body 1. When the suction at the corner is successfully completed, the vehicle travels along the wall 12a. At this time, the main body is rotated until the mouthpiece 2 is substantially perpendicular to the wall (FIG. 5D). Thereafter, the mode is shifted to a mode for cleaning the side of the wall while traveling along the wall 12a.
[0021]
In the above-described cleaning operation, in order to reliably clean the corner of the room, the mouthpiece 2 must reach the inside of the corner. The operation stroke, which is the amount of left and right movement of the mouthpiece 2, is limited. If the body 1 of the self-propelled cleaner is too far away from the wall 12b, the suction stroke may not reach the wall 12b even if the mouthpiece 2 is moved to the full stroke. Absent. Therefore, when cleaning the corner, the main body 1 of the self-propelled cleaner and the wall 12b are brought close to each other. When cleaning the wall, the distance between the main body 1 and the wall 12b is increased so that the main body 1 of the self-propelled cleaner does not accidentally collide with the wall 12b, and the suction body 2 is protruded and travels by that much. That is, the proper spacing between the main body 1 and the walls 12a and 12b differs between when cleaning the corner and when cleaning the corner. Therefore, when shifting from the edge cleaning to the corner cleaning, in order to change the distance between the main body 1 and the walls 12a and 12b, when approaching the corner, the main body 1 is moved toward the wall.
[0022]
FIG. 6 shows an example of the width running. As shown in FIG. 7A, when the self-propelled cleaner is cleaning the wall along the wall 12b, the self-propelled cleaner approaches the corner of the room and attempts to bring the main body 1 closer to the wall 12b. The main body 1 is located at a distance D1 from the wall surface of the wall 12b. The mouthpiece 2 is moved such that the protruding tip portion is in contact with the wall 12b or at a slight interval.
[0023]
FIG. 6B shows a state in which the main body 1 of the self-propelled cleaner continues to advance and reaches the wall 12a. A front wall distance measurement sensor (not shown) is attached to the front surface of the main body 1. When the distance measuring sensor detects the wall 12a ahead and the detected distance to the wall 12a becomes equal to or less than a predetermined value, the control means (not shown) reduces the distance between the main body 1 and the wall 12b to D2 shorter than D1. Change to In the control for bringing the main body 1 closer to the wall 12b, instead of using the front wall distance measurement sensor, the map of the space to be cleaned stored in the storage means provided in the control means and the rotational speeds of the traveling motors 3a and 3b are integrated. It is also possible to use the moving distance of the self-propelled cleaner obtained in this way.
[0024]
FIG. 7 shows another example of the width running of the self-propelled cleaner. This embodiment is different from the embodiment shown in FIG. 6 in that instead of using a precise front wall distance measurement sensor, a front wall proximity sensor that can detect only that the main body 1 approaches the wall 12a is used. is there. FIG. 7A shows a state where the wall is being cleaned along the wall 12b. The main body 1 is located on the right side of the wall 12b surface at a distance D1. The main body 1 keeps moving forward while keeping the distance to the wall 12b at a constant value D1.
[0025]
When the main body 1 approaches the wall 12a surface, the front wall proximity sensor detects the wall 12a (FIG. 7B). In this state, since it is difficult to run the main body 1 to the side of the wall 12b, the main body 1 is temporarily retracted by a predetermined amount along the wall 12b. When the main body 1 is retracted from the wall 12a by a predetermined amount, the main body 1 can be moved closer to the wall 12b. The state of starting the width shifting is shown in FIG. While the main body 1 is advanced, control means (not shown) moves the main body 1 closer to the wall 12b. Thereby, the distance to the wall 12b of the main body 1 is changed from D1 to D2.
[0026]
When the main body 1 of the self-propelled cleaner continues to move forward while maintaining the distance to the wall 12b at D2, the main body 1 approaches the wall 12a as shown in FIG. 7D. When the distance to the wall 12a is equal to or less than a predetermined distance, the mode is shifted to the corner cleaning mode. This corner cleaning mode is the same as the part cleaning mode described with reference to FIG. According to the present embodiment, an extra operation of reciprocating the main body 1 of the self-propelled cleaner back and forth in the vicinity of the corner is added.
[0027]
FIG. 8 shows still another example of the width approaching travel. In this embodiment, a front wall proximity sensor is used as in the embodiment shown in FIG. As in FIG. 7A, in FIG. 8A, the edge of the wall is cleaned along the wall 12b. FIG. 3B shows a state in which the front wall proximity sensor detects that the main body 1 of the self-propelled cleaner continues to move forward and approaches the vicinity of the wall 12b. In this embodiment, unlike the embodiment shown in FIG. 7, the main body 1 is rotated clockwise by about 90 degrees from this state.
[0028]
When the main body 1 is rotated rightward by 90 degrees in the spot position (FIG. 8C), the main body 1 is advanced. The main body 1 advances toward the wall 12b, and stops when a front wall proximity sensor (not shown) detects the wall 12b. When the front wall proximity sensor detects the wall 12b (FIG. 8D), the main body 1 is rotated counterclockwise by about 90 degrees (FIG. 8E).
[0029]
After the main body 1 rotates left, the distance between the main body 1 and the wall 12b can be set to D2. Since the main body is approaching the wall 12a, the mode is shifted to the corner cleaning mode shown in FIG. According to the present embodiment, as in the embodiment shown in FIG. 7, it is possible to realize the width approaching traveling using only an inexpensive proximity sensor. However, when rotating the main body 1 rightward on the way, the main body 1 is rotated by 90 degrees when the walls 12a and 12b are at right angles. If the angle between the walls 12a and 12b is other than a right angle, a sensor for detecting the distance of the main body 1 from the wall is provided on the left side of the main body 1, and in the operation shown in FIG. The main body 1 is rotated by a predetermined angle using the signal of the provided sensor. By doing so, the parallelism between the traveling direction of the main body 1 and the wall 12a can be ensured.
[0030]
With reference to FIG. 2, a state of processing of dust sucked from the mouthpiece 2 will be described. The dust taken in from the suction body 2 moves horizontally to the dust collection case 6 arranged side by side with the suction body 2 irrespective of the method of moving upward against the gravity often used in the conventional self-propelled cleaner. I do. Since a battery is used as the drive source of the self-propelled vacuum cleaner, it is difficult to increase the suction power of the suction unit 7. However, since the dust collection case 6 is arranged horizontally with the suction body 2, the pebbles are small. Even relatively heavy dust can be cleaned with a small suction power.
[0031]
In addition, in order to prevent the mouthpiece 2 from colliding with an obstacle at the time of running against a wall in which the mouthpiece 2 is protruded to the side, the mouthpiece 2 is disposed behind the center of the main body 1 (left side in FIG. 2). . When the mouthpiece 2 is arranged in this manner, as long as the mouthpiece 2 does not protrude from the side end of the main body 1 (frontward in FIG. 2), the mouthpiece 2 is protected by the main body 1 and does not collide with an obstacle.
[0032]
In order to dispose of the dust collected in the dust collecting case 6, the dust collecting case 6 is detached from the main body without lifting the main body 1. That is, a shutter 14 that slides in the horizontal direction is provided in the dust collection case 6, and an opening is provided in the main body 1 on the back surface of the shutter 14. When the dust collecting case 6 is provided behind the mouthpiece 2 (left side in FIG. 2), the opening is necessarily the rear part of the main body 1. In this case, there is no possibility that the opening contacts an obstacle, and the shutter 14 that covers the opening is unnecessary. However, since the dust collection case 6 is limited to the space between the suction body 2 and the rear end of the main body 1, the capacity of the dust collection case 6 is reduced.
[0033]
On the other hand, when the dust collecting case 6 is arranged on the traveling direction side (right side in FIG. 2) of the suction body 2 as shown in FIG. 2, the capacity of the dust collecting case 6 can be increased. In this case, a shutter 14 is provided at an opening for taking out the dust collecting case 6 to avoid collision with an obstacle when the main body 1 runs. The shutter 14 is opened only when the dust collecting case 6 is taken out. Since the main body 1 is provided with a contact detecting means (not shown), contact with an obstacle can be detected at any time.
[0034]
If the dust collecting case 6 and the battery 13 are arranged as shown in FIG. 2, the replacement of the battery 13 is easy. The battery 13 is a rechargeable battery, but deteriorates as charging and discharging are repeated, and its capacity decreases. Therefore, it must be replaced every predetermined period. An opening / closing door 15 used when replacing the battery is provided between the battery 13 and the dust collecting case 6. This configuration is possible because the battery 13 is disposed above the dust collection case 6. Thereby, unless the dust collecting case 6 is removed, the battery replacement opening / closing door 15 is not exposed to the outside.
[0035]
Another example of the mouthpiece 2 is shown in FIGS. 9 and 10. 9 and 10 are top views of the mouthpieces 2a and 2b. Each of the mouthpieces 2a and 2b shown in these examples has a convex shape. In the embodiment shown in FIG. 9, the convex portion has an acute vertex C1 smaller than 90 degrees. The left and right lengths of one surface on the front side or the rear side of the mouthpiece 2 are made longer than the other. In FIG. 3, the rear surface is longer than the front surface. With the end of the rear surface as the vertex C1, the angle at the vertex C1 is smaller than 90 degrees. In this embodiment, the tip is sharpened more than in the embodiment shown in FIG. 1, so that the shape of the room to be cleaned is complicated, and even when the corner of the room is at an angle smaller than 90 degrees, the suction port Since the body 2 can enter the corner, the area left without cleaning is reduced.
[0036]
FIG. 10 shows an example in which the corners of the vertices A and C1 in the embodiment shown in FIG. 9 are rounded. An arc Ar contacting at points D and E is connected to two line segments L1 and L2 forming a corner C1 of the mouthpiece 2a shown in FIG. 9 to form a mouthpiece 2b. In the present embodiment, one arc is used, but it goes without saying that a plurality of arcs may be used. In any case, the shape of the protrusion of the mouthpiece 2 is substantially convex. The mouthpiece 2 of this embodiment can reduce the degree of injury to the human body when it comes into contact with the human body as compared with the mouthpiece shown in FIG. Damage can be reduced.
[0037]
According to each of the above embodiments, since the tip end of the mouthpiece has a convex shape, it is possible to clean all the corners where dust easily accumulates. Further, since the convex corners are rounded, the contact sensor attached to the mouthpiece can be prevented from being excessively bent, and the detection operation of the contact sensor is stabilized. Furthermore, since the groove is provided on the surface of the tip of the mouthpiece facing the floor surface, the flow rate of the suction air near the tip can be increased, and the suction performance of the self-propelled cleaner is improved. When the self-propelled vacuum cleaner reaches the corner of the room, the main body is brought closer to the wall, so that the main body does not come into contact with the wall when traveling normally at the wall, and the suction body is secure at the corner of the room To reach the back.
[0038]
【The invention's effect】
According to the present invention, the shape of the protruding end of the suction body that can protrude or retract from the main body of the self-propelled cleaner is made convex, so that the unsucked area is reduced in cleaning by the self-propelled cleaner. Thereby, the cleaning area | region by a self-propelled (vacuum) cleaner can be expanded.
[Brief description of the drawings]
FIG. 1 is a top sectional view of one embodiment of a self-propelled cleaner according to the present invention.
FIG. 2 is a side sectional view of the self-propelled cleaner shown in FIG.
FIG. 3 is a perspective view of a mouthpiece used in the self-propelled cleaner shown in FIG.
FIG. 4 is a top sectional view of the self-propelled cleaner shown in FIG. 1, illustrating the operation thereof.
FIG. 5 is a diagram illustrating a cleaning operation of the self-propelled cleaner.
FIG. 6 is a diagram illustrating a cleaning operation of the self-propelled cleaner.
FIG. 7 is a diagram illustrating a cleaning operation of the self-propelled cleaner.
FIG. 8 is a diagram illustrating a cleaning operation of the self-propelled cleaner.
FIG. 9 is a top view of another embodiment of the mouthpiece.
FIG. 10 is a top view of still another embodiment of the mouthpiece.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Body, 1a ... Base plate, 2 ... Suction body, 3a, 3b ... Running motor, 4, 4a, 4b ... Drive wheel, 5a, 5b ... Reduction gear, 6 ... Dust collection case, 7 ... Suction unit, 8 ... contact sensor, 9 ... rotating brush, 10a-10c ... rounding treatment, 11 ... tip suction groove, 12a, 12b ... wall, 13 ... battery, 14 ... shutter, 15 ... battery replacement opening and closing door.

Claims (11)

In a self-propelled cleaner including a main body having a dust collecting case and a suction body that can be protruded or retracted, a self-propelled cleaner characterized in that a protruding side end of the suction body is formed to protrude to a protruding side. Vacuum cleaner. The self-propelled cleaner according to claim 1, wherein a corner formed by the convex portion is rounded. The self-propelled cleaner according to claim 1, wherein the suction body is arranged such that a protruding end of the suction body is inside the main body when the suction body is pulled into the main body. The main body has a base plate, a dust collecting case is placed on the base plate, a battery for supplying power to an electric motor driving the main body above the dust collecting case, and a blower connected to the dust collecting unit. The self-propelled vacuum cleaner according to claim 1, wherein a suction unit having the suction unit is provided. The dust collecting case is arranged on the front side of the suction body in the traveling direction of the self-propelled cleaner, and an opening for taking the dust collecting case out of the main body is provided in the main body, and the opening can be covered. The self-propelled cleaner according to claim 1, wherein a shutter is provided on the main body. The self-propelled cleaner according to claim 2, wherein a sensor for detecting contact with a wall surface or an obstacle is provided at a protruding end of the mouthpiece. In a self-propelled vacuum cleaner having a suction body that takes in dust, a dust collection case that stores dust taken in from the suction body, and a suction unit that takes in dust from the suction body, a direction in which the suction body is orthogonal to a traveling direction. A self-propelled vacuum cleaner characterized in that the tip of the suction body in the moving direction is convex when viewed from above. The self-propelled vehicle according to claim 7, wherein the convex shape is a polygonal shape having at least three or more corners, each corner is rounded, and a contact sensor is attached on the convex shape. Type vacuum cleaner. The self-propelled cleaner according to claim 7, wherein at least one groove is provided on a lower surface of a front end portion of the suction body in a moving direction. A suction body for taking in dust, a dust collection case for storing dust taken in from the suction body, a dust collection means for taking in dust from the suction body, a main body for storing the suction body and the dust collection case, and movement of the main body The suction unit is movable in a direction orthogonal to the traveling direction, and when the control unit moves from traveling along a wall to traveling at a corner, the main body is controlled by the main body. A self-propelled cleaner characterized by controlling the main body so as to reduce the distance between the body and the wall. In a self-propelled vacuum cleaner having a suction body that takes in dust, a dust collection case that stores dust taken in from the suction body, and a suction unit that takes in dust from the suction body, a direction in which the suction body is orthogonal to a traveling direction. A self-propelled vacuum cleaner characterized in that the suction body and the dust collection case are arranged side by side at the bottom, and the dust collection case is arranged forward of the suction body in the traveling direction.

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