JP2017140350A - Autonomous travel-type vacuum cleaner, auxiliary brush for the same and vacuum cleaner system including autonomous travel-type vacuum cleaner - Google Patents

Autonomous travel-type vacuum cleaner, auxiliary brush for the same and vacuum cleaner system including autonomous travel-type vacuum cleaner Download PDF

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Publication number
JP2017140350A
JP2017140350A JP2016047749A JP2016047749A JP2017140350A JP 2017140350 A JP2017140350 A JP 2017140350A JP 2016047749 A JP2016047749 A JP 2016047749A JP 2016047749 A JP2016047749 A JP 2016047749A JP 2017140350 A JP2017140350 A JP 2017140350A
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Japan
Prior art keywords
vacuum cleaner
body
distance
bristle bundle
sensor
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Pending
Application number
JP2016047749A
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Japanese (ja)
Inventor
理基 古賀
Michimoto Koga
理基 古賀
元暢 重藤
Motonobu Shigefuji
元暢 重藤
千寿代 松本
Chizuyo Matsumoto
千寿代 松本
福嶋 雅一
Masakazu Fukushima
雅一 福嶋
齊藤 弘幸
Hiroyuki Saito
弘幸 齊藤
清隆 森
Kiyotaka Mori
清隆 森
恩田 雅一
Masakazu Onda
雅一 恩田
小寺 定基
Sadamoto Kodera
定基 小寺
吉川 達夫
Tatsuo Yoshikawa
達夫 吉川
渡部 健二
Kenji Watabe
健二 渡部
秀治 小川原
Hideji Ogawara
秀治 小川原
Original Assignee
パナソニックIpマネジメント株式会社
Panasonic Ip Management Corp
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Publication date
Priority to JP2016020848 priority Critical
Priority to JP2016020848 priority
Application filed by パナソニックIpマネジメント株式会社, Panasonic Ip Management Corp filed Critical パナソニックIpマネジメント株式会社
Priority claimed from PCT/JP2016/004565 external-priority patent/WO2017134705A1/en
Publication of JP2017140350A publication Critical patent/JP2017140350A/en
Application status is Pending legal-status Critical

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    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • AHUMAN NECESSITIES
    • A46BRUSHWARE
    • A46BBRUSHES
    • A46B1/00Brush bodies and bristles moulded as a unit
    • AHUMAN NECESSITIES
    • A46BRUSHWARE
    • A46BBRUSHES
    • A46B13/00Brushes with driven brush bodies or carriers
    • A46B13/008Disc-shaped brush bodies
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02Nozzles
    • A47L9/04Nozzles with driven brushes or agitators
    • A47L9/0461Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466Rotating tools
    • A47L9/0472Discs
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02Nozzles
    • A47L9/04Nozzles with driven brushes or agitators
    • A47L9/0461Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466Rotating tools
    • A47L9/0477Rolls
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/106Dust removal
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1409Rigid filtering receptacles
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805Parameters or conditions being sensed
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805Parameters or conditions being sensed
    • A47L9/281Parameters or conditions being sensed the amount or condition of incoming dirt or dust
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous travel-type vacuum cleaner that can efficiently gather up trash, and to provide an auxiliary brush for the same.SOLUTION: The vacuum cleaner 10 includes a body 20 and the auxiliary brush 100. The auxiliary brush 100 is attached to the body 20 so as to be capable of gathering trash into a suction port 20B provided at a bottom face 20A of the body 20, and includes a short length bristles bundle 141 and a long length bristles bundle 142. The short length bristles bundle 141 is a bundle of short bristles. The long length bristles bundle 142 is a bundle of bristles that is longer than the bristles of the short length bristles bundle 141.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an autonomous traveling cleaner that cleans the floor surface of an area to be cleaned by traveling autonomously, an auxiliary brush thereof, and a cleaner system including the autonomous traveling cleaner.

  A conventional autonomously traveling vacuum cleaner includes a body provided with a dust suction port on the bottom surface, a main brush disposed on the suction port, and an auxiliary brush provided on the bottom surface of the body. As the auxiliary brush rotates, dust existing around the body is collected below the body and sucked into the body from the suction port. Note that Patent Document 1 is an example of a document that discloses a conventional autonomously traveling vacuum cleaner.

JP 2010-188205 A

  It is preferable that the bristle bundle of the auxiliary brush has a length that reaches the top of the corner when the autonomous traveling cleaner cleans the corner of the area to be cleaned. When the length of the bristle bundle is determined so that this requirement is satisfied, for example, when the autonomously traveling vacuum cleaner travels along the wall of the room, the bristle bundle comes into contact with the wall and greatly bends to the original state. When returning, the garbage may be thrown away. On the other hand, when the length of the bristle bundle is determined so that the amount of bending of the bristle bundle is as small as possible, the above-mentioned requirement regarding the corner cleaning is not satisfied.

  One form of the auxiliary brush of the autonomous traveling vacuum cleaner according to the present invention is an auxiliary brush attached to the body so that dust can be collected in the suction port provided on the bottom surface of the body constituting the autonomous traveling cleaner. And a short bristle bundle that is a bundle of short bristle and a long bristle bundle that is a bundle of bristle longer than the short bristle bundle.

  The autonomously traveling cleaner and its auxiliary brush can efficiently collect dust around the body.

The top view of the autonomous running type vacuum cleaner of embodiment. The bottom view of the autonomous running type vacuum cleaner of FIG. The perspective view of a cleaner system provided with the autonomous running type vacuum cleaner of FIG. The bottom view regarding the specific example of the autonomous running type vacuum cleaner of FIG. Sectional drawing of the 5-5 line | wire of FIG. The perspective view regarding the specific example of the trash box unit of FIG. FIG. 7 is a perspective view of the trash box unit of FIG. 6 with a lid closed. FIG. 8 is a perspective view of the trash box unit of FIG. 7 with a lid open. Sectional drawing of the 9-9 line | wire of FIG. FIG. 20 is a cross-sectional view of a state where the buckle of FIG. 19 is lifted. FIG. 11 is a cross-sectional view of a state where the lid of FIG. 10 is opened. FIG. 4 is a perspective view of the panel of FIG. 3. The perspective view in the state where two panels were connected. FIG. 14 is a sectional view taken along line 14-14 in FIG. 13. FIG. 15 is a cross-sectional view of a state in which the relative position of the panel in FIG. 14 has changed. Sectional drawing of the state by which the fence of FIG. 13 was folded. FIG. 17 is a sectional view taken along line 17-17 in FIG. 16; The graph which shows the 1st example regarding the detection result of a floor surface detection sensor. The graph which shows the 2nd example regarding the detection result of a floor surface detection sensor. The graph which shows the 3rd example regarding the detection result of a floor surface detection sensor. The top view which shows an example of operation | movement of the cleaner in concentrated cleaning operation | movement. The schematic diagram which shows the relationship between an auxiliary brush and the wall and corner of a cleaning target area. The top view which shows an example of operation | movement of the cleaner in 1st movement control. The flowchart of a slip determination process. The flowchart of a collision determination process. The flowchart of a level | step difference determination process. The flowchart of a derailment determination process. The top view which shows an example of operation | movement of the cleaner in the concentrated cleaning operation | movement of a modification.

(An example of a form that an autonomous traveling vacuum cleaner can take)
[1] One form of the auxiliary brush of the autonomous traveling cleaner according to the present invention is an auxiliary attached to the body so that dust can be collected at the suction port provided on the bottom surface of the body constituting the autonomous traveling cleaner. The brush includes a short bristle bundle that is a bundle of short bristle and a long bristle bundle that is a bundle of bristle longer than the short bristle bundle.

  When the autonomous traveling type vacuum cleaner to which the auxiliary brush is attached cleans the corners of the area to be cleaned, the dust near the apex of the corners that is difficult to reach with the short bristle bundle is collected by the long bristle bundle. Further, when the autonomously traveling cleaner cleans along the wall of the area to be cleaned, the short bristle bundle does not come into contact with the wall, or even if it comes into contact with the wall, the amount of bending is small compared to the long bristle bundle. For this reason, there is little possibility that dust will be blown away by the short bristle bundle, and the dust around the body is efficiently collected.

  [2] In an example of the auxiliary brush of the autonomous traveling cleaner, the brush shaft that rotates with respect to the body by a force transmitted from a power source provided in the body, and the brush shaft can rotate integrally with the brush shaft. And a bristle holding portion that is provided so as to protrude from the attachment portion and holds the short bristle bundle and the long bristle bundle.

  According to the auxiliary brush, the brush shaft, the attachment portion, the bristle holding portion, and each bristle bundle rotate integrally, and the dust around the body is collected by each bristle bundle. In addition, in the auxiliary brush and the auxiliary brush provided with a bristle bundle at the mounting portion, when each auxiliary brush is configured so that the tip of the bristle bundle reaches the same position, the former auxiliary brush is the latter auxiliary brush. Bristle bundles can be made shorter than brushes. For this reason, the amount of bending when the bristle bundle contacts the wall is reduced.

  [3] In an example of the auxiliary brush of the autonomously traveling cleaner, the bristle holding portion and the long bristle bundle and the long bristle bundle in a state where a gap is formed between the short bristle bundle and the long bristle bundle. Hold the bristle bundle.

  When the autonomous traveling type vacuum cleaner to which the auxiliary brush is attached is placed on the floor surface, the short bristle bundle and the long bristle bundle are pressed against the floor surface, and the bristle constituting each bristle bundle spreads. When each bristle bundle is held by the hair holding portion as described in [3] above, the bristle of the short bristle bundle and the bristle of the long bristle bundle are difficult to overlap when the bristle spreads. For this reason, the contact area between each bristle bundle and the floor surface is expanded, and the dust around the body is collected more efficiently.

  [4] In an example of the auxiliary brush of the autonomously traveling cleaner, the bristle holding portion includes the short bristle bundle and the long bristle bundle so that the short bristle bundle precedes the long bristle bundle in the rotation direction of the auxiliary brush. Hold a long bristle bundle.

  The short bristle bundle is less likely to bend due to contact with the wall compared to the long bristle bundle, so the long bristle bundle is collected when the long bristle bundle returns from the bent state to the original state. This reduces the risk that the garbage will be blown away.

[5] An embodiment of the autonomously traveling vacuum cleaner according to the present invention includes the auxiliary brush according to any one of [1] to [4].
According to the autonomous traveling cleaner, substantially the same effect as that obtained by the auxiliary brush of the autonomous traveling cleaner of [1] to [4] can be obtained.

  [6] In an example of the autonomously traveling vacuum cleaner, an obstacle detection sensor that detects a front distance that is a distance between the front surface of the body and the object, and a lateral distance that is a distance between the side surface of the body and the object. A distance measuring sensor to detect, wherein the front distance detected by the obstacle detecting sensor is a first distance, and the lateral distance detected by the distance measuring sensor is a second distance. To move to a second position where the forward distance is a third distance longer than the first distance and the lateral distance is a fourth distance longer than the second distance. Then, it rotates at the first position, and after the rotation, it moves backward from the first position to the second position.

  When there is an object near the front surface or near one of the side surfaces, the autonomously traveling vacuum cleaner rotates to retreat from the place and then moves back to the second position. For this reason, even when the shape of the body is not circular, the body is unlikely to collide with a nearby object when retreating from the first position.

  [7] An example of the autonomously traveling cleaner includes a dust sensor that detects an amount of dust flowing from the suction port, and an amount of dust determined based on a detection signal of the dust sensor is equal to or greater than a predetermined amount. When traveling, draw a circle.

  According to the autonomous traveling type cleaner, an area with a lot of dust is intensively cleaned. In addition, since the movement direction varies in various ways due to the circular movement of the self-propelled cleaner, for example, dust that has entered between the hairs of the carpet is scooped up between the hairs and is easily sucked.

  [8] In an example of the autonomous traveling cleaner, the autonomous traveling cleaner further includes a driving wheel that causes the body to travel, and a first rotational speed sensor that detects a rotational speed of the driving wheel. When a driving inhibition factor that is a factor that inhibits driving is detected, the control method of the drive wheels is changed so that the factor is eliminated.

  According to the autonomous traveling type cleaner, the behavior of the autonomous traveling type cleaner is changed by changing the control method of the drive wheels, and the possibility that the traveling obstruction factor is eliminated is increased. Moreover, since the driving wheel rotates at a slow speed at that time, even if the autonomously traveling cleaner is in contact with an obstacle, a large impact is unlikely to occur.

  [9] In an example of the autonomous traveling cleaner, the caster and the second rotation speed sensor that detects the rotation speed of the caster are further provided, and the detection signal of the first rotation speed sensor and the second rotation speed sensor When it is determined that the state of the drive wheel is slip based on the detection signal of the rotation speed sensor, the drive wheel is rotated in the reverse direction at a speed slower than the rotation speed detected by the first rotation speed sensor. Let

  According to the autonomous traveling type vacuum cleaner, the possibility that the autonomous traveling type vacuum cleaner moves backward due to the drive wheels rotating in the reverse direction and the slip is eliminated is increased. In addition, since the driving wheel rotates at a low speed at that time, a large impact is unlikely to occur even if the autonomous traveling cleaner is in contact with an obstacle when moving backward.

  [10] In the example of the autonomous traveling vacuum cleaner, the bumper provided in a front portion of the body, and a collision detection sensor that detects that the bumper has collided with an object, further include a detection signal of the collision detection sensor. When it is determined that the bumper collides with the object based on the above, the drive wheel is rotated in the reverse direction at a speed slower than the rotational speed detected by the first rotational speed sensor.

  According to the autonomous traveling type cleaner, the autonomous traveling cleaner can be moved backward by rotating the driving wheel in the reverse direction, and can be separated from the object existing on the front side of the autonomous traveling cleaner. In addition, since the driving wheel rotates at a low speed at that time, a large impact is unlikely to occur even if the autonomous traveling cleaner is in contact with an obstacle when moving backward.

  [11] The example of the autonomously traveling vacuum cleaner further includes a floor surface detection sensor that detects a distance from the floor surface, and a step exists below the body based on a detection signal of the floor surface detection sensor. When it is determined that the drive wheel is present, the drive wheel is rotated in the reverse direction at a speed slower than the rotation speed detected by the first rotation speed sensor.

  According to the autonomous traveling cleaner, the autonomous traveling cleaner is moved backward by rotating the driving wheel in the reverse direction, and can move to a place where there is no step. In addition, since the driving wheel rotates at a low speed at that time, a large impact is unlikely to occur even if the autonomous traveling cleaner is in contact with an obstacle when moving backward.

  [12] In the example of the autonomous traveling vacuum cleaner, the vehicle driving apparatus further includes a wheel removal detection sensor that detects that the driving wheel is removed, and the state of the driving wheel based on a detection signal of the wheel removal detection sensor. When it is determined that is a wheel removal, the drive wheel is rotated in the reverse direction at a speed slower than the rotational speed detected by the first rotational speed sensor.

  According to the autonomous traveling type vacuum cleaner, the possibility that the autonomous traveling type vacuum cleaner moves backward due to rotation of the driving wheel in the reverse direction and the wheel removal is eliminated is increased. In addition, since the driving wheel rotates at a low speed at that time, a large impact is unlikely to occur even if the autonomous traveling cleaner is in contact with an obstacle when moving backward.

  [13] In an example of the autonomous traveling cleaner, the autonomous traveling cleaner is an element that determines a moving range of the autonomous traveling cleaner, and includes a fence configured by a plurality of panels connected so as to be folded, The panel includes a bearing provided at a first end and a rotating shaft provided at a second end, and the rotating shaft of one of the panels can be attached to the bearing of another one of the panels The rotating shaft and the bearing are relatively movable in a normal direction of a plane including them.

  When the fence is folded, the rotation shaft and the bearing relatively move in the normal direction of the plane, so that the gap between one panel and the other panel is reduced. For this reason, the space required to accommodate the fence is reduced.

(Embodiment)
With reference to FIGS. 1-4, the structure of the autonomous traveling type vacuum cleaner 10 (henceforth "vacuum cleaner 10" only) is demonstrated. 1 and 2 are diagrams schematically showing the configuration of the cleaner 10. FIG. 3 is a diagram illustrating a vacuum cleaner system including the vacuum cleaner 10. FIG. 4 is a diagram showing an example of the specific form. The vacuum cleaner 10 is a robot-type vacuum cleaner that autonomously travels on the floor surface of the area to be cleaned and sucks in dust that exists on the floor surface. An example of the area to be cleaned is a room.

  The vacuum cleaner system 1 includes a vacuum cleaner 10 and a fence 90 (see FIG. 3). The vacuum cleaner 10 includes a body 20, a drive unit 30 (see FIG. 2), a cleaning unit 40, a trash box unit 50, a suction unit 60, a control unit 70, and a power supply unit 80. A part of the drive unit 30, a part of the cleaning unit 40, a trash box unit 50, a suction unit 60, a control unit 70, and a power supply unit 80 are disposed in the body 20.

  The function of the body 20 is to mount various elements constituting the vacuum cleaner 10. The function of the drive unit 30 is to run the body 20 to clean the floor surface. The function of the cleaning unit 40 is to collect dust around the body 20 below the body 20 and to scoop up the dust. The function of the trash box unit 50 is to collect the trash sucked by the suction unit 60. The function of the suction unit 60 is to suck the dust scraped up by the cleaning unit 40 into the body 20. The control unit 70 is to control the operation of each unit 30, 40, 60. The function of the power supply unit 80 is to supply power to the units 30, 40, 60, 70 and the like.

  An example of the planar shape of the body 20 is a Rouleau triangle, a polygon having approximately the same shape as the triangle, or a shape in which R is formed on the top of these triangles or polygons. This shape contributes to making the body 20 have the same or similar properties as the geometric properties of the Reuleaux triangle.

  As shown in FIGS. 1 and 3, the cleaner 10 further includes a panel cover 21 and a bumper 22. The function of the panel cover 21 is to cover an operation panel (not shown) provided on the upper portion of the body 20. The panel cover 21 is attached to the upper part of the body 20 and can be opened and closed with respect to the body 20. The function of the bumper 22 is to absorb the impact applied to the body 20. The bumper 22 is provided at a front portion of the body 20 and can be displaced with respect to the body 20.

  As shown in FIGS. 2 and 4, the vacuum cleaner 10 further includes a caster 23. The function of the caster 23 is to support the rear part of the body 20. The caster 23 rotates following the operation of the drive unit 30.

  The body 20 includes a suction port 20B. The suction port 20 </ b> B opens to the bottom surface 20 </ b> A of the body 20 so that dust existing below the body 20 can be sucked into the body 20. The cleaning unit 40 includes a first brush drive motor, a second brush drive motor, a first power transmission unit, a second power transmission unit (all not shown), a main brush 41, and an auxiliary brush 100. . Each brush drive motor and each power transmission unit are disposed in the body 20. The first power transmission unit is connected to the main brush 41 so that the torque of the first brush drive motor can be transmitted to the main brush 41. The second power transmission unit is connected to the auxiliary brush 100 so that the torque of the second brush drive motor can be transmitted to the auxiliary brush 100. In one example, each power transmission unit transmits power using a gear.

  The function of the main brush 41 is to scrape dust below the body 20. The main brush 41 includes, for example, a core having a rotation center line and brush bristles provided on the outer periphery of the core, and is disposed in the suction port 20B. The rotation direction of the main brush 41 is a direction in which dust can be scraped upward from below on the rear side of the rotation center axis.

  The function of the auxiliary brush 100 is to collect the dust around the body 20 below the suction port 20B. In one example, the vacuum cleaner 10 includes a pair of auxiliary brushes 100. Each auxiliary brush 100 is provided on the front side of the bottom surface 20 </ b> A of the body 20. The rotation direction of the auxiliary brush 100 is a direction in which dust can be collected from the front of the body 20 toward the suction port 20B.

  The drive system of the vacuum cleaner 10 is an opposed two-wheel type and includes a pair of drive units 30. The drive unit 30 includes a wheel drive motor (not shown), a drive wheel 31, and a housing 32. The wheel drive motor is disposed in the housing 32 and is connected to the shaft of the drive wheel 31 so that torque can be transmitted to the drive wheel 31. Drive wheel 31 includes a wheel connected to a shaft and a tire attached to the outer periphery of the wheel. The tire has a tread pattern that can stably travel in a place where the shape of the surface, such as a carpet, easily changes.

  The trash box unit 50 is disposed on the front side of the suction unit 60 in the front-rear direction of the body 20. The pair of drive units 30 are arranged so as to sandwich the trash box unit 50 in the width direction orthogonal to the front-rear direction of the body 20 in a plan view of the body 20. The body 20 and the trash box unit 50 include a detachable structure that allows the user to arbitrarily select a state in which the trash box unit 50 is attached to the body 20 and a state in which the trash box unit 50 is detached from the body 20.

  The suction unit 60 is disposed between the trash box unit 50 and the power supply unit 80 in the front-rear direction of the body 20, and includes an electric fan (not shown). The electric fan sucks air inside the trash box unit 50. As the electric fan is operated, the dust scraped up by the main brush 41 moves into the trash box unit 50.

  The control unit 70 is disposed on the power supply unit 80 in the body 20, is electrically connected to the power supply unit 80, and includes a semiconductor integrated circuit such as a CPU (Central Processing Unit) and a storage unit. The storage unit is configured by a nonvolatile semiconductor storage element such as a flash memory, and stores various programs executed by the control unit 70, parameters, and the like.

  As shown in FIGS. 2 to 4, the vacuum cleaner 10 further includes a plurality of sensors. According to one example, the plurality of sensors include an obstacle detection sensor 71, a plurality of distance measurement sensors 72, a collision detection sensor 73, a plurality of floor surface detection sensors 74, a dust sensor 75, a first rotation speed sensor 76, a second sensor. A rotation speed sensor 77 and a wheel loss detection sensor 78 are included. The sensors 71 to 78 are electrically connected to the control unit 70 and the power supply unit 80, respectively, and input detection signals to the control unit 70.

  The function of the obstacle detection sensor 71 is to detect a distance from an obstacle existing on the front side of the body 20. An example of the obstacle detection sensor 71 is an ultrasonic sensor, which includes a transmitter and a receiver. The function of the distance measuring sensor 72 is to detect the distance between the body 20 and an object existing around the body 20. An example of the distance measuring sensor 72 is an infrared sensor, which includes a light emitting unit and a light receiving unit. The function of the collision detection sensor 73 is to detect that the body 20 has collided with a surrounding object. An example of the collision detection sensor 73 is a contact-type displacement sensor, and includes a switch that is turned on when the bumper 22 is pushed into the body 20. The function of the floor surface detection sensor 74 is to detect the distance from the floor surface. An example of the floor surface detection sensor 74 is an infrared sensor, and includes a light emitting unit and a light receiving unit. The function of the dust sensor 75 is to detect the amount of dust flowing through the passage in the trash box unit 50. An example of the dust sensor 75 is an infrared sensor, which includes a light emitting unit and a light receiving unit.

  As shown in FIGS. 2 and 4, in an example, the plurality of floor surface detection sensors 74 include first to fifth floor surface detection sensors 74. The first floor surface detection sensor 74 is provided in front of the main brush 41 in the front-rear direction of the body 20. The second floor surface detection sensor 74 is provided between the right auxiliary brush 100 and the right drive unit 30 in the front-rear direction of the body 20. The third floor surface detection sensor 74 is provided between the left auxiliary brush 100 and the left drive unit 30 in the front-rear direction of the body 20. The fourth floor surface detection sensor 74 is provided behind the right driving unit 30, the right auxiliary brush 100, and the main brush 41 in the front-rear direction of the body 20. The fifth floor surface detection sensor 74 is provided behind the left driving unit 30, the left auxiliary brush 100, and the main brush 41 in the front-rear direction of the body 20. The positions of the fourth and fifth floor surface detection sensors 74 in the width direction of the body 20 overlap with the positions where the drive unit 30, the auxiliary brush 100, and the main brush 41 are provided.

  Based on the detection signal input from the obstacle detection sensor 71, the control unit 70 determines whether there is an object that can hinder the traveling of the cleaner 10 within a predetermined range in front of the body 20. The control unit 70 calculates the distance between the object existing around the side of the body 20 and the contour of the body 20 based on the detection signal input from the distance measuring sensor 72. Based on the detection signal input from the collision detection sensor 73, the control unit 70 determines whether the body 20 has collided with a surrounding object. The control unit 70 calculates the distance between the bottom surface 20 </ b> A of the body 20 and the floor surface based on the detection signal input from the floor surface detection sensor 74.

  The function of the first rotational speed sensor 76 is to detect the rotational speed of the drive wheels 31. The function of the second rotation speed sensor 77 is to detect the rotation speed of the caster 23. An example of the first rotation speed sensor 76 and the second rotation speed sensor 77 is a magnetic sensor. The control unit 70 can calculate the moving speed of the cleaner 10 based on the detection signal of the first rotation speed sensor 76.

  The function of the wheel removal detection sensor 78 is to detect that the drive wheel 31 has been removed. A first example of the wheel removal detection sensor 78 is a sensor that detects a load of an urging member that applies a force to the drive wheel 31 to push the drive wheel 31 toward the floor surface. A second example of the wheel removal detection sensor 78 is a sensor that detects the amount of displacement of the drive wheel 31 relative to the body 20 in the height direction of the cleaner 10.

A specific configuration of the auxiliary brush 100 will be described with reference to FIG.
The auxiliary brush 100 includes a brush shaft 110, a mounting portion 120, a pair of bristle holding portions 130, and a plurality of bristle bundles 140. The body 20 and the auxiliary brush 100 include a detachable structure that allows the user to arbitrarily select a state in which the auxiliary brush 100 is attached to the body 20 and a state in which the auxiliary brush 100 is detached from the body 20.

  An example of the material of the brush shaft 110 is metal. An example of the shape of the brush shaft 110 is a cylinder. By attaching the auxiliary brush 100 to the body 20, the brush shaft 110 is coupled to the second power transmission unit. In this state, the brush shaft 110 protrudes downward from the bottom surface 20 </ b> A of the body 20. The central axis of the brush shaft 110 is along the height direction of the body 20.

  The function of the mounting portion 120 is to cover the periphery of the brush shaft 110. The attachment portion 120 is attached to the brush shaft 110 so that it can rotate integrally with the brush shaft 110. In one example, the attachment portion 120 and the hair holding portion 130 are integrally formed resin parts.

  The function of the bristle holding part 130 is to firmly hold the bristle bundle 140 so that the plurality of bristle bundles 140 do not fall out. The hair holding part 130 protrudes outward from the attachment part 120 in the radial direction with respect to the central axis of the attachment part 120. One bristle holding portion 130 and the other bristle holding portion 130 protrude in opposite directions in the radial direction with respect to the central axis of the bristle holding portion 130.

  The plurality of bristle bundles 140 include a plurality of short bristle bundles 141 and a plurality of long bristle bundles 142. The bristle bundle 140 is a plurality of bristle bundled so that garbage on the floor surface can be collected. In one example, the number of bristle constituting each bristle bundle 140 is 50. The bristle material is nylon. The short bristle bundle 141 is a bundle of short bristle. The long bristle bundle 142 is a bundle of bristle longer than that of the short bristle bundle 141. Since each bristle bundle 141, 142 is held by the bristle holding part 130 protruding from the attachment part 120, the bristle bundle 141, 142 is compared to the case where each bristle bundle 141, 142 is held by the attachment part 120 instead of the bristle holding part 130. The length of the bristle is shortened when the tip positions of the two are the same. For this reason, the bending amount when each bristle bundle 141, 142 contacts the wall becomes small.

  The distance from the rotation center line of the brush shaft 110 to the tip of the short bristle bundle 141 is set to a first predetermined distance. The distance from the center of the brush shaft 110 to the tip of the long bristle bundle 142 is set to a second predetermined distance that is longer than the first predetermined distance. In one example, the first predetermined distance is 5 cm and the second predetermined distance is 7 cm.

  By including two types of bristle bundles 141 and 142 having different lengths in the auxiliary brush 100, the following effects can be obtained. Even when the short bristle bundle 141 comes into contact with the wall when the cleaner 10 cleans along the wall of the area to be cleaned, the amount of bending is smaller than when the long bristle bundle 142 comes into contact with the wall. For this reason, the force generated when the short bristle bundle 141 returns from the bent state to the original state is small, and dust near the wall is not easily blown away. Further, when the vacuum cleaner 10 cleans along the wall, when the short bristle bundle 141 travels at a position where it does not contact the wall, the short bristle bundle 141 does not bend, so that dust near the wall is flipped by the short bristle bundle 141. It will not be skipped. For this reason, the dust near the wall is efficiently collected by the auxiliary brush 100 below the body 20.

  The leading end of the long bristle bundle 142 reaches an area where the leading end of the short bristle bundle 141 does not reach. For this reason, when the cleaner 10 cleans the corner of the area to be cleaned, dust near the top of the corner is likely to be collected by the long bristle bundle 142. As described above, according to the auxiliary brush 100 including the two types of bristle bundles 141 and 142, both when the cleaner 10 runs along the wall for cleaning and when the corner of the area to be cleaned is cleaned. Garbage can be collected efficiently.

  The bristle holding unit 130 holds the bristle bundles 141 and 142 together so that a gap is formed between the short bristle bundle 141 and the long bristle bundle 142. The size of the gap formed between the bristle bundles 141 and 142 is such that each of the bristle bundles 141 and 142 is pressed against the floor surface, and the bristle constituting each of the bristle bundles 141 and 142 spreads in a fan shape. It is set so as not to overlap or to reduce the amount of overlap. In one example, the bristle holding part 130 holds each bristle bundle 141, 142 so that a gap is widened from the base of each bristle bundle 141, 142 toward the tip.

  A portion of each bristle bundle 141, 142 on the tip side is provided below the drive wheel 31 (see FIG. 5). For this reason, when the cleaner 10 is placed on the floor surface, the bristles bundles 141 and 142 are pressed against the floor surface, and the bristles constituting the bristles bundles 141 and 142 spread like a fan. As described above, since a gap is formed between the bristle bundles 141 and 142 held by the bristle holding unit 130, the bristle bundles 141 and 142 are hardly overlapped when pressed against the floor surface, and the bristle bundles 141 are not overlapped. , 142 and the floor area are increased.

  The bristles 130 further hold the bristle bundles 141 and 142 such that the short bristle bundle 141 precedes the long bristle bundle 142 in the rotation direction of the auxiliary brush 100. For this reason, when the cleaner 10 cleans the vicinity of the wall, the short bristle bundle 141 that is less likely to bend due to contact with the wall as compared with the long bristle bundle 142 first collects dust. As a result, the long bristle bundle 142 is less likely to flip dust away when returning from its bent state to its original state.

Details of the trash box unit 50 will be described with reference to FIG.
The trash box unit 50 includes a trash box 51 and a filter 55. The trash box 51 includes a main body 52, a lid 53, and a hinge 54. The main body 52 and the lid 53 are connected by a hinge 54. The function of the main body 52 is to collect sucked garbage. The function of the lid 53 is to close the opening of the main body 52 and hold the filter 55. The main body 52 has an inlet 52A. The inlet 52A is connected to a duct (not shown) arranged in the body 20. The function of the duct is to guide the dust sucked into the body 20 from the suction port 20B into the dust box 51 (see FIG. 5).

  The filter 55 includes a frame 56 and a collection unit 57. The function of the frame 56 is to hold the collecting portion 57 and to guide the air that has passed through the inlet 52A to the collecting portion 57. The function of the collection part 57 is to collect garbage contained in the air. The frame 56 and the lid 53 have a structure that can be attached to and detached from each other.

  The frame 56 includes a pair of windows 56A, an intermediate wall 56B, and a guide portion 56C. The function of the window 56 </ b> A is to expose the collecting portion 57 so that air can pass through the collecting portion 57. The function of the intermediate wall 56B is to partition one window 56A and the other window 56A. The function of the guide part 56 </ b> C is to guide the air that has passed through the inlet 52 </ b> A of the main body 52 to the collection part 57. The guide portion 56C is a convex portion provided on the intermediate wall 56B, and has a top portion 56D and a pair of guide surfaces 56E. The top portion 56D is a portion that protrudes most from the intermediate wall 56B in the guide portion 56C. The guide surface 56E is a slope that approaches the intermediate wall 56B from the top 56D toward the window 56A.

  As shown in FIG. 7, the trash box unit 50 further includes a buckle 58 and a handle 59. The handle 59 is attached to the trash box 51 so as to be rotatable with respect to the trash box 51. The handle 59 is gripped by the user when the trash box unit 50 is removed from the body 20 and when the trash box unit 50 removed from the body 20 is carried.

  As shown in FIG. 8, the main body 52 includes an outlet 52B. The lid 53 and filter 55 are pivotable relative to the trash can 51 so that the outlet 52B can be opened and closed. The outlet 52 </ b> B is an opening for discharging the dust accumulated in the main body 52, and is formed so as to face downward Z from the horizontal direction X when the user holds the handle 59 and hangs the trash box unit 50. Yes. For this reason, it is easy to discharge the waste from the waste bin 51 and it is difficult for the waste to remain in the main body 52.

  As shown in FIGS. 9 and 10, the buckle 58 is attached to the main body 52 so as to be rotatable with respect to the main body 52. When the buckle 58 is hooked on the lid 53, the lid 53 and the filter 55 are fixed to the main body 52, and the outlet 52B is closed. When the buckle 58 is removed from the lid 53, the lid 53 rotates with respect to the main body 52 and the filter 55, and the outlet 52B is opened. In a state where the lid 53 is fixed to the main body 52, a gap 58P is formed between the top of the frame 56 of the filter 55 and the buckle 58, and a gap 58Q is formed between the top of the lid 53 and the buckle 58. The gap 58P is larger than the gap 58Q. For this reason, when the lid 53 rotates with respect to the main body 52 so as to open the outlet 52B, the filter 55 is prevented from being caught by the buckle 58, and the lid 53 and the filter 55 promptly open the outlet 52B. Rotate.

  As shown in FIG. 11, the buckle 58 can be used as follows. The lid 53 and the filter 55 are separated, and only the filter 55 is fixed to the trash box 51 by hooking the buckle 58 on the frame 56 of the filter 55 in a state where only the filter 55 is attached to the trash box 51. This form of use is used, for example, when dust collected between the filter 55 and the lid 53 is dropped.

  As shown in FIG. 5, in a state where the trash box unit 50 is attached to the body 20, the inlet 52 </ b> A of the main body 52 faces the peripheral portion of the guide portion 56 </ b> C and the guide portion 56 </ b> C in the intermediate wall 56 </ b> B. (Refer to FIG. 6). The intermediate wall 56B is inclined so that the upper end is located on the rear side of the body 20 with respect to the lower end. As the intermediate wall 56B is inclined, the guide portion 56C is similarly inclined such that the upper end is positioned on the rear side of the body 20 relative to the lower end.

  The air that has passed through the inlet 52A contacts the peripheral portion of the guide portion 56C and the guide portion 56C in the intermediate wall 56B. The direction of the air flow in contact with the guide portion 56C is changed to the direction toward the window 56A (see FIG. 6) by the guide surface 56E (see FIG. 6). Further, since the guide portion 56C is inclined along the intermediate wall 56B, the direction of the air flow in contact with the guide portion 56C includes an upward component.

  The airflow whose direction of flow has been changed by the guide surface 56E flows along the intermediate wall 56B, passes through the window 56A and the collection unit 57, passes through the outlet 52B of the trash box unit 50, and is sucked into the suction unit 60. The air sucked into the suction unit 60 passes through an exhaust passage (not shown) provided in the body 20 and is exhausted to the outside of the body 20.

  According to the trash box unit 50, the following effects can be obtained. For example, when the intermediate wall 56B is omitted and the collection part 57 is provided in the range from the one window 56A to the other window 56A, the collection part 57 is concentrated on the part facing the inlet 52A of the main body 52. Waste is easy to accumulate. For this reason, even if there is a margin in which dust is stacked on other portions of the collecting portion 57, the entrance 52A may be blocked by the dust accumulated in a concentrated manner. According to the trash box unit 50 having the intermediate wall 56B, the risk of trash accumulation in this way is reduced. In addition, since air is guided toward the window 56A by the guide portion 56C, a smooth air flow is formed, and therefore, for example, dust does not easily accumulate in a portion of the intermediate wall 56B that faces the inlet 52A. In addition, since the guide portion 56C is inclined so that the upper end is located on the rear side of the body 20 with respect to the lower end, the dust carried to the collection portion 57 is accumulated on the upper portion of the collection portion 57. Compared with the case where dust accumulates on the entire collection portion 57, resistance to the main airflow passing through the collection portion 57 is less likely to increase. For this reason, even if the cumulative usage time of the cleaner 10 increases, the strength of the airflow formed by the suction unit 60 is unlikely to decrease.

The configuration of the fence 90 will be described with reference to FIGS. 3 and 12 to 17.
The fence 90 is a member used for the user to determine the moving range of the cleaner 10, and includes a plurality of panels 91 as shown in FIG. 3. An example of the material constituting the panel 91 is resin. The plurality of panels 91 can be connected and separated by the user. A fence 90 is configured by connecting a plurality of panels 91 to each other.

  As shown in FIG. 12, the panel 91 includes a rotating shaft 92, a bearing 93, and a table 94. The base 94 is provided at the end of the rotating shaft 92. The shape of the panel 91 is a flat plate shape. When the base 94 is arranged on the floor surface, the panel 91 is self-supporting on the floor surface. Note that the shape of the panel 91 can be arbitrarily changed. In one example, the shape of the panel 91 in plan view can be changed to a wave shape or an arc shape.

  The rotation shaft 92 is provided at the first end 91 </ b> A of the panel 91. The bearing 93 is provided at the second end 91 </ b> B of the panel 91. In the illustrated example, two bearings 93 are arranged in the height direction of the panel 91. In one example, the bearing 93 includes a pair of claws 93A. The claw 93A has an arc shape so that the rotating shaft 92 can be supported.

  As shown in FIG. 13, the rotation shaft 92 of one panel 91 is attached to a bearing 93 provided on the other panel 91 adjacent to the first end 91 </ b> A. A rotation shaft 92 provided in one panel 91 adjacent to the second end portion 91B is inserted into the bearing 93 of the other panel 91.

  As shown in FIG. 14, a gap is formed between the tip of one claw 93A and the tip of the other claw 93A in the plan view of panel 91. The rotating shaft 92 of another panel 91 is inserted between the pair of claws 93A through this gap.

  As shown in FIGS. 14 and 15, the bearing 93 has a constant movement of the rotary shaft 92 with respect to the bearing 93 in the normal direction of an imaginary plane including the first end 91 </ b> A and the second end 91 </ b> B of the panel 91. And a configuration capable of regulating the movement of the rotary shaft 92 relative to the bearing 93 in the direction along the plane. In another example, the bearing 93 includes a configuration that allows movement of the rotary shaft 92 with respect to the bearing 93 in a certain range along a virtual plane.

  As shown in FIGS. 16 and 17, the fence 90 can be folded by rotating the panel 91 around the connection portion of the panel 91 in the fence 90. Since the rotary shaft 92 is movable in the normal direction with respect to the bearing 93, the rotary shaft 92 is moved relative to the bearing 93 so that when the panel 91 is folded, the one panel 91 and the other panel 91 approach each other. Can be moved. For this reason, in the state in which the fence 90 is folded, the gap between the panels 91 is reduced, and the storage performance of the fence 90 is improved.

  An example of the control executed by the control unit 70 will be described. The control unit 70 executes a plurality of controls in order to clean the area to be cleaned. The plurality of controls include at least a first cleaning control, a second cleaning control, a third cleaning control, a first movement control, a second movement control, and a third movement control. In the first cleaning control, the type of the floor surface is determined based on the detection signal of the floor surface detection sensor 74 while the cleaner 10 is traveling on an arbitrary route on the floor surface, and based on the determination result. Thus, the suction force of the suction unit 60 is adjusted. In the second cleaning control, when an area with a large amount of dust is detected, the type of the floor surface is determined based on the detection signal of the floor surface detection sensor 74, and dust is intensively sucked based on the determination result. It is control which determines the cleaning operation | movement of the cleaner 10 for performing. The third cleaning control is a control for causing the body 20 to travel from the side of the wall toward the corner in order to suck the dust at the corner and the corner of the area to be cleaned. Note that the control for adjusting the suction force in the first cleaning control can be combined with one or more of the second cleaning control, the third cleaning control, and another cleaning control for operating the suction unit 60. .

  The first movement control is control for retreating from the place without contacting the wall when the cleaner 10 finishes cleaning the corner of the target area. The second movement control is control for temporarily interrupting the determination of the type of the floor surface when the rotation and stop of the drive wheels 31 are repeated in a short period. The third movement control changes the control method of the drive wheels 31 so that when a travel obstruction factor that is a factor obstructing the travel of the cleaner 10 is detected while the cleaner 10 is traveling, the factor is eliminated. It is control to do. The driving obstruction factors are, for example, that the state of the drive wheels 31 is slip, that the body 20 has collided with an object, that there is a step on the floor surface below the body 20, and that the state of the drive wheels 31 is removed. Including being a ring.

  Details of the first cleaning control will be described with reference to FIGS. 18 to 20 are examples of detection signals of the floor surface detection sensor 74 obtained while the cleaner 10 is traveling. In each figure, the horizontal axis represents the travel time of the cleaner 10, and the vertical axis represents the magnitude of the detection signal of the floor surface detection sensor 74.

  One example of the type of floor surface determined based on the detection signal of the floor surface detection sensor 74 is the first surface, the second surface, and the third surface. The first surface is a flat surface with few surface irregularities such as a flooring surface. The second surface is a surface in which small irregularities exist on the surface, such as a tatami surface, and the surface shape is relatively stable. The third surface is a surface on which a material that is easily deformed, such as hair, is provided on the surface, such as the surface of a carpet, and large irregularities are easily formed on the surface.

  FIG. 18 shows an example of a detection result when the cleaner 10 travels on the first surface. The detection signal of the floor surface detection sensor 74 shows at least the following two features with respect to the traveling time of the cleaner 10. The first point is that the change in wave height and amplitude is small. The second point is that the moving average change is small.

  FIG. 19 shows an example of a detection result when the cleaner 10 travels on the second surface. The detection signal of the floor surface detection sensor 74 shows at least the following two features with respect to the traveling time of the cleaner 10. The first point is that the change in the wave height and the amplitude is large as compared with the case where the floor surface is the first surface. The second point is that the moving average changes greatly compared to the case where the floor surface is the first surface.

  FIG. 20 shows an example of a detection result when the cleaner 10 travels on the third surface. The detection signal of the floor surface detection sensor 74 shows at least the following two features with respect to the traveling time of the cleaner 10. The first point is that the changes in the wave height and the amplitude are remarkably large as compared with the case where the floor surface is the first surface. The second point is that the change of the moving average is remarkably large as compared with the case where the floor surface is the first surface.

  As described above, the detection signal of the floor detection sensor 74 obtained during the traveling of the cleaner 10 differs depending on the type of the floor, and the waveform of the detection signal of the floor detection sensor 74 with respect to the traveling time of the cleaner 10 and the floor There is a correlation between the types of faces. For this reason, the type of the floor surface can be determined based on the detection signal of the floor surface detection sensor 74.

  For example, in the time-series data of the detection signal of the floor surface detection sensor 74, when the wave height or amplitude of the detection signal representing a predetermined section is equal to or smaller than the first determination value, the floor surface type is determined to be the first surface. it can. In addition, when the wave height or amplitude of a detection signal representing a predetermined section in the time series data of the detection signal of the floor surface detection sensor 74 is larger than the first determination value and equal to or less than the second determination value, the type of floor surface Can be determined to be the second surface. Further, when the wave height or amplitude of the detection signal representing a predetermined section in the time series data of the detection signal of the floor surface detection sensor 74 is larger than the second determination value, the floor surface type is the third surface. Can be judged.

  However, as for the 3rd surface, the uneven | corrugated shape is easy to change according to a use environment etc. When the unevenness of the third surface is firmly maintained, the waveform of the detection signal of the floor surface detection sensor 74 has a shape as shown in FIG. However, for example, when the hair on the surface of the carpet that is the third surface is tilted as a whole, the waveform of the detection signal of the floor surface detection sensor 74 is similar to the waveform shown in FIG. . For this reason, there is a possibility that the type of the floor surface may not be accurately determined.

  In order to solve this problem, the floor detection sensor 74 of the cleaner 10 is provided on the rear side of the drive wheels 31 and the like. For example, when the third surface is a carpet, the hair of the carpet through which the drive wheels 31 and the like have passed with the advance of the vacuum cleaner 10 is raised, and firm irregularities are formed on the surface of the carpet. When the vacuum cleaner 10 further advances, the floor surface detection sensor 74 passes above the portion, so that the portion where the unevenness is firmly formed is irradiated with near infrared light from the floor surface detection sensor 74, and the floor surface The shape of the unevenness of the carpet is reflected in the detection signal of the detection sensor 74.

  When it is determined in the first cleaning control that the floor type is the first surface, the suction force of the suction unit 60 is set to the first suction force. When it is determined that the type of the floor surface is the second surface, the suction force of the suction unit 60 is set to a second suction force that is greater than the first suction force. When it is determined that the type of the floor surface is the third surface, the suction force of the suction unit 60 is set to a third suction force that is larger than the second suction force. For this reason, the electric power of the power supply unit 80 is used efficiently according to the difference in the kind of floor surface.

The details of the second cleaning control will be described with reference to FIG.
In the second cleaning control, when it is detected that the amount of dust existing in the area where the cleaner 10 is traveling is greater than or equal to a predetermined amount, a cleaning operation for intensive cleaning of the area (hereinafter referred to as “intensive cleaning”). Operation "). The amount of dust is determined based on the detection signal of the dust sensor 75 (see FIG. 1). The intensive cleaning operation is determined according to the type of floor. In one example, one of two types of centralized cleaning operations defined in advance is selected according to the type of the floor surface.

  When the floor type determined in the second cleaning control is the first surface or the second surface, the control unit 70 (see FIG. 1) performs the first cleaning that is one of the two types of concentrated cleaning operations. When the operation is selected and the determined floor type is the third surface, the second cleaning operation which is the other of the two types of concentrated cleaning operations is selected.

  FIG. 21A shows the behavior of the cleaner 10 in the first cleaning operation. In the first cleaning operation, the cleaner 10 repeatedly travels in the front-rear direction in a cleaning target area (hereinafter referred to as “intensive cleaning area”) to be intensively cleaned. When the amount of dust obtained based on the detection result of the dust sensor 75 is reduced to less than a predetermined amount during the execution of the first cleaning operation, the cleaner 10 ends the first cleaning operation.

  21A to 21C show the behavior of the cleaner 10 in the second cleaning operation. In the second cleaning operation, first, the cleaner 10 repeatedly travels in the front-rear direction in the concentrated cleaning region (see FIG. 21A). Next, after the number of times reaches the specified number, the cleaner 10 rotates 90 degrees rightward or leftward to change the direction of travel (see FIG. 21B), and before and after the change of the direction of travel. Travel repeatedly in the direction (see FIG. 21C). Next, after the number of times reaches a specified number, the traveling direction of the cleaner 10 is returned to the original direction (see FIG. 21A), and the vehicle travels repeatedly in the front-rear direction. Thereafter, the same operation is repeated. When the amount of dust obtained based on the detection result of the dust sensor 75 is reduced below a predetermined amount during execution of the second cleaning operation, the cleaner 10 ends the second cleaning operation.

  The standing condition of the carpet hair varies depending on the state of use. For example, the hair of the part that is frequently stepped on is kept in a state in which the hair falls more than the other part. For this reason, when the reciprocating direction of the cleaner 10 in the centralized cleaning operation coincides with the direction in which the hair of the carpet falls, the dust buried between the hairs is difficult to be sucked. According to the second cleaning operation, since the vacuum cleaner 10 reciprocates in a plurality of directions, it is easy to raise the hair of the carpet that has fallen. For this reason, the dust buried between the hairs can be efficiently sucked.

Details of the third cleaning control will be described with reference to FIG.
When the cleaner 10 cleans along the wall P1 of the room and the corner P3 between the walls P1 and P2, the control unit 70 has the widest width of the body 20 based on the detection signal of the distance measuring sensor 72. The cleaner 10 is caused to travel along the wall P1 so that the distance between the side portion 20C of the portion and the wall P1 is kept constant. In one example, the distance between the side portion 20C and the wall P1 is approximately equal to the distance from the side portion 20C to the tip of the short bristle bundle 141 when the short bristle bundle 141 is along the width direction of the body 20. For this reason, the short bristle bundle 141 does not contact the wall P <b> 1 when it is along the width direction of the body 20, or contacts the wall P <b> 1 to such an extent that it is lightly bent. For this reason, there is a low possibility that the short bristle bundle 141 will blow off the garbage far away.

  Since the long bristle bundle 142 is longer than the short bristle bundle 141, the long bristle bundle 142 is largely bent when it comes into contact with the wall P1, and is restored to the original state as the auxiliary brush 100 further rotates. Since each bristle bundle 141, 142 is provided so that the short bristle bundle 141 precedes the long bristle bundle 142 in the rotation direction of the auxiliary brush 100, basically when the dust exists near the wall P1, the short bristle bundle The bundle 141 is collected under the body 20. For this reason, even if garbage exists in the traveling direction of the long bristle bundle 142, the garbage is scraped down below the body 20 by the preceding short bristle bundle 141. Thereby, when the long bristle bundle 142 returns from the bent state to the original state, it is difficult to blow away the garbage far away. Garbage collected under the body 20 by the auxiliary brush 100 flows into the trash box unit 50 through the suction port 20B.

  As the cleaner 10 travels along the wall P1, when the front surface of the body 20 approaches just before the wall P2, the control unit 70 stops the travel of the cleaner 10, and the main brush 41 and the auxiliary brush 100 rotate. Maintain state. At this time, when the long bristle bundle 142 reaches the apex of the corner that cannot be reached by the short bristle bundle 141, the dust at the corner is gathered below the body 20.

The details of the first movement control will be described with reference to FIG.
As shown in FIG. 23A, when the third cleaning control is finished, the cleaner 10 is located at the corner P3. At this time, the front distance which is the distance between the front surface of the body 20 and the wall P2 detected by the obstacle detection sensor 71 is the first distance D1, and the side surface of the body 20 detected by the distance measurement sensor 72 and the wall P1. The side distance that is the distance to is the second distance D2. In the first movement control, the front distance of the cleaner 10 from the first position where the front distance is the first distance D1 and the lateral distance is the second distance D2 is longer than the first distance D1. Is moved to the second position where the distance D3 and the lateral distance are the fourth distance D4 longer than the second distance D2. For this purpose, the cleaner 10 is operated as follows.

  First, as shown in FIG. 23 (b), the vacuum cleaner 10 is fixed so that the center line L along the front-rear direction of the body 20 faces the apex side of the corner P3 from the state along the wall P1 at the first position. Rotate over an angle. An example of the constant angle is 5 °. Next, as shown in FIG. 23C, the rotated cleaner 10 is moved back to the second position. Then, for example, the cleaner 10 is moved to clean another place in the target area.

  The vacuum cleaner 10 that has completed the cleaning of the corner P3 needs to change its direction in order to clean another place or return to the charging device (not shown). Since the planar shape of the body 20 is a shape in which R is formed at the top of the triangle of the roulau, when the body 20 operates in the same manner as a vacuum cleaner having a circular planar shape when the body 20 is retracted from the corner P3, the body 20 There is a risk of contact with the wall P2. According to the first movement control described above, the body 20 may come into contact with the wall P1 or the wall P2. According to the first movement control described above, the cleaner 10 can be retracted from the corner P3 without bringing the body 20 into contact with the walls P1 and P2.

  Details of the second movement control will be described. When the cleaner 10 repeatedly travels in the front-rear direction in the second cleaning operation, the rotation and stop of the drive wheels 31 are repeated. For this reason, the influence of disturbance on the detection signal of the floor surface detection sensor 74 tends to increase. In the second movement control, in consideration of such circumstances, when the cleaner 10 operates so that the rotation and stop of the drive wheels 31 are repeated, the determination of the floor type is temporarily stopped. Therefore, for example, the control unit 70 takes a measure of invalidating the operation of the floor detection sensor 74 or not using the detection signal of the floor detection sensor 74 for control. By executing the second movement control, the possibility of obtaining an erroneous determination result regarding the type of floor surface is reduced. Note that the second and second cases are not limited to the case where the rotation and stop of the driving wheel 31 are repeated, and the case where it is estimated that the influence of the disturbance on the detection signal of the floor surface detection sensor 74 is increased for other reasons. The same effect can be obtained by executing the movement control. Another example is when the vacuum cleaner 10 repeats rotation or revolution.

  Details of the third movement control will be described with reference to FIGS. 24 to 27. In the third movement control, a plurality of determination processes are performed in parallel in order to detect a travel inhibition factor. Examples thereof are the slip determination process shown in FIG. 24, the collision determination process shown in FIG. 25, the step determination process shown in FIG. 26, and the wheel removal determination process shown in FIG.

  In the slip determination process of FIG. 24, each process is executed by the control unit 70 as follows. In step S11, the detection signal of the first rotation speed sensor 76 is acquired, and the rotation speed of the drive wheels 31 is calculated based on the detection signal. In step S12, the detection signal of the second rotation speed sensor 77 is acquired, and the rotation speed of the caster 23 is calculated based on the detection signal.

  In step S13, it is determined whether or not the rotational speed of the drive wheel 31 is faster than the rotational speed of the caster 23 and the difference between the rotational speeds is equal to or greater than a predetermined difference. The predetermined difference is defined in advance so that it can be determined that the state of the drive wheel 31 is a slip from the difference between the calculated rotation speed of the drive wheel 31 and the rotation speed of the caster 23.

  If the determination result in step S13 is affirmative, it is determined in step S14 that there is a travel inhibition factor, and the content of the determination is that the state of the drive wheels 31 is slip. If the determination result in step S13 is negative, it is determined in step S15 that there is no travel inhibition factor and the state of the drive wheels 31 is not slip.

  In the collision determination process shown in FIG. 25, each process is executed by the control unit 70 as follows. In step S21, it is determined whether or not the detection signal of the collision detection sensor 73 has been output. When the bumper 22 collides with an object and is pushed toward the body 20, a switch provided in the collision detection sensor 73 is turned on, and a detection signal indicating that is output to the control unit 70. If the determination result of step S21 is affirmative, it is determined in step S22 that there is a travel inhibition factor, and the content is determined to be a collision between the bumper 22 and the object. If the determination result in step S21 is negative, it is determined in step S23 that there is no travel inhibition factor and the bumper 22 does not collide with an object.

  In the level difference determination process shown in FIG. 26, each process is executed by the control unit 70 as follows. In step S31, the detection signal of each floor surface detection sensor 74 is acquired, and the distance between each portion of the body 20 provided with the floor surface detection sensor 74 and the floor surface is calculated based on each detection signal. The In step S32, it is determined whether or not the distance between each part of the body 20 and the floor is equal to or greater than a predetermined distance. The predetermined distance is defined in advance so that it can be determined that a step exists below the body 20 from the calculated distance between each part of the body 20 and the floor surface.

  If the determination result in step S32 is affirmative, it is determined in step S33 that there is a travel inhibition factor, and the content is determined to be a step existing below the body 20. If the determination result in step S32 is negative, it is determined in step S34 that there is no travel inhibition factor and no step exists below the body 20. In addition, the level | step difference determined by level | step difference determination processing points out the level | step difference which produces a big impact on the cleaner 10 as the level | step difference falls.

  In the derailment determination process shown in FIG. 27, each process is executed by the control unit 70 as follows. In step S41, the detection signal of the wheel removal detection sensor 78 is acquired, and the amount by which the driving wheel 31 is lifted with respect to the floor surface (hereinafter referred to as “floating amount”) is calculated based on the detection signal. In step S42, it is determined whether or not the floating amount is greater than or equal to a predetermined floating amount. The predetermined floating amount is defined in advance so that it can be determined from the calculated floating amount that the drive wheel 31 has been removed.

  If the determination result in step S42 is affirmative, it is determined in step S43 that there is a travel inhibition factor, and it is determined that the content is the removal of the drive wheels 31. If the determination result in step S42 is negative, it is determined in step S44 that there is no travel inhibition factor and the drive wheels 31 are not removed.

  The control unit 70 is slower than the rotational speed of the drive wheel 31 calculated based on the detection signal of the rotational speed sensor 76 when it is determined that there is a travel inhibition factor by any of the determination processes of FIGS. The drive wheel 31 is reversed at the rotational speed. When the driving wheel 31 is reversed, the cleaner 10 tries to move backward from the spot, thereby eliminating the traveling obstruction factor. When a travel impediment factor has occurred, there is a possibility that the actual direction of the drive wheels 31 is significantly different from the direction recognized by the control unit 70. In the third movement control, as described above, the drive wheel 31 moves backward while rotating at a low rotational speed, so that the cleaner 10 may move in a direction significantly different from the direction recognized by the control unit 70, and thus the cleaner 10. Is less likely to collide with obstacles.

(Modification)
The description regarding the embodiment is an exemplification of the form that the autonomously traveling vacuum cleaner according to the present invention can take, and is not intended to limit the form. In addition to the embodiment, the autonomously traveling vacuum cleaner according to the present invention can take, for example, a modification of the embodiment described below and a combination of at least two modifications not contradicting each other.

  -The content of the 1st cleaning control can be changed arbitrarily. In one example, the following process is further added to the first cleaning control. When the cleaner 10 is cleaning the third surface, when the detection signal of the floor surface detection sensor 74 that is likely to reflect the first surface or the second surface is acquired, the control unit No. 70 makes the time required for determining the type of the floor surface based on the detection signal longer than in the case of determining the type of the floor surface in other situations. An example of another situation is when the cleaner 10 is cleaning the first or second surface. When the type of the floor surface on which the vacuum cleaner 10 is located changes from the third surface to the first surface or the second surface, the detection signal of the floor surface detection sensor 74 changes from a state with a large variation to a small state. For this reason, even if the floor type actually changes, the fluctuation of the detection signal does not converge immediately, and the state in which the fluctuation of the detection signal is large continues even after the floor type changes. There is. When the type of floor surface is determined in such a state, there is a high possibility that the determination result is incorrect. As described above, when the time required to determine the floor type is set to be long, the possibility that the floor type is determined in a situation where there is a high risk of erroneous determination results.

  -The contents of the centralized cleaning operation in the second cleaning control can be arbitrarily changed. In one example, in addition to the first cleaning operation and the second cleaning operation exemplified in the embodiment, a third cleaning operation is defined in advance, and concentration according to the type of the floor surface is selected from these three types. A cleaning operation is selected. FIG. 28 shows the behavior of the cleaner 10 in the third cleaning operation. In the third cleaning operation, the cleaner 10 revolves around a virtual rotation center set on the centralized cleaning area, and further rotates while revolving. According to this cleaning operation, the hair of the carpet is more likely to be raised, and it is difficult for the garbage to remain unabsorbed.

  The third cleaning operation may further take the following form. In the first example, the cleaner 10 revolves around the virtual rotation center without rotating. In the second example, the revolution radius is changed based on the detection signal of the obstacle detection sensor 71. For example, when there is no obstacle around the body 20, the control unit 70 sets the revolution radius to be long, and when there is an obstacle around the body 20, the revolution becomes shorter as the distance between the obstacle and the body 20 becomes shorter. Set the distance short. According to this control, a wide range can be cleaned by the centralized cleaning operation in a range where the body 20 does not collide with an obstacle.

  -The content of the 3rd cleaning control can be changed arbitrarily. In one example, the control unit 70 causes the cleaner 10 to travel toward the wall P2, and the distance between the front surface of the body 20 and the wall P2 is a predetermined distance in a range where a gap is formed between the front surface of the body 20 and the wall P2. When the distance is reached, the traveling of the cleaner 10 is stopped. In this state, the auxiliary brush 100 rotates, so that dust near the wall P <b> 2 and corners is collected under the body 20 and sucked into the body 20.

(Additional note regarding means for solving the problem)
(Supplementary note 1) A body provided with a dust suction port on the bottom surface, a drive wheel for running the body, a floor surface detection sensor provided on the body so as to detect a distance from the floor surface, and the floor surface detection And a control unit that reflects a detection result of the sensor in control relating to cleaning, and the floor surface detection sensor is provided on the rear side of the wheel.

  (Supplementary note 2) The autonomous traveling type vacuum cleaner according to supplementary note 1, further comprising a main brush provided at the suction port that opens to a bottom surface of the body, wherein the floor surface detection sensor is provided at a rear side of the main brush. .

  (Supplementary Note 3) In Supplementary Note 1 or Supplementary 2, the auxiliary brush provided on the body is further provided so that dust can be collected at the suction port, and the floor surface detection sensor is provided on the rear side of the auxiliary brush. The autonomously traveling vacuum cleaner described.

  (Additional remark 4) When the said control unit judges that a floor surface is a carpet based on the detection result of the said floor surface detection sensor, The moving direction of the said body is changed in several directions, One of Additional remarks 1-3 The autonomously traveling vacuum cleaner according to one item.

  The present invention can be applied to various autonomous running type vacuum cleaners including home use and business use.

1: Vacuum cleaner system 10: Autonomous traveling vacuum cleaner 20: Body 22: Bumper 23: Caster 20B: Suction port 31: Drive wheel 71: Obstacle detection sensor 72: Distance measurement sensor 73: Collision detection sensor 74: Floor surface detection Sensor 75: Dust sensor 76: First rotation speed sensor 77: Second rotation speed sensor 78: Derailment detection sensor 90: Fence 91: Panel 91A: First end 91B: Second end 92: Rotation Shaft 93: Bearing 100: Auxiliary brush 110: Brush shaft 120: Mounting portion 130: Bristle holding portion 141: Short bristle bundle 142: Long bristle bundle D1: First distance D2: Second distance D3: Third distance D4: Fourth distance

Claims (13)

  1. An auxiliary brush attached to the body so that dust can be collected at a suction port provided on the bottom surface of the body constituting the autonomous traveling type vacuum cleaner,
    An auxiliary brush for an autonomously traveling vacuum cleaner, comprising: a short bristle bundle that is a bundle of short bristles; and a long bristle bundle that is a bundle of bristle longer than the short bristle bundle.
  2. A brush shaft that rotates relative to the body by a force transmitted from a power source provided in the body;
    An attachment portion attached to the brush shaft so as to be able to rotate integrally with the brush shaft;
    The auxiliary brush for an autonomous traveling cleaner according to claim 1, further comprising: a bristle holding portion that is provided so as to protrude from the attachment portion and holds the short bristle bundle and the long bristle bundle.
  3. The autonomous traveling type vacuum cleaner according to claim 2, wherein the bristle holding unit holds the short bristle bundle and the long bristle bundle in a state where a gap is formed between the short bristle bundle and the long bristle bundle. Auxiliary brush.
  4. The autonomous bristles according to claim 2 or 3, wherein the bristle holding part holds the short bristle bundle and the long bristle bundle so that the short bristle bundle precedes the long bristle bundle in the rotation direction of the auxiliary brush. Auxiliary brush for traveling type vacuum cleaner.
  5.   An autonomous travel type vacuum cleaner provided with the auxiliary brush as described in any one of Claims 1-4.
  6. An obstacle detection sensor for detecting a front distance which is a distance between the front surface of the body and the object;
    A distance measuring sensor that detects a lateral distance that is a distance between the side surface of the body and an object;
    From the first position where the front distance detected by the obstacle detection sensor is a first distance and the lateral distance detected by the distance measurement sensor is a second distance, the front distance is Rotation at the first position to move to a second position that is a third distance that is longer than the first distance and a fourth distance that is longer than the second distance. The autonomously traveling type cleaner according to claim 5, wherein the autonomously traveling type vacuum cleaner retracts from the first position to the second position after rotating.
  7. A dust sensor for detecting the amount of dust flowing from the suction port;
    The autonomously traveling vacuum cleaner according to claim 5 or 6, wherein the vehicle travels in a circle when the amount of dust determined based on the detection signal of the dust sensor is a predetermined amount or more.
  8. Driving wheels for running the body;
    A first rotational speed sensor for detecting the rotational speed of the drive wheel;
    The driving wheel control method is changed so as to eliminate a driving inhibition factor that is a factor that hinders driving of the autonomously traveling cleaner. The autonomous traveling type vacuum cleaner described in 1.
  9. With casters,
    A second rotational speed sensor for detecting the rotational speed of the caster,
    When it is determined that the state of the drive wheel is slip based on the detection signal of the first rotation speed sensor and the detection signal of the second rotation speed sensor, the drive wheel is moved to the first rotation speed sensor. The autonomously traveling vacuum cleaner according to claim 8, wherein the cleaner is rotated in the reverse direction at a speed slower than the rotational speed detected by the step.
  10. A bumper provided in a front portion of the body;
    A collision detection sensor that detects that the bumper has collided with an object;
    When it is determined that the bumper has collided with an object based on the detection signal of the collision detection sensor, the drive wheel is rotated in the reverse direction at a speed slower than the rotation speed detected by the first rotation speed sensor. The autonomously traveling vacuum cleaner according to claim 8 or 9.
  11. It further comprises a floor surface detection sensor for detecting the distance to the floor surface,
    When it is determined that there is a step below the body based on the detection signal of the floor detection sensor, the drive wheel is moved at a speed slower than the rotation speed detected by the first rotation speed sensor. The autonomously traveling vacuum cleaner according to any one of claims 8 to 10, wherein the cleaner is rotated in a reverse direction.
  12. Further comprising a derailing detection sensor for detecting that the drive wheel has derailed,
    When it is determined that the state of the drive wheel is a derailment based on the detection signal of the derailment detection sensor, the drive wheel is reversed at a speed slower than the rotational speed detected by the first rotational speed sensor. The autonomously traveling vacuum cleaner according to any one of claims 8 to 11, wherein the cleaner is rotated in a direction.
  13. The autonomous traveling type vacuum cleaner according to any one of claims 5 to 12,
    It is an element that determines the moving range of the autonomously traveling vacuum cleaner, and includes a fence composed of a plurality of panels connected so as to be folded.
    The panel includes a bearing provided at a first end, and a rotating shaft provided at a second end,
    The rotating shaft of one of the panels is attachable to the bearing of another one of the panels;
    The said rotating shaft and the said bearing are relatively movable in the normal line direction of the plane containing these. Vacuum cleaner system.
JP2016047749A 2016-02-05 2016-03-11 Autonomous travel-type vacuum cleaner, auxiliary brush for the same and vacuum cleaner system including autonomous travel-type vacuum cleaner Pending JP2017140350A (en)

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JP2016020848 2016-02-05

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EP16889196.8A EP3412190A4 (en) 2016-02-05 2016-10-13 Autonomous cleaner, auxiliary brush therefor, and cleaner system equipped with autonomous cleaner
CN201680080393.9A CN108601497A (en) 2016-02-05 2016-10-13 Autonomous type dust catcher and its pilot bruss and the cleaner system for having autonomous type dust catcher
PCT/JP2016/004565 WO2017134705A1 (en) 2016-02-05 2016-10-13 Autonomous cleaner, auxiliary brush therefor, and cleaner system equipped with autonomous cleaner
SG11201803514XA SG11201803514XA (en) 2016-02-05 2016-10-13 Autonomous cleaner, auxiliary brush therefor, and cleaner system equipped with autonomous cleaner

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JP2016047749A Pending JP2017140350A (en) 2016-02-05 2016-03-11 Autonomous travel-type vacuum cleaner, auxiliary brush for the same and vacuum cleaner system including autonomous travel-type vacuum cleaner
JP2018232120A Pending JP2019037857A (en) 2016-02-05 2018-12-12 Autonomous travel type vacuum cleaner
JP2019125042A Pending JP2019188213A (en) 2016-02-05 2019-07-04 Vacuum cleaner system
JP2019125041A Pending JP2019162542A (en) 2016-02-05 2019-07-04 Autonomous travel type vacuum cleaner

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JP2019125042A Pending JP2019188213A (en) 2016-02-05 2019-07-04 Vacuum cleaner system
JP2019125041A Pending JP2019162542A (en) 2016-02-05 2019-07-04 Autonomous travel type vacuum cleaner

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JP2019188213A (en) 2019-10-31
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CN108601497A (en) 2018-09-28
JP2019162542A (en) 2019-09-26
EP3412190A4 (en) 2019-06-19

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