JP2018068825A - Self-propelled vacuum cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled vacuum cleaner that can keep performance for sucking dusts even on an undulating surface to be cleaned.SOLUTION: A self-propelled vacuum cleaner 10 includes: a body moving in a travel direction by a drive unit 30; and a suction port body 41 provided in the body. A suction port 43 communicating with an outside is formed on a bottom surface of the suction port body 41. The suction port body 41 is rotatable relative to the body with an axis parallel to a horizontal surface as a center in a state where a bottom surface 22a of the body faces the horizontal surface.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a self-propelled cleaner.

  Patent Document 1 describes a self-propelled cleaner. The self-propelled cleaner described in Patent Document 1 includes a cleaner body. A suction port for sucking dust is formed on the bottom surface of the cleaner body.

JP 2010-57647 A

  When the self-propelled cleaner described in Patent Document 1 travels on an undulating surface to be cleaned, the suction port may be excessively separated from the surface to be cleaned. The self-propelled cleaner described in Patent Document 1 cannot suck dust efficiently due to excessive separation between the suction port and the surface to be cleaned. The ability of the self-propelled vacuum cleaner described in Patent Document 1 to suck in dust cannot be maintained on a undulating surface to be cleaned.

  The present invention has been made to solve the above-described problems. The objective of this invention is providing the self-propelled cleaner which can maintain the performance which attracts | sucks garbage also on the to-be-cleaned surface to be undulated.

  The self-propelled cleaner according to the present invention includes a main body that moves in a traveling direction by a moving means, and a suction port provided in the main body. A suction port communicating with the outside is formed on the bottom surface of the suction port body. The suction port body is rotatable with respect to the main body about an axis parallel to the horizontal plane, with the bottom surface of the main body facing the horizontal plane.

  The self-propelled cleaner according to the present invention includes a main body and a suction port. The suction port body is rotatable with respect to the main body about an axis parallel to the horizontal plane, with the bottom surface of the main body facing the horizontal plane. For this reason, if it is a self-propelled cleaner which concerns on this invention, the performance which attracts | sucks garbage can be maintained also on the to-be-cleaned surface to be undulated.

3 is a plan view of the self-propelled cleaner according to Embodiment 1. FIG. FIG. 3 is a bottom view of the self-propelled cleaner according to the first embodiment. It is a longitudinal cross-sectional view of the self-propelled cleaner of Embodiment 1. It is a front view of the self-propelled cleaner of Embodiment 1. 2 is a perspective view of an agitator according to Embodiment 1. FIG. 2 is a perspective view of a detection sensor according to Embodiment 1. FIG. FIG. 3 is a block diagram illustrating functions of a control unit according to the first embodiment. It is a longitudinal cross-sectional view of the self-propelled cleaner of Embodiment 1 that moves forward on the mattress. It is a longitudinal cross-sectional view of the self-propelled cleaner of Embodiment 1 that retreats on the mattress. It is a longitudinal cross-sectional view of the self-propelled vacuum cleaner of Embodiment 1 which advances the recessed part on a mattress. It is a front view of the self-propelled cleaner of Embodiment 1 which runs the slope part on a mattress. It is a longitudinal cross-sectional view of the self-propelled cleaner of Embodiment 1 which detects the edge part of a mattress. It is a longitudinal cross-sectional view of the self-propelled cleaner of Embodiment 1 which advances between a mattress and a comforter. It is a longitudinal cross-sectional view of the self-propelled cleaner of Embodiment 1 which detects the edge part of a mattress between a mattress and a comforter. It is a longitudinal cross-sectional view of the self-propelled cleaner of Embodiment 1 which moves forward on a soft mattress.

  Embodiments will be described below with reference to the accompanying drawings. The same reference numerals in the drawings indicate the same or corresponding parts. In the present disclosure, overlapping descriptions will be simplified or omitted as appropriate. The present disclosure may include all combinations of configurations that can be combined among the configurations described in the following embodiments.

Embodiment 1 FIG.
FIG. 1 is a plan view of self-propelled cleaner 10 of the first embodiment. FIG. 2 is a bottom view of self-propelled cleaner 10 of the first embodiment. FIG. 3 is a longitudinal sectional view of the self-propelled cleaner 10 according to the first embodiment. FIG. 4 is a front view of self-propelled cleaner 10 of the first embodiment. In the present embodiment, in principle, the direction is defined with reference to the state where the self-propelled cleaner 10 is placed on a horizontal plane.

  The top view of FIG. 1 is the figure which looked at the self-propelled cleaner 10 set | placed on the horizontal surface from the upper direction. The left direction on the paper surface in FIG. 1 is the front direction of the self-propelled cleaner 10. The traveling direction of the self-propelled cleaner 10 is the forward direction. Moreover, let the right direction on the paper surface in FIG. 1 be the back direction of the self-propelled cleaner 10. The self-propelled cleaner 10 moves backward, for example, in the rearward direction. That is, the self-propelled cleaner 10 moves forward and backward. Moreover, let the up-down direction on the paper surface in FIG. 1 be the right-left direction of a self-propelled cleaner.

  The bottom view of FIG. 2 is the figure which looked at the self-propelled cleaner 10 set | placed on the horizontal surface from the downward direction. The left direction on the paper surface in FIG. 2 is the front direction of the self-propelled cleaner 10. The right direction on the paper surface in FIG. 2 is the rear direction of the self-propelled cleaner 10. The vertical direction on the paper surface in FIG. 2 is the horizontal direction of the self-propelled cleaner 10.

  The longitudinal cross-sectional view of FIG. 3 shows the cross section in the AA line of the self-propelled cleaner 10 shown in FIG.1 and FIG.2. The longitudinal cross-sectional view of FIG. 3 is the figure which looked at the cross section along the vertical direction of the self-propelled cleaner 10 set | placed on the horizontal surface from the side. The left direction on the paper surface in FIG. 3 is the front direction of the self-propelled cleaner 10. The right direction on the paper surface in FIG. 3 is the rear direction of the self-propelled cleaner 10. The vertical direction on the paper surface in FIG. 3 corresponds to the vertical direction of the self-propelled cleaner 10.

  The front view of FIG. 4 is the figure which looked at the self-propelled cleaner 10 set | placed on the horizontal surface from the front. The vertical direction on the paper surface in FIG. 4 is defined as the vertical direction. The left-right direction on the paper surface in FIG. 4 corresponds to the right-left direction of the self-propelled cleaner 10.

  The self-propelled cleaner 10 includes a body 20 as shown in FIGS. 1 to 4. The body 20 is a part that forms the outer frame of the self-propelled cleaner 10. The body 20 is provided with various devices included in the self-propelled cleaner 10.

  Self-propelled cleaner 10 is provided with drive unit 30, cleaning unit 40, suction unit 50, dust collection unit 60, and drying unit 70, for example. The drive unit 30 is for moving the body 20 and devices provided in the body 20.

  The cleaning unit 40 is a part that takes in dust on the surface to be cleaned. The surface to be cleaned means a surface to be cleaned by the self-propelled cleaner 10. The dust taken in by the cleaning unit 40 includes, for example, dust. The surface to be cleaned includes, for example, an indoor floor surface and an upper surface of a mattress F1 laid in the room.

  The suction unit 50 is a part for sucking dust together with air. The cleaning unit 40 takes in the dust when the suction unit 50 operates. The dust collection unit 60 is a part that collects garbage taken in by the cleaning unit 40. Further, air is discharged from the dust collection unit 60. The drying unit 70 is for heating the air discharged from the dust collection unit 60. The hot air heated by the drying unit 70 is supplied to the outside of the self-propelled cleaner 10.

  The self-propelled cleaner 10 includes a control unit 80 and a power supply unit 90, for example. The control unit 80 controls the drive unit 30, the cleaning unit 40, the suction unit 50 and the drying unit 70. The power supply unit 90 supplies power to the drive unit 30, the cleaning unit 40, the suction unit 50, the drying unit 70, and the control unit 80.

  As an example, the body 20 includes an upper cover 21 and a lower case 22. The body 20 is formed, for example, by connecting an upper cover 21 and a lower case 22. The upper cover 21 forms the upper part of the body 20. The lower case 22 forms the lower part of the body 20.

  The upper cover 21 is disposed so as to cover, for example, equipment provided in the body 20 from above. The lower case 22 is provided so that the bottom surface 22a of the lower case 22 faces the surface to be cleaned when the self-propelled cleaner 10 is used. In the present embodiment, the bottom surface 22 a of the lower case 22 is the bottom surface of the body 20. Further, the bottom surface 22 a becomes a part of the bottom surface of the self-propelled cleaner 10. That is, the bottom surface of the self-propelled cleaner 10 placed on the horizontal plane faces the horizontal plane.

  The upper cover 21 and the lower case 22 may be integrally formed, for example. The body 20 may be formed by a single member, for example. Further, the bottom surface of the body 20 may be the bottom surface of the upper cover 21.

  The shape of the upper cover 21 as viewed from above is, for example, a shape in which four corners of a rectangular shape are arcuate as shown in FIG. Note that the shape of the upper cover 21 viewed from above may be, for example, a perfect circle shape or an elliptical shape.

  The upper cover 21 that forms the upper part of the body 20 forms the upper part of the self-propelled cleaner 10. The upper surface 21 a of the upper cover 21 is the upper surface of the self-propelled cleaner 10. The upper cover 21 is formed so that the upper surface 21a is a mountain-shaped three-dimensional curved surface. That is, the upper surface of the self-propelled cleaner 10 is a mountain-shaped three-dimensional curved surface. A region in a certain range including the center 21b of the upper surface 21a of the upper cover 21 is higher than the periphery of this region with the bottom surface 22a facing the horizontal plane.

  The upper surface 21a includes an upper surface front portion 21c and an upper surface rear portion 21d. The upper front portion 21c is formed from the front end portion of the upper cover 21 toward the center 21b over a certain range. The upper surface rear portion 21d is formed from the rear end portion of the upper cover 21 toward the center 21b over a certain range. The upper surface front portion 21c is an example of a first portion formed over a certain range from the end portion of the body 20 in the traveling direction. The upper surface rear portion 21d is an example of a second portion formed over a certain range from the end portion of the body 20 in the direction opposite to the traveling direction.

  As shown in FIG. 3, when the self-propelled cleaner 10 is viewed from the side, the ridge line of the upper surface front portion 21c is inclined more gently than the ridge line of the upper surface rear portion 21d. For example, when the self-propelled cleaner 10 is viewed from the side, the angle formed between the straight line approximating the ridge line of the upper surface front portion 21c and the horizontal plane is more than the angle formed by the straight line approximated to the ridge line of the upper surface rear portion 21d and the horizontal plane. Becomes smaller. In the present embodiment, the front part of the self-propelled cleaner 10 is gently inclined with respect to the horizontal plane as compared to the rear part of the self-propelled cleaner 10. As shown in FIG. 4, when the self-propelled cleaner 10 is viewed from the front, the upper surface 21a is formed symmetrically.

  The upper surface 21a includes an upper surface left part 21e and an upper surface right part 21f. As shown in FIGS. 1 to 4, the upper left portion 21e is formed from the left end portion of the upper cover 21 toward the center 21b over a certain range. The upper right portion 21f is formed from the right end portion of the upper cover 21 toward the center 21b over a certain range. The upper surface left part 21e and the upper surface right part 21f are inclined with respect to the horizontal plane in the same manner as the upper surface rear part 21d. That is, the upper surface front portion 21c is gently inclined with respect to the horizontal plane as compared with the upper surface left portion 21e and the upper surface right portion 21f. In the present embodiment, the front portion of the self-propelled cleaner 10 is gently inclined with respect to the horizontal plane as compared to the right and left portions of the self-propelled cleaner 10.

  The upper cover 21 has a lid 23 that can be opened and closed as an example. The lid 23 forms the upper part of the upper cover 21. A center 21 b of the upper cover 21 is included in the lid 23. The upper surface of the lid 23 may be a flat surface, for example. That is, a certain range of the region including the center 21b in the upper surface 21a may be a flat surface. The upper cover 21 does not have to include a flat surface. For example, the upper cover 21 may be formed so that, for example, the center 21b is the highest.

  The drive unit 30, the cleaning unit 40, the suction unit 50, the dust collection unit 60, the drying unit 70, the control unit 80, and the power supply unit 90 according to the present embodiment are attached to the body 20. The drive unit 30, the cleaning unit 40, the suction unit 50, the dust collection unit 60, the drying unit 70, the control unit 80, and the power supply unit 90 are accommodated in the lower case 22 as an example.

  The drive unit 30 is an example of a moving means for the self-propelled cleaner 10 to move. Self-propelled cleaner 10 is provided with a pair of drive units 30, for example. The pair of drive units 30 are respectively attached to the left side surface and the right side surface of the lower case 22. The pair of drive units 30 are arranged so that each is in a symmetrical position.

  The drive unit 30 includes wheels 31, a motor 32, a gear 33 and a housing 34. The wheel 31 is for the self-propelled cleaner 10 to travel on the surface to be cleaned. The wheel 31 generates a driving force by contacting the surface to be cleaned. The wheel 31 is an example of a driving body that generates a driving force for the self-propelled cleaner 10 to move.

  The motor 32 supplies power for the wheels 31 to rotate. The wheel 31 and the motor 32 are connected via a gear 33. The gear 33 transmits the power supplied by the motor 32 to the wheel 31. The gear 33 converts the rotational speed of the motor 32 so that the rotational speed of the wheel 31 is appropriate.

  The wheel 31, the motor 32 and the gear 33 are accommodated in the housing 34. The wheel 31 is rotatably supported in the housing 34. Moreover, the lower end of the wheel 31 protrudes downward from the bottom surface 22a of the lower case 22, as shown in FIG. That is, this lower end of the wheel 31 is closer to the surface to be cleaned than the bottom surface 22a when the surface to be cleaned is a horizontal surface, for example.

  As shown in FIG. 3, the wheel 31 may be provided so as to be movable in the vertical direction, for example. The wheel 31 moves up and down depending on the state of the surface to be cleaned, for example. For example, when the surface to be cleaned is the upper surface of the futon, the wheels 31 protrude downward as the futon is softer. Self-propelled cleaner 10 may be provided with a control part which is not illustrated. This adjustment part adjusts the protrusion amount of the wheel 31 on the basis of the bottom face 22a. Moreover, the soft material which suppresses the slip of the wheel 31 with respect to a to-be-cleaned surface may be provided in the outer periphery of the wheel 31. FIG.

  The cleaning unit 40 is disposed in the body 20. The cleaning unit 40 includes a suction port body 41 and a connection pipe 42. The suction port body 41 is disposed in front of the lower case 22. The connection pipe 42 is a tubular member. One end side of the connection pipe 42 is attached to the lower case 22. The other end side of the connection pipe 42 is connected to the suction port body 41.

  An air passage 41 a is formed inside the suction port body 41. A suction port 43 is formed on the bottom surface of the suction port body 41. The suction port 43 is an opening for sucking dust and air. The air passage 41 a communicates with the outside of the self-propelled cleaner 10 through the suction port 43. The air passage 41 a communicates with the air passage 42 a inside the connection pipe 42. In other words, the suction port 43 communicates with the air passage 42a via the air passage 41a.

  Further, the bottom surface of the suction port body 41 is disposed above the bottom surface 22 a of the lower case 22. That is, the suction port 43 is above the bottom surface 22a.

  The suction port body 41 is connected to the connecting pipe 42 so as to be rotatable in the vertical direction about an axis extending in the horizontal direction. The connecting pipe 42 is attached to the lower case 22 so as to be rotatable about an axis extending in the front-rear direction. When the axis extending in the front-rear direction is used as a reference, for example, the weight of the right side portion of the suction port body 41 and the weight of the left side portion are approximately the same. In the present embodiment, the suction port body 41 is formed symmetrically with respect to the rotation center of the connection pipe 42.

  When the connection pipe 42 moves with respect to the lower case 22, the suction port body 41 moves together with the connection pipe 42. That is, the suction port body 41 can rotate in the vertical direction and the horizontal direction with respect to the lower case 22.

  The cleaning unit 40 may include an agitator 44 as an example. The agitator 44 scrapes up dust from the surface to be cleaned by rotating. The agitator 44 is provided to be rotatable with respect to the suction port body 41. The agitator 44 is disposed in the air passage 41a. The agitator 44 is provided in the vicinity of the suction port 43.

  FIG. 5 is a perspective view of the agitator 44 according to the first embodiment. The agitator 44 has a plurality of dust removing bodies 45 and a shaft 46. The dust removing body 45 is made of, for example, a soft resin. The dust removing body 45 of the present embodiment is a plate-like member along the axial direction of the agitator 44. As an example, the agitator 44 has four dust removing bodies 45. The dust removing body 45 is provided on the outer periphery of the shaft 46 in a spiral shape. A fixed interval is formed between the dust removing bodies 45.

  The agitator 44 is rotatably supported around a shaft 46. The dust removing body 45 is provided so as to protrude from the suction port 43 to the outside of the suction port body 41 when the agitator 44 rotates. Further, the dust removing body 45 of the present embodiment is formed with a plurality of rectangular holes 45a. The shape and number of the holes 45a may be any number. Further, the number and shape of the dust removing bodies 45 are not limited to the above example. For example, a plurality of dust removing bodies 45 may be provided on the outer periphery of the shaft 46 along the axial direction of the agitator 44. In addition to the present embodiment, the dust removing body 45 may be formed by, for example, fibrous brush hairs.

  The cleaning unit 40 includes a motor 47 and a gear 48 for rotating the agitator 44, for example. The motor 47 is provided in the suction port body 41. The motor 47 rotates the agitator 44 via the gear 48. The rotation direction of the agitator 44 is set to a direction in which the dust removing body 45 is directed from the front to the rear of the self-propelled cleaner 10.

  The suction unit 50 is disposed behind the cleaning unit 40. The suction unit 50 includes a fan 51 and a duct 52. The fan 51 is attached to the lower case 22. The fan 51 generates an air flow. The dust collection unit 60 is disposed between the cleaning unit 40 and the suction unit 50. In other words, the suction unit 50 is disposed behind the dust collection unit 60. When the fan 51 generates an air flow, air flows from the dust collection unit 60 toward the duct 52.

  The dust collection unit 60 includes a dust collection box 61 and a dust collection filter 62. The dust collection box 61 is formed detachably with respect to the lower case 22, for example. The dust collection filter 62 is for catching dust. The dust collection filter 62 is detachably provided inside the dust collection box 61.

  The dust collection box 61 attached to the lower case 22 is connected to one end side of the connection pipe 42. That is, the suction port body 41 connected to the other end side of the connection pipe 42 is connected to the dust collection box 61 via the connection pipe 42. The space inside the dust collection box 61 connected to the connection pipe 42 communicates with the air passage 42a.

  The user can remove the dust collection box 61 above the body 20 by opening the lid 23. In addition, the user can remove the dust collection filter 62 from the dust collection box 61 removed from the body 20. Thereby, the user can throw away the garbage collected by the dust collection unit 60. FIG.

  The drying unit 70 is disposed behind the suction unit 50. The drying unit 70 includes a heater 71 and a heater case 72. The heater 71 is held inside the heater case 72. The heater case 72 is connected to the duct 52.

  A hot air outlet cover 74 having a hot air outlet 73 is formed on the bottom surface of the heater case 72. In the present embodiment, this bottom surface of the heater case 72 is a part of the bottom surface of the self-propelled cleaner 10. As an example, the hot air outlet cover 74 projects downward from the bottom surface 22 a of the lower case 22. The hot air outlet cover 74 has a plurality of holes extending from the lower end to the rear surface of the hot air outlet cover 74. The hot air outlet 73 is composed of the plurality of holes.

  In the present embodiment, the air that has flowed through the duct 52 by the fan 51 is sent into the heater case 72. The air sent into the heater case 72 is heated by the heater 71. The air heated by the heater 71 is sent to the outside of the self-propelled cleaner 10 through the holes of the hot air outlet 73 and the hot air outlet cover 74. In this way, the self-propelled cleaner 10 supplies warm air to the outside.

  The heater 71 is a device that uses, for example, a heating element having PTC characteristics. PTC is an abbreviation for Positive Temperature Coefficient. PTC means a positive temperature coefficient. The heater 71 has a function of controlling its own temperature. For example, the electrical resistance of the heating element of the heater 71 changes according to the amount of air sent into the heater case 72. The temperature of the heater 71 is kept in a certain range according to the amount of air sent into the heater case 72. Moreover, the temperature of the warm air supplied from the self-propelled cleaner 10 is kept in a certain range. Thereby, the self-propelled cleaner 10 does not supply excessively high temperature hot air to the outside.

  The control unit 80 and the power supply unit 90 are disposed inside the body 20. The control unit 80 is disposed below the suction unit 50, for example. The power supply unit 90 is disposed below the dust collection unit 60, for example. The power supply unit 90 is attached to the bottom part of the lower case 22, for example. The power supply unit 90 and the control unit 80 are connected to each other.

  The power supply unit 90 includes, for example, a storage battery 91, a circuit board 92, and a power supply case 93. The circuit board 92 controls the storage battery 91. The circuit board 92 controls the values of voltage and current supplied from the storage battery 91, for example. The circuit board 92 controls the temperature of the storage battery 91, for example. The circuit board 92 protects the storage battery 91. The power supply case 93 is a case that houses the storage battery 91 and the circuit board 92.

  The power supply unit 90 has a charging terminal 94 for charging the storage battery 91. The charging terminal 94 is formed so as to be exposed from the bottom surface 22a of the lower case 22 to the outside. Charging terminal 94 is formed to be connectable to an external charger. The storage battery 91 is supplied with electric power from an external charger via a charging terminal 94. The charging terminal 94 may be formed to be connectable to, for example, an external commercial power source.

  Self-propelled cleaner 10 is provided with detection sensor 81 as an example. The detection sensor 81 is a sensor for detecting the positional relationship between the surface to be cleaned and the self-propelled cleaner 10. The detection sensor 81 is connected to the control unit 80.

  FIG. 6 is a perspective view of the detection sensor 81 of the first embodiment. The detection sensor 81 includes an infrared light emitting unit 82 and an infrared light receiving unit 83. The infrared light emitting unit 82 and the infrared light receiving unit 83 are arranged to face the surface to be cleaned. The infrared light emitter 82 emits infrared light toward the surface to be cleaned. The infrared light receiving unit 83 receives infrared light reflected by the surface to be cleaned.

  The amount of infrared light received by the infrared light receiver 83 varies depending on the positional relationship between the detection sensor 81 and the surface to be cleaned. For example, the amount of infrared light received by the infrared light receiving unit 83 increases as the detection sensor 81 and the surface to be cleaned get closer. Further, the amount of infrared light received by the infrared light receiving unit 83 decreases as the detection sensor 81 and the surface to be cleaned are separated.

  The self-propelled cleaner 10 includes, for example, six detection sensors 81. The six detection sensors 81 are provided at the lower end portion of the upper cover 21, for example. The six detection sensors 81 are provided in an inclined state with respect to, for example, a horizontal plane and a vertical plane. Three of the six detection sensors 81 are disposed, for example, in the front portion of the lower end portion of the upper cover 21. These three detection sensors 81 are disposed, for example, at the center, right side, and left side of the front portion. Similarly, for example, the remaining three detection sensors 81 are arranged at the center, the right side, and the left side of the rear portion of the lower end portion of the upper cover 21, respectively. In the present embodiment, one of the detection sensors 81 is provided at the front end portion of the body 20.

  The number and arrangement of the detection sensors 81 are not limited to the present embodiment. The detection sensor 81 should just be provided in the position which can detect the state of a to-be-cleaned surface. For example, the detection sensor 81 may be provided on the bottom surface of the lower case 22 such as 22a.

  FIG. 7 is a block diagram illustrating functions of the control unit 80 according to the first embodiment. The control unit 80 is connected to the detection sensor 81. The control unit 80 is connected to, for example, the motor 32 of the drive unit 30, the motor 47 of the cleaning unit 40, the fan 51 of the suction unit 50, and the heater 71 of the drying unit 70. The control unit 80 controls the motor 32, the motor 47, the fan 51 and the heater 71.

  The control unit 80 has a circuit for controlling the motor 32, the motor 47, the fan 51, and the heater 71. Power is supplied to the circuit from the power supply unit 90. Further, power is supplied from the power supply unit 90 to the motor 32, the motor 47, the fan 51, and the heater 71 through the circuit of the control unit 80. The motor 32, the motor 47, the fan 51, and the heater 71 may be directly connected to the power supply unit 90.

  For example, the detection sensor 81 sends a signal corresponding to the amount of infrared light received by the infrared light receiving unit 83 to the control unit 80. The control unit 80 determines the position of the self-propelled cleaner 10 with respect to the surface to be cleaned based on the signal sent from the detection sensor 81. The control unit 80 controls the motor 32, the motor 47, the fan 51, and the heater 71 according to the determined result. The self-propelled cleaner 10 performs cleaning and drying of an object by driving the motor 32, the motor 47, the fan 51, and the heater 71. Objects to be cleaned and dried by the self-propelled cleaner 10 include, for example, a mattress F1 and a comforter F2.

  As described above, the suction port body 41 is rotatable in the vertical direction and the horizontal direction with respect to the lower case 22 of the body 20. In the present embodiment, the body 20, the drive unit 30, the suction unit 50, the dust collection unit 60, the drying unit 70, the control unit 80, the power supply unit 90, and the detection sensor 81 are examples of the main body of the self-propelled cleaner 10. is there. Hereinafter, the body 20, the drive unit 30, the suction unit 50, the dust collection unit 60, the drying unit 70, the control unit 80, the power supply unit 90, and the detection sensor 81 are collectively referred to simply as “main body”. In the present embodiment, the suction port 41 is rotatable with respect to the main body.

  The main body of the self-propelled cleaner is moved in the traveling direction by a drive unit 30 which is an example of a moving means. The upper surface of the main body of the self-propelled cleaner 10 is a mountain-shaped three-dimensional curved surface. Moreover, the suction inlet 43 formed in the bottom face of the suction inlet body 41 exists above the bottom face of a main body. The hot air outlet cover 74 is formed on the bottom surface of the main body.

  In addition, a protrusion 24 is formed on the bottom surface 22a of the lower case 22 of the present embodiment. The protrusion 24 protrudes downward. The protrusion 24 is disposed behind the cleaning unit 40. The protrusion 24 is formed integrally with the lower case 22 as an example. The positional relationship in this Embodiment of the protrusion part 24, the bottom face 22a, the upper cover 21, the suction inlet body 41, the suction inlet 43, the wheel 31, and the warm air outlet cover 74 is demonstrated with reference to FIG.

  The lower end of the protrusion 24 and the lower end of the hot air outlet cover 74 are below the bottom surface 22a. As an example, the lower end of the protrusion 24 and the lower end of the hot air outlet cover 74 are 9 mm below the bottom surface 22a. In addition, the lower end of the protrusion 24 and the lower end of the hot air outlet cover 74 may be at different heights.

  As an example, the lower end of the wheel 31 is below the lower end of the protrusion 24 and the lower end of the hot air outlet cover 74. The lower end of the wheel 31 is, for example, 17 mm below the bottom surface 22a. Further, as described above, the wheel 31 may be provided so as to be movable in the vertical direction. For example, the downward protrusion amount of the lower end of the wheel 31 with respect to the bottom surface 22a is 40 mm at the maximum.

  The lower end of the upper cover 21 is above the bottom surface 22a. The lower end of the upper cover 21 is, for example, 5 mm above the bottom surface 22a. Moreover, the bottom face of the suction inlet body 41 and the suction inlet 43 are 8 mm above the bottom face 22a, for example. In the present embodiment, the bottom surface of the suction port body 41 and the suction port 43 are above the lower end of the upper cover 21.

  As shown in FIG. 3, when the self-propelled cleaner 10 is viewed from the side, the suction port 43, the protrusion 24, the wheel 31, and the hot air outlet cover 74 are arranged in order from the front. In the present embodiment, the position in the front-rear direction of the center of gravity G of the main body of the self-propelled cleaner 10 is between the wheel 31 and the hot air outlet cover 74 as shown in FIG. That is, when the self-propelled cleaner 10 is viewed from the side, the suction port 43, the protrusion 24, the wheel 31, the center of gravity G of the main body, and the hot air outlet cover 74 are arranged in order.

  In the present embodiment, the suction port 43 is above the lower end of the protrusion 24. Further, the suction port 43 is above the lower end of the hot air outlet cover 74. When the self-propelled cleaner 10 is viewed from the side, the center of gravity G of the main body is on the opposite side of the suction port 43 with respect to the wheels 31. When the self-propelled cleaner 10 is viewed from the side, the hot air outlet cover 74 is on the opposite side of the suction port 43 with respect to the center of gravity G of the main body.

  Next, the operation and effect of the self-propelled cleaner 10 configured as described above will be described. As described above, the self-propelled cleaner 10 cleans the mattress F1, which is an example of the object. The mattress F1 is formed of a fiber and a side fabric covering the fiber. The side fabric is made of cotton, for example. The fiber covered with the side fabric is a resin fiber such as cotton, wool or polyester. In addition, the synthetic fiber which combined the resin fiber with cotton or wool may be sufficient as the fiber which forms the mattress F1, for example.

  The mattress F1 has flexibility. When an object is placed on the mattress F1, the fibers inside the mattress F1 are compressed by the weight of the object. When an object is placed on the mattress F1, the surface of the mattress F1 sinks.

  The mattress F1 is mainly used at bedtime while being covered with the sheets S. The sheet S is formed of a material such as cotton, for example. Below, the self-propelled cleaner 10 placed on the mattress F1 covered with the sheet S will be described. The self-propelled cleaner 10 cleans and dries the mattress F1 covered with the sheets S.

  The self-propelled cleaner 10 cleans and dries the mattress F1 while traveling on the mattress F1. For example, the self-propelled cleaner 10 moves forward and backward on the mattress F1. FIG. 8 is a longitudinal sectional view of the self-propelled cleaner 10 according to the first embodiment that moves forward on the mattress F1. FIG. 9 is a vertical cross-sectional view of the self-propelled cleaner 10 according to the first embodiment that retreats on the mattress F1.

  When the self-propelled cleaner 10 is placed on the mattress F1 covered with the sheets S, the surface of the mattress F1 and the sheets S sink due to the weight of the self-propelled cleaner 10. The surface of the mattress F1 and the sheet S are pushed down by the protrusion 24, the wheel 31, and the hot air outlet cover 74. On the sheet S and the mattress F1, the weight of the self-propelled cleaner 10 is mainly supported by the bottom surface 22a of the lower case 22, the protrusions 24, the wheels 31, and the hot air outlet cover 74. In particular, the protrusion 24, the wheel 31, and the hot air outlet cover 74 support most of the weight of the self-propelled cleaner 10. The protrusion 24, the wheel 31, and the hot air outlet cover 74 suppress the contact of the bottom surface 22a with the sheets S and the mattress F1.

  In the present embodiment, the lower end of the wheel 31 is below the lower end of the protrusion 24 and the lower end of the hot air outlet cover 74. Thereby, the wheel 31 contacts the sheet S and the mattress F1 more strongly. If it is this Embodiment, wheel 31 can generate the driving force for self-propelled cleaner 10 to run more efficiently.

  The lower end of the upper cover 21 of the present embodiment is the bottom surface 22 a and the lower end of the wheel 31 is above the lower end of the protruding portion 24 and the lower end of the hot air outlet cover 74. The lower end of the upper cover 21 is not strongly pressed against the sheets S and the mattress F1. For example, the lower end of the upper cover 21 slightly contacts the sheet S. Further, the lower end of the upper cover 21 may be separated from the sheet S, for example. The lower end of the upper cover 21 may include a portion that is in contact with the sheet S and a portion that is not in contact with the mattress F1 and the unevenness of the surface of the sheet S, for example.

  The bottom surface of the suction port body 41 is above the lower end of the upper cover 21. In a state where the self-propelled cleaner 10 is placed on the mattress F1 covered with the sheet S, the bottom surface of the suction port body 41 is separated from the mattress F1 and the sheet S. Note that the front end of the bottom surface of the suction port body 41 may slightly contact the sheet S in a state where the self-propelled cleaner 10 is placed on the mattress F1 covered with the sheet S.

  The self-propelled cleaner 10 starts its operation when, for example, a power switch (not shown) is operated. For example, when the power switch is turned on by the user, the control unit 80 and the detection sensor 81 are activated. The detection sensor 81 emits and receives infrared light. The detection sensor 81 sends a signal corresponding to the amount of received infrared light to the control unit 80.

  Based on the signal sent from the detection sensor 81, the control unit 80 determines the state of the position of the self-propelled cleaner 10 with respect to the surface to be cleaned. For example, when the amount of infrared light received by the detection sensor 81 is equal to or greater than a preset threshold value, the control unit 80 determines that the self-propelled cleaner 10 is on the sheet S and the mattress F1. This threshold value is stored in advance in the control unit 80, for example.

  When the control unit 80 determines that the self-propelled cleaner 10 is on the sheets S and the mattress F1, the control unit 80 drives the motor 32 so that the self-propelled cleaner 10 moves forward. The self-propelled cleaner 10 moves forward as shown in FIG. The control unit 80 drives the fan 51, the motor 47, and the heater 71.

  When the fan 51 is driven, the inside of the dust collection box 61 is depressurized. The fan 51 generates an air flow from the suction port 43 toward the inside of the dust collection box 61 through the air passage 41a and the air passage 42a. Thereby, the dust and air adhering to the sheet S and the mattress F1 are sucked from the suction port 43 to the air passage 41a.

  Further, when the fan 51 is driven, a force attracted to the mattress F1 is applied to the suction port body 41 in which the suction port 43 is formed. For example, as shown in FIG. 8, the bottom surface of the suction port body 41 of the self-propelled cleaner 10 that moves forward is inclined forward and downward.

  Further, the sheet S is sucked to the suction port 43. The sheet S is sucked upward. The sheets S sucked upward are separated from the mattress F1. A space B is formed between the sheet S sucked upward and the futon F1, as shown in FIG. 8, for example.

  In the space B, air flows from the outside into a portion where the suction port 43 and the sheet S do not overlap in a plan view. Further, the air in the space B flows from the suction port 43 to the air passage 41a. For example, fine dust between the sheet S and the mattress F1 is sucked from the suction port 43 to the air passage 41a through the gap between the fibers forming the sheet S.

  When the motor 47 is driven by the control unit 80, the agitator 44 rotates. In the present embodiment, the sheet S sucked to the suction port 43 is shaken by the dust removing body 45 of the agitator 44. Thereby, for example, fine dust in a state of being gathered between the sheet S and the mattress F1 is shaken. The fine dust in a grouped state is easily shaken to easily pass through the gaps between the fibers forming the sheet S. In addition, a gap is generated between the sheet S shaken by the dust removing body 45 and the suction port 43. Garbage under the sheet S passes through the gap between the fibers of the sheet S, and is effectively sucked from the suction port 43 into the air passage 41a.

  In addition, dust on the sheet S is also sucked from the suction port 43 into the air passage 41a. The suction port 43 moves as the self-propelled cleaner 10 moves. When the suction port 43 passes near the garbage on the sheet S, the dust is sucked from the suction port 43 into the air passage 41a. Further, even if the sheet S is sucked to the suction port 43 when the suction port 43 passes near the dust, the sheet S is shaken by the rotating agitator 44. As a result, a gap is generated between the sheet S and the suction port 43, so that the dust on the sheet S sucked by the suction port 43 is effectively sucked from the suction port 43 to the air passage 41a. Thus, the self-propelled cleaner 10 provided with the agitator 44 can suck dust more effectively.

  The garbage on the sheet S includes, for example, hair. The hair may become entangled with the rotating agitator 44. In the present embodiment, the dust removing body 45 has a plate shape. Hair is not easily caught on the end of the plate-like dust removing body 45. In the present embodiment, the hair entangled with the agitator 44 is gradually separated from the agitator 44 as the agitator 44 continues to rotate. Hair separated from the agitator 44 is sucked from the air passage 41a to the air passage 42a. Moreover, the hole 45a is formed in the dust removing body 45 of this Embodiment. The hole 45a formed in the dust removing body 45 secures a ventilation amount sucked from the suction port 43 to the air passage 41a in a state where the sheet S is attracted to the suction port 43. By forming the hole 45a in the dust removing body 45, even if the sheet S is sucked into the suction port 43, a sufficient amount of air flows through the air passage 41a. The hole 45a prevents a decrease in the amount of air flowing through the air passage 41a.

  The dust and air sucked into the air passage 41 a flows into the dust collection box 61. The dust collection filter 62 in the dust collection box 61 captures dust. The air passes through the dust collection box 61. The dust and air that has flowed into the dust collection box 61 become clean air by the dust collection filter 62. Clean air is sent to the drying unit 70 via the suction unit 50. The air sent to the drying unit 70 is heated by the heater 71. As an example, the heater 71 heats air to 60 ° C. The air heated by the heater 71 is sent to the outside of the self-propelled cleaner 10 through the holes of the hot air outlet 73 and the hot air outlet cover 74.

  The lower end of the hot air outlet cover 74 sinks into the mattress F1. The hot air outlet cover 74 is formed with a hot air outlet 73 composed of a plurality of holes from the lower end of the hot air outlet cover 74 to the rear surface side. When the hot air outlet cover 74 sinks into the mattress F1, the air path through which the hot air passes is sufficiently secured. Since the warm air outlet 73 is formed from the lower end of the warm air outlet cover 74 to the rear surface, the warm air sufficiently passes through the surface of the mattress F1. If it is self-propelled cleaner 10 of this embodiment, warm air of sufficient wind speed can be sent to the surface of mattress F1. In the present embodiment, heat is efficiently transmitted to the mattress F1. The self-propelled cleaner 10 can efficiently heat and dry the mattress F1.

  As described above, the self-propelled cleaner 10 of the present embodiment can suck dust and supply hot air while moving forward. Self-propelled cleaner 10 can dry objects, such as mattress F1, while cleaning. In addition, the self-propelled cleaner 10 may not have a function of drying an object, for example.

  Further, the control unit 80 drives the motor 32 for a predetermined time so that the self-propelled cleaner 10 moves forward, for example, and then reverses the rotation direction of the motor 32. Thereby, the self-propelled cleaner 10 moves backward as shown in FIG.

  A force for overcoming the swelling of the sheet S sucked by the suction port 43 acts on the suction port body 41 of the self-propelled cleaner 10 that moves backward. A force that is lifted upward acts on the front end of the bottom surface of the suction port body 41 of the self-propelled cleaner 10 that moves backward. As shown in FIG. 9, the front end of the bottom surface of the suction port body 41 of the self-propelled cleaner 10 that moves backward is rotated upward compared to the front end of the bottom surface of the suction port body 41 of the self-propelled cleaner 10 that moves forward. Move.

  In the present embodiment, the suction port 43 is above the bottom surface 22a. For this reason, it is prevented that the suction inlet 43 adheres to the mattress F1. Further, the suction port 43 does not adhere too strongly to the sheet S. The self-propelled cleaner 10 can maintain the performance of sucking dust and the performance of traveling on the surface to be cleaned even on a flexible surface to be cleaned. In addition, the self-propelled cleaner 10 may have, for example, a rib that prevents the sheet S from coming into close contact with the suction port 43.

  Further, since the suction port 43 is above the bottom surface 22a, a space B is formed between the sheet S and the futon F1. When the self-propelled cleaner 10 is operated, an air flow from the outside of the space B to the inside of the space B and an air flow from the inside of the space B to the outside are generated. Thereby, a sufficient amount of air flows from the space B toward the suction port 43. The self-propelled cleaner 10 of the present embodiment can efficiently suck in fine dust between the sheets S and the mattress F1.

  Further, the suction port 43 is located above the lower end of the protruding portion 24. The protrusion 24 presses the mattress F1 downward. If it is this Embodiment, it will be prevented more effectively that the suction inlet 43 adheres to the mattress F1. For example, even when the bottom surface of the suction port body 41 is inclined forward and downward, the suction port 43 does not adhere to the mattress F1. The protrusion 24 prevents the surface to be cleaned having flexibility from being adsorbed to the suction port 43. The protruding portion 24 is an example of an adsorption preventing portion that protrudes downward from the bottom surface of the main body of the self-propelled cleaner 10.

  The protrusion 24 presses down the sheet S together with the mattress F1. The protrusion 24 also suppresses sagging of the sheet S sucked by the suction port 43. Further, the protruding portion 24 prevents the sheet S from being adsorbed excessively strongly with respect to the suction port 43. The protruding portion 24 prevents the sheet S from entering the interior of the air passage 41 a inside the suction port body 41 through the suction port 43. The self-propelled cleaner 10 including the protrusion 24 can more effectively maintain the performance of sucking dust and the performance of traveling on the surface to be cleaned even on the flexible surface to be cleaned. Further, according to the present embodiment, for example, the rotation of the agitator 44 is prevented from being hindered by the sheet S.

  When the self-propelled cleaner 10 is viewed from the side, the protrusion 24 is disposed between the suction port 43 and the wheel 31. The protrusion 24 is disposed in the vicinity of the suction port 43. Thereby, the area | region attracted | sucked to the suction inlet 43 of the sheets S is restrict | limited to a fixed area | region. The width of the space B between the sheet S and the mattress F1 is limited by the protrusion 24. As a result, a sufficiently strong air flow is generated in the space B. The self-propelled cleaner 10 according to the present embodiment can more effectively suck, for example, fine dust in the space B between the sheet S and the mattress F1.

  In addition, the protrusion part 24 may be different from the lower case 22, for example. For example, the protrusion 24 may be a member that is slippery with respect to the surface to be cleaned. Further, the protruding portion 24 may be, for example, a rotatable columnar member. Thereby, the resistance which generate | occur | produces between the protrusion part 24 and a to-be-cleaned surface when the self-propelled cleaner 10 drive | works on the to-be-cleaned surface is reduced.

  The center of gravity G of the main body of the self-propelled cleaner 10 of the present embodiment is behind the wheels. For this reason, even if the force attracted to the mattress F1 is applied to the suction port body 41, the main body of the self-propelled cleaner 10 is unlikely to tilt forward and downward. A space B between the sheet S and the mattress F1 is more reliably generated. Thereby, the performance in which the self-propelled cleaner 10 sucks in garbage becomes better.

  The inertial force acts on the self-propelled cleaner 10 that moves forward so that the self-propelled cleaner 10 tilts backward and downward. In the present embodiment, the hot air outlet cover 74 is behind the center of gravity G. The hot air outlet cover 74 protruding downward prevents the self-propelled cleaner 10 from tilting backward and downward. Thereby, it is prevented that the suction inlet 43 leaves | separates from a to-be-cleaned surface. Self-propelled cleaner 10 of this embodiment can move forward while maintaining the ability to suck in dust.

  The hot air outlet cover 74 of the present embodiment is an example of an inclination suppressing portion formed in the main body of the self-propelled cleaner 10. An inclination suppression part is for suppressing that self-propelled cleaner 10 inclines back and downward. Self-propelled cleaner 10 may be provided with a member different from warm air outlet cover 74 as an inclination suppression part.

  The lower end of the upper cover 21 of the present embodiment is below the suction port 43. As described above, the front end of the bottom surface of the suction port body 41 of the retreating self-propelled cleaner 10 rotates upward as compared to the front end of the bottom surface of the suction port body 41 of the self-propelling cleaner 10 that moves forward. . The front portion of the lower end of the upper cover 21 presses the sheet S in front of the suction port 43. These prevent the sheet S from being sucked into the suction port 43 and sagging when the self-propelled cleaner 10 moves backward. Further, when the self-propelled cleaner 10 moves backward, the sheet S is prevented from being drawn from the suction port 43 to the back of the air passage 41a.

  Next, the self-propelled cleaner 10 that moves forward in the recess U on the mattress F1 and the self-propelled cleaner 10 that runs on the inclined portion L on the mattress F1 will be described. The recess U is a place recessed downward on the mattress F1. The inclined part L is a place inclined in the left-right direction on the mattress F1. The inclined portion L is inclined upward from the right to the left. FIG. 10 is a longitudinal sectional view of the self-propelled cleaner 10 according to the first embodiment that moves forward through the recess U on the mattress F1. FIG. 11 is a front view of self-propelled cleaner 10 of the first embodiment that travels on inclined portion L on mattress F1.

  As described above, in the present embodiment, the suction port 41 is rotatable with respect to the main body. When the self-propelled cleaner 10 passes over the recess U, the suction port body 41 rotates according to the shape of the recess U. For example, as shown in FIG. 10, the suction port body 41 rotates around an axis extending in the left-right direction. As an example, the front end of the suction inlet 41 rotates downward. As the suction port body 41 rotates, the suction port 43 also rotates in the same manner. The suction port body 41 and the suction port 43 are rotated according to the shape of the concave portion U, whereby the dust in the space B is effectively sucked.

  Further, as shown in FIG. 11, when the self-propelled cleaner 10 passes over the inclined portion L, the suction port body 41 rotates according to the shape of the inclined portion L. The left side of the suction port body 41 moves upward according to the shape of the inclined portion L. The suction port body 41 and the suction port 43 are rotated according to the shape of the inclined portion L, so that dust in the space B is effectively sucked.

  In the present embodiment, the suction port body 41 is rotatable relative to the main body with respect to an axis extending in the front-rear direction and an axis extending in the left-right direction. When the self-propelled cleaner 10 travels on an undulating surface to be cleaned, the suction port body 41 and the suction port 43 move following the undulation. If it is self-propelled cleaner 10 of this embodiment, the performance which attracts garbage can be maintained also on the undulating surface to be cleaned.

  The suction port body 41 may be rotatable around an axis extending in the front-rear direction or an axis extending in the left-right direction, for example. Further, the suction port body 41 may be rotatable around an axis or the like that extends from the right diagonal front to the left diagonal rear, for example. The suction port body 41 only needs to be rotatable around an axis parallel to the horizontal plane with the bottom surface of the main body of the self-propelled cleaner 10 facing the horizontal plane. Thereby, the suction inlet 41 moves following the undulations on the surface to be cleaned.

  The suction inlet 41 of the present embodiment is formed symmetrically as an example. For example, the weight of the right side portion of the suction port body 41 may be different from the weight of the left side portion. The self-propelled cleaner 10 may include a spring for lifting the heavier one of the right side portion and the left side portion of the suction port body 41. The suction inlet 41 should just be able to move following the undulations on the surface to be cleaned.

  Next, the self-propelled cleaner 10 that detects the end of the mattress F1 will be described. FIG. 12 is a longitudinal sectional view of the self-propelled cleaner 10 of the first embodiment that detects the end of the mattress F1.

  As shown in FIG. 12, when the front end portion of the body 20 reaches the end portion of the mattress F1, the front side of the lower end portion of the upper cover 21 is compared to when the front end portion of the body 20 does not reach the end portion of the mattress F1. The amount of infrared light received by the detection sensor 81 provided in the portion is reduced. For example, when the self-propelled cleaner 10 moves forward toward the end of the mattress F1 placed on a bed or the like, the amount of infrared light received by the detection sensor 81 eventually becomes zero.

  For example, when the amount of infrared light received by the detection sensor 81 provided in the front portion of the lower end portion of the upper cover 21 falls below a preset threshold value, the control unit 80 causes the self-propelled cleaner 10 to end the mattress F1. It is determined that the part has been reached. The control unit 80 that determines that the self-propelled cleaner 10 has reached the end of the mattress F1 stops the motor 32. After stopping the motor 32, the control unit 80 drives the motor 32 again so that the rotation direction of the motor 32 is reversed with respect to the rotation direction before the motor 32 is stopped. When the motor 32 is driven again, the self-propelled cleaner 10 moves backward. For example, when the amount of infrared light received by the detection sensor 81 provided in the rear portion of the lower end portion of the upper cover 21 falls below a preset threshold value, the control unit 80 causes the self-propelled cleaner 10 of the mattress F1. It is determined that the end has been reached. The control unit 80 that determines that the self-propelled cleaner 10 has reached the end of the mattress F1 stops the motor 32. Note that the control unit 80 that determines that the self-propelled cleaner 10 has reached the end of the mattress F1 may change the rotational speed of each motor 32 of the pair of drive units 30. The control unit 80 may change the traveling direction of the self-propelled cleaner 10 by changing the rotation speed of each motor 32 of the pair of drive units 30. Thus, the self-propelled cleaner 10 detects the end portion of the mattress F1, and repeats forward, backward, and change of the traveling direction. The self-propelled cleaner 10 can continue cleaning and drying of the mattress F1 without falling from the mattress F1.

  The angle at which the direction of the detection sensor 81 is inclined with respect to the vertical direction is set within a range in which the detection sensor 81 can receive infrared light. The angle at which the direction of the detection sensor 81 is inclined with respect to the vertical direction is hereinafter referred to as the inclination angle of the detection sensor 81. The detection sensor 81 can detect the state of the mattress F1 surface at a position farther from the outer periphery of the body 20 as the inclination angle of the detection sensor 81 is larger. That is, the risk that the self-propelled cleaner 10 falls from the mattress F1 is further reduced as the inclination angle of the detection sensor 81 is larger. In addition, the detection sensor 81 can detect the positional relationship between the surface to be cleaned and the self-propelled cleaner 10 more accurately as the inclination angle of the detection sensor 81 is smaller. For example, as the inclination angle of the detection sensor 81 is smaller, the control unit 80 determines that the self-propelled cleaner 10 reaches the end of the mattress F1 when the self-propelled cleaner 10 gets over the convex portion of the mattress F1. Risk is reduced. Further, as the inclination angle of the detection sensor 81 is smaller, the control unit 80 determines that the self-propelled cleaner 10 has approached the end of the mattress F1 when the self-propelled cleaner 10 has approached the recess on the surface of the mattress F1. Risk is reduced. Further, the smaller the inclination angle of the detection sensor 81, the lower the risk that the control unit 80 determines that the self-propelled cleaner 10 has reached the end of the mattress F1 when the self-propelled cleaner 10 is inclined. . That is, the smaller the inclination angle of the detection sensor 81, the lower the probability that the positional relationship between the surface to be cleaned and the self-propelled cleaner 10 will be erroneously detected.

  For example, when the inclination angle of the detection sensor 81 is set to 5 ° to 50 °, the risk that the self-propelled cleaner 10 falls from the mattress F1 is reduced, and the surface to be cleaned and the self-propelled cleaner 10 The probability that the positional relationship is erroneously detected is reduced. As an example, it is preferable to set the inclination angle of the detection sensor 81 in a range of 20 ° to 30 °. Thereby, the risk that the self-propelled cleaner 10 falls from the mattress F1 is further reduced, and the positional relationship between the surface to be cleaned and the self-propelled cleaner 10 is more appropriately detected.

  The self-propelled cleaner 10 may have a function of adjusting the direction of the detection sensor 81. Thereby, the self-propelled cleaner 10 can operate appropriately depending on the state of the mattress F1, such as the undulation of the surface of the mattress F1 and the shape of the end of the mattress F1.

  For the infrared light receiving unit 83, for example, a position sensing device or a CMOS image sensor may be used. The infrared light receiving unit 83 may detect an incident angle of infrared light received from the surface to be cleaned. The detection sensor 81 may transmit a signal corresponding to the incident angle detected by the infrared light receiving unit 83 to the control unit 80. The control unit 80 may calculate the distance from the detection sensor 81 to the surface to be cleaned based on the incident angle detected by the infrared light receiving unit 83. If the control unit 80 and the detection sensor 81 are configured as described above, for example, the positional relationship between the surface to be cleaned and the self-propelled cleaner 10 is independent of the difference in the reflectance of infrared light on the surface to be cleaned. More accurate detection is possible. The infrared light reflectance of the surface to be cleaned depends on, for example, the material of the object on which the surface to be cleaned is formed.

  Next, the self-propelled cleaner 10 that moves forward between the mattress F1 and the comforter F2 will be described. The comforter F2 is a flexible object similar to the mattress F1. The comforter F2 is formed of a fiber and a side fabric covering the fiber. The side fabric is made of cotton, for example. Moreover, the fiber covered with the side fabric is, for example, feathers or synthetic fibers obtained by combining feathers and resin fibers such as polyester. The density of the comforter F2 is generally smaller than the density of the mattress F1. The comforter F2 is lighter and softer than the mattress F1.

  FIG. 13 is a longitudinal sectional view of the self-propelled cleaner 10 according to the first embodiment that moves forward between the mattress F1 and the comforter F2. FIG. 14 is a vertical cross-sectional view of the self-propelled cleaner 10 according to the first embodiment that detects the end of the mattress F1 between the mattress F1 and the comforter F2.

  As shown in FIG. 13, when the self-propelled cleaner 10 moves forward between the mattress F <b> 1 and the comforter F <b> 2, the comforter F <b> 2 is pushed up by the front portion of the upper cover 21. The self-propelled cleaner 10 travels between the mattress F1 and the comforter F2 while forming a space C behind the body 20. Since the comforter F2 has flexibility, the comforter F2 once pushed up by the self-propelled cleaner 10 slowly descends after being no longer supported from below. That is, the space C is held for a certain period of time in the place where the self-propelled cleaner 10 has passed in the past. For this reason, self-propelled cleaner 10 can push up comforter F2 easily, when retreating on the path which passed once.

  In the present embodiment, the upper surface 21a of the upper cover 21 is a mountain-shaped three-dimensional curved surface. For this reason, the upper surface 21a is not caught by the comforter F2. The upper cover 21 and the comforter F2 are in smooth contact. The self-propelled cleaner 10 can maintain the performance of traveling under an object such as a comforter F2. Thereby, for example, the power consumption of the self-propelled cleaner 10 is reduced.

  When the self-propelled cleaner 10 is viewed from the front, the upper surface 21a is formed symmetrically. Thereby, the force which the upper cover 21 receives from the comforter F2 is not biased in the left-right direction. According to this Embodiment, the self-propelled cleaner 10 excellent in the straightness and the turning property in the left-right direction can be obtained.

  Further, when the self-propelled cleaner 10 is viewed from the side, the ridgeline of the upper surface front portion 21c is inclined more gently than the ridgeline of the upper surface rear portion 21d. The front portion of the upper cover 21 is gently inclined with respect to the horizontal plane as compared with the rear portion. The front portion of the upper cover 21 can effectively lift the comforter F2 when the self-propelled cleaner 10 moves forward.

  When the self-propelled cleaner 10 travels between the mattress F1 and the comforter F2, the front portion of the upper cover 21 receives a downward force from the comforter F2. In the present embodiment, the center of gravity G is behind the wheel 31. This prevents the front portion of the main body of the self-propelled cleaner 10 from being inclined downward when the front portion of the upper cover 21 receives a downward force from the comforter F2.

  The upper cover 21 is positioned between the suction port body 41 and the comforter F2 so as to cover the suction port body 41. Since the suction inlet 41 is covered with the upper cover 21, it does not receive force directly from the comforter F2. Thereby, even when the self-propelled cleaner 10 travels between the mattress F1 and the comforter F2, the suction port body 41 is maintained in a rotatable state. Even when the comforter F2 is hung on the self-propelled cleaner 10, the bottom surface of the suction port body 41 and the suction port 43 are not pressed against the mattress F1.

  In the present embodiment, the detection sensor 81 is provided downward. In other words, the detection sensor 81 is provided toward the surface of the mattress F1 that is the surface to be cleaned. With this configuration, as shown in FIG. 14, the detection sensor 81 detects the end of the mattress F1 even when the self-propelled cleaner 10 travels between the mattress F1 and the comforter F2. Can do. Thereby, the self-propelled cleaner 10 can clean and dry the mattress F1 between the mattress F1 and the comforter F2 without falling from the mattress F1.

  Next, the self-propelled cleaner 10 that moves forward on the mattress F3 will be described. This mattress F3 is softer than the mattress F1. FIG. 15 is a longitudinal sectional view of the self-propelled cleaner 10 according to the first embodiment that moves forward on the soft mattress F3.

  When the self-propelled cleaner 10 is placed on the soft mattress F3, the bottom surface 22a of the lower case 22 pushes down the surface of the mattress F3 in addition to the protrusions 24, the wheels 31, and the hot air outlet cover 74.

  In the present embodiment, the wheel 31 moves according to the state of the surface to be cleaned. When the self-propelled cleaner 10 is placed on the soft mattress F3, the wheels 31 protrude downward from the case where the self-propelled cleaner 10 is placed on the mattress F1. Thereby, the wheel 31 supports most of the weight of the self-propelled cleaner 10. By increasing the protrusion amount of the wheel 31, the wheel 31 can more efficiently transmit the force for the self-propelled cleaner 10 to travel to the surface to be cleaned. In other words, when the protrusion amount of the wheel 31 increases, the wheel 31 can efficiently generate a driving force for the self-propelled cleaner 10 to travel. Moreover, when the protrusion amount of the wheel 31 increases, the contact of the bottom surface 22a with the mattress F3 becomes weak. Self-propelled cleaner 10 of this embodiment can maintain running performance even on soft mattress F3.

  In addition, the self-propelled cleaner 10 may have a detection device that detects the amount of the wheel 31 submerged with respect to the mattress F1 and the mattress F3, for example. The control unit 80 of the self-propelled cleaner 10 may have a function of determining the flexibility of the surface to be cleaned based on the detection result of the detection device, for example. The self-propelled cleaner 10 may have a function of appropriately adjusting the protrusion amount of the wheel 31 with respect to the bottom surface 22a according to the flexibility of the surface to be cleaned. By configuring as described above, the self-propelled cleaner 10 can efficiently clean and dry, for example, various soft mattresses.

  When the self-propelled cleaner 10 is placed on the soft mattress F3, the space around the hot air outlet cover 74 may be narrowed. The self-propelled cleaner 10 may be configured such that a part of the warm air blown out from the holes of the warm air outlet 73 and the warm air outlet cover 74 passes through the upper cover 21. Even if the space around the hot air outlet cover 74 is narrow, a portion of the hot air blown out from the holes of the hot air outlet 73 and the hot air outlet cover 74 passes through the upper cover 21, and the warm air is spread on the futon F3. Fully supplied to the surface. Further, the upper cover 21 may be formed with an opening and an air path for sending warm air that has passed through the upper cover 21 to the upper side of the upper cover 21. The warm air that has passed through the upper cover 21 is sent to above the upper cover 21, so that the comforter F2 can be heated and dried at the same time.

  Further, the self-propelled cleaner 10 may not include the agitator 44, for example. For example, the self-propelled cleaner 10 that does not include the agitator 44 can operate with less power. For example, the self-propelled cleaner 10 that does not include the agitator 44 may be configured such that the area of the suction port 43 becomes narrower. For example, the self-propelled cleaner 10 that does not include the agitator 44 may be configured such that the distance from the bottom surface 22 a to the suction port 43 is longer. By configuring the self-propelled cleaner 10 in this way, it is possible to reduce power consumption, and to ensure the cleaning performance while preventing the sheet S from adhering to the suction port 43.

  In the above embodiment, the suction port 43 is formed on the bottom surface of the suction port body 41 provided independently of the lower case 22. The suction port 43 may be formed integrally with the lower case 22 at a position higher than the bottom surface 22a, for example, in addition to the above embodiment. By forming the suction port 43 at a position higher than the bottom surface 22 a of the lower case 22, the effect of preventing the sheet S from adhering to the suction port 43 can be obtained as in the above embodiment.

  10 Self-propelled Vacuum Cleaner, 20 Body, 21 Upper Cover, 21a Top Surface, 21b Center, 21c Top Front, 21d Top Rear, 21e Top Left, 21f Top Right, 22 Lower Case, 22a Bottom, 23 Lid, 24 Projection, 30 Drive unit, 31 Wheel, 32 Motor, 33 Gear, 34 Housing, 40 Cleaning unit, 41 Suction port, 41a Air channel, 42 Connection pipe, 42a Air channel, 43 Suction port, 44 Agitator, 45 Dust remover , 45a hole, 46 axis, 47 motor, 48 gear, 50 suction unit, 51 fan, 52 duct, 60 dust collection unit, 61 dust collection box, 62 dust collection filter, 70 drying unit, 71 heater, 72 heater case, 73 Hot air outlet, 74 Hot air outlet cover, 80 control unit, 81 detection sensor, 82 infrared light emitting part, 83 infrared light receiving part, 90 power supply unit, 91 storage battery, 92 circuit board, 93 power supply case, 94 charging terminal, G center of gravity

Claims (7)

A main body that moves in the direction of travel by the moving means;
A suction port provided in the main body;
With
A suction port communicating with the outside is formed on the bottom surface of the suction port body,
The suction port body is a self-propelled cleaner that is rotatable with respect to the main body about an axis parallel to the horizontal plane, with the bottom surface of the main body facing the horizontal plane.   The self-propelled cleaner according to claim 1, wherein the suction port is located above the bottom surface of the main body with the bottom surface of the main body facing a horizontal plane. On the bottom surface of the main body, an adsorption preventing portion that protrudes downward in a state where the bottom surface of the main body faces a horizontal plane is formed,
3. The self-propelled cleaner according to claim 1, wherein the suction port is located above a lower end of the adsorption preventing unit in a state where a bottom surface of the main body faces a horizontal plane. The moving means has a driving body that generates a driving force for moving the main body by contacting a surface to be cleaned;
The center of gravity of the main body is on the opposite side of the suction port with respect to the driving body when viewed from a direction perpendicular to the traveling direction and the vertical direction with the bottom surface of the main body facing a horizontal plane. The self-propelled cleaner according to any one of claims 1 to 3. On the bottom surface of the main body, an inclination suppressing portion that protrudes downward in a state where the bottom surface of the main body faces a horizontal plane is formed,
The tilt suppression unit is on the opposite side of the suction port with respect to the center of gravity of the main body when viewed from a direction perpendicular to the traveling direction and the vertical direction with the bottom surface of the main body facing a horizontal plane. The self-propelled cleaner according to any one of claims 1 to 4. The moving means has a driving body that generates a driving force for moving the main body by contacting a surface to be cleaned;
The bottom surface of the main body is formed with an adsorption preventing portion and an inclination suppressing portion that protrude downward with the bottom surface of the main body facing a horizontal plane,
The suction port is above the lower end of the adsorption preventing part and the lower end of the inclination suppressing part in a state where the bottom surface of the main body faces a horizontal plane,
When viewed from a direction perpendicular to the traveling direction and the vertical direction with the bottom surface of the main body facing a horizontal plane, the suction port, the suction prevention unit, the driving body, the center of gravity of the main body, and the inclination The self-propelled cleaner according to claim 1 or 2, wherein the suppressing portions are arranged in order.   The self-propelled cleaner according to any one of claims 1 to 6, wherein the suction port body is provided with an agitator disposed in a space communicating with the outside through the suction port.

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