JP2018082990A - Vacuum cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vacuum cleaner with improved travel balance.SOLUTION: A vacuum cleaner 11 includes: a body case 15, drive wheels 21, travel control means 26, a dust collection part 18, an electric blower 19, and a battery 28. The drive wheels 21 cause the body case 15 to travel. The travel control means 26 controls drive of the drive wheels 21 so as to autonomously travel the body case 15. The electric blower 19 sucks the dust into the dust collection part 18. The battery 28 feeds power to at least the electric blower 19. The electric blower 19 and the battery 28 are arranged vertically, superposed on a rotation center C of the body case 15.SELECTED DRAWING: Figure 1

Description

  Embodiments described herein relate generally to an electric blower and a vacuum cleaner including a battery that supplies power to the electric blower.

  Conventionally, a so-called autonomous traveling type vacuum cleaner (cleaning robot) that performs cleaning while traveling autonomously on a surface to be cleaned is known. In such a vacuum cleaner, the driving wheel is disposed in the lower part of the main body case, and inside the main body case, an electric blower, a motor for driving the driving wheel, a control means for controlling the driving of the electric blower and the motor, And the battery etc. which supply electric power to these are accommodated.

  In general, in an autonomously traveling electric vacuum cleaner, the main body case has a flat shape so that it can enter a gap having a low height, for example. Therefore, the main body case is configured to have a relatively large outer shape so as to secure an internal accommodation space. As a result, not only is it not easy to make a small turn when traveling, but also heavy objects such as batteries and electric blowers are spread out in the front and rear, left and right, so the running balance due to these weights, especially the balance during turning, is not good. The power load during turning increases.

JP 2013-75175 A

  The problem to be solved by the present invention is to provide a vacuum cleaner with improved running balance.

  The vacuum cleaner according to the embodiment includes a main body case, a drive unit, a travel control unit, a dust collecting unit, an electric blower, and a battery. The drive unit causes the main body case to travel. The travel control means autonomously travels the main body case by controlling the drive of the drive unit. The electric blower sucks dust into the dust collecting part. The battery supplies power to at least the electric blower. The electric blower and the battery are arranged above and below so as to overlap with the turning center of the main body case.

It is sectional drawing of the vacuum cleaner of one Embodiment. It is a bottom view of a vacuum cleaner same as the above. It is a disassembled perspective view of a vacuum cleaner same as the above. It is a perspective view of a vacuum cleaner same as the above.

  The configuration of one embodiment will be described below with reference to the drawings.

  1 to 4, reference numeral 11 denotes a vacuum cleaner. The electric vacuum cleaner 11 is a so-called self-propelled robot cleaner (cleaning robot) that cleans the surface to be cleaned S while traveling autonomously (self-propelled) on the surface to be cleaned S as a traveling surface. In the present embodiment, the vacuum cleaner 11 is a small robot cleaner that suitably cleans the surface to be cleaned S, such as on a shelf (rack) or table, particularly at a high position relative to the floor surface. is there.

  The electric vacuum cleaner 11 includes a hollow main body case 15. The vacuum cleaner 11 also includes a suction port 16 that is a dust collection port. Further, the vacuum cleaner 11 includes an exhaust port 17. Further, the vacuum cleaner 11 includes a dust collecting unit 18. Further, the electric vacuum cleaner 11 includes an electric blower 19 as a cleaning unit. Further, the electric vacuum cleaner 11 may include a cleaning member 20. Further, the electric vacuum cleaner 11 includes a drive wheel 21 as a drive unit. Further, the electric vacuum cleaner 11 includes a motor 22 as drive means (drive control unit). Further, the vacuum cleaner 11 may include a gear box 23 that is a transmission mechanism. Further, the electric vacuum cleaner 11 may include a turning wheel 24 that is a driven wheel as a grounding portion. Further, the electric vacuum cleaner 11 may include a step sensor 25 as a travel failure detection means (running failure detection unit). The vacuum cleaner 11 also includes travel control means (travel control unit) 26. Further, the electric vacuum cleaner 11 may include a control means (control unit) 27. The vacuum cleaner 11 also includes a battery 28 as a power supply unit. Further, the vacuum cleaner 11 may include a power switch 29. Further, the vacuum cleaner 11 includes a dust collection amount detection means for detecting the dust amount of the dust collection unit 18, a notification means (display means) for notifying various information to a user, an external device and a user. Input / output means for inputting / outputting signals may be provided as appropriate. In the following, the direction along the traveling direction of the vacuum cleaner 11 (main body case 15) is the front-rear direction (arrow FR, RR direction shown in FIG. (Both sides direction) is described as the width direction.

  The main body case 15 is made of, for example, a synthetic resin. The main body case 15 may be divided into a plurality of case bodies. In the present embodiment, the main body case 15 may include an outer portion 33 as an upper case body, for example. Further, the main body case 15 may include a lower surface portion 34 which is an opposing surface portion as a lower case body.

  The outer portion 33 is a cover portion that covers the dust collection portion 18, the electric blower 19, the motor 22, the gear box 23, the travel control means 26, the control means 27, the battery 28, and the like inside the main body case 15. This outer portion 33 may be provided in a circular dome shape, for example.

  The lower surface portion 34 is a lower lid portion that substantially closes the lower surface of the outer shell portion 33. In the present embodiment, the lower surface portion 34 may be provided in a circular shape, for example.

  The suction port 16 takes (sucks) dust on the surface S to be cleaned by driving the electric blower 19. The suction port 16 is provided in the lower part of the main body case 15 facing the surface to be cleaned S. That is, the suction port 16 is opened in the lower surface portion 34. In addition, the suction port 16 is disposed near the front side of the lower portion facing the surface to be cleaned S of the main body case 15. Further, the suction port 16 is formed in a longitudinal shape in the left-right direction, that is, in a horizontally long shape. Note that a nozzle portion 38 may be attached to the suction port 16. The nozzle portion 38 is for sucking dust-containing air into the suction port 16.

  The exhaust port 17 discharges air, which is sucked from the suction port 16 by driving of the electric blower 19 and dust is collected by the dust collecting unit 18, to the outside of the main body case 15. The exhaust port 17 can be provided at an arbitrary position of the main body case 15, but may be provided at an upper portion of the main body case 15 that does not face the surface to be cleaned S, for example. A plurality of the exhaust ports 17 may be opened above the outer shell portion 33.

  The dust collection unit 18 separates and collects dust sucked together with air from the suction port 16 by driving the electric blower 19. The dust collection unit 18 communicates with the suction port 16 and is provided inside the main body case 15. In addition, the dust collection unit 18 may be disposed immediately above the suction port 16. Further, the dust collection unit 18 may be arranged in a longitudinal shape along the vertical direction. In this case, for example, the nozzle portion 38 divides the suction port 16 and the dust collecting portion 18, and serves as a check valve that prevents the backflow (leakage) of dust in the dust collecting portion 18. In the dust collecting unit 18, a filter 41 for filtering and collecting dust may be disposed between the suction side of the electric blower 19.

  The electric blower 19 generates a negative pressure for sucking dust-containing air from the suction port 16. For example, as the electric blower 19, a brushless motor may be used. The electric blower 19 is housed inside the main body case 15. The electric blower 19 is a heavy object having a relatively large weight among those housed in the main body case 15. The electric blower 19 is arranged such that the suction side communicates with the dust collection unit 18. In the present embodiment, the electric blower 19 is communicated with the dust collecting unit 18 via the air passage unit 43. The electric blower 19 may be disposed inside the main body case 15 with the suction side as the lower side and the exhaust side as the upper side, for example. Further, the electric blower 19 is arranged inside the main body case 15 with the central axis substantially coincided with the turning center C of the vacuum cleaner 11 (main body case 15) described later. In other words, the electric blower 19 may be disposed behind the dust collection unit 18. Further, the center of gravity of the electric blower 19 is located on the central axis of the electric blower 19. Further, the electric blower 19 may be held with respect to the main body case 15 via a cushion member 44, for example. The cushion member 44 is a vibration insulating member that insulates vibration generated by driving the electric blower 19 from other members. The cushion member 44 may be provided by an elastic member such as rubber or elastomer. Further, the cushion member 44 may be held between the air passage portion 43 and the main body case 15 (outer portion 33).

  The air passage portion 43 may be provided integrally with the dust collection portion 18 in a unit shape. In addition, the air passage portion 43 may be provided with a battery accommodating portion 45 that accommodates the battery 28. Further, the air passage portion 43 may be disposed below the electric blower 19 and above the battery 28. That is, the air passage portion 43 may be interposed between the electric blower 19 and the battery 28. Further, the air passage portion 43 may be disposed behind the dust collection portion 18.

  The battery housing part 45 may be provided integrally below the air passage part 43. That is, the battery housing part 45 may be provided adjacent to the air passage part 43. Further, the battery housing part 45 may be provided integrally with the dust collecting part 18 in a unit form. Further, the battery housing part 45 may be configured such that the rear is opened and the battery 28 is inserted from the rear toward the front. Then, the battery 28 accommodated in the battery accommodating portion 45 may be configured to be cooled by the air passing through the air passage portion 43 from the dust collecting portion 18 to the electric blower 19.

  The cleaning member 20 scrapes off dust on the surface S to be cleaned by contact with the surface S to be cleaned. The cleaning member 20 is disposed in the lower part of the main body case 15 facing the surface to be cleaned S. That is, the cleaning member 20 is disposed on the lower surface portion 34. In this embodiment, the cleaning member 20 is, for example, a bristle brush, and a plurality of the cleaning members 20 are bundled and planted at predetermined intervals. The cleaning member 20 is disposed along the vertical direction and protrudes downward from the lower portion of the main body case 15 that faces the surface to be cleaned S. For this reason, the lower end part which is a front-end | tip part of this cleaning member 20 contacts the to-be-cleaned surface S in the state which installed the vacuum cleaner 11 in the to-be-cleaned surface S. Therefore, the negative pressure of the electric blower 19 acts between the cleaning member 20 and the lower surface portion 34 which is the lower portion facing the cleaning surface S of the main body case 15 and the cleaning surface S via the suction port 16. It is designed to divide the space to be. Further, the cleaning member 20 may be disposed along the outer edge of the lower portion (lower surface portion 34) facing the surface to be cleaned S of the main body case 15. The cleaning member 20 is not an essential configuration.

  The drive wheel 21 is used for running (autonomous running) the electric vacuum cleaner 11 (main body case 15) in the forward direction and the backward direction on the surface S to be cleaned. In the present embodiment, a pair of drive wheels 21 are provided on the left and right of the main body case 15, for example. Specifically, the drive wheels 21 are configured such that their lower portions protrude below the lower surface portion 34 of the main body case 15 and come into contact with the surface S to be cleaned. These drive wheels 21 are arranged substantially symmetrically, for example. Further, these drive wheels 21 are supporting portions that support the vacuum cleaner 11 in contact with the surface S to be cleaned. The drive wheels 21 are wheels that rotate in contact with the surface S to be cleaned. In the present embodiment, the drive wheel 21 includes a rotation shaft 21a along the left-right direction and is arranged to rotate along the front-rear direction. Therefore, since the vacuum cleaner 11 (main body case 15) can perform super-spinning (in-situ turning) by rotating these pair of drive wheels 21 in opposite directions, in this embodiment, The turning center C of the machine 11 (main body case 15) is located at a substantially central portion of the main body case 15. That is, the turning center C of the vacuum cleaner 11 (main body case 15) is on the midpoint of the position connecting the rotation shafts 21a, 21a of the drive wheels 21, 21 on both sides. Instead of the drive wheel 21, an endless track as a drive unit can be used.

  The motor 22 drives the drive wheels 21. The motor 22 is disposed corresponding to the drive wheel 21. Therefore, in the present embodiment, a pair of left and right motors 22 are provided, for example. For this reason, these motors 22 are located on both the left and right sides when viewed from the turning center C of the vacuum cleaner 11 (main body case 15). Further, these motors 22 may be positioned below the battery 28 inside the main body case 15. These motors 22 may be fixed to the upper portion of the lower surface portion. Each motor 22 can drive each drive wheel 21 independently.

  The gear box 23 transmits the driving force of the motor 22 to the driving wheels 21. This gear box 23 is interposed between the motor 22 and the drive wheel 21. That is, in the present embodiment, a pair of left and right gear boxes 23 are provided, for example. These gear boxes 23 may be integrally disposed between the pair of left and right motors 22 so as to overlap the turning center C of the electric vacuum cleaner 11 (main body case 15), for example. That is, these gear boxes 23 may be disposed below the battery 28 in the main body case 15 and at least a part thereof may be located directly below the battery 28. These gear boxes 23 may be fixed to the upper portion of the lower surface portion 34. The gear box 23 and the motor 22 constitute a drive unit U that drives the drive wheels 21. That is, the drive unit U may be fixed to the upper portion of the lower surface portion 34. The center of gravity of the entire drive unit U is located on the turning center C of the vacuum cleaner 11 (main body case 15).

  The swivel wheel 24 is in contact with the surface S to be cleaned and assists the driving wheel 21 in traveling on the surface S to be cleaned. In particular, the swivel wheel 24 assists the swiveling of the electric vacuum cleaner 11 (main body case 15). That is, the swivel wheel 24 is a support portion that contacts the surface to be cleaned S and supports the vacuum cleaner 11. The turning wheel 24 is a wheel that rotates in contact with the surface S to be cleaned. The swivel ring 24 is disposed in the lower part of the main body case 15 facing the surface to be cleaned S. That is, the swivel wheel 24 is disposed on the lower surface portion 34. Further, the swivel wheel 24 is provided, for example, in a spherical shape and is rotatable. A plurality of the swirling wheels 24 may be set in the present embodiment. For example, three swivel wheels 24 are set. In the present embodiment, for example, two swivel wheels 24 are arranged on the front side of the main body case 15 and on the rear side of the main body case 15. More specifically, these swirling wheels 24 may be arranged at the apex positions of a symmetrical virtual isosceles triangle (or virtual equilateral triangle) centered on the swiveling center C of the vacuum cleaner 11 (main body case 15). . In this case, two swirling wheels 24 are arranged forward and one rear as viewed from the turning center C.

  The step sensor 25 detects a step (a convex step and a concave step) on the lower surface to be cleaned S. More specifically, the step sensor 25 detects a step that cannot be climbed over the lower surface S to be cleaned. In the present embodiment, for example, an optical sensor (infrared sensor) that uses reflection of light on the surface to be cleaned S may be used as the step sensor 25. That is, the step sensor 25 may include a light emitting unit 46 that emits light (infrared light) and a light receiving unit 47 that receives light (infrared light) in the present embodiment. And this level | step difference sensor 25 is based on the time until the light irradiated to the to-be-cleaned surface S from the light emission part 46 is reflected from the to-be-cleaned surface S from the moment of this irradiation, and is received by the light-receiving part 47, You may be comprised so that the height of the to-be-cleaned surface S, ie, a level | step difference, can be detected. In this case, when this time is smaller than the predetermined first threshold, it can be detected that there is a convex step that cannot be overcome on the surface to be cleaned S below the vacuum cleaner 11 (main body case 15). When it is larger than the predetermined second threshold, it can be detected that there is a concave step that cannot be overcome on the surface S to be cleaned below the vacuum cleaner 11 (main body case 15). In the present embodiment, the step sensor 25 has a light emitting unit 46 and a light receiving unit 47 integrated in a unit shape. The step sensor 25 is configured to output the detection result to the travel control means 26.

  Further, the step sensor 25 is disposed at a position away from the surface S to be cleaned. In the present embodiment, a plurality of step sensors 25 are set at positions closer to the front side of the main body case 15. For example, the level difference sensor 25 is set as a pair (two). These step sensors 25 are arranged substantially symmetrically in the lower part of the main body case 15 facing the surface to be cleaned S. That is, these step sensors 25 are arranged on the lower surface portion 34. Each step sensor 25 is disposed obliquely forward in the left and right direction when viewed from the turning center C of the vacuum cleaner 11 (main body case 15).

  The light emitting unit 46 is arranged to emit light toward the surface S to be cleaned, that is, directly below.

  The light receiving portion 47 is arranged toward the surface to be cleaned S. Further, the light receiving unit 47 is disposed adjacent to the light emitting unit 46.

  The travel control means 26 controls the drive of the drive wheels 21. Specifically, the traveling control means 26 controls the driving of the motor 22, that is, by controlling the magnitude and direction of the current flowing through the motor 22, the motor 22 is rotated forward or reverse, thereby driving the motor. The driving of the drive wheels 21 is controlled by controlling the driving of the motor 22 and controlling the driving of the motor 22. The traveling control means 26 controls the driving of the driving wheels 21 based on at least the detection of the step by the step sensor 25, thereby enabling the vacuum cleaner 11 (main body case 15) to autonomously travel. Specifically, when the step sensor 25 detects a step (a convex step or a concave step) by the step sensor 25, the travel control unit 26 controls the driving of the drive wheels 21 (motor 22) so as to avoid the step. In more detail, the traveling control means 26 is configured such that when the step sensor 25 detects a step (a convex step or a concave step), the traveling direction is such that the vacuum cleaner 11 (main body case 15) does not face the step side. The drive of the drive wheel 21 (motor 22) is controlled so as to change In the present embodiment, the travel control means 26 travels by turning the vacuum cleaner 11 (main body case 15) (super turning) when a step (convex step or concave step) is detected by the step sensor 25. The drive of the drive wheel 21 (motor 22) is controlled so that the direction is changed to a direction not facing the step. At this time, the traveling control means 26 may turn the electric vacuum cleaner 11 (main body case 15) after retracting a predetermined distance with respect to the step. When the step sensor 25 does not detect a step (convex step or concave step), the travel control means 26, for example, moves the vacuum cleaner 11 (main body case 15) straight, or travels in a zigzag shape or a spiral shape. The electric vacuum cleaner 11 (main body case 15) can be arbitrarily controlled to travel, such as controlling the drive of the drive wheels 21 (motor 22) so as to travel along a predetermined travel route.

  Further, the traveling control means 26 may be disposed rearward when viewed from the turning center C of the electric vacuum cleaner 11 (main body case 15), for example. Further, the travel control means 26 may be disposed below the battery 28 inside the main body case 15 and at least a part thereof may be located directly below the battery 28. Further, the travel control means 26 may be disposed above the drive unit U (the motor 22 and the gear box 23) inside the main body case 15. That is, the travel control means 26 may be interposed between the battery 28 and the drive unit U in the vertical direction.

  The control means 27 may have a function of controlling various electric parts other than the motor 22, such as a function of an electric blower control means for controlling the driving of the electric blower 19, for example. The control means 27 may constitute an integral microcomputer together with the travel control means 26.

  The battery 28 supplies power to at least the electric blower 19. In this embodiment, the battery 28 supplies power to the electric blower 19, the motor 22, the step sensor 25, the travel control means 26, the control means 27, and the like. The battery 28 is accommodated in the main body case 15, for example. The battery 28 is a heavy object having the largest weight among those housed in the main body case 15. The battery 28 may be a primary battery or a secondary battery. Further, the battery 28 is disposed below the electric blower 19 inside the main body case 15. Further, the center of gravity of the battery 28 is arranged to substantially coincide with the center of gravity of the electric blower 19 in the vertical direction. For this reason, the drive unit U (the motor 22 and the gear box 23), the battery 28, and the electric blower 19 are sequentially arranged on the turning center C from the bottom to the top inside the main body case 15. In other words, the main body case 15 is densely arranged so that the parts other than the dust collection portion 18 and the travel control means 26 overlap on the turning center C, and the dust collection portion 18 is on the front side of the turning center C, A traveling control means 26 is arranged on the rear side of the turning center C. In other words, the electric vacuum cleaner 11 of the present embodiment has a structure in which the drive unit U, the battery 28 and the electric blower 19 are stacked and arranged on the turning center C of the main body case 15. Further, the center of gravity of the battery 28 and the center of gravity of the electric blower 19 are disposed substantially coincident with each other immediately above the turning center C, that is, on the turning axis of the electric vacuum cleaner 11 (main body case 15).

  The power switch 29 is set by the user to start and stop the vacuum cleaner 11. The power switch 29 is disposed on the main body case 15, for example. The power switch 29 may be disposed at the rear part of the main body case 15.

  Next, the cleaning operation by the electric vacuum cleaner 11 of the one embodiment will be described.

  The vacuum cleaner 11 starts cleaning by operating the power switch 29 while being placed on the surface S to be cleaned. That is, the control means 27 starts driving the electric blower 19, and the travel control means 26 starts driving the drive wheels 21 (motor 22).

  The travel control means 26 controls the travel of the vacuum cleaner 11 (main body case 15) based on the detection result of the level difference on the surface S to be cleaned by the level difference sensor 25. The vacuum cleaner 11 sucks the dust on the surface to be cleaned S into the dust collecting portion 18 together with air from the suction port 16 (nozzle portion 38) by the negative pressure generated by driving the electric blower 19. At this time, a negative pressure space in which the periphery of the suction port 16 is surrounded by the cleaning member 20 whose tip (lower end) contacts the surface to be cleaned S, so that the vacuum cleaner 11 (main body case 15) is directly below. The degree of vacuum at the position increases, and dust located on the surface S to be cleaned directly under the vacuum cleaner 11 (main body case 15) is effectively sucked from the suction port 16. Further, as the electric vacuum cleaner 11 (main body case 15) travels, the cleaning member 20 whose tip (lower end) is in sliding contact with the surface S to be cleaned scrapes off dust on the surface S to be cleaned.

  The dust-containing air sucked into the dust collector 18 is sucked into the electric blower 19 after dust is collected by the dust collector 18 (filter 41). And the air which cooled this electric blower 19 is discharged | emitted from the exhaust port 17 outside the vacuum cleaner 11 (main body case 15).

  When the cleaning is completed, the vacuum cleaner 11 stops driving the electric blower 19 and the drive wheel 21 (motor 22) at an arbitrary position.

  Here, the traveling control of the electric vacuum cleaner 11 (main body case 15) during cleaning by the traveling control means 26 will be described in more detail.

  When the level difference sensor 25 does not detect the level difference of the surface to be cleaned S, the traveling control means 26 causes the electric vacuum cleaner 11 (main body case 15) to move straight on the surface to be cleaned S, for example, or to travel in a zigzag manner. Then, the drive of the drive wheel 21 (motor 22) is controlled so as to travel arbitrarily.

  On the other hand, when the step sensor 25 detects a step that cannot be passed over the surface S to be cleaned, the traveling control means 26 is configured so that, for example, the vacuum cleaner 11 (main body case 15) is a predetermined distance from the position so as to avoid this step. After reversing, the vehicle is turned so as to change the traveling direction, and the drive of the drive wheels 21 (motor 22) is controlled so as to travel again in the changed direction.

  Thus, the vacuum cleaner 11 travels the entire surface to be cleaned S while appropriately moving straight and turning so as to avoid the step detected by the step sensor 25.

  Therefore, in the embodiment described above, the weight of the electric blower 19 and the battery 28, which are heavy objects, are concentrated on the periphery of the turning center C by overlapping the turning center C of the main body case 15 and arranged vertically. It can be arranged. Therefore, the running balance can be improved, and in particular, the inertia (moment of inertia) during turning can be reduced, and the power load during turning can be reduced. In addition, since the electric blower 19 and the battery 28 are vertically stacked, it is not necessary to widen the main body case 15 in the front, rear, left, and right, and it is possible to provide the vacuum cleaner 11 that is smaller and can be turned around, that is, can travel efficiently. .

  In addition, by placing the battery 28, which is the heaviest item, below the electric blower 19, the vacuum cleaner 11 can have a lower center of gravity and the running balance can be further improved.

  Further, the weights of the battery 28 and the electric blower 19 are arranged on the turning center C of the vacuum cleaner 11 (main body case 15) so that the center of gravity of the battery 28 and the electric blower 19 are substantially coincided with each other in the vertical direction. Can improve the running balance.

  And by using the vacuum cleaner 11 that can be turned as described above, the surface to be cleaned S that is at a high position relative to the floor surface, such as on a shelf or a table, is narrower than the floor surface. In this case, it is possible to clean every corner without falling from the surface to be cleaned S while maintaining a good running balance (turning balance). That is, it is possible to provide the vacuum cleaner 11 suitable for cleaning the surface S to be cleaned which is relatively high with respect to the floor surface.

  In addition, since the power load during running, especially when turning, is reduced, the consumption of the battery 28 is suppressed. Therefore, the battery 28 that is smaller and lighter is used to reduce the size and weight of the vacuum cleaner 11. In the case where the battery 28 having the same capacity as that of the conventional battery 28 is used, the cleaning can be performed for a longer time.

  In the above-described embodiment, the shape of the main body case 15 is not limited to the circular dome shape, and may be any other shape that allows the electric blower 19 and the battery 28 to be arranged vertically, such as a columnar shape or a prismatic shape. Can do.

  In addition, the vehicle autonomously travels while detecting the level difference on the surface to be cleaned S using the level difference sensor 25. For example, as other travel obstacle detection means, for example, by an obstacle sensor such as an infrared sensor or an ultrasonic sensor. It can be configured to autonomously travel so as to avoid obstacles while detecting obstacles, or can be configured to autonomously travel along a preset travel route without using travel obstacle detection means. . That is, the step sensor 25 is not an essential configuration.

  Although one embodiment of the present invention has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. The novel embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

11 Vacuum cleaner
15 Body case
18 Dust collector
19 Electric blower
21 Drive wheel as drive unit
26 Travel control means
28 Battery C Rotation center

Claims (3)

A body case,
A drive unit for running the main body case;
Travel control means for autonomously running the main body case by controlling the drive of the drive unit,
A dust collector;
An electric blower that sucks dust into the dust collector;
Including at least a battery for supplying power to the electric blower,
The electric blower and the battery are arranged above and below the upper center of the main body case so as to overlap each other. The electric vacuum cleaner according to claim 1, wherein the battery is disposed below the electric blower. The electric vacuum cleaner according to claim 1 or 2, wherein the center of gravity of each of the battery and the electric blower is arranged on the turning center of the main body case so as to substantially coincide with each other in the vertical direction.

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