JP2019118666A - Self-propelled cleaner - Google Patents

Abstract

To provide a self-propelled cleaner enabling even a clearance having a long depth to be easily cleaned.SOLUTION: The self-propelled cleaner comprises: a cleaning device 2 provided in a cleaner body 1; a separable cleaning unit 6 attachable to or detachable from the cleaner body 1 and movable from the cleaner body 1 in a detaching direction; at least one coupling device 23 coupling the separable cleaning unit 6 and the cleaner body 1 together; a fixation device 24 fixing the separable cleaning unit 6 into the cleaner body 1; and a driving wheel (not shown in Fig) enabling the cleaner body 1 to run on a surface to be cleaned. The separable cleaning unit 6 comprises: an auxiliary cleaning device 20; and a driving device 7 moving the separable cleaning unit 6 itself in at least one direction. The separable cleaning unit 6 is moved to the depth of a narrow place, so that dusts such as ones in the depth of the narrow place on a place far away from the cleaner body 1 can be removed.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a self-propelled cleaner.

  Heretofore, as a self-propelled cleaner capable of cleaning a narrow place where the cleaner body can not enter, a configuration in which only a part of the main nozzle is projected has been proposed (for example, Patent Document 1) reference).

  The conventional self-propelled cleaner disclosed in Patent Document 1 will be described with reference to FIGS.

  FIG. 7 (a) is a perspective view of the conventional self-propelled cleaner (in a state where the suction port is stored), and FIG. 7 (b) is a perspective view of the same self-propelled cleaner (in which the suction port is protruded) 8 (a) is a cross-sectional view of the self-propelled cleaner (in a state where the suction port is stored), and FIG. 8 (b) is a cross-sectional view of the self-propelled cleaner (the suction port is projected) State).

  In FIGS. 7 and 8, the conventional self-propelled cleaner includes a suction port 36 fixed to the cleaner body 50 and a suction fan 38 for sucking dust from the suction port 37 which can be linearly projected from the cleaner body 50. The dust collection bag 39 separates the suctioned dust not to enter the suction fan 38, the suction path 40 connecting the dust collection bag 39 and the suction port 36 in communication, and the suction path 40 and the suction port 37 communicate with each other. It consists of a bellows hose 41 to be connected, a shaft 42 and a geared motor 43 for projecting the suction port 37, and a drive wheel 44, and when cleaning a narrow place where the cleaner body 50 can not enter, The suction port 37 is protruded to a narrow place so as to suction dust.

Japanese Utility Model Application Publication No. 4-116938

  However, in the configuration of the conventional self-propelled cleaner described in Patent Document 1, as the suction path 40 is extended longer, the suction force is reduced as it is extended, and as a result, it is far away from the cleaner main body 50 There was a problem that the ability to collect certain wastes was reduced. In order not to reduce the suction force, it is necessary to mount a large and powerful suction fan 38 and to increase the cross-sectional area of the suction path 40 in order to minimize pressure loss. However, in any case, the vacuum cleaner main body 50 is enlarged, the suction port 37 for cleaning the narrow area is enlarged and can not enter into the narrow area, and the cleaning performance of the narrow area is significantly reduced. there were.

  The present invention is intended to solve the above-mentioned conventional problems, and it is an object of the present invention to provide a compact self-propelled cleaner capable of easily collecting dust in a narrow place far from a cleaner body. Do.

In order to solve the above-mentioned conventional problems, the self-propelled cleaner of the present invention comprises a cleaner body, a cleaning device provided on the cleaner body, and the cleaner body which is detachable from the cleaner body. The separation cleaning unit movable in the disengaging direction from the main body, at least one connecting device connecting the separation cleaning unit and the cleaner body, and the separation cleaning unit separated in the cleaner body are fixed. An immobilizing device, a drive wheel for enabling the cleaner body to travel on the surface to be cleaned, and a control device for controlling the drive wheel, the cleaning device, the separation cleaning unit, and the fixation device. The separation and cleaning unit is provided with an auxiliary cleaning device and a drive device for moving the separation and cleaning unit itself in at least one direction, and the separation and cleaning unit is moved to the back of the narrow place It makes it possible to realize a compact, self-propelled vacuum cleaner that can clean the remote location of the debris from the vacuum cleaner main body such as the back of the dust of the narrow office.

  INDUSTRIAL APPLICABILITY The self-propelled cleaner of the present invention can realize a compact self-propelled cleaner capable of cleaning dust far from a main body such as dust in a narrow place.

Sectional drawing of the self-propelled (vacuum cleaning unit is integrated with the cleaner body) in Embodiment 1 of the present invention (A) Bottom view of the self-propelled cleaner (the separation cleaning unit is integrated with the cleaner body), (b) bottom view of the self-propelled cleaner (the separation cleaning unit separates from the cleaner body State) Partial cross-sectional view of the self-propelled cleaner (the separated cleaning unit is separated from the cleaner body) Partial cross-sectional view showing another example of the same self-propelled cleaner Sectional view showing another example of the same self-propelled cleaner Side view of self-propelled vacuum cleaner according to Embodiment 2 of the present invention (A) A perspective view of a conventional self-propelled cleaner (in a state in which a suction port is stored), (b) a perspective view of the same self-propelled cleaner (in a state in which a suction port is projected) (A) Cross-sectional view of the self-propelled cleaner (in a state where the suction port is stored), (b) cross-sectional view of the self-propelled cleaner (in which the suction port is projected)

  According to a first aspect of the present invention, there is provided a cleaner body, a cleaning device provided in the cleaner body, a separation cleaning unit which is detachable from the cleaner body and movable in a separating direction from the cleaner body. At least one connecting device for connecting the separation and cleaning unit to the cleaner body, a fixing device for fixing the separation and cleaning unit in a separated state in the cleaner body, and the cleaner body to be cleaned And a control device for controlling the drive wheel, the cleaning device, the separation cleaning unit, and the fixing device. The separation cleaning unit includes an auxiliary cleaning device and the separation device. It is equipped with a drive for moving the cleaning unit itself in at least one direction, and by moving the separation cleaning unit to the back of the narrow place, the main body of the vacuum cleaner etc. It becomes possible to realize a compact self-propelled vacuum cleaner that can clean La remote location of the trash.

  In the second invention, in particular, the connecting device of the first invention contains a power supply material capable of transmitting electric power, and supplies power for operating the drive device of the separation and cleaning unit from the cleaner body. It is possible to reduce the size of the separation and cleaning unit, and to clean a narrower space, because the separation and cleaning unit does not need a power supply means for driving.

In the third invention, in particular, the separation and cleaning unit according to the first and second inventions includes an obstacle sensor for detecting an obstacle, and the coupling device is a signal capable of transmitting the signal of the obstacle sensor to the cleaner body. Since the transmission material is contained and the signal from the obstacle sensor of the separation and cleaning unit can be received by the control device in the cleaner body to control the drive device of the separation and cleaning unit, to control the separation and cleaning unit It is not necessary to provide the control device of the present invention in the separate cleaning unit, and further, the size of the separate cleaning unit can be reduced, and a narrower space can be cleaned.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited by the embodiment.

Embodiment 1
FIG. 1 is a cross-sectional view of a self-propelled cleaner according to Embodiment 1 of the present invention (in a state in which a separation cleaning unit is integrated with a cleaner body), and FIG. 2 (a) is a self-propelled cleaner Bottom view (in which the separation and cleaning unit is integrated with the cleaner body), (b) Bottom view of the self-propelled cleaner (in which the separation and cleaning unit is separated from the cleaner body), FIG. It is the fragmentary sectional view of the self-propelled cleaner (the state where the separation and cleaning unit has separated from the cleaner body).

  In FIGS. 1 to 3, the self-propelled cleaner according to the present embodiment includes the cleaner body 1, the cleaning device 2, the dust collection box 3 for collecting dust, and the dust which is lifted from the floor by the cleaning device 2. A dust collection path 4 for guiding to the dust collection box 3, a suction fan 5 connected in communication with the dust collection box 3, a separation cleaning unit 6 that can be separated and integrated with the cleaner body 1, a separation cleaning unit 6 Is driven by a motor (not shown) for moving the cleaner away from the cleaner body 1, a main body obstacle sensor 8, a drive wheel 9 for moving the cleaner body 1, and a cleaning device And a control device 10 for controlling the drive of the drive wheel 9 and the suction fan 5.

  The vacuum cleaner main body 1 has a substantially circular shape in the second half with respect to the traveling direction (arrow A in the drawing). On the bottom surface of the vacuum cleaner body 1, four fall prevention sensors 11 are provided substantially equally near the outer periphery, and two charging terminals 12 are provided in the front. In addition, a rotating brush 13 which is pivoted by a rotating shaft 13a substantially perpendicular to the floor surface is provided on the right side of the cleaner body 1 for cleaning on the wall. In addition, an auxiliary wheel 14 is provided on the bottom surface of the rear center of the vacuum cleaner main body 1 with respect to the advancing direction (arrow A in the drawing).

  A main body obstacle sensor 8 is provided on the front of the vacuum cleaner main body 1. The main obstacle sensor 8 is also used as a front sensor for detecting the presence or absence of a front obstacle. Further, a side surface sensor (not shown) for detecting the presence or absence of an obstacle on the side surface is provided substantially on the side of the cleaner body 1. A separating and cleaning unit 6 is provided substantially at the center of the direction of movement of the cleaner body 1 (arrow A in the figure).

  A dust collection box lid 15 for taking out the dust collection box 3, a display device 16, an operation device 17, and an infrared detection sensor (not shown) are provided on the top surface of the cleaner body 1. A rechargeable battery 19 for supplying electric power is provided at the rear of the moving direction (arrow A in the drawing) in the cleaner body 1. Further, a control device 10 is provided on the upper side of the rechargeable battery 19.

  The cleaning device 2 includes a rotating brush 2 a, a rotating motor (not shown) for driving the rotating brush 2 a, an auxiliary brush 2 c, and a suction fan 5. The rotating brush 2a is configured to freely rotate around an axis in the left-right direction with respect to the traveling direction (arrow A in the figure).

  The dust collection box 3 is a portion that connects the dust collection path 4 and the suction fan 5 in communication and stores dust on the floor surface. A filter 3a is provided in the dust collection box 3, and the filter 3a separates the dust from the air containing the dust.

The separation cleaning unit 6 is provided with the auxiliary cleaning device 20 at the lower part. When the separation and cleaning unit 6 is integrated with the cleaner body 1 as shown in FIG. 1, the auxiliary cleaning device 20 is in a floating state without being in contact with the floor surface. The gap between the auxiliary cleaning device 20 in this state and the floor surface (not shown) secures a distance enough to allow dust of a size that can be collected by the rotating brush 2a of the cleaner body 1 to pass through.

  As shown in FIG. 3, the auxiliary cleaning device 20 is composed of a rotating roller (not shown), and is connected to the drive device 7 via the belt 21. The drive device 7 rotates counterclockwise in the figure. An obstacle sensor 22 is provided at the front of the separation and cleaning unit 6. The obstacle sensor 22 includes a light emitting element and a light receiving element (not shown), and is attached to detect an obstacle in the traveling direction of the separation and cleaning unit 6. In the present embodiment, the height of the separation and cleaning unit 6 is set to about half the height of the entire height of the vacuum cleaner body 1. The separation and cleaning unit 6 is connected to the cleaner body 1 by a connecting device 23 formed of a cable containing an electric power supply material capable of transmitting electric power.

  The power supply to the drive device 7 is performed via the connection device 23.

  Moreover, the connection apparatus 23 contains the signal transmission material (not shown) which can transmit the signal of the obstruction sensor 22 to the cleaner body 1. As shown in FIG.

  As shown in FIG. 3, in the cleaner body 1, there is provided a fixing device 24 including a motor 24 a and a reel 24 b for taking up the connecting device 23. The coupling device 23 is always connected to the fixing device 24 via the pulley 25. The length of the coupling device 23 is about 2 m.

  The main body obstacle sensor 8 is disposed on the front upper portion of the vacuum cleaner main body 1. The main obstacle sensor 8 is composed of a light emitting element and a light receiving element (not shown), and is attached to detect an obstacle in the traveling direction of the cleaner body 1.

  About the self-propelled (vacuum) cleaner in this Embodiment comprised as mentioned above, the operation | movement and an effect | action are demonstrated below.

  The details of the operation by the execution of the automatic cleaning program of the self-propelled cleaner will be described below.

  First, the outline of the cleaning procedure is shown. The self-propelled cleaner starts cleaning by the user pressing a start button (not shown) of the operation device 17. Alternatively, if the timer is set, the cleaning is started at the preset time.

  The self-propelled cleaner starting from the charging stand (not shown) starts the autonomous movement and operates the cleaning device 2 and the suction fan 5. Clean up the room while moving along the prescribed program. If it is determined that the cleaning is completed, the control device 10 stops the operation of the suction fan 5 and the cleaning device 2, moves toward the charging stand (not shown), and connects to the charging stand to start charging. Stop driving at the moment and complete the cleaning action.

  When the main obstacle sensor 8 detects an obstacle, the control device 10 controls the drive wheel 9 to stop the forward movement of the self-propelled cleaner, and basically turns counterclockwise to turn the obstacle Proceed not to touch. Therefore, the right side of the ongoing cleaner body 1 basically moves close to an obstacle such as a wall or furniture. In addition, when the side sensor detects an obstacle, the control device 10 drives the rotating brush 13 to repel dust very near the obstacle in the direction of the arrow A which is the traveling direction. This makes it possible to clean debris in the immediate vicinity of walls and obstacles.

The separation cleaning unit 6 can be cleaned by entering into a low gap where the cleaner body 1 can not enter. There is furniture in which a gap occurs between the floor surface and the bottom of the furniture, such as under a TV table or under a kitchen rack. FIG. 3 shows furniture B as an example of such furniture. Since the furniture B is located between the floor and the upper surface of the cleaner body 1, the cleaner body 1 can not enter but the separation cleaning unit 6 is only about half the height of the cleaner body 1. be able to.

  The control device 10 detects that there is an obstacle ahead by the main body obstacle sensor 8 and controls the drive wheel 9 to stop the movement of the cleaner body 1. On the other hand, since the control device 10 detects that there is a space below the obstacle by the obstacle sensor 22, the control device 10 causes the separation and cleaning unit 6 to enter the clearance. This makes it possible to clean even at low gaps.

  The operation of the separation cleaning unit 6 will be described. The control device 10 operates the fixing device 24 consisting of the motor 24a and the reel 24b to loosen the connecting device 23 sufficiently. Thereby, the separation and cleaning unit 6 falls on the floor surface. Thereafter, when the drive device 7 comprising a motor (not shown) starts operation by the control device 10, the auxiliary cleaning device 20 starts to rotate via the belt 21.

  The auxiliary cleaning device 20 rotates counterclockwise in FIG. 3, but the weight of the separated cleaning unit 6 itself generates a frictional force with the floor surface, and as a result, the separated cleaning unit 6 in the direction of arrow A. Create a driving force. Then, the separation and cleaning unit 6 gets into the lower side of the furniture B and proceeds toward the left side in FIG.

  Based on the signal from the obstacle sensor 22, the controller 10 keeps the drive 7 operating until an obstacle is detected. At the same time, since the fixing device 24 is not in operation, the connecting device 23 wound around the reel 24b is pulled out one after another.

  Next, when the obstacle sensor 22 detects an obstacle such as a wall, the control device 10 operates the fixing device 24 while the drive device 7 is operated. When the immobilizing device 24 is driven, the motor 24 a rotates in the winding direction of the coupling device 23. Therefore, the separation cleaning unit 6 is drawn to the cleaner body 1 side. Since the take-up force of the fixing device 24 is larger than the forward propelling force by the auxiliary cleaning device 20, the auxiliary cleaning device 20 is separated to the cleaner body 1 while rotating counterclockwise in FIG. The cleaning unit 6 moves.

  At that time, the dust on the floor is moved to the cleaner body 1 by the auxiliary cleaning device 20. Finally, when the separation and cleaning unit 6 moves to the vicinity of the cleaner body 1, the dust swept by the separation and cleaning unit 6 can be moved to the cleaning device 2, so all dust is collected by the cleaning device 2 and the suction fan 5. It can be collected in box 3.

  When the control device 10 continues to drive the fixing device 24, the coupling device 23 is finally wound up on the reel 24b to the limit. As a result, the separating and cleaning unit 6 is pulled up by the connecting device 23 and fixed in a floating state from the cleaning surface as shown in FIG. After that, the control device 10 stops the operation of the drive device 7 and completes the clearance cleaning such as under the shelf. When the width of the separation and cleaning unit 6 is smaller than the space to be cleaned, such as under the shelf, the control device 10 moves the cleaner body 1 along the furniture B and repeats the above operation again. This makes it possible to clean the entire space under the shelf.

  As described above, the self-propelled cleaner in the present embodiment is provided with the separation cleaning unit 6 having the auxiliary cleaning device 20 and the drive device 7, and the separation cleaning unit 6 in the low clearance where the cleaner body 1 can not enter. And make it possible to realize a compact self-propelled cleaner capable of sweeping dust to the vicinity of the cleaner body 1 and collecting dust even in a very deep place of a low-height gap. Become.

  Further, by supplying power by the connecting device 23, it is not necessary to mount the rechargeable battery 19 in the separation and cleaning unit 6, and the separation and cleaning unit 6 can be miniaturized, so that the cleaning performance of the narrow gap is improved. Good.

  Furthermore, the separation cleaning unit 6 can be controlled by the control device 10 provided in the cleaner main body 1 by transmitting the signal line of the obstacle sensor 22 by the connection device 23, and the separation cleaning unit 6 is separately controlled Since it is not necessary to provide the device 10, the separation and cleaning unit 6 can be miniaturized, and the cleaning performance of the narrow gap may be further improved.

  In the present embodiment, the separation cleaning unit 6 is not provided with a space for storing the dust banned by the auxiliary cleaning device 20. However, the separation cleaning unit 6 has a function of storing the dust collected temporarily in the separation cleaning unit 6. If provided, the auxiliary cleaning device 20 may prevent the dust from being repelled to the area that has already been cleaned.

  Further, as shown in FIG. 4, a primary dust collection box 26 which is rotatably supported by the separation and cleaning unit 6 may be provided, and the dust dropping mechanism 27 may be provided on the cleaner body 1.

  With the above configuration, when cleaning is performed by the separation cleaning unit 6, the dust that has been splashed up from the floor surface by the auxiliary cleaning device 20 is collected in the primary dust collection box 26. Then, when the separation and cleaning unit 6 is integrated with the cleaner body 1, as shown in FIG. Falls on the floor. The dropped dust is collected into the dust collection box 3 by the cleaning device 2 and the suction fan 5.

  In the present embodiment, although the length of the connecting device 23 which determines the moving width of the separation and cleaning unit 6 is described as 2 m, the length is not limited to this length, and it may be longer or shorter Good.

  In the present embodiment, the height of the separation and cleaning unit 6 is not limited to about half of the height of the cleaner body 1 and may be smaller than the height of the cleaner body 1.

  In the present embodiment, the cleaning device 2 includes the rotary brush 2a, a rotary motor (not shown) for driving the rotary brush 2a, the auxiliary brush 2c, and the suction fan 5, but these configurations are essential. Instead, the dust can be collected even if it is a cleaning device of only the rotary brush 2a, a cleaning device 2 of only the suction fan 5, or a cloth for wiping and cleaning. Similarly, the auxiliary cleaning device 20 may be a cleaning device with only a rotating brush, a cleaning device with only a suction fan, or any other configuration such as a cloth for wiping and cleaning. I hope I can dust it.

  In the present embodiment, the separation and cleaning unit 6 is described to move only by the auxiliary cleaning device 20. However, the movement is stabilized by providing another auxiliary wheel (not shown) having no driving force. Or a separate drive wheel (not shown).

  In the present embodiment, the connection device 23 is described as a cable, but if it can be connected to the cleaner main body 1 by expanding and contracting according to the movement of the separation and cleaning unit 6, even other structures such as a rigid body that slides and expands Good.

Further, the coupling device 23 may not be coupled by a physical object such as a cable, but may be virtually coupled with the separation cleaning unit 6 and the cleaner body 1 by light or radio waves. For example, the separation and cleaning unit 6 is provided with a light receiving device (not shown), and the separation and cleaning unit 6 side of the cleaner body 1 is provided with a light emitting device (not shown). The position of the vacuum cleaner body 1 is grasped based on the above.

  While the separation and cleaning unit 6 is in operation, the cleaner body 1 does not move. The separation and cleaning unit 6 further includes a rechargeable battery 19, a control device 10, and a drive wheel (not shown) different from the auxiliary cleaning device 20, a direction changing device (not shown) or a reverse drive (not shown). According to the position of the vacuum cleaner main body 1 which has been grasped, it may be configured to be able to autonomously return to the vacuum cleaner main body 1 by changing the direction or moving in the opposite direction.

  At this time, the fixing device 24 does not include the motor 24 a and the reel 24 b as described in the present embodiment, and for example, the magnet (not shown) in the separation and cleaning unit 6 and the cleaner body 1 It is necessary to adopt other methods such as floating and fixing the separation and cleaning unit 6 with a magnetic force or fixing and floating with a mechanical force by a magnet (not shown) installed.

Second Embodiment
FIG. 6 relates to a self-propelled cleaner according to a second embodiment of the present invention. In addition, the same code | symbol is attached | subjected to the same part as the self-propelled (vacuum) cleaner in the said embodiment, the description is abbreviate | omitted, and only a different part is demonstrated.

  In FIG. 6, the cleaning device 28 of the self-propelled cleaner in the present embodiment is a wiping cleaning means made of a cloth that takes up dirt, and the fixing device 29 is a device for fixing the cleaning device 28.

  The fixing device 29 is elastically supported by the cleaner body 1 so as to press the cleaning device 28 against the floor.

  As described above, the self-propelled cleaner according to the present embodiment can perform wiping while removing dirt on the floor surface from the cleaning device 28 by traveling while pressing the cleaning device 28.

  A main body obstacle sensor 8 is provided at the top center of the front of the cleaner body 1. The separation and cleaning unit 30 includes an auxiliary cleaning device 31 formed of a small cloth for cleaning a portion where the cleaner body 1 can not enter, a wheel 32 for causing the separation and cleaning unit 30 to self-propelled, and a belt 32 A drive 33 for driving through 46 and an obstacle sensor 34 are provided. The separation cleaning unit 30 and the cleaner body 1 are elastically connected by the connecting device 35.

  The operation of the self-propelled cleaner according to the present embodiment configured as described above is the same as the self-propelled cleaner according to the first embodiment, and thus the operation is omitted.

  According to the above configuration, the self-propelled cleaner in the present embodiment is provided with the separation cleaning unit 30 having the auxiliary cleaning device 31 and the drive device 33, and the separation cleaning unit is also in the low clearance where the cleaner body 1 can not enter. 30 makes it possible to realize a compact self-propelled cleaner capable of sweeping and collecting dust even in the very deep place of a low-height gap to the vicinity of the cleaner body 1 It becomes possible.

  Although the cleaning device 28 is fixed in the present embodiment, it may be a replaceable woven fabric or non-woven fabric.

  In the present embodiment, the cleaning device 28 is made of cloth, but these configurations are not essential. For example, the cleaning device 28 may be a rotating brush (not shown) or a suction fan (not shown) Even if it is only the cleaning device 28 or another configuration such as a combination thereof, it may be possible to collect dust.

  In addition, the auxiliary cleaning device 31 is also the auxiliary cleaning device 31 of only the rotating brush (not shown), the auxiliary cleaning device 31 of only the suction fan (not shown), a combination thereof, and the like. Even if it is composition of, it should just be able to be collected.

  In all of the above embodiments, the separation cleaning unit 6 (or 30) is a dust sensor comprising a light emitting / receiving element (not shown) for detecting dust floating in the vicinity of the auxiliary cleaning device 20 (or 31). A motor (not shown) may be provided to stop the motor 24a of the fixing device 24 so as to limit the movement of the separation cleaning unit 6 (or 30) until the amount of dust detected by the dust sensor is less than a predetermined amount. Because it can clean the narrow area more firmly, it is good.

  Further, in all the above embodiments, the irradiation for detecting the distance is not limited to the laser light, for example, the same effect can be obtained by narrowing and irradiating the light in the infrared region or the visible light. It is good because

  Further, in all the above embodiments, the auxiliary cleaning devices 20 and 31 are basically described to clean the floor surface, but if other surfaces such as the front surface, the upper surface, and the side surfaces can also be cleaned, It is good because you can clean the narrow area cleanly. For example, although the auxiliary cleaning device 20 consisting of a rotating roller is described in a configuration in which only the lower surface can contact with the outside, for example, if the front, side, and upper wall surfaces are removed, these parts can also contact the outside As a result, it becomes possible to clean parts other than the floor.

  In all of the above embodiments, the main body obstacle sensor 8 is described to detect a front obstacle in a limited range, but the laser light source and the laser light are diffused and emitted in a grid shape. Using a prism (not shown) or the like, the distance between a plurality of width and height points on the front surface of the vacuum cleaner body 1 is measured to detect the shape of the gap in more detail. It is good because you will be able to clean the entire gap more carefully.

  In all of the above embodiments, although not shown in the drawings, a dust detection sensor consisting of a light source and a camera is mounted, image recognition of dust falling in a gap is performed, and a location having dust is found and cleaned. It is good because you can clean the gap in time. For example, if the separating and cleaning unit 6, 30 comprises a drive wheel (not shown) different from the auxiliary cleaning device 20, 31, a turning device (not shown) or a reverse drive (not shown) You can move to the place where there is trash.

  In all of the above embodiments, if the outer shell of the separation and cleaning unit 6, 30 is made of a flexible material within a range that does not affect other built-in components, it may be easy to get into a finer gap. .

  As described above, the self-propelled cleaner according to the present invention makes it possible to clean the gap under the shelf or furniture, and in addition to the self-propelled cleaner, a manual cleaner, a cleaning robot, etc. It is applicable also to the use of the apparatus which has other auxiliary cleaning devices.

Reference Signs List 1 cleaner body 2 cleaning device 2a, 13 rotating brush 2c auxiliary brush 3 dust collection box 3a filter 4 dust collection path 5 suction fan 6, 30 separate cleaning unit 7, 33 drive device 8 main body obstacle sensor 9 drive wheel 10 control device 11: Fall prevention sensor 12: charging terminal 13a: rotating shaft 14: auxiliary wheel 15: dust collection box lid 16: display device 17: operating device 19: rechargeable battery 20, 31: auxiliary cleaning device 21: belt 22, 34 obstacle sensor 23, 35: connection device 24 fixed 24a Motor 24b Reel 25 Pulley 26 Primary Dust Collection Box 27 Garbage Drop Mechanism 28 Cleaning Device 29 Fixing Device 32 Wheel

Claims (3)

A cleaner body, a cleaning device provided in the cleaner body, a separation cleaning unit which is detachable from the cleaner body and is movable in a separating direction from the cleaner body, the separation cleaning unit, the cleaner And at least one connecting device for connecting with the machine body, a fixing device for fixing the separation and cleaning unit separated in the vacuum cleaner body, and capable of traveling the cleaner body on the surface to be cleaned Control device for controlling the drive wheel, the drive wheel, the cleaning device, the separation and cleaning unit, and the fixing device, the separation and cleaning unit comprising an auxiliary cleaning device and at least one of the separation and cleaning unit itself. Self-propelled cleaner with drive for moving in direction. The self-propelled cleaner according to claim 1, wherein the connecting device contains a power supply material capable of transmitting power. The self-propelled type according to claim 1 or 2, wherein the separation and cleaning unit includes an obstacle sensor for detecting an obstacle, and the coupling device includes a signal transmission material capable of transmitting the signal of the obstacle sensor to the cleaner body. Vacuum cleaner.