JP2020004035A - Self-traveling cleaner - Google Patents

Abstract

To provide a self-traveling cleaner capable of cleaning the center of a cleaning object area more intensively than an end.SOLUTION: A self-traveling cleaner includes: a main unit having cleaning means that cleans a surface to be cleaned within a cleaning object area; moving means that causes the main unit to make advancing or backing or a rightward or leftward turn; area end detection means that detects the fact that the advancing main unit has reached the end of the cleaning object area; and control means that controls the cleaning means and the moving means. When the area end detection means detects a first action of advancing and the fact that the advancing main unit has reached the end of the cleaning object area, the control means controls the moving means so that the main unit sequentially repeats a second action of backing by a predesignated backing distance DB, and a third action of turning by a predesignated turn angle θ.SELECTED DRAWING: Figure 27

Description

  The present invention relates to a self-propelled cleaner.

  Conventionally, there is a self-propelled cleaner for cleaning a surface to be cleaned in a cleaning target area. As such a self-propelled cleaner, Patent Document 1 discloses a mobile robot cleaner. This mobile robot cleaner performs cleaning while moving in the area to be cleaned based on an algorithm. The self-propelled cleaner described in Patent Literature 1 operates to uniformly clean the entire area to be cleaned.

JP-A-2017-054559

  However, in a self-propelled cleaner as disclosed in Patent Literature 1, the center of the cleaning target area cannot be mainly cleaned. Generally, the user of the bedding often lies in the center of the bedding. For this reason, in the bedding, the center side is more easily soiled than the end side. In the mobile robot cleaning machine disclosed in Patent Document 1, especially when the object to be cleaned is a bedding such as a futon and a bed, the central portion that is easily soiled cannot be focused on, and the cleaning efficiency is poor.

  The present invention has been made to solve the above problems. SUMMARY OF THE INVENTION An object of the present invention is to provide a self-propelled cleaner capable of cleaning the center of a cleaning target area more intensively than the end.

  A self-propelled cleaner according to the present invention includes a main body provided with cleaning means for cleaning a surface to be cleaned in a cleaning target area, a moving means for moving the main body back and forth and right and left, and The apparatus includes an area end detection unit that detects that the end of the area has been reached, and a control unit that controls the cleaning unit and the movement unit. The control means includes a first operation for moving forward and a second operation for moving backward by a preset reverse distance when the area end detecting means detects that the main body being advanced has reached the end of the area to be cleaned. The moving means is controlled so that the main body sequentially repeats the third operation of turning by the set turning angle.

  ADVANTAGE OF THE INVENTION The self-propelled cleaner which concerns on this invention can clean a center side of a to-be-cleaned area | region more heavily than an edge part side.

It is a top view of the self-propelled (vacuum) cleaner of Embodiment 1. FIG. 2 is a bottom view of the self-propelled cleaner according to the first embodiment. It is a longitudinal section of the self-propelled cleaner of Embodiment 1. It is a longitudinal section of the self-propelled cleaner of Embodiment 1. It is a longitudinal section of the self-propelled cleaner of Embodiment 1. It is a longitudinal section of the self-propelled cleaner of Embodiment 1. It is a front view of the self-propelled (vacuum) cleaner of Embodiment 1. FIG. 3 is a perspective view of the drive unit according to the first embodiment. FIG. 2 is a perspective view of the motor according to the first embodiment. FIG. 2 is a perspective view of the agitator according to the first embodiment. FIG. 2 is a perspective view of a cleaning surface detection sensor according to the first embodiment. 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 which advances on a mattress. It is a longitudinal cross-sectional view of the self-propelled cleaner of Embodiment 1 which moves backward on a mattress. It is a longitudinal cross-sectional view of the self-propelled cleaner of Embodiment 1 which advances the recessed part on a mattress. FIG. 2 is a front view of the self-propelled cleaner according to the first embodiment that travels on an inclined portion on a mattress. It is a longitudinal section of a self-propelled cleaner of Embodiment 1 which detects an end of a mattress. It is a longitudinal cross-sectional view of the self-propelled cleaner 10 of Embodiment 1 which advances on the mattress covered with the loose sheets. It is a longitudinal cross-sectional view of the self-propelled cleaner 10 of Embodiment 1 which moves backward on the mattress covered with the loose sheets. It is a longitudinal section of self-propelled cleaner 10 of Embodiment 1 which advances on the soft mattress covered with the loose sheet. FIG. 2 is a longitudinal sectional view of the self-propelled cleaner 10 according to the first embodiment, which moves backward on a soft mattress covered with loose sheets. It is a flowchart which shows an example of the flow of the 1st process of the self-propelled (vacuum) cleaner of Embodiment 1. It is a flowchart which shows an example of the flow of the 1st process of the self-propelled (vacuum) cleaner of Embodiment 1. 3 illustrates an example of a movement path in a first step of the main body of the self-propelled cleaner according to the first embodiment. 3 illustrates an example of a movement path in a first step of the main body of the self-propelled cleaner according to the first embodiment. It is a flowchart which shows an example of a flow of the 2nd process of the self-propelled (vacuum) cleaner of Embodiment 1. 4 illustrates an example of a movement path in a second step of the main body of the self-propelled cleaner according to the first embodiment. FIG. 28 is a diagram in which an example of a movement path of the main body and an example of a movement path of the suction port in the second step shown in FIG. 27 are overlapped. FIG. 29 is a diagram illustrating an example of a movement locus of the suction port illustrated in FIG. 28. FIG. 7 is a diagram illustrating an example of a movement locus of the suction port when the correction angle α according to the first embodiment is 2 degrees. FIG. 5 is a diagram illustrating an example of a movement trajectory of the suction port when the correction angle α according to the first embodiment is 4 degrees. FIG. 5 is a diagram illustrating an example of a movement trajectory of the suction port when an error is included in the size of the cleaning target area set in the first step of the first embodiment. FIG. 33 is a diagram illustrating an example of a movement trajectory of the suction port when the reverse distance is changed in the example of FIG. 32. It is the figure which showed the example of the locus | trajectory of the suction opening of the self-propelled (vacuum) cleaner of Embodiment 1 which cleans the mattress whose long side length is 2 meters and short side length is 1.45 meters. It is the figure which showed the example of the locus | trajectory of the suction opening of the self-propelled (vacuum) cleaner of Embodiment 1 which cleans the mattress whose long side length is 1.5 meters and short side length is 1 meter. It is the figure which showed the example of the locus | trajectory of the suction opening of the self-propelled (vacuum) cleaner of Embodiment 1 which cleans the mattress whose long side is 2 meters in length, and whose short side is 0.8 meters in length. It is the figure which showed the example of the movement locus | trajectory of the suction opening of the self-propelled (vacuum) cleaner of Embodiment 1 which cleans the futon of the square whose one side length is 1 meter. It is a flowchart which shows an example of the flow of the 2nd process of the self-propelled (vacuum) cleaner of Embodiment 2.

  Hereinafter, embodiments will be described with reference to the accompanying drawings. The same reference numerals in each drawing indicate the same or corresponding parts. In the present disclosure, overlapping descriptions will be appropriately simplified or omitted. Note that the present invention can include all combinations of the configurations disclosed in the following embodiments.

Embodiment 1 FIG.
FIG. 1 is a plan view of a self-propelled cleaner 10 according to the first embodiment. FIG. 2 is a bottom view of the self-propelled cleaner 10 according to the first embodiment. FIGS. 3, 4, 5, and 6 are longitudinal sectional views of the self-propelled cleaner 10 according to the first embodiment. FIG. 7 is a front view of the self-propelled cleaner 10 according to the first embodiment. In the present embodiment, in principle, the direction is defined based on a state where self-propelled cleaner 10 is placed on a horizontal surface.

  The plan view of FIG. 1 is a view of the self-propelled cleaner 10 placed on a horizontal plane as viewed from above. 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 this forward direction. The rightward direction on the paper of FIG. 1 is defined as the rearward direction of the self-propelled cleaner 10. As an example, the self-propelled cleaner 10 moves backward in this backward direction. Self-propelled cleaner 10 of the present embodiment can move forward and backward. The vertical direction on the paper surface in FIG. 1 is defined as the right and left direction of the self-propelled cleaner 10.

  The bottom view of FIG. 2 is a view of the self-propelled cleaner 10 placed on a horizontal surface as viewed from below. The left direction on the paper surface in FIG. 2 is the front direction of the self-propelled cleaner 10. The rightward direction on the paper of FIG. 2 is the rearward 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 sectional view of FIG. 3 shows a section of the self-propelled cleaner 10 at the position AA in FIGS. 1 and 2. The vertical cross-sectional view of FIG. 3 is a view in which a cross-section along the vertical direction of the self-propelled cleaner 10 placed on a horizontal surface is viewed from the side. 3 is the front direction of the self-propelled cleaner 10. The rightward direction on the paper of FIG. 3 is the rearward direction of the self-propelled cleaner 10. 3 is the vertical direction of the self-propelled cleaner 10.

  4 shows a cross section of the self-propelled cleaner 10 at the position D-D in FIGS. 1 and 2. 5 and 6 show a cross section of the self-propelled cleaner 10 at a position EE in FIGS. 1 and 2. 4, 5, and 6, as in FIG. 3, is a view in which a cross section along the vertical direction of the self-propelled cleaner 10 placed on a horizontal surface is viewed from the side.

  The front view of FIG. 7 is a view of the self-propelled cleaner 10 placed on a horizontal plane as viewed from the front. The vertical direction on the paper surface in FIG. 7 is the vertical direction of the self-propelled cleaner 10. The left-right direction on the paper of FIG. 7 corresponds to the right-left direction of the self-propelled cleaner 10.

  The self-propelled cleaner 10 is a device that automatically travels in a cleaning target area to clean a surface to be cleaned in the cleaning target area. The surface to be cleaned, which is a surface to be cleaned by the self-propelled cleaner 10, includes, for example, a floor surface in a room and an upper surface of a mattress F1 laid in the room. Hereinafter, in the present embodiment, an example will be described in which the area to be cleaned is bedding such as a futon and a bed, and the surface to be cleaned is the upper surface of the bedding. However, the cleaning target area of the self-propelled cleaner 10 is not limited to the upper surface of the bedding, and may be, for example, the floor surface of a room or the upper surface of furniture.

  The self-propelled cleaner 10 according to the present embodiment includes a body 20. The body 20 is a member that forms an outer frame of the self-propelled cleaner 10. The body 20 is provided with various devices provided in the self-propelled cleaner 10.

  The self-propelled cleaner 10 includes, for example, a drive unit 30, a cleaning unit 40, a suction unit 50, a dust collection unit 60, and a drying unit 70. The drive unit 30 is for moving the body 20 and devices provided on the body 20. FIG. 8 is a perspective view of the drive unit 30 according to the first embodiment.

  The cleaning unit 40 takes in dust on the surface to be cleaned. The cleaning unit 40 is an example of a cleaning unit that cleans a surface to be cleaned. The dust taken in by the cleaning unit 40 includes, for example, dust.

  The suction unit 50 is for sucking dust together with air. The cleaning unit 40 takes in dust when the suction unit 50 operates. The dust collection unit 60 collects dust taken in by the cleaning unit 40. 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 high-temperature air heated by the drying unit 70 is supplied to the outside of the self-propelled cleaner 10.

  In addition, the self-propelled cleaner 10 includes, for example, a control unit 80 and a power supply unit 90. The control unit 80 controls the drive unit 30, the cleaning unit 40, the suction unit 50, and the drying unit 70. The control unit 80 is an example of a control unit for controlling the operation of the self-propelled cleaner 10. 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.

  The body 20 includes an upper cover 21 and a lower case 22 as an example. The body 20 of the present embodiment is formed by combining the upper cover 21 and the lower case 22. The upper cover 21 forms an upper part of the body 20. The lower case 22 forms a lower portion of the body 20.

  The upper cover 21 is arranged so as to cover a device provided inside the body 20 from above. The lower case 22 is provided such 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 also the bottom surface of the body 20. The bottom surface 22a of the lower case 22 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 surface faces the horizontal surface.

  The upper cover 21 and the lower case 22 may be formed integrally. The body 20 may be formed by a single member. Further, the upper cover 21 may be provided such that the bottom surface of the upper cover 21 is located below the bottom surface 22 a of the lower case 22. The bottom surface of the body 20 may be the bottom surface of the upper cover 21.

  As shown in FIG. 1, the shape of the upper cover 21 as viewed from above is, for example, a shape in which four rectangular corners are formed into an arc shape. The shape of the upper cover 21 as viewed from above may be, for example, a perfect circle or an ellipse.

  The upper cover 21 forming 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 such that the upper surface 21a has a three-dimensional curved surface of a mountain shape. That is, the upper surface of the self-propelled cleaner 10 is a mountain-shaped three-dimensional curved surface. In the upper cover 21, a region in a certain range including the center 21b of the upper surface 21a is higher than the periphery of this region when the bottom surface 22a faces the horizontal plane.

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

  As shown in FIG. 4, when the self-propelled cleaner 10 is viewed from the side, the ridgeline of the upper surface front part 21c is more gradually inclined than the ridgeline of the upper surface rear part 21d. For example, when the self-propelled cleaner 10 is viewed from the side, the angle between the straight line approximating the ridgeline of the upper surface front part 21c and the horizontal plane is smaller than the angle between the straight line approximating the ridgeline of the upper surface rear part 21d and the horizontal plane. Is also smaller. The front part of self-propelled cleaner 10 according to the present embodiment is gently inclined with respect to the horizontal plane as compared to the rear part of self-propelled cleaner 10. As shown in FIG. 7, 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 portion 21e and an upper surface right portion 21f. The upper surface left portion 21e is formed over a certain range from the left end of the upper cover 21 toward the center 21b. The upper right part 21f is formed over a certain range from the right end of the upper cover 21 toward the center 21b. The upper surface left portion 21e and the upper surface right portion 21f are inclined with respect to the horizontal plane in the same manner as the upper surface rear portion 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. The front part of self-propelled cleaner 10 according to the present embodiment is gently inclined with respect to a horizontal plane as compared to the right and left parts of self-propelled cleaner 10.

  The upper cover 21 has, for example, a lid 23 that can be opened and closed. The lid 23 forms an upper part of the upper cover 21. The center 21b of the upper cover 21 is included in the lid 23. The upper surface of the lid 23 may be, for example, a flat surface. That is, a region in a certain range including the center 21b of the upper surface 21a may be a flat surface. The upper cover 21 does not need to include a flat surface. The upper cover 21 may be formed such that the center 21b is 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 are mounted on the body 20 configured as described above. 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 housed in the lower case 22 as an example.

  The drive unit 30 is an example of a moving unit for moving the self-propelled cleaner 10. The self-propelled cleaner 10 includes, for example, a pair of drive units 30. The pair of drive units 30 are attached to the left side surface and the right side surface of the lower case 22, respectively. The pair of drive units 30 are arranged so as to be symmetrical.

  The drive unit 30 has wheels 31, a wheel motor 32, a gear unit 33, and a housing 34. The wheels 31 are 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 wheels 31 are an example of a driving body that generates a driving force for moving the self-propelled cleaner 10.

  FIG. 9 is a perspective view of the wheel motor 32 according to the first embodiment. The wheel motor 32 has a motor shaft 32a serving as a rotation axis of the wheel motor 32. The wheel motor 32 is provided with an encoder 32b as shown in FIG. The encoder 32b is an optical device for detecting the rotation amount of the wheel motor 32, for example. The encoder 32b is electrically connected to the control unit 80. The encoder 32b outputs a signal to the control unit 80 in accordance with the rotation of the motor shaft 32a.

  As an example, the encoder 32b includes a disk 32c and a circuit unit 32d. The disk 32c is installed on one side of the motor shaft 32a. The circuit section 32d detects the rotation of the disk 32c and outputs a signal corresponding to the rotation of the disk 32c.

  As shown in FIG. 9, a slit 32e is formed in the disk 32c. The circuit section 32d has a light emitting element 32f and a light receiving element 32g provided so as to face each other with the disk 32c having the slit 32e formed therebetween. The circuit section 32d detects a light passing state by the light emitting element 32f and the light receiving element 32g. The light passing state means a state where light from the light emitting element 32f is blocked by the disk 32c and a state where the light passes through the slit 32e and reaches the light receiving element 32g. The circuit unit 32d converts the detection result obtained by the light emitting element 32f and the light receiving element 32g into a signal including information on the amount of rotation of the motor shaft 32a and outputs the signal.

  Note that the encoder 32b is not limited to an optical device. The encoder 32b may be, for example, a magnetic device. The magnetic encoder 32b has a disk 32c provided with a magnetic material, and a circuit section 32d provided with a Hall element. The Hall element is for detecting the passage of a magnetic material provided on the disk 32c. The magnetic encoder 32b detects the rotation amount of the motor shaft 32a by using a magnetic body and a Hall element.

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

  The wheel 31, the wheel motor 32, and the gear unit 33 are housed in a housing. The wheels 31 are rotatably supported in the housing 34. As shown in FIG. 3, the lower end of the wheel 31 projects below the bottom surface 22a of the lower case 22. For example, when the surface to be cleaned is a horizontal surface, the lower end of the wheel 31 is closer to the surface to be cleaned than the bottom surface 22a.

  The wheel 31 is provided movably in the up-down direction, for example. The outer periphery of the wheel 31 may be provided with a soft material that suppresses the slip of the wheel 31 with respect to the surface to be cleaned.

  In addition, the self-propelled cleaner 10 according to the present embodiment includes a foreign matter intrusion detection sensor 35. The foreign matter intrusion detection sensor 35 detects foreign matter caught in the wheel 31. The foreign object intrusion detection sensor 35 is an example of a foreign object intrusion detection unit that detects the intrusion of a foreign object into the drive unit 30 that is an example of the moving unit. The foreign matter intrusion detection sensor 35 is constituted by, for example, a mechanical switch or the like.

  A pair of the foreign matter intrusion detection sensors 35 is provided in each of the left and right drive units 30. The foreign matter intrusion detection sensor 35 is provided at a boundary between the wheel 31 protruding from the housing 34 and the housing 34. The foreign object intrusion detection sensor 35 is provided so as to face the wheel 31 with the wheel 31 interposed therebetween in the front-rear direction. The foreign object intrusion detection sensors 35 are provided on both sides of one side and the other side of the traveling direction of the self-propelled cleaner 10 with respect to the wheel 31.

  The foreign object intrusion detection sensor 35 includes a switch 35a and a lever 35b. One end of the lever 35b is pivotally supported by the switch 35a. When an upward force is applied to the lever 35b, the other end of the lever 35b that is not pivoted rotates. As a result, the switch circuit of the switch section 35a is short-circuited. The lever 35b is urged to return to the horizontal position when no force is applied to the lever 35b. The lever 35b is provided such that the other end that rotates is close to the wheel 31. Further, the tip surface on the other end side of the rotating lever 35b is curved.

  The wheel 31, the wheel motor 32, and the gear unit 33 are configured to be integrally rotatable in a housing. The wheel 31, the wheel motor 32, and the gear unit 33 rotate around a rotation shaft 36. When the wheel 31, the wheel motor 32, and the gear unit 33 rotate, the amount of protrusion of the wheel 31 from the bottom surface 22a changes. The drive unit 30 and the foreign matter intrusion detection sensor 35 are configured such that the wheel 31 and the lever 35b of the foreign matter intrusion detection sensor 35 come close to each other regardless of the amount of protrusion of the wheel 31. As an example, the foreign matter intrusion detection sensor 35 is installed such that the distance between the wheel 31 and the lever 35b of the foreign matter intrusion detection sensor 35 falls within a range of 2 mm to 4 mm.

  Further, a plurality of adjustment holes 33a are formed in a front portion of the gear unit 33. The housing 34 has a guide portion 37 on the bottom surface side. A stopper 38 is slidably provided on the guide portion 37. The stopper 38 is slidable in the horizontal direction, but does not move in the vertical direction due to being restricted by the guide portion 37.

  The stopper 38 is configured such that a distal end portion fits into the adjustment hole 33a. When the tip of the stopper 38 is fitted into the adjustment hole 33a, the vertical rotation of the gear unit 33 is restricted. A spring 39 is provided on the opposite side of the distal end portion of the stopper 38 fitted into the adjustment hole 33a, that is, on the front side. The stopper 38 is urged rearward by the spring 39. The stopper 38 is urged by the spring 39 so that it is normally fitted in the adjustment hole 33a.

  When the self-propelled cleaner 10 cleans the futon F1, the amount of protrusion of the wheels 31 from the bottom surface 22a may be adjusted according to the softness of the futon F1. Thereby, the driving force of the wheels 31 can be efficiently transmitted to the futon while appropriately maintaining the distance between the self-propelled cleaner 10 and the futon F1.

  The cross-sectional view of FIG. 5 shows a state where the amount of protrusion of the wheel 31 from the bottom surface 22a is minimum. The cross-sectional view of FIG. 6 shows a state in which the amount of protrusion of the wheel 31 from the bottom surface 22a is the maximum. The user can change the amount of protrusion of the wheel 31 from the bottom surface 22a by sliding the stopper 38 forward and rotating the wheel 31 in the up and down direction in a state in which the engagement with the gear unit 33 is released. it can. The plurality of adjustment holes 33a are arranged along an arc centered on the rotation shaft 36. All the adjustment holes 33a are configured to be fitted to the stopper 38 with the same level of force. The adjustment hole 33a and the stopper 38 in the present embodiment are an example of a protrusion amount adjustment unit that adjusts the protrusion amount of the wheel 31 that is an example of a driving body.

  Further, in the present embodiment, cleaning unit 40 is arranged inside body 20. The cleaning unit 40 has a suction port 41 and a connection pipe 42. The suction port body 41 is arranged in front of the lower case 22. The connection pipe 42 is a tubular member. One end of the connection pipe 42 is attached to the lower case 22. The other end of the connection pipe 42 is connected to the suction port 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 via the suction port 43. The air passage 41a communicates with the air passage 42a inside the connection pipe 42. In other words, the suction port 43 communicates with the air passage 42a via the air passage 41a.

  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 connection pipe 42 so as to be rotatable up and down around an axis extending in the left and right direction. The connection pipe 42 is attached to the lower case 22 so as to be rotatable around an axis extending in the front-rear direction. With reference to the axis extending in the front-rear direction, for example, the weight of the right side portion and the weight of the left side portion of the suction port body 41 are substantially the same. As an example, the suction port body 41 is formed symmetrically with respect to the center of rotation of the connection pipe 42.

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

  Further, the cleaning unit 40 may include an agitator 44. The agitator 44 is for agitating dust from the surface to be cleaned by rotating. The agitator 44 is provided rotatably with respect to the suction port body 41. The agitator 44 is arranged in the air passage 41a. The agitator 44 is provided near the suction port 43.

  FIG. 10 is a perspective view of the agitator 44 according to the first embodiment. The agitator 44 is a member that removes dust on the surface to be cleaned by rotating. The agitator 44 has a plurality of dust removers 45 and a shaft 46. The dust remover 45 is formed of, for example, a soft resin. The dust remover 45 is a plate-like member that extends along the axial direction of the agitator 44. As an example, the agitator 44 has four dust removers 45. The dust remover 45 is provided on the outer periphery of the shaft 46 in a helix shape. A fixed interval is formed between the dust removers 45.

  The agitator 44 is rotatably supported about a shaft 46. The dust removing body 45 is provided so as to project from the suction port 43 to the outside of the suction port body 41 when the agitator 44 is rotating. Further, the dust removing body 45 may be formed with a plurality of rectangular holes 45a. The shape and number of the holes 45a are set arbitrarily. Further, the number and shape of the dust removing bodies 45 are not limited to the above example. For example, a plurality of dust removers 45 may be provided on the outer periphery of the shaft 46 along the axial direction of the agitator 44. Further, the dust removing body 45 may be formed of, for example, a fibrous brush bristle or the like.

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

  The suction unit 50 is disposed behind the cleaning unit 40 configured as described above. The suction unit 50 has a fan 51 and a duct 52. The fan 51 is attached to the lower case 22. The fan 51 generates an airflow. 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 airflow, air flows from the dust collection unit 60 toward the duct 52.

  The dust collection unit 60 has 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 capturing dust. The dust collection filter 62 is provided detachably inside the dust collection box 61.

  The dust collection box 61 attached to the lower case 22 is connected to one end of the connection pipe 42. That is, the suction port 41 connected to the other end 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 filter 62 from the dust box 61 removed from the body 20. Thus, the user can discard the refuse collected in the dust collection unit 60.

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

  A warm air outlet cover 74 having a warm 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 becomes a part of the bottom surface of the self-propelled cleaner 10. As an example, the warm air outlet cover 74 protrudes below the bottom surface 22 a of the lower case 22. The hot air outlet 73 includes a plurality of holes formed from the lower end of the hot air outlet cover 74 to the rear surface.

  The air flowing through the duct 52 by the fan 51 is sent to the inside of 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 via the warm air outlet 73. Self-propelled cleaner 10 of the present embodiment supplies warm air to the outside in this manner.

  The heater 71 is an apparatus using a heating element having PTC characteristics, for example. 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 electric resistance of the heating element of the heater 71 changes according to the amount of air sent to the inside of the heater case 72. The temperature of the heater 71 is kept within a certain range according to the amount of air sent into the inside of the heater case 72. Thereby, the temperature of the hot air supplied from the self-propelled cleaner 10 is maintained in a certain range. For this reason, the self-propelled cleaner 10 does not supply excessively high-temperature warm air to the outside.

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

  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 the voltage and the 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 to the outside from the bottom surface 22 a of the lower case 22. The charging terminal 94 is formed so as to be connectable to an external charger. Power is supplied to the storage battery 91 from an external charger via a charging terminal 94. The charging terminal 94 may be formed so as to be connectable to an external commercial power supply or the like.

  The self-propelled cleaner 10 according to the present embodiment includes a surface-to-be-cleaned detection sensor 81. The surface-to-be-cleaned detection sensor 81 is a sensor for detecting the positional relationship between the surface to be cleaned obliquely below and the self-propelled cleaner 10. The cleaning surface detection sensor 81 is electrically connected to the control unit 80.

  FIG. 11 is a perspective view of the cleaning surface detection sensor 81 according to the first embodiment. The surface-to-be-cleaned detection sensor 81 has an infrared light emitting section 82 and an infrared light receiving section 83. The infrared light emitting section 82 and the infrared light receiving section 83 are arranged to face the surface to be cleaned. The infrared light emitting section 82 emits infrared light toward the surface to be cleaned. The infrared receiving section 83 receives the infrared light reflected on the surface to be cleaned.

  The amount of infrared light received by the infrared light receiving unit 83 changes depending on the positional relationship between the cleaning surface detection sensor 81 and the cleaning surface. The amount of infrared light received by the infrared light receiving section 83 increases as the cleaning surface detection sensor 81 approaches the cleaning surface. Further, the amount of infrared light received by the infrared light receiving unit 83 decreases as the cleaning surface detection sensor 81 moves away from the cleaning surface.

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

  Note that the number and arrangement of the cleaning surface detection sensors 81 are not limited to the above example. The cleaning surface detection sensor 81 may be provided at a position where the state of the cleaning surface can be detected. For example, the cleaning surface detection sensor 81 may be provided on the bottom surface 22a of the lower case 22 or the like.

  As described above, the cleaning surface detection sensor 81 can detect the positional relationship between the cleaning surface and the self-propelled cleaner 10. At the end of the bedding, which is the area to be cleaned, there is a step between the floor or the like on which the bedding is placed and the upper surface of the bedding. The distance between the surface to be cleaned and the self-propelled cleaner 10 greatly changes when the self-propelled cleaner 10 reaches the end of the area to be cleaned. Therefore, it is determined from the detection result of the positional relationship between the surface to be cleaned and the self-propelled cleaner 10 by the surface-to-be-cleaned detection sensor 81 that the main body of the self-propelled cleaner 10 has reached the end of the cleaning target area. be able to. In the present embodiment, the surface-to-be-cleaned detection sensor 81 configured as described above detects the end of the self-propelled cleaner 10 that is moving forward and reaches the end of the region to be cleaned. It is an example of the means.

  FIG. 12 is a block diagram illustrating functions of the control unit 80 according to the first embodiment. As described above, the control unit 80 is electrically connected to the cleaning surface detection sensor 81, the foreign matter intrusion detection sensor 35, and the encoder 32b. The control unit 80 is connected to the wheel 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 wheel motor 32, the motor 47, the fan 51, and the heater 71.

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

  The surface-to-be-cleaned 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 surface to be cleaned detection sensor 81. The control unit 80 controls the wheel motor 32, the motor 47, the fan 51, and the heater 71 according to the determined result.

  The self-propelled cleaner 10 cleans and dries the object by driving the wheel motor 32, the motor 47, the fan 51, and the heater 71 by the control unit 80. The self-propelled cleaner 10 performs cleaning and drying of an object while autonomously traveling. The 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 vertically and horizontally with respect to the lower case 22 of the body 20. The body 20 and various devices fixed to the body according to the present embodiment are examples of the main body of the self-propelled cleaner 10. That is, the suction port body 41 is rotatable with respect to the main body of the self-propelled cleaner 10. In addition, this "main body of the self-propelled cleaner 10" may be simply referred to as "main body" in the present disclosure for simplification of description.

  In the present embodiment, the upper surface of the main body of self-propelled cleaner 10 is a mountain-shaped three-dimensional curved surface. Further, the suction port 43 formed on the bottom surface of the suction port body 41 is located above the bottom surface of the main body. The hot air outlet cover 74 is formed on the bottom surface of the main body.

  The main body of the self-propelled cleaner 10 can move forward and backward and turn left and right by the drive unit 30. Drive unit 30 in the present embodiment is an example of a moving unit that moves the main body of self-propelled cleaner 10 forward and backward and left and right. As described above, one drive unit 30 is provided on each of the left and right sides. Wheels 31 are also provided on the left and right sides of the main body. When moving the main body back and forth, both the left and right wheels 31 may be rotated in the same direction at the same rotation speed.

  For example, the following three methods can be considered as a method of rotating the main body right and left. The first one is a so-called turning point. That is, a turning method in which the main body is turned by rotating one of the left and right wheels 31 while the other is stopped. The second is a so-called super-revolution. That is, a turning method in which the main body is turned by rotating both the left and right wheels 31 in the opposite direction at the same rotation speed. The third is so-called gentle turning. That is, a turning method in which the main body is turned by rotating both the left and right wheels 31 in the same direction at different rotation speeds. For turning the main body of self-propelled cleaner 10 in the present embodiment, any of these three turning methods may be used.

  Further, a protrusion 24 may be formed on the bottom surface 22a of the lower case 22 of the present embodiment. The protruding portion 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 among the protruding portion 24, the bottom surface 22a, the upper cover 21, the suction port 41, the suction port 43, the wheel 31, and the hot air outlet cover 74 in the present embodiment will be described with reference to FIG.

  The lower end of the protrusion 24 and the lower end of the hot air outlet cover 74 are lower than the bottom surface 22a. For 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. The lower end of the protrusion 24 and the lower end of the warm air outlet cover 74 may be at different heights.

  The lower end of the wheel 31 is, for example, lower than the lower end of the protrusion 24 and the lower end of the hot air outlet cover 74. For example, the lower end of the wheel 31 is 17 mm below the bottom surface 22a. Further, as described above, the wheels 31 of the present embodiment are provided so as to be movable in the vertical direction. For example, the maximum value of the amount of protrusion of the lower end of the vertically movable wheel 31 from the bottom surface 22a is 40 mm.

  The lower end of the upper cover 21 is located above the bottom surface 22a. For example, the lower end of the upper cover 21 is located 5 mm above the bottom surface 22a. The bottom surface of the suction port body 41 and the suction port 43 are, for example, 8 mm above the bottom surface 22a. 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 protruding portion 24, the wheels 31, and the hot air outlet cover 74 are arranged in order from the front. The position in the front-rear direction of the center of gravity G of the main body of the self-propelled cleaner 10 of the present embodiment 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 wheels 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 warm 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 warm 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, operations and effects 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 by the fibers and the side fabric covering the fibers. The side cloth is formed of, for example, cotton. The fiber covered with the side fabric is, for example, a resin fiber such as cotton, wool, or polyester. In addition, the fiber which forms the mattress F1 may be synthetic fiber which combined resin fiber with cotton or wool, for example.

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

  The bedding F1 is mainly used when the user goes to bed while being covered with the sheets S. The sheet S is formed of a material such as cotton. Hereinafter, the self-propelled cleaner 10 placed on the mattress F1 covered with the sheets S will be described. That is, the self-propelled cleaner 10 in the following description is used for cleaning and drying the mattress F1 covered with the sheets S.

  The self-propelled cleaner 10 performs cleaning and drying of the mattress F1 while traveling on the mattress F1. The self-propelled cleaner 10 moves forward and backward, for example, on the mattress F1. FIG. 13 is a longitudinal sectional view of the self-propelled cleaner 10 according to the first embodiment, which advances on the mattress F1. FIG. 14 is a vertical cross-sectional view of the self-propelled cleaner 10 according to the first embodiment that moves backward on the mattress F1.

  When the self-propelled cleaner 10 is placed on the bed F1 covered with the sheets S, the surface of the bed F1 and the sheets S sink by the weight of the self-propelled cleaner 10. The surface of the mattress F1 and the sheets S are pushed down by the protrusions 24, the wheels 31, and the hot air outlet cover 74. On the sheets S and the bedding F1, the weight of the self-propelled cleaner 10 is mainly supported by the bottom surface 22a of the lower case 22, the protrusion 24, the wheels 31, and the hot air outlet cover 74. In particular, the protrusion 24, the wheels 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 warm 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 lower than the lower end of the protrusion 24 and the lower end of the hot air outlet cover 74. For this reason, wheel 31 contacts sheet S and mattress F1 more strongly. According to the present embodiment, wheels 31 can more efficiently generate a driving force for self-propelled cleaner 10 to travel.

  In the present embodiment, the lower end of the upper cover 21 is located above the bottom surface 22 a, the lower end of the wheel 31, the lower end of the protrusion 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 sheets S. The lower end of the upper cover 21 may be separated from the sheets S. The lower end of the upper cover 21 may include both a portion that comes into contact with the sheet S and a portion that does not come into contact due to unevenness of the mattress F1 and the sheet S.

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

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

  The control unit 80 determines the state of the position of the self-propelled cleaner 10 with respect to the surface to be cleaned based on the signal sent from the surface to be cleaned detection sensor 81. As an example, when the amount of infrared light received by the surface-to-be-cleaned detection sensor 81 is equal to or larger than a preset threshold, the control unit 80 determines that the self-propelled cleaner 10 is on the sheets S and the mattress F1. judge. This threshold is stored in the control unit 80 in advance, 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 wheel motor 32 so that the self-propelled cleaner 10 moves forward. The self-propelled cleaner 10 advances as shown in FIG. Further, the control unit 80 drives the fan 51, the motor 47, and the heater 71.

  When the fan 51 is driven, the pressure inside the dust collection box 61 is reduced. The fan 51 generates an airflow from the suction port 43 to the inside of the dust collection box 61 via the air passage 41a and the air passage 42a. As a result, dust and air adhering to the sheets S and the bedding F1 are sucked from the suction port 43 into the air passage 41a.

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

  When the fan 51 is driven, the sheets S are drawn to the suction port 43. The sheet S is sucked upward. The sheet S sucked upward moves away from the mattress F1. A space B is formed between the sheet S sucked upward and the futon F1, as shown in FIG.

  In the space B, the air flows from outside into a portion where the suction port 43 and the sheet S do not overlap in a plan view. The air in the space B flows from the suction port 43 to the air passage 41a. Fine dust existing between the sheet S and the mattress F1 is sucked from the suction port 43 into the air passage 41a together with air 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. The sheet S sucked to the suction port 43 is shaken by the dust remover 45 of the agitator 44. As a result, fine dust in the state of being gathered between the sheet S and the mattress F1 is shaken. Fine garbage in a united state is dispersed by being shaken. By dispersing the fine refuse, a state in which the fine refuse easily passes through the gap between the fibers forming the sheet S is obtained. In addition, a gap is generated between the sheet S swayed by the dust remover 45 and the suction port 43. The dust below 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.

  Further, dust on the sheets S is also sucked from the suction port 43 into the air passage 41a. The suction port 43 moves with the movement of the self-propelled cleaner 10. When the suction port 43 passes near the dust on the sheet S, the dust is sucked from the suction port 43 into the air passage 41a. Even if the sheets S are drawn into the suction port 43 when the suction port 43 passes near the dust, the sheets S are shaken by the rotating agitator 44. As a result, a gap is formed between the sheet S and the suction port 43, so that dust on the sheet S sucked to the suction port 43 is effectively sucked from the suction port 43 into the air passage 41a. As described above, the self-propelled cleaner 10 including the agitator 44 can more effectively suction dust.

  The dust on the sheets S includes, for example, hair. Hair may become entangled with the rotating agitator 44. The dust remover 45 of the present embodiment is plate-shaped. Hair is not easily caught on the end of the plate-shaped dust removing body 45. In the present embodiment, the hair entangled with the agitator 44 gradually separates from the agitator 44 as the agitator 44 continues to rotate. The hair separated from the agitator 44 is sucked from the air passage 41a to the air passage 42a.

  Further, a hole 45a is formed in the dust removing body 45 of the present embodiment. The hole 45 a formed in the dust removing body 45 secures a ventilation amount to be sucked from the suction port 43 into the air passage 41 a in a state where the sheets S are drawn into the suction port 43. Since holes 45 a are formed in dust removing body 45, a sufficient amount of air flows through air passage 41 a even if sheets S are drawn into suction port 43. The hole 45a prevents a decrease in the air volume in the air passage 41a.

  The dust and air sucked into the air passage 41a flow into the dust collection box 61. The dust collecting filter 62 in the dust collecting box 61 captures dust. The air passes through the dust filter 62. The dust and air flowing into the dust collection box 61 are converted into clean air by the dust collection filter 62. The 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. The heater 71 heats air to 60 degrees, for example. The air heated by the heater 71 is sent to the outside of the self-propelled cleaner 10 via the warm air outlet 73.

  The lower end of the warm air outlet cover 74 sinks into the mattress F1. As described above, the warm air outlet cover 74 is formed with the warm air outlet 73 including a plurality of holes extending from the lower end of the warm air outlet cover 74 to the rear surface side. When the hot air outlet cover 74 sinks with respect to the mattress F1, the air passage through which the hot air sent from the hot air outlet 73 passes is sufficiently ensured. Further, since the warm air outlet 73 is formed from the lower end of the warm air outlet cover 74 to the rear surface, a sufficient amount of warm air passes through the surface of the futon F1. With the self-propelled cleaner 10 according to the present embodiment, it is possible to send warm air having a sufficient air volume and air velocity to the surface of the mattress F1. Thereby, heat is efficiently transmitted to the mattress F1. The self-propelled cleaner 10 according to the present embodiment can efficiently heat and dry the mattress F1.

  As described above, the self-propelled cleaner 10 can suction dust and supply warm air while moving forward. Self-propelled (vacuum) cleaner 10 can dry an object such as mattress F1 while cleaning it. The self-propelled cleaner 10 may not have a function of drying an object, for example.

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

  A force acts on the suction opening 41 of the self-propelled cleaner 10 moving backward to overcome the bulge of the sheets S sucked into the suction opening 43. An upward force acts on the front end of the bottom surface of the suction opening 41 of the self-propelled cleaner 10 moving backward. Thus, the front end of the bottom surface of the suction port body 41 is lifted. As shown in FIG. 14, the front end of the bottom surface of the suction opening 41 of the self-propelled cleaner 10 moving backward moves above the front end of the bottom surface of the suction opening 41 of the self-propelled cleaner 10 moving forward.

  In the present embodiment, the suction port 43 is above the bottom surface 22a. For this reason, the suction port 43 is prevented from sticking to the mattress F1. Further, the suction port 43 does not adhere too strongly to the sheets S. According to the present embodiment, 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 the surface to be cleaned which is flexible. The self-propelled cleaner 10 may have, for example, a rib or the like that prevents the sheets 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 operates, an airflow from the outside of the space B to the inside of the space B and an airflow 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. According to the present embodiment, the self-propelled cleaner 10 can efficiently suck fine dust between the sheets S and the mattress F1.

  Further, the suction port 43 is above the lower end of the protruding portion 24. The protruding portion 24 presses the mattress F1 downward. According to the present embodiment, the suction port 43 is more effectively prevented from sticking to the mattress F1. For example, even when the bottom surface of the suction port body 41 is inclined downward and forward, the suction port 43 does not adhere to the mattress F1. In this manner, the protruding portion 24 prevents the flexible surface to be cleaned from adsorbing to the suction port 43. The protruding portion 24 in the present embodiment is an example of a suction prevention portion that protrudes downward from the bottom surface of the main body of the self-propelled cleaner 10.

  The protruding portion 24 also holds down the sheets S together with the mattress F1. The protruding portion 24 also suppresses the slack of the sheet S sucked to the suction port 43. Further, the projecting portions 24 prevent the sheets S from being excessively strongly attracted 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 via the suction port 43. As described above, the self-propelled cleaner 10 including the protruding portion 24 can effectively maintain the performance of sucking dust and the performance of traveling on the surface to be cleaned even on the surface to be cleaned which is flexible. Can be. Further, the rotation of the agitator 44 is also prevented from being hindered by the sheets S that have entered the interior of the air passage 41a.

  When the self-propelled cleaner 10 of the present embodiment is viewed from the side, the protrusion 24 is disposed between the suction port 43 and the wheel 31. The protrusion 24 is arranged near the suction port 43. The portion of the sheet S sucked to the suction port 43 is limited to a certain range by the protrusion 24. The size of the space B between the sheet S and the mattress F1 is limited by the protrusion 24. As a result, a sufficiently strong airflow is generated in the space B. For this reason, the self-propelled (vacuum) cleaner 10 of the present embodiment can more effectively suck fine dust in the space B between the sheets S and the mattress F1.

  Note that the protruding portion 24 may be separate from the lower case 22. In addition, the protruding portion 24 may be, for example, a member that is easy to slip on the surface to be cleaned. The protruding portion 24 may be, for example, a rotatable columnar member. This reduces the resistance generated between the protrusion 24 and the surface to be cleaned when the self-propelled cleaner 10 travels on the surface to be cleaned.

  The center of gravity G of the main body of the self-propelled cleaner 10 according to the present embodiment is located behind the wheels 31. For this reason, even if the force attracted to the mattress F1 is applied to the suction opening 41, the main body of the self-propelled cleaner 10 is unlikely to tilt forward and downward. For this reason, the space B between the sheet S and the mattress F1 is more reliably generated. According to the present embodiment, self-propelled cleaner 10 having better performance of sucking dust can be obtained.

  An inertial force acts on the self-propelled cleaner 10 moving forward so that the self-propelled cleaner 10 is inclined rearward and downward. In the present embodiment, there is a warm air outlet cover 74 behind the center of gravity G. The warm air outlet cover 74 projecting downward suppresses the self-propelled cleaner 10 from tilting backward and downward. This prevents the suction port 43 from separating from the surface to be cleaned. Self-propelled cleaner 10 of the present embodiment can move forward while maintaining the performance of sucking dust.

  The hot-air outlet cover 74 in the present embodiment is an example of a tilt suppressing portion formed on the main body of the self-propelled cleaner 10. The inclination suppressing unit is for suppressing the self-propelled cleaner 10 from inclining backward and downward. The self-propelled cleaner 10 may include a member different from the hot air outlet cover 74 as the inclination suppressing unit.

  In the present embodiment, the lower end of the upper cover 21 is below the suction port 43. As described above, the front end of the bottom surface of the suction port 41 of the self-propelled cleaner 10 moving backward moves upward from the front end of the bottom face of the suction port 41 of the self-propelled cleaner 10 moving forward. Further, the front portion of the lower end of the upper cover 21 presses the sheets S in front of the suction port 43. Thus, when the self-propelled cleaner 10 moves backward, the sheets S are prevented from being slackened by being drawn into the suction port 43. In addition, when the self-propelled cleaner 10 moves backward, the sheets S are also prevented from being drawn into the air passage 41a from the suction port 43.

  Next, the self-propelled cleaner 10 that advances in the concave portion U on the mattress F1 and the self-propelled cleaner 10 that moves on the inclined portion L on the mattress F1 will be described. The recess U is a place that is recessed downward on the mattress F1. The inclined portion L is a place on the mattress F1 that is inclined in the left-right direction. As an example, the inclined portion L is inclined upward from right to left. FIG. 15 is a longitudinal sectional view of the self-propelled cleaner 10 according to the first embodiment, which advances the concave portion U on the mattress F1. FIG. 16 is a front view of the self-propelled cleaner 10 according to the first embodiment that travels on the inclined portion L on the mattress F1.

  As described above, the suction port body 41 is rotatable with respect to the main body. When the self-propelled cleaner 10 passes over the concave portion U, the suction opening 41 rotates according to the shape of the concave portion U. The suction port 41 rotates about an axis extending in the left-right direction. As an example, the front end of the suction port body 41 rotates downward as shown in FIG. When the suction port body 41 rotates, the suction port 43 also rotates. By rotating the suction port body 41 and the suction port 43 according to the shape of the concave portion U, dust in the space B is effectively sucked.

  In addition, as shown in FIG. 15, when the self-propelled cleaner 10 passes over the inclined portion L, the suction opening 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. By rotating the suction port body 41 and the suction port 43 according to the shape of the inclined portion L, dust in the space B is effectively sucked.

  In the present embodiment, the suction port body 41 is rotatable with respect to an axis extending in the front-rear direction and an axis extending in the left-right direction with respect to the main body. When the self-propelled cleaner 10 travels on an uneven surface to be cleaned, the suction port body 41 and the suction port 43 move following the undulation. The self-propelled cleaner 10 according to the present embodiment can maintain the performance of sucking dust even on an uneven surface to be cleaned.

  In addition, the suction port body 41 may be rotatable around one of an axis extending in the front-rear direction and an axis extending in the left-right direction. Further, the suction port body 41 may be rotatable around, for example, an axis extending from a diagonally right front to a diagonally rear left. The suction port body 41 only needs to be rotatable about an axis parallel to the horizontal plane while the bottom surface of the main body of the self-propelled cleaner 10 faces the horizontal plane. Thus, the suction port body 41 moves following the undulation on the surface to be cleaned.

  The suction port body 41 is formed symmetrically as an example, but the weight of the right side portion and the weight of the left side portion of the suction port body 41 may be different. Self-propelled (vacuum) cleaner 10 may include a spring for lifting the heavier one of the right and left portions of suction opening 41. The suction port body 41 only needs to be able to move following the undulation on the surface to be cleaned.

  In addition, the self-propelled cleaner 10 does not have to include the agitator 44, for example. The self-propelled cleaner 10 without the agitator 44 can operate with less power. In addition, for example, the self-propelled cleaner 10 without the agitator 44 may be configured such that the area of the suction port 43 becomes smaller. The self-propelled cleaner 10 without the agitator 44 may be configured such that the distance from the bottom surface 22a to the suction port 43 is longer. By configuring the self-propelled cleaner 10 in this way, the power consumption of the self-propelled cleaner 10 is reduced, and the sheets S are also prevented from sticking to the suction port 43, and the self-propelled cleaner 10 is cleaned. Performance is ensured.

  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. In addition to the above-described embodiment, the suction port 43 may be formed integrally with the lower case 22 at a position higher than the bottom surface 22a, for example. Since the suction port 43 is formed at a position higher than the bottom surface 22a of the lower case 22, an effect of preventing the sheets S from being closely attached to the suction port 43 can be obtained as in the above-described embodiment.

  Next, the self-propelled cleaner 10 that detects the end of the bedding F1 will be described. FIG. 17 is a longitudinal sectional view of the self-propelled cleaner 10 according to the first embodiment for detecting the end of the mattress F1.

  As shown in FIG. 17, when the front end of the body 20 approaches the end of the mattress F1, the amount of infrared light received by the surface-to-be-cleaned detection sensor 81 provided on the front side of the lower end of the upper cover 21 is reduced. The number is smaller than when the front end of the body 20 does not reach the end of the mattress F1. As the self-propelled cleaner 10 continues to move forward toward the end of the futon F1 placed on a bed or the like, the amount of infrared light received by the cleaning surface detection sensor 81 approaches zero.

  For example, when the amount of infrared light received by the surface-to-be-cleaned detection sensor 81 provided on the front side of the lower end of the upper cover 21 falls below a preset threshold, the control unit 80 activates the self-propelled cleaner 10. It is determined that it has reached the end of the mattress F1. The control unit 80 that has determined that the self-propelled cleaner 10 has reached the end of the mattress F1 stops the wheel motor 32. The control unit 80 that has stopped the wheel motor 32 drives the wheel motor 32 again so that the rotation direction of the wheel motor 32 is reversed with respect to the rotation direction before stopping the wheel motor 32. When the wheel motor 32 is driven again, the self-propelled cleaner 10 moves backward.

  For example, when the amount of infrared light received by the surface-to-be-cleaned detection sensor 81 provided on the rear portion of the lower end of the upper cover 21 falls below a preset threshold value, the control unit 80 activates the self-propelled cleaner 10. Is determined to have reached the end of the mattress F1. The control unit 80 that has determined that the self-propelled cleaner 10 has reached the end of the mattress F1 stops the wheel motor 32. The control unit 80 that has stopped the wheel motor 32 drives the wheel motor 32 again so that the rotation direction of the wheel motor 32 is reversed with respect to the rotation direction before stopping the wheel motor 32. When the wheel motor 32 is driven again, the self-propelled cleaner 10 moves forward.

  The control unit 80 that has determined that the self-propelled cleaner 10 has reached the end of the mattress F1 may change the rotation speed of each wheel 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 wheel motor 32 of the pair of drive units 30. As described above, the self-propelled cleaner 10 detects the end portion of the mattress F1 and repeats the forward movement, the backward movement, and the change of the traveling direction. The self-propelled cleaner 10 of the present embodiment can autonomously continue cleaning and drying the mattress F1 without falling from the mattress F1.

  The angle at which the direction of the cleaning surface detection sensor 81 is inclined with respect to the vertical direction is set so that the cleaning surface detection sensor 81 can receive infrared light. The angle at which the direction of the cleaning surface detection sensor 81 is inclined with respect to the vertical direction is hereinafter referred to as the inclination angle of the cleaning surface detection sensor 81. The cleaning surface detection sensor 81 can detect the state of the surface of the mattress F1 at a position farther from the outer periphery of the body 20 as the inclination angle of the cleaning surface detection sensor 81 increases. That is, the risk of the self-propelled cleaner 10 dropping from the mattress F1 is further reduced as the inclination angle of the cleaning surface detection sensor 81 is larger.

  Further, the cleaning surface detection sensor 81 can more accurately detect the positional relationship between the cleaning surface and the self-propelled cleaner 10 as the inclination angle of the cleaning surface detection sensor 81 is smaller. For example, the smaller the inclination angle of the surface-to-be-cleaned sensor 81 is, the smaller the self-propelled cleaner 10 gets over the convex part of the surface of the mattress F1 and the more the self-propelled cleaner 10 approaches the end of the mattress F1. The risk determined by 80 is reduced. Also, as the inclination angle of the surface-to-be-cleaned detection sensor 81 is smaller, when the self-propelled cleaner 10 approaches the end of the mattress F1 when the self-propelled cleaner 10 approaches the concave portion of the mattress F1 surface, the control unit 80 The risk determined by is reduced. In addition, as the inclination angle of the surface-to-be-cleaned detection sensor 81 is smaller, 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 tilted. Reduced. As described above, the smaller the inclination angle of the surface-to-be-cleaned detection sensor 81 is, the smaller the possibility that the positional relationship between the surface to be cleaned and the self-propelled cleaner 10 is erroneously detected.

  As an example, when the angle of inclination of the surface-to-be-cleaned detection sensor 81 is set to 5 ° to 50 °, the risk of the self-propelled cleaner 10 falling from the mattress F1 is sufficiently reduced, and the surface to be cleaned and the self-propelled cleaner The possibility that the positional relationship with the traveling vacuum cleaner 10 is erroneously detected is sufficiently reduced. As an example, it is desirable that the inclination angle of the cleaning surface detection sensor 81 is set 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 be configured to be able to adjust the direction of the cleaning surface detection sensor 81, for example. Thereby, the self-propelled (vacuum) cleaner 10 can operate properly according to the state of the mattress F1, such as the unevenness of the surface of the mattress F1 and the shape of the end of the mattress F1.

  Further, for example, a position sensing device or a CMOS image sensor may be used for the infrared light receiving unit 83. The infrared light receiving section 83 may detect an incident angle of infrared light received from the surface to be cleaned. The cleaning surface 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 cleaning target surface detection sensor 81 to the cleaning target surface based on the incident angle detected by the infrared light receiving unit 83. With the control unit 80 and the to-be-cleaned surface detection sensor 81 configured as described above, the position between the to-be-cleaned surface and the self-propelled cleaner 10 does not depend on the difference in the reflectance of the surface to be cleaned with infrared light. The relationship can be detected more accurately. The infrared light reflectance of the surface to be cleaned depends on, for example, the material of the object forming the surface to be cleaned.

  Next, the self-propelled cleaner 10 that detects that the sheets S that have slackened on the bedding F1 has entered the drive unit 30 will be described. FIG. 18 is a longitudinal sectional view of the self-propelled cleaner 10 according to the first embodiment, which advances on the mattress F1 covered with the loose sheets S. FIG. 19 is a longitudinal sectional view of the self-propelled cleaner 10 according to the first embodiment, which moves backward on the mattress F1 covered with the loose sheets S.

  When the self-propelled cleaner 10 performs the turning operation and the reciprocating operation on the bed F1 covered with the loose sheets S, the contact area between the sheets and the outer periphery of the wheels 31 increases. Part of the sheet S attached to the outer periphery of the wheel 31 is lifted up to the upper part of the wheel 31. When the self-propelled cleaner 10 moves forward, the loose sheets S are lifted behind the wheels 31 as shown in FIG. When the self-propelled cleaner 10 moves backward, the loose sheets S are lifted to the front side of the wheels 31 as shown in FIG.

  The sheet S lifted by the wheels 31 is eventually lifted to the position of the foreign matter intrusion detection sensor 35. The sheet S lifted to the position of the foreign object intrusion detection sensor 35 pushes up the lever 35b. As a result, the switch circuit of the switch section 35a is short-circuited. When the switch circuit of the switch section 35a is short-circuited, foreign matter intrusion into the drive unit 30 is detected. When foreign matter intrusion detection sensor 35 detects foreign matter intrusion, control unit 80 stops driving both left and right wheel motors 32. After that, the control unit 80 reversely rotates the wheel motor 32 for several seconds. Thereby, self-propelled cleaner 10 moves in the opposite direction.

  As described above, according to the present embodiment, it is detected that the sheet S has entered the drive unit 30 before the sheet S is caught in the back between the wheel 31 and the housing 34. Therefore, the sheets S are prevented from being wound around the wheels 31 and damaged. In addition, overheating of the wheel motor 32 due to the sheet S getting caught in the wheels 31 can be prevented.

  It is desirable that the control unit 80 stops the fan 51 when the self-propelled cleaner 10 moves in the reverse direction when foreign matter intrusion into the drive unit 30 is detected. The loose sheets S are easily drawn into the suction port 43. When the fan 51 stops, the sheets S are not drawn into the suction port 43. Thereby, the contact pressure of the sheet S to the wheel 31 is reduced, and the sheet S is prevented from getting into the wheel 31 more effectively.

  Further, depending on the slackness of the sheet S, when the self-propelled cleaner 10 repeats the turning operation and the reciprocating operation, the detection of the foreign matter intrusion by the foreign matter intrusion detection sensor 35 may occur at short intervals. Further, the detection of foreign matter intrusion by the left and right foreign matter intrusion detection sensors 35 may occur simultaneously. That is, whether the self-propelled cleaner 10 moves forward or backward, a situation may occur in which the sheets S may be involved in the wheels 31.

  The control unit 80 may be configured to stop driving the wheel motor 32 and the fan 51 when the above situation is detected. In addition, the self-propelled cleaner 10 may be configured to display a warning or an audio alert to the user when the above situation is detected. Self-propelled (vacuum) cleaner 10 may be provided with a notifying means for displaying a warning or notifying by sound. Further, the self-propelled cleaner 10 may be configured so that the rotation of the agitator 44 is stopped when the foreign matter intrusion detection sensor 35 detects foreign matter intrusion.

  Next, the operation when the self-propelled cleaner 10 travels on the soft mattress F3 covered with the loose sheets S will be described. It is assumed that the self-propelled cleaner 10 has been adjusted by the user before traveling on the soft mattress F3 so that the protrusion amount of the wheels 31 is increased as shown in FIG.

  FIG. 20 is a longitudinal sectional view of the self-propelled cleaner 10 according to the first embodiment that advances on the soft mattress F3 covered with the loose sheets S. FIG. 21 is a vertical cross-sectional view of the self-propelled cleaner 10 according to the first embodiment that moves backward on the soft mattress F3 covered with the loose sheets S.

  On the soft mattress F3, the wheel 31 sinks deeply into the mattress F3. As described above, even when the wheel 31 protrudes greatly, the lever 35b of the foreign matter intrusion detection sensor 35 is kept in a state of being close to the wheel 31. For this reason, the self-propelled (vacuum) cleaner 10 of the present embodiment can detect that the sheets S enter between the wheel 31 and the housing 34 even on the soft mattress F3.

  In the above embodiment, the foreign matter intrusion detection sensor 35 is configured by a mechanical switch, but may be configured by another method. The foreign matter intrusion detection sensor 35 may be configured by, for example, an optical sensor that utilizes the fact that foreign matter blocks light. The foreign matter intrusion detection sensor 35 may be any sensor as long as it can detect the intrusion of foreign matter into the drive unit 30.

  Next, a process in which the self-propelled cleaner 10 cleans the mattress F1 will be described. The mattress F1 is an example of a rectangular cleaning target area. In the present embodiment, the control unit 80, which is an example of the control unit, controls the drive unit 30, the cleaning unit 40, and the cleaning unit 40 so that the main body of the self-propelled cleaner 10 performs the first step and the second step. The suction unit 50 and the drying unit 70 are controlled.

  The first step is a step in which the main body of the self-propelled cleaner 10 moves from an initial position to a cleaning reference position. The second step is a step of cleaning the area to be cleaned while the main body of the self-propelled cleaner 10 moves from the cleaning reference position. In the present embodiment, in the second step, the mattress F1, which is the cleaning target area, is also dried.

  The initial position is the position of the self-propelled cleaner 10 when starting the first step. For example, the position where the user places the self-propelled cleaner 10 is the initial position. The cleaning reference position is the position of the self-propelled cleaner 10 when starting the second step. In the second step, the self-propelled cleaner 10 performs cleaning and drying of the mattress F1, which is a cleaning target area, based on the cleaning reference position.

  In the present embodiment, control unit 80 controls drive unit 30 such that the main body of self-propelled cleaner 10 performs the midpoint detection operation. The midpoint detection operation is an operation of moving to a midpoint between two opposing ends of the mattress F1, which is a cleaning target area.

  The midpoint detection operation includes, for example, the following three operations. First, the self-propelled cleaner 10 proceeds forward or backward from the current position until the body-to-be-cleaned detection sensor 81 detects that the main body has reached the end of the mattress F1. For example, the self-propelled cleaner 10 moves forward until the cleaning surface detection sensor 81 detects that the main body has reached the front end of the mattress F1.

  Next, self-propelled cleaner 10 advances to the other of the front and the back. The self-propelled cleaner 10 proceeds to the other end until the cleaning surface detection sensor 81 detects that the main body has reached the end of the mattress F1. For example, the self-propelled cleaner 10 moves backward until the cleaning surface detection sensor 81 detects that the main body has reached the rear end of the mattress F1.

  After that, the self-propelled cleaner 10 advances again forward or backward. For example, the self-propelled cleaner 10 moves forward again. The self-propelled cleaner 10 detects the state in which the main body reaches the end of the mattress F1 by the cleaning surface detection sensor 81 after the start of the midpoint detection operation after the start of the midpoint detection operation, and until the next detection. The vehicle travels in one of the above directions by half the moving distance. Specifically, the self-propelled cleaner 10 advances to an intermediate position between the front end and the rear end of the mattress F1.

  By continuously performing the three operations as described above, the main body of the self-propelled cleaner 10 moves to the midpoint between two opposite ends of the mattress F1. The midpoint between the two opposing ends of the mattress F1 is on a straight line connecting the two ends of the mattress F1 and is equidistant from these two ends. Is a point. Then, this midpoint is set as a cleaning reference position. By setting the cleaning reference position in this manner, the cleaning reference position is set not on the end but on the center of the mattress F1. According to the present embodiment, self-propelled cleaner 10 can start cleaning from the center of mattress F1.

  In the specific example of the above-described midpoint detection operation, the control unit 80 needs to detect the moving distance of the main body of the self-propelled cleaner 10. As a method of detecting the movement distance of the main body, for example, the following two methods can be considered.

  The first is a method of detecting the moving distance of the main body based on the amount of rotation of the wheels 31 of the drive unit 30. The moving distance of the main body is proportional to the rotation amount of the wheel 31. Therefore, the movement distance of the main body can be represented by the rotation amount of the motor shaft 32a. The control unit 80 detects the amount of rotation of the motor shaft 32a of the wheel motor 32 for driving the wheels 31 by using the encoder 32b. The movement distance of the main body is obtained by multiplying the rotation amount of the motor shaft 32a during movement, the gear ratio of the gear unit 33, and the circumference of the wheel 31. In this example, the encoder 32b is an example of a moving distance detecting unit for detecting a moving distance of the main body.

  The second is a method of detecting the moving distance of the main body based on the elapsed time of the main body moving back and forth. In this method, the moving distance of the main body can be obtained by multiplying the forward / backward speed of the main body by the elapsed time. If the forward and backward speed of the main body is kept constant, the moving distance of the main body is proportional to only the duration of the forward and backward movement. In this case, the movement distance of the main body can be represented by the duration of forward and backward travel. That is, in the specific example of the above-described midpoint detection operation, the reverse movement time of the main body from the time when the advancing body reaches the end of the mattress F1 to the time when the retreating body reaches the end of the mattress F1 is detected. The body only needs to be advanced again by half the time.

  The above-described midpoint detection operation is executed a plurality of times, for example. The midpoint detection operation is performed twice, for example, in the first step. In the present embodiment, the control unit 80 controls the driving unit 30 so that the main body is turned 90 degrees after the first midpoint detection operation in the first step and then the second midpoint detection operation is performed. Control. The main body of the self-propelled cleaner 10 performs the first midpoint detection operation from the initial position at the start of the first process. The main body turns 90 degrees after the first midpoint detection operation, and then performs the second midpoint detection operation. Then, as a result of performing the second midpoint detection operation, a position of the main body is set as a cleaning reference position. By setting the cleaning reference position in this manner, the cleaning reference position is closer to the center of the mattress F1.

  Next, a flow of a first process executed by the self-propelled cleaner 10 of the present embodiment will be described with reference to a flowchart. FIGS. 22 and 23 are flowcharts showing an example of the flow of the first step of the self-propelled cleaner 10 according to the first embodiment.

  In the first step, the control unit 80 first controls the drive unit 30 so that the main body of the self-propelled cleaner 10 moves forward. Specifically, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to rotate the left and right wheels 31 forward (step S101). Here, the direction in which the self-propelled cleaner 10 advances in step S101 is defined as “vertical direction” in the present disclosure.

  When the self-propelled cleaner 10 moves forward in the vertical direction, the control unit 80 determines whether or not the cleaning surface detection sensor 81 has detected that the main body has reached the end of the mattress F1 (step S102). This end is referred to as a “vertical front end” in the present disclosure.

  When the cleaning surface detection sensor 81 does not detect that the main body has reached the front end in the vertical direction, the processing of step S101 and step S102 is continued. That is, the self-propelled cleaner 10 advances in the vertical direction until the cleaning surface detection sensor 81 detects that the main body has reached the front end in the vertical direction. On the other hand, when the cleaning surface detection sensor 81 detects that the main body has reached the front end in the vertical direction in step S102, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to control both the left and right. The wheels 31 are stopped (Step S103).

  After stopping the wheels 31 in step S103, the control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 moves backward. Specifically, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to reverse the left and right wheels 31 (step S104). In step S104, the rotation amount of the motor shaft 32a is measured. The measurement of the rotation amount of the motor shaft 32a is always performed during the backward movement of the main body. Specifically, the control unit 80 captures and stores a signal output from the encoder 32b while the vehicle is moving backward.

  When the self-propelled cleaner 10 moves backward in step S104, the control unit 80 determines whether or not the cleaning surface detection sensor 81 has detected that the main body has reached the end of the mattress F1 (step S105). This end is referred to as “vertical rear end” in the present disclosure.

  If the cleaning surface detection sensor 81 does not detect that the main body has reached the rear end in the vertical direction, the processing of step S104 and step S105 is continued. That is, the self-propelled cleaner 10 moves backward until the cleaned surface detection sensor 81 detects that the main body has reached the rear end in the vertical direction.

  On the other hand, when the cleaning surface detection sensor 81 detects that the main body has reached the rear end in the vertical direction in step S105, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to control both the left and right sides. Is stopped (step S106).

  In step S106, the control unit 80 determines the vertical rearward position from the vertical front end based on the rotation amount of the motor shaft 32a from when the main body starts moving backward from the vertical front end in step S104 until the main body reaches the vertical rear end. Calculate the distance to the edge. The control unit 80 sets the value of the calculated distance as the vertical distance L1. In addition, the control unit 80 calculates a half distance of the vertical distance L1, and sets the calculated value as the vertical midpoint distance M1. Further, the control unit 80 sets the rotation amount N1 of the motor shaft 32a for moving the motor shaft 32a by the length corresponding to the vertical midpoint distance M1.

  After the processing in step S106 is performed, the control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 moves forward. Specifically, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to rotate the left and right wheels 31 forward (step S107). In step S107, the rotation amount of the motor shaft 32a is measured. The measurement of the rotation amount of the motor shaft 32a is always performed while the main body is moving forward.

  When the self-propelled cleaner 10 advances in step S107, the control unit 80 determines that the rotation amount of the motor shaft 32a since the main body started to advance in step S107 is equal to or more than the rotation amount N1 set in step S106. It is determined whether or not it has been performed (step S108). If the rotation amount of the motor shaft 32a is not equal to or more than the rotation amount N1, the processing of step S107 and step S108 is continued. On the other hand, when the rotation amount of the motor shaft 32a is equal to or more than the rotation amount N1, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to stop both the left and right wheels 31 (step S109). ). This completes the first midpoint detection operation.

  When the first midpoint detection operation is completed in step S109, the control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 is turned by 90 ° in the clockwise direction (step S109). S110). Specifically, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to rotate the left wheel 31 forward and reverse the right wheel 31.

  After step S110, the process proceeds to the flowchart of FIG. The flowchart shown in FIG. 23 shows the processing of the second midpoint detection operation. After the main body turns in step S110, the control unit 80 controls the drive unit 30 so that the main body moves forward. Specifically, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to rotate both the left and right wheels 31 forward (step S111). Here, the direction in which the self-propelled cleaner 10 advances in step S111 is defined as “lateral” in the present disclosure.

  When the self-propelled cleaner 10 advances in the lateral direction, the control unit 80 determines whether or not the cleaning surface detection sensor 81 has detected that the main body has reached the end of the mattress F1 (step S112). This end is referred to as the “lateral front end” in the present disclosure.

  When the cleaning surface detection sensor 81 does not detect that the main body has reached the front end in the lateral direction, the processing of step S111 and step S112 is continued. That is, the self-propelled cleaner 10 moves forward in the horizontal direction until the cleaning surface detection sensor 81 detects that the main body has reached the front end in the horizontal direction. On the other hand, when the cleaning surface detection sensor 81 detects that the main body has reached the front end in the horizontal direction in step S102, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to control both the left and right sides. The wheels 31 are stopped (step S113).

  After stopping the wheels 31 in step S113, the control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 moves backward. Specifically, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to reverse both the left and right wheels 31 (step S114). In step S114, the rotation amount of the motor shaft 32a is measured. The measurement of the rotation amount of the motor shaft 32a is always performed during the backward movement of the main body. Specifically, the control unit 80 captures and stores a signal output from the encoder 32b while the vehicle is moving backward.

  When the self-propelled cleaner 10 moves backward in step S114, the control unit 80 determines whether or not the cleaning surface detection sensor 81 has detected that the main body has reached the end of the mattress F1 (step S115). This end is referred to as “lateral rear end” in the present disclosure.

  When the cleaning surface detection sensor 81 does not detect that the main body has reached the rear end in the lateral direction, the processing of step S114 and step S115 is continued. That is, the self-propelled cleaner 10 moves backward until the cleaning surface detection sensor 81 detects that the main body has reached the lateral rear end.

  On the other hand, when the cleaning surface detection sensor 81 detects that the main body has reached the rear end in the horizontal direction in step S115, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 so that the left and right Is stopped (step S116).

  In this step S116, the control unit 80 determines whether or not the main body starts moving backward from the lateral front end in step S114 to reach the lateral rear end, based on the rotation amount of the motor shaft 32a from the lateral front end to the lateral rear end. Calculate the distance to the edge. The control unit 80 sets the value of the calculated distance as the lateral distance L2. In addition, the control unit 80 calculates a half distance of the horizontal distance L2, and sets the calculated value as the horizontal midpoint distance M2. Further, the control unit 80 sets a rotation amount N2 of the motor shaft 32a for moving by a length corresponding to the lateral midpoint distance M2.

  After the process of step S116 is performed, the control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 moves forward. Specifically, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to rotate the left and right wheels 31 forward (step S117). In step S117, the rotation amount of the motor shaft 32a is measured. The measurement of the rotation amount of the motor shaft 32a is always performed while the main body is moving forward.

  When the self-propelled cleaner 10 advances in step S117, the control unit 80 determines that the rotation amount of the motor shaft 32a after the main body starts to advance in step S117 is equal to or more than the rotation amount N2 set in step S116. It is determined whether or not it has been performed (step S118). If the rotation amount of the motor shaft 32a is not equal to or more than the rotation amount N2, the processing of steps S117 and S118 is continued.

  On the other hand, when the rotation amount of the motor shaft 32a is equal to or more than the rotation amount N2, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to stop both the left and right wheels 31 (step S119). ). This completes the second midpoint detection operation. Then, the position of the main body at the time when the second midpoint detection operation is completed is set as the cleaning reference position. As described above, the self-propelled cleaner 10 executes the second step from the cleaning reference position.

  Further, the self-propelled cleaner 10 of the present embodiment has a function of automatically detecting the size of the cleaning target area and operating based on the detected size. The self-propelled cleaner 10 according to the present embodiment can correspond to cleaning target areas of different sizes. The control unit 80, which is an example of the control unit, calculates the moving distance of the main body of the self-propelled cleaner 10 as described above. Then, the control unit 80 sets dimensional information including information on the length of the short side and the length of the long side of the rectangular cleaning target area based on the calculated moving distance of the main body. The control unit 80 operates based on the set dimensional information.

  In the present embodiment, the size of the cleaning target area is detected based on the movement distance of the main body during the above-described midpoint detection operation. Specifically, the self-propelled cleaner 10 that has completed the midpoint detection operation in step S119 sets the size of the mattress F1, which is the cleaning target area, as described below.

  When the midpoint detection operation is completed in step S119, the control unit 80 determines whether the above-described vertical distance L1 is greater than the horizontal distance L2 (step S119). The control unit 80 sets the length RL and the length RS of the long side of the mattress F1 according to the comparison result of the vertical distance L1 and the horizontal distance L2.

  When the vertical distance L1 is greater than the horizontal distance L2, the control unit 80 sets the length RL of the long side of the mattress F1 to the longitudinal length FB of the main body of the self-propelled cleaner 10 to the vertical distance L1. Are added. The control unit 80 sets the length RS of the short side of the mattress F1 as a value obtained by adding the length FB of the main body of the self-propelled cleaner 10 in the front-rear direction to the lateral distance L2. (Step S121).

  On the other hand, when the horizontal distance L2 is greater than the vertical distance L1, the control unit 80 sets the length RL of the long side of the mattress F1 to the horizontal length L2 of the main body of the self-propelled cleaner 10 in the front-rear direction. FB is set. In addition, the control unit 80 sets the length RS of the short side of the mattress F1 as a value obtained by adding the length FB of the main body of the self-propelled cleaner 10 in the front-rear direction to the longitudinal distance L1. (Step S122). Through the above steps S121 and S122, dimensional information including information on the short side length RS and the long side length RL of the rectangular mattress is set.

  The length FB of the main body of the self-propelled cleaner 10 in the front-rear direction is used to correct the detection result of the size of the cleaning target area. Information on the length FB in the front-rear direction of the main body is stored in the control unit 80 in advance. The lateral distance L2 calculated in step S116 is shorter than the actual distance between the lateral front end and the lateral rear end by the longitudinal length FB of the main body. The vertical distance L1 calculated in step S106 is shorter than the actual distance between the vertical front end and the vertical rear end by the length FB in the front-rear direction of the main body. Therefore, as described above, when setting the size of the mattress F1, the length FB of the main body in the front-rear direction is added to the vertical distance L1 and the horizontal distance L2 for correction.

  In the present embodiment, the control unit 80 calculates the distance between the two ends reached by the main body in the first midpoint detection operation as the first length. Further, the control unit 80 calculates the distance between the two ends reached by the main body in the second midpoint detection operation as the second length. The control unit 80 sets the longer one of the first length and the second length as the length RL of the long side of the rectangular cleaning target area. Further, the control unit 80 sets the shorter one of the first length and the second length as the length RS of the short side of the rectangular cleaning target area. The control unit 80 simply detects the size of the area to be cleaned as described above. The length RL of the long side and the length RS of the short side of the cleaning target area are parameters for setting the moving amount of the self-propelled cleaner 10 in the second step.

  In the present embodiment, in the first step, both the operation of setting the cleaning reference position and the operation of setting the size of the cleaning target area are performed. Note that only one of the operation of setting the cleaning reference position and the operation of setting the size of the cleaning target area may be performed. In the present embodiment, the setting of the cleaning reference position and the setting of the size of the cleaning target area are both performed based on the result of the midpoint detection operation. The setting of the cleaning reference position and the setting of the size of the cleaning target area may be performed based on different operation results. Further, for example, the timing at which the size of the cleaning target area is set may not be the first step.

  Next, an operation example of the self-propelled cleaner 10 configured as described above in the first step will be described. FIGS. 24 and 25 show an example of a movement path in the first step of the main body of the self-propelled cleaner 10 according to the first embodiment. The actual size of the mattress F1, which is the cleaning target area in the present embodiment, is, for example, 2 meters on the long side and 1 meter on the short side. FIGS. 24 and 25 show the size of the mattress F1 which is the cleaning target area in centimeters.

  24 and 25, the initial position at the start of the first step is indicated by a white circle. The initial position is, for example, a position where the user places the self-propelled cleaner 10. 24 and 25, the position where the self-propelled cleaner 10 is located at the time when the first midpoint detection operation is completed is indicated by a triangle. That is, the position indicated by this triangle is the midpoint between the front end in the vertical direction and the rear end in the vertical direction. 24 and 25, a midpoint between the front end in the vertical direction and the rear end in the vertical direction is referred to as a midpoint in the vertical direction. The position where the self-propelled cleaner 10 is located at the end of the first process, that is, the cleaning reference position is indicated by a black circle. The movement path of the main body in the first midpoint detection operation is indicated by a solid line Y1. The movement path of the main body in the second midpoint detection operation is indicated by a broken line Y2.

  In the examples of FIGS. 24 and 25, the initial position is a position on the lower side of the mattress F1 and relatively close to the end of the mattress F1. The lower side means a position on the paper surface of FIGS. 24 and 25.

  In the example of FIG. 24, the front-rear direction of the main body of the self-propelled cleaner 10 at the initial position is inclined counterclockwise by 3 degrees with respect to the longitudinal direction of the mattress F1. In the example of FIG. 24, the position where the main body is located at the end of the first step, that is, the cleaning reference position is substantially at the center of the mattress F1. In the example of FIG. 25, the front-rear direction of the main body of the self-propelled cleaner 10 at the initial position is inclined counterclockwise by 10 degrees with respect to the longitudinal direction of the mattress F1. In the example of FIG. 25, the position where the main body is located at the end of the first step, that is, the cleaning reference position is substantially at the center of the mattress F1. The cleaning reference position in the example of FIG. 25 is farther from the center of the mattress F1 than the cleaning reference position in the example of FIG. As an example, the cleaning reference position in the example of FIG. 25 is a position about 40 mm from the center of the mattress F1.

  As described above, the main point of the self-propelled cleaner 10 is repeated by repeating the midpoint detection operation of moving to the midpoint between the two opposite ends of the rectangular cleaning target area such as the mattress F1 twice. It moves to almost the center of the area to be cleaned. Then, substantially the center of the cleaning target area is set as a cleaning reference position, and the self-propelled cleaner 10 starts cleaning the cleaning target area from this cleaning reference position. According to the present embodiment, the self-propelled cleaner 10 can clean the center side of the cleaning target area more heavily than the end side.

  Specifically, for example, in the second step, the main body of the self-propelled cleaner 10 repeats the first operation, the second operation, and the third operation in order from the cleaning reference position. In the present embodiment, control unit 80 controls drive unit 30 so that the main body of self-propelled cleaner 10 repeats the first operation, the second operation, and the third operation in order.

  The first operation is an operation of moving forward. The first operation is performed until the cleaning surface detection sensor 81 detects that the advancing main body has reached the end of the cleaning target area. That is, the self-propelled cleaner 10 moves from the base point to the end of the cleaning target area by the first operation. When the surface-to-be-cleaned detection sensor 81 detects that the advancing main body has reached the end of the cleaning target area, the second operation is performed. The second operation is an operation of moving backward by a preset reverse distance. By the second operation, the self-propelled cleaner 10 returns from the end of the cleaning target area to the base point or near the base point. The third operation performed after the second operation is an operation of turning by a preset turning angle. The third operation changes the front-rear direction of the self-propelled cleaner 10. After the third operation, the first operation and the second operation are executed again.

  As described above, the self-propelled cleaner 10 of the present embodiment repeats forward movement, backward movement, and change of the traveling direction based on the cleaning reference position. When the self-propelled cleaner 10 moves in such a way, the cleaning reference position is close to the center of the area to be cleaned, thereby reducing the bias of the overlapping movement paths of the self-propelled cleaner 10. Can be.

  When setting the cleaning reference position and the size of the cleaning target area in the first step, the front-rear direction of the main body of the self-propelled cleaner 10 at the initial position is set in the longitudinal direction or the lateral direction of the cleaning target area. However, it is desirable that they are parallel to each other. The smaller the angle formed by the front-rear direction of the main body of the self-propelled cleaner 10 at the initial position and the longitudinal direction of the cleaning target area or the smaller the angle formed by the front-rear direction and the shorter direction of the cleaning target area, the smaller the cleaning reference position is. Close to the center of the area to be cleaned.

  In addition, the smaller the angle between the front-rear direction of the main body of the self-propelled cleaner 10 at the initial position and the longitudinal direction of the cleaning target area or the smaller the angle formed between the front-rear direction and the shorter direction of the cleaning target area, the longer the longer side Are set to exact values closer to the actual size. Then, the smaller the error between the set values of the long side length RL and the short side length RS and the actual size of the cleaning target area, the more appropriate the operation of the self-propelled cleaner in the second step can be. .

  For example, when the inclination angle of the main body of the self-propelled cleaner 10 in the front-rear direction at the initial position with respect to the longitudinal direction of the mattress F1 is 3 degrees, the length RL of the long side and the length RS of the short side with respect to the actual size of the mattress F1 are set. Is about 0.14%. When the inclination angle of the main body of the self-propelled cleaner 10 in the front-rear direction at the initial value with respect to the longitudinal direction of the mattress F1 is 10 degrees, the long side length RL and the short side length RS with respect to the actual size of the mattress F1 are provided. Is about 1.5%.

  As described above, if the inclination angle of the main body of the self-propelled cleaner 10 in the front-rear direction at the initial position with respect to the longitudinal direction of the mattress F1 is 10 degrees or less, the length of the long side RL and the short side RS is reduced. The error rate of the set value decreases. Thereby, the operation of the self-propelled cleaner in the second step can be made more appropriate. Specifically, it is possible to reduce a region where the self-propelled cleaner 10 repeatedly passes and a region where the self-propelled cleaner 10 is left uncleaned in the second step.

  Next, a flow of a second process executed by the self-propelled cleaner 10 according to the present embodiment will be described with reference to a flowchart. FIG. 26 is a flowchart illustrating an example of the flow of the second process of the self-propelled cleaner 10 according to the first embodiment. As described above, in the second step, the first operation, the second operation, and the third operation are sequentially repeated. In the second step, the self-propelled cleaner 10 repeats the forward movement, the backward movement, and the change of the traveling direction while detecting the end of the mattress F1.

  In the second step, the control unit 80 first sets the reverse distance DB and the turning angle θ (step S201). The second operation is an operation of moving backward by the backward distance DB. The third operation is an operation of turning by the turning angle θ. In the present embodiment, the control unit 80 determines the reverse distance DB and the turning angle suitable for the size of the cleaning target area based on the long side length RL and the short side length RS set in the first step. Set θ.

  Specifically, the control unit 80 sets the reverse distance DB based on a mathematical expression using the long side length RL and the short side length RS as variables. As a result, the reverse distance DB is set to an appropriate value according to the size of the cleaning target area.

More specifically, the control unit 80 sets the first coefficient to K, the second coefficient to C1, and the third coefficient to C2, and sets the reverse distance DB by the following equation (1).
(1) DB = (RS−K) × C1 + ((RL−K) − (RS−K)) × C2
By setting the reverse distance DB based on the formula (1), the traveling path of the self-propelled cleaner 10 in the second step can be made appropriate, and the area where the self-propelled cleaner 10 repeatedly passes and The area left uncleaned can be reduced.

  The first coefficient K is obtained by adding the distance from the tip of the main body to the suction port 43 to the distance from the center of the main body of the self-propelled cleaner 10 to the suction port 43. The first coefficient K is a coefficient for correcting the reverse distance DB in consideration of the length of a portion through which the suction port 43 does not pass. The second coefficient C1 is a coefficient based on the length RS of the short side of the mattress F1. The third coefficient C2 is a coefficient based on the difference between the length RL of the long side and the length RS of the short side of the mattress F1. The third coefficient C2 is a coefficient for correcting the reverse distance DB based on the aspect ratio of the cleaning target area.

Further, the control unit 80 sets the swirl angle θ by the following equation (2), where VL is the effective width that can be cleaned by the cleaning means, specifically, the width of the suction port 43 is VL, and the correction angle is α.
(2) θ = sin ⁻¹ (VL / DB) + α
By setting the turning angle θ based on the equation (2), it is possible to reduce the deviation in the number of times the suction port 43 passes in the cleaning target area.

  The smaller the correction angle α is, the more the area where the suction port 43 reciprocates and passes before the main body turns by the third operation and the area where the suction port 43 reciprocates and passes after the main body turns by the third operation. Becomes larger. Also, as the correction angle α is smaller, the area where the suction port 43 reciprocates and passes before the main body turns by the third operation and the area where the suction port 43 reciprocates and passes after the main body turns by the third operation. Are not overlapped, that is, the uncleaned area is reduced.

  On the other hand, as the correction angle α is larger, the region where the suction port 43 reciprocates and passes before the main body turns by the third operation, and the region where the suction port 43 reciprocates and passes after the main body turns by the third operation. Overlap is reduced. Also, as the correction angle α is larger, the region where the suction port 43 reciprocates and passes before the main body turns by the third operation and the region where the suction port 43 reciprocates and passes after the main body turns by the third operation. Are not overlapped, that is, the uncleaned area becomes large.

  Therefore, the smaller the correction angle α, the longer the operation time for the self-propelled cleaner 10 to clean the entire area to be cleaned, but the greater the cleaning effect and the drying effect. On the other hand, the larger the correction angle α, the shorter the above-mentioned operation time, but the smaller the cleaning effect and the drying effect. The correction angle α is set, for example, as an angle in the range of 0 to 4 degrees in consideration of the above characteristics.

  After setting the reverse distance DB and the turning angle θ as described above in Step S201, the control unit 80 drives the motor 47, the fan 51, and the heater 71 (Step S202). When the motor 47 is driven, the agitator 44 rotates. As the agitator 44 rotates, dust is scraped up from the surface to be cleaned. Further, dust is sucked from the suction port 43 together with air by the airflow generated by the fan 51. The sucked air passes through the dust collection unit 60 and is heated by the heater 71. The air heated by the heater 71 is sent out from a hot air outlet 73. Thereby, the mattress F1 is heated. By performing the process of step S202, the self-propelled cleaner 10 starts cleaning and drying the mattress F1.

  At the point in time when the processing in steps S201 and S202 is performed, the main body of the self-propelled cleaner 10 is at the cleaning reference position. After the process of step S202, the control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 moves forward. Specifically, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to rotate the left and right wheels 31 forward (step S203). By the processing in step S203, the above-described first operation is started. As the main body of the self-propelled cleaner 10 advances, the suction port 43 also moves forward. Thereby, the area on the mattress F1 through which the suction port 43 has passed is cleaned.

  When the main body of the self-propelled vacuum cleaner 10 starts the first operation, the control unit 80 determines whether or not the main body has reached the end of the mattress F1 by the cleaned surface detection sensor 81 (step). S204). When the cleaning surface detection sensor 81 does not detect that the main body has reached the end, the processing of step S203 and step S204 is continued. That is, the main body of the self-propelled cleaner 10 performs the first operation until it reaches the end of the mattress F1. On the other hand, when the cleaning surface detection sensor 81 detects that the main body has reached the end in step S204, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to control both the left and right wheels. 31 is stopped (step S205).

  After stopping the wheels 31 in step S205, the control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 moves backward. Specifically, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to reverse the left and right wheels 31 (step S206). The second operation described above is started by the processing in step S206. In step S206, the rotation amount of the motor shaft 32a is measured. The measurement of the rotation amount of the motor shaft 32a is always performed during the backward movement of the main body. Specifically, the control unit 80 captures and stores a signal output from the encoder 32b while the vehicle is moving backward.

  When the main body of the self-propelled cleaner 10 moves backward in step S206, the control unit 80 determines whether the main body has moved by the reverse distance DB (step S207). Specifically, the control unit 80 calculates the moving distance of the main body of the self-propelled cleaner 10 based on the rotation amount of the motor shaft 32a after the main body starts moving backward in step S206. As described above, the movement distance of the main body is obtained by multiplying the rotation amount of the motor shaft 32a, the gear ratio of the gear unit 33, and the circumference of the wheel 31.

  When the main body of the self-propelled cleaner 10 is not moving backward by the reverse distance DB, the processing of step S206 and step S207 is continued. On the other hand, when the main body has moved by the reverse distance DB, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to stop both the left and right wheels 31 (step S208). In this way, the second operation of moving backward by the preset reverse distance DB ends.

  After stopping the wheels 31 in step S208, the control unit 80 controls the drive unit 30 to turn the main body of the self-propelled cleaner 10 in a clockwise turning direction by a turning angle θ (step S209). . Specifically, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to rotate the left wheel 31 forward and reverse the right wheel 31. The above-described third operation is performed by the processing in step S209.

  After the main body of the self-propelled cleaner 10 has turned by the turning angle θ, the control unit 80 determines whether the sum of the turning angles θ at which the main body turned by the third operation executed in the past is equal to or greater than 360 degrees. A determination is made (step S210). If the sum of the turning angles θ has not reached 360 degrees, the process of step S203 is executed again. That is, the first operation is performed again. Thus, the main body of the self-propelled cleaner 10 repeats the first operation, the second operation, and the third operation in order.

  On the other hand, when the sum of the turning angles θ is equal to or greater than 360 degrees, the control unit 80 stops the motor 47, the fan 51, and the heater 71 (Step S211). Thus, the second step ends. The state in which the sum of the turning angles θ is equal to or more than 360 degrees means a state in which most of the mattress F1, which is the cleaning target area, has been cleaned. The self-propelled cleaner 10 according to the present embodiment automatically stops after cleaning most of the mattress F1.

  Next, an operation example of the self-propelled cleaner 10 configured as described above in the second step will be described. FIG. 27 illustrates an example of a movement path in the second step of the main body of the self-propelled cleaner 10 according to the first embodiment. In FIG. 27, the size of the mattress F1, which is the area to be cleaned, is shown in units of meters.

  In FIG. 27, the position where the main body of the self-propelled cleaner 10 is located at the start of the second step, that is, the cleaning reference position is indicated by a black circle. In FIG. 27, the movement path of the main body in the first operation in the second step at the time of forward movement is indicated by a solid line Y3, and the movement path of the second operation at the time of reverse movement is indicated by a broken line Y4.

  In the example of FIG. 27, the first coefficient K is set to 0.08 meters, the second coefficient C1 is set to 0.5, and the third coefficient C2 is set to 0.22. In the example of FIG. 27, the cleaning reference position is the center of the mattress F1. The direction in which the self-propelled cleaner 10 advances from the cleaning reference position is the right horizontal direction on the paper surface in FIG. In the example of FIG. 27, the length RL of the long side of the mattress F1 is set to 2 meters in the first step. In the example of FIG. 27, the length RS of the short side of the mattress F1 is set to 1 meter in the first step. Furthermore, in the example of FIG. 27, the reverse distance DB is set to 0.68 meters from Expression (1). In the example of FIG. 27, the turning angle θ is set to 10 degrees from Expression (2), where the width VL of the suction port 43 is 0.12 meters and the correction angle α is 0 degrees.

  In the example of FIG. 27, the main body of the self-propelled vacuum cleaner 10 starts moving forward in the right horizontal direction from the cleaning reference position, and stops when the right end of the mattress F1 is detected by the cleaning surface detection sensor 81. . After the main body of the self-propelled vacuum cleaner 10 stops, it moves backward DB, that is, 0.68 meters backward. The main body of the self-propelled cleaner 10 having moved backward by the reverse distance DB stops at a position beyond the center of the mattress F1. Then, the main body of the self-propelled vacuum cleaner 10 turns clockwise in a pivoting angle θ, that is, a turning angle of 10 degrees. After the main body of the self-propelled cleaner 10 turns, it moves forward again. The main body of the self-propelled cleaner 10 repeats reciprocating movement between forward and backward movement while changing the traveling direction. The reciprocating path of the main body of the self-propelled cleaner 10 is radial as shown in FIG. Thereby, the main body of the self-propelled cleaner 10 can move to the vicinity of the corner of the rectangular cleaning target area.

  When the self-propelled cleaner 10 moves the rectangular cleaning target area as described above, the reverse distance DB is set to be 0.4 to 0.8 times the short side of the cleaning target area. It is desirable to be done. By setting the reverse distance DB in this manner, the self-propelled cleaner 10 can clean the entire cleaning target area including the vicinity of the corner.

FIG. 28 is a diagram in which an example of the movement path of the main body and an example of the movement path of the suction port 43 in the second step shown in FIG. The movement trajectory of the suction port 43 indicates a region through which the suction port 43 has passed along with the movement of the main body, which is separately painted for each number of times the suction port 43 has passed. The movement trajectory of the suction port 43 is an image obtained as a result of a simulation in which the cleaning area is divided into small square areas each having a side of 1 cm, and the number of times the long side of the suction port 43 passes is measured. is there. In the calculation method of this simulation, the number of times that the long side of the suction port 43 passes through the minute square causes an error in the number of times that the long side of the suction port 43 passes with respect to the minute square. It does not match the number of passes in the operation. However, since the image of the movement trajectory of the suction port 43 can sufficiently grasp the tendency of the distribution of the number of times of passage, the image is exemplified as a movement trajectory including an error.
FIG. 29 is a diagram showing an example of the movement locus of the suction port 43 shown in FIG. That is, FIG. 28 corresponds to a superposition of FIG. 27 and FIG.

  As described above, in the example of FIG. 28, the movement path of the main body is a radial path toward the end of the mattress F1. In the examples of FIGS. 28 and 29, the area through which the suction port 43 passes a plurality of times is small on the end side of the mattress F1 and is large on the center side of the mattress F1. In the examples of FIGS. 28 and 29, the total traveling distance until the main body of the self-propelled cleaner 10 stops is about 50 meters.

  Generally, the end of the mattress F1 is inclined. When the wheel 31 approaches the end of the mattress F1, a force is applied to the wheel 31 that goes down the inclined surface formed at the end of the mattress F1. When the wheel 31 approaches the end of the mattress F1, there is a risk that the main body of the self-propelled cleaner 10 falls from the mattress F1. On the other hand, in the moving method in which the main body of the self-propelled cleaner 10 is moved from the center to the end of the futon F1 as described above, the cleaning surface detection sensor 81 reaches the end of the futon F1. At this point, the wheel 31 is on the center side of the mattress F1. Thereby, the risk that the main body falls from the mattress F1 is reduced. As in the present embodiment, the moving method of moving from the center side to the end side of the mattress F1 is such that the main body moves from the mattress F1 more than the moving method of traveling along the end near the end of the mattress F1. Low risk of falling.

  The end of the main body of the self-propelled cleaner 10 and the suction port 43 are separated by a certain distance. For this reason, as shown in FIGS. 28 and 29, an uncleaned area may remain in the vicinity of the end of the mattress F1. Therefore, for example, the suction port 43 is provided further forward, or the setting of the threshold value of the surface-to-be-cleaned detection sensor 81 is changed so that the main body can be closer to the end of the mattress F1, so that the mattress F1 can be closed. An uncleaned area near the end can be reduced.

  As described above, in the examples of FIGS. 28 and 29, the number of times the suction port 43 passes is greater in the central area than in the end area of the mattress F1. In the present embodiment, the main body of self-propelled cleaner 10 repeats forward and backward radially from the center of mattress F1. For this reason, the overlap of the movement trajectories of the suction port 43 is large on the center side of the mattress F1, and the overlap of the movement trajectories of the suction port 43 is small on the end side. As described above, the self-propelled cleaner 10 according to the present embodiment can clean the center of the mattress F1, which is the cleaning target area, more heavily than the end. In addition, the self-propelled cleaner 10 can also dry the center side of the mattress F1, which is the area to be cleaned, more heavily than the end side.

  Generally, a user of the bedding such as the mattress F1 often sleeps at the center of the bedding. For this reason, more dust such as sebum adheres to the center of the bedding than to the end. In addition, wetness due to night sweat is more at the center of the bedding. Therefore, when cleaning and drying the bedding, it is more efficient to focus on cleaning and drying the central side of the bedding than to clean and dry the entire bedding uniformly. The self-propelled cleaner 10 according to the present embodiment, which can mainly clean and dry the central side of the cleaning target area, can efficiently clean and dry the cleaning target area.

  FIG. 30 is a diagram illustrating an example of a movement locus of the suction port when the correction angle α according to the first embodiment is 2 degrees. A solid line Y3 in FIG. 30 indicates a movement path of the main body at the time of forward movement in the first operation of the first time. In the example of FIG. 30, the turning angle θ is 12 degrees. In addition, in the example of FIG. 30, the total traveling distance until the main body of the self-propelled cleaner 10 stops is about 42 meters.

  The movement trajectory of the suction port 43 in the example of FIG. 30 has less overlap than the movement trajectory of the suction port 43 in the example of FIG. The total amount of dust sucked from the suction port 43 in the example of FIG. 30 may be smaller than the total amount of dust sucked from the suction port 43 in the example of FIG. On the other hand, in the example of FIG. 30, the cleaning and drying of the entire mattress F1 are completed in a shorter time than in the example of FIG.

  FIG. 31 is a diagram illustrating an example of the movement locus of the suction port when the correction angle α according to the first embodiment is 4 degrees. A solid line Y3 in FIG. 31 indicates a movement path of the main body at the time of forward movement in the first operation of the first time. In the example of FIG. 31, the turning angle θ is 14 degrees. In the example of FIG. 31, the total traveling distance until the main body of the self-propelled cleaner 10 stops is about 36 meters.

  The movement trajectory of the suction port 43 in the example of FIG. 31 has less overlap than the movement trajectory of the suction port 43 in the example of FIG. The total amount of dust sucked from the suction port 43 in the example of FIG. 31 may be smaller than the total amount of dust sucked from the suction port 43 in the example of FIG. On the other hand, in the case of the example of FIG. 31, the cleaning and drying of substantially the entire mattress F1 are completed in a shorter time than in the example of FIG. 30.

  As described above, by changing the setting of the correction angle α of the turning angle θ, it is possible to adjust the time required for cleaning the entire mattress F1 and the cleaning ability of the self-propelled cleaner 10.

  FIG. 32 is a diagram illustrating an example of a movement trajectory of the suction port 43 when the size of the cleaning target area set in the first step of the first embodiment includes an error. A solid line Y3 in FIG. 32 indicates a moving path of the main body at the time of forward movement in the first operation of the first time.

  FIG. 32 shows a case where the front-rear direction of the main body of the self-propelled cleaner 10 at the initial position is inclined counterclockwise by 10 degrees with respect to the longitudinal direction of the mattress F1 as in the example shown in FIG. An example is shown. At this time, the length RL of the long side of the mattress F1 is set to 2.03 meters, and the length RS of the short side is set to 1.015 meters in the first step.

  In the example of FIG. 32, the first coefficient K is set to 0.08 meters, the second coefficient C1 is set to 0.5, and the third coefficient C2 is set to 0.22. In the example of FIG. 32, the reverse distance DB is set to 0.691 meters according to equation (1). In the example of FIG. 32, the swivel angle θ is set to 10 degrees according to the equation (2), with the width VL of the suction port 43 set to 0.12 meters and the correction angle α set to 0 degrees.

  The movement trajectory of the suction port 43 in the example of FIG. 32 is biased in a region where the number of times of passage is large as compared with the movement trajectory of the suction port 43 in the example of FIG. However, the passage area of the suction port 43 extends over almost the entire mattress F1. Thus, even if the size of the cleaning target area set in the first step includes an error, the self-propelled cleaner 10 cleans and drys substantially the entire cleaning target area in the second step. It can be performed.

  FIG. 33 is a diagram illustrating an example of a movement locus of the suction port 43 when the reverse distance DB in the example of FIG. 32 is changed. In the example of FIG. 33, the reverse distance DB is set to 0.714 meters. The reverse distance DB in the example of FIG. 33 is longer than the reverse distance DB in the example of FIG. 29 by 5%, that is, 0.034 meters. The movement trajectory of the suction port 43 in the example of FIG. 33 is biased in a region where the number of times of passage is large as compared with the movement trajectory of the suction port 43 in the example of FIG. However, also in the example of FIG. 33, the passage area of the suction port 43 extends over almost the entire futon F1. In this way, even if the reverse distance DB deviates by about 5% from the value calculated by equation (1), the self-propelled cleaner 10 cleans and drys substantially the entire area to be cleaned in the second step. It can be performed.

  FIG. 34 shows the movement trajectory of the suction port 43 of the self-propelled cleaner 10 according to the first embodiment for cleaning the mattress F1 having a long side of 2 meters and a short side of 1.45 meters. It is a figure showing an example. A solid line Y3 in FIG. 34 indicates a movement path of the main body at the time of forward movement in the first operation of the first time. In the example of FIG. 34, the length RL of the long side is set to 2 meters and the length RS of the short side is set to 1.45 meters in the first step described above.

  In the example of FIG. 34, the reverse distance DB is set to 0.806 meters according to Expression (1). Also, assuming that the width VL of the suction port 43 is 0.12 meters and the correction angle α is 0 degree, the turning angle θ is set to 8.6 degrees from Expression (2). In the example of FIG. 34, the movement trajectory of the suction port 43 extends over substantially the entire futon F1 as in the examples of FIGS. 29 to 33.

  FIG. 35 shows an example of the movement locus of the suction port 43 of the self-propelled cleaner 10 according to the first embodiment for cleaning the mattress F1 having a long side of 1.5 m and a short side of 1 m. FIG. A solid line Y3 in FIG. 35 indicates a movement path of the main body at the time of forward movement in the first operation of the first time. In the example of FIG. 35, the length RL of the long side is set to 1.5 meters and the length RS of the short side is set to 1 meter in the first step described above.

  In the example of FIG. 35, the reverse distance DB is set to 0.57 meters according to equation (1). In addition, assuming that the width VL of the suction port 43 is 0.12 meters and the correction angle α is 0 degree, the turning angle θ is set to 12.2 degrees from Expression (2). In the example of FIG. 35 as well, as in the example of FIG. 34, the movement trajectory of the suction port 43 extends over substantially the entire futon F1.

  FIG. 36 shows an example of the movement trajectory of the suction port 43 of the self-propelled cleaner 10 according to the first embodiment for cleaning the mattress F1 having a long side of 2 meters and a short side of 0.8 meters. FIG. A solid line Y3 in FIG. 36 indicates a movement path of the main body at the time of forward movement in the first operation of the first time. In the example of FIG. 36, the length RL of the long side of the cleaning target area is set to 2 meters and the length RS of the short side is set to 0.8 meters by the first step described above.

  In the example of FIG. 36, the reverse distance DB is set to 0.624 meters according to equation (1). Also, assuming that the width VL of the suction port 43 is 0.12 meters and the correction angle α is 0 degree, the turning angle θ is set to 11.1 degrees according to Expression (2). In the example of FIG. 36 as well, the movement trajectory of the suction port 43 extends over substantially the entire futon F1.

  FIG. 37 is a diagram illustrating an example of a movement locus of the suction port 43 of the self-propelled cleaner 10 according to the first embodiment for cleaning the bedding F1 having a square shape with a side of 1 meter. A solid line Y3 in FIG. 37 indicates a movement path of the main body at the time of forward movement in the first operation of the first time. In the example of FIG. 37, both the length RL of the long side and the length RS of the short side are set to 1 meter by the above-described first step.

  In the example of FIG. 37, the reverse distance DB is set to 0.46 meters according to equation (1). In addition, assuming that the width VL of the suction port 43 is 0.12 meters and the correction angle α is 0 degree, the turning angle θ is set to 15.1 degrees from Expression (2). In the example of FIG. 37 as well, the movement trajectory of the suction port 43 extends over substantially the entire futon F1. As shown in FIGS. 34 to 37, the self-propelled cleaner 10 according to the present embodiment can clean and dry substantially the entirety of the cleaning target area regardless of the aspect ratio of the cleaning target area.

Embodiment 2 FIG.
Next, a second embodiment will be described. The description of the same or corresponding portions as in the first embodiment will be simplified and omitted. The self-propelled cleaner 10 according to the present embodiment has the same configuration as that of the first embodiment. The main body of the self-propelled cleaner 10 performs the first step and the second step as in the first embodiment. Since the first step is the same as that of the first embodiment, the description is omitted. FIG. 38 is a flowchart illustrating an example of the flow of the second process of the self-propelled cleaner 10 according to the second embodiment. Hereinafter, the second step in the second embodiment will be described with reference to the flowchart of FIG. 38, focusing on differences from the first embodiment.

  As in the first embodiment, when the second step starts, the control unit 80 first sets the reverse distance DB and the turning angle θ (step S301). The control unit 80 sets the reverse distance DB and the turning angle θ suitable for the size of the area to be cleaned, based on the length RL of the long side and the length RS of the short side set in the first step. The reverse distance DB is set by Expression (1) shown in the first embodiment. The turning angle θ is set by the equation (2) shown in the first embodiment.

  After setting the reverse distance DB and the turning angle θ in step S301, the control unit 80 drives the motor 47, the fan 51, and the heater 71 (step S302). When the motor 47 is driven, the agitator 44 rotates. As the agitator 44 rotates, dust is scraped up from the surface to be cleaned. Further, dust is sucked from the suction port 43 together with air by the airflow generated by the fan 51. The sucked air passes through the dust collection unit 60 and is heated by the heater 71. The air heated by the heater 71 is sent out from a hot air outlet 73. Thereby, the mattress F1 is heated.

  At the point in time when the processes in steps S301 and S302 are performed, the main body of the self-propelled cleaner 10 is at the cleaning reference position. After the process of step S302, the control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 moves forward. Specifically, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to rotate the left and right wheels 31 forward (step S303). The first operation is started by the processing in step S303. As the main body of the self-propelled cleaner 10 advances, the suction port 43 also moves forward. Thereby, the area on the mattress F1 through which the suction port 43 has passed is cleaned.

  When the main body of the self-propelled vacuum cleaner 10 starts the first operation, the control unit 80 determines whether or not the main body has reached the end of the mattress F1 by the cleaned surface detection sensor 81 (step). S304). When the cleaning surface detection sensor 81 does not detect that the main body has reached the end, the processing of step S303 and step S304 is continued. That is, the main body of the self-propelled cleaner 10 performs the first operation until it reaches the end of the mattress F1.

  On the other hand, when the cleaning surface detection sensor 81 detects that the main body has reached the end in step S204, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to control both the left and right wheels. 31 is stopped. Further, the control unit stops the motor 47, the fan 51, and the heater 71 (Step S305).

  After stopping the wheel 31, the motor 47, the fan 51, and the heater 71 in step S305, the control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 moves backward. Specifically, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to reverse the left and right wheels 31 (step S306). The second operation is started by the processing in step S306. In the present embodiment, when the second operation starts, the motor 47, the fan 51, and the heater 71 are stopped. In step S306, the rotation amount of the motor shaft 32a is measured. Specifically, the control unit 80 captures and stores a signal output from the encoder 32b while the vehicle is moving backward.

  When the main body of the self-propelled cleaner 10 moves backward in step S306, the control unit 80 determines whether the main body has moved from the end of the mattress F1 by the initial backward distance. The initial reverse distance is set in advance as a distance shorter than the reverse distance DB. In the example shown in FIG. 38, the initial reverse distance is set as 0.1 meter. That is, in the example shown in FIG. 38, the control unit 80 determines whether or not the main body has moved 0.1 meters or more from the end of the mattress F1 (step S307).

  If the distance that the main body has moved backward is less than the initial backward distance of 0.1 meter, the processing of step S306 and step S307 is continued. On the other hand, when the distance that the main body has moved backward reaches the initial reverse distance of 0.1 meter, the control unit 80 drives the motor 47, the fan 51, and the heater 71 again (step S308).

  Thus, in the present embodiment, while the second operation is being performed, the motor 47, the fan 51, and the heater 71 are stopped while the main body is moving backward by the initial backward distance. The fact that the motor 47 is stopped means that the agitator 44 is stopped. In addition, the fact that the fan 51 is stopped means that the suction of air into the suction port 43 is stopped.

  The sheet S covering the mattress F1 may be sagged at the end of the mattress F1. While the body of the self-propelled vacuum cleaner 10 is near the end of the futon F1, there is a relatively high risk that the sheets S will be drawn into the inlet 43 and that the sheets S will be caught in the agitator 44. The main body that is moving backward in the initial backward distance is located at a position close to the end of the mattress F1 that is the cleaning target area. In this embodiment, the risk that the sheets S are drawn into the suction port 43 is reduced because the fan 51 is stopped while the main body is moving backward by the initial backward distance from the end of the mattress F1. Further, since the agitator 44 is stopped while the main body is moving backward by the initial backward distance from the end of the mattress F1, the risk of the sheets S getting caught in the agitator 44 is also reduced.

  In this embodiment, both the agitator 44 and the fan 51 are stopped, but only one of them may be stopped. In the present embodiment, the heater 71 is also stopped while the fan 51 is stopped, so that overheating of the heater 71 is prevented.

  After the process in step S308, the control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 moves backward. Further, the measurement of the rotation amount of the motor shaft 32a is continuously performed (Step S309). Then, control unit 80 determines whether or not the main body has moved from the end of mattress F1 by reverse distance DB (step S310).

  When the main body of the self-propelled cleaner 10 is not moving backward by the reverse distance DB, the processing of step S309 and step S310 is continued. On the other hand, when the main body has moved by the reverse distance DB, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to stop both the left and right wheels 31 (step S311). In this way, the second operation of moving backward by the preset reverse distance DB ends.

  After stopping the wheels 31 in step S311, the control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 is turned clockwise by the turning angle θ (step S312). . The third operation is performed by the processing in step S312. After the main body of the self-propelled cleaner 10 has turned by the turning angle θ, the control unit 80 determines whether the sum of the turning angles θ at which the main body turned by the third operation executed in the past is equal to or greater than 360 degrees. A determination is made (step S313). If the sum of the turning angles θ has not reached 360 degrees, the process of step S303 is executed again. That is, the first operation is performed again. Thus, the main body of the self-propelled cleaner 10 repeats the first operation, the second operation, and the third operation in order.

  On the other hand, when the sum of the turning angles θ is equal to or greater than 360 degrees, the control unit 80 stops the motor 47, the fan 51, and the heater 71 (step S314). Thus, the second step ends. The state in which the sum of the turning angles θ is equal to or greater than 360 degrees means a state in which most of the bedding F1 which is the cleaning target area has been completely cleaned. The self-propelled cleaner 10 includes most of the bedding F1. Stops automatically after cleaning is completed.

  Self-propelled cleaner 10 according to the second embodiment operates as described above. With the self-propelled cleaner 10 according to the second embodiment, as described above, the risk of the sheets S being drawn into the suction port 43 and the risk of the sheets S being drawn into the agitator 44 can be reduced.

  In each of the above embodiments, the self-propelled cleaner 10 automatically detects the size of the cleaning target area in the first step, and operates based on the detected size. The self-propelled cleaner 10 may be configured to operate based on, for example, the size of the cleaning target area manually set by the user. The self-propelled cleaner 10 includes a device serving as input means for a user to input dimensional information including information on a length RS of a short side and a length RL of a long side of a rectangular cleaning target area. You may. The control unit 80 as an example of the control unit may be configured to set at least one of the reverse distance DB and the turning angle θ based on the dimensional information input by the device serving as the input unit. When the device serving as the input means is provided in the self-propelled cleaner 10, the time of the first step is reduced. In order to calculate the reverse distance DB and the turning angle θ, the length RS of the short side and the length RL of the long side of the rectangular cleaning target area may be set in advance in accordance with, for example, general bedding. Good.

  In addition, the self-propelled cleaner 10 may include a device serving as setting means for allowing the user to arbitrarily set at least one of the reverse distance DB and the turning angle θ. Thereby, the user can arbitrarily change the area cleaned and dried in the second step and the operation time of the self-propelled cleaner 10 in the second step. The reverse distance DB and the turning angle θ may be set in advance in accordance with, for example, general bedding.

  The turning of the main body of the self-propelled cleaner 10 is performed by controlling the wheel motor 32. The detection of the turning angle of the main body is performed, for example, based on a signal output from an encoder 32b for detecting the rotation amount of the motor shaft 32a of the wheel motor 32. In each of the above embodiments, the control unit 80 controls the wheel motor 32 based on the signal output from the encoder 32b so that the main body turns by the turning angle θ.

  The self-propelled cleaner 10 may further include, for example, a detection sensor serving as a direction detection unit that detects a forward direction. The control unit 80 may control the turning operation of the main body based on the detection result of the detection sensor. The detection sensor is, for example, a gyro sensor. When the self-propelled cleaner 10 is provided with a gyro sensor, it is possible to turn with higher accuracy. In each of the above embodiments, the control unit 80 stops the motor 47, the fan 51, and the heater 71 when the total of the turning angles θ becomes 360 degrees or more. When the forward direction of the main body rotated by the third operation is the forward direction of the main body in the first operation based on the forward direction detected by the detection sensor such as the gyro sensor, the control unit 80 controls the motor 47 and the fan 51. And the heater 71 may be stopped.

  In addition, when the first step is not completed even if a time equal to or longer than a preset reference time has elapsed from the start of the first step, the main unit starts the first step from the beginning. Each device may be controlled to start over. In the case of this example, for example, even when the main body of the self-propelled cleaner 10 cannot move to the cleaning reference position due to obstruction of the main body of the self-propelled cleaner 10, the first process is automatically performed. Will be redone.

  The second step in each of the above embodiments is a step of performing cleaning and drying on the mattress F1, which is a cleaning target area. In the second step, the control unit 80 operates the motor 47, the fan 51, and the heater 71. On the other hand, in the first step, the motor 47, the fan 51, and the heater 71 may or may not be operating. When the control unit 80 operates the motor 47, the fan 51, and the heater 71 in the first step, cleaning and drying of the area to be cleaned are performed even before the main body moves from the initial position to the cleaning reference position. Done. On the other hand, when the control unit 80 does not operate the motor 47, the fan 51, and the heater 71 in the first step, the amount of power consumption until the main body moves from the initial position to the cleaning reference position is reduced, and the storage battery 91 lasts longer. Can be done.

  Further, the moving speed of the main body may be different between the first step and the second step. That is, the control unit 80 controls the drive unit 30 so that the moving speed of the main body in the first step becomes the first speed. Then, the control unit 80 controls the drive unit 30 so that the moving speed of the main body in the second step becomes the second speed. The second speed is different from the above-described first speed. In particular, the first speed may be faster than the second speed. By doing so, the main body can be moved from the initial position to the cleaning reference position in a short time, and the cleaning in the second step can be started more quickly.

  The surface-to-be-cleaned detection sensor 81 of each of the above-described embodiments is configured to detect, as an example, the mattress F1 placed on the floor as a cleaning target area. For example, when a part of the mattress F1 is in close contact with the wall, it is difficult for the surface-to-be-cleaned detection sensor 81 to detect the end of the cleaning target area. Therefore, the self-propelled cleaner 10 includes, as an example of an area edge detection unit, a wall surface detection sensor that detects a wall surface located on the side of the main body of the self-propelled cleaner 10 in addition to the surface to be cleaned detection sensor 81. May be provided. Thereby, even when a part of the mattress F1 is in close contact with the wall, the end of the cleaning target area is detected with high accuracy. As the wall detection sensor, for example, an optical sensor, an ultrasonic sensor, a contact switch, or the like can be used.

  DESCRIPTION OF SYMBOLS 10 Self-propelled cleaner, 20 body, 21 upper cover, 21a upper surface, 21b center, 21c upper surface front, 21d upper surface rear, 21e upper surface left, 21f upper surface right, 22 lower case, 22a bottom, 23 lid, 24 Projection, 30 drive unit, 31 wheel, 32 wheel motor, 32a motor shaft 32a encoder, 32c disk, 32d circuit unit, 32e slit, 32f light emitting element, 32g light receiving element, 33 gear unit, 33a adjusting hole, 34 housing, 35 foreign object intrusion detection sensor, 35a switch section, 35b lever, 36 rotating shaft, 37 guide section, 38 stopper, 39 spring, 40 cleaning unit, 41 suction port body, 41a air path, 42 connection pipe, 42a air path, 43Entrance, 44 agitator, 45 dust remover, 45a hole, 46 shaft, 47 motor, 48 gear unit, 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 cleaning surface detection sensor, 82 infrared light emitting part, 83 infrared light receiving part, 90 power supply unit, 91 storage battery, 92 circuit Board, 93 power case, 94 charging terminal

Claims (15)

A main body provided with cleaning means for cleaning the surface to be cleaned in the cleaning target area,
Moving means for moving the main body back and forth and turning left and right,
Area end detection means for detecting that the main body being advanced has reached the end of the area to be cleaned,
Control means for controlling the cleaning means and the moving means,
With
The control means includes: a first operation to move forward; and a reverse movement by a preset reverse distance when the area end detecting means detects that the main body moving forward has reached the end of the cleaning target area. A self-propelled cleaner that controls the moving means so that the main body sequentially repeats two operations and a third operation of turning by a preset turning angle. The control unit is configured to perform the first step of moving from the initial position to the cleaning reference position and the second step of cleaning the inside of the cleaning target area while moving from the cleaning reference position by the main body. Control means,
The first operation, the second operation, and the third operation are repeated in the second step,
The said main body performs the midpoint detection operation | movement which moves to the midpoint between two ends of the said cleaning target area in the said 1st process, The said midpoint is set as the said cleaning reference position. Self-propelled vacuum cleaner according to 1. The control means controls the moving means so that the main body turns 90 degrees after the first midpoint detection operation in the first step, and then the second midpoint detection operation is performed,
The midpoint detection operation proceeds in one of forward and backward until the main body reaches the end of the cleaning target area until the main body reaches the end of the cleaning target area. Until the end of the cleaning target area is detected again by the area edge detection means, and then the main body is moved by the area edge detection means to the end of the cleaning target area. 3. The self-propelled vehicle according to claim 2, wherein the movement of the body is advanced to the one by half a moving distance of the main body from the first detection after the start of the midpoint detection operation to the next detection after the start of the midpoint detection operation. Vacuum cleaner. An input unit for a user to input dimensional information including information on a length of a short side and a length of a long side of the rectangular cleaning target area,
The self-propelled cleaning according to any one of claims 1 to 3, wherein the control unit sets at least one of the reverse distance and the turning angle based on the dimensional information input by the input unit. Machine.   The control means calculates a moving distance of the main body, sets dimensional information including information on a length of a short side and a length of a long side of the rectangular cleaning target area based on the moving distance, and sets the dimensional information. The self-propelled cleaner according to any one of claims 1 to 3, wherein at least one of the reverse distance and the turning angle is set based on the following formula.   The control means calculates a distance between the two ends reached by the main body in the first midpoint detection operation as a first length, and the main body reaches in the second midpoint detection operation. The distance between the two ends is calculated as a second length, and one of the longer one of the first length and the second length is set as the length of the longer side of the rectangular cleaning target area. The shorter of the first length and the second length is set as the length of the shorter side of the rectangular cleaning target area, and the reverse distance is set based on the length of the longer side and the length of the shorter side. The self-propelled cleaner according to claim 3, wherein at least one of the turning angle and the turning angle is set.   The said reverse distance is set as a length from 0.4 times to 0.8 times the length of the short side of the rectangular to-be-cleaned area, The one of Claim 1 to 6 characterized by the above-mentioned. The self-propelled vacuum cleaner according to claim 1.   The length of the reverse distance is set based on a mathematical expression that uses the length of the long side of the rectangular cleaning target area and the length of the short side of the rectangular cleaning target area as variables. The self-propelled cleaner according to any one of claims 1 to 7. Assuming that the reverse distance is DB, the first coefficient is K, the second coefficient is C1, and the third coefficient is C2,
The self-propelled cleaner according to claim 8, wherein the reverse distance is set as DB = (RS-K) x C1 + ((RL-K)-(RS-K)) x C2. When the turning angle is θ, the effective width of the cleaning unit that can be cleaned is VL, and the correction angle is α,
The self-propelled cleaner according to claim 1, wherein the turning angle is set as θ = sin ⁻¹ (VL / DB) + α. It further includes a fan that generates an airflow for sucking dust,
The cleaning means is disposed in a space that communicates with a suction port for sucking dust, and has an agitator that removes dust on a surface to be cleaned by rotating.
During the execution of the second operation, at least one of the fan and the agitator is stopped while the main body is moving backward by an initial reverse distance shorter than the reverse distance. The self-propelled cleaner according to any one of claims 1 to 10. Further comprising a direction detecting means for detecting a forward direction of the main body,
The control unit is configured to, based on the forward direction detected by the direction detecting unit, when the forward direction of the main body turned by the third operation becomes the forward direction of the main body in the first operation for the first time, the cleaning unit and the cleaning unit The self-propelled cleaner according to any one of claims 1 to 11, wherein the moving means is stopped.   The control means stops the cleaning means and the moving means when the total of the turning angles at which the main body repeats the third operation and turns becomes 360 degrees or more at the time when the third operation is completed. The self-propelled cleaner according to any one of claims 1 to 11.   The self-propelled cleaner according to claim 12, wherein the direction detecting unit is a gyro sensor.   The self-propelled vehicle according to any one of claims 1 to 14, wherein the area end detection unit includes a surface-to-be-cleaned detection sensor that detects the surface-to-be-cleaned obliquely below the main body. Vacuum cleaner.

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