JP2020110260A - Self-travelling cleaner - Google Patents

Abstract

To provide a self-travelling cleaner capable of keeping a performance to suck dust even on a flexible cleaned surface, and a performance to travel on the cleaned surface, and capable of being operated appropriately at edge parts of an area to be cleaned.SOLUTION: A self-travelling cleaner 10 includes a body that moves on a cleaned surface in an area to be cleaned by a drive unit 30, a suction port 43 provided on a bottom face 22a side of the body, and a control unit 80 for controlling the drive unit 30. The body is provided with a cleaned surface detection sensor for detecting edge parts of the cleaned surface below the body when the body is travelling on the cleaned surface, and an obstacle detection sensor for detecting an obstacle on a side of the body when the body is travelling on the cleaned surface. The control unit 80 controls the drive unit 30 according to a result of the detection by the cleaned surface detection sensor and a result of the detection by the obstacle detection sensor. The suction port 43 is located above the bottom face 22a of the body.SELECTED DRAWING: Figure 3

Description

The present invention relates to a self-propelled vacuum cleaner.

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

JP, 2010-57647, A

When the self-propelled cleaner described in Patent Document 1 travels on a flexible surface to be cleaned, the bottom surface of the cleaner body and the surface to be cleaned are in close contact with each other. The flexible surface to be cleaned is, for example, the surface of a futon. In Patent Document 1, the surface to be cleaned is in close contact with the suction portion formed on the bottom surface of the cleaner body. Since the suction port and the surface to be cleaned come into close contact with each other, the self-propelled cleaner cannot efficiently suck dust. Further, since the suction port and the surface to be cleaned come into close contact with each other, running resistance generated between the self-propelled cleaning device and the surface to be cleaned increases. The running performance of the self-propelled cleaner described in Patent Document 1 cannot be maintained on a flexible surface to be cleaned.

In addition, the self-propelled cleaner described in Patent Document 1 is suitable for, for example, an end of a cleaning target area such as an end of a futon laid on a bed and an end of a futon surrounded by a wall. The action cannot be performed autonomously.

The present invention has been made to solve the above problems. An object of the present invention is to maintain the performance of sucking dust even on a flexible surface to be cleaned and the performance of traveling on the surface to be cleaned, and to operate properly at the end of the cleaning target area. It is to provide a self-propelled vacuum cleaner that can.

The self-propelled cleaner according to the present invention controls the main body that moves on the surface to be cleaned in the cleaning target area by the moving means, the suction port that is provided on the bottom surface side of the main body and communicates with the outside, and the moving means. And a control means. The main body has a surface to be cleaned detection sensor that detects the end of the surface to be cleaned below the main body when the main body is traveling on the surface to be cleaned, and when the main body is traveling on the surface to be cleaned. An obstacle detection sensor for detecting an obstacle on the side of the main body is provided. The control means controls the moving means according to the detection result of the cleaning surface detection sensor and the detection result of the obstacle detection sensor. The suction port is above the bottom surface of the main body in a state where the bottom surface of the main body faces the horizontal plane.

A self-propelled cleaner according to the present invention includes a main body and a suction port. The suction port is above the bottom surface of the main body when the bottom surface of the main body faces the horizontal plane. Therefore, the self-propelled cleaner according to the present invention 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 having flexibility. Further, the main body is running on the surface to be cleaned, and a surface-to-be-cleaned detection sensor for detecting an end of the surface to be cleaned below the main body when the main body is running on the surface to be cleaned. An obstacle detection sensor for detecting an obstacle on the side of the main body is provided. The control means controls the moving means according to the detection result of the cleaning surface detection sensor and the detection result of the obstacle detection sensor. Therefore, the self-propelled cleaner according to the present invention can properly operate at the end of the cleaning target area.

It is a top view of the self-propelled cleaner of Embodiment 1. It is a bottom view of the self-propelled cleaner of Embodiment 1. It is a longitudinal cross-sectional view of the self-propelled cleaner of the first embodiment. FIG. 3 is a perspective view of the wheel motor according to the first embodiment. It is a perspective view of the agitator of Embodiment 1. FIG. 3 is an exploded perspective view of the suction port guard according to the first embodiment. FIG. 5 is a perspective view of an assembled state of a suction port guard that divides the suction port into two in the first embodiment. FIG. 5 is a perspective view of an assembled state of a suction port guard that divides the suction port into four in the first embodiment. FIG. 4 is a perspective view of the assembled state of the suction port guard that divides the suction port into two in the first embodiment, as viewed from the bottom surface side. FIG. 6 is a perspective view of the assembled state of the suction port guard that divides the suction port into four in the first embodiment, as viewed from the bottom side. FIG. 4 is a bottom view of the self-propelled cleaner in which the suction port according to the first embodiment is divided into four by the suction port guard. FIG. 3 is a perspective view of the surface-to-be-cleaned detection sensor according to the first embodiment. It is a longitudinal cross-sectional view of the self-propelled cleaner of the first embodiment. FIG. 5 is a plan view of the self-propelled vacuum cleaner when the upper cover is opened by 90° in the first embodiment. FIG. 6 is a vertical cross-sectional view of the self-propelled cleaner when the upper cover is opened 90° in the first embodiment. FIG. 4 is a vertical cross-sectional view of the self-propelled cleaner when the dust collection box according to the first embodiment is not attached. FIG. 5 is a vertical cross-sectional view of the self-propelled vacuum cleaner when the upper cover is pushed down in the first embodiment. FIG. 3 is a plan view of a portion related to a bumper of the self-propelled cleaner according to the first embodiment. FIG. 5 is a vertical cross-sectional view of the vicinity of an operating plate of the bumper according to the first embodiment. FIG. 5 is a vertical cross-sectional view of the vicinity of the actuation plate when the bumper in Embodiment 1 receives a force. FIG. 5 is a plan view of a portion related to the bumper when the bumper of the self-propelled cleaner according to the first embodiment receives a force from the front. FIG. 5 is a plan view of a portion related to the bumper of the self-propelled cleaner according to the first embodiment when it receives a force from the front right direction. 3 is a block diagram showing functions of the control unit according to the first embodiment. FIG. It is a longitudinal cross-sectional view of the self-propelled vacuum cleaner of the first embodiment that moves forward on the mattress. It It is a longitudinal cross-sectional view of the self-propelled cleaner of the first embodiment that detects the end portion of the mattress. It is a longitudinal cross-sectional view of the self-propelled vacuum cleaner of Embodiment 1 which advances on a soft mattress. FIG. 4 is a vertical cross-sectional view of the self-propelled cleaner in a state where the bumper according to the first embodiment is in contact with the comforter. FIG. 4 is a vertical cross-sectional view of the self-propelled vacuum cleaner in a state where the upper cover is in contact with the comforter according to the first embodiment. It is a flow figure showing an example of the flow of the 1st process of the self-propelled cleaner of Embodiment 1. It is a flow figure showing an example of the flow of the 1st process of the self-propelled cleaner of Embodiment 1. 3 shows an example of a movement route in the first step of the main body of the self-propelled cleaner according to the first embodiment. 3 shows an example of a movement route in the 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 the flow of the 2nd process of the self-propelled (vacuum) cleaner of Embodiment 1. It shows an example of a movement route in the second step of the main body of the self-propelled cleaner of the first embodiment. It is the figure which overlapped and showed the example of the movement path of the main body in the 2nd process shown in FIG. 34, and the example of the movement locus|trajectory of a suction opening. FIG. 36 is a diagram showing an example of a movement trajectory of the suction port shown in FIG. 35. FIG. 5 is a diagram showing an example of a movement locus of the suction port when the correction angle α is 2° in the first embodiment. FIG. 5 is a diagram showing an example of a movement locus of the suction port when the correction angle α is 4° in the first embodiment. FIG. 9 is a diagram showing an example of a movement locus of the suction port when the size of the cleaning target area set in the first step in the first embodiment includes an error. It is the figure which showed the example of the movement locus|trajectory of a suction opening when changing the reverse distance in the example of FIG. It is the figure which showed the example of the movement locus|trajectory of the suction inlet of the self-propelled (vacuum) cleaner of Embodiment 1 which cleans the mattress whose long side length is 2 m and whose short side length is 1.45 m. It is the figure which showed the example of the movement locus|trajectory of the suction inlet of the self-propelled (vacuum) cleaner of Embodiment 1 which cleans the mattress whose long side length is 1.5 m and short side length is 1 m. 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 mattress whose long side length is 2 m and short side length is 0.8 m. It is the figure which showed the example of the movement locus|trajectory of the suction inlet of the self-propelled (vacuum) cleaner of Embodiment 1 which cleans the square mattress whose one side length is 1 m. It is a flow figure showing an example of the flow of the 2nd process of the self-propelled 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 addition, in the present disclosure, redundant description will be appropriately simplified or omitted. The present invention can include all combinations of the configurations disclosed in the following embodiments.

Embodiment 1.
FIG. 1 is a plan view of self-propelled cleaner 10 according to the first exemplary embodiment. FIG. 2 is a bottom view of self-propelled cleaner 10 according to the first embodiment. FIG. 3 is a vertical cross-sectional view of the self-propelled cleaner 10 according to the first embodiment. In the present embodiment, as a general rule, each direction is defined with reference to a state in which self-propelled cleaner 10 is placed on a horizontal plane.

The plan view of FIG. 1 is a view of the self-propelled cleaning device 10 placed on a horizontal surface 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 the forward direction. Further, the right direction on the paper surface in FIG. 1 is set as the rear direction of the self-propelled cleaner 10. For example, the self-propelled cleaner 10 moves backward in this backward direction. That is, the self-propelled cleaner 10 moves forward and backward. Moreover, the up-down direction on the paper surface in FIG. 1 is the left-right direction of the self-propelled cleaner.

The bottom view of FIG. 2 is a view of the self-propelled cleaning device 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 right direction on the paper surface in FIG. 2 is the rear direction of the self-propelled cleaner 10. The vertical direction on the paper surface in FIG. 2 is the horizontal direction of the self-propelled cleaner 10.

The vertical cross-sectional view of FIG. 3 shows a cross 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 side view of a cross section along the vertical direction of the self-propelled cleaner 10 placed on a horizontal plane. The left direction on the paper surface in FIG. 3 is the front direction of the self-propelled cleaner 10. The right direction on the paper surface in FIG. 3 is the rear direction of the self-propelled cleaner 10. The vertical direction on the paper surface in FIG. 3 is the vertical 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 means a surface to be cleaned by the self-propelled cleaner 10. The surface to be cleaned, which is the surface to be cleaned by the self-propelled cleaner 10, is, for example, the floor surface of the room or the top surface of the bedding F1 laid inside the room. Hereinafter, in the present embodiment, an example will be described in which the cleaning target area is bedding such as a futon and a bed, and the surface to be cleaned is the top surface of the bedding. However, the cleaning target area of the self-propelled cleaner 10 is not limited to the top surface of the bedding, and may be the floor surface of the room or the top surface of furniture, for example.

As shown in FIGS. 1 to 3, the self-propelled cleaner 10 includes a body 20. The body 20 is a member that forms an outer shell of the self-propelled cleaner 10. The body 20 is provided with various types of devices that constitute 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. The drive unit 30 simultaneously moves the body 20 and the equipment provided in the body 20.

The cleaning unit 40 is for taking in dust such as dust on the surface to be cleaned. The cleaning unit 40 in the present embodiment is an example of a cleaning unit that cleans the surface to be cleaned.

The suction unit 50 sucks dust together with air. The suction unit 50 sucks dust together with the air, so that the dust is taken into the cleaning unit 40.

The dust collection unit 60 collects the dust taken in by the cleaning unit 40. Air is discharged from the dust collection unit 60. Further, the dust collecting unit 60 in the present embodiment is detachably provided from above the body 20.

The drying unit 70 heats the air discharged from the dust collecting unit 60. The air discharged from the dust collection unit 60 is heated by the drying unit 70 and becomes high in temperature. The hot air heated by the drying unit 70 is supplied to the outside of the self-propelled cleaner 10.

The self-propelled cleaner 10 includes, for example, a control unit 80, an operation display unit 85, 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 in the present embodiment is an example of control means for controlling the operation of the self-propelled cleaner 10.

The operation display unit 85 transmits the operation information of the user of the self-propelled cleaner 10 to the control unit 80. The operation display unit 85 also displays the control status and operation information of the self-propelled cleaner 10.

The power supply unit 90 supplies electric power to the drive unit 30, the cleaning unit 40, the suction unit 50, the drying unit 70, and the control unit 80.

In the present embodiment, the body 20 houses 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, the operation display unit 85, and the power supply unit 90. As shown in FIG. 1, the shape of the body 20 seen from above is a shape in which the four corners of a square are arcuate and the four sides are curved to approximate a perfect circle. The shape of the body 20 viewed from above is not limited to this example, and may be, for example, a perfect circle, an ellipse, a rectangle, or a triangle.

The body 20 has, for example, an upper cover 21 and a lower case 22. The upper cover 21 is a member that forms an upper portion of the body 20. The lower case 22 is a member that forms a lower portion of the body 20.

The upper cover 21 is arranged so as to cover each device housed in the body 20 from above. For example, the upper cover 21 is arranged so as to cover the dust collection unit 60 from above. The upper cover 21 forms the upper part of the outer shell of the self-propelled cleaner 10. The upper surface of upper cover 21 in the present embodiment is the upper surface of self-propelled cleaner 10. The upper surface of the upper cover 21 is formed into a mountain-shaped three-dimensional curved surface. That is, the upper surface of the self-propelled cleaner 10 is formed in a convex shape having the highest central portion in plan view.

The lower case 22 is provided so that the bottom surface 22a of the lower case 22 faces the surface to be cleaned when the self-propelled cleaner 10 is used. The bottom surface 22a is the central portion of the bottom surface of the lower case 22. In the present embodiment, the bottom surface 22 a of the lower case 22 is also the bottom surface of the body 20. As an example, the bottom surface 22a is located below the power supply unit 90. The bottom surface 22 a of the lower case 22 is also a part of the bottom surface of the self-propelled cleaner 10. The bottom surface 22a of the lower case 22 in the present embodiment is an example of the bottom surface of the main body according to the present disclosure.

The body 20 of the present embodiment is formed by joining an upper cover 21 and a lower case 22. The upper cover 21 and the lower case 22 may be integrally formed. 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. The bottom surface of the main body of the self-propelled cleaner 10 may be the bottom surface of the upper cover 21.

The drive unit 30 is an example of moving means for moving the self-propelled cleaner 10. For example, the self-propelled cleaner 10 includes a pair of drive units 30. The pair of drive units 30 are attached to the left side portion and the right side portion of the lower case 22, respectively. As an example, the pair of drive units 30 are provided on the left side and the right side of the power supply unit 90, respectively. The pair of drive units 30 are arranged at symmetrical positions.

Each of the pair of drive units 30 has a wheel 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 coming into contact with the surface to be cleaned. The wheel 31 is an example of a driving body that generates a driving force for moving the self-propelled cleaner 10.

The wheel motor 32 supplies power for rotating the wheel 31. FIG. 4 is a perspective view of the wheel motor 32 of the first embodiment. As shown in FIG. 4, the wheel motor 32 has a motor shaft 32 a that is a rotation shaft of the wheel motor 32. Further, the wheel motor 32 is provided with an encoder 32b.

The encoder 32b is, for example, an optical device for detecting the rotation amount of the wheel motor 32. 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.

For 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 unit 32d detects the rotation of the disc 32c and outputs a signal corresponding to the rotation of the disc 32c.

As shown in FIG. 4, a slit 32e is formed in the disc 32c. The circuit portion 32d has a light emitting element 32f and a light receiving element 32g. The light emitting element 32f and the light receiving element 32g are provided so as to face each other with a disk 32c having a slit 32e formed therebetween.

The circuit portion 32d detects the light passing state by the light emitting element 32f and the light receiving element 32g. The light passing state means a state where the light from the light emitting element 32f is blocked by the disc 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 results of the light emitting element 32f and the light receiving element 32g into a signal containing information on the amount of rotation of the motor shaft 32a, and outputs the signal.

The encoder 32b is not limited to the 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 portion 32d provided with a Hall element. The Hall element is for detecting the passage of the magnetic substance provided in the disk 32c. The magnetic encoder 32b can detect the rotation amount of the motor shaft 32a by using a magnetic body and a Hall element.

The wheel 31 and the wheel motor 32 are connected via a gear unit 33. The gear unit 33 transmits the 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 housing 34 accommodates the wheels 31, the wheel motor 32, and the gear unit 33. The wheel 31 is rotatably supported inside the housing 34. Further, as shown in FIG. 3, the wheel 31 is provided such that the lower end of the wheel 31 projects downward from the bottom surface 22 a of the lower case 22.

As shown in FIG. 3, the wheel 31 may be provided so as to be vertically movable. For example, the wheel 31 may move in the vertical direction depending on the state of the surface to be cleaned. When the surface to be cleaned is the upper surface of the futon, the wheels 31 may protrude downward as the futon becomes softer. In addition, the self-propelled cleaner 10 may include an adjustment unit (not shown). This adjusting part adjusts the amount of protrusion of the wheel 31 with reference to the bottom surface 22a. Further, a soft material that suppresses slippage of the wheel 31 with respect to the surface to be cleaned may be provided on the outer periphery of the wheel 31.

Further, in the present embodiment, the cleaning unit 40 is arranged inside the body 20. The cleaning unit 40 has a suction port body 41 and a connection pipe 42. As an example, the suction port body 41 is integrally formed in the front portion of the body 20. As described above, the bottom surface 22a is the central portion of the bottom surface of the lower case 22. That is, in the present embodiment, the suction port body 41 is located in front of the bottom surface 22a.

The connection pipe 42 is a tubular member. One end side of the connection pipe 42 communicates with the dust collection unit 60. The other end of the connection pipe 42 is connected to 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. As described above, as an example, the suction port body 41 is integrally formed in the front portion of the body 20. In the present embodiment, the suction port 43 is formed in the bottom surface 22b of the front portion of the lower case 22. The bottom surface 22b forms a lower portion of the suction port body 41.

In the present embodiment, the bottom surface of the lower case 22 is configured so that the heights thereof are partially different. As shown in FIG. 3, the bottom surface 22b is located above the bottom surface 22a. That is, the suction port 43 is located above the bottom surface 22a.

An air passage 41 a is formed inside the suction port body 41. The air passage 41a communicates with the outside of the self-propelled cleaner 10 via the suction port 43. An air passage 42a is formed inside the connecting pipe 42. The air passage 41a communicates with this air passage 42a. The air passage 42a communicates with the outside of the self-propelled cleaner 10 via the air passage 41a and the suction port 43.

In the present embodiment, the cleaning unit 40 includes an agitator 44 as an example. The agitator 44 rotates to scrape up dust from the surface to be cleaned. The agitator 44 is arranged in the air passage 41a. The agitator 44 is arranged near the suction port 43. The agitator 44 is provided rotatably with respect to the suction port body 41.

FIG. 5 is a perspective view of the agitator 44 of the first embodiment. As shown in FIG. 5, 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 in the present embodiment is a plate-shaped member along the axial direction of the agitator 44. For example, the agitator 44 has four dust removers 45. These plate-shaped dust removers 45 are provided in a spiral shape on the outer circumference of the shaft 46. A fixed interval is formed between the dust removers 45.

The agitator 44 is rotatably supported about a shaft 46 in a supported state. The dust remover 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 rotates. The rotation direction of the agitator 44 is set so that the dust remover 45 protruding from the suction port 43 goes from the front to the rear on the surface to be cleaned.

A hole 45a is formed in the dust remover 45, for example. The hole 45a has, for example, a rectangular shape. Note that the shape, number, and arrangement of the holes 45a are not limited to the example shown in FIG. 5, and can be set arbitrarily.

Further, the shape, number and arrangement of the dust removers 45 are not limited to the example shown in FIG. For example,
The dust remover 45 may be formed as a plate-shaped member along the axial direction of the agitator 44. The dust remover 45 may be formed of, for example, fibrous bristles.

In the present embodiment, the cleaning unit 40 has a motor 47 and a gear 48 for rotating the agitator 44 described above. The motor 47 is provided inside the suction port body 41. The gear 48 is provided between the motor 47 and the agitator 44. The gear 48 transmits the rotation of the motor 47 to the agitator 44.

In addition, in the present embodiment, the self-propelled cleaner 10 includes the suction port guard 43a that covers the suction port 43. The suction port guard 43a is detachably provided from below the suction port 43.

FIG. 6 is an exploded perspective view of the suction port guard 43a according to the first embodiment. As shown in FIG. 6, the suction port guard 43a has a frame body 43b and a movable guard member 43c. The suction port 43 is divided into a plurality of parts in the left-right direction of the main body by the suction port guard 43a. For example, the suction port 43 is divided into two or four in the horizontal direction of the main body.

An opening communicating with the suction port 43 is formed in the suction port guard 43a. The suction port 43 is divided by attaching the suction port guard 43a in a state in which the opening is divided. FIG. 7 is a perspective view of an assembled state of the suction port guard 43a that divides the suction port 43 into two in the first embodiment. FIG. 8 is a perspective view of an assembled state of the suction port guard 43a that divides the suction port 43 into four in the first embodiment. FIG. 9 is a perspective view of the assembled state of the suction port guard 43a that divides the suction port 43 according to the first embodiment from the bottom side. FIG. 10 is a perspective view showing the assembled state of the suction port guard 43a that divides the suction port 43 into four in the first embodiment, as viewed from the bottom surface side. FIG. 11 is a bottom view of self-propelled cleaner 10 in which suction port 43 in the first embodiment is divided into four by suction port guard 43a.

The suction port guard 43a is a component configured by combining the frame body 43b and the movable guard member 43c. The movable guard member 43c is slidably attached to the frame body 43b.

The suction port guard 43a has a plurality of guard bodies that divide the suction port 43. The guard body is formed, for example, as a rod-shaped portion.

For example, the frame body 43b has a fixed guard body 43d as one of the plurality of guard bodies. The fixed guard body 43d is formed in a curved shape so as not to interfere with the dust removing body 45 of the agitator 44. The fixed guard body 43d projects to the bottom surface side of the main body of the self-propelled cleaner 10. That is, the fixed guard body 43d projects downward from the suction port 43. If the frame body 43b is attached to the main body of the self-propelled cleaner 10 without the movable guard member 43c, the fixed guard body 43d divides the suction port 43 into two.

A guide rib 43e for guiding the movable guard member 43c is formed on the frame body 43b. For example, four guide ribs 43e are formed. The movable guard member 43c is slidable along the guide rib 43e.

In addition, a holding claw 43f that holds the movable guard member 43c is formed on the frame body 43b. For example, four holding claws 43f are formed. The movable guard member 43c is retained by the movable guard member 43c without being separated from the frame body 43b by being caught by the movable guard member 43c.

Further, the frame body 43b is formed with a cutout portion 43g for securing a movable range of the switching lever 43j provided on the movable guard member 43c. The switching lever 43j will be described later. Further, a locking claw 43h and a locking lever 43i are formed on the frame body 43b. For example, two locking claws 43h and two locking levers 43i are formed. The frame body 43b is configured to be attachable to and detachable from the suction port 43 by the locking claws 43h and the locking levers 43i.

The movable guard member 43c has two frames 43k. The movable guard member 43c has two movable guard bodies 43m configured to extend over the two frames 43k. The movable guard body 43m is an example of a guard body that divides the suction port 43.

As described above, the movable guard member 43c is slidably attached to the frame body 43b. The movable guard body 43m is formed in a curved shape like the fixed guard body 43d. The movable guard body 43m, like the fixed guard body 43d, projects to the bottom surface side of the main body.

A switching lever 43j is provided on the frame 43k. The switching lever 43j is provided so as to project from the frame 43k. The switching lever 43j is configured to be movable within the above-mentioned cutout portion 43g.

2, 7, and 9, the movable guard member 43c is in a state of moving upward in FIG. 2, that is, in the leftward direction of the self-propelled cleaner 10. At this time, one of the two movable guard bodies 43m is in contact with the end of the opening of the frame body 43b. The other of the two movable guard bodies 43m is in contact with the fixed guard body 43d. As a result, the opening of the suction port guard 43a is divided into two parts. By attaching the suction port guard 43a in this state, the suction port 43 is divided into two.

8, 10, and 11, the movable guard member 43c is in a state of moving downward in FIG. 2, that is, in the right direction of the self-propelled cleaner 10. At this time, the two movable guard bodies 43m are both located between the end of the opening of the frame body 43b and the fixed guard body 43d. As a result, the opening of the suction port guard 43a is divided into four. By attaching the suction port guard 43a in this state, the suction port 43 is divided into four.

For example, the user can change the distance between the fixed guard body 43d and the movable guard body 43m by moving the switching lever 43j to the left or right. By moving the movable guard member 43c with the switching lever 43j, the user can easily switch the suction port 43 to the state of being divided into two or four.

In the present embodiment, the suction port guard 43a includes one fixed guard body 43d and two movable guard bodies 43m. In the present embodiment, the suction port guard 43a is configured so that the suction port 43 can be divided into two or four. The suction port guard 43a may be configured, for example, so that the suction port 43 can be in a non-divided state, a three-divided state, or a five-divided state or more. Further, for example, a plurality of movable guard bodies 43m may be housed at both left and right ends of the suction port 43. The suction port guard 43a may be configured to be able to move an arbitrary number of the stored movable guard bodies 43m to an arbitrary position.

Further, the switching lever 43j may be automatically moved by a driving unit provided in the self-propelled cleaner 10, instead of being manually operated, for example. The control of the drive unit is automatically performed by the control unit 80, for example.

The suction unit 50 is arranged behind the cleaning unit 40 configured as described above. The suction unit 50 has, for example, a fan unit 51, a duct 52, a packing 52a, and a duct 53.

The fan unit 51 is attached to the lower case 22. Inside the fan unit 51, as shown in FIG. 3, a fan 51a for generating an air flow and a fan motor 51b for rotating the fan 51a are provided. The inside of the fan unit 51 communicates with the dust collection unit 60 via the duct 52. The fan unit 51 and the duct 52 are sealed by a packing 52a. The fan unit 51 is connected to the rear part of the duct 52.

As shown in FIG. 3 and the like, in the present embodiment, dust collecting unit 60 is arranged between cleaning unit 40 and suction unit 50. That is, the suction unit 50 is arranged behind the dust collection unit 60. When the fan 51a generates an air flow, air flows from the dust collection unit 60 toward the duct 53.

The dust collection unit 60 has, for example, a dust collection box 61 and a dust collection filter 62. The dust collection box 61 is a container-shaped member that collects dust inside. The dust collecting filter 62 is a member having a filter function of capturing dust in the air. The dust collecting filter 62 is detachably attached to the dust collecting box 61.

For example, the dust collection box 61 is detachably attached to the dust collection box housing portion 63 provided in the lower case 22. A handle 61 a is provided on the upper part of the dust collection box 61 for the user to attach and detach the dust collection box 61.

The dust collection box 61 attached to the dust collection box housing portion 63 is connected to one end side of the connection pipe 42. The suction port body 41 is connected to the other end of the connection pipe 42. The suction port body 41 is connected to the dust collection box 61 via a connection pipe 42. The space inside the dust collection box 61 communicates with the air passage 42a. The space inside the dust collection box 61 communicates with the air passage 41a via the air passage 42a. A connecting portion between one end of the connecting pipe 42 and the dust collecting box 61 is sealed by a packing 61b.

In the present embodiment, upper cover 21 is arranged so as to cover dust collection unit 60 from above, as an example of a lid. The upper cover 21, which is an example of a lid, is provided so as to be openable and closable. A specific structure for opening and closing the upper cover 21 will be described later.

The user can remove the dust collection box 61 from the dust collection box housing portion 63 provided in the lower case 22 by opening the upper cover 21. The user can remove the dust collection box 61 above the lower case 22 by holding the handle 61a. When discarding the dust collected in the dust collection unit 60, the user removes the dust collection filter 62 from the dust collection box 61 removed from the dust collection box housing 63. This allows the user to dispose of the dust in the dust collection box 61 to the outside.

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 the heater case 72. The heater case 72 is connected to the duct 52.

A warm air outlet cover 74 is formed on the bottom surface of the heater case 72. 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 projects below the bottom surface 22 a of the lower case 22.

A warm air outlet 73 is formed in the warm air outlet cover 74. The warm air outlet 73 is composed of a plurality of holes. Each of the plurality of holes is formed from the lower end of the warm air outlet cover 74 to the rear surface.

The air flowing through the duct 53 due to the fan 51 a generating an air flow 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 from the warm air outlet 73 to the outside of the self-propelled cleaner 10. In this way, the self-propelled cleaner 10 of the present embodiment can supply hot air to the outside.

The heater 71 is, for example, a device that uses a heating element having PTC characteristics. PTC is an abbreviation for Positive Temperature Coefficient. PTC means a positive temperature coefficient. The electric resistance of the heating element of the heater 71 changes according to the amount of air sent into the heater case 72. The heater 71 using the heating element has a function of controlling its own temperature.

The temperature of the heater 71 is controlled so as to be maintained within a certain range according to the amount of air sent into the heater case 72. As a result, the temperature of the warm air supplied from the self-propelled cleaner 10 is kept within a certain range. Therefore, the self-propelled cleaner 10 does not supply excessively hot air to the outside.

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

The operation display unit 85 is arranged above the cleaning unit 40, for example. The control unit 80, the operation display unit 85, and the power supply unit 90 are electrically connected to each other.

The operation display unit 85 has, for example, an operation display board 86, an operation button 87, an operation switch 87a, an upper cover detection switch 88, an upper cover detection switch opening 88a, and a display section 89.

The state of the operation switch 87a changes when the operation button 87 is pressed. When the state of the operation switch 87a changes, the operation display board 86 transmits this information to the control unit 80 as an electric signal. In addition, the operation display board 86 receives an electric signal from the control unit 80 and causes the display unit 89 to display the content corresponding to the operating state of the self-propelled cleaner 10.

The display unit 89 is, for example, an information display device in which LEDs are arranged. The display unit 89 displays an operation mode of the self-propelled cleaner 10 and an abnormality when the self-propelled cleaner 10 is in operation.

The upper cover detection switch 88 is a mechanical switch that opens and closes electrical contacts. The upper cover detection switch 88 in the present embodiment is an example of a lid detection sensor. The upper cover detection switch 88 detects whether or not the detection lever 21d inserted from the upper cover detection switch opening 88a is in contact. The detection lever 21d will be described later.

The power supply unit 90 has, 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. For example, the circuit board 92 controls the values of voltage and current supplied from the storage battery 91. Moreover, 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 accommodates the storage battery 91 and the circuit board 92.

The power supply unit 90 also has a charging terminal 94 for charging the storage battery 91. The charging terminal 94 is exposed to the outside from the bottom surface 22a 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 the charging terminal 94. The charging terminal 94 may be formed so as to be connectable to an external commercial power source or the like. The charging terminal 94 may be formed so as to be connectable to an external commercial power source or the like, for example.

Moreover, the self-propelled cleaner 10 is equipped with the some to-be-cleaned surface detection sensor 81 as an example. The cleaning surface detection sensor 81 detects a step on the cleaning surface. The surface to be cleaned detection sensor 81 is for detecting the positional relationship between the surface to be cleaned and the self-propelled cleaning device 10. The cleaning surface detection sensor 81 is connected to the control unit 80.

The self-propelled cleaner 10 includes, for example, four cleaning surface detection sensors 81. The four cleaning surface detection sensors 81 are provided at the lower end of the outer peripheral portion of the lower case 22, for example. The four cleaning surface detection sensors 81 are provided, for example, in a state of being inclined with respect to the horizontal plane and the vertical plane.

The four cleaning surface detection sensors 81 are arranged at positions equidistant from the center of the main body of the self-propelled cleaning device 10 in plan view. For example, two of the four surface-to-be-cleaned detection sensors 81 are arranged on the right side and the left side of the front portion of the lower end of the outer peripheral portion of the lower case 22, respectively. For example, the remaining two cleaning surface detection sensors 81 are arranged on the right side and the left side of the rear side lower end of the outer peripheral portion of the lower case 22, respectively. For example, a virtual line connecting the center of the main body of the self-propelled cleaner 10 and the surface-to-be-cleaned detection sensor 81 in plan view is inclined by 45° with respect to the front-back direction of the self-propelled cleaner 10. Further, the surface-to-be-cleaned detection sensor 81 is, for example, arranged outside the wheel 31 in the left-right direction.

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 surface-to-be-cleaned detection sensor 81 may be provided at the front center portion of the lower end of the outer peripheral portion of the lower case 22, the rear center portion of the lower end of the outer peripheral portion of the lower case 22, or the like.

Each of the plurality of cleaning surface detection sensors 81 is surrounded by the sensor cover 81a. The sensor cover 81a is made of a resin that transmits infrared rays.

FIG. 12 is a perspective view of the surface-to-be-cleaned detection sensor 81 according to the first embodiment. As shown in FIG. 12, the surface-to-be-cleaned detection sensor 81 has an infrared light emitting portion 82 and an infrared light receiving portion 83. The infrared light emitting portion 82 and the infrared light receiving portion 83 are arranged so as to face the surface to be cleaned when the self-propelled cleaning device 10 is used. The infrared light emitting unit 82 emits infrared light toward the surface to be cleaned. The infrared light receiving portion 83 receives the infrared light reflected by the surface to be cleaned.

The amount of infrared light received by the infrared light receiving section 83 changes depending on the positional relationship between the surface-to-be-cleaned detection sensor 81 and the surface to be cleaned. The amount of infrared light received by the infrared light receiving portion 83 increases as the cleaning surface detection sensor 81 and the cleaning surface approach each other. The amount of infrared light received by the infrared light receiving portion 83 decreases as the cleaning surface detection sensor 81 and the cleaning surface move away from each other. In this way, the cleaning surface detection sensor 81 can detect the step on the cleaning surface.

In addition, in the present embodiment, a protrusion 29 is formed on the bottom surface 22 a of the lower case 22. The projecting portion 29 projects downward. The protruding portion 29 is arranged behind the cleaning unit 40. The protrusion 29 is formed integrally with the lower case 22, for example.

The lower end of the protrusion 29 and the lower end of the warm air outlet cover 74 are below the bottom surface 22a. The lower end of the protruding portion 29 and the lower end of the warm air outlet cover 74 are, for example, 4 mm below the bottom surface 22a. The lower end of the protrusion 29 and the lower end of the warm air outlet cover 74 may be at different heights.

In the present embodiment, the lower end of the wheel 31 is below the lower end of the protruding portion 29 and the lower end of the warm air outlet cover 74. The lower end of the wheel 31 is, for example, 17 mm below the bottom surface 22a. Further, the wheels 31 may be movable in the vertical direction as described above. The downward projection amount of the lower end of the wheel 31 that can move in the vertical direction with respect to the bottom surface 22a is, for example, 40 mm at the maximum.

Further, the lower end of the outer peripheral portion of the lower case 22 is above the bottom surface 22a. The lower end of the outer peripheral portion of the lower case 22 is, for example, 5 mm above the bottom surface 22a. The bottom surface of the suction port body 41 and the suction port 43 formed on the bottom surface 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 formed on the bottom surface are above the lower end of the outer peripheral portion of the lower case 22.

The bottom surface of the suction port body 41 and the suction port 43 formed on the bottom surface are located above the lower end of the protrusion 29. The bottom surface of the suction port body 41 and the suction port 43 formed on the bottom surface are above the lower end of the warm air outlet cover 74.

Further, as shown in FIG. 3, when the self-propelled cleaner 10 is viewed from the side, the suction port 43, the protrusion 29, the wheel 31, and the warm air outlet cover 74 are arranged in order from the front.

As described above, in the present embodiment, the upper cover 21 is provided so as to be openable and closable. The upper cover 21 is provided with a hinge 21a. The hinge 21a has an arcuate portion. The upper cover 21 is rotatably provided with respect to the lower case 22 with the center of the arc of the hinge 21a as a fulcrum.

FIG. 13 is a vertical cross-sectional view of self-propelled cleaner 10 according to the first embodiment. The vertical sectional view of FIG. 13 shows a state in which the upper cover 21 is rotated by a certain amount and opened. The vertical sectional view of FIG. 3 shows a state in which the upper cover 21 is completely closed.

The hinge 21a is provided at the rear end of the upper cover 21, for example. The width of the hinge 21a in the left-right direction is, for example, 5 cm. The hinge 21a is fitted to a hinge guide 22c provided on the upper part of the rear part of the lower case 22. Further, a pair of protrusions 21b is provided at the end of the arc portion of the hinge 21a.

The hinge guide 22c provided on the lower case 22 is a member that guides the hinge 21a provided on the upper cover 21. The hinge guide 22c has an upper protrusion 22d and a lower protrusion 22e. The upper protrusion 22d and the lower protrusion 22e are formed to be engageable with the pair of protrusions 21b.

The user opens the upper cover 21 by lifting the front end of the upper cover 21 with a finger. The lower case 22 has a finger hanging notch 22f formed at a position near the front end of the upper cover 21. The finger hanging notch 22f is a notch for making it easier for the user's finger to hook on the front end of the upper cover 21.

When the upper cover 21 rotates about the center of the arc of the hinge 21a as the center of rotation, the protrusion 21b contacts the lower protrusion 22e and then gets over the lower protrusion 22e. FIG. 13 shows a state in which the upper cover 21 is rotated and the protrusion 21b comes into contact with the lower protrusion 22e. At this time, the front end of the upper cover 21 rises by a height h from the initial closed state, as shown in FIG. The height h is, for example, 1 cm.

When the user further rotates and opens the upper cover 21, the user further applies an upward force to the upper cover 21. At this time, either the hinge 21a or the hinge guide 22c bends, so that the protrusion 21b gets over the lower protrusion 22e.

FIG. 14 is a plan view of self-propelled cleaner 10 when upper cover 21 is opened 90° in the first exemplary embodiment. FIG. 15 is a vertical cross-sectional view of the self-propelled cleaner when the upper cover 21 is opened 90° in the first embodiment. FIG. 16 is a vertical cross-sectional view of self-propelled cleaner 10 when dust collecting box 61 according to the first embodiment is not mounted.

When the upper cover 21 further rotates upward from the state of FIG. 13, the protrusion 21b comes into contact with the upper protrusion 22d. To open the upper cover 21 by 90° as shown in FIGS. 14 and 15, the user may apply a force to the upper cover 21 to further rotate it. At this time, either the hinge 21a or the hinge guide 22c bends, so that the protrusion 21b gets over the upper protrusion 22d. When the protrusion 21b gets over the upper protrusion 22d, the upper cover 21 is held in a 90° open state from the initial closed state.

As shown in FIG. 15, when the upper cover 21 is open, the user can easily remove the dust collection box 61 from the dust collection box housing portion 63 of the lower case 22. The user can remove the dust collection box 61 by pulling up the handle 61a. Further, the user can remove the dust collecting filter 62 from the dust collecting box 61 removed from the dust collecting box housing portion 63 of the lower case 22.

The force required when the protrusion 21b gets over the upper protrusion 22d and the lower protrusion 22e is set to a force equal to or greater than the weight of the upper cover 21. Accordingly, even when the self-propelled cleaner 10 is tilted or turned upside down, the upper cover 21 does not freely rotate. Even if the self-propelled vacuum cleaner 10 is turned upside down when the upper cover 21 is closed, the upper cover 21 does not open without permission. Even if the self-propelled cleaning device 10 is tilted forward when the upper cover 21 is in the 90° open state, the upper cover 21 will not be closed without permission.

The upper protrusion 22d does not necessarily have to be arranged so that the upper cover 21 can be held in a state of being opened 90°. For example, when the upper cover 21 is open by 60° or more, the user can relatively easily attach and detach the dust collecting box 61. The upper protrusion 22d may be arranged, for example, so that the upper cover 21 can be held in a state of being opened by 60°.

FIG. 17 is a vertical cross-sectional view of self-propelled cleaner 10 when upper cover 21 in the first embodiment is pushed down. As shown in FIG. 17, a spring 21c is provided on the lower side near the center of the upper cover 21.

The spring 21c contacts the upper part of the dust collection box 61 when the upper cover 21 is closed. As a result, the upper cover 21 is held in a state of being lifted by 3 mm from the lower case 22. At this time, the outer shell of the upper cover 21 and the outer shell of the lower case 22 form a continuous and integrated curved surface. In the present embodiment, the upper cover 21 is a design component that forms the appearance of the self-propelled cleaner 10, and also has a function as a movable body that detects a force from above.

Further, a detection lever 21d is provided in a protruding manner at a lower portion near the front end of the upper cover 21. The detection lever 21d pushes the upper cover detection switch 88 through the upper cover detection switch opening 88a when the upper cover 21 is pushed down from the initial closed state shown in FIG. The upper cover detection switch 88 operates by being pushed by the detection lever 21d.

In the present embodiment, the detection lever 21d is provided near the front end of the upper cover 21 as described above. That is, the distance from the hinge 21a to the detection lever 21d is long. With such a configuration, a minute displacement of the upper cover 21 can be easily detected by the upper cover detection switch 88. According to the above configuration of the present embodiment, it is possible to improve the detection accuracy of the displacement of the upper cover 21.

Further, the upper cover 21 is formed with a button opening 21e corresponding to the position of the operation button 87. The button opening 21e is formed such that the outer shell of the operation button 87 is a continuous curved surface continuous with the outer shell of the upper cover 21 when the upper cover 21 is pushed down as shown in FIG. ing. When the upper cover 21 is in the initial state shown in FIG. 3, the outer shell of the operation button 87 is, for example, 3 mm lower than the outer shell of the upper cover 21.

The circumference of the operation button 87 on the upper cover 21 does not become lower than the operation button 87 when the upper cover 21 is displaced downward to the maximum. Therefore, even when an object is placed on the upper cover 21 over a wider area than the button opening 21e, the object does not come into contact with the operation button 87. Therefore, the force for the detection lever 21d to operate the upper cover detection switch 88 is not weakened. Further, even if the operation button 87 is arranged at a position on the upper portion of the self-propelled cleaner 10 that is easy to operate, the upper cover 21 can function as a movable body that detects a force from above.

The spring constant of the spring 21c is set so that the upper cover detection switch 88 is activated when, for example, an object weighing 5 grams is placed on the upper cover 21. The spring 21c is provided between the hinge 21a and the detection lever 21d.

In the present embodiment, spring 21c is arranged closer to the center of the main body of self-propelled cleaner 10 in the left-right direction than the left and right ends of hinge 21a. As a result, blurring when the hinge 21a rotates is reduced, and a minute movement of the upper cover 21 is detected.

Since the hinge 21a has a width of 5 cm, the rigidity of the upper cover 21 causes the detection lever 21d to operate the upper cover detection switch 88 even when a force is applied to the left and right ends of the upper cover 21. The width of the hinge 21a is not limited to 5 cm, and may be set to a dimension sufficient for the detection lever 21d to operate the upper cover detection switch 88 in accordance with the rigidity of the upper cover 21. Considering the weight of the upper cover 21, it is desirable that the width of the hinge 21a be, for example, 4 cm or more.

Further, the spring 21c is arranged so as to come into contact with the upper surface of the dust collection box 61 when the upper cover 21 is closed. As a result, the upper cover 21 is held so as to float from the lower case 22. Here, as shown in FIG. 16, when the upper cover 21 is closed in a state in which the dust collection box 61 is not mounted, the spring 21c has no support from below. Therefore, the upper cover 21 contacts the lower case 22. At this time, the detection lever 21d actuates the upper cover detection switch 88. In the present embodiment, the upper cover detection switch 88 has a function of detecting a force applied to the upper cover 21 from above and a function of detecting a non-mounted state of the dust collection box 61.

The upper cover detection switch 88 does not have to be a mechanical switch. For example, the upper cover detection switch 88 may be an optical switch having a light emitting element and a light receiving element. When the upper cover detection switch 88 is an optical switch, a reflecting member may be provided on the lower surface of the upper cover 21, and the electrical contact may be made conductive when the reflecting member comes close to the optical switch.

Furthermore, the self-propelled cleaner 10 of the present embodiment includes a bumper 23 as an example. The bumper 23 is a movable body for detecting an obstacle in the lateral direction of the self-propelled cleaner 10. The bumper 23 is arranged so as to surround the side surface of the lower case 22. The bumper 23 is held by a bumper guide 23a provided on the side surface of the lower case 22. The bumper guide 23a holds the bumper 23 in a horizontally slidable manner. Further, the bumper 23 has, for example, four support plates 23b and four operation plates 23c.

FIG. 18 is a plan view of a portion related to bumper 23 of self-propelled cleaner 10 according to the first embodiment. FIG. 19 is a vertical cross-sectional view of the bumper 23 in the vicinity of the operation plate 23c according to the first embodiment. FIG. 20 is a vertical cross-sectional view of the vicinity of the operating plate 23c when the bumper 23 according to the first embodiment receives a force.

In FIG. 18, the left direction on the paper surface is the front direction of the self-propelled cleaner 10. In FIG. 18, the upward direction on the paper surface is the rightward direction of the self-propelled cleaner 10.

The four support plates 23b are provided on the front and rear and on the left and right of the self-propelled cleaner 10, respectively. The four operating plates 23c are provided on the front left and right sides and the rear left and right sides of the self-propelled cleaner 10, respectively. The four operation plates 23c are arranged at positions equidistant from the center of the main body of the self-propelled cleaner 10 in a plan view. For example, an imaginary line connecting the center of the main body of the self-propelled cleaner 10 and the operating plate 23c in a plan view is inclined by 45° with respect to the front-back direction of the self-propelled cleaner 10.

The support plate 23b extends toward the inside of the lower case 22 from a support plate slit 23d formed on the side surface of the lower case 22. The support plate 23b has a cutout portion 23e. The lower case 22 is provided with a bumper support boss 23f at a position that supports each of the four cutouts 23e.

A washer 23g and a screw 23h are attached to the four bumper support bosses 23f, respectively. The support plate 23b is slidably provided between the bumper support boss 23f and the washer 23g. Further, the notch width of the notch portion 23e is larger than the diameter of the screw 23h. Therefore, the bumper 23 is slidably supported in all horizontal directions.

The operating plate 23c extends toward the inside of the lower case 22 from an operating plate slit 23i formed on the side surface of the lower case 22. The working plate 23c has an inclined surface 23j inclined by 45° with respect to the front-back direction of the self-propelled cleaner 10.

An obstacle detection sensor 23k, a spring 23m, a stopper 23n, and a sensor support plate 23p are provided inside the lower case 22.

The obstacle detection sensor 23k is a micro switch having a switch section and a lever. The obstacle detection sensor 23k is a sensor that detects an obstacle on the side of the self-propelled cleaner 10 or an obstacle such as a wall. The obstacle detection sensor 23k is configured to conduct the electrical contact when the lever is pushed by the movement of the inclined surface 23j.

The spring 23m returns the inclined surface 23j to the initial position so that the obstacle detection sensor 23k does not operate when the actuation plate 23c is in a state where no force is applied from the outside. The stopper 23n is a member that limits the movement of the operating plate 23c. The stopper 23n prevents an excessive force from being applied to the obstacle detection sensor 23k. The stopper 23n holds the spring 23m.

The sensor support plate 23p is provided inside the bumper guide 23a. The sensor support plate 23p supports the obstacle detection sensor 23k, the spring 23m, and the stopper 23n.

The sensor support plate 23p, the obstacle detection sensor 23k, the spring 23m, and the stopper 23n are provided in four sets inside the lower case 22. The sensor support plate 23p, the obstacle detection sensor 23k, the spring 23m, and the stopper 23n are arranged at positions corresponding to the four operation plates 23c, respectively. The bumper 23 is supported in the vertical direction by a bumper support boss 23f and a washer 23g. The bumper 23 is supported in the horizontal direction by four springs 23m. When the bumper 23 receives a force from the outside in any horizontal direction, one or two of the four obstacle detection sensors 23k are activated.

FIG. 21 is a plan view of a portion related to bumper 23 when bumper 23 of self-propelled cleaner 10 according to the first embodiment receives a force from the front. 22 is a plan view of a portion related to the bumper 23 when the bumper 23 of the self-propelled cleaner 10 according to the first embodiment receives a force from the front right direction. 21 and 22, the left direction on the paper surface is the front direction of the self-propelled cleaner 10. 21 and 22, the upward direction on the paper surface is the right direction of the self-propelled cleaner 10. Further, in FIGS. 21 and 22, the broken line indicates the position of the outer shell in the initial state where the bumper 23 is not receiving the force.

As shown in FIG. 21, when the bumper 23 receives a force from the front, both of the two front and left actuation plates 23c actuate the obstacle detection sensors 23k corresponding to the respective actuation plates 23c. At this time, the two left and right actuating plates 23c are separated from the corresponding obstacle detection sensors 23k.

As shown in FIG. 22, when the bumper 23 receives a force from the front right direction, only the front right operation plate 23c operates the obstacle detection sensor 23k. At this time, the other three operating plates 23c are separated from the corresponding obstacle detection sensors 23k.

As described above, by providing the operating plate 23c with the inclined surface 23j and monitoring the combination of the operating obstacle detection sensors 23k, it is possible to detect from which of the eight horizontal directions the force is applied. ..

The obstacle detection sensor 23k is not limited to the micro switch, and may be, for example, an optical sensor or an ultrasonic sensor. The obstacle detection sensor 23k may be configured as a device of any type as long as it can detect an obstacle on the side of the main body of the self-propelled cleaner 10.

In addition, FIG. 23 is a block diagram showing a function of a control unit of the self-propelled cleaner according to the first embodiment. The control unit 80 is electrically connected to the operation switch 87a, the cleaning surface detection sensor 81, the obstacle detection sensor 23k, the upper cover detection switch 88, and the encoder 32b. The control unit 80 electrically controls the wheel motor 32 of the drive unit 30, the motor 47 of the cleaning unit 40, the fan motor 51b of the suction unit 50, the heater 71 of the drying unit 70, and the display unit 89 of the operation display unit 85. Connected. The control unit 80 controls the wheel motor 32, the motor 47, the fan motor 51b, the heater 71, and the display unit 89.

The control unit 80 has a circuit for controlling the wheel motor 32, the motor 47, the fan motor 51b, the heater 71, and the display unit 89. Power is supplied to the circuit from the power supply unit 90. Electric power is supplied from the power supply unit 90 to the wheel motor 32, the motor 47, the fan motor 51b, the heater 71, and the display unit 89 via the circuit of the control unit 80.

The wheel motor 32, the motor 47, the fan motor 51b, the heater 71, and the display unit 89 may be directly connected to the power supply unit 90 without the control unit 80. Electric power may be directly supplied from the power supply unit 90 to the wheel motor 32, the motor 47, the fan motor 51b, the heater 71, and the display unit 89.

For example, the surface-to-be-cleaned detection sensor 81 sends to the control unit 80 a signal according to the amount of infrared light received by the infrared light receiver 83. 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 motor 51b, and the heater 71 according to the determined result. The self-propelled cleaner 10 drives the wheel motor 32, the motor 47, the fan motor 51b, and the heater 71 to clean and dry an object such as the mattress F1.

The body 20 and various devices fixed to the body in the present embodiment are examples of the main body of the self-propelled cleaner 10. More specifically, the body 20, the drive unit 30, the suction unit 50, the dust collection unit 60, the drying unit 70, the control unit 80, the operation display unit 85, the power supply unit 90, and the cleaning surface detection sensor 81 in the present embodiment. The obstacle detection sensor 23k and the upper cover detection switch 88 are an example of the main body of the self-propelled cleaner 10. In the present disclosure, the body 20, the drive unit 30, the suction unit 50, the dust collection unit 60, the drying unit 70, the control unit 80, the operation display unit 85, the power supply unit 90, the cleaning surface detection sensor 81, the obstacle detection sensor 23k. The upper cover detection switch 88 and the upper cover detection switch 88 may be collectively referred to as a “main body”.

The main body of the self-propelled cleaner 10 is moved in the traveling direction by a drive unit 30 which is an example of a moving unit. In addition, in the present embodiment, the upper surface of the main body of self-propelled cleaner 10 is a mountain-shaped three-dimensional curved surface. The suction port 43 formed on the bottom surface of the suction port body 41 is above the bottom surface of the main body. The warm air outlet cover 74 is formed on the bottom surface of the main body.

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

The following three methods are conceivable, for example, as the method of turning the main body to the left and right. The first is the so-called turning circle. That is, this is a turning method in which one of the left and right wheels 31 is stopped and the other is turned to turn the main body. The second is the so-called super-trust turning. That is, it is a turning method of turning the main body by rotating both the left and right wheels 31 in opposite directions at the same rotation speed. The third is a so-called gentle turn. That is, it is a turning method for turning the main body by rotating both the left and right wheels 31 in the same direction at different rotation speeds. Any of these three turning methods may be used to turn the main body of the self-propelled cleaner 10.

Further, in the present embodiment, the position of the center of gravity G of the main body of the self-propelled cleaner 10 in the front-rear direction is between the wheel 31 and the warm 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 29, the wheel 31, the center of gravity G of the main body, and the warm air outlet cover 74 are arranged in order.

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 wheel 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, the operation and effect of the self-propelled cleaner 10 configured as described above will be described. As described above, the self-propelled cleaner 10 cleans the mattress F1 which is an example of the object. FIG. 24 is a vertical cross-sectional view of the self-propelled cleaner 10 according to the first embodiment that moves forward on the mattress F1.

The mattress F1 is formed by the fibers and the side cloth covering the fibers. The side fabric is formed of cotton, for example. The fibers covered with the side cloth are, for example, resin fibers such as cotton, wool or polyester. The fibers forming the mattress F1 may be, for example, synthetic fibers in which cotton or wool is combined with resin fibers.

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

The mattress F1 is mainly used at bedtime in a state of being covered with the sheets S. The sheet S is formed of a material such as cotton.

The self-propelled cleaning device 10 cleans and dries the bedding F1 while traveling on the bedding F1 covered with the sheets S. The self-propelled cleaning device 10 moves forward and backward on the bedding F1 covered with the sheets S, for example.

When the self-propelled cleaner 10 is placed on the bedding F1 covered with the sheets S, the surface of the bedding F1 and the sheets S sink due to the weight of the self-propelled cleaner 10. The surface of the bedding F1 and the sheet S are pushed downward by the protrusion 29, the wheel 31, and the warm air outlet cover 74. The weight of the self-propelled cleaner 10 is supported mainly by the bottom surface 22a of the lower case 22, the protrusions 29, the wheels 31, and the warm air outlet cover 74 on the sheets S and the bedding F1. In particular, the protrusion 29, the wheel 31, and the warm air outlet cover 74 support most of the weight of the self-propelled cleaner 10. The protrusion 29, the wheel 31, and the warm air outlet cover 74 suppress the contact of the bottom surface 22a with the sheet S and the mattress F1.

As described above, the lower end of the wheel 31 is below the lower end of the protrusion 29 and the lower end of the warm air outlet cover 74. Therefore, the wheel 31 makes stronger contact with the sheet S and the mattress F1. As a result, the wheels 31 more efficiently generate the driving force for the traveling of the self-propelled cleaner 10.

In the present embodiment, the lower end of the outer peripheral portion of the lower case 22 is above the bottom surface 22a, the lower end of the wheel 31, the lower end of the protruding portion 29, and the lower end of the warm air outlet cover 74. Therefore, the lower end of the outer peripheral portion of the lower case 22 is not strongly pressed against the sheets S and the bedding F1. For example, the lower end of the outer peripheral portion of the lower case 22 slightly contacts the sheets S. For example, the lower end of the outer peripheral portion of the lower case 22 may be separated from the sheets S. For example, the lower end of the outer peripheral portion of the lower case 22 may include a portion that comes into contact with the sheet S and a portion that does not come into contact therewith due to the unevenness of the mattress F1 and the surface of the sheet S.

Further, the bottom surface of the suction port body 41 is above the lower end of the outer peripheral portion of the lower case 22. With the self-propelled cleaner 10 placed on the bedding F1 covered with the sheets S, the bottom surface of the suction port body 41 separates from the bedding F1 and the sheets S.

The self-propelled cleaner 10 starts its operation by operating the operation switch 87a, for example. For example, when the operation switch 87a is turned on by the user, the control unit 80 and the cleaning surface detection sensor 81 are activated. The surface-to-be-cleaned detection sensor 81 emits and receives infrared light. The surface-to-be-cleaned detection sensor 81 sends a signal according 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. For example, the control unit 80 determines that the self-propelled cleaner 10 is on the sheets S and the mattress F1 when the amount of infrared light received by the surface-to-be-cleaned detection sensor 81 is equal to or greater than a preset threshold value. To do. This threshold information is stored in advance in the control unit 80, for example.

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

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

When the fan motor 51b is driven and the fan 51a rotates, the sheets S are attracted to the suction port 43. The sheets S are sucked upward. The sheets S sucked upward are separated from the mattress F1. As shown in FIG. 24, a space B is formed between the sheet S sucked upward and the futon F1.

Air flows into the space B from the outside in a portion where the suction port 43 and the sheet S do not overlap each other in a plan view. Further, the air in the space B flows from the suction port 43 to the air passage 41a. The fine dust between the sheet S and the bedding F1 is sucked together with air from the suction port 43 to the air passage 41a through the gap between the fibers forming the sheet S.

When the control unit 80 drives the motor 47, the agitator 44 rotates. The sheet S sucked up to the suction port 43 is swung by the dust remover 45 of the agitator 44. For example, the collected fine dust between the sheet S and the mattress F1 is shaken together with the sheet S. When the collected fine dust is shaken, it is in a dispersed state, that is, a state in which the fine dust easily passes through the gaps between the fibers forming the sheets S. In addition, a gap is created between the sheet S swayed by the dust remover 45 and the suction port 43. Due to this gap, the dust that has passed through the gap between the fibers forming the sheet S is effectively sucked from the suction port 43 to the air passage 41a.

In addition, dust on the sheets S is also sucked into the air passage 41a from the suction port 43. The suction port 43 moves as the self-propelled cleaner 10 moves. When the suction port 43 passes near the dust on the sheets S, the dust is sucked from the suction port 43 to the air passage 41a.

When the sheet S is attracted to the suction port 43 when the suction port 43 passes near the dust on the sheet S, the sheet S is swung by the rotating agitator 44. As described above, a gap is created between the sheet S swung by the agitator 44 and the suction port 43. Due to this gap, the dust on the sheets S is effectively sucked from the suction port 43 to the air passage 41a.

As described above, the self-propelled cleaner 10 including the agitator 44 can more effectively suck dust.

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

Further, in the present embodiment, the dust removing body 45 is formed with a hole 45a. The hole 45a formed in the dust remover 45 has a function of ensuring a ventilation amount that is sucked from the suction port 43 to the air passage 41a when the sheet S is sucked by the suction port 43. Due to the hole 45a formed in the dust remover 45, a sufficient amount of air flows through the air passage 41a even if the sheet S is sucked into the suction port 43. The holes 45a prevent the air volume in the air passage 41a from decreasing.

In the present embodiment, the sheet S is restricted by the fixed guard body 43d and the movable guard body 43m so as not to strongly enter the back of the suction port 43 even if the sheet S is attracted to the suction port 43.

For example, the more the number of the suction ports 43 divided by the fixed guard body 43d and the movable guard body 43m, that is, the narrower the width of the opening, the more difficult it is to draw the sheets S into the inside. Therefore, when the sheet S is thin and the sheet S is soft, and the sheet S is easily drawn into the inside, the suction port 43 may be divided into four.

If the sheet S is not easily drawn into the suction port 43, the suction port 43 may be divided into two. As a result, the sheet S is swayed by the dust remover 45 while being appropriately drawn into the suction port 43. Therefore, the performance of removing dust under the sheets S is improved.

The dust and air sucked into the air passage 41a flow into the dust collection box 61. The dust that has flowed into the dust collection box 61 is captured by the dust collection filter 62. The air that has flowed into the dust collection box 61 passes through the dust collection filter 62. The mixture of dust and air that has flowed into the dust collection box 61 becomes clean air by the dust collection filter 62.

The clean air that has passed through the dust collecting filter 62 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. For example, the heater 71 heats air to 60°C. The air heated by the heater 71 is sent to the outside of the self-propelled cleaner 10 from the warm air outlet 73 formed in the warm air outlet cover 74.

The lower end of the warm air outlet cover 74 sinks into the bedding F1. The warm air outlet cover 74 is provided with a warm air outlet 73 formed of a plurality of holes extending from the lower end of the warm air outlet cover 74 to the rear surface side. By the warm air outlet cover 74 sinking into the bedding F1, the air passage through which the warm air discharged from the warm air outlet 73 passes is sufficiently secured. Further, since the warm air outlet 73 is formed from the lower end of the warm air outlet cover 74 to the rear surface, the warm air passes through a sufficient range of the surface of the mattress F1. With the self-propelled vacuum cleaner 10 of the present embodiment, warm air with a sufficient wind speed can be sent to the surface of the mattress F1. Therefore, heat is efficiently transferred to the bedding F1. With the self-propelled vacuum cleaner 10 of the present embodiment, the mattress F1 can be efficiently heated and dried.

As described above, the self-propelled cleaner 10 sucks dust and supplies warm air while moving forward. The self-propelled cleaner 10 cleans and dries objects such as the mattress F1. You can The self-propelled cleaner 10 does not necessarily have the function of drying the object.

In the present embodiment, the suction port 43 is located above the bottom surface 22a. Therefore, it is possible to prevent the suction port 43 from coming into close contact with the mattress F1. The suction port 43 does not adhere to the sheet S excessively strongly. According to the present embodiment, 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 having flexibility.

Further, since the suction port 43 is above the bottom surface 22a, the space B is formed between the sheet S and the futon F1. When the self-propelled cleaner 10 operates, an air flow from the outside of the space B to the inside of the space B and an air flow from the inside to the outside of the space B are generated. Therefore, a sufficient amount of air flows from the space B toward the suction port 43. By flowing a sufficient amount of air from the space B toward the suction port 43, the self-propelled cleaning device 10 can efficiently suck fine dust between the sheets S and the bedding F1.

The suction port 43 is located above the lower end of the protrusion 29. The protrusion 29 presses the bedding F1 downward. Since the bedding F1 is pressed by the protruding portion 29, the bedding F1 is prevented from coming into close contact with the suction port 43. The protrusion 29 prevents the flexible surface to be cleaned from adsorbing to the suction port 43. The protruding portion 29 is an example of an adsorption preventing portion that protrudes downward from the bottom surface of the main body of the self-propelled cleaner 10.

The projecting portion 29 holds down the sheets S together with the bedding F1. The protrusion 29 suppresses the slack of the sheet S sucked up by the suction port 43. The protrusion 29 prevents the sheet S from being excessively strongly attracted to the suction port 43. The projecting portion 29 prevents the sheets S from entering the inside of the suction port body 41 through the suction port 43 into the interior of the air passage 41a. The self-propelled cleaner 10 including the protruding portion 29 can have both the performance of sucking dust and the performance of traveling on the surface to be cleaned even on a flexible surface to be cleaned. Moreover, the protrusion 29 prevents the rotation of the agitator 44 from being hindered by the sheets S that have entered the air passage 41a.

When the self-propelled cleaner 10 is viewed from the side, the protrusion 29 is arranged between the suction port 43 and the wheel 31. The protruding portion 29 is arranged near the suction port 43. Therefore, the area of the sheet S that is sucked to the suction port 43 is limited to a certain area. The size of the space B between the sheet S and the mattress F1 is limited by the protrusion 29. Therefore, a sufficiently strong airflow is generated in the space B. The self-propelled cleaner 10 effectively sucks fine dust in the space B between the sheet S and the bedding F1 by generating an airflow of sufficient strength in the space B. The protrusion 29 may be separate from the lower case 22, for example.

Further, the protrusion 29 may be, for example, a member that is slippery with respect to the surface to be cleaned. The protrusion 29 may be, for example, a rotatable columnar member. As in the above example, the protrusion 29 may be configured to reduce the resistance generated between the protrusion 29 and the surface to be cleaned when the self-propelled cleaner 10 travels.

The center of gravity G of the main body of the self-propelled cleaner 10 according to the present embodiment is behind the wheel 31. For this reason, even if the force attracted to the mattress F1 is applied to the suction port body 41, the main body of the self-propelled cleaner 10 is unlikely to tilt forward and downward. By suppressing the inclination of the main body of the self-propelled cleaner 10 toward the front lower side, the space B between the sheet S and the mattress F1 can be more reliably generated. By generating the space B more reliably, the performance of the self-propelled cleaner 10 for sucking dust is improved.

An inertial force acts on the self-propelled cleaner 10 moving forward so as to be inclined rearward and downward. In the present embodiment, the warm air outlet cover 74 is located behind the center of gravity G. The warm air outlet cover 74 protruding downward restrains the self-propelled cleaner 10 from inclining rearward and downward. This prevents the suction port 43 from being largely separated from the surface to be cleaned. When the self-propelled cleaner 10 moves forward, the suction port 43 does not largely separate from the surface to be cleaned, so that the performance of the self-propelled cleaner 10 for sucking dust is maintained.

The warm air outlet cover 74 in the present embodiment is an example of an inclination suppressing portion that suppresses the self-propelled cleaning device 10 from inclining rearward and downward. The self-propelled cleaner 10 may be provided with a member other than the warm air outlet cover 74 as the inclination suppressing portion. Further, the position where the inclination suppressing portion is provided does not necessarily have to be the main body of the self-propelled cleaner 10.

Next, the self-propelled cleaner 10 that detects the end of the mattress F1 will be described. FIG. 25 is a vertical cross-sectional view of self-propelled cleaner 10 according to the first embodiment, which detects the end portion of mattress F1.

As shown in FIG. 25, when the front end of the body 20 approaches the end of the mattress F1, the lower end of the outer peripheral portion of the lower case 22 becomes smaller than when the front end of the body 20 does not reach the end of the mattress F1. The amount of infrared light received by the surface-to-be-cleaned detection sensor 81 provided in the front portion is reduced. For example, when the self-propelled cleaning device 10 continues to move toward the end of the bed blanket F1 placed on the bed or the like, the amount of infrared light received by the cleaning surface detection sensor 81 eventually becomes zero.

For example, the control unit 80, when the amount of infrared light received by the surface-to-be-cleaned detection sensor 81 provided in the front portion of the lower end of the outer peripheral portion of the lower case 22 falls below a preset threshold value, the self-propelled cleaner 10 Is determined to have reached the end of the mattress F1. The control unit 80 that determines that the self-propelled cleaner 10 has approached the end of the bedding F1 stops the wheel motor 32. After stopping the wheel motor 32, the control unit 80 drives the wheel motor 32 again so that the rotation direction of the wheel motor 32 is opposite to the rotation direction before the wheel motor 32 is stopped. .. 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 side of the lower end of the outer peripheral portion of the lower case 22 falls below a preset threshold value, the control unit 80 causes the self-propelled cleaner to move. It is determined that 10 has reached the end of the mattress F1. The control unit 80 that determines that the self-propelled cleaner 10 has approached the end of the bedding F1 stops the wheel motor 32. After stopping the wheel motor 32, the control unit 80 drives the wheel motor 32 again so that the rotation direction of the wheel motor 32 is opposite to the rotation direction before the wheel motor 32 is stopped. .. By driving the wheel motor 32 again, the self-propelled cleaner 10 moves forward. In this way, the self-propelled cleaner 10 detects the end of the mattress F1 and repeats forward and backward movement without falling from the mattress F1.

When the control unit 80 determines that the self-propelled cleaner 10 has approached the end of the mattress F1, the control unit 80 may change the rotation speed of the wheel motor 32 of each 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 rotational speeds of the wheel motors 32 of the pair of drive units 30. The self-propelled cleaner 10 may detect the end of the mattress F1 and repeatedly change the traveling direction.

As described above, the self-propelled vacuum cleaner 10 can continue to autonomously travel on the mattress F1 without falling from the mattress F1 by detecting the end portion of the mattress F1. The self-propelled cleaner 10 can continue cleaning and drying the bed cover F1 without dropping from the bed cover F1.

The angle at which the surface to be cleaned detection sensor 81 is inclined with respect to the vertical direction is set within a range in which the surface to be cleaned detection sensor 81 can receive infrared light. Hereinafter, the angle at which the surface-to-be-cleaned detection sensor 81 is inclined with respect to the vertical direction will be referred to as the “tilt angle” of the surface-to-be-cleaned detection sensor 81.

The surface-to-be-cleaned detection sensor 81 can detect the state of the surface of the mattress F1 located farther from the outer periphery of the body 20 as the angle of inclination of the surface-to-be-cleaned detection sensor 81 is larger. That is, the greater the angle of inclination of the surface-to-be-cleaned detection sensor 81, the more the risk that the self-propelled cleaning device 10 will fall from the bedding F1.

Further, the cleaning surface detection sensor 81 can detect the positional relationship between the cleaning surface and the self-propelled cleaning device 10 more accurately 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 detection sensor 81 is, the more the self-propelled cleaner 10 rides over the convex portion on the surface of the mattress F1 and the more the self-propelled cleaner 10 approaches the end of the mattress F1. The risk of being incorrectly determined by unit 80 is reduced. Also, the smaller the inclination angle of the surface-to-be-cleaned detection sensor 81, the control unit 80 when the self-propelled cleaner 10 approaches the end of the mattress F1 when the self-propelled cleaner 10 approaches the recess on the surface of the mattress F1. The risk of being erroneously determined by is reduced. Further, the smaller the inclination angle of the surface-to-be-cleaned detection sensor 81 is, the erroneously determined by the control unit 80 that the self-propelled cleaner 10 has approached the end of the mattress F1 when the self-propelled cleaner 10 is inclined. Risk is reduced. As described above, the smaller the inclination angle of the surface-to-be-cleaned detection sensor 81, the lower the probability that the positional relationship between the surface-to-be-cleaned and the self-propelled cleaning device 10 is erroneously detected.

For example, when the inclination angle of the surface-to-be-cleaned detection sensor 81 is set from 5° to 50°, the risk of the self-propelled cleaner 10 falling from the bedding F1 is reduced, and the surface to be cleaned and the self-propelled cleaner are cleaned. The probability that the positional relationship with the machine 10 is erroneously detected becomes low. The inclination angle of the surface-to-be-cleaned detection sensor 81 is particularly preferably set in the range of 20° to 30°. As a result, the risk that the self-propelled cleaner 10 will fall from the bedding F1 is sufficiently reduced, and the positional relationship between the surface to be cleaned and the self-propelled cleaner 10 can be detected more appropriately.

The self-propelled cleaner 10 may have a function of adjusting the orientation of the surface-to-be-cleaned detection sensor 81. Thereby, the self-propelled cleaner 10 can operate appropriately according to the state of the mattress F1. The state of the mattress F1 means, for example, the undulation of the surface of the mattress F1 and the shape of the end of the mattress F1.

For the infrared light receiving unit 83, for example, a position sensing device or a CMOS image sensor may be used. Further, the infrared light receiving portion 83 may detect the incident angle of the infrared light received from the surface to be cleaned. The surface-to-be-cleaned detection sensor 81 may send a signal to the control unit 80 according to the incident angle detected by the infrared light receiving section 83. The control unit 80 may calculate the distance from the surface-to-be-cleaned detection sensor 81 to the surface to be cleaned based on the incident angle detected by the infrared light receiving section 83. With the control unit 80 and the surface-to-be-cleaned detection sensor 81 configured as described above, for example, the surface-to-be-cleaned and the self-propelled cleaning device 10 are irrespective of the difference in the reflectance of infrared light on the surface-to-be-cleaned. The positional relationship of can be detected more accurately. The reflectance of infrared light on 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 moving forward on the mattress F3 will be described. Mattress F3 is softer than mattress F1. FIG. 26 is a vertical cross-sectional view of self-propelled cleaner 10 according to the first embodiment moving forward on soft bedding F3.

When the self-propelled cleaner 10 is placed on the soft futon F3, the bottom surface 22a of the lower case 22 pushes down the surface of the futon F3 in addition to the protrusion 29, the wheel 31, and the warm air outlet cover 74.

The wheel 31 moves according to the state of the surface to be cleaned. Wheels 31 project downward when self-propelled cleaner 10 is placed on soft bedding F3 than when self-propelled cleaner 10 is placed on bedding F1. Thereby, most of the weight of the self-propelled cleaner 10 is supported by the wheels 31. By increasing the protrusion amount of the wheel 31, the wheel 31 more efficiently transmits the force for the traveling of the self-propelled cleaner 10 to the surface to be cleaned. By increasing the protrusion amount of the wheel 31, the wheel 31 can efficiently generate a driving force for the traveling of the self-propelled cleaner 10. Further, the increase in the amount of protrusion of the wheels 31 weakens the contact of the bottom surface 22a with the mattress F3. Therefore, the self-propelled cleaner 10 can maintain the running performance even on the soft mattress F3.

When the self-propelled cleaner 10 cleans the bedding F1 and the bedding F3, if a quilt, a blanket, a towel, or the like is hung on the main body of the self-propelled cleaner 10, the object is detected. There is a possibility of being caught in the suction port 43 and the wheel 31. In the present embodiment, when an object is placed on the upper cover 21, the upper cover detection switch 88 operates and the state thereof is detected. When the upper cover detection switch 88 operates, the control unit 80 stops the wheel motor 32, the motor 47, the fan motor 51b, and the heater 71. Then, the control unit 80 causes the display unit 89 to display the error information.

The upper cover 21 is configured to occupy about 80% of the area of the upper surface of the lower case 22 in plan view, for example. As a result, even if the portion on which the object placed on the upper cover 21 comes into contact is a part of the main body of the self-propelled cleaner 10, that state is detected.

Further, the upper cover 21 is formed in a convex shape having the highest center in a plan view. Therefore, when a light object, such as a light blanket, which does not activate the upper cover detection switch 88 is on the upper cover 21 while the self-propelled cleaner 10 is stopped, the self-propelled cleaner 10 runs. As a result, the upper cover 21 receives a horizontal force, and the upper cover detection switch 88 operates.

In addition, for example, when a folded comforter is placed on a part of the mattress F1 which is the surface to be cleaned, the self-propelled cleaner 10 cleans and dries the area where the comforter is not placed.

FIG. 27 is a vertical cross-sectional view of self-propelled cleaner 10 with bumper 23 according to the first embodiment in contact with comforter F2.

When the self-propelled cleaner 10 contacts the comforter F2, either the bumper 23 or the upper cover 21 is displaced. As shown in FIG. 27, when the bumper 23 comes into contact with the comforter F2 while the self-propelled cleaner 10 is traveling, the obstacle detection sensor 23k is activated. When the obstacle detection sensor 23k operates, the control unit 80 determines that the contact position between the comforter F2 and the bumper 23 is the end of the cleaning target area. The control unit 80 controls the self-propelled cleaner 10 under the condition that the contact position between the comforter F2 and the bumper 23 is at the end of the cleaning target area. Specifically, when the bumper 23 comes into contact with the comforter F2, the control unit 80 controls the self-propelled cleaner 10 so as to change the traveling direction and move forward after moving backward by a preset distance.

For example, the obstacle detection sensor 23k operates even when the bumper 23 contacts the wall in the room. When the bumper 23 contacts the wall, the control unit 80 considers the wall to be the end of the cleaning target area. When the bumper 23 comes into contact with the wall, the control unit 80 controls the self-propelled cleaner 10 so as to move backward by a preset distance and then change its traveling direction and move forward.

Although the wall surface detected by the obstacle detection sensor 23k is strictly the boundary of the cleaning target area, it is substantially the surface of the cleaning surface such as the top surface of the mattress F1 detected by the cleaning surface detection sensor 81. Treated the same as the edges. In the present disclosure, the boundary detected by the obstacle detection sensor 23k is also described as “the end of the cleaning target area” together with the end detected by the surface-to-be-cleaned detection sensor 81.

When the obstacle detection sensor 23k operates before any of the four cleaning surface detection sensors 81 detects the end of the mattress F1, the control unit 80 causes the cleaning surface detection sensor 81 to detect the end of the mattress F1. The same processing as when the copy is detected is performed.

In this way, the self-propelled cleaning device 10 can clean the inside of the cleaning target area even when the end of the cleaning target area is the side surface of the comforter F2 or the like placed on the mattress F1 or the wall surface in the room. By automatically traveling, the surface to be cleaned in the cleaning target area can be cleaned and dried.

For example, when the mattress F1 is placed so as to be pressed against a wall, an inclined surface may not be formed at the end of the mattress F1. When the mattress F1 is placed so as to be pressed against a wall, the portion of the mattress F1 that is in contact with the wall may be horizontal or raised. In such a case, the surface-to-be-cleaned detection sensor 81 cannot properly detect the end portion of the mattress F1 even when the self-propelled cleaner 10 approaches the end portion of the mattress F1. In the present embodiment, even in the above case, obstacle detection sensor 23k can detect that self-propelled cleaner 10 has approached the end of mattress F1. According to this Embodiment, the self-propelled cleaner 10 which can operate appropriately in the edge part of a cleaning target area is obtained. For example, the self-propelled cleaner 10 can appropriately travel on the mattress F1 without continuing to hit the wall where the end of the mattress F1 is in contact.

FIG. 28 is a vertical cross-sectional view of self-propelled cleaner 10 in a state where upper cover 21 according to the first embodiment is in contact with comforter F2. When the upper cover 21 comes into contact with the comforter F2 while the self-propelled cleaner 10 is traveling, the upper cover detection switch 88 is activated. When the upper cover detection switch 88 is activated, the control unit 80 regards the comforter F2 as an obstacle above. The control unit 80, which considers the comforter F2 to be an obstacle above, stops the wheel motor 32, the motor 47, the fan motor 51b, and the heater 71. The control unit 80 stops the wheel motor 32, the motor 47, the fan motor 51b, and the heater 71, and then controls the wheel motor 32 so that the self-propelled cleaner 10 moves backward by a preset distance.

When the operating state of the upper cover detection switch 88 is released after the self-propelled cleaner 10 moves backward, the control unit 80 controls the wheel motor 32 so that the self-propelled cleaner 10 travels while changing its traveling direction. Control. When the operating state of the upper cover detection switch 88 is not released even when the self-propelled cleaner 10 moves backward by a preset distance, the control unit 80 stops the wheel motor 32 and displays error information on the display unit 89. Display it. In this way, the self-propelled cleaning device 10 automatically stops the operation when the self-propelled cleaning device 10 slips under the bedding such as the comforter F2. This prevents bedclothes or the like from being caught in the suction port 43 and the wheels 31.

Next, a process in which the self-propelled cleaner 10 cleans the bedding 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 a control unit, includes a drive unit 30, a cleaning unit 40, a cleaning unit 40, so that the main body of the self-propelled cleaner 10 executes 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 the initial position to the cleaning reference position. The second step is a step of cleaning the inside of the cleaning target area while the main body of the self-propelled cleaner 10 moves from the cleaning reference position. 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 at the time of starting the first step. For example, the position where the user puts the self-propelled cleaner 10 is the initial position. The cleaning reference position is the position of the self-propelled cleaner 10 at the time when the second step is started. In the second step, the self-propelled cleaner 10 cleans and dries the mattress F1 that is the cleaning target area while moving with the cleaning reference position as a reference.

Further, in the present embodiment, control unit 80 controls drive unit 30 so that the main body of self-propelled cleaner 10 performs the midpoint detection operation. The midpoint detecting operation is an operation of moving to a midpoint between two facing end portions 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 is forward or backward from the current position until the cleaning surface detection sensor 81 or the obstacle detection sensor 23k detects that the main body has reached the end of the cleaning target area. proceed. 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, the self-propelled cleaner 10 advances to the other of the front side and the rear side. The self-propelled cleaner 10 advances to the other side until the cleaning surface detection sensor 81 or the obstacle detection sensor 23k detects that the main body has reached the end of the cleaning target area. 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 bedding F1.

After that, the self-propelled cleaner 10 advances to the one of the front side and the rear side again. For example, the self-propelled cleaner 10 moves forward again. In the self-propelled cleaner 10, it is first detected by the surface to be cleaned detection sensor 81 or the obstacle detection sensor 23k that the main body has reached the end of the cleaning target area after the start of the midpoint detection operation, and then the next detection The movement proceeds in one of the above directions by half of the moving distance of the main body. Specifically, the self-propelled cleaner 10 advances to an intermediate position between the above-mentioned front end portion and the above-mentioned rear end portion of the mattress F1.

The main body of the self-propelled cleaner 10 moves to the midpoint between the two opposite end portions of the mattress F1 by the above three operations being continuously performed. The midpoint between the two opposite ends of the mattress F1 is on a straight line connecting the two ends of the mattress F1. The midpoint between the two opposite ends of the mattress F1 is a point equidistant from the two opposite ends. This midpoint is set as the cleaning reference position.

The cleaning reference position set as described above is a position closer to the center of the bedding F1 than the end thereof. According to this embodiment, the self-propelled cleaner 10 can start cleaning from a position near the center of the mattress F1.

In the above-described specific example of the midpoint detection operation, the control unit 80 needs to detect the moving distance of the main body of the self-propelled cleaner 10. The following two methods are conceivable as methods for detecting the movement distance of the main body.

The first is a method of detecting the moving distance of the main body based on the rotation amount of the wheels 31 of the drive unit 30. The movement distance of the main body is proportional to the rotation amount of the wheel 31. Therefore, the moving 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 by the encoder 32b. The movement distance of the main body is obtained by multiplying the rotation amount of the moving motor shaft 32a, the gear ratio of the gear unit 33, and the circumferential length of the wheel 31. The encoder 32b in this method is an example of a moving distance detecting means for detecting the 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 forward and backward movement of the main body. In this method, the moving distance of the main body can be obtained by multiplying the forward/backward movement speed of the main body by the elapsed time. When the speed of forward and backward movement of the main body is constant, the moving distance of the main body is proportional to the duration of forward and backward movement. In this case, the movement distance of the main body can be represented by the duration of forward and backward movement. In the specific example of the midpoint detection operation described above, the backward movement time of the main body from the time when the forward moving body reaches the end of the bedding F1 until the backward moving main body reaches the end of the bedding F1 is detected. The main body should be moved forward again by /2.

The midpoint detection operation is executed multiple times, for example. For example, the midpoint detection operation is executed twice in the first step. For example, in the first step, the control unit 80 controls the drive unit 30 so that the second midpoint detection operation is performed after the main body turns 90° after the first midpoint detection operation. 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 step. After the first midpoint detection operation, the main body turns 90° and then performs the second midpoint detection operation. Then, a position where the main body is present as a result of performing the second midpoint detection operation is set as the cleaning reference position. The cleaning reference position is set by a plurality of midpoint detection operations, so that it becomes closer to the center of the mattress F1.

Next, the flow of the first process executed by the self-propelled cleaner 10 will be described with reference to the flow chart. 29 and 30 are flow charts showing an example of the flow of the first step of self-propelled cleaning device 10 of the first exemplary 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 both the left and right wheels 31 in the forward direction (step S101). Here, the direction in which the self-propelled cleaner 10 moves forward in step S101 is defined as “vertical direction” in the present disclosure.

When the self-propelled cleaner 10 advances in the vertical direction, the control unit 80 determines whether the cleaning surface detection sensor 81 or the obstacle detection sensor 23k has detected that the main body has reached the end of the cleaning target area. The determination is made (step S102). For example, the control unit 80 determines whether or not the cleaning surface detection sensor 81 detects that the main body has reached the end of the mattress F1. This end is referred to as the "vertical front end" in this disclosure.

When it is not detected that the main body has reached the front end in the vertical direction, the processes of steps S101 and S102 are continued. The self-propelled cleaner 10 advances in the vertical direction until the main body reaches the front end in the vertical direction.

When it is detected 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 stop both the left and right wheels 31 (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 both the left and right wheels 31 (step S104). In step S104, the rotation amount of the motor shaft 32a is measured. The rotation amount of the motor shaft 32a is constantly measured while the main body is moving backward. Specifically, the control unit 80 captures and stores the signal output from the encoder 32b during the reverse movement of the main body.

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 or the obstacle detection sensor 23k detects that the main body has reached the end of the cleaning target area. The determination is made (step S105). For example, the control unit 80 determines whether or not the cleaning surface detection sensor 81 detects that the main body has reached the end of the mattress F1. This end is referred to as the "longitudinal rear end" in this disclosure.

When it is not detected that the main body reaches the rear end in the vertical direction, the processes of steps S104 and S105 are continued. The self-propelled cleaner 10 moves backward until the main body reaches the rear end in the vertical direction.

When it is detected in step S105 that the main body reaches the rear end in the vertical direction, 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 S106). ).

In this step S106, the control unit 80 determines the longitudinal rear end from the longitudinal front end based on the rotation amount of the motor shaft 32a from the time when the main body starts backward traveling in the longitudinal direction front end to the longitudinal rear end in step S104. Calculate the distance to the edge. The control unit 80 sets the calculated value of this distance as the vertical distance L1. The control unit 80 also calculates a distance that is half 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 length of the vertical midpoint distance M1.

After the process of 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 normally rotate both the left and right wheels 31 (step S107). In step S107, the rotation amount of the motor shaft 32a is measured. The rotation amount of the motor shaft 32a is constantly measured while the main body is moving forward.

When the self-propelled cleaner 10 moves forward in step S107, the control unit 80 determines whether or not the rotation amount of the motor shaft 32a after the main body starts moving forward in step S107 has become the rotation amount N1 or more ( Step S108). When 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. When the rotation amount of the motor shaft 32a becomes 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 process of step S109 is executed and the first midpoint detection operation is completed, the control unit 80 causes the drive unit 30 to rotate the main body of the self-propelled cleaning device 10 by 90° in a supercritical position. Is controlled (step 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 in the forward direction and reverse the right wheel 31.

After the process of step S110 in FIG. 29, the process of the flowchart of FIG. 30 is performed. The flow chart shown in FIG. 30 shows the processing of the second midpoint detection operation.

The control unit 80 controls the drive unit 30 so that the main body moves forward after the main body turns in step S110. 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 in the forward direction (step S111). The direction in which the self-propelled cleaner 10 moves forward in step S111 is defined as "lateral direction" in the present disclosure.

When the self-propelled cleaner 10 moves forward in the lateral direction, the control unit 80 determines whether the cleaning surface detection sensor 81 or the obstacle detection sensor 23k detects that the main body has reached the end of the cleaning target area. The determination is made (step S112). For example, the control unit 80 determines whether or not the cleaning surface detection sensor 81 detects that the main body has reached the end of the mattress F1. This end is referred to as the "lateral front end" in this disclosure.

When it is not detected that the main body has reached the front end in the horizontal direction, the processing of steps S111 and S112 is continued. The self-propelled cleaner 10 advances laterally until the main body reaches the lateral front end.

When it is detected in step S102 that the main body has reached the front end in the lateral direction, 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 S113). ..

The control unit 80 controls the drive unit 30 such that the main body of the self-propelled cleaner 10 moves backward after stopping the wheels 31 in step S113. 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 rotation amount of the motor shaft 32a is constantly measured while the main body is moving backward. The control unit 80 captures and stores the signal output from the encoder 32b during the backward movement of the main body.

When the self-propelled cleaner 10 moves backward in step S114, the control unit 80 determines whether the cleaning surface detection sensor 81 or the obstacle detection sensor 23k has detected that the main body has reached the end of the cleaning target area. The determination is made (step S115). For example, the control unit 80 determines whether or not the cleaning surface detection sensor 81 detects that the main body has reached the end of the mattress F1. This end is referred to as the "lateral rear end" in this disclosure.

When it is not detected that the main body has reached the rear end in the horizontal direction, the processing of steps S114 and S115 is continued. The self-propelled cleaner 10 moves backward until the main body reaches the rear end in the lateral direction.

On the other hand, when it is detected in step S115 that the main body has reached the rear end in the horizontal direction, 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 S116).

In step S116, the control unit 80 determines from the lateral front end to the lateral rear end based on the rotation amount of the motor shaft 32a from the time when the main body starts backward traveling in step S114 to the lateral rear end. Calculate the distance to. The control unit 80 sets the calculated value of this distance as the lateral distance L2. The control unit 80 also calculates a distance that is half the lateral distance L2 and sets the calculated value as the lateral midpoint distance M2. Further, the control unit 80 sets the rotation amount N2 of the motor shaft 32a for moving the length of 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 both the left and right wheels 31 in the forward direction (step S117). In step S117, the rotation amount of the motor shaft 32a is measured. The rotation amount of the motor shaft 32a is constantly measured while the main body is moving forward.

When the self-propelled cleaner 10 moves forward in step S117, the control unit 80 determines whether the rotation amount of the motor shaft 32a after the main body starts moving forward in step S117 is equal to or greater than the rotation amount N2 ( Step S118). When the rotation amount of the motor shaft 32a is not equal to or more than the rotation amount N2, the processes of step S117 and step S118 are continued.

When the rotation amount of the motor shaft 32a becomes 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.

The position of the main body at the time when the second midpoint detection operation is completed is set as the cleaning reference position. The self-propelled cleaner 10 executes the second step from this cleaning reference position.

Self-propelled cleaner 10 of the present embodiment further 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 having different sizes. The control unit 80, which is an example of control means, calculates the moving distance of the main body of the self-propelled cleaner 10 as described above. Then, the control unit 80 sets dimension 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 movement distance of the main body. The control unit 80 operates based on the set dimension information.

For example, the size of the cleaning target area is detected based on the moving distance of the main body during the midpoint detection operation. Specifically, the self-propelled cleaning device 10 that has completed the midpoint detection operation in step S119 sets the size of the mattress F1 that is the cleaning target region in the following manner.

When the midpoint detection operation is completed in step S119, the control unit 80 determines whether the vertical distance L1 is greater than the horizontal distance L2 (step S120). The control unit 80 sets the length RL of the long side and the length RS of the short 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 larger than the horizontal distance L2, the control unit 80 sets the long side length RL of the mattress F1 to the vertical distance L1 in the longitudinal direction FB of the main body of the self-propelled cleaner 10. Is set as the sum of. Moreover, the control unit 80 sets the length RS of the short side of the mattress F1 as the sum of the lateral distance L2 and the length FB of the main body of the self-propelled cleaner 10 in the front-rear direction. (Step S121).

When the lateral distance L2 is greater than or equal to the longitudinal distance L1, the control unit 80 sets the long side length RL of the mattress F1 to the lateral distance L2 and the longitudinal length FB of the main body of the self-propelled cleaner 10. Is set as the sum of. In addition, the control unit 80 sets the length RS of the short side of the mattress F1 as the vertical distance L1 plus the length FB of the main body of the self-propelled cleaner 10 in the front-rear direction. (Step S122).

By the processes of steps S121 and S122 described above, the dimension information including the information on the short side length RS and the long side length RL of the rectangular mattress is set.

The length FB used when setting the dimension information is for correcting the detection result of the size of the cleaning target area. Information on the length FB of the main body in the front-rear direction 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 length FB. 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. Therefore, when the size of the mattress F1 is set, 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.

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. The control unit 80 also 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. 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 region. In this way, the control unit 80 simply detects the size of the cleaning target area. 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 movement amount of the self-propelled cleaner 10 in the second step.

As described above, 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 executed. For example, 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 executed.

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 according to the results of different operations. Further, 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 first step of the self-propelled cleaner 10 will be described. 31 and 32 show an example of the movement route of the main body of the self-propelled cleaner 10 according to the first embodiment in the first step. The actual size of the mattress F1 which is the cleaning target area is, for example, 2 m in long side and 1 m in short side. 31 and 32, the size of the mattress F1 that is the cleaning target area is shown in cm units.

31 and 32, the initial position at the start of the first step is indicated by a white circle. This initial position is, for example, the position where the user has placed the self-propelled cleaner 10. 31 and 32, 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. The position indicated by the triangle is the midpoint between the vertical front end and the vertical rear end. 31 and 32, the midpoint between the vertical front end and the vertical rear end is referred to as the vertical midpoint. Further, the position where the self-propelled cleaner 10 is located at the end of the first step, 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 the 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 shown in FIGS. 31 and 32, the initial position is the lower side on the mattress F1 and is relatively close to the end of the mattress F1 in each example. The lower side means the position on the paper surface of FIGS. 31 and 32.

In the example of FIG. 31, the front-back direction of the main body of the self-propelled cleaner 10 at the initial position is tilted counterclockwise by 3° with respect to the longitudinal direction of the mattress F1. In the example of FIG. 31, the cleaning reference position is set approximately at the center of the mattress F1.

In the example of FIG. 32, the front-back direction of the main body of the self-propelled cleaner 10 at the initial position is tilted counterclockwise by 10° with respect to the longitudinal direction of the mattress F1. Also in the example of FIG. 35, the cleaning reference position is set substantially at the center of the mattress F1.

The cleaning reference position in the example of FIG. 32 is farther from the center of the mattress F1 than the cleaning reference position in the example of FIG. The cleaning reference position in the example of FIG. 32 is separated from the center of the bedding F1 by about 40 mm.

In this way, the main point of the self-propelled cleaning device 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. Move to almost the center of the area to be cleaned. Then, substantially the center of the cleaning target area is set as the cleaning reference position. The self-propelled cleaner 10 starts cleaning the cleaning target area from approximately the center of the cleaning target area. The self-propelled cleaner 10 according to the present embodiment can clean the center side of the cleaning target area more intensively than the end side.

For example, the main body of the self-propelled cleaner 10 repeats the following first operation, second operation, and third operation in order in the second step, with the cleaning reference position as the base point. The control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 repeats the first operation, the second operation, and the third operation in order.

The first motion is a motion to move forward. The first operation is performed until the cleaning surface detection sensor 81 or the obstacle detection sensor 23k detects that the moving body has reached the end of the cleaning target area. The self-propelled cleaner 10 moves from the base point to the end of the cleaning target area by the first operation.

The second operation is performed when the moving body reaches the end of the cleaning target area. The second operation is an operation of moving backward by a preset backward moving distance. By the second operation, the self-propelled cleaner 10 returns from the end of the cleaning target area to the base point or a point near the base point.

The third operation performed after the second operation is an operation of turning by a preset turning angle. By the third operation, the front-back direction of the self-propelled cleaner 10 is changed. Then, after the third operation, the first operation and the second operation are executed again.

In this way, the self-propelled cleaner 10 repeats the forward movement, the backward movement, and the change of the traveling direction with the cleaning reference position as the base point. When the self-propelled cleaner 10 moves by such a method, the cleaning reference position is close to the center of the cleaning target area, so that the deviation of the overlapping movement paths of the self-propelled cleaner 10 is reduced.

When the cleaning reference position and the size of the cleaning target area are set in the first step, the front-back direction of the main body of the self-propelled cleaner 10 at the initial position is the longitudinal direction or the short direction of the cleaning target area. It is desirable to be parallel to the hand direction.

The smaller the angle formed by the front-back direction of the main body of the self-propelled cleaner 10 and the longitudinal direction of the cleaning target region at the initial position or the angle formed by the front-back direction and the lateral direction of the cleaning target region is, the smaller the cleaning reference position is. Close to the center of the area to be cleaned.

Further, the smaller the angle between the front-back direction of the main body of the self-propelled cleaner 10 and the longitudinal direction of the cleaning target region at the initial position or the angle formed by the front-back direction and the lateral direction of the cleaning target region, the longer the longer side. RL and the short side length RS are set to accurate values closer to actual size. Then, the smaller the difference between the set values of the length RL of the long side and the length RS of the short side 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. .. Specifically, the area in which the self-propelled cleaner 10 repeatedly passes and the area left uncleaned in the second step are reduced.

For example, when the inclination angle of the main body of the self-propelled cleaning device 10 in the front-rear direction at the initial position with respect to the longitudinal direction of the mattress F1 is 3°, the long side length RL and the short side length RS with respect to the actual size of the mattress F1. The error rate of the set value of is about 0.14%. When the inclination angle of the main body of the self-propelled cleaning device 10 in the front-back direction at the initial position with respect to the longitudinal direction of the mattress F1 is 10°, the length RL of the long side and the length RS of the short side of the mattress F1 relative to the actual size. The error rate of the set value of is about 1.5%. For example, if the tilt angle of the main body of the self-propelled cleaning device 10 in the front-rear direction at the initial position with respect to the longitudinal direction of the mattress F1 is 10° or less, the set values of the long side length RL and the short side length RS are set. The error rate of is sufficiently small.

Next, the flow of the second step executed by the self-propelled cleaner 10 of the present embodiment will be described with reference to the flow chart. FIG. 33 is a flowchart showing an example of the flow of the second step of self-propelled cleaner 10 according to the first embodiment. In the second step, as described above, 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 portion 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 motion is a motion of turning by this turning angle θ. The control unit 80 sets the reverse distance DB and the turning angle θ suitable for the size of the cleaning target area based on the length RL of the long side and the length RS of the short side set in the first step.

Specifically, the control unit 80 sets the reverse distance DB based on a mathematical expression in which the long side length RL and the short side length RS are variables. Thereby, 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 as K, the second coefficient as C1, and the third coefficient as 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 equation (1), the traveling route of the self-propelled cleaner 10 in the second step becomes appropriate. As a result, the area through which the self-propelled cleaning device 10 repeatedly passes and the area left uncleaned are reduced.

The first coefficient K is the sum of the distance from the center of the main body of the self-propelled cleaner 10 to the suction port 43 and the distance from the tip of the main body to the suction port 43. The first coefficient K is a coefficient for correcting the reverse travel DB in consideration of the length of the portion where 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 long side length RL and the short side length RS 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 turning angle θ by the following equation (2), with the effective width that can be cleaned by the cleaning means, specifically, the width of the suction port 43 as VL and the correction angle as α.
(2) θ=sin ⁻¹ (VL/DB)+α
By setting the turning angle θ based on the equation (2), the deviation in the number of times the suction port 43 passes in the cleaning target region is reduced.

The smaller the correction angle α, the overlap between the region where the suction port 43 reciprocates before the main body turns by the third motion and the region where the suction port 43 reciprocates after the main body turns by the third motion. Will grow. Further, as the correction angle α is smaller, there are an area where the suction port 43 reciprocates and passes before the main body turns by the third operation, and an area where the suction port 43 reciprocates and passes after the main body turns by the third operation. The non-overlapping area, that is, the uncleaned area becomes smaller.

On the other hand, as the correction angle α is larger, there are an area where the suction port 43 reciprocates and passes before the main body turns by the third operation, and an area where the suction port 43 reciprocates and passes after the main body turns by the third operation. The overlap of is small. In addition, the larger the correction angle α, the region in which the suction port 43 reciprocates and passes before the main body turns by the third action, and the region in which the suction port 43 reciprocates and passes after the main body turns by the third action. The non-overlapping area, that is, the uncleaned area becomes large.

The smaller the correction angle α, the longer the operating time for the self-propelled cleaner 10 to clean the entire cleaning target region, but the greater the cleaning effect and the drying effect. On the other hand, the larger the correction angle α, the shorter the above operating time, but the cleaning effect and the drying effect become smaller. The correction angle α is set, for example, as an angle in the range of 0° to 4° in consideration of the above characteristics.

The control unit 80 sets the reverse travel distance DB and the turning angle θ in step S201, and then drives the motor 47, the fan motor 51b, and the heater 71 (step S202). When the motor 47 is driven, the agitator 44 rotates. The rotation of the agitator 44 scrapes dust from the surface to be cleaned. Further, the fan 51a is rotated by driving the fan motor 51b. The rotating fan 51a generates an air flow. The dust is sucked together with the air from the suction port 43 by the air flow generated by the fan 51a. 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 the warm air outlet 73. As a result, 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 time when the processes of steps S201 and S202 are executed, the main body of 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 both the left and right wheels 31 in the forward direction (step S203). The first operation described above is started by the processing in step S203. As the main body of the self-propelled cleaner 10 moves forward, the suction port 43 also moves forward. As a result, the area on the mattress F1 through which the suction port 43 has passed is cleaned.

When the main body of the self-propelled cleaner 10 starts the first operation, the control unit 80 detects whether the main body reaches the end of the cleaning target area by the cleaning surface detection sensor 81 or the obstacle detection sensor 23k. It is determined whether or not (step S204). The control unit 80 determines, for example, whether the cleaning surface detection sensor 81 has detected that the end of the mattress F1 has been reached.

When it is not detected that the main body has reached the end of the cleaning target area, the processes of step S203 and step S204 are continued. The main body of the self-propelled cleaner 10 performs the first operation until it reaches the end portion of the mattress F1 which is the cleaning target area.

When it is detected in step S204 that the main body has reached the end portion of the mattress F1 which is the cleaning target area, the control unit 80 controls the wheel motors 32 of the left and right drive units 30 to control 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 both 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 rotation amount of the motor shaft 32a is constantly measured while the main body is moving backward. The control unit 80 captures and stores the signal output from the encoder 32b during the backward movement of the main body.

When the main body of the self-propelled cleaner 10 moves backward in step S206, the control unit 80 determines whether the main body moves 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 moving 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 circumferential length of the wheel 31.

When the main body of the self-propelled cleaner 10 has not moved backward by the backward distance DB, the processes of step S206 and step S207 are continued. On the other hand, when the main body moves 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 backward moving distance DB is completed.

After stopping the wheels 31 in step S208, the control unit 80 controls the drive unit 30 so as to rotate the main body of the self-propelled cleaner 10 clockwise by the 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 in the forward direction and reverse the right wheel 31. The third operation described above is executed by the processing in step S209.

After the main body of the self-propelled cleaner 10 has swung by the swivel angle θ, the control unit 80 determines whether or not the sum of the swivel angles θ at which the main body has swung by the third operation executed in the past is 360° or more. The determination is made (step S210). If the total sum of the turning angles θ has not reached 360°, the process of step S203 is executed again. That is, the first operation is executed again. In this way, the main body of the self-propelled cleaner 10 repeats the first operation, the second operation, and the third operation in order.

When the total of the turning angles θ at which the main body turns due to the third operation executed in the past becomes 360° or more, the control unit 80 stops the motor 47, the fan motor 51b, and the heater 71. When the fan motor 51b stops, the fan 51a also stops (step S211). This completes the second step.

The state in which the sum of the turning angles θ at which the main body turns due to the third operation executed in the past has reached 360° or more means the state in which the cleaning of most of the mattress F1 which is the cleaning target area has been completed. .. Self-propelled cleaner 10 of the present embodiment automatically stops the operation after most of the cleaning target area has been cleaned.

Next, an operation example of the self-propelled cleaner 10 in the second step will be described. FIG. 34 shows an example of the movement route of the main body of the self-propelled cleaner 10 according to the first embodiment in the second step. In FIG. 34, the size of the mattress F1 that is the cleaning target area is shown in m units.

In FIG. 34, 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. Further, in FIG. 34, the movement path of the main body during the forward movement in the first operation in the second step is indicated by a solid line Y3, and the movement path during the backward movement of the second operation is indicated by a broken line Y4.

In the example of FIG. 34, the first coefficient K is set to 0.08 m, the second coefficient C1 is set to 0.5, and the third coefficient C2 is set to 0.22. In the example of FIG. 34, 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 of FIG. 34. In the example of FIG. 34, the length RL of the long side of the mattress F1 is set to 2 m in the first step. Further, in the example of FIG. 27, the length RS of the short side of the mattress F1 is set to 1 m in the first step. Further, in the example of FIG. 27, the reverse distance DB is set to 0.68 m from the equation (1). Further, in the example of FIG. 27, the turning angle θ is set to 10° from the equation (2) with the width VL of the suction port 43 being 0.12 m and the correction angle α being 0°.

In the example of FIG. 34, the main body of the self-propelled cleaner 10 starts to move 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 surface-to-be-cleaned detection sensor 81. .. After the main body of the self-propelled cleaner 10 stops, the vehicle travels backward DB, that is, 0.68 m. The main body of the self-propelled cleaner 10 that has 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 in the clockwise direction by the turning angle θ, that is, by 10°. The main body of the self-propelled cleaner 10 turns by the turning angle θ and then moves forward again. The main body of the self-propelled cleaner 10 repeats the forward and backward reciprocating motions while changing the traveling direction. The reciprocating path of the main body of the self-propelled cleaner 10 is radial as shown in FIG. 34. As shown in FIG. 34, the main body of the self-propelled cleaner 10 can move to the vicinity of the corner of the rectangular area to be cleaned.

When the self-propelled cleaner 10 moves in 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 set. By setting the reverse distance DB in this way, the self-propelled cleaner 10 can clean the entire cleaning target area including the vicinity of the corner.

FIG. 35 is a diagram in which the example of the movement path of the main body and the example of the movement trajectory of the suction port 43 in the second step shown in FIG. 34 are overlapped and shown. The movement locus of the suction port 43 means a region where the suction port 43 has passed along with the movement of the main body. That is, the movement locus of the suction port 43 means the region cleaned by the self-propelled cleaner 10. In FIG. 35, the region through which the suction port 43 has passed is colored according to the number of times the suction port 43 has passed.

Further, FIG. 36 is a diagram showing an example of the movement trajectory of the suction port 43 shown in FIG. That is, FIG. 35 corresponds to a combination of FIG. 34 and FIG. 36.

The movement locus of the suction port 43 shown in the figure is an image of a result obtained by a simulation for calculating the number of times the long side of the suction port 43 passes. In this simulation, the cleaning target area is divided into minute square areas each having a side of 1 cm. In the calculation method of this simulation, an error may occur in the calculation result of the number of times the long side of the suction port 43 passes through the minute square depending on the angle at which the long side of the suction port 43 passes with respect to the minute square. The simulation results shown in the figure do not necessarily match the results in actual operation. However, it is sufficiently possible to grasp the tendency of the distribution of the number of passages by the image of the movement trajectory of the suction port 43 obtained by the simulation.

In the example of FIG. 35, the movement path of the main body is a radial path toward the end portion side of the mattress F1. In the examples of FIGS. 35 and 36, the region where 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. 35 and 36, the total travel distance until the main body of the self-propelled cleaner 10 stops is about 50 m.

Generally, the end of the mattress F1 is inclined. When the wheel 31 comes close to the end of the mattress F1, a force is applied to the wheel 31 to move 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 will fall from the mattress F1.

As described above, in the moving method in which the main body of the self-propelled cleaner 10 is moved from the center side of the mattress F1 toward the end side, when the surface-to-be-cleaned detection sensor 81 reaches the end of the mattress F1, Wheels 31 are on the center side of bedding F1. This reduces the risk that the main body will fall from the mattress F1. As in the present embodiment, the moving method of moving from the center side of the mattress F1 toward the end side is more convenient than the moving method of traveling along the edge near the end of the mattress F1. Hard to fall from.

The end of the main body of the self-propelled cleaner 10 and the suction port 43 are separated by a certain distance. Therefore, in the vicinity of the end portion of the mattress F1, as shown in FIGS. 35 and 36, there may be a large amount of uncleaned area left. Therefore, for example, by providing the suction port 43 further forward or changing the setting of the threshold value of the surface-to-be-cleaned detection sensor 81 so that the main body can be brought closer to the end of the mattress F1, the end of the mattress F1 can be obtained. The uncleaned area in the vicinity can be reduced.

As described above, in the examples of FIGS. 35 and 36, the number of times the suction port 43 passes is greater in the central region than in the end region of the mattress F1. In the present embodiment, the main body of self-propelled cleaning device 10 radially repeats forward and backward movements from the center side of mattress F1. Therefore, the trajectories of the suction ports 43 are often overlapped on the center side of the mattress F1, and the trajectories of the suction ports 43 are less overlapped on the end side. In this way, the self-propelled cleaning device 10 of the present embodiment can clean the center side of the mattress F1 which is the cleaning target area more intensively than the end side. Moreover, the self-propelled cleaner 10 can also dry the center side of the mattress F1 which is a cleaning target area|region more heavily than an edge part side.

Generally, a user of bedding such as the bedding F1 often sleeps in the center of the bedding. Therefore, a larger amount of dust such as sebum adheres to the center of the bedding than to the end. In addition, the central part of the bedding is more wet due to night sweats. Therefore, when cleaning and drying the bedding, it is more efficient to focus on and clean the center of the bedding than to uniformly clean and dry the entire bedding. The self-propelled cleaner 10 that can mainly clean and dry the central side of the cleaning target area can efficiently clean and dry the cleaning target area.

Further, FIG. 37 is a diagram showing an example of the movement locus of the suction port 43 when the correction angle α is 2° in the first embodiment. The solid line Y3 in FIG. 37 indicates the movement path of the main body during forward movement in the first operation of the first time. In the example of FIG. 37, the turning angle θ is 12°. Further, in the example of FIG. 37, the total traveling distance until the main body of the self-propelled cleaner 10 stops is about 42 m.

The movement locus of the suction port 43 in the example of FIG. 37 has less overlap with the movement locus of the suction port 43 in the example of FIG. 36. The total amount of dust sucked from the suction port 43 in the example of FIG. 37 may be smaller than the total amount of dust sucked from the suction port 43 in the example of FIG. 36. On the other hand, in the case of the example of FIG. 37, cleaning and drying of almost the entire futon F1 are completed in a shorter time than the example of FIG.

FIG. 38 is a diagram showing an example of a movement locus of the suction port 43 when the correction angle α is 4° in the first embodiment. The solid line Y3 in FIG. 38 indicates the movement path of the main body during forward movement in the first operation of the first time. In the example of FIG. 38, the turning angle θ is 14°. In the example of FIG. 38, the total travel distance until the main body of the self-propelled cleaner 10 stops is about 36 m.

The movement locus of the suction port 43 in the example of FIG. 38 has less overlap with the movement locus of the suction port 43 in the example of FIG. 37. The total amount of dust sucked from the suction port 43 in the example of FIG. 38 may be smaller than the total amount of dust sucked from the suction port 43 in the example of FIG. 37. On the other hand, in the case of the example of FIG. 38, the cleaning and drying of almost the entire futon F1 is completed in a shorter time than the example of FIG.

Thus, by changing the setting of the correction angle α of the turning angle θ, it is possible to adjust the time required to clean the entire bedding F1 and the cleaning ability of the self-propelled cleaner 10.

In addition, FIG. 39 is a diagram showing an example of the movement trajectory of the suction port 43 when the size of the cleaning target region set in the first step in the first embodiment includes an error. The solid line Y3 in FIG. 39 indicates the movement path of the main body during forward movement in the first first operation.

In the example of FIG. 39, as in the example shown in FIG. 32, the front-back direction of the main body of the self-propelled cleaner 10 at the initial position is tilted counterclockwise by 10° with respect to the longitudinal direction of the mattress F1. There is. At this time, the length RL of the long side of the mattress F1 is set to 2.03 m, and the length RS of the short side thereof is set to 1.015 m in the first step.

In the example of FIG. 39, the first coefficient K is set to 0.08 m, the second coefficient C1 is set to 0.5, and the third coefficient C2 is set to 0.22. In the example of FIG. 39, the reverse distance DB is set to 0.691 m from the equation (1). Further, in the example of FIG. 39, the turning angle θ is set to 10° from the equation (2) with the width VL of the suction port 43 set to 0.12 m and the correction angle α set to 0°.

The movement locus of the suction port 43 in the example of FIG. 39 is biased in the region where the number of times of passage is large compared to the movement locus of the suction port 43 in the example of FIG. 36. However, the passage area of the suction port 43 extends over almost the entire bedding F1. As described above, even if the size of the cleaning target area set in the first step includes an error, the self-propelled cleaner 10 cleans and dries almost the entire cleaning target area in the second step. It can be performed.

FIG. 40 is a diagram showing an example of the movement trajectory of the suction port 43 when the reverse travel DB in the example of FIG. 39 is changed. In the example of FIG. 40, the reverse distance DB is set to 0.714 m.
The reverse distance DB in the example of FIG. 40 is 0.034 m longer than the reverse distance DB in the example of FIG. 36. The reverse distance DB in the example of FIG. 40 is 5% longer than the reverse distance DB in the example of FIG. 36.

The movement locus of the suction port 43 in the example of FIG. 40 is biased in the region where the number of times of passage is large as compared with the movement locus of the suction port 43 in the example of FIG. 39. However, also in the example of FIG. 40, the passage area of the suction port 43 extends over almost the entire bedding F1. Even if the reverse travel DB deviates from the value calculated by the equation (1) by about 5%, the self-propelled cleaner 10 should perform cleaning and drying of almost the entire cleaning target area in the second step. You can

Further, FIG. 41 is 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 bedding F1 having the long side length of 2 m and the short side length of 1.45 m. It is the figure shown. The solid line Y3 in FIG. 41 indicates the movement path of the main body during forward movement in the first first operation. In the example of FIG. 41, the length RL of the long side and the length RS of the short side of the cleaning target area are set to 2 m and 1.45 m, respectively, in the first step.

In the example of FIG. 41, the reverse distance DB is set to 0.806 m from the equation (1). Further, when the width VL of the suction port 43 is 0.12 m and the correction angle α is 0°, the turning angle θ is set to 8.6° from the equation (2). In the example of FIG. 41, the movement locus of the suction port 43 extends over almost the entire comforter F1 as in the examples shown in FIGS. 36 to 40.

FIG. 42 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 bedding F1 having the long side of 1.5 m and the short side of 1 m. It is a figure. The solid line Y3 in FIG. 42 indicates the movement path of the main body during forward movement in the first first operation. In the example of FIG. 42, the length RL of the long side and the length RS of the short side of the cleaning target area are set to 1.5 m and 1 m, respectively, in the first step.

In the example of FIG. 42, the reverse distance DB is set to 0.57 m from the equation (1). Further, when the width VL of the suction port 43 is 0.12 m and the correction angle α is 0°, the turning angle θ is set to 12.2° from the equation (2). In the example of FIG. 42 as well, similar to the example of FIG. 41, the movement trajectory of the suction port 43 extends over almost the entire bedding F1.

FIG. 43 shows an example of the locus of movement of the suction port 43 of the self-propelled cleaner 10 according to the first embodiment for cleaning the bedding F1 having the long side of 2 m and the short side of 0.8 m. It is a figure. The solid line Y3 in FIG. 43 indicates the movement path of the main body during forward movement in the first operation of the first time. In the example of FIG. 43, the length RL of the long side and the length RS of the short side of the cleaning target area are set to 2 m and 0.8 m, respectively, in the first step.

In the example of FIG. 43, the reverse distance DB is set to 0.624 m from the equation (1). Further, when the width VL of the suction port 43 is 0.12 m and the correction angle α is 0°, the turning angle θ is set to 11.1° from the equation (2). Also in the example of FIG. 43, the movement locus of the suction port 43 extends over almost the entire bedding F1.

Further, FIG. 44 is a diagram showing an example of a movement locus of the suction port 43 of the self-propelled cleaner 10 of the first embodiment for cleaning the square mattress F1 having a side length of 1 m. A solid line Y3 in FIG. 44 indicates a movement path when the main body moves forward in the first operation of the first time. In the example of FIG. 44, the length RL of the long side and the length RS of the short side of the cleaning target area are both set to 1 m by the first step.

In the example of FIG. 44, the reverse distance DB is set to 0.46 m from the equation (1). Further, when the width VL of the suction port 43 is 0.12 m and the correction angle α is 0°, the turning angle θ is set to 15.1° from the equation (2). Also in the example of FIG. 44, the movement locus of the suction port 43 extends over almost the entire bedding F1. As shown in FIGS. 41 to 44, the self-propelled cleaner 10 according to the present embodiment can perform cleaning and drying of almost the entire cleaning target area, regardless of the aspect ratio of the cleaning target area. ..

Embodiment 2.
Next, a second embodiment will be described. Description of parts that are the same as or equivalent to those in the first embodiment will be simplified and omitted.

Self-propelled cleaner 10 in the present embodiment has the same configuration as that in the first embodiment. The main body of self-propelled cleaner 10 performs the first step and the second step, as in the first embodiment. In particular, the first step is the same as that in the first embodiment, and therefore its explanation is omitted.

FIG. 45 is a flowchart showing an example of the flow of the second step of self-propelled cleaner 10 according to the second embodiment. The second step in the second embodiment will be described below with reference to the flowchart of FIG. 45, focusing on the differences from the first embodiment.

When the second step is started, as in the first embodiment, 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 cleaning target area 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 the equation (1) shown in the first embodiment. The turning angle θ is set by the equation (2) shown in the first embodiment.

The control unit 80 sets the reverse travel distance DB and the turning angle θ in step S301, and then drives the motor 47, the fan motor 51b, and the heater 71 (step S302). When the motor 47 is driven, the agitator 44 rotates. The rotation of the agitator 44 scrapes dust from the surface to be cleaned. The fan 51a rotates by driving the fan motor 51b. The rotating fan 51a generates an air flow. The dust is sucked together with the air from the suction port 43 by the air flow generated by the fan 51a. 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 the warm air outlet 73. As a result, the mattress F1 is heated.

The main body of the self-propelled cleaner 10 is at the cleaning reference position at the time when the processes of steps S301 and S302 are executed. 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 both the left and right wheels 31 in the forward direction (step S303). The first operation is started by the processing in step S303. As the main body of the self-propelled cleaner 10 moves forward, the suction port 43 also moves forward. As a result, the area on the mattress F1 through which the suction port 43 has passed is cleaned.

When the main body of the self-propelled cleaner 10 starts the first operation, the control unit 80 detects whether the main body reaches the end of the cleaning target area by the cleaning surface detection sensor 81 or the obstacle detection sensor 23k. It is determined whether or not (step S304). The control unit 80 determines, for example, whether the cleaning surface detection sensor 81 has detected that the end of the mattress F1 has been reached.

When it is not detected that the main body has reached the end of the cleaning target area, the processes of steps S303 and S304 are continued. The main body of the self-propelled cleaner 10 performs the first operation until it reaches the end of the bedding F1.

When it is detected in step S304 that the main body has reached the end of the mattress F1 which is the cleaning target area, 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. To stop. The control unit also stops the motor 47, the fan motor 51b, and the heater 71 (step S305).

After stopping the wheel 31, the motor 47, the fan motor 51b, 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 both the left and right wheels 31 (step S306).

The second operation is started by the process of step S306. In the present embodiment, the motor 47, the fan motor 51b, and the heater 71 are stopped when the second operation is started.

Further, in step S306, the rotation amount of the motor shaft 32a is measured. The control unit 80 captures and stores the signal output from the encoder 32b during the backward movement of the main body.

When the main body of the self-propelled vacuum 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 of FIG. 45, the initial reverse distance is set to 0.1 meter. In the example of FIG. 45, after the process of step S306, the control unit 80 determines whether or not the main body has moved 0.1 m or more from the end of the mattress F1 (step S307).

When the distance that the main body moves backward is less than the initial backward distance of 0.1 m, the processes of steps S306 and S307 are continued. On the other hand, when the backward distance of the main body reaches the initial backward distance of 0.1 meters, the control unit 80 drives the motor 47, the fan motor 51b, and the heater 71 again (step S308).

In the present embodiment, the motor 47, the fan motor 51b, and the heater 71 are stopped while the main body is moving backward for the initial backward movement distance during execution of the second operation. When the motor 47 is stopped, it means that the agitator 44 is stopped. The fact that the fan motor 51b is stopped means that the fan 51a is stopped. The fact that the fan 51a is stopped means that the suction of air to the suction port 43 is stopped.

The sheet S that covers the mattress F1 may sag at the end of the mattress F1. While the main body of the self-propelled cleaner 10 is near the end of the bedding F1, the loose sheets S may be drawn into the suction port 43. In addition, the loose sheets S may be caught in the agitator 44 while the main body of the self-propelled cleaner 10 is near the end of the mattress F1.

The main body moving backward in the initial reverse distance is located at a position close to the end of the mattress F1 which is the cleaning target area. Since the fan 51a is stopped while the main body is moving backward for the initial backward distance from the end of the mattress F1, the loose sheets S are less likely to be drawn into the suction port 43. Further, since the agitator 44 is stopped while the main body is moving backward from the end of the mattress F1 by the initial backward distance, the possibility that the loose sheets S are caught in the agitator 44 is low. Note that, for example, only one of the motor 47 and the fan motor 51b may be stopped while the main body is moving backward for the initial backward movement distance from the end of the mattress F1.

In the present embodiment, since the heater 71 is also stopped while the fan 51a is stopped, overheating of the heater 71 is prevented.

The control unit 80 controls the drive unit 30 so that the main body of the self-propelled cleaner 10 continues to move backward after the process of step S308. The rotation amount of the motor shaft 32a is continuously measured (step S309). Then, the control unit 80 determines whether or not the main body has moved from the end of the mattress F1 by the backward distance DB (step S310).

When the main body of the self-propelled cleaner 10 has not moved backward by the backward distance DB, the processes of step S309 and step S310 are continued. When the main body of the self-propelled cleaner 10 moves by the backward travel 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). ). The second operation ends by the processing in step S311.

After stopping the wheels 31 in step S311, the control unit 80 controls the drive unit 30 so as to rotate the main body of the self-propelled cleaner 10 clockwise by the turning angle θ (step S312). .. The third operation is executed by the process of step S312.

After the main body of the self-propelled cleaner 10 has swung by the swivel angle θ, the control unit 80 determines whether or not the sum of the swivel angles θ at which the main body has swung by the third operation executed in the past is 360° or more. The determination is made (step S313). If the total sum of the turning angles θ has not reached 360°, the process of step S303 is executed again. That is, the first operation is executed again. In this way, the main body of the self-propelled cleaner 10 repeats the first operation, the second operation, and the third operation in order.

When the sum total of the turning angles θ is 360° or more in step S313, the control unit 80 stops the motor 47, the fan motor 51b, and the heater 71 (step S314). This completes the second step. The state where the total sum of the turning angles θ is 360° or more means a state where most of the mattress F1 that is the cleaning target area has been cleaned. The self-propelled cleaner 10 automatically stops the operation after cleaning most of the bedding F1.

Self-propelled cleaner 10 of the present embodiment operates as described above. According to the present embodiment, as described above, it is possible to reduce the risk that the sheet S is drawn into the suction port 43 and the risk that the sheet S is caught in the agitator 44.

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. For example, the self-propelled cleaner 10 may be configured to operate based on the size of the cleaning target area manually set by the user. For example, the self-propelled cleaner 10 includes a device that serves as an input unit for a user to input dimensional information including information on a short side length RS and a long side length RL of a rectangular cleaning target area. You may have it. The control unit 80, which is 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 dimension information input by the device serving as the input unit. When the self-propelled cleaning device 10 is equipped with the device serving as the input means, the time for the first step is shortened. In addition, the short side length RS and the long side length RL of the rectangular cleaning target region may be set in advance, for example, in accordance with general bedding.

For example, the self-propelled cleaner 10 may include a device that serves as setting means for the user to arbitrarily set at least one of the reverse distance DB and the turning angle θ. This allows the user to arbitrarily adjust the area to be cleaned and dried in the second step and the operation time of the self-propelled cleaner 10 in the second step. It should be noted that the reverse travel DB and the turning angle θ may be set in advance, for example, according to general bedding.

The turning of the main body of the self-propelled cleaner 10 is performed by controlling the wheel motor 32. The turning angle of the main body is detected, for example, based on the signal output from the 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.

For example, the self-propelled cleaner 10 may further include a detection sensor or the like that serves as a direction detection unit that detects the forward direction. The control unit 80 may control the turning operation of the main body based on the detection result of this detection sensor. The detection sensor is, for example, a gyro sensor. When the self-propelled cleaner 10 is equipped with a gyro sensor, the self-propelled cleaner 10 can turn with higher accuracy.

In each of the above embodiments, the control unit 80 stops the motor 47, the fan motor 51b, and the heater 71 when the sum of the turning angles θ is 360° or more. The control unit 80, based on the forward direction detected by the detection sensor such as the gyro sensor, when the forward direction of the main body swung by the third operation becomes the forward direction of the main body in the first first operation, the motor 47 and the fan. The motor 51b and the heater 71 may be stopped.

For example, if the control unit 80 does not end the first step even if a preset reference time or more has elapsed since the start of the first step, the control unit 80 starts the first step from the beginning. Each device may be controlled to start over. In this case, for example, even when the main body of the self-propelled cleaner 10 cannot be moved to the cleaning reference position due to an external object hindering the movement of the main body, the first step is automatically redone. ..

The second step in each of the above-described embodiments is a step of cleaning and drying the mattress F1 which is the area to be cleaned. In the second step, the control unit 80 drives the motor 47, the fan motor 51b and the heater 71. On the other hand, in the first step, the motor 47, the fan motor 51b and the heater 71 may or may not be driven.

When the motor 47, the fan motor 51b, and the heater 71 are driven in the first step, the area to be cleaned and the area to be cleaned are cleaned while the main body of the self-propelled cleaner 10 moves from the initial position to the cleaning reference position. Drying is performed. On the other hand, when the motor 47, the fan motor 51b, and the heater 71 are not driven in the first step, the amount of power consumption until the main body of the self-propelled cleaner 10 moves from the initial position to the cleaning reference position can be small. .. This allows the storage battery 91 to last longer.

Moreover, the moving speed of the main body of the self-propelled cleaner 10 may be different between the first step and the second step. For example, the control unit 80 may control the drive unit 30 so that the moving speed of the main body in the first step becomes the first speed. The control unit 80 may control 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 a speed different from the first speed. In particular, the first speed may be faster than the second speed. As a result, the main body can be moved from the initial position to the cleaning reference position in a short time, and cleaning in the second step can be started earlier.

10 self-propelled cleaner, 20 body, 21 upper cover, 21a hinge, 21b protrusion, 21c spring, 21d detection lever, 21e button opening, 22 lower case, 22a bottom face, 22b bottom face, 22c hinge guide, 22d upper protrusion, 22e Lower protrusion, 22f Notch for finger hanging, 23 Bumper, 23a Bumper guide, 23b Support plate, 23c Operating plate, 23d Support plate slit, 23e Notch, 23f Bumper supporting boss, 23g washer, 23h screw, 23i operating plate slit, 23j inclined surface, 23k obstacle detection sensor, 23m spring, 23n stopper, 23p sensor support plate, 29 protrusion, 30 drive unit, 31 wheel, 32 wheel motor, 32a motor shaft, 32b encoder, 32c disk, 32d circuit section , 32e slit, 32f light emitting element, 32g light receiving element, 33 gear unit, 34 housing, 40 cleaning unit, 41 suction port body, 41a air passage, 42 connection pipe, 42a air passage, 43 suction port, 43a suction port guard, 43b Frame body, 43c movable guard member, 43d fixed guard body, 43e guide rib, 43f holding claw, 43g notch, 43h locking claw, 43i locking lever, 43j switching lever, 43k frame, 43m movable guard, 44 agitator, 45 dust remover, 45a hole, 46 shaft, 47 motor, 48 gear, 50 suction unit, 51 fan unit, 51a fan, 51b fan motor, 52 duct, 52a packing, 53 duct, 60 dust collecting unit, 61 dust collecting box, 61a Handle, 61b Packing, 62 Dust Collection Filter, 63 Dust Collection Box Housing, 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, 81a sensor cover, 82 infrared ray emitting section, 83 infrared ray receiving section, 85 operation display unit, 86 operation display board, 87 operation button , 87a operation switch, 88 upper cover detection switch, 88a upper cover detection switch opening, 89 display unit, 90 power supply unit, 91 storage battery, 92 circuit board, 93 power supply case, 94 charging terminal

Claims (3)

A main body which is moved by a moving means on the surface to be cleaned in the cleaning target area,
A suction port provided on the bottom side of the main body and communicating with the outside,
Control means for controlling the moving means,
Equipped with
A cleaning surface detection sensor for detecting an end portion of the cleaning surface below the main body when the main body is traveling on the cleaning surface, and the main body traveling on the cleaning surface. An obstacle detection sensor that detects an obstacle on the side of the main body when the
The control means controls the moving means according to a detection result of the cleaning surface detection sensor and a detection result of the obstacle detection sensor,
The suction port is a self-propelled cleaner which is above the bottom surface of the main body in a state where the bottom surface of the main body faces a horizontal plane. The control means controls the moving means so that the main body repeats a first operation, a second operation, and a third operation in order,
The first motion is a motion to move forward,
The second operation moves backward by a preset backward movement distance when it is detected by at least one of the surface-to-be-cleaned detection sensor and the obstacle detection sensor that the main body has reached the end of the cleaning target area. Operation,
The self-propelled cleaner according to claim 1, wherein the third operation is an operation of turning by a predetermined turning angle. The control means moves the main body to perform a first step of moving from the initial position to the cleaning reference position and a second step of cleaning the cleaning target area while moving from the cleaning reference position. Control means,
The first operation, the second operation, and the third operation are repeated in the second step,
3. In the first step, the main body performs a midpoint detection operation of moving to a midpoint between two ends of the cleaning target area, and the midpoint is set as the cleaning reference position. Self-propelled vacuum cleaner described in.

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