JP3133510B2 - Self-propelled vacuum cleaner - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled vacuum cleaner.
More particularly, the present invention relates to a self-propelled vacuum cleaner having high operability and durability, and in which runaway or malfunction is less likely to occur, and which is highly safe.

[0002]

2. Description of the Related Art Conventionally, as a self-propelled cleaner, for example, as shown in Japanese Patent Application Laid-Open No. 58-203736, a pair of right and left running wheels rotatably supported by a cleaner body,
Self-propelled cleaning comprising a pair of traveling drive motors for individually driving each traveling wheel, and traveling control means for detecting the operation of a handle supported on the cleaner body and controlling the rotation direction of each traveling drive motor. Machine has been proposed.

In the conventional self-propelled vacuum cleaner, the grip of the handle is rotatable. When the grip is rotated about the axis of the handle, the mechanical drive switches the travel drive motor in the direction of rotation inoperative. In this state, the cleaner body is turned in the direction of rotation of the grip.

[0004] However, the conventional self-propelled vacuum cleaner requires a twist of the wrist to rotate the grip portion, so that the operation is troublesome and the operability is not good. In addition, since a mechanical switch is used, aging is likely to occur, which is disadvantageous in improving durability. Further, since the mechanical switch is provided in the handle, for example, in order to disassemble the cleaner body and the handle at the time of storage when not in use, a wiring configuration for connecting between the mechanical switch and another circuit provided in the cleaner body. Becomes complicated. In addition, since the mechanical switch is provided at a position distant from the main body of the cleaner, there is a problem that noise is easily generated and a malfunction due to the noise is easily generated.

[0005]

SUMMARY OF THE INVENTION As a result of studying to solve the problems of the prior art, the present inventor has found that a traveling means for moving the cleaner body and a traveling means supported by the cleaner body. A self-propelled vacuum cleaner having a detecting means for detecting the direction of the force applied to the steering wheel and a running control means for controlling the running means based on the output of the detecting means. 21799).

In the self-propelled cleaner according to the above-mentioned application, the traveling direction of the cleaner body is changed by a simple operation of pushing a handle forward, pulling the handle forward, or moving the handle left or right. Thus, steering operability can be improved as compared with the conventional example in which the steering wheel is twisted.

Further, since a pressure sensor can be used as a detecting means for detecting the direction of the force applied to the handle, aging damage is less likely to occur as compared with a conventional example in which the movement of the handle is detected by a mechanical switch. , Can increase durability.

Further, since the detecting means is provided in the cleaner body, wiring processing between the detecting means and other circuits in the cleaner body such as the traveling control means can be performed irrespective of whether the handle is inserted or removed. In addition, the configuration of the wiring can be simplified.

Further, since the distance between the detection means and the travel control means is shorter than in the conventional example, noise or malfunction due to noise is less likely to occur.

As described above, the self-propelled vacuum cleaner according to the earlier application has higher operability and durability than conventional examples, and hardly causes malfunction.

However, in the self-propelled vacuum cleaner according to the above-mentioned application, measures against malfunction or the like due to runaway of the vacuum cleaner main body or abnormality of the support state of the handle are not always sufficient.

SUMMARY OF THE INVENTION In view of the foregoing, the present invention provides a self-propelled vacuum cleaner according to the earlier application which eliminates a malfunction caused by runaway or an abnormal support state of a steering wheel, and has a higher safety. It is intended to provide a vacuum cleaner.

[0013]

SUMMARY OF THE INVENTION The present invention provides a cleaner body, a traveling means for moving the cleaner body, a detecting means for detecting the direction of a force applied to a handle supported on the cleaner body, A self-propelled cleaner including: a traveling control unit that controls the traveling unit based on an output of the detection unit, wherein a determination of forward or backward traveling based on an output of the detection unit is switched a plurality of times within a short time. In this case, the present invention relates to a self-propelled cleaner (hereinafter, referred to as a first invention) having stop determination means for performing a stop determination.

The present invention further provides a traveling means for moving the cleaner body, a detecting means for detecting the direction of a force applied to a handle supported by the cleaner body, and an output of the detecting means. A self-propelled cleaner having a traveling control means for controlling the traveling means, wherein the handle is detachably or bendably supported by the cleaner body, and the support state of the handle is The present invention relates to a self-propelled cleaner (hereinafter, referred to as a second invention) having detection means for detecting, and stop determination means for performing a stop determination when the support state of the handle is not normal according to an output of the detection means.

[0015]

According to the first aspect of the present invention, when the forward / reverse determination is switched a plurality of times within a short time based on the output of the detecting means for detecting the direction of the force applied to the steering wheel, the stop determination is performed. Stop driving.

If the determination of forward or reverse is switched a plurality of times within a short time, it means that the vehicle is stopped from forward or reverse. For example, if the operator stops from the forward state,
The traveling means of the cleaner main body maintains the forward state, and the handle is pulled with respect to the cleaner main body, that is, it is in a reverse state. Therefore, the traveling means moves backward based on the output of the detection means, and the handle is pressed against the cleaner body,
That is, the vehicle is in the forward traveling state. In this way, when the forward and reverse are switched within a short time, the stop determination means makes a stop determination,
Stop running as intended by the user.

In the second invention, when the handle is not supported properly, for example, when the handle is not completely mounted, when the handle comes off during cleaning, or when the handle is folded. In the case of, for example, a stop determination is made and the driving of the traveling means is stopped. Therefore, malfunction when the support state of the handle is not normal is prevented.

[0018]

Next, the present invention will be described specifically.

First, the first invention will be described. FIG. 1 is a configuration diagram showing the configuration of the first invention. A self-propelled cleaner according to a first aspect of the present invention is a traveling means for moving a cleaner body, a detecting means for detecting a direction of a force applied to a handle supported on the cleaner body, and the traveling means based on an output of the detecting means. And stop determination means for determining stop when the forward / reverse determination based on the output of the detection means is switched a plurality of times within a short time.

Next, a self-propelled cleaner according to an embodiment of the first invention will be described with reference to FIGS. 2 to 5 and FIGS.

FIG. 13 is a side view showing a self-propelled cleaner according to an embodiment of the first invention, and FIG. 14 is a plan view showing the traveling device.

As shown in FIGS. 13 and 14, this self-propelled cleaner has a cleaner main body 1, a pair of left and right running wheels 2 rotatably supported by the cleaner main body 1, and a cleaner main body 1. And preferably a detachably supported handle 3. Handle 3 has a grip at its tip (grip)
4 is fixed.

As shown in FIG. 14, the cleaner main body 1 is provided with a pair of traveling drive motors 5 for individually driving the traveling wheels 2. Each traveling drive motor 5 and each traveling wheel 2 are connected via a gear interlocking mechanism 6.

FIG. 2 is a longitudinal sectional view showing a mounting portion of the handle 3 in the vacuum cleaner, and FIG. 3 is a transverse sectional view thereof.

As shown in FIGS. 2 and 3, a bottomed tubular handle pocket 7 for accommodating the base end of the handle 3 is fixed to the cleaner body 1.
A pressure sensor 21 made of, for example, pressure-sensitive conductive rubber or the like is arranged around the outside.

A plurality of locking holes 8 are formed at an intermediate height of the inner peripheral surface of the handle pocket 7 at appropriate intervals in the circumferential direction, while a plurality of locking holes 8 are formed at an intermediate height of the base end of the handle 3. A plurality of engaging members 9 corresponding to the respective locking holes 8 are provided so as to be able to protrude and retract from the peripheral surface thereof. The engaging member 9 is fitted into the engaging hole 8 so as to be able to move to some extent in the axial direction of the handle 3 within the engaging hole 8, and the handle 3 can swing with the engaging member 9 as a fulcrum. In addition, the handle 3 can be moved to some extent in the axial direction. When the handle 3 is pulled with a certain strength or more, the engagement member 9 is immersed and can be detached from the handle pocket 7.

As shown in the block diagram of FIG. 4, the rotational direction and rotational speed of each traveling drive motor 5 are controlled by a control unit 11 comprising a microcomputer to which the output of the sensor 21 is input.

The control section 11 receives the output of a pressure sensor for detecting the internal pressure of the dust collecting chamber of the cleaner body 1, controls the rotation of the suction motor, and controls the operation of the display board and the like. It is.

In the self-propelled cleaner, the handle 3
Is supported by the cleaner main body 1 so as to be swingable, so that when the user grips the grip 4 and moves it forward, backward, left or right in any direction, the tip of the handle moves accordingly, and the sensor 21 is moved in accordance with the movement. Output changes.

When the handle 3 is moved, the sensor 21
Corresponds to the vertical operation force, the vertical movement distance of the steering wheel 3 is estimated from the input data (output data of the sensor 21) as shown in the input data column of Table 1, for example. The rotation speed and the rotation direction of the drive motor 5 are determined by the
The traveling speed and traveling direction are changed.

That is, the traveling direction of the cleaner main body 1 can be changed by a simple operation of moving the handle in the direction in which the cleaner main body 1 is to be advanced.

[0032]

[Table 1]

In Table 1, "strong", "medium" and "weak" indicate the strength of the output level of the sensor 21. Table 1 shows typical combinations, and there are some intermediate values in actual use.

Next, a stop operation during traveling in the self-propelled cleaner having the above configuration will be described.

When the traveling of the cleaner body 1 is stopped,
From Table 1, it can be understood that the handle 3 should be moved so that the output of the sensor 21 becomes medium. However, in actual use, the inertia force due to the movement acts, and the output of the sensor 21 has a constant value (strong to weak). If the value does not indicate the intermediate value), it also occurs.

Therefore, in the first aspect of the invention, when the forward / reverse determination based on the output of the sensor 21 is switched a plurality of times within a short period of time, for example, as shown in Table 2, Then, it is determined that the estimated moving direction is to be stopped, the traveling drive motor 5 is stopped, and the cleaner main body 1 can be stopped reliably according to the operator's intention.

[0037]

[Table 2]

If it is attempted to stop the movement at the intermediate value of the sensor output, it is difficult to determine the stop unless the output width of the intermediate value is widened.

However, if the output width of the intermediate value is widened, a certain amount of force is required to continue pushing and pulling the cleaner main body 1, and the original purpose of the self-propelled cleaner is the operator's purpose. This is contrary to the goal of minimizing the burden. Therefore, it is not suitable to perform the stop determination with the intermediate value of the sensor output during traveling.

If the operator tries to stop the cleaner when the cleaner is moving forward, only the cleaner advances first, and as a result, the sensor output becomes weaker and the vehicle is switched to the reverse. But,
Since the operator does not intend to move backward and presses the handle 3, the cleaner switches to the forward movement again. In this manner, the cleaner body 1 repeats forward and backward vibrations. Therefore, when the determination based on the sensor output is switched from forward to backward to forward within a short time, the direction determination is stopped and the traveling drive motor 5 is stopped, assuming that the operator does not intend to move.

Similarly, if the operator tries to stop the cleaner while moving backward, only the cleaner first moves backward. As a result, the sensor output becomes strong, and the apparatus switches to forward movement. However, since the operator has no intention of moving forward, the vacuum cleaner switches to the reverse again. In this manner, the cleaner body repeats forward and backward vibrations. Therefore, when the determination based on the sensor output is switched from reverse to forward to reverse within a short time, the direction determination is stopped and the traveling drive motor 5 is stopped, assuming that the operator has no intention to move.

Next, the execution of the control will be described with reference to the flowchart of FIG.

First, the output of the sensor 21 is input to the control unit 11 in S1, and the forward / reverse determination is performed in S2 and S9. If the vehicle is traveling forward, a determination is made in S3 as to whether or not the previous determination was reverse. If the vehicle has been switched from reverse to forward, the previous reverse traveling time is set in S4 in the preset time, in this embodiment. It is determined whether it is within one second. If the last reverse time is within the set time in S4, the forward count timer and the reverse count timer are reset in S7, a stop determination is made in S8, and the driving of the traveling device is stopped.

When it is determined in S3 that the previous determination was not the reverse, or when it was determined in S4 that the time of the previous reverse was not within the set time, the count of the previous reverse is determined in S5. The timer is reset, a forward count timer for counting the time during which the vehicle is moving forward is counted up in S6, and the process proceeds to S1.

When it is determined in S9 that the vehicle is moving backward, the same operation as in the above-described forward movement is performed. If it is determined in S2 and S9 that neither forward movement nor reverse movement is performed, the forward count timer or the reverse count timer is counted up in S14, and the process proceeds to S1. This is when the traveling device is stopped, or momentarily when switching between forward and backward,
Because it is considered that there is a state where it is determined that the vehicle is neither forward nor backward, the forward or backward state is held until the forward / backward traveling direction is switched, and the time count is continued. It is. Counting may be performed even when the traveling device is stopped, but a problem arises because stop determination is performed only when switching from forward to reverse or from reverse to forward. There is no.

In the first aspect of the present invention, it is preferable that the length of time for switching from the reverse determination to the forward determination when moving forward and for switching from the forward determination to reverse when moving backward is set in the range of 0.5 to 1.5 seconds. If the set time is out of the range, it becomes difficult to stop as intended by the operator.

In the first invention, not only a pressure sensor made of the above-described pressure-sensitive conductive rubber but also a sensor constituted by combining a compression spring and a pressure-sensitive conductive film can be used as the sensor 21. Also, the mounting position and the number of the sensors 21 can be appropriately changed (this point will be described later in detail).

Next, the second invention will be described.
FIG. 4 is a configuration diagram showing a configuration of the second invention.

According to a second aspect of the present invention, there is provided a self-propelled cleaner having a traveling means for moving the cleaner body, a first detector for detecting a direction of a force applied to a handle supported by the cleaner body, and the first detector. And the traveling control means for controlling the traveling means by the output of the first embodiment is the same as the first invention, and further detects the support state of the handle detachably or foldably supported by the cleaner. There is provided second detection means, and stop determination means for performing a stop determination when the support state of the handle is not normal based on the output of the second detection means.

Next, a self-propelled cleaner according to one embodiment of the second invention will be described with reference to FIGS. 7 to 10 and FIGS.
7 to 10, the same elements as those in FIGS. 2 to 4 are denoted by the same reference numerals.

As shown in FIGS. 13 and 14, the vacuum cleaner main body, handle and its running means according to one embodiment of the second invention are the same as those in the first invention.

FIG. 7 is a longitudinal sectional view showing a mounting portion of the handle 3 in the vacuum cleaner, and FIG. 8 is a transverse sectional view thereof.

As shown in FIGS. 7 and 8, a bottomed tubular handle pocket 7 for accommodating the base end of the handle 3 is fixed to the cleaner body 1.
A sensor 22 for detecting a support state of the handle 3, which is made of, for example, a microswitch, is disposed around the inside of the inside.

As in the first invention, a plurality of locking holes 8 are formed at an intermediate height of the inner peripheral surface of the handle pocket 7 at appropriate intervals in the circumferential direction. At an intermediate height of the portion, a plurality of engaging members 9 corresponding to the respective locking holes 8 are provided so as to be able to protrude and retract from the peripheral surface thereof. The engaging member 9 is fitted into the locking hole 8 so as to be able to move to some extent in the axial direction of the handle 3 within the locking hole 8.
The handle 3 can be swung about the engagement member 9 as a fulcrum, and the handle 3 can be moved to some extent in the axial direction. When the handle 3 is pulled with a certain or more strong force, the engaging member 9 can be immersed and detached from the handle pocket 7. As described above, the handle 3 is housed in the handle pocket 7 so as to be removable.

As shown in the block diagram of FIG. 9, the rotation of each of the traveling drive motors 5 is controlled by a control unit 11 comprising a microcomputer to which the output of the sensor 22 is input.

As in the first invention, a sensor 21 for detecting the movement of the handle 3, which is made of, for example, pressure-sensitive conductive rubber, is provided around the outer periphery of the handle pocket 7, and its output is provided. Is input to the control unit 11.

In the self-propelled vacuum cleaner, the handle 3
Is supported by the cleaner main body 1 so as to be swingable, so that when the user grips the grip 4 and moves it forward, backward, left or right in any direction, the tip of the handle moves accordingly, and the sensor 21 is moved in accordance with the movement. Output changes.

When the handle 3 is moved, the sensor 21
Correspond to the vertical operation force, for example, as shown in Table 1 above.
The vertical movement distance of the steering wheel 3 is estimated from the input data (output data of the sensor 21) as shown in the input data column of (1), and the rotation speed and the rotation direction of the drive motor 5 are determined according to the distance. The traveling speed and traveling direction of the cleaner main body 1 are changed based on the determination.

In the self-propelled vacuum cleaner, the handle 3
Are supported by the cleaner main body 1 so as to be able to be inserted and removed. When the handle 3 is inserted or removed, the sensor 22 estimates the removal or insertion state of the handle 3 from input data (output data of the sensor 22) as shown in the input data column of Table 3, for example, in accordance with the insertion or removal state. On / off of the traveling drive motor 5 is determined based on the result. That is,
When the handle 3 is removed from the cleaner body 1, the traveling drive motor 5 is turned off.

[0060]

[Table 3]

The ON / OFF permission in Table 3 means that the control of the traveling drive motor 5 is determined by the output of the sensor 21.

The execution of the above control will be described with reference to the flowchart of FIG. First, the output of the sensor 22 is input to the control unit 11. When the input is OFF, turn off the driving motor 5
And the driving of the traveling wheels 2 is stopped. When the input is ON, the output of the sensor 21 is input, and thereby the traveling drive motor 5 is controlled.

In the second invention, the sensor 22 is not limited to the above-mentioned microswitch, but may be a pressure sensor or a photo sensor. Further, the mounting position and the number of the sensors 22 are not limited to those in the above-described embodiment, but can be appropriately changed.

FIGS. 11 and 12 show another embodiment of the second invention.
Shown in In this embodiment, the handle is configured to be bendable, and FIG. 11 shows the extended state of the handle.
Numeral 12 indicates a bent state of the handle.

In FIGS. 11 and 12, the handle 3 comprises a lower handle 3a and an upper handle 3b, and the lower handle 3a and the upper handle 3b are rotatably connected by a hinge 3A. The handle pocket 7 is provided with a lower locking hole 8 into which the engaging projection 9 of the handle 3 is fitted and an upper locking hole 8a. The engaging projection 9 is fitted into the lower locking hole 8. 11, the hinge portion 3A of the handle 3 is housed in the main body 1 and the handle 3 is in an extended state as shown in FIG. 11, while the engagement protrusion 9 is fitted into the upper locking hole 8a. At this time, as shown in FIG. 12, the hinge portion 3A is exposed from the main body 1, and the handle upper portion 3b can be bent with respect to the handle lower portion 3a. When the engagement projection 9 is fitted in the lower engagement hole 8, the handle 3 can swing and swing in the same manner as in the previous embodiment.

Also in this embodiment, the bending state of the steering wheel 3 is estimated from the output of the sensor 22, and when the steering wheel 3 is in the bending state, the traveling drive motor 5 is turned off.

Next, in the present invention (common to the first invention and the second invention), a detecting means for detecting the direction of a force applied to a handle supported on the cleaner body and a means for controlling the traveling means based on its output. A more preferred embodiment will be described in detail.

As shown in FIGS. 15 to 17, pressure sensors 21a (left sensor) and 21b (rear sensor) made of, for example, conductive rubber are provided around the outer periphery of the handle pocket 7 in three directions with respect to the rear side and downward. ), 21c (right sensor) and
21d (lower sensor) is arranged.

As shown in the block diagram of FIG. 18, the left sensor 21a, the rear sensor 21b, the right sensor 21c, and the lower sensor
The output of 21d is input to the control unit 11, whereby the rotation direction of the traveling drive motor 5 is controlled.

In the self-propelled cleaner, the handle 3
Is supported by the cleaner main body 1 so as to be swingable, so that the handle 3 can be moved in any direction of front, rear, left and right. When the handle 3 is moved, each pressure sensor 21
a to 21d correspond to the moving direction and the operating force of the handle 3 and, for example, from the input data (output data of the sensors 21a to 21d) as shown in the input data column of Table 4, the handle 3
Is estimated, and the rotation speed of the traveling drive motor 5 is determined so that the direction of the cleaner body 1 can be changed in that direction.
Based on this determination, each traveling drive motor 5 is rotated, and the traveling direction of the cleaner body 1 is changed.

That is, the traveling direction of the cleaner body 1 can be changed by a simple operation of moving the handle 3 in the direction in which the cleaner body 1 is to be advanced.

[0072]

[Table 4]

In Table 4, "strong" or "weak" indicates the strength of the output level of the pressure sensors 21a to 21d. Table 4 shows typical combinations. In actual use, there are intermediate values of these, and the moving direction can be determined by calculating the combined force of the three sensors.

Further, in this self-propelled cleaner, since the pressure sensor 21 having no mechanical operation is used for detecting the moving direction, it is less susceptible to aging than a mechanical switch, and is durable. Can be enhanced.

Further, in this self-propelled vacuum cleaner, the pressure sensors 21a to 21a to detect the direction of the force applied to the handle 3 are provided.
Since 21d is provided in the cleaner main body 1, wiring processing between the pressure sensors 21a to 21d and the control unit 11 can be performed irrespective of whether the handle 3 is inserted or removed, and this wiring processing is simplified.

Moreover, in this self-propelled cleaner, the pressure sensors 21a to 21a to detect the direction of the force applied to the handle 3 are provided.
Since 21d is provided in the cleaner body 1, the pressure sensor 21d is provided.
The distance between a to 21d and the control unit 11 is shorter than the conventional example,
Noise and malfunction due to noise are less likely to occur.

In addition, in this self-propelled cleaner, a handle pocket 7 for accommodating the base end of the handle 3 is fixed in the cleaner body 1, and a pressure sensor 21 is provided around the handle pocket 7. Since the handle 3 is disposed, it is possible to prevent the base end of the handle 3 from directly hitting or catching the pressure sensors 21a to 21d when the handle 3 is inserted into the cleaner body 1, and the contact of the handle 3 with the pressure sensor 21a. 21d can be prevented from being damaged or damaged, and the durability can be further improved. In order to detect the horizontal movement of the handle 3, two sensors are provided on the left and right of the handle 3 as shown in FIG. 19 instead of the three-sensor method using the three pressure sensors 21a to 21c as described above. 21a and 21c may be provided, and detection may be performed based on the output balance (two-sensor system). 20, a handle holding spring 24 for holding the handle 3 is provided on one of the left and right sides, and one sensor 23 is provided on the opposite side.
Or one volume sensor 25 may be provided as shown in FIG. 21 (one-sensor type). Figure 20,
The sensor at 21 detects the horizontal movement of the steering wheel 3 as the amount of displacement in the left-right direction.

In each of the above embodiments, the mounting position of the sensor and the like can be appropriately changed.

[0079]

In the self-propelled cleaner according to the first aspect of the present invention, when the forward / reverse determination based on the output of the sensor for detecting the direction of the force applied to the steering wheel is switched a plurality of times within a short time. By performing the stop determination, the cleaner main body can be stopped as intended by the user, the runaway can be prevented, and safety can be improved.

Further, since the stop determination does not depend on the intermediate value of the output of the sensor, there is no need to apply an unnecessary force when moving forward and backward, and the cleaner can be moved with a smaller force.

Further, since the rotation of the running wheels can be stopped even in a narrow place or the like, the main body can be cleaned as desired without runaway and the usability can be improved. In the self-propelled cleaner according to the second invention, the traveling drive motor can be turned ON / OFF depending on the support state of the steering wheel, and the safety is improved as compared with the conventional one that does not have a sensor capable of detecting the support state of the steering wheel. Can be increased.

Further, since the sensor 22 for detecting the support state of the handle is provided in the cleaner body, the sensor 22 and other circuits in the cleaner body such as the control unit are independent of the handle support state. And the wiring configuration can be simplified.

Further, since the sensor 22 for detecting the support state of the handle is provided in the cleaner body, the distance between the sensor 22 and the control unit is short, and noise and malfunction due to noise are less likely to occur.

Further, since the handle can be pulled out or bent, the height can be reduced as compared with the conventional example, which is advantageous for storage.

The following effects are obtained as effects common to the first and second inventions.

In the self-propelled cleaner according to the present invention, the traveling direction of the cleaner main body can be changed by a simple operation of moving the handle in the direction in which the cleaner main body is to be advanced, and the conventional example in which the handle is twisted. In comparison, steering operability can be improved.

Further, since the operation of the steering wheel is detected by the pressure sensor 21, compared with the conventional example in which the operation of the steering wheel is detected by a mechanical switch, aging is less likely to occur and the durability can be improved.

Further, since the pressure sensor 21 is provided in the cleaner body, wiring processing between the pressure sensor 21 and other circuits in the cleaner body such as the control unit can be performed irrespective of whether the handle is inserted or removed. In addition, the configuration of the wiring can be simplified.

Further, since the pressure sensor 21 is provided in the main body of the cleaner, the distance between the pressure sensor for detecting the direction of the force applied to the handle and the control unit is short, and noise or malfunction due to noise is less likely to occur.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a self-propelled vacuum cleaner according to a first invention of the present invention.

FIG. 2 is a longitudinal sectional view showing a main part of the self-propelled cleaner according to the embodiment of the first invention.

FIG. 3 is a cross-sectional view showing a main part of the self-propelled cleaner according to the embodiment of the first invention.

FIG. 4 is a block diagram showing a travel control device of the self-propelled cleaner according to the embodiment of the first invention.

FIG. 5 is a flowchart illustrating traveling control in the self-propelled cleaner according to the embodiment of the first invention.

FIG. 6 is a configuration diagram showing a self-propelled cleaner according to a second invention of the present invention.

FIG. 7 is a longitudinal sectional view showing a main part of a self-propelled cleaner according to an embodiment of the second invention.

FIG. 8 is a cross-sectional view showing a main part of a self-propelled cleaner according to an embodiment of the second invention.

FIG. 9 is a block diagram showing a travel control device of the self-propelled cleaner according to one embodiment of the second invention.

FIG. 10 is a flowchart illustrating traveling control in a self-propelled cleaner according to an embodiment of the second invention.

FIG. 11 is a longitudinal sectional view showing a main part of a self-propelled cleaner according to another embodiment of the second invention.

FIG. 12 is a longitudinal sectional view showing another state of the handle in the other embodiment shown in FIG. 11;

FIG. 13 is a side view showing a self-propelled cleaner according to an embodiment of the present invention.

FIG. 14 is a plan view showing a traveling device of the self-propelled cleaner according to one embodiment of the present invention.

FIG. 15 is a side view showing a self-propelled cleaner according to another embodiment of the present invention.

FIG. 16 is a longitudinal sectional view showing a main part of a self-propelled cleaner according to the other embodiment.

FIG. 17 is a cross-sectional view showing a main part of a self-propelled cleaner according to the other embodiment.

FIG. 18 is a block diagram showing a travel control device of a self-propelled cleaner according to the other embodiment.

FIG. 19 is a cross-sectional view showing a main part of a self-propelled cleaner (two-sensor type) according to still another embodiment of the present invention.

FIG. 20 is a cross-sectional view showing a main part of a self-propelled cleaner (one-sensor type) according to still another embodiment of the present invention.

FIG. 21 is a cross-sectional view showing a main part of a self-propelled cleaner (one sensor type) according to still another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vacuum cleaner main body 2 Running wheel 3 Handle 5 Travel drive motor 7 Handle pocket 11 Travel control part 21 Sensor 22 Sensor

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) A47L 5/28 A47L 9/00 A47L 9/28

Claims (2)

(57) [Claims] 1. A traveling means for moving the main body of the cleaner, a detecting means for detecting a direction of a force applied to a handle supported on the main body of the cleaner, and the traveling based on an output of the detecting means. A self-propelled cleaner comprising: a traveling control means for controlling the means; and a stop for making a stop determination when the forward / reverse determination based on the output of the detection means is switched a plurality of times within a short time. A self-propelled vacuum cleaner having a determination unit. 2. A traveling means for moving the main body of the cleaner, a detecting means for detecting a direction of a force applied to a handle supported on the main body of the cleaner, and the traveling by an output of the detecting means. A self-propelled cleaner having a travel control means for controlling the means, wherein the handle is supported on the cleaner body so as to be detachable or bendable, and the support state of the handle is detected. Self-propelled cleaner having means and stop determination means for determining a stop when the support state of the handle is not normal based on an output of the detection means.