JP5968100B2 - Self-propelled vacuum cleaner - Google Patents

Description

  The present invention relates to a self-propelled cleaner.

A conventional self-propelled cleaner includes a dust suction port and a rotating brush provided at the dust suction port near the center of the bottom surface of the circular main body, and a side brush near the bottom outer periphery of the main body. By rotating the side brush substantially horizontally and dusting outside the outer periphery of the main body into the center side of the main body, dust near the wall surface is sucked (for example, see Patent Document 1).
In addition, another conventional self-propelled cleaner has a configuration in which a suction nozzle having a right-angled tip is accommodated in the front left of the bottom of the circular main body. By moving the main body so that the side surface of the suction nozzle protruding from the outer periphery of the main body follows the wall surface, dust near the wall surface is sucked (see, for example, Patent Document 2).

Japanese Patent No. 4838978 (paragraphs [0029]-[0033]) Japanese Patent No. 4190318 (paragraphs [0033]-[0036])

  The conventional self-propelled cleaner has a problem that the side brush does not reach a narrow space such as a corner of the floor surface, resulting in cleaning leakage. Also, in the conventional self-propelled cleaner, the direction of the rotating brush and suction nozzle with respect to the moving direction of the main body is constant, and when moving the moving direction in a narrow space such as a corner of the floor surface, the forward and backward movement is performed. There is a problem that the cleaning efficiency is poor because it needs to be repeated.

  The present invention has been made in order to solve the above-described problems, and provides a self-propelled cleaner with less floor leakage. The present invention also provides a self-propelled cleaner with excellent cleaning efficiency.

The self-propelled cleaner according to the present invention has a drive wheel that rolls on the floor surface, a dust suction port is provided on the bottom surface, and two planes that intersect each other at right angles are formed on a part of the side surface. The bisector of the apex angle formed by the two planes is parallel to a plane including the rolling direction of the drive wheel, and is formed by the two planes of the body. The top portion is movable in the vertical direction or rotatable in the vertical direction with respect to the drive wheel, and at least one of the two planes is parallel to the wall surface and is in contact with the wall surface. A sensor for detecting proximity and a displacement amount detection sensor for detecting the amount of displacement in the vertical direction of the top formed by the two planes are provided.

  The self-propelled cleaner according to the present invention has a drive wheel that rolls on the floor surface, a dust suction port is provided on the bottom surface, and two planes that intersect each other at right angles are formed on a part of the side surface. It is provided with at least a main body, and the bisector of the apex angle formed by the two planes is parallel to the rolling direction of the drive wheel, so that it cannot be reached by a conventional self-propelled cleaner. It becomes possible to reach the dust inlet, and cleaning leakage can be reduced.

It is a bottom view of the self-propelled cleaner concerning Embodiment 1 of the present invention. It is a top view of the self-propelled cleaner concerning Embodiment 1 of the present invention. It is a left view of the self-propelled cleaner concerning Embodiment 1 of the present invention. It is sectional drawing in the Ba-Bb line | wire described in FIG. 1 of the self-propelled cleaner concerning Embodiment 1 of this invention. It is a top view in the state where the dust collecting part cover etc. were removed of the self-propelled cleaner concerning Embodiment 1 of the present invention. It is a top view in the state where the dust collection part was removed of the self-propelled cleaner concerning Embodiment 1 of the present invention. It is sectional drawing in the Ba-Bb line | wire described in FIG. 1 in the state which removed the dust collection part, the universal connection part, etc. of the self-propelled cleaner concerning Embodiment 1 of this invention. It is sectional drawing in the Da-Db line described in FIG. 1 of the self-propelled cleaner concerning Embodiment 1 of the present invention. FIG. 6 is a plan view of the self-propelled cleaner according to the first embodiment of the present invention with a dust collector cover and the like removed; from the state shown in FIG. It is a figure which shows the state rotated 45 degrees around. FIG. 6 is a plan view of the self-propelled cleaner according to Embodiment 1 of the present invention in a state in which a dust collection unit cover and the like are removed, and the outer shell portion rotates clockwise with respect to the central portion from the state shown in FIG. 5. It is a figure which shows the state rotated by 45 degrees. It is sectional drawing in the Da-Db line | wire described in FIG. 1 in the state which is contacting or adjoining the wall surface of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is sectional drawing in the Ba-Bb line | wire described in FIG. 1 in the state which moves on the carpet of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1 of this invention. It is a figure which shows the bottom view of the self-propelled cleaner which concerns on Embodiment 2 of this invention. It is a figure which shows the bottom view of the self-propelled cleaner concerning Embodiment 3 of this invention. It is a figure which shows the bottom view of the self-propelled cleaner concerning Embodiment 4 of this invention. It is a figure which shows the perspective view of the self-propelled cleaner which concerns on Embodiment 5 of this invention. It is a figure which shows the perspective view of the modification of the self-propelled cleaner which concerns on Embodiment 5 of this invention. It is a figure which shows the perspective view of the modification of the self-propelled cleaner which concerns on Embodiment 5 of this invention.

Hereinafter, the self-propelled cleaner of the present invention will be described with reference to the drawings.
In addition, in each figure, the same code | symbol is attached | subjected to the same member and the same part. In addition, the illustration of the fine structures such as bearings and support members is omitted as appropriate. In addition, overlapping descriptions are simplified or omitted as appropriate.

Embodiment 1 FIG.
The schematic structure of the self-propelled cleaner according to the first embodiment will be described below.
(Outline structure)
FIG. 1 is a diagram illustrating a bottom view of the self-propelled cleaner according to the first embodiment.
As shown in FIG. 1, the self-propelled cleaner according to the first embodiment has a main body 1 having an outer shape surrounded by an arc having a center angle A of 270 ° and two tangent lines extending from both ends of the arc. The main body 1 has a central portion 2 and an outer shell portion 3 that are divided by a circle concentric with the arc. The outer shell portion 3 has a right angle portion 4 and an arc portion 5. The outer shell 3 is rotatable around the central portion 2 within a total range of 90 °, 45 ° clockwise and 45 ° counterclockwise from the state shown in FIG. The right angle portion 4 is supported by the outer shell portion 3 so as to be movable up and down.

  A pair of drive wheels 6 a and 6 b are provided inside the central portion 2. The drive wheels 6a and 6b protrude from the drive wheel openings 7a and 7b provided symmetrically on the bottom surface of the central portion 2 with the center line Ba-Bb interposed therebetween so that the lower surfaces are in contact with the floor surface. The drive wheels 6a and 6b are independently driven by drive wheel motors 8a and 8b, which will be described later, and the rotational force of the drive wheel motors 8a and 8b is transmitted through gear portions 9a and 9b connecting a plurality of gears. The central portion 2 is provided with a follower wheel 10 that can change its direction in the middle rear of the drive wheels 6 a and 6 b, and the main body 1 is supported by the drive wheels 6 a and 6 b and the follower wheel 10.

  The right-angle part 4 has a suction port 11 having a shape (substantially L-shaped) bent at a right angle along the outer periphery in front of the bottom surface, and sucks dust by a negative pressure generated by a blower 28 described later. When the main body 1 moves with the front end of the right-angled portion 4 in front, dust on the floor surface in the range through which the suction port 11 passes is removed. Since the suction port 11 is a narrow opening having a width of 5 mm to 10 mm, the suction air speed can be increased and dust can be reliably collected. A bristle brush 12 having a length contacting the floor is provided in front of the suction port 11. The bristle brush 12 makes contact with the floor surface and facilitates suction of dust attached to the floor surface. The bristle brush 12 is divided into a plurality of blocks and arranged in a row, and a predetermined interval is provided between each block. The bristle brush 12 is planted so that the tip is directed to the floor surface and spreads outside the main body 1.

  Behind the suction port 11, a dust receiver 13 made of a sheet-like elastic member, a bristle brush row, or a cloth is provided. The length of the dust receiver 13 in the vertical direction is set to a length at which the tip contacts the floor surface. The dust receiver 13 prevents the dust from passing behind the suction port 11 and guides it to be sucked by the suction port 11.

  A tip slope portion 14 that slopes forward is provided at the bottom tip of the right-angle portion 4. The tip inclined portion 14 is provided with a tip brush 15 having a length in contact with the floor surface. The tip brush 15 is in contact with the floor surface and facilitates suction of dust attached to the floor surface. The tip brush 15 is divided into a plurality of blocks and arranged in a row, and a predetermined interval is provided between the blocks. The tip brush 15 is implanted so that the tip is directed to the bottom surface and spreads outside the main body 1.

A pair of left and right front step detection sensors 16a and 16b that detect a concave step when the main body 1 moves forward and a pair of left and right rear step detection sensors 17a and 17b that detect a concave step when moving backward are provided on the outer periphery of the bottom surface of the arc portion 5. Provided. Each level difference detection sensor includes a light emitting unit that emits infrared light and a light receiving unit, and detects the depth of the concave step by receiving the infrared light emitted from the light emitting unit and reflected on the floor surface by the light receiving unit. A control unit (not shown) changes the moving direction of the main body 1 when a concave step having a predetermined depth or more is detected.
Each step detection sensor is not limited to a light emitting unit that emits infrared light and a light receiving unit, and may be another sensor such as a contact switch or an ultrasonic transceiver.

  The distance between the drive wheel 6 a and the drive wheel 6 b is set to be narrower than the distance between both ends of the opening of the suction port 11. With this configuration, when the drive wheels 6a and 6b roll in the forward direction with the suction port 11 in the front, the drive wheels 6a and 6b pass through the cleaned floor, so that the drive wheels 6a , 6b can be prevented from attaching dust.

FIG. 2 is a plan view of the self-propelled cleaner according to the first embodiment. FIG. 3 is a left side view of the self-propelled cleaner according to the first embodiment.
As shown in FIGS. 2 and 3, the right angle portion 4 has a planar right side surface 18a and a left side surface 18b. The apex angle at which the right side surface 18a and the left side surface 18b intersect is 90 °, and the joint between the two surfaces is formed round.

The right side surface 18a and the left side surface 18b are provided with two right side surface proximity sensors 19a and 20a and two left side surface proximity sensors 19b and 20b that are spaced apart from each other by a predetermined distance. Each of the proximity sensors 19a, 20a, 19b, and 20b includes a light emitting unit that emits infrared light and a light receiving unit, and the light receiving unit receives the infrared light that is emitted and reflected from the light emitting unit. A control unit (not shown) detects the distance to the wall or obstacle from the signals of the proximity sensors. Moreover, a control part (not shown) detects the angle of the wall surface and obstacle with respect to the right side surface 18a and the left side surface 18b by comparing the distance output of two proximity sensors in the same plane.
A right proximity sensor 21a, a left proximity sensor 21b, a right rear proximity sensor 22a, a left rear proximity sensor 22b, and a rear proximity sensor 23 are provided on the left, right, left, right, and rear of the side surface of the arc portion 5. . Each proximity sensor includes a light emitting unit and a light receiving unit that emit infrared rays, and the light receiving unit receives infrared rays that are emitted from the light emitting unit and reflected. A control unit (not shown) detects the distance between the side and rear of the main body 1 and the wall surface and obstacles.
Each proximity sensor is not limited to a light emitting unit that emits infrared light and a light receiving unit, and may be another sensor such as a contact switch or an ultrasonic transmitter / receiver.

The circular arc part 5 has an operation display part 24 at the rear of the upper surface. The operation display unit 24 is provided with a plurality of operation buttons 25 and a display unit 26 for switching functions such as a power source and an operation mode.
In addition, a dust collector cover 27 that extends over the right angle portion 4 and the arc portion 5 is provided on the upper surface of the main body 1. The dust collecting unit cover 27 opens and closes by rotating around the fulcrum when the dust collecting unit 31 described later is attached to and detached from the main body 1.

Below, the structure of the dust collection part of the self-propelled cleaner which concerns on Embodiment 1 is demonstrated.
(Dust collector structure)
4 is a cross-sectional view of the self-propelled cleaner according to the first embodiment, taken along line Ba-Bb described in FIG. 1.
As shown in FIG. 4, a blower 28 is provided at the center of the arc portion 5. The blower 28 has a fan 29 composed of a plurality of rotating blades that rotate horizontally, and generates negative pressure by rotating the fan 29. The air flows from the upper side in the axial direction of the fan 29 due to the negative pressure generated by the fan 29, and is discharged from the exhaust duct 30 provided in the radial direction of the fan 29.

  A detachable dust collecting portion 31 is provided on the top of the blower 28. The dust collector 31 is configured in a cylindrical shape and has a dust collector lid 32 provided with an opening on the blower 28 side. The dust collector lid 32 can be opened and closed with the hinge 33 as a fulcrum. The opening is provided with a filter 34 that separates dust from the dust-containing air sucked from the suction port 11 and allows only air to pass therethrough. In addition, a lattice 35 is provided at the opening of the blower 28 to prevent foreign matter from entering when the dust collecting unit 31 is removed.

  A ring-shaped seal member 36 that secures the airtightness of the dust collector 31 and the blower 28 is provided at the opening of the dust collector lid 32. The seal member 36 is made of a material in which an elastic member such as rubber or elastomer resin is blended with a fluororesin having lubricity, and has a V-shaped cross section. The opening of the dust collector lid 32 and the opening of the blower 28 are in contact with different surfaces forming the V-shape of the seal member 36. By comprising in this way, the dust collection part 31 and the air blower 28 are slidable in a horizontal direction in the state which ensured airtightness.

FIG. 5 is a diagram illustrating a plan view of the self-propelled cleaner according to the first embodiment with the dust collecting unit cover 27 and the like removed.
A suction air passage 37 and a free coupling portion 38 that communicate with the dust collection portion 31 are connected to the suction port 11. The dust-containing air sucked from the suction port 11 by the negative pressure generated by the blower 28 merges in the suction air passage 37 and is sucked into the dust collecting portion 31 through the universal connection portion 38. The sucked dust-containing air is collected by the filter 34 in the dust collecting portion 31. Only the air filtered by the filter 34 is sucked into the blower 28. The universal connecting portion 38 has a bellows structure made of an elastic member such as rubber or elastomer resin, and ensures airtightness even when the suction air passage 37 and the dust collecting portion 31 are close to or separated from each other.

FIG. 6 is a diagram showing a plan view of the self-propelled cleaner according to Embodiment 1 with the dust collection part 31 removed. 7 is a cross-sectional view taken along the line Ba-Bb shown in FIG. 1, with the dust collection part 31 and the universal connection part 38, etc. removed, of the self-propelled cleaner according to the first embodiment. FIG. FIG. 8 is a cross-sectional view of the self-propelled cleaner according to the first embodiment, taken along line Da-Db shown in FIG. 1.
As shown in FIGS. 6, 7, and 8, the dust collection portion 31 and the universal connection portion 38 and the like can be separated and removed from the main body 1 by opening the dust collection portion cover 27 (FIG. 6 shows the dust collection portion). The state which removed only the part 31 is shown.). The dust collector lid 32 can be opened with the hinge 33 as a fulcrum, and the filter 34 can be separated and removed. A ring-shaped seal member (not shown) is provided on the contact surface between the dust collector lid 32 and the dust collector 31 to ensure airtightness. Further, the dust collector lid 32 is provided with a locking claw (not shown), and engages with the dust collector 31 to keep the dust collector lid 32 closed.

Below, arrangement | positioning of the electric system of the self-propelled cleaner which concerns on Embodiment 1 is demonstrated.
(Electric system layout)
As shown in FIGS. 4 and 5, an assembled battery 40 in which a plurality of cylindrical storage batteries 39 are integrated and stored in a resin case is provided behind the arc portion 5. The plurality of storage batteries 39 are arranged in an arc shape along the outer shape of the arc portion 5. The main body 1 can be reduced in size by arranging the storage batteries 39 in an arc shape.

  An electric circuit board 41 is provided in the central portion 2, and electric parts such as a control circuit and a sensor are mounted on the electric circuit board 41. A plurality of main body exhaust ports 42 are provided on the rear side surface portion of the arc portion 5. The exhaust air exhausted from the blower 28 passes through the central portion 2 and the arc portion 5, cools the electric parts of the electric circuit board 41 and the heating elements such as the storage battery 39, and is exhausted from the main body exhaust port 42. .

  The structure of each drive system of the self-propelled cleaner according to the first embodiment will be described below.

(Outer shell drive system)
As shown in FIGS. 4 and 5, the outer shell portion 3 is rotatably connected to the central portion 2. The central portion 2 is disposed inside the outer shell portion 3, and a plurality of columnar rolling members 43 are provided at a connection portion with the outer shell portion 3. The rotatable angle of the outer shell portion 3 with respect to the central portion 2 is 90 °, and the outer shell portion 3 is 45 ° around the central portion 2 clockwise and counterclockwise with respect to the state shown in FIG. Rotate in the range.

  An angle adjustment motor 44 and a pinion gear 45 that transmits the rotational force of the angle adjustment motor 44 are provided behind the arc portion 5. A rack gear 46 is provided in the central portion 2. The rack gear 46 meshes with the pinion gear 45, and the rotational force of the angle adjustment motor 44 is transmitted via the pinion gear 45. The control unit (not shown) rotates the outer shell portion 3 relative to the central portion 2 by rotating the angle adjusting motor 44 during the operation of the main body 1.

  The arc portion 5 is provided with an angle detection sensor (not shown) that detects the position of the rack gear 46 and detects the rotation angle of the outer shell portion 3. A control unit (not shown) controls the rotation angle of the outer shell 3 based on a signal from the angle detection sensor.

FIG. 9 is a diagram showing a plan view of the self-propelled cleaner according to the first embodiment with the dust collecting part cover 27 and the like removed, from which the outer shell part 3 is located at the center. It is a figure which shows the state rotated 45 degrees counterclockwise with respect to the part 2. FIG.
In the state shown in FIG. 5, when a control unit (not shown) rotates the angle adjustment motor 44 counterclockwise, the pinion gear 45 rotates counterclockwise while rolling the gear portion of the rack gear 46 that meshes. The rack gear 46 moves to the right. As the pinion gear 45 moves, the outer shell 3 to which the angle adjusting motor 44 is fixed rotates counterclockwise with respect to the central portion 2. When the outer shell portion 3 rotates 45 ° counterclockwise with respect to the central portion 2, an angle detection sensor (not shown) detects this and outputs a signal to the control portion (not shown). The control unit (not shown) receives the signal and stops the angle adjustment motor 44.

  At this time, the axes Fa-Fb of the drive wheels 6a, 6b are perpendicular to the left side surface 18b. In this state, the left side surface 18b can be brought into contact with the wall surface G, and by moving the main body 1 along the wall surface G, the floor surface E near the wall can be continuously cleaned. Moreover, the area | region away from the wall surface G can be simultaneously cleaned by the suction inlet 11 by the side of the right side 18a, and it is possible to improve the efficiency of the cleaning of the floor surface E near a wall.

FIG. 10 is a diagram showing a plan view of the self-propelled cleaner according to the first embodiment in a state where the dust collecting part cover 27 and the like are removed, and the outer shell part 3 is in the center from the state shown in FIG. It is a figure which shows the state rotated 45 degrees clockwise with respect to the part 2. FIG.
In the state shown in FIG. 5, when a control unit (not shown) rotates the angle adjustment motor 44 clockwise, the pinion gear 45 rotates clockwise and the rack gear 46 rotates while rotating the gear portion of the rack gear 46 that meshes. Move to the left. As the pinion gear 45 moves, the outer shell portion 3 to which the angle adjusting motor 44 is fixed rotates clockwise with respect to the central portion 2. When the outer shell 3 rotates 45 ° clockwise relative to the central portion 2, an angle detection sensor (not shown) detects this and outputs a signal to the control unit (not shown). The control unit (not shown) receives the signal and stops the angle adjustment motor 44.

  At this time, the axes Fa-Fb of the drive wheels 6a, 6b are perpendicular to the right side surface 18a. By making this state, the right side surface 18a can be brought into contact with the wall surface H, and by moving the main body 1 along the wall surface H, the floor surface E near the wall can be continuously cleaned. Moreover, the area | region away from the wall surface H can also be cleaned simultaneously by the suction inlet 11 by the left side surface 18b side, and it is possible to improve the efficiency of the cleaning of the floor surface E near a wall.

FIG. 11 is a diagram illustrating a cross-sectional view of the self-propelled cleaner according to the first embodiment, taken along the Da-Db line illustrated in FIG. 1, in a state where the self-propelled cleaner is in contact with or close to the wall surface. FIG. 11 shows a state in which the left side surface 18b is in contact or close proximity, but the same applies to a state in which the right side surface 18a is in contact or close proximity.
As shown in FIG. 11, the left side surface 18 b of the main body 1 is in contact with or close to the wall surface G. In a state where the left side surface 18b is in contact with or close to the wall surface G, the bristle brush 12 and the tip brush 15 reach the floor surface E near the wall. By moving the main body 1 in a state where the bristle brush 12 and the tip brush 15 reach the floor surface E near the wall, dust adhering to the floor surface E near the wall is removed, and it is possible to reliably clean the wall. Further, since the bristle brush 12 and the tip brush 15 are provided in blocks, large dust can be sucked from the gaps between the blocks.

(Driving system of driving wheels)
As shown in FIGS. 4 and 5, drive wheel motors 8a and 8b are connected to the pair of drive wheels 6a and 6b via gear portions 9a and 9b, respectively, thereby constituting an integrated drive unit. The pair of drive wheels 6a and 6b is rotatably supported by a hinge portion (not shown) provided on the rear side of the main body. The drive unit receives a force in a direction in which the drive wheels 6a and 6b protrude from the drive wheel openings 7a and 7b by a spring (not shown). When the main body 1 is lifted from the floor E, the drive unit receives a force from the spring, so that the amount of protrusion of the drive wheels 6a and 6b from the drive wheel openings 7a and 7b increases.

  Each drive wheel unit is provided with a drive wheel ground sensor (not shown) that detects displacement. The control unit (not shown) recognizes the contact state between the drive wheels 6a and 6b and the floor E by monitoring the output of the drive wheel ground sensor.

Below, operation | movement of the right-angled part of the self-propelled cleaner which concerns on Embodiment 1 is demonstrated.
(Operation of right angle part)
As shown in FIG. 4, the right angle portion 4 is supported by the outer shell portion 3 so as to be vertically movable. The outer shell 3 is provided with a plurality of guides 47, and the right angle portion 4 moves up and down along the guides 47. Further, the right angle portion 4 has an inclined surface at the tip of the bottom surface, and when the right angle portion 4 reaches the convex step, the inclined surface receives a force from the convex step and moves the right angle portion 4 upward.

  A displacement amount detection sensor 48 that detects the amount of vertical displacement of the right angle portion 4 is provided behind the right angle portion 4. The displacement detection sensor 48 includes an infrared light emitting unit and a light receiving unit. The control unit (not shown) detects the displacement of the right-angled portion 4 by detecting the reflected infrared light emitted to the boundary portion with the light receiving unit. The control unit (not shown) controls the drive wheels 6a and 6b so as to get over the right-angled part 4 when it gets on the convex step. In addition, when it falls to the concave step, the driving wheels 6a, 6b are stopped and then reversed so that the escape operation from the concave step is performed.

12 is a diagram illustrating a cross-sectional view of the self-propelled cleaner according to the first embodiment, taken along the line Ba-Bb illustrated in FIG. 1, in a state of moving on the carpet.
As shown in FIG. 12, when the main body 1 moves on the carpet I on which soft hair is planted, the driving wheels 6 a and 6 b and the driven wheel 10 support the weight of the main body 1 with a narrow contact area. Sink inside. On the other hand, since the right-angled part 4 has a large contact area with the carpet I, it does not sink into the carpet I, but is stable in contact with the surface of the carpet I. Thus, when the main body 1 moves on the carpet I, the right angle portion 4 moves upward with respect to the drive wheels 6 a and 6 b and the outer shell portion 3. With such a configuration, dust on the carpet I can be cleaned even when moving on the carpet I.

Hereinafter, the operation of the self-propelled cleaner according to the first embodiment will be described.
(Operation of self-propelled vacuum cleaner)
13 to 33 are diagrams illustrating the operation of the self-propelled cleaner according to the first embodiment.
13 to 33, a broken line indicates a state before the main body 1 is operated.
When the operator sets the cleaning operation of the main body 1, the control unit (not shown) operates the blower 28 and starts suction from the suction port 11. The control unit (not shown) drives the drive wheel motors 8a and 8b based on a predetermined operation algorithm to move the main body 1.
13 to 33 show the case where the wall surface K is on the right side with respect to the wall surface J when the floor surface E is viewed from above, but the wall surface K is on the left side with respect to the wall surface J. But it is possible to operate similarly.

  FIG. 13 shows a state in which the main body 1 moves obliquely toward the wall surface J. At this time, the main body 1 is located about 30 cm away from the wall surface J, and the right side proximity sensors 19a and 20a and the left side proximity sensors 19b and 20b do not detect the proximity to the wall J. Each proximity sensor is preferably set to detect proximity when the distance to the wall surface J is 20 cm or less.

  FIG. 14 shows a state in which the main body 1 goes straight and is close to the wall surface J up to about 10 cm. At this time, the front left side proximity sensor 19b, the rear left side proximity sensor 20b, and the front right side proximity sensor 19a detect the proximity to the wall surface J. The control unit (not shown) recognizes from the signals of these three proximity sensors that the front left side proximity sensor 19b is closest. In addition, the control unit (not shown) recognizes that the left side surface 18b is inclined with respect to the wall surface J from the difference in distance output between the front left side surface proximity sensor 19b and the rear left side surface proximity sensor 20b. To do.

  FIG. 15 shows a state in which the main body 1 has the left side surface 18 b in contact with the wall surface J. After recognizing that the left side surface 18b is inclined with respect to the wall surface J at the time of FIG. 14, the control unit (not shown) moves the main body 1 while turning in the right direction while moving the front left side surface. The distance outputs of the proximity sensor 19b and the rear left side proximity sensor 20b are compared. Then, the control unit (not shown) rolls the drive wheels 6a and 6b so that the difference in distance output between the proximity sensors is 0 and the proximity sensors detect contact, and the left side surface 18b is moved to the wall surface J. Contact. When the left side surface 18b comes into contact with the wall surface J, the suction port 11 sucks dust accumulated on the floor surface E near the wall.

  FIG. 16 shows a state in which the rolling directions of the drive wheels 6 a and 6 b are parallel to the wall surface J. The controller (not shown) moves the main body 1 along the wall surface J in the state of FIG. 15, that is, with the left side surface 18 b in contact with the wall surface J. The central portion 2 and the outer shell portion 3 are rotated so as to be parallel to the wall surface J.

  At this time, the control unit (not shown) rolls the right drive wheel 6a in the negative direction (rolls in the backward direction) and rolls the left drive wheel 6b in the positive direction (rolls in the forward direction). As a result, the central part 2 is rotated clockwise. At the same time, the angle adjusting motor 44 is rotated counterclockwise, and the outer shell 3 is rotated counterclockwise with respect to the central portion 2. Here, the rolling direction of the drive wheels 6a and 6b is changed while the left side surface 18b is in contact with the wall surface J by making the central part 2 and the outer shell part 3 rotate at the same speed. can do.

  FIG. 17 shows a state in which the main body 1 is moving along the wall surface J. The control unit (not shown) is in the state shown in FIG. 16, that is, in a state where the left side surface 18b is in contact with the wall surface J and the rolling direction of the driving wheels 6a and 6b is parallel to the wall surface J. Roll 6b in the forward direction (roll in the forward direction). The main body 1 moves along the wall surface J by a distance corresponding to substantially the entire length of the main body 1 while the left side surface 18b is in contact with the wall surface J. By moving in this way, the bristle brush 12 is pressed against the boundary between the floor surface E and the wall surface J, and the dust on the floor surface E near the wall can be scraped and collected.

  FIG. 18 shows a state in which the main body 1 is moving in the direction of returning along the wall surface J. The control unit (not shown) rolls the drive wheels 6a and 6b in the negative direction in the state shown in FIG. 17, that is, in a state where the main body 1 moves along the wall surface J by a distance corresponding to substantially the entire length of the main body 1. (Rolls backward). The main body 1 moves in the direction of returning along the wall surface J by a distance corresponding to substantially half of the entire length of the main body 1 while bringing the left side surface 18b into contact with the wall surface J. In particular, when cleaning along the wall surface, the main body 1 moves while repeating the forward and backward movements in this way, so that the bristle brush 12 scrapes off dust on the floor surface E near the wall and the suction port 11 collects. Can be performed more reliably.

  19 and 20 show a state in which the main body 1 moves while repeating forward and backward movements and cleans along the wall surface J. FIG. FIG. 19 shows a state of moving forward, and FIG. 20 shows a state of moving backward.

  FIG. 21 shows a state in which the main body 1 moves along the wall surface J and reaches the corner L. The control unit (not shown) is in the state shown in FIG. 20, that is, in a state where the left side surface 18b is in contact with the wall surface J and the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface J. Roll 6b in the forward direction (roll in the forward direction).

  When the main body 1 approaches the wall K, the front right side proximity sensor 19a and the rear right side proximity sensor 20a simultaneously detect the proximity to the wall K. At this time, the control unit (not shown) recognizes the angle of the right side 18a with respect to the wall surface K by comparing the distance outputs of the front right side proximity sensor 19a and the rear right side proximity sensor 20a. The control unit (not shown) can recognize that the wall surface K is perpendicular to the wall surface J when both proximity sensors have the same distance output. When recognizing that the wall surface K is not perpendicular to the wall surface J, the control unit (not shown) outputs a signal that warns that cleaning leakage may occur. Further, the operation algorithm is switched according to the angle between the wall surface J and the wall surface K, and the cleaning is continued.

  When the main body 1 reaches the corner L, the control unit (not shown) stops driving the drive wheels 6a and 6b with the right side surface 18a in contact with the wall surface K. And it stays in the corner L for a predetermined time. At this time, in the suction port 11, in addition to the left side 18b side, the right side 18a side is also along the wall surface, and dust-containing air is sucked along three boundary portions formed by the wall surface J, the wall surface K, and the floor surface E. The dust accumulated on the floor E around the corner L is collected. The time for staying at the corner L is preferably about 2 to 3 seconds. Thus, by staying at the corner L for a predetermined time, the dust at the corner L can be more reliably collected.

  22 and 23 show a state in which the periphery of the corner L is cleaned by moving backward and forward after the main body 1 reaches the corner L. The control unit (not shown) rolls the drive wheels 6a and 6b in the negative direction (rolls in the backward direction) in the state shown in FIG. Rolls in the direction (rolls in the forward direction), and reciprocates along the wall surface J by a distance corresponding to substantially half of the entire length of the main body 1. Thus, by reciprocating along the wall surface J, it is possible to more reliably collect dust attached to the periphery of the corner L by the bristle brush 12 and the tip brush 15.

  FIG. 24 shows a state in which the rolling direction of the drive wheels 6 a and 6 b is set to 45 ° with respect to the wall surface J and the wall surface K with the main body 1 reaching the corner L. The control unit (not shown) rotates the central part 2 by 45 ° counterclockwise in the state shown in FIG. 23, that is, with the right side surface 18 a in contact with the wall surface K and the left side surface 18 b in contact with the wall surface J. At the same time, the outer shell 3 is rotated 45 ° clockwise.

  At this time, the control unit (not shown) rolls the right driving wheel 6a in the positive direction (rolls in the forward direction), and rolls the left driving wheel 6b in the negative direction (rolls in the backward direction). As a result, the central part 2 is rotated counterclockwise. At the same time, the angle adjusting motor 44 is rotated clockwise, and the outer shell 3 is rotated clockwise with respect to the central portion 2. Here, the rolling direction of the drive wheels 6a and 6b is changed while the right side surface 18a is in contact with the wall surface K by making the speed of the central part 2 and the rotation speed of the outer shell part 3 the same. can do. That is, the rolling direction of the drive wheels 6a and 6b can be changed with the main body 1 held at the corner L.

  25 and 26 show a state in which the main body 1 moves backward and forward after changing the rolling direction of the drive wheels 6a and 6b to clean the periphery of the corner L. The control unit (not shown) moves the drive wheels 6a and 6b in the negative direction in the state shown in FIG. 24, that is, in a state where the rolling direction of the drive wheels 6a and 6b is 45 ° with respect to the wall surfaces J and K. (Rolling in the backward direction) and then rolling in the forward direction (rolling in the forward direction), and reciprocates a distance corresponding to substantially half of the entire length of the main body 1. In this way, by performing a reciprocating operation in a different direction after a reciprocating operation along the wall surface J, it is possible to more reliably collect dust attached to the periphery of the corner L by the bristle brush 12 and the tip brush 15. it can.

  FIG. 27 shows a state in which the rolling directions of the drive wheels 6a and 6b are parallel to the wall surface K. The control unit (not shown) rotates the central part 2 counterclockwise so that the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface K with the right side surface 18a in contact with the wall surface K. At the same time, the outer shell 3 is rotated 45 ° clockwise.

  At this time, the control unit (not shown) rolls the right driving wheel 6a in the positive direction (rolls in the forward direction), and rolls the left driving wheel 6b in the negative direction (rolls in the backward direction). As a result, the central part 2 is rotated counterclockwise. At the same time, the angle adjusting motor 44 is rotated clockwise, and the outer shell 3 is rotated clockwise with respect to the central portion 2. Here, the rolling direction of the drive wheels 6a and 6b is changed while the right side surface 18a is in contact with the wall surface K by making the speed of the central part 2 and the rotation speed of the outer shell part 3 the same. can do. That is, the rolling direction of the drive wheels 6a and 6b can be changed with the main body 1 held at the corner L.

  28 and 29 show a state in which the periphery of the corner portion L is cleaned by repeatedly moving backward and forward after changing the rolling direction of the drive wheels 6a and 6b. The control unit (not shown) rolls the drive wheels 6a and 6b in the negative direction (reverse direction) in the state shown in FIG. 27, that is, in a state where the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface K. And then reciprocate a distance corresponding to approximately half of the entire length of the main body 1. In this way, by performing reciprocating motions in different directions after reciprocating motion along the wall surface J in a plurality of directions, dust attached to the periphery of the corner L by the bristle brush 12 and the tip brush 15 is more reliably collected. Can be.

  FIG. 30 shows a state where the main body 1 has moved along the wall surface K in a direction away from the corner L. The control unit (not shown) is in the state shown in FIG. 29, that is, in a state where the right side surface 18a is in contact with the wall surface K and the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface K. Roll 6b. The main body 1 moves along the wall surface K while bringing the right side surface 18a into contact with the wall surface K. At this time, since the suction port 11 is located rearward with respect to the drive wheels 6a and 6b, the drive wheels 6a and 6b move on the floor E that has not been cleaned. Therefore, the control unit (not shown) temporarily stops the main body 1 after moving the main body 1 from the corner L along the wall surface K by about 50 cm, and the suction port 11 is connected to the drive wheels 6a and 6b by the following procedure. The positional relationship between the suction port 11 and the drive wheels 6a and 6b is changed so as to be positioned forward.

  FIG. 31 shows a state in which the main body 1 moves along the wall surface K and returns to the corner L side. In the state of FIG. 30, the control unit (not shown) moves the main body 1 toward the corner L side until the outer shell 3 sufficiently passes through the range where the suction port 11 on the left side 18b side is cleaned. To do. This is an operation for preventing the occurrence of the floor surface E that causes cleaning leakage due to a change in the positional relationship between the suction port 11 and the drive wheels 6a and 6b to be performed next.

  FIG. 32 shows a state in which the positional relationship between the suction port 11 and the drive wheels 6a and 6b is changed so that the suction port 11 is positioned in front of the drive wheels 6a and 6b. The control unit (not shown) is counterclockwise from the state shown in FIG. 31, that is, from the state where the outer shell 3 is rotated 45 ° clockwise relative to the central portion 2. The outer shell 3 is rotated until it is rotated 45 ° around. At the same time, the right driving wheel 6a rolls in the positive direction (rolls in the forward direction), and the left driving wheel 6b rolls in the negative direction (rolls in the backward direction). Rotate 180 ° counterclockwise. With this operation, the suction port 11 can be disposed on the front side of the drive wheels 6a and 6b, that is, on the side away from the corner L, at the same place as the position of the main body 1 in FIG. Further, it is possible to cope with cleaning at the next corner that appears after further movement along the wall surface K. It should be noted that the rotation of the outer shell 3 and the central rotation of the central portion 2 may not be simultaneous, but the time required to change the positional relationship between the suction port 11 and the drive wheels 6a and 6b is the same. This is preferable because it can save money.

  FIG. 33 shows a state in which the main body 1 has moved along the wall surface K by a distance corresponding to substantially the entire length of the main body 1 in the direction away from the corner L. The control unit (not shown) is in the state shown in FIG. 32, that is, in a state where the left side surface 18b is in contact with the wall surface K and the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface K. Roll 6b. The main body 1 moves by a distance corresponding to substantially the entire length of the main body 1 in the direction away from the corner portion L along the wall surface K while bringing the left side surface 18b into contact with the wall surface K. By moving in this way, the bristle brush 12 is pressed against the boundary between the floor surface E and the wall surface K, and the dust on the floor surface E near the wall can be scraped and collected.

  The control unit (not shown) rolls the drive wheels 6a and 6b in the negative direction in the state shown in FIG. 33, that is, in a state in which the main body 1 moves along the wall surface K by a distance corresponding to substantially the entire length of the main body 1. (Rolls backward). The main body 1 moves in a direction of returning along the wall surface K by a distance corresponding to substantially half of the entire length of the main body 1 while bringing the left side surface 18b into contact with the wall surface K. In particular, when cleaning along the wall surface, the main body 1 moves while repeating the forward and backward movements in this way, so that the bristle brush 12 scrapes off dust on the floor surface E near the wall and the suction port 11 collects. Can be performed more reliably.

As described above, the self-propelled cleaner according to the first embodiment includes a flat surface on the side surface of the outer shell portion 3 and a corner portion corresponding to the wall crossing angle of the corner portion of the floor surface, thereby The suction port 11 can be brought close to the surface E and the corner L of the floor surface, and since the suction port 11 can travel along the wall surface, cleaning leakage can be reduced.
In addition, since the relative angle between the rolling direction of the drive wheel and the plane of the side surface of the outer shell 3 can be changed, there is no need to repeat forward and backward when changing the direction of movement in a narrow space, improving the cleaning efficiency. It becomes possible to do.

Moreover, since the suction port 11 is formed in a substantially L shape along the outer periphery of the right-angled portion 4, the floor surface E near the wall and the floor surface E near the wall surface can be cleaned at the same time, thereby improving the cleaning efficiency. It becomes possible.
In addition, the self-propelled cleaner according to the first embodiment scrapes dust adhering to the floor E by the bristle brush 12 provided on the front side of the suction port 11 and the tip brush 15 provided on the tip inclined portion 14. And dust can be collected more reliably.
In addition, the self-propelled cleaner according to the first embodiment repeats forward and backward movements when cleaning the floor E near the wall or when cleaning the periphery of the corner L of the floor. Can be collected more reliably.

  In addition, although the outer shell part rotates the self-propelled cleaner according to Embodiment 1 in a range of ± 45 ° with respect to the center part, it is not limited to such a form. For example, even if the outer shell 3 is rotated 360 ° with respect to the center 2, it goes without saying that the same effect as that of the self-propelled cleaner according to the first embodiment can be obtained. Like the self-propelled cleaner according to the first embodiment, by limiting the range in which the outer shell 3 rotates, a storage battery 39 or the like can be provided behind the dust collecting unit, and the self-propelled cleaner It becomes possible to reduce the size.

  In addition, the self-propelled cleaner according to the first embodiment includes two drive wheels on a straight line passing through the center of rotation of the central portion 2, but is not limited to such a form. For example, it is needless to say that the same effect as that of the self-propelled cleaner according to the first embodiment can be obtained even with a mechanism that rotates the central portion 2 apart from the drive wheels that move the central portion 2. Yes. Like the self-propelled cleaner according to the first embodiment, by providing two drive wheels on a straight line passing through the center of rotation of the central portion 2, the mechanism that moves the central portion and the central portion 2 are rotated. Therefore, the self-propelled cleaner can be miniaturized.

  Moreover, although the right-angled part 4 is supported by the outer shell part 3 so that an up-and-down movement is possible, the self-propelled cleaner which concerns on Embodiment 1 is not limited to such a form. For example, it is needless to say that the same effect as in the first embodiment can be obtained even when the right-angle portion 4 is fixed or the bottom surface of the right-angle portion 4 is inclined so that the front is higher. Like the self-propelled cleaner according to the first embodiment, by moving the right-angled portion 4 up and down, it is possible to reliably get over the convex step. Moreover, like the self-propelled cleaner according to the first embodiment, the carpet I can be cleaned by moving the right-angled portion 4 up and down, and cleaning leakage can be further reduced.

  Further, the self-propelled cleaner according to the first embodiment is operated so that the right side surface 18a and the left side surface 18b are brought into contact with the wall surface when cleaning the floor surface E near the wall. You may operate | move in the state which released | separated and was made close proximity. By operating in this way, it is possible to clean the floor surface E near the wall without damaging the wall surface.

  Moreover, you may provide the buffer member with high sliding performance comprised with raw materials, such as a fluororesin, in each of the right side surface 18a and the left side surface 18b. By configuring in this way, it is possible to prevent the wall surface from being damaged when the right side surface 18a and the left side surface 18b are brought into contact with the wall surface.

  In addition, the self-propelled cleaner according to the first embodiment includes the driven wheel 10 on the bottom surface of the main body 1, but the driven wheel 10 may not be provided. In that case, since the bristle brush 12 is in contact with the floor E and supports the front of the main body 1, the main body 1 is supported horizontally with respect to the floor E. Further, instead of the driven wheel 10, a cushion member having high slidability may be provided. In that case, when the front of the main body 1 is lifted, the cushion member abuts against the floor surface E, and the bottom surface of the main body 1 is prevented from being damaged.

  Further, the self-propelled cleaner according to the first embodiment is arranged in a state where the air blower 28 and the dust collecting unit 31 are airtight in the air path between the air blower 28 and the dust collecting unit 31 by the seal member 36. Although configured to be slidable in the direction, both the blower 28 and the dust collecting portion 31 may be provided in the outer shell portion 3. In that case, when the outer shell part 3 rotates with respect to the center part 2, the exhaust duct 30 of the blower 28 is configured not to interfere with the drive wheel motors 8a, 8b and the like.

  In the self-propelled cleaner according to the first embodiment, the right angle portion 4 is configured to be movable up and down along a plurality of guides 47 provided in the outer shell portion 3. However, it may be configured to be rotatable in the vertical direction around a part of the right-angled portion 4.

  In the self-propelled cleaner according to the first embodiment, when cleaning along the wall surface, the main body 1 moves forward by a distance corresponding to substantially the entire length of the main body 1 and corresponds to approximately half of the entire length of the main body 1. Although it moves backward in the direction of returning by the distance, the moving distance at the time of forward and backward movement is not limited to substantially the entire length of the main body 1 and substantially half of the entire length of the main body 1. For example, the distance may be advanced by a distance corresponding to substantially the entire length of the main body 1 and may be retracted by a distance corresponding to approximately 3/4 of the entire length of the main body 1. Further, the reciprocating operation may be repeated with the moving distance at the time of forward and backward movement being the same in the portion where dust is accumulated or attached. The moving distance and the number of repetitions during forward and backward movement may be set according to the cleaning time and cleaning performance selected by the operator, and also according to the amount and state of dust detected by a sensor (not shown). May be set automatically.

  In addition, the self-propelled cleaner according to the first embodiment cleans the periphery of the corner L, and after the main body 1 reaches the corner L, the main body 1 extends along the wall surface J along the entire length of the main body 1. The main body 1 moves backward and forward by a distance corresponding to approximately half of the main body 1, and the main body 1 moves backward and forward by a distance corresponding to substantially half of the entire length of the main body 1 in the direction of 45 ° with respect to the wall surface J and wall surface K. Is moved backward and forward along a wall surface K by a distance corresponding to approximately half of the entire length of the main body 1, but the moving distance during backward and forward movement is not limited to approximately half of the entire length of the main body 1. . Further, the number of repetitions of the backward movement and the forward movement in each direction may be one time or a plurality of times. Further, the main body 1 is not limited to the case where the main body 1 moves backward and forward in a direction of 45 ° with respect to the wall surface J and the wall surface K. However, it may be moved backward and forward in the direction of 60 ° with respect to the wall surface K and 30 °. Also, the backward and forward movements in the direction of 45 ° with respect to the wall surface J and the wall surface K are omitted, and the rolling direction of the drive wheels 6a and 6b after the main body 1 reaches the corner portion L and a predetermined time has elapsed. May be changed by 90 ° and moved along the wall surface K. The moving distance during backward and forward movement, the number of repeated backward and forward movements in each direction, and the direction of backward and forward movement may be set according to the cleaning time and cleaning performance selected by the operator, and the sensor ( (Not shown) etc. may be automatically set according to the amount and state of dust detected.

Embodiment 2.
The structure of the self-propelled cleaner according to the second embodiment will be described below. In addition, about the description which overlaps with the self-propelled cleaner which concerns on Embodiment 1, it simplified or abbreviate | omitted suitably.
FIG. 34 is a diagram illustrating a bottom view of the self-propelled cleaner according to the second embodiment.
As shown in FIG. 34, in the self-propelled cleaner according to the second embodiment, a wiping cleaning sheet 49 is provided between both front and rear wheels 6a and 6b on the bottom surface of the main body 1. The wiping cleaning sheet 49 is made of a fiber material such as a non-woven fabric, and is detachable from the bottom surface of the main body 1. The wipe cleaning sheet 49 contacts the floor surface E when the main body 1 moves on the floor surface E. The wiping cleaning sheet 49 is pressed against the floor E with a pressure that does not allow the drive wheels 6a and 6b to idle on the floor E. A cushion material (not shown) such as foam resin is provided between the wiping cleaning sheet 49 and the bottom surface of the main body 1, and the wiping cleaning sheet 49 is pressed against the floor E with a uniform pressure.

  Further, the wiping cleaning sheet 49 is provided between the drive wheels 6 a and 6 b and at a position overlapping the position of the center of gravity M of the main body 1. When the pressure from the wiping cleaning sheet 49 to the floor surface E is increased in a state where the wiping cleaning sheet 49 is provided at a position away from the center of gravity, the driving wheels 6a and 6b are liable to slip and reduce the cleaning effect of the floor surface E. However, when the pressure from the wiping cleaning sheet 49 to the floor E is increased in a state where the wiping cleaning sheet 49 is provided at a position overlapping the position of the center of gravity M of the main body 1, the wiping cleaning sheet 49 is more affected by the weight of the main body 1. By being pressed down, the drive wheels 6a and 6b can be prevented from idling and the cleaning effect of the floor surface E can be improved. Moreover, since the wiping cleaning sheet 49 is provided over the front and rear of the drive wheels 6a and 6b, the dust on the floor E is suppressed from adhering to the drive wheels 6a and 6b.

Embodiment 3.
The structure of the self-propelled cleaner according to the third embodiment will be described below. In addition, about the description which overlaps with the self-propelled cleaner which concerns on Embodiment 1 and Embodiment 2, it simplified or abbreviate | omitted suitably.
FIG. 35 is a diagram illustrating a bottom view of the self-propelled cleaner according to the third embodiment.
As shown in FIG. 35, the self-propelled cleaner according to the third embodiment is provided with a wiping cleaning sheet 50 over substantially the entire surface excluding the drive wheel openings 7 a and 7 b on the bottom surface of the central portion 2. The wiping cleaning sheet 50 contacts the floor surface E when the main body 1 moves on the floor surface E. The wiping cleaning sheet 50 is pressed against the floor E with a pressure that does not allow the drive wheels 6a and 6b to idle on the floor E. A cushion material (not shown) such as foamed resin is provided between the wiping cleaning sheet 50 and the bottom surface of the main body 1, and the wiping cleaning sheet 50 is pressed against the floor E with a uniform pressure. The driven wheel 10 may not be provided on the bottom surface of the main body 1, and the main body 1 is horizontally supported by the wiping cleaning sheet 50 even when the driven wheel 10 is not provided.

  Since the wiping cleaning sheet 50 is disposed so as to cover substantially the entire surface of the bottom surface of the central portion 2 excluding the drive wheel openings 7a and 7b and also overlap the position of the center of gravity M of the main body 1, the wiping cleaning sheet 50 is disposed on the main body 1. 1 is further suppressed by the weight of 1, and the cleaning effect of the floor surface E can be enhanced. Moreover, since wiping and cleaning in a wide area is possible, the cleaning efficiency can be increased. Moreover, since the wiping cleaning sheet 50 is provided over the drive wheels 6a and 6b, the dust on the floor E is prevented from adhering to the drive wheels 6a and 6b.

Embodiment 4.
The structure of the self-propelled cleaner according to Embodiment 4 will be described below. In addition, about the description which overlaps with the self-propelled cleaner which concerns on Embodiment 1 thru | or Embodiment 3, it simplified or abbreviate | omitted suitably.
FIG. 36 is a diagram illustrating a bottom view of the self-propelled cleaner according to the fourth embodiment.
As shown in FIG. 36, in the self-propelled cleaner according to the fourth embodiment, the suction port 11 of the self-propelled cleaner according to the first embodiment has a right suction port 51a, a left suction port 51b, and a tip suction port. 52.

  The suction air passage 37 branches into a right suction port 51 a, a left suction port 51 b, and a tip suction port 52. When the main body 1 is cleaning other than the corners L of the floor surface, the control unit (not shown) sucks dust-containing air from all the suction ports, and the main body 1 cleans the corners L of the floor surface. When switching, the switching valve (not shown) is controlled so that the dust-containing air is sucked only from the tip suction port 52. By being configured in this way, when the main body 1 is cleaning the corner portion L, a strong negative pressure can be generated at the tip suction port 52, and dust accumulated or adhered to the corner portion L of the floor surface. Can be collected more reliably.

Embodiment 5.
The structure of the self-propelled cleaner according to the fifth embodiment will be described below. In addition, about the description which overlaps with the self-propelled cleaner which concerns on Embodiment 1 thru | or Embodiment 4, it is simplified or abbreviate | omitted suitably.
FIG. 37 is a perspective view of the self-propelled cleaner according to the fifth embodiment.
As shown in FIG. 37, the self-propelled cleaner according to the fifth embodiment is provided with a baseboard brush 53 on the upper surface of the right angle portion 4 of the main body 1. The baseboard brush 53 is detachably provided in fixing grooves 54a and 54b provided in the vicinity of the right side 18a and in the vicinity of the left side 18b on the upper surface of the right angle portion 4, respectively. The baseboard brush 53 can be adjusted in height when fixed. The height of the baseboard provided in the lower part of the wall surface of the room is 6 cm, 7.5 cm, and 10 cm, so that it can correspond to these heights, for example, to support a baseboard of 5 cm to 12 cm, It is only necessary that the height of the baseboard brush 53 is adjustable. Also, a plurality of baseboard brushes 53 corresponding to the mainstream baseboard height, for example, the baseboard brush 53 when the baseboard height is 6 cm and the baseboard height is 7.5 cm The baseboard brush 53 and the baseboard brush 53 when the baseboard height is 10 cm may be provided so as to be interchangeable.

  A bristle brush 55 is provided at the tip of the baseboard brush 53 that is not inserted into the fixing grooves 54a and 54b. The bristle brush 55 is divided into a plurality of blocks and arranged in a row, and a predetermined interval is provided between each block. The bristle brush 55 is planted so that the tip is directed downward and toward the outside of the right side surface 18a and the left side surface 18b of the right angle portion 4. By being configured in this way, when the main body 1 cleans along the wall surface, the bristle brush 55 comes into contact with the baseboard, and the dust accumulated or adhered on the baseboard is scraped off to the floor surface E. . And the dust scraped off by the floor E is collected by the suction inlet 11 of the main body 1 which moves while reciprocating along a wall surface.

Since it is comprised as mentioned above, it becomes possible to clean a baseboard simultaneously with the floor surface cleaning by the wall, and can clean a room efficiently.
In addition, the baseboard brush 53 is good to be comprised so that the bristle brush 55 may be provided to the position near the top part of the right angle part 4. FIG. By being configured in this way, it is possible to clean the baseboard at the corner L where the wall surface J and the wall surface K intersect.

  FIG.38 and FIG.39 is a figure which shows the perspective view of the modification of the self-propelled cleaner which concerns on Embodiment 5. FIG. As shown in FIG. 38, a baseboard brush 56 may be provided on the top of the right angle portion 4. The baseboard brush 56 is detachably provided in a fixing groove 57 provided in the vicinity of the top of the upper surface of the right angle portion 4. A bristle brush 58 is planted on the baseboard brush 56 so that the tip thereof faces downward and radially spreads outside the main body 1 within a range of 90 ° centered on the top. The baseboard brush 56 provided in the vicinity of the top and the baseboard brush 53 provided in the vicinity of the right side surface 18a and the left side surface 18b may or may not be shared. Further, as shown in FIG. 39, the baseboard brush 56 provided on the top is rotationally driven by a motor (not shown) or the like so that the track of the tip of the bristle brush 58 passes while contacting the upper surface of the baseboard. You may do it.

As mentioned above, although the self-propelled cleaner concerning Embodiment 1 thru / or Embodiment 5 was explained, the present invention is not limited to explanation of each embodiment.
For example, each embodiment and each modification may be combined.
Further, the self-propelled cleaners according to the first to fifth embodiments rotate the angle adjusting motor 44 so that the second angle of the apex formed by the two planes, that is, the right side surface 18a and the left side surface 18b is equal. Although the relative angle of the dividing line and the rolling direction of the drive wheels 6a and 6b is changed, the bisector of the apex angle and the rolling direction may be fixed in parallel. The angle adjustment motor 44 may be controlled to be fixed in a parallel state, and the central portion 2 and the outer shell portion 3 may be fixed or integrated so as not to rotate. When the central portion 2 and the outer shell portion 3 are fixed or integrated so as not to rotate, a member for rotating the outer shell portion 3 such as an angle adjusting motor 44 and a gear accompanying the central portion 2 is provided. It is not necessary. Even in such a case, by operating as shown in FIG. 25 and FIG. 26, the suction port 11 can reach a narrow space such as a corner of the floor surface, and cleaning leakage can be reduced. Moreover, it is also possible to clean the wall along the wall intermittently by repeating forward and backward movements.

  DESCRIPTION OF SYMBOLS 1 Main body, 2 Center part, 3 Outer shell part, 4 Right angle part, 5 Arc part, 6a, b Drive wheel, 7a, b Drive wheel opening part, 8a, b Drive wheel motor, 9a, b Gear part, 10 Drive wheel 11 Inlet port, 12 Bristle brush, 13 Dust receiver, 14 Tip inclined part, 15 Tip brush, 16a, b Front step detection sensor, 17a, b Back step detection sensor, 18a Right side surface, 18b Left side surface, 19a, 20a Right side Surface proximity sensor, 19b, 20b Left side proximity sensor, 21a Right side proximity sensor, 21b Left side proximity sensor, 22a Right rear proximity sensor, 22b Left rear proximity sensor, 23 Back proximity sensor, 24 operation display, 25 operation buttons, 26 Display, 27 Dust collector cover, 28 Blower, 29 Fan, 30 Exhaust duct, 31 Dust collector, 32 Dust collector lid 33 Hinge part, 34 Filter, 35 Grid, 36 Seal member, 37 Suction air passage, 38 Free connection part, 39 Storage battery, 40 Battery pack, 41 Electric circuit board, 42 Main body exhaust port, 43 Rolling member, 44 Angle adjustment motor, 45 Pinion gear, 46 Rack gear, 47 Guide, 48 Displacement detection sensor, 49, 50 Wipe cleaning sheet, 51a Right suction port, 51b Left suction port, 52 Tip suction port, 53, 56 Skirting brush, 54a, b, 57 Fixed groove , 55, 58 Bristle brush.

Claims (27)

A drive wheel that rolls on the floor surface, provided with a dust suction port on the bottom surface, and at least a main body having two planes intersecting at right angles to each other at a part of the side surface;
The bisector of the apex angle formed by the two planes is parallel to a plane including the rolling direction of the drive wheel,
The top formed by the two planes of the main body is movable in the vertical direction or rotatable in the vertical direction with respect to the drive wheel,
In the main body,
A sensor that detects that at least one of the two planes is parallel to the wall surface and is in contact with or close to the wall surface ;
A displacement detection sensor for detecting the amount of displacement in the vertical direction of the top formed by the two planes;
Was provided,
This is a self-propelled vacuum cleaner. The sensor includes a front sensor provided at the front and a rear sensor provided at the rear of at least one of the two planes.
The self-propelled cleaner according to claim 1. The main body has a shape when an upper surface is projected in a direction perpendicular to the floor surface, and is surrounded by an arc and two straight lines passing through both ends of the arc.
The self-propelled cleaner according to claim 1 or 2. Two straight lines passing through both ends of the arc intersect at right angles.
The self-propelled cleaner according to claim 3. The arc has a center angle of 270 °.
The self-propelled cleaner according to claim 4. In the drive wheel, a straight line when the rotation axis of the drive wheel is projected in a direction perpendicular to the floor surface is approximately the center of the arc in a shape when the upper surface is projected in a direction perpendicular to the floor surface. Pass,
The self-propelled cleaner as described in any one of Claims 3-5 characterized by the above-mentioned. The dust suction port is a substantially L-shaped opening provided along the two planes.
The self-propelled cleaner as described in any one of Claims 1-6 characterized by the above-mentioned. The width of the opening ranges from 5 mm to 10 mm.
The self-propelled cleaner according to claim 7. On the outside of the dust suction port of the main body, a bristle brush row in contact with the floor surface is provided,
The self-propelled cleaner as described in any one of Claims 1-8 characterized by the above-mentioned. The bristle brush row is divided into a plurality of blocks and arranged in a row,
A predetermined interval is provided between each block,
The self-propelled cleaner according to claim 9. In the vicinity of the top formed by the two planes of the bottom surface of the main body, an inclined surface that increases toward the top is provided.
The self-propelled cleaner as described in any one of Claims 1-10 characterized by the above-mentioned. The inclined surface is provided with a bristle brush row in contact with the floor surface,
The self-propelled cleaner according to claim 11. Angle changing means for changing a relative angle of a plane including a bisector of an apex angle formed by the two planes and a rolling direction of the drive wheel;
Control means for controlling the angle changing means,
The self-propelled cleaner according to any one of claims 1 to 12 , wherein The control means uses the relative angle within a range of the same angle in both the left and right directions with reference to a state in which the bisector of the apex angle formed by the two planes and the plane including the rolling direction of the drive wheel are parallel. Change
The self-propelled cleaner according to claim 13 . The control means uses the relative angle within a range of 45 ° in both the left and right directions with reference to a state in which the bisector of the apex angle formed by the two planes and the plane including the rolling direction of the drive wheel are parallel. Change
The self-propelled cleaner according to claim 14 . The angle changing means changes a relative angle between an outer shell portion having the dust suction port and a central portion in which the driving wheel is incorporated,
The self-propelled cleaner according to any one of claims 13 to 15 . The angle changing means applies power to any one of the power transmission parts provided in each of the outer shell part and the central part,
The self-propelled cleaner according to claim 16 . The angle changing means applies power to a power transmission portion provided in the outer shell portion.
The self-propelled cleaner according to claim 16 . The control means moves the main body along the wall surface in a state where either one of the two planes is parallel to the wall surface and is in contact with or close to the wall surface.
The self-propelled cleaner according to any one of claims 13 to 18 . The control means alternately and repeatedly moves the main body forward and backward along the wall surface,
The self-propelled cleaner according to claim 19 . When the main body reaches a corner where the wall surface and the wall surface intersect, it repeats retreat and advance alternately,
The self-propelled cleaner as described in any one of Claims 1-20 characterized by the above-mentioned. The main body is provided with a wiping cleaning sheet detachably on the bottom surface,
The wiping cleaning sheet is provided between the drive wheels,
Self-propelled cleaner according to any one of claims 1 to 21, characterized in that. The main body is provided with a wiping cleaning sheet detachably on the bottom surface,
The wiping cleaning sheet is provided so as to overlap the center of gravity of the main body,
Self-propelled cleaner according to any one of claims 1 to 22, characterized in that. The main body is provided with a wiping cleaning sheet detachably on the bottom surface,
The wiping cleaning sheet is provided so as to be arranged before and after the driving wheel in the rolling direction.
Self-propelled cleaner according to any one of claims 1 to 23, characterized in that. When the main body reaches the corner where the wall surface and the wall surface intersect, the main body sucks dust using only a region near the apex angle formed by the two planes of the dust suction port.
The self-propelled cleaner according to any one of claims 1 to 24 . The main body is provided with a brush above at least one of the two planes,
The brush is height adjustable.
The self-propelled cleaner according to any one of claims 1 to 25 . The brush is detachable from the main body.
The self-propelled cleaner according to claim 26 .

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