JP6360522B2 - Self-propelled electronic device - Google Patents

Description

  The present invention relates to a self-propelled electronic device.

As a self-propelled cleaner that is an example of a self-propelled electronic device, for example, one disclosed in Patent Document 1 is known. Moreover, the self-propelled air cleaner which is another example is a thing of patent documents 2, for example. Patent Document 1 includes a detector that detects an object on the floor surface in front of the main body, and a lifting means that lifts the front of the main body in the traveling direction from the floor surface with the traveling means as a base point based on the detection result. A self-propelled cleaner that can get over obstacles is described. As a result, it is possible to clean over obstacles such as electric cords and newspapers. Moreover, this self-propelled cleaner has a shape in which the lower end surface of the main body is inclined with respect to the traveling direction so that it can be self-propelled even if there is a step on the floor surface. This inclination makes it easy to get over the step.
Patent Document 2 describes a self-propelled air cleaner that includes an intake port that opens in the traveling direction, an exhaust port that opens upward, and a brush for lifting between the driving wheel and the front wheel. ing. This self-propelled air purifier moves in a room to supply clean air, and at the same time, a fried brush cleans the floor surface. In FIG. 1 of Patent Document 2, a bumper is provided over the entire front surface of the main body and has a curved shape from the lower end to the bottom surface of the bumper.

JP 2006-155274 A JP-A-2005-331128

  The self-propelled cleaner of Patent Document 1 can move forward without straddling an unfixed obstacle such as an electric cord by moving forward with the front end of the main body lifted using a lifting means. it can. However, a complicated configuration for realizing the lifting means is required. In addition, an inclination is provided on the lower end surface of the main body so as to easily get over the step. However, since the inclined portion comes into contact with the step, the corner portion of the step may be damaged while traveling repeatedly. Further, there is a slight step between the front end of the main body and the front end of the inclined portion. For this reason, there may be a case where it is not possible to smoothly run on the uneven portion.

Moreover, the self-propelled air cleaner of patent document 2 detects a collision with an obstacle by a bumper in front of the main body, and protects the casing. When a front obstacle is detected by the bumper pressing and / or non-contact sensor, the vehicle is stopped, retreated, and reversed to avoid the obstacle and to travel.
However, if the obstacle is detected by the bumper to avoid the obstacle, the room cannot be cleaned unless the vehicle travels over a certain level difference such as the edge of the carpet. Therefore, the lower end of the bumper is set to a predetermined height from the floor surface. Step over the bumper lower end.
For this reason, if the bottom surface of the self-propelled device is separated from the floor surface, the bottom surface of the self-propelled device does not collide with the step, and it is easy to get over the step. A straightforward example would be a configuration where the bottom surface is higher than the lower end of the bumper. However, for example, a self-propelled cleaner needs to have a suction port on the bottom surface to suck in dust on the floor surface. However, if the suction port is too far from the floor surface, dust cannot be sucked in efficiently. In addition, self-propelled electronic equipment generally needs to suppress the overall height so that it can be sterilized, deodorized, allergic substances suppressed, etc. by traveling under the bed, and therefore it is difficult to raise the bottom There is. In such a case, it is conceivable to provide a slope as in Patent Document 1 so as to easily overcome the step.

  The present invention has been made in consideration of such circumstances, and provides a self-propelled electronic device that can be smoothly overcome even if there is a step by devising the shape below the housing. It is.

  In order to solve the above-described problem, the present invention provides a housing, a pair of drive wheels that are disposed on the bottom surface of the housing and that is in contact with the floor surface and travels the housing, and a rear surface of the drive wheels that is disposed on the bottom surface. And a driven wheel that supports the housing in contact with the floor surface and an inclined plate that is arranged so as to be continuous from the front lower end portion of the housing to the bottom surface in the traveling direction. The self-propelled cleaner is characterized by having a bumper that is supported at three points of the driven wheel and that has a battery disposed behind the driving wheel and that can slide in the traveling direction.

  The self-propelled electronic device according to the present invention supports the housing at three points by a pair of left and right drive wheels and a rear wheel that is a driven wheel, so that the self-propelled electronic device travels stably. Furthermore, it has an inclined plate arranged so as to continue from the front lower end portion of the housing to the bottom surface, the housing has a bumper that can slide in the traveling direction, and the rear portion of the housing is driven by the drive wheel and the rear wheel. Since it supports, a heavy object like a battery can be arrange | positioned in the rear part of a housing | casing, and the front part of a housing | casing can be made lightweight. Therefore, it becomes easy to lift the front part of the housing, and the obstacle can be easily overcome.

It is explanatory drawing of the inclination board used for the self-propelled electronic device of this invention. It is explanatory drawing of the conventional self-propelled electronic device without an inclination board as a comparative example with respect to this invention. It is a perspective view of the self-propelled ion generator which is one mode of this invention. It is a perspective view which shows the state which removed the upper cover from the self-propelled ion generator shown by FIG. FIG. 4 is a bottom view of the self-propelled ion generator shown in FIG. 3. It is explanatory drawing of the various inclination board with which the self-propelled ion generator shown by FIG. 3 is equipped. It is AA arrow sectional drawing of the self-propelled ion generator shown by FIG. It is a BB arrow sectional view of the self-propelled ion generator shown in FIG. It is CC sectional view taken on the line of the self-propelled ion generator shown in FIG. FIG. 5 is a diagram corresponding to FIG. 4, showing a state of returning to the charging stand. It is a block diagram which shows the structure of the control part which controls the self-propelled ion generator shown by FIG. It is explanatory drawing explaining the schematic structure of the ion generator provided in the ion generation part of the self-propelled ion generator shown by FIG. It is a perspective view of the self-propelled cleaner which is a different mode of the present invention. It is AA arrow sectional drawing of the self-propelled cleaner shown by FIG. It is a bottom view of the self-propelled cleaner shown in FIG. It is explanatory drawing of the various inclination board with which the self-propelled cleaner shown by FIG. 13 is equipped. FIG. 15 is a view corresponding to FIG. 14, showing a state where the lid of the housing is opened and the dust collecting unit is taken out. It is a perspective view which shows the decomposition | disassembly state which removed the top plate, the control board, etc. of the housing | casing of the self-propelled cleaner shown by FIG. FIG. 14 is a block diagram showing an electrical configuration of the self-propelled cleaner shown in FIG. 13.

Before describing embodiments of the present invention, some preferred aspects of the present invention will be described below.
The present invention includes a housing, a drive wheel disposed on the bottom surface of the housing and in contact with the floor surface to drive the housing, and a driven wheel disposed on the bottom surface and in contact with the floor surface to support the housing. An inclined plate that is arranged so as to be continuous with the bottom surface from the front lower end portion of the housing in the traveling direction, and a front portion that is arranged at the rear end portion of the inclined plate and forward of the driving wheel and the driven wheel. An auxiliary wheel, and the front auxiliary wheel has a lower end lower than the bottom surface and higher than the floor surface, and the inclined plate has a height from the floor surface that decreases from the front toward the rear. It is a self-propelled electronic device characterized by being inclined in the direction.
The casing may have a bumper slidable in a traveling direction at a front portion, and the inclined plate may have a front end positioned rearward of a front lower end portion of the bumper when the bumper is retracted. . In this way, even if the bumper slides backward, the front end of the inclined plate is located behind the bumper, so that the inclined plate does not contact the obstacle and damage the obstacle or the inclined plate. can do.

  Furthermore, the bumper may have a bent portion whose lower end portion is bent backward, and the bent portion may be the front lower end portion. In this way, the front lower end of the bumper and the front end of the inclined plate are smoothly connected to each other, and even if the step is slightly lower than the lower end of the bumper, it smoothly moves to the front auxiliary wheel along the inclination of the inclined plate. After being guided, the front auxiliary wheel can climb over the step and get over smoothly.

  Further, the inclined plate is arranged with a predetermined width from the front center portion of the housing to the left and right, and the height from the floor surface of the inclined plate in the width direction is lower than the bottom surfaces on both sides. Also good. In this way, it is not necessary to form the inclined plate over the entire width, and even if the step contacts the inclined plate, it does not contact the bottom surface on both sides, and follows the inclination of the inclined plate. As a result, the front auxiliary wheel can smoothly climb over the steps and get over the steps.

  Furthermore, the housing is substantially circular in plan view, the drive wheel is disposed in a pair of left and right at the approximate center of the housing in the traveling direction, and the driven wheel is disposed behind the drive wheel. It may be.

  The inclined plate may be formed integrally with the bottom surface of the housing or may be formed as a separate member.

The self-propelled electronic device may be an automatic ion generator or a self-propelled cleaner that blows an airflow upward.
Preferred embodiments of the present invention include combinations of any of the plurality of embodiments shown here.

Hereinafter, the present invention will be described in more detail with reference to the drawings. In addition, the following description is an illustration in all the points, Comprising: It should not be interpreted as limiting this invention.
In the above-described embodiments, the self-propelled electronic device includes a casing having a circular shape in plan view, an air outlet formed on the top surface of the casing, and a center line in the traveling direction of the casing provided on the bottom surface of the casing. Controls air blowing from the drive wheels on both sides, the rear wheels in the rearward direction of travel, the front auxiliary wheels in front of the forward direction of travel, the drive control unit of the drive wheels provided in the housing and the outlet And a tilt plate that follows the tilted surface that is continuous with the bottom surface in the vicinity of the front auxiliary wheel, with the front lower end of the housing as the position of the front end.

  An example of the self-propelled electronic device is a vacuum cleaner that has a suction port on the bottom surface and includes a filter in a housing between the suction port and the air outlet. FIG. 13 shows an example of the appearance. Another example of the self-propelled electronic device is an ion generator that has a suction port on the bottom surface or the top surface and includes an ion generating element in a housing between the suction port and the air outlet. FIG. 3 shows an example of the appearance. In the present invention, the self-propelled electronic device refers to an electronic device that runs independently from a user's hand and performs operations such as a cleaning operation and an air cleaning operation.

  The casing according to the present invention includes a casing having a circular shape in plan view. However, the casing does not mean only a perfect circle, but a substantially circular shape having a slight unevenness in the periphery, a long diameter portion and a short portion. A non-circular shape having a diameter portion is also included. Moreover, the upper surface of the housing | casing in which a blower outlet is formed means the upper surface at the time of dividing not only a top surface but a housing | casing into an upper surface, a side surface, and a bottom face, and points out the upper surface of a housing | casing. The air outlet is an exhaust port in the case of a vacuum cleaner, and a clean air outlet in the case of an ion generator. The drive wheels are wheels that drive straight traveling, rotational traveling, and reverse traveling of the self-propelled electronic device. In addition, the drive control unit of the drive wheel should run in the room without any obstacles when the self-propelled electronic device performs a cleaning operation or an air cleaning operation. Controls straight drive, rotation, and reverse drive. The drive wheel is attached to the housing via a suspension mechanism so as to follow even if the floor surface is uneven. In addition, the housing is supported at three points by a pair of left and right drive wheels and a rear wheel that is a driven wheel, so that the self-propelled electronic device can travel stably. Since the rear portion of the housing is supported by the drive wheel and the rear wheel, a heavy object such as a battery can be disposed in the rear portion of the housing, and the front portion of the housing can be reduced in weight. Therefore, it becomes easy to lift the front part of the housing, and the obstacle can be easily overcome.

  FIG. 1 is an explanatory view of an inclined plate used in the self-propelled electronic device of the present invention. Hereinafter, the inclined plate will be described. As shown in FIG. 1, in the self-propelled electronic device 100, the inclined plate 104 has a front lower end portion 102 as a front end position in a traveling direction of a circular casing 101 in a plan view, and an outer peripheral front portion of the front auxiliary wheel 103. In the vicinity, it has an inclination that continues to the bottom surface. The front auxiliary wheel 103 floats from the floor surface F so as not to contact the floor surface F when traveling on the floor surface F on which the self-propelled electronic device is placed. Further, the bottom surface of the housing 101 is formed to be above the lower end of the front auxiliary wheel 103. When the front auxiliary wheel 103 rides on the obstacle, the bottom surface of the housing 101 is prevented from contacting the obstacle. In FIG. 1, a lid 105, an intake port 106, an exhaust port 107, a driving wheel 108, a rear wheel 109, and a bumper 111 are shown.

The inclined plate 104 of the present invention has a predetermined width on both sides from the traveling direction center line. Desirably, it is a fan shape that opens 30 ° or 60 ° in the traveling direction from the floor surface F with which the front auxiliary wheel 103 is in contact, or a front entire surface shape that is perpendicular to the traveling direction with respect to the floor surface F with which the front auxiliary wheel 103 is in contact. Or it is a rectangle which has a width | variety 2 thru | or 3 times the width | variety of a front auxiliary wheel including a front auxiliary wheel.
The self-propelled electronic device has an obstruction in front of the traveling direction by providing the inclined plate 104 along the inclined surface connected to the bottom surface in the vicinity of the front auxiliary wheel 103 with the front lower end portion 102 in the traveling direction of the housing 101 as the front end position. Even when Z exists, the vehicle can travel over the obstacle Z.
FIG. 2 is an explanatory view of a self-propelled electronic device having no inclined plate, which is a feature of the present invention, as a comparative example. As shown in FIG. 2, if there is a step X having an obtuse angle compared to FIG. 1 between the front lower end 102 in the traveling direction of the housing 101 and the front auxiliary wheel 103, the step X collides with the obstacle Z. It becomes a heavy load on the driving wheel 108, and it becomes difficult for the self-propelled electronic device 100 to get over the obstacle Z.

The bumper 111 is attached by a spring and a spring (not shown) so as to slightly protrude from the housing 101 in the forward direction of the self-propelled electronic device, as indicated by a solid line. However, when the vehicle collides with an obstacle, it slides (displaces) to the rear of the housing 101 as indicated by a dotted line. The inclined plate 104 of the present invention is formed so that the front lower end of the bumper 111 coincides with the front end of the inclined plate 104 at a position where the bumper 111 is displaced (a position indicated by reference numeral 111 a indicated by a broken line). The rear end of the inclined plate 104 is continuous with the bottom surface of the housing 101, and the front auxiliary wheel 103 is disposed at the rear end portion. Further, the bumper 111 is bent or bent toward the bottom surface side of the housing 101. The front end of the inclined plate 104 is disposed so as to coincide with the position where the front lower end of the bumper 111 bent or bent is retracted.
Further, with the above configuration according to the present invention, the tip of the inclined plate 104 in FIG. 1 is provided so as to extend to the front end of the lower surface of the housing, so that the inclination angle becomes gentle and the contact with the step is reduced. The level difference can be easily and smoothly overcome. Even if the tip of the inclined plate 104 extends to the position where the bumper 111 is retracted, the bumper avoids collision with an obstacle and the like, and the tip of the inclined plate is protected from damage, breakage, and the like.

<< Overall configuration of self-propelled ion generator >>
A self-propelled ion generator according to the present invention will be described.
FIG. 3 is a perspective view of a self-propelled ion generator according to an embodiment of the present invention.
FIG. 4 is a perspective view showing a state where the upper cover is removed from the self-propelled ion generator shown in FIG.
FIG. 5 is a bottom view of the self-propelled ion generator shown in FIG.
FIG. 6 is an explanatory diagram of various inclined plates provided in the self-propelled electronic device.
FIG. 7 is a cross-sectional view of the self-propelled ion generator shown in FIG.
FIG. 8 is a cross-sectional view of the self-propelled ion generator shown in FIG.
FIG. 9 is a CC arrow view of the self-propelled ion generator shown in FIG.
FIG. 10 is a diagram corresponding to FIG. 7 showing the state of returning to the charging stand.
FIG. 11 is a block diagram showing a configuration of a control unit that controls the self-propelled ion generator shown in FIG.
FIG. 12 is an explanatory diagram showing a schematic configuration of an ion generator mounted on the ion generator.

As shown in FIGS. 3 to 9, the self-propelled ion generator 1 as a self-propelled electronic device according to the embodiment of the present invention autonomously travels around the floor F at the place where the self-propelled ion generator 1 operates. A part of the sucked air is sucked from the intake port 3, and air containing ions generated by ionization, for example, is discharged from the exhaust port 5 by the ion generating element 4.
The self-propelled ion generator 1 includes a disk-shaped casing 2, and a rechargeable battery 6 that stores electric power as shown in FIG. In addition, an electric blower 7 that discharges air from the exhaust port 5, a filter 8 that removes dust and foreign matters from the air introduced into the housing 2, and ionization treatment of the air introduced into the housing 2 generates ions. An ion generating element 4, an intake lid 9 for opening and closing the intake port 3, an intake lid drive unit 10 for driving the intake lid 9 (see FIG. 4), an exhaust lid 11 for opening and closing the exhaust port 5, An exhaust lid drive unit 12 (see FIG. 4) that drives the exhaust lid 11 and a control unit 13 that integrally controls each unit are provided. The control unit 13 includes a control board 14 on which various electronic components are mounted.

  In addition, outside the housing 2, an intake lid 9 that opens and closes the air inlet 3, a pair of drive wheels 15 as a traveling unit that causes the housing 2 to travel with respect to the floor surface F, and the posture of the housing 2. A front auxiliary wheel 16 and a rear wheel 17 are provided for stabilization. Hereinafter, the direction where the front auxiliary wheel 16 is disposed is referred to as the front side, and the direction where the rear wheel 17 is disposed is referred to as the rear side.

The casing 2 includes a bottom plate 2a and a rear side plate 2b that are circular in plan view that constitute a chassis, a front side plate 2c that functions as a movable bumper, and a circular top cover that covers the upper portions of the rear side plate 2b and the front side plate 2c. 2d. The bottom plate 2a or the front side plate 2c, or the boundary between the bottom plate 2a and the front side plate 2c, is provided with an inclined plate U that is continuous with the bottom surface near the front auxiliary wheel 16 with the front lower end of the housing as the front end position. The front side plate 2c functions as a movable bumper, and normally protrudes forward in the traveling direction by a spring or a spring (not shown). However, when it hits an obstacle, the front side plate 2c moves backward and absorbs the impact. The inclined plate U is connected to the bottom surface near the front auxiliary wheel 16 with the front lower end portion of the front side plate 2c as the front end position at the position where the front side plate 2c is retracted (for example, the position indicated by the broken line in FIG. 1). Is formed. Further, when the lower portion of the front side plate 2c is bent or bent toward the bottom surface of the housing, the inclined plate U has the front lower end portion of the bent or bent front side plate 2c as the front end position. Is provided so as to be continuous with the bottom surface. The intake port 3 is formed slightly rearward of the center of the upper cover 2d, and the exhaust port 5 is formed forward of the center of the upper cover 2d.

In order to prevent dust and foreign matter from entering through the intake port 3 and the exhaust port 5 when the intake port 3 and the exhaust port 5 are not in operation such as charging, a movable intake cover body 9 and an exhaust cover body 11 are used. Respectively. Therefore, the intake lid body 9 and the exhaust lid body 11 are respectively driven by the intake lid body drive unit 10 and the exhaust lid body drive unit 12 provided inside the housing 2.
The filter 8 separates dust contained in the air sucked from the suction port and exhausts the air from which the dust has been removed. The filter 8 is detachably provided for maintenance and the like. Therefore, a removable bottom lid 2e is provided on the bottom plate 2a as shown in FIG. By removing the bottom cover 2e, a part of the flow path of the sucked air described above is opened, and the filter 8 provided in that part can be taken out.
In addition, the ion generating element 4 ionizes water molecules in the air by discharge, for example, H ⁺ (H ₂ O) m (m is an arbitrary natural number) as positive ions, and O ₂ − (H ₂ O as negative ions. ) N (n is an arbitrary natural number). The ion generating element 4 may generate negative ions instead of the ions as described above.
The pair of drive wheels 15 are fixed to a pair of rotating shafts 15a (see FIG. 5) that intersect at right angles with a center line C passing through the center of the case 2 that is circular in plan view, and the pair of drive wheels 15 are in the same direction. When rotated, the housing 2 advances and retreats, and when the pair of drive wheels 15 rotate in opposite directions, the housing 2 rotates around the center line C.
The pair of rotating shafts 15a are connected via a power transmission mechanism (not shown) so that a driving force can be obtained individually from a pair of motors (not shown), and each motor is fixed to the bottom plate 2a of the housing 2 via a suspension mechanism. Has been.

The front auxiliary wheel 16 is made of a roller and can be rotated so as to be slightly lifted from the floor surface F on the front side of the bottom plate 2a of the housing 2 so that the step appearing on the path of the self-propelled ion generator 1 can be easily overcome. Is provided.
The rear wheel 17 is a free wheel, and is rotatably provided on the rear side of the bottom plate 2 a of the housing 2 so as to be grounded to the floor surface F together with the drive wheel 15. The front auxiliary wheel 16 and the rear wheel 17 are not connected to a driving source such as a motor but are driven wheels.
As described above, the self-propelled ion generator 1 has the pair of drive wheels 15 arranged in the middle in the front-rear direction of the housing 2, and the weight of the self-propelled ion generator 1 while floating the front auxiliary wheel 16 from the floor surface F. The weight in the front-rear direction is distributed so that can be supported by a pair of drive wheels and rear wheels.

As shown in FIG. 5, a floor surface detection sensor 18 that detects the floor surface F is disposed in front of the front auxiliary wheel 16 on the bottom surface of the housing 2, and a similar floor is also disposed in front of the pair of driving wheels 15. A surface detection sensor 19 is arranged. When the downstairs are detected by the floor detection sensor 18, the detection signal is transmitted to the control unit 13, and the control unit 13 controls the pair of drive wheels 15 to stop. Further, even if the floor detection sensor 18 breaks down, the pair of drive wheels 15 can be stopped by detecting the downstairs by the floor detection sensor 19, so that the self-propelled ion generator 1 goes down to the downstairs. Is prevented from falling. Further, when the floor detection sensor 19 detects a descending staircase, the detection signal is transmitted to the control unit, and the control unit travels to the drive wheel 29 while avoiding the descending staircase, that is, self-propelled ion generation occurs. The machine 1 may be controlled to move backward or rotate.

  In addition, an inclined plate U is provided between the front lower end T of the housing 2 and the front auxiliary wheel 16 on the bottom surface of the housing 2. The inclined plate U can be provided by forming an inclination in the front side plate 2c or the bottom plate 2a of the housing 2. The inclined plate U is formed so as to be continuous with the bottom surface in the vicinity of the front auxiliary wheel 16 with the front lower end T of the housing 2 as the front end position. The inclined plate U has a predetermined width on both sides from the traveling direction center line. For example, as shown in FIG. 6 (a), a fan shape U1 that opens 30 ° forward from the vicinity of the front auxiliary wheel 16 of the casing 2 or a fan shape U2 that opens 60 ° as shown in FIG. 6 (b). Alternatively, as shown in FIG. 6C, a semicircular shape U3 having a straight line parallel to the rotation axis of the front auxiliary wheel 16 and a circular arc at the lower end in front of the straight line as an outer edge. Or as shown in FIG.6 (d), it is the rectangle U4 which contains the front auxiliary wheel 16 and is larger than the width | variety of a front auxiliary wheel, for example, twice as wide.

In the self-propelled ion generator 1, the weight in the front-rear direction is distributed so that the rear wheel 17 does not lift from the floor surface F even if it suddenly stops when moving forward. Therefore, even if it stops suddenly before the descending stairs while moving forward, it does not tilt forward and fall to the descending stairs.
Further, the drive wheel 15 is configured such that a rubber tire having a groove is fitted into the wheel so as not to slip even when suddenly stopped.

A charging terminal 20 for charging the battery 6 is provided at the rear end of the rear side plate 2 b of the housing 2. The self-propelled ion generator 1 that releases ions while autonomously running in the room is installed in the room as shown in FIG. 10 when a predetermined condition is met, such as when the remaining amount of the battery 6 falls below a threshold value. It returns to the charging stand 21 that has been made. Thereby, the charging terminal 20 contacts the terminal part 22 provided in the charging stand 21, and the battery 6 is charged. The charging stand 21 connected to a commercial power source (outlet) is usually installed along the indoor side wall S.
The battery 6 is charged from the charging stand 21 through the charging terminal 20, and power is supplied to each element such as the control unit 13, a pair of motors driving the pair of driving wheels 15, the ion generating element 4, the electric blower 7, and various sensors. Supply.

  FIG. 11 is a block diagram illustrating a configuration of the control unit 13 that controls the self-propelled ion generator 1 according to the present embodiment. As shown in FIG. 11, the control unit 13 includes a CPU 23 that performs arithmetic processing, a ROM 24 that stores a control program executed by the CPU 23, a RAM 25 that provides a work area to the CPU 23, and a self-propelled ion generator under the control of the CPU 23. The I / O port 26 for inputting / outputting control signals to / from the various sensors 1 and a driver circuit 27 for driving various driving units provided in the self-propelled ion generator 1 under the control of the CPU 23, and under the control of the CPU 23 The microcomputer is composed of a storage unit 28 for storing various types of information, and controls the self-propelled ion generator 1 in an integrated manner to perform a series of autonomous traveling and ion release operation.

  The control unit 13 accepts a condition setting related to the operation of the self-propelled ion generator 1 by the user from an operation panel (not shown) and stores it in the storage unit 28. The storage unit 28 can store a travel map around the installation location of the self-propelled ion generator 1. The traveling map is information relating to traveling such as the traveling route and traveling speed of the self-propelled ion generator 1 and is stored in the storage unit 28 by the user in advance, or the self-propelled ion generator 1 itself performs ion emission operation. Can be automatically recorded during. Moreover, although not shown in figure, the control part 13 can also be controlled to drive | work to arbitrary positions by a user's remote control operation.

The odor sensor 29 detects the odor around the outside of the housing 2. As the odor sensor 29, for example, a semiconductor type or catalytic combustion type odor sensor can be used. In order to detect the odor around the outside of the self-propelled ion generator 1, the odor sensor 29 is disposed so as to be exposed from the housing 2 to the outside. The control unit 13 is connected to the odor sensor 29 via the I / O port 26, and obtains odor information around the outside of the housing 2 based on an output signal from the odor sensor 29.

  The humidity sensor 30 detects the humidity around the outside of the housing 2. As the humidity sensor 30, for example, a capacitance type or electric resistance type humidity sensor using a polymer moisture sensitive material can be used. In order to detect the relative humidity around the outside of the self-propelled ion generator 1, the humidity sensor 30 is disposed so as to be exposed from the housing 2 to the outside. The control unit 13 is connected to the humidity sensor 30 via the I / O port 26, and obtains humidity information around the outside of the housing 2 based on an output signal from the humidity sensor 30.

  In the travel map stored in the storage unit 28, a location where the odor above the predetermined threshold and a location where the humidity is higher than the predetermined threshold at the installation location where the self-propelled ion generator 1 is installed are specified in advance. It may be stored. If it does in this way, it can be judged that the control part 13 is the location which determined this specific location based on the surrounding environment of the housing | casing 2. FIG. That is, like the odor sensor 29 and the humidity sensor 30, the travel map serves as an environment detection device that detects the surrounding environment of the housing 2.

  As the human sensor 31, for example, a human sensor that detects the presence of a person by infrared rays, ultrasonic waves, visible light, or the like can be used. In order to detect the presence of a person around the outside of the self-propelled ion generator 1, the human sensor 31 is disposed so as to be exposed from the housing 2 to the outside. The control unit 13 is connected to the human sensor 31 via the I / O port 26, and obtains presence information of people around the outside of the housing 2 based on an output signal from the human sensor 31.

  As the contact sensor 32, for example, a micro switch that detects that the self-propelled ion generator 1 has come into contact with an obstacle during autonomous traveling can be used. In this embodiment, in order to detect the movement of a movable front side plate (e.g., having a function as a bumper) 2c that is displaced by contact with an obstacle, it is arranged in the vicinity of the front side plate 2c in the housing 2. The control unit 13 is connected to the contact sensor 32 via the I / O port 26, and obtains presence information of an obstacle around the outside of the housing 2 based on an output signal from the contact sensor 32.

For example, when the self-propelled ion generator 1 reaches the periphery of the traveling area or collides with an obstacle on the course, the pair of driving wheels 15 stops and the pair of driving wheels 15 are moved in opposite directions. Rotate to change direction. Thereby, the self-propelled ion generator 1 can autonomously travel while avoiding obstacles.
Further, in order to prevent dust and foreign matter from entering through the intake port 3 and the exhaust port 5 and malfunctioning of the self-propelled ion generator 1 during non-operation such as charging, the control unit 13 operates when the ion generation unit 4 is in operation. The intake port drive unit 10 and the exhaust cover drive unit 12 are controlled so that the intake port 3 and the exhaust port 5 are opened and the intake port 3 and the exhaust port 5 are closed when the ion generating element 4 is not in operation.

  In the self-propelled ion generator 1 configured as described above, the driving of the electric blower 7, the ion generating element 4, and the pair of drive wheels 15 is started in response to an ion emission operation command. As a result, the self-propelled ion generator 1 sucks ambient air from the intake port 3 while autonomously traveling in a predetermined range, and the ion generating unit element 4 releases air containing the generated ions from the exhaust port 5. As a result, it is possible to distribute ions by the traveling of the self-propelled ion generator 1 to a place where ions can be sufficiently distributed in the stationary type or the table type, and it is possible to efficiently eliminate mold and floating bacteria in the air. It can be decomposed / removed or sterilized.

The self-propelled ion generator 1 can also perform a unique ion emission operation based on information obtained from the odor sensor 29, the humidity sensor 30, the travel map, and the human sensor 31 that are environment detection devices. For example, the self-propelled ion generator 1 can be operated such that it stays at a specific location for a certain period of time based on the surrounding environment detected by the environment detection device and intensively discharges air containing ions from the exhaust port 5.

Next, a configuration example of the ion generating element 4 used in the present invention will be described with reference to FIG. The figure is a perspective view of the ion generating element 4. The ion generating element 4 has a plurality of ion emitting portions 41a and 41b facing the exhaust path. The ion emitting portions 41a and 41b are formed by opening a part of the resin casing of the ion generating element 4 in, for example, a circular shape, and the following electrodes for generating ions are provided corresponding to the openings. It has been.
That is, a common counter electrode 42 and needle-like discharge electrodes 43a and 43b are respectively provided in the respective ion emission portions 41a and 41b. The discharge electrodes 43a and 43b are needle electrodes having pointed tips, and the counter electrode 42 is a common grounded electrode opened so as to surround the discharge electrodes 43a and 43b.

The ion generating element 4 has a main body portion 45 with a built-in high-voltage electricity generating circuit, and operates by being supplied with electric power from the battery 6 via two terminals 46 provided on the side surface (the bottom surface in FIG. 7).
In the high voltage electricity generation circuit of the main body portion 45, a positive or negative high voltage having an AC waveform or an impulse waveform is applied to the discharge electrodes 43a and 43b. As described above, the ion generating element 4 has a plurality of discharge electrodes. For example, a high voltage having a positive impulse waveform is applied to the discharge electrode 43a. As a result, ions generated by ionization are combined with moisture in the air and mainly H ^+.
Positive cluster ions consisting of (H ₂ O) m are generated.
A high voltage having a negative impulse waveform is applied to the other discharge electrode 43b, and ions generated by ionization combine with moisture in the air to form negative cluster ions mainly composed of O ₂ ⁻ (H ₂ O) n. Generated. Here, m and n are arbitrary natural numbers.

The ion-generating, H ⁺ released into the space (H ₂ O) m and _{^{O 2 - (H 2 O)}} n is attached to the surface of the bacteria, the chemical reaction with an active species H ₂ O ₂ or · OH Is generated. Since H ₂ O ₂ or .OH exhibits extremely strong activity, they can surround and remove or sterilize airborne bacteria. Here, .OH is one kind of active species, and represents radical OH.
The configuration of the ion generating element 4 described above is an example in which positive and negative ions are generated at the same time. A single discharge electrode is provided, and by supplying an alternating high voltage to the discharge electrode, positive or negative ions are generated. It is also possible to generate them alternately. Further, it may be one that generates negative ions instead of generating positive and negative ions.

<< Overall configuration of self-propelled vacuum cleaner >>
FIG. 13 is a perspective view of a self-propelled cleaner according to Embodiment 2 of the present invention.
FIG. 14 is a cross-sectional view of the self-propelled cleaner shown in FIG.
FIG. 15 is a bottom view of the self-propelled cleaner shown in FIG.
FIG. 16 is an explanatory diagram of various inclined plates provided in the self-propelled cleaner.
FIG. 17 is a view corresponding to FIG. 14 showing a state where the cover of the housing is opened and the dust collecting part is taken out.
FIG. 18 is a perspective view showing a state in which a top plate, a control board and the like of the housing of the self-propelled cleaner shown in FIG. 13 are removed.
FIG. 19 is a block diagram showing an electrical configuration of the self-propelled cleaner shown in FIG.

A self-propelled cleaner (hereinafter referred to as a cleaning robot) 201 according to the present invention sucks air containing dust on the floor surface and exhausts the air from which dust has been removed while self-propelled on the floor surface where it is installed. This is a cleaning robot that cleans the floor surface.
The cleaning robot 201 includes a disk-shaped housing 202. Inside and outside the housing 202, a rotary brush 209, a side brush 210, a dust collection box 230, a blower unit having an electric blower 222, and a pair of drive wheels 229. Components such as a rear wheel 226, a front auxiliary wheel 227, and a control unit including various sensors are provided.
In this cleaning robot 201, a portion where the front auxiliary wheel 227 is disposed is a front portion, a portion where the rear wheel 226 is disposed is a rear portion, and a portion where the dust collection box 230 is disposed is an intermediate portion.

  The casing 202 opens and closes when the dust collection box 230 is taken in and out of the casing 202 and the bottom plate 202a having a suction port 206 formed at a position near the boundary with the intermediate portion in the front portion. The top plate 202b which has the cover part 203 in the intermediate part, and the side plate 202c of the annular | circular view planar view provided along the outer peripheral part of the bottom plate 202a and the top plate 202b are provided. The bottom plate 202a is formed with a plurality of holes that project the lower part of the front auxiliary wheel 227, the pair of drive wheels 229, and the rear wheel 226 from the inside of the housing 2 to the outside. An exhaust port 207 is formed in the vicinity of the boundary. The side plate 202b is divided into two parts in the front-rear direction, and the front side of the side plate functions as a bumper.

  At the boundary between the bottom plate 202a and the front side plate 202c, an inclined plate U (see FIG. 14) is formed along the inclined surface continuous with the bottom surface in the vicinity of the front auxiliary wheel 227 with the front lower end portion of the housing as the front end position. The front side plate 202c has a bumper function and is attached so as to protrude from the housing by a spring or a spring (not shown). However, when the cleaning robot 201 hits an obstacle during self-running, the front side plate 202c moves backward (displaces) and absorbs the impact. The inclined plate U is formed to be continuous with the bottom surface in the vicinity of the front auxiliary wheel 227 with the front lower end portion of the front side plate 202c at the front end position in the retracted position. In addition, when the lower part of the front side plate 202c is bent or bent toward the bottom surface of the housing, the inclined plate U has the front lower end portion of the front side plate 202c bent or bent as the front end position of the front auxiliary wheel 227. It is connected to the bottom in the vicinity. Since the inclined plate U is inclined smoothly so that the distance from the floor surface F approaches as it goes from the front to the rear, cleaning is performed when the inclined plate U contacts the corner of the step when the cleaning robot 201 passes through the step. It works to lift the front part of the robot 201. Therefore, the cleaning robot 201 can smoothly get over the steps.

  In addition, as shown in FIG. 17, inside the housing 202, the motor unit (blower unit) 220 having the electric blower 222 in the front portion, the housing 221 constituting the exhaust passages 212 and 224, and the exhaust passage are arranged. It has a front storage chamber R1 for storing the ion generating element 225 (see FIG. 18) and the like, an intermediate storage chamber R2 for storing the dust collection box 230 in the middle, and a control board 215 of the control unit in the rear, a battery 214, a rear storage chamber R3 for storing the charging terminal 204, and the like, and a suction passage 211 and an exhaust passage 212 in the vicinity of the boundary between the front portion and the intermediate portion. The suction passage 211 communicates the suction port 206 (see FIG. 14) and the intermediate storage chamber R2, and the exhaust passage 212 communicates the intermediate storage chamber R2 and the front storage chamber R1. Each of the storage chambers R1, R2, R3, the suction path 211, and the exhaust path 212 is provided inside the housing 202 and is partitioned by a partition wall 239 (see FIG. 17) that forms these spaces. .

The pair of driving wheels 229 are fixed to a pair of rotating shafts that intersect at right angles with the center line C passing through the center of the circular casing 202 in plan view. When the pair of driving wheels 229 rotate in the same direction, the casing 202 is The housing 2 rotates around the center line C as the drive wheels 229 move forward and backward and rotate in the opposite direction.
The pair of rotating shafts are coupled so that rotational force can be obtained individually from a pair of motors (not shown), and each motor is fixed to the bottom plate 202a of the housing directly or via a suspension mechanism.

The front auxiliary wheel 227 is made of a roller and contacts the step appearing on the path, so that the housing 202 can easily get over the step, and the bottom plate 202a of the housing 202 is slightly lifted from the floor F where the driving wheel 229 contacts the ground. It is provided in a part so that it can rotate.
The rear wheel 226 is a free wheel, and the housing 2 is in contact with the floor surface F to which the driving wheel 229 contacts.
02 is rotatably provided in a part of the bottom plate 202a.
In this way, the pair of driving wheels 229 is disposed in the middle in the front-rear direction with respect to the housing 202, the front auxiliary wheel 227 is lifted from the floor surface F, and the weight of the cleaning robot 201 is increased by the pair of driving wheels 229 and the rear wheels 226. Weight is distributed to the housing 202 in the front-rear direction so that it can be supported. Thereby, the dust in front of the course can be guided to the suction port 206 without being blocked by the front auxiliary wheel 227.

  The suction port 206 is an open surface of the recess 208 formed on the bottom surface of the housing 202 (the lower surface of the bottom plate 202a) so as to face the floor surface F. A rotating brush 209 that rotates about a first axis parallel to the bottom surface of the housing 202 is provided in the recess 208, and a second rotation perpendicular to the bottom surface of the housing 202 is provided on the left and right sides of the recess 208. A side brush 210 that rotates about the axis is provided. The rotating brush 209 is formed by implanting a brush spirally on the outer peripheral surface of a roller that is a rotating shaft. The side brush 210 is formed by providing a brush bundle radially at the lower end of the rotating shaft. The rotating shaft of the rotating brush 209 and the rotating shaft of the pair of side brushes 210 are pivotally attached to a part of the bottom plate 202a of the housing 202, and a drive motor M (see FIG. 18) and a pulley provided in the vicinity thereof. It is connected via a power transmission mechanism including a belt and the like.

  As shown in FIG. 15, a floor surface detection sensor 213 for detecting the floor surface F is disposed between the bottom surface of the housing 202 and the front auxiliary wheel 227, and the same is provided in front of the side portions of the left and right drive wheels 229. Floor surface detection sensor 219 is disposed. When the downstairs are detected by the floor detection sensor 213, the detection signal is transmitted to the control unit, and the control unit controls the left and right drive wheels 229 to stop. Further, when the floor detection sensor 213 breaks down, the floor detection sensor 219 can detect the descending stair and stop the left and right drive wheels 229, so that the cleaning robot 201 is prevented from falling to the descending stair. Yes. Further, when the floor surface detection sensor 219 detects the descending staircase, the detection signal is transmitted to the control unit, and the control unit controls the drive wheel 229 to move backward or rotate so as to avoid the descending staircase. May be.

  FIG. 16 is a schematic diagram of FIG. 15, and an inclined plate U is disposed between the front lower end T of the housing 202 and the front auxiliary wheel 227 on the bottom surface of the housing 202 as shown in FIG. Provide. The inclined plate U can be provided by forming an inclination on the bottom plate 202 a of the housing 202. The inclined plate U is formed so as to be continuous with the bottom surface in the vicinity of the front auxiliary wheel 227 with the front lower end T of the housing 202 as the front end position. The inclined plate U has a predetermined width on both sides from the traveling direction center line. For example, as shown in FIG. 16 (a), the fan U1 opened 30 ° forward from the vicinity of the front auxiliary wheel 227, or the fan U2 opened 60 ° as shown in FIG. 16 (b). As shown in FIG. 16 (c), it is a semicircular shape U3 having a straight line parallel to the rotation axis of the front auxiliary wheel 227 and a circular arc at the lower end in front of the straight line as an outer edge. Or as shown in FIG.16 (d), it is the rectangle U4 which contains the front auxiliary wheel 227 and is larger than the width | variety of a front wheel, for example, twice as wide.

The control board 215 is provided with a control circuit that controls each element such as the drive wheel 229, the rotating brush 209, the side brush 210, and the electric blower 222 in the cleaning robot 201.
A charging terminal 204 for charging the battery 214 is provided at the rear end of the side plate 202 c of the housing 202. The cleaning robot 201 that cleans the room while traveling is returned to the charging stand 240 installed in the room. As a result, the charging terminal 204 comes into contact with the terminal portion 241 provided on the charging stand 240 and the battery 214 is charged. The charging stand 240 connected to a commercial power source (outlet) is usually installed along the side wall S in the room.
The battery 214 is charged from the charging stand 240 via the charging terminal 204 and supplies power to each element such as the control board 215, the drive wheel 229, the rotating brush 209, the side brush 210, the electric blower 222, and various sensors.

The dust collection box 230 is usually stored in the intermediate storage chamber R2 above the axis of the rotation shaft of the left and right drive wheels 229 in the housing 202, and the dust collected in the dust collection box 230. When discarding the dust collecting box 230, the lid 203 of the housing 202 can be opened and the dust collection box 230 can be taken in and out, as shown in FIG.
The dust collection box 230 includes a dust collection container 231 having an opening, a filter part 233 that covers the opening of the dust collection container 231, and a cover 232 that covers the filter part 233 and the opening of the dust collection container 231. ing. The cover part 232 and the filter part 233 are pivotally supported by the opening edge of the front side of the dust collection container 231 so that rotation is possible.
In the state where the dust collection box 230 is housed in the intermediate storage chamber R2 of the housing 202, an inflow passage 234 that communicates with the suction passage 211 of the housing 202, and the housing 202 are disposed in the front portion of the side wall of the dust collecting container 231. A discharge passage 235 communicating with the exhaust passage 212 is provided.

  As shown in FIG. 19, the control unit for controlling the operation of the entire cleaning robot 201 includes a control board 215 having a control circuit composed of a CPU 215a and other electronic components not shown, and a storage unit for storing a travel map 218a. 218, a motor driver 222a for driving the electric blower 222, a motor driver 251a for driving the traveling motor 251 of the drive wheel 229, a louver 217 rotatably provided near the exhaust port 207 in the housing 202, and It includes a control unit 217a for driving it, an odor sensor 252 and its control unit 252a, a humidity sensor 253 and its control unit 253a, a human sensor 254 and its control unit 254a, a contact sensor 255 and its control unit 255a, etc. Composed.

The CPU 215a is a central processing unit, and individually transmits control signals to the motor drivers 222a, 251a and the control unit 217a based on the program data stored in the storage unit 218 in advance, and the electric blower 222, the traveling motor 251 and the louver. 217 is driven and controlled, and a series of cleaning operation and ion emission operation are performed.
In addition, the CPU 215a accepts a condition setting related to the operation of the cleaning robot 201 by the user from an operation panel (not shown) and stores it in the storage unit 218. The storage unit 218 can store a travel map 218a around the installation location of the cleaning robot 201. The travel map 218a is information related to travel such as the travel route and travel speed of the cleaning robot 201, and is stored in advance in the storage unit 218 by the user or automatically recorded during the cleaning operation by the cleaning robot 201 itself. Can do.

  The odor sensor 252 detects an odor around the outside of the housing 202. As the odor sensor 252, for example, a semiconductor type or catalytic combustion type odor sensor can be used. In order to detect the odor around the outside of the cleaning robot 201, for example, the odor sensor 252 is disposed in a state exposed from the side plate 202c or the top plate 202b of the housing 202 to the outside. The CPU 215a is connected to the odor sensor 252 via the control unit 252a, and obtains odor information around the outside of the housing 2 based on an output signal from the odor sensor 252.

  The humidity sensor 253 detects the humidity around the outside of the housing 202. As the humidity sensor 253, for example, a capacitance type or electric resistance type humidity sensor using a polymer moisture sensitive material can be used. In order to detect the relative humidity around the outside of the cleaning robot 201, for example, the humidity sensor 253 is disposed in a state of being exposed to the outside from the side plate 202c or the top plate 202b of the housing 202. The CPU 215a is connected to the humidity sensor 253 via the control unit 253a, and obtains humidity information around the outside of the housing 202 based on an output signal from the humidity sensor 253.

  In the travel map 218a, a location where an odor above a predetermined threshold at a location where the cleaning robot 201 is installed and a location where the humidity is higher than the predetermined threshold may be stored in advance as specific locations. In this way, the CPU 215a can determine that this specific location is a location determined based on the surrounding environment of the housing 202. That is, the travel map 218a serves as an environment detection device that detects the surrounding environment of the housing 202, like the odor sensor 252 and the humidity sensor 253.

  As the human sensor 254, for example, a human sensor that detects the presence of a person using infrared rays, ultrasonic waves, visible light, or the like can be used. In order to detect the presence of a person around the outside of the cleaning robot 201, for example, the human sensor 254 is disposed in a state of being exposed to the outside from the side plate 202c or the top plate 202b of the housing 202. The CPU 215a is connected to the human sensor 254 via the control unit 254a, and obtains presence information of people around the outside of the housing 2 based on an output signal from the human sensor 254.

  The contact sensor 255 is disposed, for example, at the front portion of the side plate 202c of the housing 202 in order to detect that the cleaning robot 201 has come into contact with an obstacle during traveling. The CPU 215a is connected to the contact sensor 255 via the control unit 255a, and obtains presence information of obstacles around the outside of the housing 202 based on an output signal from the contact sensor 255.

  In the cleaning robot 201 configured as described above, the electric blower 222, the ion generator 225, the drive wheel 229, the rotating brush 209, and the side brush 210 are driven by a cleaning operation command. As a result, in a state in which the rotating brush 209, the side brush 210, the drive wheel 229, and the rear wheel 226 are in contact with the floor surface F, the housing 202 moves dust from the floor surface F through the suction port 206 while traveling in a predetermined range. Inhale air containing. At this time, the dust on the floor surface F is scraped up by the rotation of the rotating brush 209 and guided to the suction port 206. Further, the dust on the side of the suction port 206 is guided to the suction port 206 by the rotation of the side brush 210.

  The air containing the dust sucked into the housing 202 from the suction port 206 passes through the suction passage 211 of the housing 202 and the inflow passage 234 of the dust collection box 230 as indicated by an arrow A1 in FIG. It flows into the dust collecting container 231. The airflow that has flowed into the dust collecting container 231 passes through the filter portion 233, flows into the space between the filter portion 233 and the cover portion 232, and is discharged to the exhaust passage 212 of the housing 202 through the discharge passage 235. The At this time, the dust contained in the airflow in the dust collecting container 231 is captured by the filter unit 233, so that the dust accumulates in the dust collecting container 231.

  The airflow flowing from the dust collection box 230 into the exhaust passage 212 of the housing 202 flows into the front storage chamber R1 as indicated by an arrow A2 in FIG. 14, and the first exhaust passage 224a and the second exhaust passage shown in FIG. 224b is distributed. The airflow flowing through the second exhaust path 224b includes ions generated by the ion generating element 225. Then, as shown by an arrow A3 in FIG. 14, an air flow containing ions is exhausted obliquely upward at the rear from an exhaust port 207 provided on the upper surface of the housing 2. Thereby, cleaning on the floor surface F is performed, and indoor sterilization and deodorization are performed by ions contained in the exhaust of the cleaning robot 201. At this time, exhaust is performed from the exhaust port 207 obliquely upward to the rear, so that the dust on the floor surface F is prevented from being rolled up, and the cleanliness of the room can be improved. Note that the ions emitted from the ion generator 225 may be either negative ions or positive ions, or both. When both negative ions and positive ions are released, there is a particularly excellent air purification, sterilization or deodorization effect.

A part of the airflow flowing through the second exhaust path 224b may be guided to the recess 208. In this way, since ions are included in the airflow guided from the suction port 206 to the suction path 211, the inside of the dust collection container 231 of the dust collection box 230 and the filter part 233 can be sterilized and deodorized. Further, it is possible to suppress the electrostatic adsorption of the dust or the like to the dust collecting container 231 or the like by gradually charging the dust.
In addition, the cleaning robot 201 turns around the center line C by rotating the left and right drive wheels 229 forward in the same direction, moving forward, moving backward in the same direction, moving backward, and rotating in the opposite directions. For example, when the cleaning robot 201 reaches the periphery of the cleaning area and collides with an obstacle on the course, the driving wheel 229 stops and the left and right driving wheels 229 rotate in opposite directions to change directions. Thereby, the cleaning robot 201 can be self-propelled while avoiding obstacles in the entire installation place or the entire desired range.

The cleaning robot 201 is grounded at three points, the left and right drive wheels 229 and the rear wheel 226, and the weight is distributed in such a balance that the rear wheel 226 does not rise from the floor F even if it suddenly stops during forward movement. Yes. Therefore, it is prevented that the cleaning robot 201 suddenly stops in front of the descending stairs while moving forward, and thereby the cleaning robot 201 is tilted forward and falls to the descending stairs. The drive wheel 229 is formed by fitting a rubber tire having a groove into the wheel so that the drive wheel 229 does not slip even when suddenly stopped.
Further, since the dust collection box 230 is disposed above the rotation shaft of the drive wheel 229, the weight balance of the cleaning robot 201 is maintained even if the weight increases due to dust collection.

The cleaning robot 201 can perform a unique operation based on information obtained from the odor sensor 252, the humidity sensor 253, the travel map 218 a, and the human sensor 254 that are environment detection devices. For example, the cleaning robot 201 can stay for a certain period of time at a specific location determined based on the surrounding environment detected by the environment detection device, and can release an airflow including ions from the exhaust port 207.
The cleaning robot 201 returns to the charging stand 240 when cleaning is completed. As a result, the charging terminal 204 contacts the terminal portion 241 and the battery 214 is charged.

  Moreover, the cleaning robot 201 can drive the electric blower 222 and the ion generator 225 while being returned to the charging stand 240. As a result, an airflow containing ions is released obliquely upward from the exhaust port 207, and the airflow containing ions rises along the side wall S and circulates along the indoor ceiling wall and the opposite side wall. As a result, ions spread throughout the room, and the sterilization effect and deodorization effect can be improved. Thus, the cleaning robot 201 can also perform the ion emission operation alone.

An operation unit is provided on the upper surface of the cleaning robot 201, and a cleaning operation and an ion emission operation can be executed by the operation unit. In addition, a receiving unit may be provided in the housing 202 and a transmitter that transmits a command signal may be provided to the receiving unit so that the remote controller can be operated. Further, a command signal may be transmitted to the cleaning robot 201 from a mobile phone called a smartphone via an Internet line and a router provided in the room so that it can be remotely operated.
In addition to the embodiments described above, there can be various modifications of the present invention. These modifications should not be construed as not belonging to the scope of the present invention. The present invention should include the meaning equivalent to the scope of the claims and all modifications within the scope.

1: Self-propelled ion generator 2: Housing 2a: Bottom plate 2b: Rear side plate 2c: Front side plate 2d: Top cover 3: Intake port 4: Ion generating elements 41a, 41b: Ion emission part 42: Counter electrodes 43a, 43b : Discharge electrode 45: Body portion 46: Terminal 5: Exhaust port 6: Battery 7: Electric blower 8: Filter 9: Intake lid 10: Exhaust lid drive unit 11: Exhaust lid 12: Exhaust lid Drive unit 13: Control unit 14: Control board 15: Drive wheel 15a: Rotating shaft 16: Front auxiliary wheel 17: Rear wheel 18, 19: Floor detection sensor 20: Charging terminal 21: Charging stand 22: Terminal unit 23: CPU
24: ROM
25: RAM
26: I / O port 27: driver circuit 28: storage unit 29: odor sensor 30: humidity sensor 31: human sensor 32: contact sensor 100: self-propelled electronic device 101: housing 102: front lower end 103: front Auxiliary wheel 104: Inclined plate 105: Lid 106: Intake port 107: Exhaust port 108: Drive wheel 109: Rear wheel 111: Bumper 201: Cleaning robot 202: Housing 202a: Bottom plate 202b: Top plate 202c: Side plate 203: Lid 204: Charging terminal 206: Suction port 207: Exhaust port 208: Recess 209: Rotating brush 210: Side brush 211: Suction path 212: Exhaust path 213: Floor detection sensor 214: Battery 215: Control board 215a: CPU
217: Louver 217a: Control unit 218: Storage unit 218a: Travel map 219: Floor surface detection sensor 220: Motor unit (blower unit)
221: Housing 222: Electric blower 222a: Motor driver 223: Opening 224a: First exhaust path 224b: Second exhaust path 225: Ion generator 226: Rear wheel 227: Front auxiliary wheel 229: Drive wheel 230: Dust collection box 231: Dust collection container 232: Cover part 233: Filter part 234: Inflow path 235: Discharge path 239: Partition wall 240: Charging stand 241: Terminal part 251: Traveling motor 251 a: Motor driver 252: Odor sensor 252 a: Control unit 253 : Humidity sensor 253a: Control unit 254: Human sensor 254a: Control unit 255: Contact sensor 255a: Control unit R1: Front storage room R2: Intermediate storage room R3: Rear storage room

Claims (5)

A housing,
A pair of drive wheels disposed on the bottom surface of the housing and in contact with the floor surface to drive the housing;
A driven wheel disposed on the bottom surface and supporting the housing in contact with the floor surface behind the drive wheel;
An inclined plate arranged so as to continue from the front lower end of the housing to the bottom surface in the traveling direction;
The housing is supported at three points of the driving wheel and the driven wheel, has a battery disposed behind the driving wheel, and has a bumper that retreats when it hits an obstacle while traveling forward ,
The bumper has a bent portion with a lower end bent backward.
The rear end of the bent portion is disposed behind the position where the lower surface of the bent portion and the front end of the inclined plate are close to each other,
The self-propelled cleaner, wherein a lower front end of the bent portion coincides with a front end of the inclined plate at a position where the bumper is retracted. The self-propelled according to claim 1, further comprising a side brush in which a brush bundle is provided radially at a lower end of a rotating shaft disposed on a bottom surface of the housing, and the brush bundle is in contact with a floor surface. Type vacuum cleaner. A front auxiliary wheel disposed at a rear end portion of the inclined plate and disposed in front of the drive wheel, wherein the front auxiliary wheel has a lower end lower than the bottom surface and higher than a floor surface. Item 3. A self-propelled vacuum cleaner according to item 2. The inclined plate is arranged with a predetermined width from the front center of the housing to the left and right,
The self-propelled cleaner according to any one of claims 1 to 3, wherein a height of the inclined plate from the floor surface in the width direction is lower than the bottom surfaces on both sides. The self-propelled cleaner according to any one of claims 1 to 4, wherein the inclined plate is formed integrally with or separate from the bottom surface of the housing.