JP6874489B2 - Self-propelled futon vacuum cleaner - Google Patents

Description

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

Conventionally, a moving device has been developed in which a traveling function is added to a work device to automatically move within the work area. In particular, some mobile devices that autonomously move without defining a route in advance detect a step on the floor surface and avoid falling from the step. For example, in the moving device of Patent Document 1, a distance sensor using near-infrared light or the like is attached diagonally to the front of the upper part of the main body to detect the distance to the floor surface in front of the main body.

Japanese Patent No. 2516914

Moving a conventional moving device on a flexible surface to be cleaned, such as a futon, may cause the following problems. That is, since the futon has a thickness, a step or an inclined surface is formed at the edge of the futon. In such a device that moves on the futon surface, even if the distance sensor detects a step or inclination at the edge of the futon and performs a fall avoidance operation, the device body is inclined due to the dent of the flexible futon. There was a problem that it would fall from the surface of the futon under its own weight.

The present invention has been made to solve the above-mentioned problems, and by improving the mounting position of the distance sensor, self-propelled futon cleaning that enables autonomous traveling while avoiding falling from the futon surface. The purpose is to provide an opportunity.

The self-propelled futon cleaner according to the present invention has a moving means for moving the main body having suction means on the futon surface, a driving means for driving the moving means, and an irradiation point provided on the outer edge of the main body in the traveling direction. A distance sensor that detects the distance to the surface to be cleaned by irradiating the surface to be cleaned in front of the traveling direction with a light beam, and a means of transportation when the distance detected by the distance sensor exceeds a preset distance. The distance sensor is equipped with a control means that drives the main body to change the traveling direction of the main body, and the distance sensor has a first position where a perpendicular line drawn from an irradiation point to a virtual plane including the bottom surface of the main body intersects the virtual plane, and a light beam. It is configured so that the distance from the second position intersecting the virtual plane is within the range of 1 cm to 5 cm, and further includes an inclination sensor that detects the inclination angle indicating the inclination of the posture of the main body with respect to the vertical direction, and is detected by the inclination sensor. When the tilt angle exceeds the threshold value, the control means is configured to drive the moving means to retract the main body with respect to the traveling direction, and the moving means is a pair of driven wheels protruding downward from the bottom surface of the main body. The main body does not have any driven wheels other than the pair of driven wheels included in the moving means, and the moving means contacts at least a part of the surface of the bottom surface of the main body facing the futon surface with the futon surface. It is characterized in that it is configured to move while being moved.

According to the self-propelled futon vacuum cleaner of the present invention, autonomous traveling is possible while avoiding falling from the futon surface.

FIG. 5 is a schematic view of the internal configuration of the self-propelled futon vacuum cleaner according to the first embodiment as seen through from the side surface side. It is a perspective view of the distance sensor in Embodiment 1. It is a control block diagram of the self-propelled futon vacuum cleaner in the first embodiment. It is a figure which shows an example of the output characteristic of a distance sensor 11. It is a figure for demonstrating the arrangement and direction of the distance sensor provided in the main body. It is a figure which shows an example of the occurrence probability of a drop from a futon of a self-propelled futon vacuum cleaner with respect to the detection area of a distance sensor, and erroneous detection of a sensor. It is a figure for demonstrating an example of the operation when the main body reaches the vicinity of the edge of a futon. It is a figure for demonstrating another example of operation when the main body reaches near the edge of a futon. It is a figure for demonstrating an example of operation with a comforter hung on the main body. It is a top view which shows the self-propelled futon vacuum cleaner equipped with a plurality of distance sensors. It is a control block diagram of a self-propelled futon vacuum cleaner equipped with a plurality of distance sensors. It is a figure which shows the example which changed the installation height of a distance sensor. It is a figure which shows another example of the output characteristic of a distance sensor. It is a figure for demonstrating how the main body runs on a futon laid out from a table. FIG. 5 is a schematic view of the internal configuration of the self-propelled futon vacuum cleaner according to the second embodiment as seen through from the side surface side.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the elements common to each figure are designated by the same reference numerals, and duplicate description will be omitted. It should be noted that when the number, quantity, quantity, range, etc. of each element is referred to in the embodiment shown below, the reference is made unless otherwise specified or clearly specified by the number in principle. The present invention is not limited to the number of the above. In addition, the structure described in the embodiments shown below is not necessarily essential to the present invention unless otherwise specified or clearly specified in principle.

Embodiment 1.
[Structure of Embodiment 1]
FIG. 1 is a schematic view of the internal configuration of the self-propelled futon vacuum cleaner according to the first embodiment as seen through from the side surface side. In FIG. 1, the left side of the paper surface is the front side, the right side of the paper surface is the rear side, the upper side of the paper surface is the upper side, and the lower side of the paper surface is the lower side. Further, FIG. 1 shows a state in which the mattress 13 is laid on the floor surface 15 and the main body 1 of the self-propelled futon vacuum cleaner is arranged on the mattress 13.

As shown in this figure, the main body 1 of the self-propelled futon vacuum cleaner includes the body 2. The body 2 is a portion that forms the outer frame of the self-propelled futon vacuum cleaner. Inside the body 2, various devices provided in the self-propelled futon vacuum cleaner are provided.

The main body 1 of the self-propelled futon vacuum cleaner includes a control means 3, a drive means 4, a moving means 5, a battery 6, a suction means 7, a suction means 8, a dust collecting means 9, and a communication means 10. , The operation unit 12 is provided. The control means 3 is for controlling the autonomous traveling operation and the cleaning operation of the self-propelled futon vacuum cleaner. The moving means 5 is a mechanism for moving the main body 1 of the self-propelled futon vacuum cleaner, and includes, for example, wheels. The driving means 4 is for driving the moving means 5 to move the main body 1 of the self-propelled futon vacuum cleaner, and is composed of, for example, a motor. The control means 3 controls the rotation direction, rotation speed, and the like of the drive means 4, so that the movement direction, speed, and the like of the main body 1 of the self-propelled futon vacuum cleaner are controlled.

The battery 6 is for supplying electric power to each component of the main body 1. The suction means 7 is for scraping out and sucking dust existing on the surface to be cleaned, and is composed of, for example, a rotating brush. The surface to be cleaned is a surface to be cleaned by a self-propelled futon vacuum cleaner, and here means a futon surface. The suction means 7 is connected to the dust collecting means 9 via the communicating means 10. The suction means 8 is for sucking dust together with air, and is composed of, for example, a blower motor. Dust is sucked from the suction means 7 by the operation of the suction means 8. The dust sucked from the suction means 7 flows to the dust collecting means 9 via the communicating means 10. The dust collecting means 9 collects the sucked dust. Further, the main body 1 of the self-propelled futon vacuum cleaner has an operation unit 12 for causing the main body 1 to perform a desired operation.

The main body 1 of the self-propelled futon vacuum cleaner travels on the futon surface while sucking dust from the suction means 7 by driving the drive means 4 in a state where the suction means 8 is operated. At this time, at least a part of the surface of the bottom surface 1a of the main body 1 facing the futon surface runs while contacting the futon surface. The moving means 5 is a pair of wheels protruding downward from the bottom surface 1a, and is pushed into the futon by the mass of the main body 1 to maintain friction with the futon surface. By constructing the moving means 5 so as to project downward from the bottom surface 1a in this way, it is possible to travel while at least a part of the surface of the bottom surface 1a facing the futon surface is in contact with the soft futon surface. Therefore, even in a configuration without a driving wheel other than the moving means 5, the vehicle can travel stably on the futon surface. Further, it is possible to reduce the measurement variation of the distance of the distance sensor 11 described later from the futon surface. It is desirable that the moving means 5 has a configuration in which the amount of protrusion can be adjusted according to the softness of the futon on the surface to be cleaned.

The main body 1 of the self-propelled futon vacuum cleaner includes a distance sensor 11 for detecting the distance to the object. The distance sensor 11 is arranged on the outer edge of the main body 1 of the self-propelled futon vacuum cleaner in the traveling direction, that is, on the outer edge on the front side of the main body 1. FIG. 2 is a perspective view of the distance sensor 11 according to the first embodiment. The distance sensor 11 has a light beam irradiator 11a and a light beam receiver 11b. The light beam irradiator 11a is for irradiating the light beam from the irradiation point 11c toward the surface to be cleaned. The light beam receiver 11b is for receiving the reflected light reflected by the surface to be cleaned. The light beam irradiator 11a and the light beam receiver 11b are arranged so as to face the detection region located on the surface to be cleaned forward in the traveling direction from the front outer edge of the main body 1. In the example shown in this figure, the light beam irradiator 11a and the light beam receiver 11b are arranged so as to face forward by 20 ° to 30 ° with respect to the vertical axis. The details of the arrangement of the distance sensor 11 will be described later. The amount of reflected light increases as the distance sensor 11 approaches the detection area. The control means 3 detects the level of the amount of light received by the light beam receiver 11b of the distance sensor 11 and recognizes the positional relationship between the main body 1 and the detection area. Infrared rays can be used for the light beam emitted from the irradiator. Since the infrared light emitting element and the light receiving element are already widely available and easily available, they can be easily adopted in the self-propelled futon vacuum cleaner according to the present invention. Further, by using infrared rays, it is possible to detect the distance day and night and without being affected by the brightness in the room.

FIG. 3 is a control block diagram of the self-propelled futon vacuum cleaner according to the first embodiment. The direction of the arrow in this figure indicates the direction in which the control signal, the detection signal, or the like is transmitted between the various components. When the operation unit 12 issues an instruction for cleaning operation, the main body 1 starts cleaning operation and autonomous traveling operation. Power is supplied from the battery 6 to the control means 3. Further, electric power is supplied from the battery 6 to the various components via the control means 3. The control means 3 drives the suction means 7 and the suction means 8 to perform a cleaning operation for sucking dust on the futon surface. The sucked dust is stored in the dust collecting means 9.

Further, the detection signal of the distance sensor 11 is input to the control means 3. Based on the detection signal of the distance sensor 11, the control means 3 performs an autonomous driving operation that controls the operation of the drive means 4 so that the main body 1 does not fall from the futon. Here, the distance sensor 11 outputs an analog voltage V corresponding to the distance D from the irradiation point 11c to the detection region. FIG. 4 is a diagram showing an example of the output characteristics of the distance sensor 11. In the example shown in this figure, the characteristic that the output analog voltage V changes to a smaller value is shown as the distance D from the irradiation point 11c of the distance sensor 11 to the detection region increases.

In the output characteristics shown in FIG. 4, the distance Da represents the distance to the detection region when the distance sensor 11 and the futon surface are close to each other, and the voltage Va represents the voltage output at this time. The control means 3 constantly monitors the voltage V detected by the distance sensor 11. While the voltage Va is output from the distance sensor 11, it can be determined that the distance D between the irradiation point 11c of the distance sensor 11 and the futon surface in the detection area is maintained at the distance Da. On the other hand, when the voltage V output from the distance sensor 11 becomes a value smaller than the voltage Va, it can be determined that the distance D is larger than the distance Da. In this case, since it can be determined that there is a step or inclination in front of the main body 1 in the traveling direction, if the self-propelled futon vacuum cleaner continues to run as it is, the main body 1 may fall from the futon surface. Therefore, in the self-propelled futon vacuum cleaner of the first embodiment, the threshold value Dx of the distance D that may fall from the futon surface is stored in the control means 3 in advance. Then, when the voltage V detected by the distance sensor 11 becomes smaller than the voltage Vx corresponding to the threshold value Dx, the control means 3 changes the behavior of the moving means 5 so that the main body 1 does not fall from the futon. Specifically, the control means 3 controls the drive means 4 to operate the moving means 5 so that the traveling direction of the main body 1 is reversed. According to such control, the traveling direction of the main body 1 can be changed before the main body 1 falls from the futon, so that the main body 1 can be prevented from falling from the futon surface.

[Characteristics of Embodiment 1]
Next, the features of the self-propelled futon vacuum cleaner of the first embodiment will be described. The distance sensor 11 detects the distance between the futon surface in front of the main body 1 in the traveling direction and the detection region irradiated with the light beam. The detection area of the distance sensor 11 changes depending on the arrangement and orientation of the distance sensor 11. The self-propelled futon vacuum cleaner of the first embodiment is characterized in the arrangement of the distance sensor 11 and its detection area.

FIG. 5 is a diagram for explaining the arrangement and orientation of the distance sensor 11 provided on the main body 1. As shown in this figure, the distance sensor 11 is irradiated from the first position P1 where the perpendicular line L1 drawn from the irradiation point 11c to the virtual plane S including the bottom surface 1a of the main body 1 intersects the virtual plane S and the irradiation point 11c. The arrangement and orientation are set so that the virtual distance Dv with the second position P2 where the light beam intersects the virtual plane S is within the range of 1 cm to 5 cm.

FIG. 6 is a diagram showing an example of the probability of a self-propelled futon vacuum cleaner falling from a futon and erroneous detection of a sensor with respect to a virtual distance Dv. In the example shown in this figure, when the virtual distance Dv is less than 1 cm, the possibility of falling from the futon increases sharply. This is because the main body 1 is more likely to be unstable on the futon surface than on a flat surface such as the floor, and the main body 1 is more likely to slip off because the edge of the futon is rounded. It is due. Further, in the example shown in this figure, when the virtual distance Dv exceeds 5 cm, the possibility of erroneous detection by the distance sensor 11 increases sharply. This is because the surface of the futon has more unevenness than the surface of a flat surface such as the floor. In the self-propelled futon vacuum cleaner of the first embodiment, the arrangement and orientation of the distance sensor 11 are set so that the above-mentioned virtual distance Dv is within the range of 1 cm to 5 cm. As a result, it is possible to prevent the distance sensor 11 from being erroneously detected and to prevent the main body 1 from falling from the futon surface.

Next, the specific operation of the self-propelled futon vacuum cleaner of the first embodiment will be described with reference to some examples.

FIG. 7 is a diagram for explaining an example of the operation when the main body 1 reaches the vicinity of the edge 14 of the mattress 13. In FIG. 7, the left side of the paper surface is the front side, the right side of the paper surface is the rear side, the upper side of the paper surface is the upper side, and the lower side of the paper surface is the lower side.

The mattress 13 of the example shown in this figure is formed of a plane in which the edge portion 14 extends in the direction perpendicular to the floor surface 15. The control means 3 controls the drive means 4, the suction means 8, the suction means 7, and the moving means 5 so that the main body 1 runs on the mattress 13 and performs a cleaning operation. When the detection area changes from the top of the mattress 13 to the floor surface 15 as the main body 1 approaches the edge portion 14, the distance D from the distance sensor 11 changes from Da (<Dx) to Dc (> Dx). The control means 3 controls the drive means 4 so as to retract the main body 1 from the vicinity of the edge portion 14 in response to the change in the output of the distance sensor 11 from Va (> Vx) to Vc (<Vx). As a result, it is possible to prevent the main body 1 from falling from the mattress 13.

FIG. 8 is a diagram for explaining another example of the operation when the main body 1 reaches the vicinity of the edge 14 of the mattress 13. In FIG. 8, the left side of the paper surface is the front side, the right side of the paper surface is the rear side, the upper side of the paper surface is the upper side, and the lower side of the paper surface is the lower side.

The mattress 13 of the example shown in this figure has a rounded edge 16. When the main body 1 approaches the rounded edge portion 16, the main body 1 is tilted, and there is a risk that the main body 1 will fall under its own weight. When the detection area changes from the surface of the mattress 13 to the edge 16 as the main body 1 approaches the edge 16, the distance D from the distance sensor 11 changes from Da (<Dx) to Db. In the self-propelled futon vacuum cleaner of the first embodiment, the threshold value Dx is set to a value smaller than Db. The control means 3 controls the drive means 4 so as to retract the main body 1 from the vicinity of the edge portion 14 in response to the change in the output of the distance sensor 11 from Va (> Vx) to Vc (<Vx). As a result, the main body 1 can be prevented from slipping off from the edge 16 of the mattress 13.

FIG. 9 is a diagram for explaining an example of operation in a state where the comforter 17 is hung on the main body 1. In FIG. 9, the left side of the paper is the front, the right side of the paper is the rear, the upper side of the paper is the upper side, and the lower side of the paper is the lower side. The comforter 17 referred to here refers to a cloth placed on a mattress or a mattress. Specifically, the comforter 17 includes not only comforters such as cotton, feathers, and wool, but also blankets, towelettes, sheets or clothing rolled up to the extent that the main body 1 can be inserted.

The self-propelled futon vacuum cleaner of the first embodiment is composed of an inclined surface in which the upper surface portion 2a on the front side of the body 2 is inclined downward from the horizontal direction as it goes forward. According to the shape of the body 2 having such a shape, the comforter 17 is pushed upward when the main body 1 on which the comforter 17 is hung moves forward. When the comforter 17 is pushed upward, a space is formed between the mattress 13 and the comforter 17. As a result, it is possible to prevent the comforter 17 from blocking the distance between the irradiation point 11c of the distance sensor 11 arranged on the outer edge in front of the main body 1 and the detection area. The control means 3 controls the drive means 4 so as to retract the main body 1 from the vicinity of the edge portion 16 in response to the change in the output of the distance sensor 11 from Va (> Vx) to Vc (<Vx). As a result, the main body 1 can be prevented from slipping off from the edge 16 of the mattress 13.

By the way, the self-propelled futon vacuum cleaner of the first embodiment described above may adopt a modified form as follows.

The self-propelled futon vacuum cleaner of the first embodiment can adopt a configuration including a plurality of distance sensors 11. FIG. 10 is a plan view showing a self-propelled futon vacuum cleaner provided with a plurality of distance sensors. Further, FIG. 11 is a control block diagram of a self-propelled futon vacuum cleaner provided with a plurality of distance sensors. In FIG. 10, the left side of the paper is the front, the right side of the paper is the rear, the upper side of the paper is the right, and the lower side of the paper is the left. In the example shown in FIG. 10, the distance sensors 11 are arranged at the front center, the front right, the front left, the rear center, the rear right, and the rear left of the outer edge of the main body 1, respectively. As shown in FIG. 11, the detection signal of each distance sensor 11 is input to the control means 3. The control means 3 controls the operation of the driving means 4 based on the detection signals of the distance sensors 11 arranged in the traveling direction of the main body 1 among the detection signals of the plurality of distance sensors 11. Based on the control information from the control means 3, the drive means 4 operates the moving means 5 so that the main body 1 does not fall from the futon. This makes it possible to prevent the main body 1 from falling from the futon surface even when the main body 1 is moving in a direction other than the front. The number and arrangement of the distance sensors 11 are not limited to the above examples, and can be appropriately set according to the shape of the main body 1 and the like.

The distance sensor 11 arranged in the self-propelled futon vacuum cleaner of the first embodiment may be configured so that its position or installation angle can be changed manually or automatically. FIG. 12 is a diagram showing an example in which the installation height of the distance sensor is changed. If the installation angle of the distance sensor 11 is the same, the higher the installation position is, the farther the detection area is from the main body 1. Further, if the installation height of the distance sensor 11 is the same, the smaller the installation angle with respect to the horizontal plane, the farther the detection area is from the main body 1. For example, in the example of the self-propelled futon vacuum cleaner shown in this figure, the installation height of the distance sensor 11 is variably configured in the range of 1 cm to 5 cm in the vertical direction. According to such a configuration, it is possible to adjust the detection area according to the hardness or thickness of the futon surface which is the surface to be cleaned. For example, when cleaning a flexible futon surface, the detection area can be moved away to further reduce the risk of falling. When adjusting the installation height of the distance sensor 11, it is necessary to adjust the virtual distance Dv between the first position P1 and the second position P2 within a range of 1 cm to 5 cm. Therefore, the distance sensor 11 installation position may be configured to be adjustable within a range in which the virtual distance Dv is between 1 cm and 5 cm. Further, the distance sensor 11 may be configured so that the installation angle can be manually or automatically adjusted in addition to or instead of the installation position. Even in this case, the range of the installation angle may be limited so that the virtual distance Dv is between 1 cm and 5 cm.

The output characteristics of the distance sensor 11 are not limited to those shown in FIG. FIG. 13 is a diagram showing another example of the output characteristics of the distance sensor 11. In the example shown in this figure, the characteristic that the output analog voltage V changes to a larger value is shown as the distance D from the irradiation point 11c of the distance sensor 11 to the detection region increases.

According to the characteristics shown in FIG. 13, it is determined that the distance D between the irradiation point 11c of the distance sensor 11 and the futon surface of the detection area is maintained at the distance Da while the voltage Va is output from the distance sensor 11. Can be done. On the other hand, when the voltage V output from the distance sensor 11 becomes a value larger than the voltage Va, it can be determined that the distance D is larger than the distance Da. As the distance D increases, the possibility that the main body 1 of the self-propelled futon vacuum cleaner will fall from the surface of the futon increases. Therefore, when the output characteristic of the distance sensor 11 is as shown in FIG. 13, the control means 3 is the main body when the voltage V detected by the distance sensor 11 becomes larger than the voltage Vx corresponding to the threshold value Dx. The behavior of the moving means 5 may be changed so that the 1 does not fall from the futon.

Embodiment 2.
Next, the self-propelled futon vacuum cleaner of the second embodiment will be described. The self-propelled futon vacuum cleaner of the second embodiment is characterized in that it is provided with an inclination sensor in addition to the configuration of the self-propelled futon vacuum cleaner of the first embodiment.

FIG. 14 is a diagram for explaining how the main body runs on the futon laid out from the table. In FIG. 14, the left side of the paper surface is the front side, the right side of the paper surface is the rear side, the upper side of the paper surface is the upper side, and the lower side of the paper surface is the lower side. The mattress 13 shown in this figure is laid on a table 18 arranged on the floor surface 15 with a rounded edge 16 protruding from the table 18. As shown in this figure, when the edge 16 is floating in the air, the output signal when the main body 1 of the self-propelled futon vacuum cleaner reaches the vicinity of the edge 16 and the distance sensor 11 becomes the distance Db (> threshold Dx). There is a risk that the main body 1 will fall under its own weight before it emits.

FIG. 15 is a schematic view of the internal configuration of the self-propelled futon vacuum cleaner according to the second embodiment as seen through from the side surface side. In the configuration of the self-propelled futon vacuum cleaner according to the second embodiment, the elements common to the self-propelled futon vacuum cleaner according to the first embodiment are designated by a common reference numeral and the description thereof will be omitted. Further, in FIG. 15, the left side of the paper surface is the front side, the right side of the paper surface is the rear side, the upper side of the paper surface is the upper side, and the lower side of the paper surface is the lower side. The self-propelled futon vacuum cleaner of the second embodiment includes an inclination sensor 19 inside the main body 1. The tilt sensor 19 is a sensor that emits an output according to the tilt in the vertical direction. By fixing the tilt sensor 19 to the main body 1, it is possible to detect the tilt angle θ of the main body 1 with respect to the vertical direction.

The mattress 13 shown in FIG. 15 is laid on a table 18 arranged on the floor surface 15 with a rounded edge 16 protruding from the table 18. Since the distance sensor 11 cannot grasp the state under the edge portion 16, the main body 1 approaches the edge portion 16 floating in the air. In this case, the front of the main body 1 may be tilted downward due to its own weight and may fall from the futon.

In the self-propelled futon vacuum cleaner of the second embodiment, the control means 3 detects the inclination angle θ by the inclination sensor 19. Then, the control means 3 controls the drive means 4 so that the main body 1 is retracted from the vicinity of the edge portion 16 when the detected tilt angle θ exceeds the threshold value θx of the tilt angle. As the threshold value θx, a value determined in advance by an experiment or the like can be used as a limit value of the inclination angle so that the main body 1 does not fall due to its own weight. As a result, the main body 1 can be prevented from falling from the mattress 13.

As described above, according to the self-propelled futon vacuum cleaner of the second embodiment, since the inclination sensor 19 for detecting the inclination of the posture of the main body 1 is further provided, the mattress 13 is in a state of protruding from the bed or the table. Also has the effect of preventing the main body 1 from falling from the futon surface.

1 Main body, 1a bottom surface, 2 body, 2a top surface, 3 control means, 4 drive means, 5 transportation means, 6 batteries, 7 suction means, 8 suction means, 9 dust collection means, 10 communication means, 11 distance sensor, 11a Light beam irradiator, 11b light beam receiver, 11c irradiation point, 12 operation unit, 19 tilt sensor

Claims (6)

A moving means for moving the main body having a suction means on the futon surface, and
The driving means for driving the moving means and
A distance sensor that detects the distance from the surface to be cleaned by irradiating the surface to be cleaned in front of the surface in the direction of travel from an irradiation point provided on the outer edge of the main body in the direction of travel.
A control means for driving the moving means to change the traveling direction of the main body when the distance detected by the distance sensor exceeds a preset distance is provided.
In the distance sensor, the distance between the first position where the perpendicular line drawn from the irradiation point to the virtual plane including the bottom surface of the main body intersects the virtual plane and the second position where the light beam intersects the virtual plane is 1 cm. It is configured to be within a range of 5 cm from
Further equipped with an inclination sensor for detecting an inclination angle indicating the inclination of the posture of the main body with respect to the vertical direction.
When the tilt angle detected by the tilt sensor exceeds a threshold value, the control means is configured to drive the moving means to retract the main body with respect to the traveling direction .
The moving means includes a pair of driven wheels protruding downward from the bottom surface of the main body.
The main body does not include any driving wheels other than the pair of driving wheels included in the moving means.
The moving means is a self-propelled futon vacuum cleaner characterized in that at least a part of the surface of the bottom surface of the main body facing the futon surface is moved while being in contact with the futon surface. .. The self-propelled futon vacuum cleaner according to claim 1, wherein the distance sensor is configured so that the second position can be adjusted by changing the installation position or the installation angle. The self-propelled futon vacuum cleaner according to claim 1 or 2 , wherein the distance sensor includes a light beam irradiator and a light beam receiver. The self-propelled futon vacuum cleaner according to claim 3, wherein the light beam irradiator is configured to irradiate infrared rays. The self-propelled futon vacuum cleaner according to any one of claims 1 to 4 , wherein a plurality of distance sensors are provided on the outer edge of the main body. The self-propelled futon vacuum cleaner according to any one of claims 1 to 5 , wherein the drive means is provided with a battery for supplying electric power.

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