JP7072926B2 - Electric moving body - Google Patents

Description

The present invention relates to an electric moving body.

Conventionally, it is equipped with a traveling means, a dust collecting unit that collects dust removed from the floor surface, and a battery that supplies power to the traveling means, etc., and is electrically operated such as a self-propelled vacuum cleaner that moves in the environment. The body is known (see, for example, Patent Document 1 and the like), and the battery of this self-propelled vacuum cleaner is charged from a charging stand (storage device) separately installed on the floor and connected to a power source. It has become. The self-propelled vacuum cleaner relies on the return signal from the charging stand to control the drive wheels of the traveling means and return to the charging stand, and the charging terminal of the self-propelled vacuum cleaner and the power supply terminal of the charging stand are electric. By being connected in a positive manner, it is detected that the return to the charging stand is completed, and the driving of the traveling means and the dust collecting unit is stopped.

Japanese Unexamined Patent Publication No. 2014-188062

However, in the conventional self-propelled vacuum cleaner as described in Patent Document 1, the self-propelled vacuum cleaner and the charging stand are flat in a standby state in which the self-propelled vacuum cleaner returns to the charging stand and stands by. Connected to. For this reason, the floor area is occupied by the projected area of the self-propelled vacuum cleaner and the charging stand, and there is a problem that the occupied space in the standby state is large.

An object of the present invention is to provide a self-propelled vacuum cleaner capable of reducing the occupied space in the standby state.

The electric moving body of the present invention is an electric moving body that moves in an environment, and includes a moving body main body having a battery and a storage device for storing the moving body main body. , A locking portion that locks a part of one end side of the moving body body, an elevating means for raising and lowering the locking portion, a charging means for charging the battery of the moving body body, and the charging means. It has a charging switching means for switching between a power supply state capable of supplying power and a non-power supply state in which power cannot be supplied. The moving body main body is lifted and can be stored in an upright state with one end side facing upward. When the charging switching means raises and lowers the locking portion by the raising and lowering means, the charging means can be raised and lowered. The storage device is characterized in that the locking portion functions as a feeding terminal for feeding power from the charging means toward the moving body main body by switching to the non-power feeding state.

According to the present invention as described above, in the storage device, the locking portion is raised by the elevating means, the electric moving body locked by the locking portion is lifted, and the storage device is stored in an upright state with one end side facing upward. Therefore, the projected area of the stored electric moving body with respect to the floor surface can be reduced, and the combined space occupied by the electric moving body and the storage device in the standby state can be reduced. Further, the storage device has a charging switching means for switching between a power supply state capable of supplying power to the charging means and a non-power supply state in which power cannot be supplied, and the charging switching means raises and lowers the locking portion by the raising and lowering means. In addition, the charging means is switched to the non-powered state. Therefore, since the elevating means and the charging means do not use a large amount of electric power at the same time, the charging means can be miniaturized, and thus the storage device can be miniaturized. Further, since the charging switching means switches the charging means to the non-power supply state when the locking portion is raised and lowered by the raising and lowering means, noise caused by chattering caused by vibration of the locking portion during raising and lowering is generated. Can be prevented.
Further, in the storage device, the locking portion for lifting the mobile body main body functions as a power supply terminal, so that power can be easily supplied to the lifted mobile body main body without preparing a separate power supply terminal. ..

In the present invention, the storage device includes a power supply determining means for determining whether or not power can be supplied to the battery of the moving body main body when the charging switching means switches to the power supply state, and the charging switching means. The means preferably switches the charging means to the non-powered state when the power supply determining means determines that the battery of the moving body main body cannot be supplied with power.

According to such a configuration, the charging switching means switches the charging means to the non-power supply state when it is determined by the power supply determination means that the battery of the moving body body cannot be supplied with power, so that the safety of the user is achieved. Can be enhanced.

In the present invention, the charging means has a feeding portion capable of contacting the locking portion to supply power, and the feeding portion contacts the locking portion at a locking position before lifting the moving body main body. It is preferable to have a possible first terminal and a second terminal that can come into contact with the locking portion at the storage position after the moving body main body is lifted.

According to such a configuration, the charging means has a feeding portion capable of supplying power by contacting the locking portion, and the feeding portion has a first terminal and a second terminal, so that the charging means can be locked before lifting. At both the position and the retracted position after lifting, each terminal contacts the locking portion to energize, and power can be supplied to the moving body main body via the locking portion. Further, since it is not necessary to directly connect the power supply wiring to the movable locking portion, it is not necessary to entangle the wiring or secure a space for the wiring to move.

In the present invention, the storage device has a detecting means for detecting whether or not the moving body main body is in a predetermined position where the moving body main body can be lifted, and the evacuation means is based on the detection by the detecting means and the moving body main body. It is preferable to lower the locking portion to the retracted position until the moving body reaches the predetermined position, and raise the locking portion to the locking position when the moving body main body reaches the predetermined position.

According to such a configuration, in the retracting device, the elevating means lowers the locking portion to the retracted position until the moving body main body comes to a predetermined position, so that the locking portion does not protrude and the human foot. It is possible to prevent clothes and clothes from being caught, and to prevent a part of the moving body main body from sliding and contacting the locking portion, so that wear of the locking portion can be reduced. Further, in the storage device, after the detecting means detects that the moving body main body has come to a predetermined position, the elevating means raises the locking portion to the locking position, so that the locking portion causes a part of the moving body main body. Can be securely locked, and the moving body body can be stably lifted.

The electric moving body of the present invention is an electric moving body that moves in an environment, and includes a moving body main body having a battery and a storage device for storing the moving body main body. , A locking portion that locks a part of one end side of the moving body body, an elevating means for raising and lowering the locking portion, a charging means for charging the battery of the moving body body, and the charging means. It has a charging switching means for switching between a power supply state capable of supplying power and a non-power supply state in which power cannot be supplied. The moving body main body is lifted and can be stored in an upright state with one end side facing upward. When the charging switching means raises and lowers the locking portion by the raising and lowering means, the charging means can be raised and lowered. When the storage device is switched to the non-power supply state and the storage device is switched to the power supply state by the detection means for detecting whether or not the moving body main body is in a predetermined position where it can be lifted and the charge switching means. The elevating means is provided with a power supply determining means for determining whether or not the battery of the moving body is capable of supplying power, and the elevating means is a locking portion until the moving body is in a predetermined position based on the detection by the detecting means. Is lowered to the retracted position, and when the moving body main body reaches a predetermined position, the locking portion is raised to the locking position, and it is determined that the power feeding determination means cannot supply power to the battery of the moving body main body. In this case, the locking portion is lowered to the retracted position.

According to the present invention as described above, in the storage device, the locking portion is raised by the elevating means, the electric moving body locked by the locking portion is lifted, and the storage device is stored in an upright state with one end side facing upward. Therefore, the projected area of the stored electric moving body with respect to the floor surface can be reduced, and the combined space occupied by the electric moving body and the storage device in the standby state can be reduced. Further, the storage device has a charging switching means for switching between a power supply state capable of supplying power to the charging means and a non-power supply state in which power cannot be supplied, and the charging switching means raises and lowers the locking portion by the raising and lowering means. In addition, the charging means is switched to the non-powered state. Therefore, since the elevating means and the charging means do not use a large amount of electric power at the same time, the charging means can be miniaturized, and thus the storage device can be miniaturized. Further, since the charging switching means switches the charging means to the non-power supply state when the locking portion is raised and lowered by the raising and lowering means, noise caused by chattering caused by vibration of the locking portion during raising and lowering is generated. Can be prevented.
Further, in the storage device, the elevating means lowers the locking portion to the retracted position until the moving body main body comes to a predetermined position, so that the locking portion does not protrude and human feet or clothes are caught. It is possible to prevent a part of the moving body main body from sliding and contacting the locking portion, and to reduce the wear of the locking portion. Further, in the storage device, after the detecting means detects that the moving body main body has come to a predetermined position, the elevating means raises the locking portion to the locking position, so that the locking portion causes a part of the moving body main body. Can be securely locked, and the moving body body can be stably lifted.
Further , the elevating means lowers the locking portion to the retracted position when it is determined by the feeding determining means that the battery of the moving body body cannot be supplied with power. It is possible to prevent the feet and clothes from getting caught and to improve the safety of the user.

Front view of a self-propelled vacuum cleaner according to an embodiment of the present invention. A side view of the vacuum cleaner body and a sectional view of the storage device in the self-propelled vacuum cleaner. Side view showing the lifting state of the vacuum cleaner body in the self-propelled vacuum cleaner Side view showing the retracted state of the vacuum cleaner body in the self-propelled vacuum cleaner A functional block diagram showing a schematic configuration of the self-propelled vacuum cleaner. Perspective view of the vacuum cleaner body as viewed from above Perspective view of the vacuum cleaner body as viewed from below A perspective view of the protruding state of the surrounding cleaning means in the vacuum cleaner body as viewed from above. A perspective view of the protruding state of the surrounding cleaning means in the vacuum cleaner body as viewed from below. Front view showing the protruding state of the surrounding cleaning means in the vacuum cleaner main body. Right side view showing the protruding state of the surrounding cleaning means in the vacuum cleaner body. Rear view showing the protruding state of the surrounding cleaning means in the vacuum cleaner main body. A perspective view showing the storage device of the self-propelled vacuum cleaner. Front view showing the storage device Sectional drawing which shows the said storage device (A) to (D) are sectional views showing the operation of the storage device. (A) and (B) are sectional views showing a part of the storage device in an enlarged manner. Sectional drawing which shows the detection means of the said storage device. (A) and (B) are sectional views showing the raising and lowering means of the storage device. An enlarged sectional view showing an elevating means of the storage device. An enlarged sectional view showing an elevating means of the storage device. Side view and sectional view showing the operation of the storage device. A side view and a sectional view showing the operation of the storage device following FIG. 22. A side view and a sectional view showing the operation of the storage device following FIG. 23. A side view and a sectional view showing the operation of the storage device following FIG. 24. (A) to (C) are sectional views showing an enlarged view of the charging means of the storage device. A perspective view of the vacuum cleaner body according to the modified example of the present invention as viewed from below. A perspective view of the protruding state of the surrounding cleaning means in the vacuum cleaner body as viewed from below. A perspective view of the vacuum cleaner body according to the modified example of the present invention as viewed from below. A perspective view showing a storage device of a self-propelled vacuum cleaner according to a modified example of the present invention.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 26.
FIG. 1 is a front view of a self-propelled vacuum cleaner according to an embodiment of the present invention, and FIG. 2 is a side view of a vacuum cleaner main body and a sectional view of a retractable device in the self-propelled vacuum cleaner.
The self-propelled vacuum cleaner 1 is an electric moving body that cleans the floor surface F while traveling along the floor surface F. The self-propelled vacuum cleaner 1 includes a vacuum cleaner main body 2 which is a cleaning robot as a moving body main body, and a charging station 6 as a storage device for storing the vacuum cleaner main body 2 at the time of non-cleaning.
In the present embodiment, the vacuum cleaner main body 2 will be described as an example of the moving body main body, but the moving body main body may be different from the vacuum cleaner main body 2. For example, the moving body body may be a vehicle, a kickboard, an electric bicycle, a drone, or the like. In short, the moving body itself may be any as long as it can move in the environment by using electric power.

As will be described later, the vacuum cleaner main body 2 includes a traveling drive unit 12 having a pair of left and right wheels 121 for self-propelling, and an elevating unit 13 provided so as to be able to move up and down from the upper surface portion 101 of the body 10. Power is supplied to the suction unit 14 for sucking dust and dirt on the floor surface F, the main body operation unit 15 (see FIG. 5) for operating the vacuum cleaner main body 2, the traveling drive unit 12, the elevating unit 13, and the like. It comprises a battery 18 (see FIG. 5). The charging station 6 is immovably installed at a predetermined position in the room and is connected to a power source such as an outlet.

FIG. 3 is a side view showing a lifting state of the vacuum cleaner main body in the self-propelled vacuum cleaner, and FIG. 4 is a side view showing the retracted state of the vacuum cleaner main body in the self-propelled vacuum cleaner.
As shown in FIGS. 3 and 4, the charging station 6 is configured to be able to lift the vacuum cleaner main body 2 and store it in an upright state with the rear side, which is one end side, facing upward. The charging station 6 has a hook 64 as a locking portion for locking the locked portion 16 (described later) provided on the rear side of the vacuum cleaner main body 2, and an elevating drive unit as an elevating means for raising and lowering the hook 64. It is configured to have 51 (described later).

FIG. 5 is a functional block diagram showing a schematic configuration of a self-propelled vacuum cleaner.
As shown in FIG. 5, the vacuum cleaner main body 2 has a peripheral cleaning means 3 for cleaning the surroundings of the vacuum cleaner main body 2, a sensor unit 4 for detecting obstacles around the vacuum cleaner main body 2, and cleaning. It includes a machine body 2, a peripheral cleaning means 3, and a control unit 5 as a control means for driving and controlling the sensor unit 4.

The peripheral cleaning means 3 is provided in pairs on the left and right sides of the front portion of the vacuum cleaner main body 2, and has an arm 21 that projects laterally from the vacuum cleaner main body 2 and can rotate, a motor 22 that rotationally drives the arm 21, and a motor. The load sensor 23 for detecting a load acting on the 22 from the outside and an angle sensor 24 for detecting the rotation angle of the arm 21 are provided.

The sensor unit 4 includes a front sensor 31 provided at the front of the vacuum cleaner main body 2, a peripheral sensor 32 provided at the elevating unit 13, a rear sensor 33 provided at the rear of the vacuum cleaner main body 2, and a vacuum cleaner. It is provided with a posture detection sensor 34 provided inside the main body 2. The posture detection sensor 34 functions as a posture detecting means for detecting a change in the posture of the vacuum cleaner main body 2. The posture detection sensor 34 may be any sensor as long as it can detect a change in the posture of the vacuum cleaner main body 2, and for example, an acceleration sensor, a gyro sensor, or the like can be adopted.

The control unit 5 includes a travel control unit 41 that controls the travel drive unit 12, a suction control unit 42 that controls the suction unit 14, a front sensor 31, a peripheral sensor 32, a rear sensor 33, and an attitude detection sensor 34 of the sensor unit 4. The load sensor 23 of the peripheral cleaning means 3, the detection calculation unit 43 that processes the detection signal from the angle sensor 24, and the arm control unit 44 that drives and controls the motor 22 of the peripheral cleaning means 3 to rotate the arm 21. To prepare for.

The charging station 6 returns to the elevating drive unit 51 as an elevating means for raising and lowering the hook 64, the charging unit 52 as a charging means for supplying power to and charging the battery 18 of the vacuum cleaner main body 2, and the charging station 6. A position detecting unit 53 as a detecting means for detecting the position of the vacuum cleaner main body 2 and a charging control unit 54 for controlling power supply by the charging unit 52 are provided.

Next, the structure of the vacuum cleaner main body 2 will be described with reference to FIGS. 6 to 12.
FIG. 6 is a perspective view of the vacuum cleaner body as viewed from above, and FIG. 7 is a perspective view of the vacuum cleaner body as viewed from below. FIG. 8 is a perspective view showing the protruding state of the peripheral cleaning means in the vacuum cleaner main body from above, and FIG. 9 is a perspective view showing the protruding state of the peripheral cleaning means in the vacuum cleaner main body from below. 10 to 12 are a front view, a right side view, and a rear view showing a protruding state of the surrounding cleaning means in the vacuum cleaner main body.

The vacuum cleaner main body 2 includes a body 10 having an upper surface portion 101, a front surface portion 102, left and right side surface portions 103, and a back surface portion 104, a chassis 11 constituting a bottom surface portion 105, and a pair of left and right wheels 121 for self-propelling. A traveling drive unit 12 having a A suction unit 14 and a main body operation unit 15 (FIG. 5) for operating the vacuum cleaner main body 2 are provided. The main body operation unit 15 is, for example, a touch sensor type switch (not shown) provided on the upper surface portion 101 of the vacuum cleaner main body 2, and the vacuum cleaner main body 2 is operated by a touch operation by the user and is in operation. The vacuum cleaner main body 2 is stopped by a touch operation.

The arm 21 of the peripheral cleaning means 3 includes a first arm 21A rotatably supported on one end side of the vacuum cleaner main body 2 and a second arm 21B rotatably supported on the other end side of the first arm 21A. Has and is configured. The first arm 21A is formed in a hollow shape as a whole, and one end side thereof is rotatably supported by the chassis 11. The second arm 21B is formed in the shape of a long bowl that opens downward, and its intermediate portion is rotatably supported on the other end side of the first arm 21A. The second arm 21B has a sub-suction port 25 that opens downward to suck dust and the like on the floor surface F, and the sub-suction port 25 is a suction portion 14 through the internal spaces of the second arm 21B and the first arm 21A. It communicates with the duct and dust collection room. Further, on the lower surface of the second arm 21B, as will be described later, a rotating ball 26 as a guiding means for rolling and guiding the front side (the other end side) of the vacuum cleaner main body 2 being lifted by the charging station 6 is provided. Has been done.

The sensor unit 4 includes a front sensor 31 provided on the front surface 102 of the body 10, a peripheral sensor 32 as a peripheral detecting means provided on the elevating unit 13, and a rear sensor 33 provided on the back surface 104 of the body 10. And the above-mentioned posture detection sensor 34. The front sensor 31 is composed of an ultrasonic sensor, an infrared sensor, or the like, and detects an obstacle in front of the vacuum cleaner main body 2. The ambient sensor 32 is a laser scanner (LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging)) that is rotationally driven inside the elevating unit 13 and irradiates a laser beam such as an infrared laser to measure the distance. The distance to the obstacle and the shape of the obstacle are calculated. The peripheral sensor 32 is not limited to the one provided on the elevating portion 13, and may be provided at an arbitrary position on the body 10. The rear sensor 33 is for detecting the distance and position with respect to the charging station 6, and communicates with the infrared light emitting unit 53C (see FIG. 13) of the position detecting unit 53 of the charging station 6 by infrared rays or the like. ..

The traveling drive unit 12 includes a pair of left and right wheels 121 and a motor (not shown) for independently rotating and driving the pair of wheels 121. Further, auxiliary wheels 122 are provided at the rear of the chassis 11. A roller brush 141, a duct (not shown), a suction fan, a dust collecting chamber, and an exhaust port are connected to the suction portion 14, and the sucked dust and the like are collected by the filter of the dust collecting chamber, and the sucked air is exhausted. It is designed to exhaust from the mouth. The duct of the suction portion 14 and the internal space of the arm 21 of the peripheral cleaning means 3 are communicated with each other.

Next, the structure of the charging station 6 will be described with reference to FIGS. 13 to 18.
FIG. 13 is a perspective view showing the storage device of the self-propelled vacuum cleaner, and FIG. 14 is a front view showing the storage device. FIG. 15 is a cross-sectional view showing a storage device, and is a cross-sectional view of a position shown by line AA in FIG. 16 (A) to 16 (D) are cross-sectional views showing the operation of the storage device. 17 (A) and 17 (B) are an enlarged sectional view showing a part of the accommodating device, and are a partially enlarged view of FIG. FIG. 18 is a cross-sectional view showing the detection means of the storage device.

As shown in FIGS. 13 to 15, the charging station 6 as a storage device has a base 61 mounted on the floor surface F, a pair of left and right pillars 62 rising from the left and right sides of the base 61, and an upper end of the pillar 62. It is provided with an arched top 63 for connecting the portions and a pair of hooks 64 as locking portions. The base 61 includes a wedge-shaped base front portion 61A inclined upward from the front side to the rear side (from the lower left side to the upper right side in FIG. 13), and a box-shaped base rear portion 61B rising behind the base front portion 61A. , And is formed in a hollow shape as a whole. The pillar portion 62 rises continuously from the base rear portion 61B, has a pillar front surface portion 62A, a pillar inner side surface portion 62B, a pillar outer surface portion 62C, and a pillar back surface portion 62D, and is formed in an overall cylindrical shape. Inside the base portion 61 and the pillar portion 62, an elevating drive unit 51, a charging unit 52, a position detecting unit 53, and a charging control unit (control board) 54 are provided.

A slope 61C for guiding the training wheels 122 of the vacuum cleaner main body 2 is provided at the center of the upper surface of the base front portion 61A. The slope 61C has an upward slope from the front side to the rear side, and the training wheels 122 of the vacuum cleaner main body 2 approaching while retreating toward the charging station 6 ride on the slope 61C, so that FIG. 2 shows. As shown, the rear side (one end side) of the vacuum cleaner main body 2 is guided diagonally upward. A substantially horizontal flat portion (see FIG. 18) is provided at the rear end portion of the slope 61C, and the auxiliary wheel 122 rides on the flat portion so that the vacuum cleaner body 2 does not easily slide down toward the front side. .. Further, a second slope 61D is provided at both left and right ends on the upper surface of the base front portion 61A, and the second slope 61D is provided on the front side (the other end side) of the vacuum cleaner main body 2 as shown in FIG. It is configured to guide the provided rotating ball 26.

A plurality of infrared light emitting units 53C constituting the position detection unit 53 are provided on the front surface of the base portion rear portion 61B. When the rear sensor 33 of the vacuum cleaner main body 2 receives the infrared rays emitted by these infrared light emitting units 53C, the vacuum cleaner main body 2 recedes toward the charging station 6 and its own left-right position and distance with respect to the charging station 6. Is detected. The vacuum cleaner main body 2 retracts while appropriately adjusting the traveling drive unit 12 based on the detection of the rear sensor 33, and enters a predetermined liftable position (docking position shown in FIG. 2) in the charging station 6. Further, a slit 62E for guiding the hook 64 up and down is formed in the pillar inner side surface portion 62B of the pillar portion 62 from the base portion rear portion 61B. The pillar front surface portion 62A and the slit 62E of the pillar portion 62 are provided so as to be inclined rearward toward the upward direction, whereby the rear side of the vacuum cleaner main body 2 is obliquely upward as shown in FIGS. 2 to 4. It is designed to be lifted toward you.

A cleaning start switch 63A is provided at the center of the upper surface of the top portion 63 (see FIG. 13). When the cleaning start switch 63A is pressed, the vacuum cleaner main body 2 starts cleaning.

As shown in FIG. 16, the hook 64 is driven by the elevating drive unit 51 and is provided so as to be able to move up and down from the base portion 61 to the pillar portion 62. That is, the hook 64 passes from the retracted position shown in FIG. 16 (A) to the locked position shown in FIG. 16 (B) and the lifting intermediate position shown in FIG. 16 (C), and is stored as shown in FIG. 16 (D). It is configured to be able to move up and down to the position.

As shown in FIG. 17, the hook 64 has a hook base portion 64A connected to the elevating drive portion 51, and an extension piece 64B extending forward from the hook base portion 64A, that is, substantially horizontally toward the vacuum cleaner main body 2. On the upper surface of the tip of the extension piece 64B, a locking recess 64C recessed in an arc shape is formed. On the other hand, as shown in FIGS. 7, 9 and 17, a pair of locked portions 16 to be locked to the hook 64 are provided on the rear side (one end side) of the bottom surface portion of the vacuum cleaner main body 2. There is. The locked portion 16 is formed in a columnar shape having a smaller diameter than the locking recess 64C, can be moved back and forth by a small distance inside the locking recess 64C, and is rotatably locked to the locking recess 64C. It is supposed to be done. Further, the locked portion 16 is electrically connected to the battery 18 of the vacuum cleaner main body 2 and functions as a charging terminal of the vacuum cleaner main body 2 as described later.

In addition to the infrared light emitting unit 53C, the position detection unit 53 includes a Hall sensor substrate 53A provided inside the base front portion 61A and a Hall element 53B provided in the Hall sensor substrate 53A, as shown in FIG. , Equipped with. On the other hand, a magnet 17 is provided on the rear side (one end side) of the bottom surface portion of the vacuum cleaner main body 2. When the vacuum cleaner main body 2 retracts and the training wheels 122 cross the slope 61C and ride on the flat portion, the vacuum cleaner main body 2 returns to the docking position where it can be lifted by the hook 64. At this time, the Hall element 53B detects the magnet 17, and the position detection unit 53 detects that the vacuum cleaner main body 2 has returned to the docking position.

Until the position detection unit 53 detects that the vacuum cleaner body 2 has returned to the docking position, the elevating drive unit 51 lowers the hook 64 to the retracted position as shown in FIG. 17A. The hook 64 and the locked portion 16 do not come into contact with each other while the vacuum cleaner main body 2 is retracted. On the other hand, when the position detection unit 53 detects that the vacuum cleaner main body 2 has returned to the docking position, the elevating drive unit 51 raises the hook 64 to the locking position and locks it, as shown in FIG. 17B. The locked portion 16 is locked by the recess 64C. Further, the hook 64 functions as a power supply terminal for supplying power from the charging unit 52 toward the vacuum cleaner main body 2, and the locked portion 16 is electrically connected to the battery 18 inside the vacuum cleaner main body 2. Then, the charge control unit 54 switches the charge unit 52 to a power supply state capable of supplying power. As a result, the electric power supplied from the hook 64 is supplied to the battery 18 via the locked portion 16.

Here, in the present embodiment, the locking position is set to a position where the hook 64 is raised by about several mm from the position where the locking recess 64C of the hook 64 and the locked portion 16 are in contact with each other. There is. In other words, the locking position is set so that the vacuum cleaner main body 2 is slightly lifted by bringing the locking recess 64C of the hook 64 into contact with the locked portion 16.
According to this, since the charging station 6 can increase the contact pressure between the locking recess 64C of the hook 64 and the locked portion 16, the locking recess 64C of the hook 64 and the locked portion 16 Can be reliably conducted.
Further, since the locking recess 64C is formed so as to be recessed in an arc shape, the hook 64 is raised by about several mm more than the position where the locking recess 64C of the hook 64 and the locked portion 16 are in contact with each other. By setting the position to be set, if the vacuum cleaner main body 2 is displaced with respect to the charging station 6, this can be corrected.

Next, the elevating drive unit (elevating means) 51 of the charging station 6 will be described with reference to FIGS. 19 to 21.
19 (A) and 19 (B) are cross-sectional views showing the raising and lowering means of the accommodating device, respectively, and are cross-sectional views of the positions shown by the lines BB and CC in FIG. FIG. 20 is an enlarged sectional view showing an elevating means of the accommodating device, and FIG. 21 is an enlarged cross-sectional view showing the elevating means of the accommodating device.

As shown in FIGS. 19 to 21, the elevating drive unit 51 includes a motor 71, a drive shaft 72, a pair of left and right ball screw shafts 73, a ball screw 74 fixed to each of the left and right hooks 64, and a ball screw. A linear guide 75 that guides the 74 up and down is provided.

The drive shaft 72 is provided extending to the left and right, and worm gears 72A are fixed to both ends thereof. As shown in FIG. 20, a pinion gear 71A is fixed to the output shaft of the motor 71, and a driven gear 72B is fixed to an intermediate portion on one side (left side in the figure) of the drive shaft 72. A gear train consisting of a first gear 76A and a second gear 76B is provided between the pinion gear 71A and the driven gear 72B of the motor 71, and the motor 71 is provided via the respective gears 71A, 76A, 76B, 72B. The output is transmitted to the drive shaft 72, and the drive shaft 72 rotates.

The ball screw shaft 73 extends vertically from the base portion 61 to the pillar portion 62, and its upper and lower end portions are pivotally supported. A worm wheel 73A is fixed to the lower end of the ball screw shaft 73, and the worm wheel 73A meshes with the worm gear 72A of the drive shaft 72. When the drive shaft 72 rotates, the rotation becomes the rotation of the ball screw shaft 73. Will be converted. The ball screw 74 meshes with the ball screw shaft 73, and when the ball screw shaft 73 rotates, the ball screw 74 and the hook 64 move up and down. The linear guide 75 includes a rail 75A extending vertically from the base 61 to the pillar 62 and fixed, and a movable portion 75B fixed to the ball screw 74 and guided by the rail 75A, and includes a ball screw 74 and a movable portion 75B. Guide the hook 64 so that it can move in a straight line.

Here, the charge control unit 54 switches the charge unit 52 to a non-power supply state in which power cannot be supplied when the hook 64 is moved up and down by the elevating drive unit 51.
As described above, in the present embodiment, the charge control unit 54 functions as a charge switching means for switching between a power supply state in which the charging unit 52 can be powered and a non-power supply state in which power cannot be supplied.

Here, the charging unit 52 functions as a charging means for charging the battery 18 of the vacuum cleaner main body 2, but also as a supply means for supplying energy as a power source to the vacuum cleaner main body 2 as a moving body. It is functioning.

The charge control unit 54 also functions as a supply switching means for switching the charge unit 52 between a supply state in which energy can be supplied and a non-supply state in which energy cannot be supplied.
In the present embodiment, electric power is exemplified as the energy that becomes the power source of the moving body, but for example, other energy such as gasoline or hydrogen may be adopted. When energy other than electric power is adopted as the energy that becomes the power source of the moving body, the moving body does not have to be electric.

Next, the charging unit (charging means) 52 of the charging station 6 will be described with reference to FIGS. 22 to 26.
22 to 25 are a side view and a cross-sectional view showing the operation of the accommodating device, and each figure (B) is a cross-sectional view of a position shown by a line AA in each figure (A). 26 (A) to 26 (C) are enlarged cross-sectional views showing the charging means of the accommodating device, and FIG. 26 (A) is an enlarged cross-sectional view of a part of FIG. 22 (B). 26 (B) is an enlarged cross-sectional view of a part of FIG. 23 (B), and FIG. 26 (C) is an enlarged cross-sectional view of a part of FIG. 25 (B).

The charging unit 52 includes a power supply unit 52A (see FIGS. 17 to 21) connected to a power source by an outlet, and the power supply unit 52A has the inside of the left and right pillar portions 62 as shown in FIGS. 22 to 25. The first terminal 52B provided from below to the inside of the base rear portion 61B and the second terminal 52C provided above the inside of the left and right pillar portions 62 are electrically connected. The first terminal 52B has an upper end portion fixed to a terminal fixing portion 52D on the inner surface of the pillar outer surface portion 62C, and is cantilevered downward. The lower end of the second terminal 52C is fixed to the terminal fixing portion 52E on the inner surface of the pillar outer surface portion 62C, and the second terminal 52C is cantilevered upward. As shown in FIGS. 26A and 26B, the first terminal 52B has a first contact portion 52F protruding inward in the left-right direction, and the second terminal 52C is shown in FIG. 26C. As shown, it is formed with a second contact portion 52G protruding inward in the left-right direction. On the other hand, the hook 64 is formed with a conductive portion 64D that projects outward in the left-right direction and can contact the first contact portion 52F and the second contact portion 52G.

As shown in FIG. 26 (A), the first contact portion 52F of the first terminal 52B does not contact the conductive portion 64D when the hook 64 is in the retracted position, and as shown in FIG. 26 (B), the hook When 64 is in the locked position, it contacts the conductive portion 64D. As shown in FIG. 26C, the second contact portion 52G of the second terminal 52C comes into contact with the conductive portion 64D when the hook 64 is in the retracted position. On the other hand, as shown in FIG. 24, when the hook 64 is in the lifting position, the conductive portion 64D does not come into contact with either the first contact portion 52F or the second contact portion 52G.

As described above, the hook 64 in the locked position is conducted to the charging unit 52 via the first terminal 52B, and the hook 64 in the retracted position is conducted to the charging unit 52 via the second terminal 52C. There is. Since the locked portion 16 of the vacuum cleaner main body 2 is locked to the hook 64, the electric power from the charging unit 52 is supplied by the charge control unit 54 to the inside of the vacuum cleaner main body 2 via the hook 64 and the locked portion 16. The battery 18 is supplied to the battery 18 and the battery 18 is charged.
Specifically, when the hook 64 is in the locked position or the retracted position, the charge control unit 54 switches the charge unit 52 to a power supply state capable of supplying power. As a result, the electric power supplied from the hook 64 is supplied to the battery 18 via the locked portion 16.

The charging station 6 can select whether to stop the hook 64 at the locking position or the storage position when charging the battery 18 of the vacuum cleaner main body 2 according to the operation input of the user. It has become like. For example, the charging station 6 causes the hook 64 to be raised from the locked position to the retracted position or the hook 64 to be lowered from the locked position to the locked position when the user presses and holds the cleaning start switch 63A. It may be configured in.

Further, the charge control unit 54 confirms the energized state of the charge unit 52. Therefore, in the present embodiment, the charge control unit 54 also functions as a power supply determination means for determining whether or not power can be supplied to the battery 18 of the vacuum cleaner main body 2 when the charge control unit 54 switches to the power supply state. do.
Then, when the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power, the charge control unit 54 switches the charge unit 52 to the non-power supply state.
Further, the evacuation drive unit 51 lowers the hook 64 to the retracted position when the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power.

Next, the operation of the self-propelled vacuum cleaner 1 will be described. When the vacuum cleaner main body 2 that has finished cleaning the floor surface F returns to the vicinity of the charging station 6, the rear side (rear portion 104 side) is directed toward the charging station 6, and the infrared rays of the charging station 6 are used by the rear sensor 33. It receives infrared rays from the light emitting unit 53C and moves backward while detecting the distance and position with respect to the charging station 6. Further, in the vacuum cleaner main body 2, the training wheels 122 ride on the slope 61C of the front portion 61A of the base and are guided diagonally upward, and retreat to the docking positions shown in FIGS. 2, 17, and 18. As shown in FIG. 18, when the Hall element 53B of the position detection unit 53 detects the magnet 17 and it is detected that the vacuum cleaner body 2 has retracted to the docking position, the vacuum cleaner body 2 has a traveling drive unit 12. Stop driving.

In the present embodiment, when the vacuum cleaner main body 2 returns to the vicinity of the charging station 6, the rear side (rear portion 104 side) is directed toward the charging station 6, and the rear sensor 33 emits infrared rays from the charging station 6. It received infrared rays from the unit 53C and retreated while detecting the distance and position with respect to the charging station 6.
On the other hand, for example, the vacuum cleaner main body 2 stores the horizontal cross-sectional shape of the charging station 6 in advance, and the horizontal cross-sectional shape of the charging station 6 and the shape of the obstacle calculated by the surrounding sensor 32. By collating the above, the distance and the position with respect to the charging station 6 may be detected, and then the retreat may be performed in the same manner as in the present embodiment.
According to this, when the vacuum cleaner main body 2 returns to the vicinity of the charging station 6, the installation position of the charging station 6 is different from the installation position of the charging station 6 when the cleaning is started. Even so, the installation position of the charging station 6 can be reliably grasped, and the charging station 6 can be more reliably retracted to the docking position.

When the vacuum cleaner body 2 is retracted to the docking position, the elevating drive unit 51 of the charging station 6 raises the hook 64 from the retracted position shown in FIG. 17 (A) to the locked position shown in FIG. 17 (B) to lock the hook 64. The locked portion 16 is locked by the recess 64C. By locking the locked portion 16 with the hook 64 at the locked position in this way, as shown in FIG. 26B, the hook 64 is interposed via the first terminal 52B, the hook 64, and the locked portion 16. The charging unit 52 and the battery 18 of the vacuum cleaner main body 2 are electrically connected, and the battery 18 is charged by supplying power from the charging unit 52 by the charge control unit 54.

When cleaning is started again after charging the battery 18 at the docking position in this way, the user may press the cleaning start switch 63A.
When the cleaning start switch 63A is pressed, the charge control unit 54 switches the charge unit 52 to the non-power supply state.
Further, as described above, the elevating drive unit 51 lowers the hook 64 from the locked position to the retracted position when the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power. ..
The control unit 5 of the vacuum cleaner main body 2 determines whether or not the charging unit 52 of the charging station 6 has switched from the power supply state to the non-power supply state, and when it is determined that the charging unit 52 has switched to the non-supply state, charging is performed. Separate from the station 6 and let the vacuum cleaner main body 2 start cleaning.

As described above, in the present embodiment, the control unit 5 of the vacuum cleaner main body 2 has whether or not the charging unit 52 of the charging station 6 has switched from the power supply state to the non-power supply state (the supply means has switched from the supply state to the non-supply state). It functions as a supply determination means for determining (whether or not).
Further, the control unit 5 of the vacuum cleaner main body 2 executes cleaning as a predetermined operation when the control unit 5 of the vacuum cleaner main body 2 determines that the charging unit 52 has been switched to the non-supply state. Functions as an action execution means.
In this embodiment, the start of cleaning is exemplified as a predetermined operation, but other operations may be adopted.

Then, in the present embodiment, the cleaning start switch 63A is a device that causes the vacuum cleaner main body 2 to start cleaning by switching the charging unit 52 to the non-power supply state by the charging control unit 54 based on the instruction of the user. Functions as a means of executing side movements.

When the vacuum cleaner main body 2 is stored in the charging station 6, the elevating drive unit 51 raises the hook 64 that locks the locked portion 16. By raising the hook 64 in this way, as shown in FIG. 3, the rear side of the vacuum cleaner main body 2 is lifted diagonally upward. At the time of this lifting, the rotary ball 26 provided on the front side of the vacuum cleaner main body 2 rolls along the floor surface F, and the rotary ball 26 rides on the second slope 61D of the base front portion 61A and rides on the second slope. By rolling the rotating ball 26 along the 61D, the vacuum cleaner main body 2 is smoothly guided. When the elevating drive unit 51 further raises the hook 64 and the hook 64 reaches the storage position, the vacuum cleaner main body 2 is stored in the charging station 6 in an upright state with the rear side facing upward as shown in FIG.

In the state where the vacuum cleaner main body 2 is stored in this way, as shown in FIG. 26 (C), the battery of the charging unit 52 and the vacuum cleaner main body 2 via the second terminal 52C, the hook 64, and the locked portion 16. The battery 18 is charged by being conducted with the 18 and supplying power from the charging unit 52 by the charging control unit 54.

When starting cleaning again, the user may press the cleaning start switch 63A.
When the cleaning start switch 63A is pressed, the charge control unit 54 switches the charge unit 52 to the non-power supply state.
The control unit 5 of the vacuum cleaner main body 2 determines whether or not power can be supplied by the charging unit 52 of the charging station 6, and even if it is determined that power cannot be supplied, the posture detection sensor 34 is used. When it is detected that the posture of the vacuum cleaner main body 2 is tilted, that is, the posture of the vacuum cleaner main body 2 is in an upright state, the vacuum cleaner main body 2 does not start cleaning.

After that, the elevating drive unit 51 lowers the hook 64 that locks the locked portion 16. At this time, the vacuum cleaner main body 2 is lowered not only by its own weight but also by the hook 64 pushing down the chassis 11. By lowering the hook 64 in this way, the rear side of the vacuum cleaner main body 2 is guided diagonally downward. At this time, the rotary ball 26 provided on the front side of the vacuum cleaner main body 2 rolls along the second slope 61D of the base front portion 61A, and the rotary ball 26 further rolls along the floor surface F. , The vacuum cleaner main body 2 is guided smoothly.

Further, as described above, the elevating drive unit 51 lowers the hook 64 from the locked position to the retracted position when the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power. ..
The control unit 5 of the vacuum cleaner main body 2 determines whether or not power can be supplied by the charging unit 52 of the charging station 6, and if it is determined that power cannot be supplied, the control unit 5 disconnects from the charging station 6 and the vacuum cleaner main body. Let 2 start cleaning.
Here, the control unit 5 of the vacuum cleaner main body 2 determines whether or not power can be supplied by the charging unit 52 of the charging station 6, and when it is determined that power cannot be supplied, the posture detection sensor 34 is used. If it is not detected that the posture of the vacuum cleaner main body 2 is tilted, that is, the posture of the vacuum cleaner main body 2 is in the upright state, the vacuum cleaner main body 2 is made to start cleaning.

In the present embodiment, the control unit 5 of the vacuum cleaner main body 2 determines whether or not power can be supplied by the charging unit 52 of the charging station 6, and it is determined that power cannot be supplied. If the detection sensor 34 does not detect that the posture of the vacuum cleaner body 2 is tilted, that is, the posture of the vacuum cleaner body 2 is in an upright state, the vacuum cleaner body 2 starts cleaning. I was letting you.
On the other hand, the control unit 5 of the vacuum cleaner main body 2 indicates that the posture of the vacuum cleaner main body 2 is tilted by the posture detection sensor 34, that is, the posture of the vacuum cleaner main body 2 is in an upright state. If it is not detected, the vacuum cleaner main body 2 may start cleaning regardless of whether or not power can be supplied by the charging unit 52 of the charging station 6.

As described above, in the present embodiment, when the control unit 5 of the vacuum cleaner main body 2 detects a change in the posture of the vacuum cleaner main body 2 by the posture detection sensor 34, the movement is to start cleaning as a predetermined operation. It functions as a means of executing body-side movements.
In this embodiment, the start of cleaning is exemplified as a predetermined operation, but other operations may be adopted.

Then, in the present embodiment, the cleaning start switch 63A changes the posture of the vacuum cleaner main body 2 by lowering the hook 64 that locks a part of the vacuum cleaner main body 2 by the elevating drive unit 51 based on the instruction of the user. By causing the vacuum cleaner body 2, the vacuum cleaner main body 2 functions as an operation executing means on the device side to execute the start of cleaning.

According to such an embodiment, the following actions / effects can be obtained.
(1) The charging station 6 is in the stored state because the projected area of the stored vacuum cleaner body 2 with respect to the floor surface F can be reduced by lifting the rear side of the vacuum cleaner body 2 and storing it in an upright state. The occupied space of the vacuum cleaner main body 2 and the charging station 6 can be reduced. Further, since the charge control unit 54 switches the charging unit 52 to the non-power supply state when the hook 64 is moved up and down by the elevating drive unit 51, it is caused by chattering generated by the vibration of the hook 64 during raising and lowering. Noise can be prevented.

(2) In the charging station 6, the hook 64 for lifting the vacuum cleaner main body 2 functions as a power supply terminal, so that the battery 18 of the lifted vacuum cleaner main body 2 can be easily supplied with power without preparing a separate power supply terminal. And the battery 18 can be charged.

(3) The charging unit 52 has a first terminal 52B and a second terminal 52C that can contact the hook 64 to supply power, and the hook 64 conducts with the first terminal 52B at a locking position before lifting. By conducting the hook 64 with the second terminal 52C at the storage position after lifting, the vacuum cleaner main body is passed through the hook 64 at both the docking position and the storage position without directly connecting the wiring to the movable hook 64. The battery 18 of 2 can be charged.

(4) In the charging station 6, the elevating drive unit 51 lowers the hook 64 to the retracted position until the vacuum cleaner main body 2 reaches the docking position, so that a part of the vacuum cleaner main body 2 and the hook 64 are in sliding contact with each other. This can be prevented and the wear of the hook 64 can be reduced, and even when the vacuum cleaner body 2 is absent from the charging station 6, the hook 64 does not protrude from the base 61, and the hook 64 has a human foot or a human foot. It is possible to prevent clothes from being caught.

(5) The charging station 6 is cleaned by the hook 64 by the elevating drive unit 51 raising the hook 64 to the locking position after the position detection unit 53 detects that the vacuum cleaner main body 2 has reached the docking position. The locked portion 16 of the machine body 2 can be securely locked, and the vacuum cleaner body 2 can be stably lifted.

(6) The elevating drive unit 51 raises and lowers the hook 64 along the direction of inclination toward the rear, so that the rear side of the vacuum cleaner main body 2 can be lifted diagonally upward, as compared with the case where the hook 64 is lifted in the vertical direction. Therefore, the vacuum cleaner main body 2 can be lifted stably and smoothly.

(7) By guiding the training wheels 122 of the vacuum cleaner main body 2 to be retracted diagonally upward by the slope 61C, the rear side of the vacuum cleaner main body 2 can be tilted upward and then lifted by the hook 64, so that cleaning can be performed more smoothly. The machine body 2 can be lifted.

(8) A locking recess 64C recessed in an arc shape is formed on the upper surface of the extension piece 64B of the hook 64, and the vacuum cleaner main body 2 is provided with a cylindrical locked portion 16 having a diameter smaller than that of the locking recess 64C. Therefore, the locked portion 16 can be reliably locked by the locking recess 64C.

(9) The angle between the vacuum cleaner body 2 and the charging station 6 changes as the rear side of the vacuum cleaner body 2 is lifted, but the columnar locked portion in the arc-shaped locking recess 64C. Since 16 can rotate, the vacuum cleaner main body 2 can be lifted smoothly by suppressing resistance while maintaining a stable locked state.

(10) A rotating ball 26 is provided on the front side of the vacuum cleaner main body 2, and the rotating ball 26 rolls along the floor surface F and the second slope 61D of the charging station 6, so that the angle is increased as the vacuum cleaner is raised and lowered. The sliding contact resistance between the fluctuating front side of the vacuum cleaner body 2 and the floor surface F or the charging station 6 can be reduced, and the vacuum cleaner body 2 can be raised and lowered more smoothly.

(11) By guiding the rear side of the vacuum cleaner main body 2 diagonally downward by the second slope 61D of the charging station 6, the hook 64 that locks the locked portion 16 of the vacuum cleaner main body 2 is moved by the elevating drive unit 51. When lowering, the vacuum cleaner main body 2 can be lowered more smoothly, and the vacuum cleaner main body 2 can be prevented from falling down to the charging station 6 side.

(12) Since the hook 64 locks a part of the rear side of the vacuum cleaner main body 2, the vacuum cleaner main body 2 retracts toward the charging station 6 and comes to a predetermined position where it can be lifted. A part of the rear side will be locked to the hook 64. Therefore, the vacuum cleaner main body 2 may be provided on the rear side of the vacuum cleaner main body 2 with a rear sensor 33 for detecting its own left-right position and distance with respect to the charging station 6, and is provided on the front side of the vacuum cleaner main body 2. Since it is not necessary, the space on the front side of the vacuum cleaner main body 2 can be effectively used.

(13) The charging station 6 has a charging control unit 54 that switches between a power supply state capable of supplying power to the charging unit 52 and a non-power supply state capable of supplying power, and the charging control unit 54 has a hook 64 at the elevating drive unit 51. When the battery is raised and lowered, the charging unit 52 is switched to the non-power supply state. Therefore, since the elevating drive unit 51 and the charging unit 52 do not use a large amount of electric power at the same time, the charging unit 52 can be miniaturized, and the charging station 6 can be miniaturized.

(14) The charge control unit 54 switches the charge control unit 52 to the non-power supply state when the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power. Can be enhanced.

(15) When the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power, the elevating drive unit 51 lowers the hook 64 to the retracted position so that the hook 64 does not protrude. This can prevent people's feet and clothes from getting caught, and can improve the safety of the user.

(16) The charging station 6 has a charging unit 52 for supplying energy as a power source to the vacuum cleaner main body 2, and a cleaning start switch 63A for causing the vacuum cleaner main body 2 to perform a predetermined operation. Then, since the cleaning start switch 63A causes the vacuum cleaner main body 2 to execute a predetermined operation based on the instruction of the user, the user gives an instruction to the charging station 6 without instructing the vacuum cleaner main body 2. As a result, the vacuum cleaner main body 2 can be made to perform a predetermined operation, and the convenience of the charging station 6 can be improved.

(17) The cleaning start switch 63A causes the vacuum cleaner main body 2 to execute a predetermined operation by switching the charging unit 52 to the non-supply state by the charging control unit 54 based on the instruction of the user. The vacuum cleaner main body 2 can be made to perform a predetermined operation only by an instruction to switch the charging unit 52 to the non-supply state.

(18) The cleaning start switch 63A changes the posture of the vacuum cleaner main body 2 by lowering the hook 64 that locks a part of the vacuum cleaner main body 2 by the elevating drive unit 51 based on the instruction of the user. Since the vacuum cleaner main body 2 is made to perform a predetermined operation, the user can cause the vacuum cleaner main body 2 to perform a predetermined operation only by instructing the hook 64 that locks a part of the vacuum cleaner main body 2 to be lowered by the elevating drive unit 51. Can be executed.

[Modification of the embodiment]
The present invention is not limited to the above-described embodiment, and modifications, improvements, and the like to the extent that the object of the present invention can be achieved are included in the present invention.
For example, in the self-propelled vacuum cleaner 1 of the above-described embodiment, the peripheral cleaning means 3 is provided in the vacuum cleaner main body 2, but the peripheral cleaning means 3 may be omitted. Further, the rotating ball 26 is provided on the arm 21 of the peripheral cleaning means 3, and the rotating ball 26 rolls along the floor surface F or the second slope 61D of the charging station 6, whereby the guiding means is configured. The rotating ball 26 may be provided in the lower part of the front portion of the body 10 of the vacuum cleaner main body 2. Further, the guiding means is not limited to the one in which the rotating ball 26 is rolled and guided, and a sliding surface having a small frictional resistance is provided on the front portion of the vacuum cleaner main body 2, and this sliding surface is the floor surface F or the second. It may be configured to be slidably guided along the slope 61D. Further, the guiding means is not limited to the one provided in the vacuum cleaner main body, and may be composed of a rolling portion or a sliding portion provided in the storage device (for example, the second slope 61D or the like).

In the above embodiment, the hook 64 functions as a power supply terminal, and power is supplied to the battery 18 of the vacuum cleaner main body 2 via the hook 64 and the locked portion 16, but the power supply terminal is provided separately from the hook 64. It may be provided. In this case, in the storage device, the power feeding terminal may be configured to move up and down in synchronization with the locking portion, or the power feeding terminal may be provided one or more at a predetermined height without moving up and down. good. Further, the power feeding structure for supplying power to the battery 18 of the vacuum cleaner main body 2 is not limited to the contact type in which the terminals are in contact with each other, and may be, for example, an electromagnetic induction type non-contact power feeding structure.

In the above embodiment, the charging unit 52 has a first terminal 52B and a second terminal 52C, and charges the battery 18 of the vacuum cleaner main body 2 at the locking position before lifting and the storage position after lifting. However, the chargeable position is not limited to the two positions of the locking position and the storage position, and may be either the locking position or the storage position, and in addition to the two positions of the locking position and the storage position, 3 The above chargeable positions may be provided. Further, the charging unit (charging means) 52 is not limited to the one in which the first terminal 52B and the second terminal 52C are separately provided, and each of these terminals is composed of a continuous integrated terminal member. May be good.

In the above embodiment, the Hall element 53B of the position detection unit (detection means) 53 of the charging station 6 detects the magnet 17 of the vacuum cleaner body 2 to detect that the vacuum cleaner body 2 is in a docking position where it can be lifted. However, the hook 64 is started to rise based on this detection, but the configuration of the detection means is not limited, and for example, a contact type sensor may be used. Further, the hook (locking portion) 64 is not limited to the one in which the hook (locking portion) 64 is lowered to the retracted position until the vacuum cleaner main body 2 reaches the docking position, and the locked portion of the vacuum cleaner main body is lowered to the locking position to be locked. It may be configured to be locked with the portion.

In the above embodiment, the hook (locking portion) 64 has the locking recess 64C, and the locked portion 16 is formed in a columnar shape, but the structure of the locking portion and the locked portion is the above-described embodiment. Any locking structure can be adopted. For example, the locking portion may be formed in a columnar shape, a concave portion recessed upward may be formed on the lower surface of the locked portion, and the locking portion may be locked in the concave portion.

In the above embodiment, the elevating drive unit (elevating means) 51 of the charging station 6 is configured to include a motor 71, a drive shaft 72, a pair of left and right ball screw shafts 73, a ball screw 74, and a linear guide 75. The configuration of the elevating means is not particularly limited. The elevating means may be configured to include, for example, a wire or a belt for elevating the locking portion, or may be configured to elevate the locking portion by a linear motor.

In the above embodiment, the hook 64 locks a part of the rear side of the vacuum cleaner main body 2, and the rotary ball 26 is provided on the front side of the vacuum cleaner main body 2, but is locked by the locking portion. The part of the vacuum cleaner body to be used and the position where the guiding means is provided are not particularly limited. For example, the locking portion may lock a part of the front side of the vacuum cleaner body, and the guiding means may be provided on the rear side of the vacuum cleaner body.

FIG. 27 is a perspective view of the vacuum cleaner main body according to the modified example of the present invention as viewed from below. FIG. 28 is a perspective view of the vacuum cleaner main body as viewed from below in a protruding state of the surrounding cleaning means.
In the above embodiment, a pair of locked portions 16 to be locked to the hook 64 are provided on the rear side of the bottom surface portion of the vacuum cleaner main body 2, but in this modification, the bottom surface of the vacuum cleaner main body 2 is provided. As shown in FIGS. 27 and 28, a pair of locked portions 16A that are locked to the hook 64 are provided on the front portion side (one end side) of the portions.

Further, in the above embodiment, the lower surface of the second arm 21B is provided with a rotating ball 26 as a guiding means for rolling and guiding the front side of the vacuum cleaner main body 2 being lifted by the charging station 6. In this modification, a rotating ball 26A is provided on the rear side of the bottom surface of the vacuum cleaner body 2 as a guiding means for rolling and guiding the rear side of the vacuum cleaner body 2 being lifted by the charging station 6.

In this modification, the second arm 21B is shorter than the embodiment in order to arrange the pair of locked portions 16A on the bottom surface portion of the vacuum cleaner main body 2. Further, in this modification, the magnet 17 is provided on the front side of the bottom surface portion of the vacuum cleaner main body 2, and the rear sensor 33 is provided on the front portion of the vacuum cleaner main body 2 (not shown).

According to such a modification, the hook 64 locks a part of the front side of the vacuum cleaner main body 2, so that the vacuum cleaner main body 2 advances toward the charging station 6 and can be lifted at a predetermined position. When it comes to, a part of the front side of the vacuum cleaner main body 2 will be locked to the hook 64. Therefore, since the vacuum cleaner main body 2 may be provided with a rear sensor 33 for detecting its own left-right position and distance with respect to the charging station 6 on the front side of the vacuum cleaner main body 2, the vacuum cleaner main body 2 may be provided on the rear side of the vacuum cleaner main body 2. The size of the provided rotary ball 26A can be increased, and the vacuum cleaner main body 2 can be raised and lowered even more smoothly.

Further, since another sensor such as the front sensor 31 provided at the front of the vacuum cleaner main body 2 can be used together with the rear sensor 33 to detect its own left-right position and distance with respect to the charging station 6, the vacuum cleaner can be used. The main body 2 can surely enter to a predetermined hoistable position in the charging station 6.
Further, since the vacuum cleaner main body 2 is formed so that the width on the front side is wider than the width on the rear side, the distance between the pair of locked portions 16A is the pair of engagements in the embodiment. It can be made wider than the spacing of the stops 16. According to this, the charging station 6 can stably lift the vacuum cleaner main body 2. When the distance between the pair of locked portions 16A is widened in this way, the distance between the pair of hooks 64 may also be widened according to the distance between the pair of locked portions 16A.

In the above embodiment, when the control unit 5 of the vacuum cleaner main body 2 determines that the charging unit 52 has been switched to the non-supply state, the moving body side operation executing means executes cleaning as a predetermined operation and executes the device. The side operation executing means causes the vacuum cleaner main body 2 to start cleaning by switching the charging unit 52 to the non-power supply state by the charging control unit 54 based on the instruction of the user. Further, when the posture detection sensor 34 detects a change in the posture of the vacuum cleaner main body 2, the moving body side operation executing means executes cleaning as a predetermined operation, and the device side operation executing means is the user's. Based on the instruction, the hook 64 that locks a part of the vacuum cleaner main body 2 is lowered by the elevating drive unit 51 to change the posture of the vacuum cleaner main body 2, so that the vacuum cleaner main body 2 starts cleaning. rice field.

On the other hand, the storage device has a transmitting means for transmitting information to the moving body, and the moving body has a receiving means for receiving the information transmitted from the transmitting means and a receiving means for receiving the information transmitted from the transmitting means. It may be provided with a moving body side operation executing means for executing a predetermined operation when it is received at. Then, the device-side operation executing means may be configured to cause the vacuum cleaner main body 2 to execute a predetermined operation by transmitting information to the moving body by the transmitting means based on the instruction of the user.

FIG. 29 is a perspective view of the vacuum cleaner main body according to the modified example of the present invention as viewed from below. FIG. 30 is a perspective view showing a storage device of a self-propelled vacuum cleaner according to a modified example of the present invention.
In this modification, as shown in FIG. 29, an infrared transmission / reception unit 131 is provided on the rear side of the bottom surface portion of the vacuum cleaner main body 2.
Further, as shown in FIG. 30, the second slope 61D of the charging station 6 is provided with an infrared transmission / reception unit 61E. An infrared transmission / reception unit 62F is provided on the pillar portion 62 of the charging station 6.

The infrared transmission / reception unit 61E is provided at a position corresponding to the infrared transmission / reception unit 131 of the vacuum cleaner main body 2 when the vacuum cleaner main body 2 is in the docking position.
The infrared transmission / reception unit 62F is provided at a position corresponding to the infrared transmission / reception unit 131 of the vacuum cleaner main body 2 when the vacuum cleaner main body 2 is in a suspended position.

When the vacuum cleaner main body 2 is in the docking position and cleaning is to be started again, the user may press the cleaning start switch 63A as in the above embodiment.
When the cleaning start switch 63A is pressed, the charge control unit 54 switches the charge unit 52 to the non-power supply state.
Further, as described above, the elevating drive unit 51 lowers the hook 64 from the locked position to the retracted position when the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power. ..

After that, the charging station 6 transmits information to the infrared transmission / reception unit 131 of the vacuum cleaner main body 2 via the infrared transmission / reception unit 61E, and the control unit 5 of the vacuum cleaner main body 2 is transmitted from the infrared transmission / reception unit 61E (transmission means). When the received information is received by the infrared transmission / reception unit 131 (reception means), the device is separated from the charging station 6 and the vacuum cleaner main body 2 is started to clean.

As described above, in this modification, when the control unit 5 of the vacuum cleaner main body 2 receives the information transmitted from the infrared transmission / reception unit 61E by the infrared transmission / reception unit 131, the control unit 5 executes cleaning as a predetermined operation. It functions as a means of executing movement on the moving body side.
In this embodiment, the start of cleaning is exemplified as a predetermined operation, but other operations may be adopted.

Then, in the present embodiment, the cleaning start switch 63A is a device that causes the vacuum cleaner main body 2 to start cleaning by transmitting information to the vacuum cleaner main body 2 by the infrared transmission / reception unit 61E based on the instruction of the user. Functions as a means of executing side movements.

According to this, the cleaning start switch 63A causes the vacuum cleaner main body 2 to perform a predetermined operation by transmitting information to the vacuum cleaner main body 2 by the infrared transmission / reception unit 61E based on the instruction of the user. The machine main body 2 can be surely executed a predetermined operation, and the configuration of the charging station 6 can be simplified.

In this modification, when the vacuum cleaner main body 2 is in the suspended position and the cleaning is to be started again, the user may press the cleaning start switch 63A as in the above embodiment. .. According to this, the elevating drive unit 51 can lower the hook 64 that locks the locked portion 16 as in the above embodiment. After that, as described above, the vacuum cleaner main body 2 can be separated from the charging station 6 and cleaning can be started.

Further, in this modification, when the vacuum cleaner main body 2 is in the suspended position and the cleaning is to be started again, the user may operate the main body operation unit 15 of the vacuum cleaner main body 2.
According to this, the control unit 5 of the vacuum cleaner main body 2 transmits information to the infrared transmission / reception unit 62F of the charging station 6 via the infrared transmission / reception unit 131, and the elevating drive unit 51 is covered by the elevating drive unit 51 as in the above embodiment. The hook 64 that has locked the locking portion 16 can be lowered. After that, as described above, the vacuum cleaner main body 2 can be separated from the charging station 6 and cleaning can be started.

As described above, the present invention can be suitably used for an electric moving body such as a self-propelled vacuum cleaner that moves in the environment.

1 Self-propelled vacuum cleaner 2 Vacuum cleaner body 5 Control unit (moving body side operation execution means)
6 Charging station (storage device)
26 Rotating sphere (guidance means)
14 Suction part (cleaning means)
16 Locked portion 18 Battery 34 Posture detection sensor 34 (Posture detection means)
51 Lifting drive unit (lifting means)
52 Charging unit (charging means, supply means)
54 Charge control unit (charge switching means, supply switching means, power supply determination means, supply determination means)
52B 1st terminal 52C 2nd terminal 53 Position detection unit (detection means)
61C slope 63A Cleaning start switch (device side operation execution means)
64 Hook (locking part)
64B Extension piece 64C Locking recess 121 Wheel F Floor surface

Claims (5)

It is an electric moving body that moves in the environment.
A mobile body with a battery and
A storage device for storing the moving body main body is provided.
The storage device is
A locking portion that locks a part of the moving body body on one end side,
Elevating means for raising and lowering the locking portion and
A charging means for charging the battery of the moving body body, and
It has a charging switching means for switching between a power supply state in which power can be supplied and a non-power supply state in which power cannot be supplied.
By raising the locking portion in which a part of the moving body main body is locked by the elevating means, the moving body main body can be lifted and stored in an upright state with one end side facing upward.
When the locking portion is moved up and down by the elevating means, the charging switching means switches the charging means to the non-power supply state.
The storage device is
An electric moving body characterized in that the locking portion functions as a power feeding terminal for supplying power from the charging means toward the moving body main body. In the electric moving body according to claim 1,
The storage device is
A power supply determining means for determining whether or not power can be supplied to the battery of the moving body main body when the charging switching means switches to the power supply state is provided.
The electric moving body is characterized in that the charging switching means switches the charging means to the non-powered state when the power feeding determining means determines that the battery of the moving body body cannot be supplied with power. .. In the electric moving body according to claim 1 or 2.
The charging means has a feeding portion that can contact the locking portion to supply power.
The feeding portion contacts the first terminal capable of contacting the locking portion at the locking position before lifting the moving body main body and the locking portion at the storage position after lifting the moving body main body. An electric moving body characterized in that it is configured to have a possible second terminal. In the electric moving body according to any one of claims 1 to 3.
The storage device has a detection means for detecting whether or not the moving body main body is in a predetermined position where it can be lifted.
Based on the detection by the detection means, the elevating means lowers the locking portion to a retracted position until the moving body main body comes to a predetermined position, and engages the locking portion when the moving body main body comes to a predetermined position. An electric moving body characterized by being raised to a stop position. It is an electric moving body that moves in the environment.
A mobile body with a battery and
A storage device for storing the moving body main body is provided.
The storage device is
A locking portion that locks a part of the moving body body on one end side,
Elevating means for raising and lowering the locking portion and
A charging means for charging the battery of the moving body body, and
It has a charging switching means for switching between a power supply state in which power can be supplied and a non-power supply state in which power cannot be supplied.
By raising the locking portion in which a part of the moving body main body is locked by the elevating means, the moving body main body can be lifted and stored in an upright state with one end side facing upward.
When the locking portion is moved up and down by the elevating means, the charging switching means switches the charging means to the non-power supply state.
The storage device is
A detection means for detecting whether or not the moving body is in a predetermined position where it can be lifted.
A power supply determination means for determining whether or not power can be supplied to the battery of the moving body main body when the charge switching means switches to the power supply state is provided.
Based on the detection by the detection means, the elevating means lowers the locking portion to a retracted position until the moving body main body comes to a predetermined position, and engages the locking portion when the moving body main body comes to a predetermined position. An electric moving body characterized in that it is raised to a stop position and the locking portion is lowered to a retracted position when it is determined by the power feeding determination means that the battery of the moving body body cannot be supplied with power. ..

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