JP7264671B2 - vacuum cleaner - Google Patents

Description

An embodiment of the present invention relates to a vacuum cleaner provided with a travel drive unit that allows a main body case to travel on a travel surface.

2. Description of the Related Art Conventionally, there has been known a so-called autonomously traveling electric vacuum cleaner (cleaning robot) that cleans a floor surface as a surface to be cleaned while autonomously traveling on the floor surface. Such a vacuum cleaner is equipped with traveling drive units for traveling such as drive wheels and endless tracks at the bottom and both sides of the main body case, and the vacuum cleaner is controlled based on the rotation speed (rotation angle) of these travel drive units. It is possible to control the running of

However, since these traveling drive units are in direct contact with the floor surface, dust on the floor surface tends to adhere. If the vacuum cleaner runs with dust adhering to the travel drive unit, the dust not only stains the floor surface, but also the travel drive unit slides (idles) on the floor surface, causing a travel drive. It becomes impossible to obtain the travel distance corresponding to the number of rotations (rotation angle) of the part, for example, the turning angle when avoiding obstacles may deviate, the travel distance may deviate from the desired distance, and the left and right travel drive may Due to the difference in mileage depending on the part, there is a possibility that it will not be possible to go straight, or it will not be possible to get on the charging stand properly, and there is a possibility that it will have an unfavorable effect on travel control.

In addition, although it is conceivable that the user removes the dust by himself/herself, the dust can be removed only when the vacuum cleaner is stopped, and the dust cannot be removed while the vacuum cleaner is in operation. The work is complicated and unhygienic.

JP 2005-230044 A

The problem to be solved by the present invention is to provide an electric vacuum cleaner that can automatically prevent traveling with dust adhering to the traveling drive portion.

A vacuum cleaner of an embodiment has a main body case, a traveling drive section, control means, and a dust removing member. The body case has a placement opening at the bottom. The traveling drive part is rotatably provided in the main body case with a lower portion protruding downward from the arrangement opening, and allows the main body case to travel on the traveling surface. The control means causes the main body case to travel by controlling the driving of the traveling drive section. The dust removing member removes dust adhering to the travel drive section by the operation of the travel drive section . The dust removal member is arranged at the rear edge of the travel drive portion of the arrangement opening and is not arranged in front of the travel drive portion of the arrangement opening.

It is a top view which shows the vacuum cleaner of 1st Embodiment from the downward direction. It is sectional drawing which shows a part of vacuum cleaner same as the above. It is a perspective view which shows an electric vacuum cleaner same as the above. It is a block diagram which shows the internal structure of a vacuum cleaner same as the above. It is a top view which shows the vacuum cleaner of 2nd Embodiment from the downward direction. It is a top view which shows the vacuum cleaner of 3rd Embodiment from the downward direction. It is a top view which shows the vacuum cleaner of 4th Embodiment from the downward direction. It is a top view which shows a part of state which removed the dust removal member from the main body case of the electric vacuum cleaner same as the above from the downward direction.

The configuration of the first embodiment will be described below with reference to FIGS. 1 to 4. FIG.

1 to 4, 11 indicates an electric vacuum cleaner, and this electric vacuum cleaner 11 constitutes an electric cleaning apparatus (electric cleaning system) together with a charging device (charging stand), etc., which is a base device.

In this embodiment, the electric vacuum cleaner 11 is a so-called self-propelled robot cleaner that cleans the floor F while autonomously traveling (self-propelled) on the floor F, which is a surface to be cleaned as a traveling surface. (cleaning robot). The electric vacuum cleaner 11 includes a hollow body case 20, a running section 21 for running the body case 20 on the floor surface F, a cleaning section 22 for cleaning dust on the floor surface F, and a sensor section 26. , a control means (control section) 27 for controlling the running section 21, the cleaning section 22, and the sensor section 26, and a main body power supply section for supplying power to the running section 21, the cleaning section 22, the sensor section 26, the control section 27, and the like. The following battery 28 is provided. Note that the vacuum cleaner 11 may include a wireless communication unit for wirelessly communicating with an external device such as a charging device, a remote controller, or a home gateway. Further, hereinafter, the direction along the running direction of the vacuum cleaner 11 (main body case 20) is defined as the front-rear direction (directions of arrows FR and RR shown in FIG. 1, etc.), and the left-right direction intersecting (perpendicular to) the front-rear direction. (Both sides) will be described as the width direction. Here, the vacuum cleaner 11 (main body case 20) normally travels mainly in one direction, and travels in the opposite direction for a short time in predetermined limited cases such as when changing directions or avoiding obstacles. There is That is, the vacuum cleaner 11 (main body case 20) travels in one direction for a considerably longer time than in the other direction during normal travel. Therefore, in the following description of the present embodiment, the direction of travel or the direction in which the travel time is long will be referred to as the forward direction, and the opposite direction will be referred to as the backward direction.

The main body case 20 is formed, for example, in a flat columnar shape (disc shape) or the like from a synthetic resin or the like. are opened respectively.

The traveling portion 21 includes driving wheels 34, 34 as a plurality (a pair of) traveling driving portions, motors 35, 35 as driving means as operating portions for driving the driving wheels 34, 34, and a turning wheel for turning. 36, etc.

The drive wheels 34, 34 are for running (autonomously running) the vacuum cleaner 11 (main body case 20) in forward and backward directions on the floor surface F, and are shown along the lateral width direction. It has a rotation axis that does not In the present embodiment, the driving wheels 34, 34 have their rotation shafts located on both sides of the front of the suction port 31, respectively. The drive wheels 34, 34 may be entirely positioned forward of the suction port 31, or may partially overlap the suction port 31 in the front-rear direction. Further, the driving wheels 34, 34 are arranged symmetrically in the width direction. Therefore, these drive wheels 34, 34 allow the vacuum cleaner 11 (body case 20) to travel autonomously. These drive wheels 34, 34 are arranged in arrangement openings 37, 37, which are openings for the drive section opened on both sides of the suction port 31 on the lower surface 30 of the main body case 20, and the lower part of the arrangement openings 37, 37 It protrudes from 37 to the floor surface F side (downward) with respect to the lower surface 30 of the main body case 20 . That is, these drive wheels 34, 34 are positioned on both sides of the suction port 31. As shown in FIG. In addition, grip portions 34a, which are convex portions for increasing the gripping force on the floor surface F, are provided on the outer peripheral surface of each drive wheel 34 all around. Incidentally, these drive wheels 34 may be endless tracks or the like.

Here, each arrangement opening 37 is formed in a longitudinal shape in the front-rear direction, and partitions the drive wheel housing H, which is a concave portion recessed upward with respect to the lower surface 30 of the main body case 20 (FIG. 2). . A dust removal member 39 is attached to the edge of these arrangement openings 37 to remove dust adhering to the driving wheels 34 by the operation (rotation) of the driving wheels 34 .

Each dust removal member 39 is positioned behind each drive wheel 34 . That is, these dust removal members 39 are arranged at the rear edge of each arrangement opening 37 . In addition, each dust removal member 39 is arranged on the inner side (center side in the left-right direction of the main body case 20, which is one end side in the axial direction) and the outer side (on the other end side in the axial direction, on the main body case 20) with respect to each driving wheel 34. opposite to the central side in the left-right direction) and at positions facing the outer peripheral portion, respectively. Therefore, each dust removal member 39 is arranged in a U-shape so as to surround the rear portion of each driving wheel 34 when viewed from below. Each dust removal member 39 has a base member 39a on the base end side fixed to the main body case 20, and a dust removal member main body 39b on the tip side toward the inside of the arrangement opening 37, that is, toward the driving wheel 34. It is arranged with a free end toward it and extends inwardly of the locating opening 37 and contacts the drive wheel 34 (FIG. 2). Therefore, the clearance between the rear portion of the driving wheel 34 and the inner edge portion of the arrangement opening 37 is narrowed by the dust removing member 39 (dust removing member main body 39b).

The dust removal member main body 39b is formed in a brush shape, and a plurality of each is planted on the base material 39a. That is, the dust removing members 39 are brush-like members.

Each motor 35 is arranged, for example, corresponding to each driving wheel 34, and can drive each driving wheel 34 independently. These motors 35 are connected to respective drive wheels 34 via gear boxes 40, for example. These gearboxes 40 are arranged in the arrangement openings 37 together with the drive wheels 34 . Further, these gear boxes 40 are biased by biasing means S such as coil springs in a direction to project the drive wheels 34 toward the floor surface F (downward) (FIG. 2).

The slewing wheel 36 is a driven wheel that is positioned substantially in the widthwise center and front portion of the lower surface 30 of the main body case 20 and that can be slewing along the floor surface F. As shown in FIG.

The cleaning unit 22 includes, for example, an electric blower 41 that is positioned inside the main body case 20 and sucks dust together with air from the suction port 31 and exhausts it from the exhaust port 32, and a rotating cleaning body that is rotatably attached to the suction port 31 and scrapes the dust. and a brush motor 43 for rotationally driving the rotating brush 42, and an auxiliary cleaning means (auxiliary cleaning portion) as a rotating cleaning portion that is rotatably attached to both sides such as the front side of the main body case 20 and collects dust. a side brush 44, a side brush motor 45 for driving the side brush 44, and a dust collecting portion (dust cup) 46 communicating with the suction port 31 to collect dust. Electric blower 41 , brush motor 43 and side brush motor 45 are driven by power supplied from secondary battery 28 , and their operations are controlled by control means 27 . Cleaning unit 22 may include at least one of electric blower 41 , rotating brush 42 and brush motor 43 , side brush 44 and side brush motor 45 .

The dust collection part 46 is a dust collection cup that can be attached to and detached from the body case 20, and is located at the rear of the body case 20, for example. The dust collection part 46 communicates with the suction port 31 . In addition, the dust collector 46 communicates with the suction side of the electric blower 41 in the present embodiment, and collects inside the dust sucked together with the air from the suction port 31 by the negative pressure generated by driving the electric blower 41. It's becoming Further, in the dust collection section 46, a filter section (not shown) may be arranged to prevent dust contained in passing air from being sucked into the electric blower 41. FIG.

The sensor unit 26 includes, for example, an object detection means (object detection unit) 57 which is an obstacle detection means (obstacle detection unit) for detecting the presence or absence of physical or virtual objects around the main body case 20, and a floor surface. A level difference detection means (level difference detection unit) 58 for detecting a level difference such as F is provided. Note that the sensor unit 26 is not an essential component.

The object detection means 57 includes, for example, an ultrasonic sensor and an infrared sensor, and can detect objects (obstacles) located within a predetermined distance.

The step detection means 58 is, for example, an infrared sensor or the like, and can detect a step on the floor surface F by detecting the distance between the lower portion of the vacuum cleaner 11 (main body case 20) and the floor surface F. there is

The control means 27 includes, for example, a CPU that is a control means main body (control unit main body), a ROM that is a storage unit that stores fixed data such as programs read by this CPU, and a work area that is a work area for data processing by the program. It is a microcomputer including a RAM (not shown) that is an area storage unit that dynamically forms various memory areas such as. Further, in the present embodiment, the control means 27 operates in a traveling mode in which autonomous traveling is performed based on the detection results of the sensor section 26 (a cleaning mode in which cleaning is performed by the cleaning section 22 while autonomously traveling based on the detection results of the sensor section 26). ), a return mode for returning to the charging device, and a standby mode during operation standby. In this embodiment, the control means 27 further has a charging mode for charging the secondary battery 28, but this mode is not essential. This control means 27 controls operations of the cleaning section 22 (the electric blower 41, the brush motor 43, and the side brush motor 45), the sensor section 26, and the like. Therefore, the control means 27 has the functions of cleaning control means (cleaning control section) and sensor section control means (sensor section control section).

Further, in the running mode of the control means 27, for example, after the vacuum cleaner 11 (main body case 20) is run in a straight line, when the sensor unit 26 detects an obstacle such as a wall in front, the vacuum cleaner 11 ( Random travel control for controlling the operation of the driving wheels 34 (motors 35, 35) so as to repeat the motion of turning the main body case 20) at random angles within a predetermined angle range and then traveling in a straight line; , control the operation of drive wheels 34 (motors 35, 35) so that the vacuum cleaner 11 (main body case 20) runs along obstacles such as walls while maintaining a certain distance from them. A plurality of cruise control modes, such as wall running control, may be included.

The secondary battery 28 is electrically connected to, for example, charging terminals 59, 59 as connecting portions exposed at positions spaced apart from both sides of the rear portion of the lower surface 30 of the main body case 20. These charging terminals 59, 59 is electrically and mechanically connected to a charging terminal on the charging device side to be charged.

Next, the operation of the first embodiment will be described.

In the vacuum cleaner 11, the control means 27 switches from the standby mode to the running mode at a predetermined timing, such as when a preset cleaning start time comes or when a command to start cleaning is received from a remote controller or the like. , drives the traveling unit 21 and starts from a predetermined cleaning start position, such as a charging device. Then, the control means 27 drives the motors 35, 35 (drive wheels 34, 34) in response to detection from the object detection means 57 and the step detection means 58 of the sensor section 26 to avoid obstacles and steps. While running the electric vacuum cleaner 11 (main body case 20) on the floor surface F in the cleaning area to every corner, the cleaning unit 22 is driven to clean the dust on the floor surface F and collect it in the dust collection unit 46. do.

At this time, the rotating brush 42 rotated by the control means 27 (via the brush motor 43) scrapes the dust on the floor surface F. As shown in FIG. Dust on the floor surface F and dust scraped off by the rotating brush 42 are sucked into the dust collector 46 together with air by the negative pressure acting on the suction port 31 by driving the electric blower 41. It is accumulated in part 46. The air in which dust is accumulated in the dust collecting portion 46 is sucked into the electric blower 41 via the filter portion, and after cooling the electric blower 41, is discharged from the exhaust port 32 to the outside of the vacuum cleaner 11. exhausted. In addition, in the case where the electric blower 41 is not provided, the dust scraped by the rotating brush 42 is raised to the dust collecting section 46 by the rotation of the rotating brush 42 and collected in the dust collecting section 46. may

When cleaning is finished or when the remaining amount of the secondary battery 28 becomes less than a predetermined amount, the control means 27 controls the driving wheels 34, 34 so as to return the vacuum cleaner 11 (main body case 20) to the charging device. (Motors 35, 35) are controlled. Then, when the charging terminals 59, 59 are mechanically and electrically connected to the charging terminals of the charging device, the control means 27 terminates the return mode and stops the driving wheels 34, 34 (motors 35, 35). As a result, vacuum cleaner 11 (body case 20) stops. Next, the control means 27 switches to the charging mode immediately after the feedback control mode ends, or after a predetermined time of standby mode, and charges the secondary battery 28 via the charging device. Then, when the charging of the secondary battery 28 is completed, the control means 27 switches to the standby mode.

Here, the dust removing members 39, 39 (dust removing member main bodies 39b, 39b) are in constant contact with the driving wheels 34, 34. As shown in FIG. Therefore, when the vacuum cleaner 11 (main body case 20) is running, the dust removing members 39, 39 fixed to the main body case 20 (arrangement openings 37, 37) are moved by the drive wheels 34, 34 being driven. It will be in sliding contact with it. Therefore, the dust adhering to these driving wheels 34, 34 is immediately scraped off by the dust removing members 39, 39 (dust removing member main bodies 39b, 39b). In other words, due to the operation (rotation) of the drive wheels 34, 34, the dust removing members 39, 39 (dust removing member main bodies 39b, 39b) automatically remove dust. Therefore, the dust removal members 39, 39 can automatically prevent the vehicle from traveling with dust adhering to the drive wheels 34, 34 without the user having to remove the dust adhering to the drive wheels 34, 34 by himself/herself.

A second embodiment will now be described with reference to FIG. It should be noted that the same reference numerals are given to the same configurations and actions as in the first embodiment, and the description thereof will be omitted.

In the second embodiment, part of the suction port 31 of the first embodiment extends behind the drive wheels 34, 34 (and the dust removal members 39, 39).

That is, the suction port 31 includes a suction port main body 31a formed in a rectangular shape elongated in the left-right direction and located between the driving wheels 34, 34, the driving wheels 34, 34, and the dust removal members 39, 39 (arrangement openings 37, 39). 37) is provided with a rear suction port 31b formed in a rectangular shape continuous in the left-right direction so that both ends are positioned on the rear side. Therefore, the suction port 31 has a convex shape when viewed from below.

When the vacuum cleaner 11 (main body case 20) is running, the dust removal members 39, 39 fixed to the main body case 20 (arrangement openings 37, 37) are attached to the drive wheels 34, 34 being driven. The dust adhering to the driving wheels 34, 34 is immediately scraped off by the dust removing members 39, 39 (dust removing member main bodies 39b, 39b). The scraped dust is quickly sucked into the dust collection section 46 by driving the electric blower 41 from the suction port 31 (rear suction port 31b) and collected.

In this way, by providing at least a part of the suction port 31 for sucking dust by driving the electric blower 41 at a position on the rear side with respect to the drive wheels 34, 34, the dust removal members 39, 39 clean the drive wheels 34, 34 The dust removed from the 34 can be quickly sucked into the dust collection part 46 and collected without leaving it on the floor surface F for a long time. That is, the dust removed from the drive wheels 34, 34 by the dust removing members 39, 39 can be treated by using the dust collecting function of the electric vacuum cleaner 11. FIG.

Further, when the electric vacuum cleaner 11 (main body case 20) moves backward, the rotating direction of the driving wheels 34 is the direction in which the dust removing member 39 comes into contact with the dust removing member 39 from above. may accumulate in the drive wheel housing H at the upper portion of the However, even if dust accumulates in the drive wheel house H, this dust will move from the front position of the drive wheel 34 to the floor surface F when the vacuum cleaner 11 (main body case 20) is switched from reverse to forward. It drops upward and can be sucked by the suction port 31 on the rear side of the drive wheel 34. For this reason, the vacuum cleaner 11 (main body case 20) generally travels in a relatively short time in reverse, and the time in forward motion is longer than the time in reverse motion, so dust accumulates in the drive wheel house H. It will not remain in the state of being left, and it will not accumulate in the drive wheel housing H in large amounts. Therefore, in this embodiment, if the dust removing member 39 is at least behind the driving wheels 34, the suction port 31 at least partially positioned behind the driving wheels 34 can effectively treat the dust.

A third embodiment will now be described with reference to FIG. It should be noted that the same reference numerals are given to the same configurations and actions as those of the above-described embodiments, and the description thereof will be omitted.

The third embodiment is provided with suction ports 61, 61 in the vicinity of drive wheels 34, 34 in addition to the suction port 31 of the first embodiment.

These suction ports 61 , 61 are separated from the suction port 31 on the left, right, and rear sides of the lower surface 30 , but communicate with the suction port 31 inside the body case 20 . That is, these suction ports 61, 61 communicate with the suction side of the electric blower 41 (the dust collecting section 46). In addition, these suction ports 61, 61 are set to have small front-rear dimensions and left-right dimensions. Therefore, these suction ports 61, 61 are set to have an opening area smaller than that of the suction port 31. As shown in FIG. Further, the lateral dimensions of these suction ports 61, 61 are set substantially equal to the lateral dimensions of the drive wheels 34, 34. As shown in FIG. That is, these suction ports 61, 61 are provided exclusively for sucking dust removed from the driving wheels 34, 34 by the dust removing members 39, 39. As shown in FIG.

When the vacuum cleaner 11 (main body case 20) is running, the dust removal members 39, 39 fixed to the main body case 20 (arrangement openings 37, 37) are attached to the drive wheels 34, 34 being driven. The dust adhering to the driving wheels 34, 34 is immediately scraped off by the dust removing members 39, 39 (dust removing member main bodies 39b, 39b). The scraped-off dust is sucked and collected by the drive of the electric blower 41 from the suction ports 61, 61 located near the drive wheels 34, 34 to the dust collection section 46 before dropping onto the floor surface F. be.

In this way, by providing the suction ports 61, 61 for sucking dust by driving the electric blower 41 in the body case 20 near the dust removing members 39, 39, the dust removing members 39, 39 remove the dust from the drive wheels 34, 34. The collected dust can be quickly sucked into the dust collection part 46 and collected without leaving it on the floor surface F for a long time. That is, the dust removed from the drive wheels 34, 34 by the dust removing members 39, 39 can be treated by using the dust collecting function of the electric vacuum cleaner 11. FIG.

In the third embodiment, the suction ports 61, 61 may be arranged on the front side or side of the driving wheels 34, 34 as long as they are in the vicinity of the driving wheels 34, 34. FIG.

Next, a fourth embodiment will be described with reference to FIGS. 7 and 8. FIG. It should be noted that the same reference numerals are given to the same configurations and actions as those of the above-described embodiments, and the description thereof will be omitted.

In the fourth embodiment, the dust removal members 39, 39 are removable from the main body case 20 in the second embodiment.

That is, the main body case 20 includes open/close lids 63, 63 that open and close positions including at least rear edge portions of the arrangement openings 37, 37. As shown in FIG. Each opening/closing lid 63 is continuous from the inner side to the rear side of each driving wheel 34 . Therefore, each opening/closing lid 63 is formed in an L shape when viewed from below. In addition, the dust removal member 39 (base material 39a) is integrally attached to each of the opening/closing lids 63, respectively. Therefore, by removing each opening/closing lid 63, the arrangement openings 37, 37 are opened wide, and the dust removing member 39 is removed from the main body case 20 together with the opening/closing lid 63. As shown in FIG. That is, the opening/closing lid 63 and the dust removing member 39 constitute a dust removing member unit.

Further, it is preferable that the drive wheels 34, 34 are detachably connected to the gear boxes 40, 40 via couplings (shaft joints) or the like (not shown). Therefore, it is preferable that the drive wheels 34, 34 exposed by removing the opening/closing lid 63 from the main body case 20 are detachable from the gear boxes 40, 40 (FIG. 8).

By making the dust removing members 39, 39 removable from the main body case 20 in this way, the maintenance of the dust removing members 39, 39 is facilitated. Also, by removing the opening/closing lids 63, 63 (dust removal unit) from the main body case 20, a space for removing the drive wheels 34, 34 can be secured, and these drive wheels 34, 34 can be easily removed, maintained, and replaced. Become.

The fourth embodiment can also be applied to the first embodiment or the third embodiment.

In each of the above-described embodiments, the vacuum cleaner 11 autonomously travels using the sensor unit 26, but may be operated by the user using a portable terminal or a remote control, for example.

According to at least one embodiment described above, the dust removing members 39, 39 for removing dust adhering to the drive wheels 34, 34 by the operation (rotation) of the drive wheels 34, 34 allow the user to Dust adhering to the drive wheels 34, 34 can be automatically removed from the drive wheels 34, 34 by the dust removing members 39, 39 simply by running the electric vacuum cleaner 11 (main body case 20). Therefore, it is possible to automatically prevent electric vacuum cleaner 11 (body case 20) from traveling with dust adhering to driving wheels 34, .

Furthermore, since the dust removing members 39, 39 (dust removing member main bodies 39b, 39b) protrude into the arrangement openings 37, 37 to narrow the gaps between the drive wheels 34, 34 and the arrangement openings 37, 37, the user is prevented from making mistakes. As a result, fingers are less likely to be caught in the gaps between the driving wheels 34, 34 and the arrangement openings 37, 37, and foreign matter is less likely to be caught in the gaps between the driving wheels 34, 34 and the arrangement openings 37, 37, and stacks are less likely to occur. .

Further, by making the dust removing members 39, 39 brush-like members, the tip side of the dust removing members 39, 39 (dust removing member main bodies 39b, 39b) comes into contact with the driving wheel 34 having the grip portion 34a on the outer peripheral portion. To follow up while maintaining a state, to effectively remove dust, and to scrape off the dust removed from driving wheels 34, 34 by dust removing members 39, 39 onto a floor surface F without accumulating in the dust removing members 39, 39. can be done. That is, the dust removed from the drive wheels 34, 34 is less likely to remain attached to the dust removing members 39, 39, and the dust removing members 39, 39 can be used as they are for a long period of time without frequent maintenance.

Furthermore, by arranging each dust removing member 39 on the rear side of each driving wheel 34, when the vacuum cleaner 11 (main body case 20) runs forward, that is, when moving forward, the inside of each driving wheel house H It becomes difficult for dust to enter, and the accumulation of dust in the drive wheel housing H can be suppressed.

Since it is possible to automatically prevent the vehicle from traveling with dust attached to the driving wheels 34, 34, it is possible to prevent the driving wheels 34, 34 from slipping (idling) on the floor surface F due to the dust adhered thereto. The travel distance can be accurately matched to the number of rotations (rotation angle) of the driving wheels 34, 34. Accurate travel control can be performed without preventing the vehicle from going straight due to the difference in travel distance between the left and right driving units and from being unable to properly run over the charging device. Therefore, even if the vacuum cleaner 11 is of a type that does not detect its own position based on, for example, characteristic points within the cleaning area, it is possible to prevent the current position from being lost.

While several embodiments of the invention have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention to these embodiments. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

11 vacuum cleaner
20 body case
27 Control means
31, 61 Suction port
34 Driving wheels as traveling drive
37 placement apertures
39 Dust removal member
41 Electric blower F Floor surface as running surface

Claims (6)

a body case having an arrangement opening at the bottom;
a travel drive unit having a lower part protruding downward from the arrangement opening and rotatably provided in the main body case to allow the main body case to travel on a travel surface;
a control means for causing the main body case to travel by controlling the drive of the travel drive section;
a dust removal member that removes dust adhering to the travel drive unit by operating the travel drive unit ;
The dust removing member is arranged at a rear edge portion of the arrangement opening with respect to the travel drive section, and is not arranged at the front side of the travel drive section of the arrangement opening.
A vacuum cleaner characterized by The electric vacuum cleaner according to claim 1, wherein the dust removing member is a brush-like member. an electric blower housed in a body case;
a suction port for sucking dust on the surface to be cleaned by driving the electric blower ;
The suction port is capable of sucking in dust removed by a dust removal member arranged at the rear edge of the traveling drive section of the arrangement opening by driving the electric blower.
3. The vacuum cleaner according to claim 1 or 2, characterized in that: The electric vacuum cleaner according to claim 3, wherein at least part of the suction port is provided in the body case at a position on the rear side with respect to the traveling drive unit. 5. The electric vacuum cleaner according to claim 3, wherein the suction port is provided in the body case in the vicinity of the dust removing member. The electric vacuum cleaner according to any one of claims 1 to 5, wherein the dust removal member is detachable from the main body case.

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