JP7396197B2 - vacuum cleaner - Google Patents

Description

The present disclosure relates to a vacuum cleaner.

Patent Document 1 describes a stick-type vacuum cleaner. This vacuum cleaner cleans by being moved while being held by the user.

Japanese Patent Application Publication No. 2018-187036

When cleaning with a conventional stick-type vacuum cleaner, such as the vacuum cleaner described in Patent Document 1, the user holds and continues to move the vacuum cleaner until the cleaning is completed. There is a need. For example, if the cleaning range is wide, this will place a heavy burden on the user.

The present disclosure is intended to solve the above problems. An object of the present disclosure is to provide a vacuum cleaner that can be held and used by a user as a stick-type vacuum cleaner and that can reduce the burden on the user.

A vacuum cleaner according to the present disclosure includes at least a suction port body formed with a suction port that opens toward a surface to be cleaned, a main body portion in which an electric blower is built-in, and a grip portion that is gripped by a user. a main body, a rotating part that connects the vacuum cleaner main body to the suction port body, a means for advancing the suction port body to which the vacuum cleaner main body is connected via the rotating part, and an obstacle in front of the suction port body. and a control means that controls the forward movement means in accordance with the detection result of the obstacle detection means. The rotating part is rotatable relative to the suction port body about a rotation axis substantially parallel to the direction of advancement by the advancing means. The vacuum cleaner main body can change its attitude with respect to the suction port body by rotating with the rotating part. When the suction port body is placed on the surface to be cleaned, the rotating part cleans in a self-supporting position by positioning the center of gravity of the vacuum cleaner body vertically above or in front of the rotation axis. The main body of the machine is configured so that it can be taken. The advancing means advances the suction port body while maintaining the vacuum cleaner body in an independent posture. The control means controls the advancing means so that the suction mouth body stops, retreats, or turns when an obstacle is detected by the obstacle detection means when the suction mouth body is advanced by the advancing means.

According to the present disclosure, it is possible to provide a vacuum cleaner that can be held and used by a user as a stick-type vacuum cleaner and can reduce the burden on the user.

1 is a schematic diagram of a vacuum cleaner according to Embodiment 1. FIG. FIG. 3 is a perspective view of the rotating part of the first embodiment. FIG. 2 is a side view of the suction tool of Embodiment 1. FIG. 3 is a rear view of the suction tool of Embodiment 1. FIG. 3 is a diagram showing a self-supporting posture of a vacuum cleaner main body in Embodiment 1. FIG. FIG. 3 is a bottom view of the suction port body of Embodiment 1. FIG. 3 is a diagram showing a rotating brush according to the first embodiment. FIG. 3 is a diagram showing an example of obstacle detection according to the first embodiment. 7 is a diagram illustrating a modification of obstacle detection in the first embodiment. FIG. It is a schematic diagram showing the 1st modification of the vacuum cleaner of Embodiment 1. It is a schematic diagram which shows the 2nd modification of the vacuum cleaner of Embodiment 1. It is a schematic diagram which shows the 3rd modification of the vacuum cleaner of Embodiment 1. FIG. 7 is a bottom view showing a modification of the suction port body of Embodiment 1;

Embodiments will be described below with reference to the accompanying drawings. The same reference numerals in each figure indicate the same or corresponding parts. Further, overlapping explanations will be simplified or omitted as appropriate. Note that the present invention may include all modifications and all combinations of the configurations disclosed by the following embodiments without departing from the spirit thereof.

Embodiment 1.
FIG. 1 is a schematic diagram of a vacuum cleaner 1 according to the first embodiment. The vacuum cleaner 1 includes a suction tool 24 and a vacuum cleaner main body 3. The suction tool 24 includes a suction port body 2 and a rotating part 10. The rotating part 10 connects the suction port body 2 and the cleaner body 3. The suction port body 2 is for removing dust from surfaces such as floors cleaned by the vacuum cleaner 1. Hereinafter, the surface to be cleaned by the vacuum cleaner 1 will also be referred to as the surface to be cleaned. The surface to be cleaned is, for example, a horizontal surface. In addition, in the present disclosure, objects to be cleaned by the vacuum cleaner 1, such as dirt, dust, dust, hair, fibers, etc., are collectively referred to as "dust".

The cleaner main body 3 has at least a main body part 4 and a grip part 5. The main body portion 4 includes an electric blower 6 that generates an airflow for sucking dust together with air. The grip part 5 is a part that is gripped by the user. In the illustrated example, the grip portion 5 is formed into a rod shape, but may have a curved shape, for example. Note that the grip portion 5 may be configured integrally with the main body portion 4. For example, the outer shell of the main body portion 4 may be configured as the grip portion 5.

The main body portion 4 includes, for example, a main body control board (not shown). Elements for controlling the electric blower 6 are mounted on this main body control board. The main body control board is electrically connected to the electric blower 6.

The vacuum cleaner 1 according to this embodiment is a cordless vertical vacuum cleaner. A vertical vacuum cleaner is also called a stick-type vacuum cleaner. The stick-type vacuum cleaner in the present disclosure includes at least a suction port body 2, a rotating portion 10, and a main body portion 4.

The main body portion 4 may be provided with, for example, a dust collecting portion 7 that collects dust. The dust collecting section 7 is for collecting dust in the dust-containing air sucked into the main body section 4 by suction air generated by the electric blower 6. The dust collecting section 7 may be detachably attached to the main body section 4. The dust collecting section 7 may have a cylindrical appearance as a whole. The dust collection section 7 may include a cyclone separation device. The cyclone separation device is a device that internally swirls dust-containing air using an air flow generated by the electric blower 6 and separates dust from the dust-containing air. The airflow from which dust has been removed by the dust collector 7 is discharged to the outside of the main body 4 through an exhaust section including an exhaust port (not shown).

Further, the main body 4 includes, for example, a power source that serves as a power source for the vacuum cleaner 1. The power supply section includes, for example, a secondary battery 8 and the like.

The vacuum cleaner 1 of this embodiment includes a control section 9 as an example of a control means for controlling the operation of the vacuum cleaner 1. The control unit 9 includes, for example, a control board. In addition, although the control part 9 is provided in the main body part 4 in the illustrated example, the control part 9 may be provided in a location different from the main body part 4. The control unit 9 may be provided in the suction port body 2, for example.

In this embodiment, the main body section 4 further includes a connecting pipe section, which is not shown. The connecting tube portion is a hollow cylindrical member to which the tube body 11 or the suction tool 24 is detachably connected. The connecting pipe portion has a connecting port for sucking in dust. The connection port is an opening formed at one end of the connection pipe section. An air passage is formed inside the connecting pipe portion to guide the airflow of dust-containing air that has passed through the connecting port to the dust collecting portion.

The electric blower 6 is driven in response to a user's operation on an operation section (not shown) provided on the grip section 5 or the main body section 4 . When the electric blower 6 is driven, a suction force acts inside the dust collecting section 7 and the above-mentioned connecting pipe section, and dust-containing air is sucked in from the connecting port. The dust-containing air sucked into the connection port passes through the connection pipe section and is taken into the dust collecting section 7 . In the dust collecting section 7, dust is separated from dust-containing air. Clean air discharged from the dust collecting section 7 passes through the electric blower 6. The clean air that has passed through the electric blower 6 is discharged to the outside of the main body 4 from the exhaust section.

The pipe body 11 is for sending dust sucked from the suction tool 24 to the main body part 4. The tube body 11 is a hollow tubular member having an air passage inside. The outer shape of the tubular body 11 is rod-shaped. The outer shape of the tubular body 11 is an elongated shape having a longitudinal axis. Note that the total length of the tube body 11 may be longer or shorter than the total length of the main body portion 4. Further, the tube body 11 may be configured to be adjustable in its entire length. In this case, the distance from the suction port body 2 to the grip portion 5 can be changed by adjusting the length of the tube body 11.

One end side of the tube body 11 is removably connected to the main body portion 4 . For example, the main body portion 4 and the tubular body 11 are provided with an attachment/detachment structure using a latch. The other end of the tube body 11 is removably connected to the suction tool 24 .

As an example, the pipe body 11 includes a pipe portion having an air passage inside and a pipe cover portion covering the pipe portion. The longitudinal axis of the pipe body 11 is the longitudinal axis of the internal air passage of the pipe section. The internal air passage of the tube body 11 is a linear air passage.

The tube body 11 includes a relay component for energizing the main body portion 4 and the suction tool 24 . For example, the tubular body 11 includes a terminal portion and a lead wire (not shown). The terminal portion and the lead wire are provided, for example, between the pipe portion and the pipe cover portion. The terminal portion and the lead wire are electrically connected.

The above-mentioned terminal portion is provided on at least one of both ends of the tube body 11. By inserting the above-mentioned one of the pipe bodies 11 into the connection port of the main body part 4, the main body part 4 and the pipe body 11 are electrically connected.

The grip portion 5 and the main body portion 4 may be directly connected as in the illustrated example, or another member may be provided between the grip portion 5 and the main body portion 4. Further, the grip portion 5 may be detachably attached to the main body portion 4. A user may use the vacuum cleaner 1 by holding the main body part 4. In the present disclosure, the vacuum cleaner main body 3 may include various types having at least a main body part 4 having a built-in electric blower 6 and a grip part 5 to be held by a user.

As described above, the cleaner main body 3 is connected to the suction port body 2 via the rotating part 10. The main body part 4 may be directly connected to the rotating part 10, or may be indirectly connected to the rotating part 10 via a tube 11 or the like. That is, the rotating portion 10 may connect the suction port body 2 and the main body portion 4, or may connect the suction port body 2 and the tube body 11. The vacuum cleaner main body 3 may be provided with the tube body 11 as in the illustrated example, or may not be provided with the tube body 11. The vacuum cleaner main body 3 in the present disclosure may include various types connected to the suction port body 2 via the rotating part 10.

The suction tool 24 has a T-shape when viewed from above. The suction port body 2 has a shape having a longitudinal direction and a width direction perpendicular to the longitudinal direction. The length in the longitudinal direction is longer than the width in the width direction. The rotating portion 10 is connected, for example, to the central position of the suction port body 2 in the longitudinal direction. The suction port body 2 may be composed of, for example, an upper case and a lower case. The upper case is a member that forms the upper part of the suction port body 2. The lower case is a member that forms the lower part of the suction port body 2. As an example, the rotating part 10 may be held in a rotatable state by being sandwiched between an upper case and a lower case.

The rotating portion 10 is a member also called an elbow or a joint. The vacuum cleaner main body 3 can change its attitude with respect to the suction port body 2 by being rotated by the rotating part 10. An air passage is formed inside the rotating part 10. The air passage inside the suction port body 2 communicates with the air passage inside the cleaner main body 3 via the air passage inside the rotating part 10.

As described above, the rotating portion 10 may be directly connected to the main body portion 4 without using the tube body 11. By inserting one end of the rotating part 10 into the connection port of the main body 4, the main body 4 and the suction tool 24 can be connected. Further, the main body portion 4 and the suction tool 24 are electrically connected via a lead wire or the like. As an example, the main body portion 4 and the rotating portion 10 are provided with a latch-based attachment/detachment structure. This attachment/detachment structure allows the suction tool 24 to be attached to and detached from the main body portion 4 .

Here, the rotating portion 10 will be explained with further reference to the drawings. FIG. 2 is a perspective view of the rotating portion 10 of the first embodiment. FIG. 3 is a side view of the suction tool 24 of the first embodiment. FIG. 4 is a rear view of the suction tool 24 of the first embodiment.

The rotating section 10 includes a first rotating section 10a and a second rotating section 10b. The second rotating part 10b is connected to the suction port body 2 so as to be rotatable about the second rotation axis Y. The first rotating part 10a is connected to the second rotating part 10b so as to be rotatable about the first rotating axis X. The second axis of rotation Y is not parallel to the first axis of rotation X. The second axis of rotation Y is in an intersecting or twisted position with respect to the first axis of rotation X. In FIG. 2, the first rotation axis X and the second rotation axis Y are shown by dashed lines.

In this embodiment, the second rotation axis Y is substantially parallel to the width direction of the suction port body 2. The first axis of rotation, X, is substantially perpendicular to the second axis of rotation, Y. Note that the suction tool 24 and the tube body 11 can be attached and detached by inserting and removing the first rotating portion 10a into the other end of the tube body 11. Further, by inserting and removing the first rotating portion 10a into the connection port of the main body 4, the main body 4 and the suction tool 24 can be attached and detached.

As the second rotating part 10b of the rotating part 10 rotates around the second rotating axis Y, the direction of the first rotating axis X changes. and maintained in a vertical position. The second rotating part 10b is rotatable about the second rotation axis Y with respect to the suction port body 2 within a preset angular range. The first rotating part 10a of the rotating part 10 is rotatable about the first rotating axis X within a preset angle range with respect to the second rotating part 10b.

In the following description, the angle of the longitudinal axis of the first rotating part 10a with respect to the width direction of the suction port body 2 will be referred to as a first angle α. By rotating the rotating portion 10 around the first rotation axis X, the magnitude of the first angle α can be changed. The first angle α corresponds to the inferior angle of the angle formed by the suction port body 2 and the first rotating portion 10a. The angular range in which the rotating portion 10 can rotate around the first rotation axis X is, for example, an angular range in which the first angle α can vary from 10° to 90°. Note that the angular range in which the rotating portion 10 can rotate around the first rotation axis X may be larger, for example, the first angle α may be a range that can vary from 0° to 90°. Further, the range of angles in which the rotating portion 10 can rotate about the first rotation axis X may be even larger, and for example, the first angle α may be greater than 90°. For example, the first angle α may vary from 10° to 100° or from 0° to 100°.

When the cross-sectional shape of the internal air passage in the first rotating part 10a is a polygon, the intersection of the perpendicular bisector of one side of the polygon and the perpendicular bisector of the other side is the cross-sectional shape of the first rotating part 10a. A line connected in the longitudinal direction may be regarded as the longitudinal axis of the first rotating portion 10a. Further, when the cross-sectional shape of the internal air passage in the first rotating part 10a is circular, a line connecting the center of the circle in the longitudinal direction of the first rotating part 10a is regarded as the longitudinal axis of the first rotating part 10a. It's okay.

The double-headed arrow in FIG. 4 indicates an example of the angular range in which the rotating portion 10 can rotate about the second rotation axis Y. In the following description, the angle between the bottom surface of the suction port body 2 and a virtual plane including a virtual straight line parallel to the width direction of the suction port body 2 and the longitudinal axis of the first rotating part 10a is referred to as a second angle β. It is called. By rotating the rotating portion 10 around the second rotation axis Y, the magnitude of the second angle β can be changed. The range of angles in which the rotating portion 10 can rotate around the second rotation axis Y is, for example, a range in which the second angle β can vary from 5° to 175°. More preferably, the angular range in which the rotating portion 10 rotates about the second rotation axis Y is a range in which the second angle β can vary from 0° to 180°. At this time, the internal air path formed from the suction port body 2 to the second rotating part 10b has a shape along the width direction, regardless of the first angle α and the second angle β. Further, when the second angle β is 90°, that is, when the longitudinal axis of the first rotating part 10a is perpendicular to the surface to be cleaned, the first rotating axis X is substantially parallel to the longitudinal direction of the suction port body 2. parallel.

The vacuum cleaner main body 3 is connected to the suction port body 2 via a rotating part 10, and can change its attitude with respect to the suction port body 2 by being rotated by the rotating part 10. The rotating part 10 is configured so that the cleaner body 3 can assume a self-supporting posture in which the cleaner body 3 stands on its own when the suction port body 2 is placed on the surface to be cleaned. FIG. 5 is a diagram showing a self-supporting posture of the vacuum cleaner main body 3 in the first embodiment. The vacuum cleaner main body 3 is rotatable so as to take the self-supporting position shown in FIG. For example, the vacuum cleaner main body 3 is rotatable about the first rotation axis X so that it can take an independent posture. In a state where the vacuum cleaner main body 3 is in a self-supporting position, the center of gravity of the vacuum cleaner main body 3 is located vertically above the rotation center of the rotating part 10 or in front of the rotation center. For example, when the cleaner body 3 is in a self-supporting position, the center of gravity of the cleaner body 3 is located vertically above the first rotation axis X or in front of the first rotation axis X. The vacuum cleaner main body 3 is located above the suction tool 24, that is, above the suction port body 2 in the free standing position.

In the example of FIG. 5, the center of gravity of the cleaner body 3 is located forward of the first rotation axis X. In the example of FIG. 5, the first angle α is greater than 90°.

The suction tool 24 may be provided with, for example, a first locking mechanism for maintaining the vacuum cleaner main body 3 in an independent posture. By providing this first locking mechanism, when force is applied to the vacuum cleaner 1 from the outside, the vacuum cleaner main body 3 is prevented from falling over.

The first locking mechanism described above prevents the first angle α from changing from the holding angle to a different angle when the first angle α is equal to the holding angle. The first locking mechanism prevents the rotating part 10 from rotating about the first rotation axis X when the first angle α is equal to the holding angle. The holding angle is an angle of 90° or less and is a preset angle. The holding angle may be an angle equal to the first angle α in the state of FIG. When the first angle α becomes equal to the holding angle while the rotating part 10 is rotating about the first rotation axis X, the first locking mechanism operates to fix the first angle α.

Moreover, the suction tool 24 may further include a second locking mechanism that maintains the second angle β. The second locking mechanism is formed, for example, to have a structure that makes it difficult for the second angle β to change to a different angle when the second angle β is 90°. According to the second lock mechanism, it is possible to prevent the vacuum cleaner 1 from falling over due to a change in the second angle β, and it is possible to make the vacuum cleaner 1 easier to stand on its own. Further, the second locking mechanism may be a mechanism having a structure that prevents the first angle α from changing to a different angle when the first angle α is fixed by the first locking mechanism. .

FIG. 6 is a bottom view of the suction port body 2 of the first embodiment. The suction port body 2 is, for example, formed as a rectangular parallelepiped member that has an elongated appearance and is elongated in the left-right direction. A suction port 12 is formed at the bottom of the suction port body 2 and opens toward the surface to be cleaned. The suction port 12 is an opening for sucking in dust on the surface to be cleaned together with air. As an example, the suction port 12 has a horizontally long rectangular shape whose longitudinal direction is the left-right direction.

The suction port body 2 is provided with a rotating brush 13. The rotating brush 13 is arranged in a space communicating with the suction port 12. The rotating brush 13 is arranged so as to face the suction port 12. As shown in FIG. 6, the rotating brush 13 is arranged so as to be visible when viewed from the bottom. The rotating brush 13 is provided so that at least a portion thereof protrudes downward from the suction port 12 during rotation.

The suction port body 2 of this embodiment is provided with a drive motor 14 that rotates the rotating brush 13. The rotating shaft portion 13a of the rotating brush 13 and the drive motor 14 are connected to each other via, for example, a shaft 15 connected to the drive motor 14, a gear 16, a belt 17, a brush gear (not shown), and the like. The shaft 15 is an output shaft that is rotated by the drive motor 14 . Gear 16 is provided coaxially with shaft 15. Rotation of the shaft 15 driven by the drive motor 14 is transmitted to the rotating shaft portion 13a via the gear 16 and the belt 17.

More specifically, the gear 16 is provided so as to be rotatable by being driven by the shaft 15. The belt 17 is wound around the gear 16 so that it can circulate in accordance with the rotation of the gear 16. A belt is wound around the brush gear so that the brush gear can rotate following the circulation movement of the belt 17. The diameter of the brush gear is larger than the diameter of gear 16. The number of teeth of the brush gear is greater than the number of teeth of the gear 16. The brush gear is connected to the rotating shaft portion 13a of the rotating brush 13 so that the rotating brush 13 can be driven. Gear 16 is provided behind the brush gear. The rotation axis of the gear 16 may be provided above or below the rotation axis of the brush gear. The drive motor 14 is provided behind the rotating brush 13. The drive motor 14 is electrically connected to the main body portion 4 . The drive motor 14 may be a brushed motor, but is more preferably a brushless motor whose output can be easily adjusted.

As shown in FIG. 3, the suction port body 2 may be provided with wheels 28 or the like for smooth movement of the suction port body 2 on the surface to be cleaned.

The operation of the drive motor 14 is controlled by a control section 9, which is an example of a control means. The control unit 9 is equipped with an electric circuit and the like for controlling the operation of the drive motor 14. Note that a control means for controlling the operation of the drive motor 14 may be provided in the suction port body 2, for example.

FIG. 4 is a diagram showing the rotating brush 13 of the first embodiment. The rotating brush 13 is for scraping off dust on the surface to be cleaned. The rotating brush 13 includes a rotating shaft portion 13a serving as a shaft of the rotating brush 13, and a cleaning body 13b provided on the rotating shaft portion 13a. The rotating shaft portion 13a is made of, for example, resin or metal material. The cleaning body 13b is a member that removes dust on the surface to be cleaned. The cleaning body 13b is provided on the outer periphery of the rotating shaft portion 13a. The rotating shaft portion 13a is rotatably supported.

A plurality of cleaning bodies 13b may be provided on the rotating shaft portion 13a. Each of the plurality of cleaning bodies 13b may be provided in a spiral shape, for example. Each of the plurality of cleaning bodies 13b may be made of, for example, cloth, resin, or a soft member such as rubber or elastomer. The rotating shaft portion 13a holds, for example, the fabric at the base of the cleaning body 13b. The fabric at the base of the cleaning body 13b may be configured to be attached by sliding in the longitudinal direction of the rotating shaft portion 13a, or may be adhered to the rotating shaft portion 13a. The cleaning body 13b held by the rotating shaft portion 13a scrapes up and removes dust on the surface to be cleaned by rotating together with the rotating shaft portion 13a. The cleaning body 13b comes into contact with the surface to be cleaned from the front to the rear through rotation.

The suction port body 2 may include, for example, a dust amount detection section. The dust amount detection section is provided so as to be able to detect the amount of dust passing through the inside of the connecting pipe section of the main body section 4. The dust amount detection section is composed of, for example, a so-called dust sensor.

Further, in this embodiment, the suction port body 2 includes a grounding switch 25. The ground switch 25 has wheels. The grounding switch 25 protrudes downward from the lower surface of the lower case of the suction port body 2. The grounding switch 25 is configured to be movable in the vertical direction. The ground switch 25 is pushed downward by a member such as a spring. The grounding switch 25 is configured to be pushed by the surface to be cleaned and move upward while resisting the elastic force of the spring when the bottom surface of the suction port body 2 is on the ground facing the surface to be cleaned. be done.

In this embodiment, the control section 9, which is an example of a control means, is equipped with an element for controlling the operation of the drive motor 14. By controlling the operation of the drive motor 14, the start and stop of rotation of the shaft 15 is controlled. Further, by controlling the operation of the drive motor 14, the rotational speed of the shaft 15 is controlled. Further, the rotation direction of the shaft 15 may be controlled by controlling the operation of the drive motor 14.

The rotational speed of the shaft 15 by the drive motor 14 is controlled by, for example, changing the magnitude of the current flowing through the coil of the drive motor 14, which is a brushless motor, or the height of the voltage applied. As an example, the control unit 9 is equipped with an element that detects the load on the drive motor 14. The load on the drive motor 14 is detected, for example, by the magnitude of the current flowing through the coil of the drive motor 14, which is a brushless motor. The control unit 9 also controls the drive motor 14 to stop rotating the shaft 15 when the grounding switch 25 is moved downward, for example when the suction port body 2 is not in contact with the surface to be cleaned. It is composed of

The suction port body 2 includes a plurality of lead wires (not shown). Some of the plurality of lead wires electrically connect the drive motor 14 and the control unit 9. Further, another part of the plurality of lead wires electrically connects the dust amount detection section and the control section 9.

As described above, the gear 16 is driven by the shaft 15 to rotate. The belt 17 follows the rotation of the gear 16 and moves in circulation. The brush gear rotates following the circulating movement of the belt 17. The brush gear rotationally drives the rotating shaft portion 13a.

The dust amount detection section detects the amount of dust flowing into the inside of the suction port body 2. When the amount of dust detected by the dust amount detection section is greater than a predetermined value, the control section 9 increases the rotational speed of the shaft 15 driven by the drive motor 14. When the amount of dust detected by the dust amount detection section is less than a predetermined value, the control section 9 reduces the rotational speed of the shaft 15.

However, in the self-supporting position, the relationship between the amount of dust and the rotational speed of the shaft 15 may be reversed from the above example. For example, when the amount of dust detected by the dust amount detection section is greater than a predetermined value, the control section 9 may reduce the rotation speed of the shaft 15. When the amount of dust detected by the dust amount detection section is less than a predetermined value, the control section 9 may increase the rotation speed of the shaft 15. According to this example, for example, when the amount of dust is small and the forward speed of the forward movement means using the rotary brush 13 is slow, the dust in a new area can be removed by increasing the output and increasing the forward speed. Started efficiently.

Further, the control unit 9 may reduce the rotational speed of the shaft 15 when the load on the drive motor 14 is greater than a predetermined load. The control unit 9 may detect the current value, for example, and may slow down the rotational speed of the shaft 15 if the current value is larger than a predetermined value. The control unit controls the rotation speed of the shaft 15 according to the load of the drive motor 14, thereby adjusting the rotation speed of the rotating brush 13. The control unit 9 does not rotate the rotating brush 13 at an unnecessarily high rotational speed. This reduces the power consumed by the drive motor 14. Note that the rotation speed of the brushless motor can be easily controlled by controlling the voltage applied to the coil. By using a brushless motor for the drive motor 14, the power efficiency of the vacuum cleaner 1 can be increased without requiring a complicated configuration for controlling the rotation speed.

Note that the drive motor 14 may be a brushless motor driven by an induced voltage sensorless. This brushless motor detects the rotation angle of the rotor without using a magnetic sensor. Therefore, among the plurality of lead wires connecting the control section 9 and the drive motor 14, the lead wire for communicating signals from the magnetic sensor becomes unnecessary. That is, the number of multiple lead wires can be reduced. This improves the manufacturability of the suction port body 2.

As described above, by controlling the rotational speed of the shaft 15, the rotational speed of the rotating brush 13, which constitutes an example of the advancing means, can be controlled. For example, when an obstacle is detected, the rotational speed of the rotating brush 13 may be gradually changed to change the rotational speed of the rotating brush 13 to a low rotational speed or to zero. For example, if the rotation of the rotating brush 13, which constitutes an example of the advancing means, is suddenly stopped, the vacuum cleaner 1 may fall over due to inertia. By gently reducing the rotational speed of the rotating brush 13, falling can be suppressed. In this case, the degree of decrease in the rotational speed of the shaft 15 may be controlled depending on the distance of the obstacle, or the degree of decrease may be set in advance. Similarly, the rotational speed of the shaft 15 from a stopped state to when it starts rotating may be gradually changed. This reduces inertia and improves safety. Note that the control and gradual change of the rotational speed, that is, the control and gradual change of the forward speed, are equally effective not only for the advancing means consisting of the shaft 15 and the rotating brush 13, but also for any advancing means.

In this embodiment, the rotating brush 13 is configured to be able to generate a propulsive force for advancing the suction port body 2 to which the cleaner body 3 is connected. The rotating brush 13 of this embodiment and the drive motor 14 that rotates the rotating brush 13 are an example of the advancing means in the present disclosure.

Specifically, the rotating brush 13 includes a cylindrical portion 13c as an example of a propulsive force generating portion having a structure different from that of the cleaning body 13b. The cylindrical portion 13c comes into contact with the surface to be cleaned and generates a propulsive force. The cylindrical portion 13c is a member formed in a cylindrical shape. The outer periphery of the cylindrical portion 13c is made of, for example, a fiber member. When the cleaning body 13b and the cylindrical portion 13c are formed from fiber members, the fiber member of the cylindrical portion 13c is preferably shorter than the fiber member of the cleaning body 13b. Propulsive force can be effectively generated by using short fiber members.

The outer periphery of the cylindrical portion 13c may be made of a soft material such as cloth, resin, rubber, or elastomer. The cylindrical portion 13c is configured to be able to generate a propulsive force that exceeds the static frictional force acting between the cylindrical portion 13c and the surface to be cleaned when the vacuum cleaner 1 stands on the surface to be cleaned. The structure, material, etc. of the cylindrical portion 13c are designed according to the weight of the vacuum cleaner 1, etc.

As shown in FIGS. 6 and 7, one cylindrical portion 13c is provided at both left and right ends of the cleaning body 13b, for example. The cylindrical portion 13c may be provided near the center of the cleaning body 13b in the left-right direction. The cylindrical portion 13c is preferably arranged symmetrically with respect to the center of the suction port body 2 in the left-right direction.

Note that the rotating brush 13 does not necessarily have to include a propulsive force generating section having a structure different from that of the cleaning body 13b. For example, the rotating brush 13 may be configured to be able to generate a propulsive force by the cleaning body 13b. For example, if the cleaning body 13b is made of a material with a large friction coefficient such as rubber or elastomer, or a material in which each flocked fiber has a large diameter, it is easy to generate a propulsive force. In addition, the fiber diameter is thick, for example, it means that the fiber diameter is 0.15 mm or more, preferably 0.2 mm or more.

If the vacuum cleaner 1 is equipped with the rotating brush 13 and the drive motor 14, which are an example of an advancing means, it is possible to autonomously travel while maintaining a self-supporting posture. According to this embodiment, a stick-type vacuum cleaner 1 that can autonomously run like a so-called robot vacuum cleaner is obtained. The vacuum cleaner 1 of this embodiment can clean the surface to be cleaned while autonomously moving even if the user releases the grip part 5. According to this embodiment, it is possible to provide a stick-type vacuum cleaner 1 that can reduce the burden on the user.

The vacuum cleaner 1 of this embodiment further includes an obstacle detection sensor 18. The obstacle detection sensor 18 is a sensor that detects an obstacle, and is an example of an obstacle detection means in the present disclosure. The obstacle detection sensor 18 is installed on the suction tool 24, for example. The obstacle detection sensor 18 is, for example, a distance sensor that can measure distance. Examples of distance sensors include infrared sensors, ultrasonic sensors, inductive distance sensors, photoelectric distance sensors, optical sensors, contact detection sensors, and laser sensors. It is more preferable that the obstacle detection sensor 18 is capable of detecting obstacles in front of the suction tool 24 and above the suction tool 24. Note that the obstacle detection means according to the present disclosure may detect obstacles by image recognition, for example.

The obstacle detection sensor 18 may be configured to be able to detect at least one obstacle in front of the suction port body 2 and above the suction port body 2 . Further, the obstacle detection sensor 18 may be configured to be able to detect at least one of obstacles ahead of the suction port body 2 and above the suction port body 2 .

In this embodiment, the control section 9, which is an example of a control means, controls the drive motor 14 according to the detection result of the obstacle detection sensor 18. in particular. The control unit 9 stops the rotation of the shaft 15 by the drive motor 14 when an obstacle in front is detected by the obstacle detection sensor 18 when the suction port body 2 to which the vacuum cleaner main body 3 is connected in a free-standing position moves forward. . When the drive motor 14 stops, the vacuum cleaner 1 stops moving forward. When the obstacle detection sensor 18 detects an obstacle in front, the direction of rotation of the shaft 15 by the drive motor 14 may be reversed. In this case, the vacuum cleaner 1 moves backward. According to this embodiment, it is possible to avoid the advancing vacuum cleaner 1 from colliding with an obstacle. Furthermore, damage and malfunction due to the vacuum cleaner 1 falling down can be avoided. According to this embodiment, the burden on the user due to the vacuum cleaner 1 colliding with an obstacle and falling over is reduced.

Note that when an obstacle is detected, for example, the operation of the electric blower 6 may be stopped, the power of the vacuum cleaner 1 may be turned off, or the vacuum cleaner 1 may be placed in a standby state. It's okay to be.

FIG. 8 is a diagram illustrating an example of obstacle detection according to the first embodiment. As described above, it is preferable that the obstacle detection sensor 18 is capable of detecting not only obstacles in front of the suction port body 2 but also obstacles above the suction port body 2. When the obstacle detection sensor 18 is provided in the suction port body 2, it is desirable that the obstacle detection sensor 18 be disposed at a position where it can be visually recognized from above when the cleaner body 3 is in a freestanding position. More preferably, the obstacle detection sensor 18 is disposed in front of the front end of the cleaner body 3 when the cleaner body 3 is in an independent posture.

When the obstacle detection sensor 18 can also detect an obstacle above the suction port body 2, as shown in FIG. 8, when the suction port body 2 passes under furniture such as a table 19, The top plate of the table 19 can be detected as an obstacle. Thereby, it is possible to avoid collision of the main body part 4, the grip part 5, etc. with the top plate of the table 19. It is particularly suitable for the stick-type vacuum cleaner 1 that the obstacle detection sensor 18 is configured to be able to detect obstacles above the suction port body 2.

Specifically, the vertical distance from the obstacle detection sensor 18 to the top of the vacuum cleaner 1 is compared with the vertical distance from the obstacle detection sensor 18 to the obstacle. If the vertical distance to the obstacle is smaller, the above-mentioned advancing means may be controlled so that the suction port body 2 stops, retreats, or turns. Thereby, a collision between the vacuum cleaner 1 and an obstacle is avoided.

Further, FIG. 9 is a diagram showing a modification of obstacle detection in the first embodiment. The obstacle means according to the present disclosure may include, for example, a camera 18a and an image processing unit that processes an image acquired by the camera 18a. The image processing section is included in the control section 9, for example. When the camera 18a is used, the distance between an obstacle such as the table 19 and the camera 18a can be calculated more accurately. Moreover, since the camera 18a can acquire information over a relatively wide range, the presence of an obstacle can be detected more quickly, and the forward movement of the vacuum cleaner 1 can be stopped more quickly. Therefore, collisions between the vacuum cleaner 1 and obstacles can be more effectively avoided. Note that the camera 18a herein includes the function of a lens and the function of converting information about light captured by the lens into digital data.

Note that a plurality of obstacle detection sensors 18 may be provided. When there is only one obstacle detection sensor 18, it is desirable that the obstacle detection sensor 18 is arranged near the center of the suction port body 2 in the longitudinal direction. When there are two obstacle detection sensors 18, it is desirable that the obstacle detection sensors 18 are respectively arranged near both ends of the suction port body 2 in the longitudinal direction. Similar to the obstacle detection sensor 18, a plurality of cameras 18a may be provided. By using a plurality of cameras 18a, the accuracy of obstacle detection can be improved. Further, the vacuum cleaner 1 may include both an obstacle detection sensor 18 and a camera 18a as obstacle detection means.

FIG. 10 is a schematic diagram showing a first modification of the vacuum cleaner 1 of the first embodiment. The vacuum cleaner 1 may include a propulsive force generator separate from the rotating brush 13 as the advancing means. This propulsive force generating section is, for example, a drive wheel 20 driven by a motor different from the drive motor 14. The drive wheel 20 is provided at the rear of the suction port body 2, for example. By providing a propulsive force generating unit such as the drive wheel 20 separately from the rotating brush 13, it becomes possible to easily design a propulsive force to generate the propulsive force for moving the vacuum cleaner 1.

Further, the suction port body 2 may be provided with a bumper 21, for example. The obstacle detection means according to the present disclosure may be configured to detect an obstacle, for example, when the bumper 21 provided on the suction port body 2 comes into contact with the obstacle. For example, the bumper 21 is configured to be movable in the front-back direction. For example, the bumper 21 is configured to be rotatable around a rotation axis that is perpendicular to the forward direction of the suction port body 2 or along the longitudinal direction. When the bottom surface of the suction port body 2 faces the surface to be cleaned and is in contact with the ground, the bumper 21 is in a state of being pushed forward by a spring or the like. When the bumper 21 comes into contact with an obstacle when the bottom surface of the suction port body 2 is on the ground facing the surface to be cleaned, the bumper 21 is pushed by the obstacle and moves backward while resisting the elastic force of the spring. It is composed of The obstacle detection means according to the present disclosure may be configured to detect an obstacle when the bumper 21 is pushed in. In this case, the vacuum cleaner 1 can, for example, clean every corner of the room. Further, in this case, it is desirable that the vacuum cleaner 1 is configured so that the vacuum cleaner main body 3 is maintained in an independent posture even when the bumper 21 comes into contact with an obstacle. Further, the vacuum cleaner 1 may further include a bumper 21 in addition to the obstacle detection sensor 18.

The vacuum cleaner 1 may be configured to be able to switch on and off the function of detecting an obstacle by the obstacle detecting means including the obstacle detecting sensor 18, the camera 18a, the bumper 21, and the like. Turning the obstacle detection function on and off means switching on and off the detection by the obstacle detection means, or switching on and off the control of the forward movement means by the control means.

For example, the obstacle detection function is turned on and off by a predetermined operation. For example, the obstacle detection function may be turned on when the angle of the cleaner body 3 is a predetermined angle. Further, it may be turned on when the above-described locking mechanism of the rotating portion 10 is working. Further, the grip portion 5 may be equipped with a sensor, and the sensor may be turned off when the user is gripping the grip portion 5. In this case, for example, an infrared sensor may be provided in the grip portion 5, and the obstacle detection function may be turned off when the infrared sensor is covered by the user's hand. In this way, the obstacle detection function is preferably turned on when the vacuum cleaner 1 runs autonomously, and turned off when the grip part 5 is used while being gripped. In this example, for example, when a user is using the vacuum cleaner 1 by grasping the grip part 5, the rotating brush may accidentally stop due to the detection of an obstacle, or the user may accidentally stop the vacuum cleaner 1 by mistake. It is possible to prevent the power source 1 from turning off, etc.

FIG. 11 is a schematic diagram showing a second modification of the vacuum cleaner 1 of the first embodiment. In this second modification, the grip portion 5 is provided at the upper and front portion of the main body portion 4 . In the second modification, the vacuum cleaner 1 includes a hinge portion 22 that is a hinge-like member as an example of a posture changing portion that changes the posture of the grip portion 5 with respect to the main body portion 4. The hinge portion 22 may be provided on the main body portion 4 side or may be provided on the grip portion 5 side. The hinge portion 22 is provided on one end side of the grip portion 5, for example. Furthermore, as an example not shown, the hinge portion 22 may be provided on one end side of the tubular body 11. In this way, the grip part 5 may be configured to be foldable via the hinge part 22.

The grip portion 5 rotates relative to the main body portion 4, for example, about a rotation axis along a direction perpendicular to the forward direction of the suction port body 2 or a direction parallel to the longitudinal direction of the suction port body 2. When the grip part 5 is folded by the hinge part 22, the overall height of the vacuum cleaner 1 becomes lower. The grip part 5 has a front part that is visible from the front and a rear part that is visible from the rear. The front part may not be visible from the rear, and the rear part may not be visible from the front. The grip part 5 is configured so that the rear part of the grip part 5 can be seen from the front by rotation by the hinge part 22. Moreover, in the state where the grip part 5 is folded forward, the grip part 5 may be arranged above the suction port body 2 .

In the second modification, the grip part 5 is preferably folded when the vacuum cleaner 1 travels autonomously. Thereby, the height of the vacuum cleaner 1 is reduced, and the possibility of colliding with an obstacle can be reduced. Note that the grip portion 5 may be configured to be expandable and retractable, for example.

In the example of FIG. 8, the grip part 5 can be folded forward via the hinge part 22. An obstacle detection sensor 18 is provided on the rear portion of the grip portion 5 before it is folded. This obstacle detection sensor 18 is located in front of the grip part 5 when the grip part 5 is folded. The obstacle detection sensor 18 is arranged at a position where it can be visually recognized in a front view when the grip portion 5 is folded. By folding the grip portion 5, the obstacle detection sensor 18 can detect obstacles in front of and above the suction port body 2. Further, the obstacle detection sensor 18 can detect an obstacle in front of the main body 4 when the grip portion 5 is folded. With the configuration example shown in FIG. 11, obstacles in front of and above the suction port body 2 can be detected while making the vacuum cleaner 1 compact during autonomous travel. Further, the obstacle detection function may be turned on and off in accordance with the folding of the grip portion 5. For example, the obstacle detection function may be turned on when the grip part 5 is folded, and turned off when the grip part 5 is extended. The vacuum cleaner 1 is, for example, equipped with a folding detection means for detecting that the grip part 5 is folded, and is configured to switch the obstacle detection function on and off according to the detection result by the folding detection means. You can.

Further, by folding the grip portion 5 forward, the center of gravity of the vacuum cleaner 1 is placed closer to the front than before folding. This increases the sense of stability of the vacuum cleaner 1 in its independent posture, making it less likely to fall. Further, since the grip portion 5 is folded forward, the height of the vacuum cleaner 1 as a whole is suppressed, making it easier to store.

In the folded state, the grip part 5 may be arranged behind the front end of the suction tool 24 and in front of the rear end of the suction tool 24. By arranging the grip portion 5 in this manner, the area occupied by the folded grip portion 5 when viewed from above does not increase, and the vacuum cleaner 1 can be stored compactly. Note that the height of the upper end portion of the grip portion 5 after the grip portion 5 is folded is located above the suction port body 2 . Further, the height of the upper end of the grip part 5 when folded is preferably at the lowest position during the folding of the grip part 5, in other words, in the trajectory of the grip part 5 being folded. Thereby, the upper end portion of the grip portion 5 does not come into contact with the suction port body 2, and damage caused by the contact can be prevented. Further, as in the illustrated example, when the grip part 5 is folded, it is preferable that the rear part of the grip part 5 is arranged along the front part of the main body part 4. Thereby, the vacuum cleaner 1 can be made compact when the grip part 5 is folded.

Moreover, FIG. 12 is a schematic diagram showing a third modification of the vacuum cleaner 1 of Embodiment 1. The grip part 5 may be foldable backward via the hinge part 22. In this case, wheels 23 may be provided at the upper end of the grip portion 5 before folding. When the grip portion 5 is folded, the wheels 23 are brought into contact with the surface to be cleaned. In this example, the wheels 23 allow the vacuum cleaner 1 to move forward more smoothly. Moreover, the stability of the vacuum cleaner 1 when running is increased, making it more difficult to fall over. Further, as shown in FIG. 12, obstacle detection means such as the obstacle detection sensor 18 may be provided on the front side of the main body 4. Thereby, even if the grip part 5 is folded backward, the obstacle detection means can detect an obstacle in front.

In addition, in the case where the grip part 5 is folded forward, when placing an obstacle detection means such as the obstacle detection sensor 18 on the front side of the main body part 4, the upper end of the grip part 5 is folded to become the lower end. What is necessary is just to arrange|position the said obstacle detection means below a position.

Further, as described above, the grip portion 5 may be detachably attached to the main body portion 4. Furthermore, the vacuum cleaner 1 may include attachment/detachment detection means for detecting attachment/detachment of the grip portion 5 to/from the main body portion 4 . The vacuum cleaner 1 may be configured to turn on and off the obstacle detection function according to the detection result of the attachment/detachment detection means. That is, the obstacle detection function may be switched on and off in accordance with the attachment and detachment of the grip portion 5. For example, the obstacle detection function may be turned on when the grip 5 is removed, and turned off when the grip 5 is attached.

Further, the vacuum cleaner 1 may include speed detection means for detecting the forward speed. The speed detection means is provided in the main body 4, for example. The speed detection means detects, for example, the forward speed of the vacuum cleaner 1 in the free standing position. The speed detection means is composed of, for example, an acceleration sensor. According to the speed detection means, it is possible to grasp at what speed the vacuum cleaner 1 is being moved forward and backward by the forward movement means. Furthermore, the rotational speed of the shaft 15, drive wheels 20, etc. that constitute the forward movement means may be changed depending on the detection result of the speed detection means. This allows the vacuum cleaner 1 to move forward and backward at an appropriate speed.

Moreover, FIG. 13 is a bottom view showing a modification of the suction port body 2 of Embodiment 1. The suction port body 2 may be provided with two or more rotating brushes 13 that generate propulsive force. Each of the plurality of rotating brushes 13 can operate independently. In the illustrated example, the suction port body 2 is provided with two rotating brushes 13. The two rotating brushes 13 are arranged on the same straight line. For example, the rotation axes of the two rotating brushes 13 coincide. The two rotating brushes 13 each generate a propulsive force.

For example, the vacuum cleaner 1 can be rotated by reversing the rotation direction of the first rotating brush 13 and the second rotating brush 13. The vacuum cleaner 1 can also be rotated by changing the rotational speeds of the first rotating brush 13 and the second rotating brush 13. In this example, the rotating brush 13 may be controlled so that the vacuum cleaner 1 rotates when an obstacle is detected. Further, the vacuum cleaner 1 may further include a drive means for rotating the second rotating brush 13.

In the above embodiment, the cordless vacuum cleaner 1 using the secondary battery 8 has been described. Typical corded vacuum cleaners have a limited cleaning range. In the case of a self-propelled vacuum cleaner that is used without being held by the user, if it is equipped with a cord, there is a possibility that the cleaner will fall over or break the cord if it attempts to advance beyond the length of the cord. Therefore, the technology according to the present disclosure is preferably applied to the cordless vacuum cleaner 1. Additionally, since it is cordless, it is suitable for use not only in general homes but also in large spaces such as commercial facilities. For example, if the vacuum cleaner 1 is used in a wide space or a long and narrow corridor, efficient cleaning can be performed without the user having to hold it.

Further, the speed of advancement by the advancement means provided in the vacuum cleaner 1 may be adjustable by the user. For example, the main body 4 may be provided with an operation section for changing the output of the advancement means. . Thereby, it is possible to correspond to the user's preference and the condition of the surface to be cleaned.

Further, the vacuum cleaner 1 may include a notification unit that can notify the user whether the obstacle detection function is on or off. The notification section is provided in the main body section 4, for example. The notification section is realized by, for example, light emission from a lamp, sound, and the like. According to the notification unit, the state of the vacuum cleaner 1 can be notified to the user even if the user is not holding the vacuum cleaner 1.

In addition, the turning of the vacuum cleaner 1 may be realized by a plurality of drive wheels 20, for example, or may be realized by combining the rotating brush 13 and the drive wheels 20.

When the vacuum cleaner 1 is rotatable, the surface to be cleaned can be evenly cleaned by combining forward movement, rotation, and backward movement.

As shown above, the vacuum cleaner 1 performs an obstacle avoidance operation when an obstacle is detected in the free standing position. The obstacle avoidance operation is an operation of avoiding collision with an obstacle or avoiding an obstacle with which the vehicle has come in contact. Specifically, the obstacle avoidance operation includes stopping the forward movement of the forward movement means, retreating, turning, and the like.

Note that the obstacles in the present disclosure may include various types of objects that impede the advancement of the vacuum cleaner 1. For example, the obstacle detection means may be able to detect an obstacle present below the bottom of the suction port body 2. The obstacle in this case is, for example, a surface lower than the surface to be cleaned, such as a descending staircase. By detecting such obstacles, it is possible to prevent the vacuum cleaner 1 from accidentally falling.

Further, the configuration of the rotating portion 10 is not limited to the above-mentioned configuration, and may be another configuration. The structure of the rotating part 10 may be, for example, the following structure. The second rotation axis Y may be substantially parallel to the longitudinal direction of the suction port body 2, for example. The first axis of rotation, X, is substantially perpendicular to the second axis of rotation, Y. For example, the vacuum cleaner main body 3 is rotatable about the second rotation axis Y so that it can take an independent posture. For example, when the vacuum cleaner main body 3 is in a self-supporting position, the center of gravity of the vacuum cleaner main body 3 is located vertically above the second rotation axis Y or in front of the second rotation axis Y. If the rotating part 10 is configured to be able to make the center of gravity of the cleaner body 3 forward or equivalent to the rotation axis substantially parallel to the longitudinal direction or forward direction of the suction port body 2. good.

In the embodiment described above, an example has been described in which the entire length of the vacuum cleaner 1 is shortened by configuring the grip portion 5 to be foldable via the hinge portion 22. The configuration for reducing the overall length of the vacuum cleaner 1 is not limited to this. For example, the main body portion 4 may be configured to be foldable with respect to the tubular body 11 via the hinge portion 22. Moreover, a part of the tube body 11 may be configured from a hose-like member. An obstacle detection sensor 18 may be provided at the rear of the main body 4 before it is folded. According to the above example, the total length of the vacuum cleaner 1 can be shortened. Thereby, the same function and effect as when the obstacle detection sensor 18 is provided at the rear part of the grip part 5 before it is folded can be achieved.

1 vacuum cleaner, 2 suction port body, 3 vacuum cleaner main body, 4 main body part, 5 grip part, 6 electric blower, 7 dust collection part, 8 secondary battery, 9 control part, 10 rotating part, 10a first rotation part, 10b second rotating part, 11 tubular body, 12 suction port, 13 rotating brush, 13a rotating shaft part, 13b cleaning body, 13c cylindrical part, 14 drive motor, 15 shaft, 16 gear, 17 belt, 18 obstacle detection sensor, 18a camera, 19 table, 20 drive wheel, 21 bumper, 22 hinge part, 23 wheel, 24 suction tool, 25 earth switch

Claims (9)

It is a stick-type vacuum cleaner,
a suction port body formed with a suction port that opens toward the surface to be cleaned;
A vacuum cleaner main body having at least a main body part with a built-in electric blower and a grip part to be held by a user;
a rotating part that connects the vacuum cleaner body to the suction port body;
advancing means for advancing the suction port body to which the vacuum cleaner main body is connected via the rotating portion; obstacle detection means capable of detecting an obstacle in front of the suction port body;
control means for controlling the forward movement means according to the detection result of the obstacle detection means;
Equipped with
The rotating part is rotatable relative to the suction port body about a rotation axis substantially parallel to the direction of advancement by the advancing means,
The vacuum cleaner main body can change its attitude with respect to the suction port body by rotating by the rotating part,
The rotating part has a self-supporting posture in which the center of gravity of the vacuum cleaner body is located vertically above the rotating shaft or in front of the rotating shaft when the suction port body is placed on the surface to be cleaned. The vacuum cleaner body is configured to be removable;
The advancing means advances the suction port body while maintaining the vacuum cleaner main body in the self-supporting posture;
The control means controls the advancing means so that, when an obstacle is detected by the obstacle detection means when the suction port body is advanced by the advancing means, the suction port body stops, retreats, or turns. Vacuum cleaner. The vacuum cleaner main body is located above the suction port body in the freestanding position,
The vacuum cleaner according to claim 1, wherein the obstacle detection means is capable of detecting an obstacle located above the suction port body. The vacuum cleaner according to claim 1 or 2, wherein the obstacle detection means includes a camera and an image processing section that processes images acquired by the camera. The vacuum cleaner according to claim 1 or 2, wherein the obstacle detection means detects an obstacle when a bumper provided on the suction port body comes into contact with the obstacle. The advancing means has a rotating brush provided on the suction port body so as to face the suction port,
The rotating brush is
A rotating shaft portion;
a cleaning body provided on the outer periphery of the rotating shaft portion and scraping up dust;
a propulsive force generation part that is provided on the outer periphery of the rotating shaft part, has a structure different from that of the cleaning body, and generates a propulsive force that causes the suction port body to move forward by contacting the surface to be cleaned;
The vacuum cleaner according to any one of claims 1 to 4, comprising: The vacuum cleaner according to claim 5, comprising a first rotating brush and a second rotating brush, wherein the first rotating brush and the second rotating brush are independently operable. The suction port body is provided with a rotating brush facing the suction port,
Any one of claims 1 to 4, wherein the advancing means includes a propulsive force generating section that is separate from the rotating brush and that generates a propulsive force that contacts the surface to be cleaned and advances the suction port body. The vacuum cleaner described in . The vacuum cleaner according to any one of claims 1 to 7, wherein the obstacle detection function of the obstacle detection means can be switched between on and off. The vacuum cleaner according to any one of claims 1 to 8, wherein the grip part is configured to be foldable via a hinge part.

Images