JPWO2016002186A1 - Autonomous traveling vacuum cleaner - Google Patents

Abstract

The autonomously traveling cleaner (10) includes a body (20) having a suction port (101), a drive unit (30), and an electric fan. Since the suction port (101) is arranged at the maximum width portion of the body (20) rather than the drive unit (30), it is easy to suck in the dust present at the corner of the area to be cleaned, and quickly from the corner to another place. Can move.

Description

  The present invention relates to an autonomously traveling vacuum cleaner.

  In general, an autonomously traveling cleaner includes a main body on which various components are mounted, a driving device that moves the main body, a main brush that is disposed in a suction port formed in the main body and collects dust that exists on the cleaning surface, and And a suction device for sucking dust from the suction port of the main body. As disclosed in a large number of documents including Patent Document 1 and Patent Document 2, the main body of a conventional autonomously traveling vacuum cleaner has an approximately circular shape. An autonomous traveling type vacuum cleaner having a circular main body has high turning performance.

  On the other hand, according to the conventional autonomous traveling type vacuum cleaner having a circular main body, even if the autonomous traveling type vacuum cleaner approaches the limit of the corner of the area to be cleaned, the suction port of the main body and the tip portion of the corner A relatively large space is formed between them. For this reason, there exists a problem that the dust which exists in the corner | angular part of a cleaning object area | region may not fully be attracted | sucked by the suction device.

  In order to solve this problem, the improved conventional autonomous traveling cleaner further includes one or more side brushes disposed on the bottom surface of the main body. Such improved autonomous traveling type vacuum cleaners are disclosed in Patent Documents 3 to 6, for example. In the improved autonomously traveling vacuum cleaner, the side brush includes a bundle of bristle that protrudes outward from the outline of the main body. The bristle bundle collects garbage existing outside the outline of the main body at the suction port of the main body. For this reason, the autonomous running type vacuum cleaner of patent documents 3-6 can attract more dust which exists in the corner of the field for cleaning.

  However, according to the autonomous traveling type vacuum cleaners of Patent Documents 3 to 6, the ability to suck dust existing in the corners of the area to be cleaned (hereinafter sometimes simply referred to as “corner cleaning ability”) is mainly used. It is considered that it is determined by the aspect of the side brush. However, the mode of the bristle bundle is set under various constraints. For example, if the length of the bristle bundle is increased, the bristle bundle is likely to be caught on an obstacle, or interferes with other components of the autonomous running cleaner such as a drive unit. There is a risk of hindering driving. Therefore, the corner cleaning ability obtained by the side brush is also affected by certain restrictions.

  In addition, when cleaning the dust that exists at the corner of the area to be cleaned with the side brush, the side brush can scrape the dust that exists at the corner, but it is not possible to send all the scraped-off dust directly into the suction port. It is difficult and the dust diffused by the side brush remains in the area to be cleaned without being sucked from the suction port.

  For this reason, the autonomous traveling type vacuum cleaners disclosed in Patent Documents 3 to 6 that clean the dust existing in the corners of the region to be cleaned with the side brush have room for improvement with respect to the corner cleaning ability.

  On the other hand, Patent Document 7 discloses an example of an autonomously traveling cleaner that is further improved with respect to corner cleaning ability. The autonomously traveling vacuum cleaner of Patent Document 7 includes a main body having an approximately D shape, a suction port formed on the bottom surface side of the main body, and a pair of side brushes attached to corners on the bottom surface of the main body. When the autonomous traveling type vacuum cleaner of Patent Document 7 is located at the corner of the target area, for example, compared to the case where the autonomous traveling type vacuum cleaners of Patent Documents 3 to 6 are positioned at the corner of the target area, the side brush shaft And the inlet of the body gets closer to the corner apex. For this reason, the main body which has D shape can attract more garbage than the conventional autonomous running type vacuum cleaner currently disclosed by patent documents 3-6.

  However, when the autonomously traveling vacuum cleaner of Patent Document 7 is positioned at the corner of the area to be cleaned, the front surface and one side surface of the D-shaped main body come into contact with the wall forming the corner or contact Because it approaches the wall to an equal extent, it cannot rotate at that location. For this reason, since the autonomous traveling type vacuum cleaner of patent document 7 finishes the cleaning of the corner of the area to be cleaned, a relatively large restriction is imposed on the trajectory when moving from the corner to another place. There is a problem that it takes time.

JP 2008-296007 A Special table 2014-504534 gazette JP 2011-212444 A JP, 2014-073192, A JP 2014-094233 A Special table 2014-512247 gazette JP, 2014-061375, A

  The present invention has been made in view of the problems in the conventional autonomous traveling type vacuum cleaner as described above, and can more reliably suck in dust from the corner of the area to be cleaned directly from the suction port, Provided is an autonomously traveling vacuum cleaner with high cleaning efficiency that can move quickly from a corner of a cleaning symmetry area to another place.

  Specifically, the autonomously traveling cleaner of the present invention includes a body having a suction port, a drive unit that moves the body, and an electric fan. The body has two top portions that define the maximum width of the body, and the suction port is provided on the bottom surface side of the body, and is disposed closer to the maximum width of the body than the drive unit.

  With such a configuration, the dust present at the corner of the area to be cleaned can be more reliably sucked directly from the suction port, and can be quickly moved from the corner of the area to be cleaned to another place. Can be improved.

FIG. 1 is a plan view of the autonomous traveling cleaner according to the first embodiment of the present invention. FIG. 2 is a bottom view of the autonomous traveling cleaner according to the first embodiment of the present invention. FIG. 3 is a block diagram showing functions of the electric system of the autonomous traveling cleaner according to the first embodiment of the present invention. FIG. 4 is a plan view showing the operation of a conventional autonomous traveling type cleaner. FIG. 5 is a plan view for explaining the operation of the autonomous traveling cleaner according to the first embodiment of the present invention. FIG. 6 is another plan view for explaining the operation of the autonomous traveling cleaner according to the first embodiment of the present invention. FIG. 7 is another plan view for explaining the operation of the autonomous traveling cleaner according to the first embodiment of the present invention. FIG. 8 is a plan view of the autonomous traveling vacuum cleaner according to the second embodiment of the present invention. FIG. 9 is a bottom view of the autonomous traveling cleaner according to the second embodiment of the present invention. FIG. 10 is a perspective view of the autonomous traveling cleaner according to the third embodiment of the present invention. FIG. 11 is a plan view of the autonomous traveling cleaner according to the third embodiment of the present invention. FIG. 12 is a plan view showing the inside of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention. FIG. 13 is a bottom view of the autonomous traveling cleaner according to the third embodiment of the present invention. FIG. 14 is a side view of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention. FIG. 15 is an exploded perspective view when a part of the configuration of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention is viewed from the front side. FIG. 16 is an exploded perspective view when a part of the configuration of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention is viewed from the bottom surface side. 17 is a cross-sectional view taken along line XVII-XVII in FIG. FIG. 18 is a cross-sectional view of the XVII-XVII line of FIG. 11 in which a part of the configuration of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention is separated. 19 is a cross-sectional view taken along line XIX-XIX in FIG. FIG. 20 is a perspective view showing the internal structure of the lower unit of the autonomous traveling vacuum cleaner according to Embodiment 3 of the present invention. FIG. 21 is a perspective view of the internal structure of the lower unit of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention as seen from the side. FIG. 22 is a perspective view of the internal structure of the lower unit of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention as viewed from the front side. FIG. 23 is another perspective view of the internal structure of the lower unit of the autonomous traveling cleaner according to the third embodiment of the present invention as viewed from the front side. FIG. 24 is a perspective view of the upper unit of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention. FIG. 25 is a bottom view of the upper unit of the autonomous traveling cleaner according to the third embodiment of the present invention. FIG. 26 is a block diagram showing functions of the electric system of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention. FIG. 27 is a perspective view of the trash box unit of the autonomous mobile vacuum cleaner according to the fourth embodiment of the present invention. FIG. 28 is a cross-sectional view of the trash box unit according to Embodiment 4 of the present invention. FIG. 29 is a plan view of the autonomously traveling cleaner according to the first modification of the present invention. FIG. 30 is a plan view of an autonomously traveling vacuum cleaner according to Modification 2 of the present invention. FIG. 31 is a plan view of an autonomously traveling vacuum cleaner according to Modification 3 of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Embodiment 1)
FIG. 1 is a plan view of an autonomous traveling cleaner 10 according to Embodiment 1 of the present invention. FIG. 2 is a bottom view of autonomous traveling cleaner 10 according to the first embodiment of the present invention.

  As shown in FIG. 1, the autonomously traveling vacuum cleaner 10 autonomously travels on a cleaning surface of a cleaning target area (hereinafter, sometimes referred to as “cleaning target area” or simply “target area”). This is a robot type vacuum cleaner that sucks in dust on the cleaning surface. The cleaning target area is, for example, a room, and the cleaning surface is, for example, the floor surface of the room.

  According to the present embodiment, the autonomously traveling cleaner 10 collects garbage present in a body 20 on which various components are mounted, a drive unit 30 (see FIG. 2) that moves the body 20, and a cleaning target area. A cleaning unit 40 (see FIG. 2) and a suction unit 50 that sucks dust into the body 20 are provided. The autonomously traveling cleaner 10 further includes a trash box unit 60 that collects trash sucked by the suction unit 50, and a control unit 70 that controls at least the drive unit 30, the cleaning unit 40, and the suction unit 50.

  Autonomous traveling vacuum cleaner 10 of the present embodiment further includes a power supply that supplies power to caster 90 that rotates following the rotation of drive unit 30, drive unit 30, cleaning unit 40, suction unit 50, and the like. Unit 80.

  1 and 2, the upper side is the front of the body 20, and the lower side is the rear of the body 20. The width direction of the autonomous traveling cleaner 10 is defined with reference to the forward direction of the autonomous traveling cleaner 10 (upper side in FIG. 1). For example, in the present embodiment, a direction (right and left direction in FIGS. 1 and 2) substantially perpendicular to the forward direction of the autonomous traveling cleaner 10 is defined as the width direction of the autonomous traveling cleaner 10.

  In the present embodiment, a pair of drive units 30 are provided, and one drive unit 30 is disposed on each of the left side and the right side with respect to the center in the width direction in plan view of the body 20 (hereinafter referred to as the left side drive unit). 30 may be referred to as a first drive unit, and the right drive unit 30 may be referred to as a second drive unit). The number of drive units 30 is not limited to two and may be one or three or more.

  The body 20 includes a lower unit 100 (see FIG. 2) that forms an outer shape on the lower surface side of the body 20, and an upper unit 200 (see FIG. 1) that forms an outer shape on the upper surface side of the body 20. The body 20 is configured by combining the lower unit 100 and the upper unit 200 with each other. As shown in FIG. 1, the upper unit 200 includes a cover 210 that forms a main part of the upper unit 200, a lid 220 that can be opened and closed with respect to the cover 210, and a bumper 230 that can be displaced with respect to the cover 210. .

  The planar shape of the body 20 is preferably a rouleau triangle, or a rouleau polygon having approximately the same shape as the rouleau triangle, or the apex of the rouleau triangle or rouleau polygon has an R shape (see FIGS. 11 and 11). The shape has a circular arc R) shown in FIG. With such a shape, the body 20 can have the same or similar property as the geometric property of the Rouleau triangle. In other words, since the Reuleaux triangle is a fixed-width figure, it can rotate while inscribed in a square with a constant width (that is, the length of the side of the equilateral triangle inscribed in the Reuleaux triangle) in any direction. it can. Thereby, the body 20 can draw a square (substantially square) locus. In the present embodiment, as shown in FIG. 1, the body 20 has substantially the same planar shape as that of the Reuleaux triangle.

  The body 20 has a plurality of outer peripheral surfaces and a plurality of tops. In the present embodiment, the plurality of outer peripheral surfaces are present on the right rear side with respect to the front surface 21 in a plan view of the front surface 21 and the body 20 existing on the forward side (upper side in FIG. 1) of the autonomous traveling cleaner 10. And a left side surface 22 present on the left rear side with respect to the front surface 21. In the present embodiment, the front surface 21 has a curved surface curved outward. The curved surface curved outward may be formed in the bumper 230. Each side surface 22 has a curved surface curved outward at least partially. In the present embodiment, the curved surface curved outward is formed on the side of the bumper 230 and the side of the cover 210.

  In this embodiment, the plurality of top portions includes a right front top portion 23 defined by the front surface 21 and the right side surface 22 and a left front top portion 23 defined by the front surface 21 and the left side surface 22. . The plurality of top portions may further include a rear top portion 24 defined by the right side surface 22 and the left side surface 22. As shown in FIG. 1, the angles formed by the tangent line L1 of the front surface 21 and the tangent lines L2 and L3 of the two side surfaces 22 are both acute angles.

  The maximum width of the body 20 is defined by the distance between the apexes of the tops of the body 20. In the present embodiment, the maximum width of the body 20 is defined by the right front top 23 and the left front top 23. According to the example illustrated in FIG. 1 and the like, the maximum width of the body 20 is the distance between the apex of the right front apex 23 and the apex of the left front apex 23, that is, among the three apexes of the Rouleau triangle. Is defined by the distance between the two vertices.

  In the body 20, a line W connecting the vertex of the right front apex 23 and the apex of the left front apex 23 (hereinafter referred to as “maximum width line W of the body 20”) and the vicinity thereof are referred to as “body 20. The portion having the largest width ”or“ the largest width portion of the body 20 ”. Further, “the vicinity of the maximum width line W of the body 20” and “the portion close to the maximum width line W of the body 20” are a portion close to the maximum width line W of the body 20, that is, the maximum width line W of the body 20. The portion between the center of gravity G (see FIG. 2) of the autonomously traveling vacuum cleaner 10 and the portion between the maximum width line W of the body 20 and the front surface 21. A portion between the large line W and the tip of the drive unit 30 on the forward direction side of the body 20, and a portion between the maximum width line W of the body 20 and the front surface 21.

  The maximum width portion of the body 20 is preferably set at a position close to the front surface 21 of the body 20. The direction in which the maximum width line W of the body 20 extends is preferably set to be substantially perpendicular to the forward direction of the body 20.

  As shown in FIG. 2, the body 20 further includes a suction port 101 for sucking dust into the body 20. The suction port 101 is formed on the bottom surface of the lower unit 100 of the body 20. The suction port 101 has a horizontally long shape, preferably a rectangular shape or a substantially rectangular shape. The shape of the suction port 101 is not limited to these, and may be an elliptical shape, a trapezoidal shape, a shape curved along the outer peripheral shape of the body 20, or the like. In this embodiment, it has a rectangular shape. In the present embodiment, the suction port 101 has a longitudinal direction positioned substantially in the same direction as the width direction of the body 20, and a short side direction positioned substantially in the same direction as the front-rear direction of the body 20. As shown, it is disposed on the bottom surface of the lower unit 100 of the body 20.

  Further, the suction port 101 is formed on the bottom surface of the lower unit 100 of the body 20 at a portion near the portion having the maximum width of the body 20, more preferably at a portion near the maximum width line W of the body 20. This positional relationship is more specifically defined by the positional relationship of the suction port 101 with respect to other components of the autonomous traveling cleaner 10 and the like. For example, it is defined by one or both of the following two types of positional relationships.

  The first positional relationship is that the suction port 101 is located on the front side of the body 20 with respect to the center of gravity G (see FIG. 2) of the autonomous traveling cleaner 10. More specifically, the center line M of the suction port 101 extending in substantially the same direction as the longitudinal direction of the suction port 101 (hereinafter referred to as “longitudinal center line of the suction port 101”) is an autonomous traveling type cleaner 10. It is located on the front side of the body 20 from the center of gravity G (see FIG. 2), that is, in the front portion of the body 20, that is, in the maximum width portion of the body 20. The center line in the longitudinal direction of the suction port 101 may be located in a portion closer to the front surface 21 than the maximum width line W of the body 20.

  The second positional relationship is that the suction port 101 is closer to the maximum width line W of the body 20 than the drive unit 30, preferably on or near the maximum width line W of the body 20, more preferably the body. It is located at a portion closer to the front surface 21 than the 20 maximum width lines W.

  Further, in the present embodiment, the longitudinal width of the suction port 101 is set to be wider than the inner distance between the right drive unit 30 and the left drive unit 30. Such a configuration can be realized by, for example, the second positional relationship regarding the suction port 101 described above. With such a configuration, the suction port 101 having a wider width can be provided, so that dust can be sucked directly from the suction port 101 more reliably, and the dust sucked into the suction unit 50 described later can be used. The amount can be increased.

  Next, the drive unit 30 will be described.

  As shown in FIG. 2, each drive unit 30 has a plurality of elements such as a wheel 33 that is disposed on the bottom surface side of the lower unit 100 and travels on the cleaning surface. According to the present embodiment, each drive unit 30 includes a wheel 33 that travels on the cleaning surface, a travel motor 31 that applies torque to the wheel 33, and a housing 32 that houses the travel motor 31. Each wheel 33 is accommodated in a recess formed in the lower unit 100 and supported by the lower unit 100 so as to be rotatable with respect to the lower unit 100.

  In each wheel 33, a traveling motor 31 that applies torque to each wheel 33 is also arranged on the outer side in the width direction of the body 20. With such a configuration, the distance between the right wheel 33 and the left wheel 33 is wider than when the wheel 33 is disposed on the inner side in the width direction than the traveling motor 31. Improves.

  The driving method of the autonomously traveling vacuum cleaner 10 of the present embodiment is an opposed two-wheel type. That is, the right drive unit 30 and the left drive unit 30 are disposed to face each other in the width direction of the body 20. Further, in the present embodiment, as shown in FIG. 2, the rotation axis H of the right wheel 33 and the rotation axis H of the left wheel 33 are arranged so as to be substantially coaxial.

  The distance between the rotation axis H and the center of gravity G of the autonomous traveling cleaner 10 is set, for example, with the intention of giving the autonomous traveling cleaner 10 a predetermined turning performance. The predetermined turning performance is turning performance that allows the body 20 to form a locus similar to or similar to the square locus formed by the above-described triangular outline of the rouleau. According to the present embodiment, the position of the rotation axis H is set to the rear side of the body 20 relative to the center of gravity G of the autonomous traveling cleaner 10, and the distance between the rotation axis H and the center of gravity G is set to a predetermined distance. The According to the autonomous traveling type vacuum cleaner 10 having the opposed two-wheel type, the trajectory can be formed by utilizing the contact between the body 20 and a surrounding object by such a configuration.

  Next, the cleaning unit 40 will be described.

  As shown in FIG. 2, the cleaning unit 40 is disposed inside and outside the body 20 and has a plurality of elements such as a brush drive motor 41. According to the present embodiment, the cleaning unit 40 is disposed in the gear box 42 and the suction port 101 of the body 20 in addition to the brush drive motor 41 disposed in the body 20 (on the right side of the suction port 101). The main brush 43 is provided.

  The brush drive motor 41 and the gear box 42 are attached to the lower unit 100. The gear box 42 is connected to the output shaft of the brush drive motor 41 and the main brush 43, and transmits the torque of the brush drive motor 41 to the main brush 43.

  The main brush 43 has a length approximately the same as the length of the suction port 101 in the longitudinal direction, and is supported by a bearing portion so as to be rotatable with respect to the lower unit 100. The bearing portion is formed in one or both of the gear box 42 and the lower unit 100, for example. According to the present embodiment, the rotation direction of the main brush 43 is determined from the front of the body 20 on the cleaning surface side, as indicated by the arrow AM in FIG. 14 showing the side view of the autonomous traveling cleaner 10. It is set in the direction toward the rear.

  Next, the suction unit 50 will be described.

  As shown in FIG. 1, the suction unit 50 is disposed inside the body 20 and has a plurality of elements such as a fan case 52. According to the present embodiment, the suction unit 50 is disposed on the rear side of the trash box unit 60 and on the front side of the power supply unit 80 described later. The suction unit 50 includes a fan case 52 attached to the lower unit 100 (see FIG. 2) and an electric fan 51 disposed inside the fan case 52.

  The electric fan 51 sucks air inside the trash box unit 60 and discharges the air to the outside of the electric fan 51. The air discharged from the electric fan 51 passes through the space inside the fan case 52 and the space around the fan case 52 inside the body 20 and is exhausted outside the body 20.

  Next, the trash box unit 60 will be described.

  As shown in FIG. 2, the trash box unit 60 is disposed inside the body 20 on the rear side of the main brush 43 and on the front side of the suction unit 50, and is further disposed between the drive units 30. The body 20 and the trash box unit 60 have a detachable structure that allows the user to arbitrarily select the state in which the trash box unit 60 is attached to the body 20 and the state in which the trash box unit 60 is detached from the body 20.

  Next, the control unit 70 will be described.

  As shown in FIG. 1, the control unit 70 is disposed on the rear side of the suction unit 50 inside the body 20. As shown in FIG. 1 and FIG. 2, the autonomous traveling cleaner 10 further includes a plurality of sensors. According to the present embodiment, the plurality of sensors include an obstacle detection sensor 71 (see FIG. 1) that detects an obstacle existing in front of the body 20, and an object and the body 20 that exist around the body 20. The distance measuring sensor 72 (see FIG. 1) for detecting the distance is included. The plurality of sensors further includes a collision detection sensor 73 (see FIG. 1) that detects that the body 20 has collided with a surrounding object, and a plurality of floor surface detection sensors 74 that detect a cleaning surface present on the bottom surface of the body 20. (See FIG. 2). The obstacle detection sensor 71, the distance measurement sensor 72, the collision detection sensor 73, and the floor surface detection sensor 74 each input a detection signal to the control unit 70.

  As the obstacle detection sensor 71, for example, an ultrasonic sensor is used. The obstacle detection sensor 71 has a transmitter and a receiver. For the distance measurement sensor 72 and the floor surface detection sensor 74, for example, an infrared sensor is used. The distance measurement sensor 72 and the floor surface detection sensor 74 have a light emitting unit and a light receiving unit. As the collision detection sensor 73, for example, a contact displacement sensor is used. For example, the collision detection sensor 73 has a switch that is turned on when the bumper 230 is pushed into the cover 210.

  As shown in FIG. 1, the distance measuring sensor 72 is arranged on the right side and the left side with respect to the center in the width direction in plan view of the body 20 in the present embodiment. The right distance measuring sensor 72 is disposed at the right front top 23 and outputs light toward the right front side of the body 20. The distance measurement sensor 72 on the left side is disposed on the left front top 23 and outputs light toward the left front side of the body 20. With such a configuration, when the autonomous traveling cleaner 10 turns, the distance between the body 20 and the surrounding object closest to the contour of the body 20 can be detected.

  As shown in FIG. 2, the plurality of floor surface detection sensors 74 are arranged, for example, on the front side and the rear side of the body 20 relative to the drive unit 30.

  Next, the power supply unit 80 will be described.

  The autonomous traveling cleaner 10 includes a power supply unit that supplies power to the drive unit 30, the cleaning unit 40, the suction unit 50, the obstacle detection sensor 71, the distance measurement sensor 72, the collision detection sensor 73, and the floor surface detection sensor 74. 80. The power supply unit 80 is disposed on the rear side of the body 20 with respect to the center of gravity G of the autonomously traveling cleaner 10, further disposed on the rear side of the body 20 with respect to the suction unit 50, and includes a plurality of elements such as a power supply case 81. . According to the present embodiment, the power supply unit 80 includes a power supply case 81 attached to the lower unit 100, a storage battery 82 accommodated in the power supply case 81, and supply and stop of power from the power supply unit 80 to each of the above elements. A main switch 83 for switching between. As the storage battery 82, for example, a secondary battery is used.

  Next, a method for controlling the autonomous traveling cleaner 10 by the control unit 70 will be described.

  FIG. 3 is a block diagram showing functions of the electric system of the autonomous traveling cleaner 10.

  The control unit 70 is disposed on the power supply unit 80 (see FIGS. 1 and 2) inside the body 20 and is electrically connected to the power supply unit 80. The control unit 70 is further electrically connected to the obstacle detection sensor 71, the distance measurement sensor 72, the collision detection sensor 73, the floor surface detection sensor 74, the pair of travel motors 31, the brush drive motor 41, and the electric fan 51. Connected.

  Based on the detection signal input from the obstacle detection sensor 71, the control unit 70 determines whether there is an object that can hinder the traveling of the autonomous traveling cleaner 10 within a predetermined range in front of the body 20. Determine. Based on the detection signal input from the distance measurement sensor 72, the control unit 70 calculates the distance between the object existing around the front top 23 of the body 20 and the contour of the body 20.

  Based on the detection signal input from the collision detection sensor 73, the control unit 70 determines whether the body 20 has collided with a surrounding object. Based on the detection signal input from the floor surface detection sensor 74, the control unit 70 determines whether there is a cleaning surface in the region to be cleaned below the body 20.

  The control unit 70 uses the traveling motor 31, the brush drive motor 41, and the cleaning surface of the target area to be cleaned by the autonomous traveling cleaner 10 using one or more of the determination and calculation results described above. And the electric fan 51 is controlled.

  FIG. 4 is a plan view showing the operation of the conventional autonomous traveling cleaner 900.

  In FIG. 4, a room RX that is an area to be cleaned has an angle R3 formed by, for example, a first wall R1 and a second wall R2. According to the example illustrated in FIG. 3 and the like, the angle R3 is approximately a right angle. Autonomous traveling cleaner 900 cannot cover tip R4 of corner R3 when it reaches corner R3. For this reason, a comparatively large space | interval is formed between the suction inlet 910 and the front-end | tip part R4 of the autonomous running type vacuum cleaner 900. FIG. In addition, when the side brush is mounted in the autonomous traveling type vacuum cleaner 900, it is possible to scrape the dust which exists in the front-end | tip part R4 with a side brush. However, since the dust present at the tip portion R4 is scraped by the rotational force of the side brush and is diffused to the periphery at the same time, the dust is directly sucked from the suction port 910 provided at a position away from the tip portion R4. Is limited to a part of the dust present at the tip portion R4.

  Next, operation | movement when the autonomous running type vacuum cleaner 10 of this Embodiment cleans the corner | angular R3 is demonstrated.

  5-7 is a top view for demonstrating the operation | movement in which the autonomous running type vacuum cleaner 10 of this Embodiment cleans the corner | angular R3.

  The control unit 70 cleans the corner R3 of the room RX, for example, by running the autonomous traveling cleaner 10 as follows. That is, as shown in FIG. 5, the control unit 70 moves the autonomous traveling cleaner 10 along the second wall R <b> 2 along the first wall R <b> 2 while causing the body 20 to take a posture facing the first wall R <b> 1. Advance towards R1. At this time, the autonomously traveling cleaner 10 travels while maintaining the state in which one front top 23 is in contact with the second wall R2 or the state in which the front wall 23 is close to the second wall R2 to the same extent.

  As shown in FIG. 6, when the front surface 21 of the body 20 comes into contact with the first wall R1, or when the control unit 70 approaches the first wall R1 to the same extent as that, the control unit 70 is autonomously driven at that position. The vacuum cleaner 10 is temporarily stopped. At this time, a part of the front top part 23 covers a part of the tip part R4 of the corner R3. As described above, the autonomous traveling cleaner 10 of the present embodiment has the suction port 101 of the body 20 as compared with the case where the conventional autonomous traveling cleaner 900 (see FIG. 4) approaches the angle R3 to the limit. Approaches the tip portion R4 of the corner R3.

  Next, as shown in FIG. 7, the control unit 70 turns so that the front surface 21 comes into contact with the first wall R <b> 1 and turns so that the right side surface 22 comes into contact with the second wall R <b> 2. The autonomous traveling type vacuum cleaner 10 is repeatedly executed. For this reason, the autonomously traveling cleaner 10 has a reaction force acting on the body 20 due to contact between the front surface 21 and the first wall R1 and a reaction force acting on the body 20 due to contact with the side surface 22 and the second wall R2. Turn left while changing the position of the center of gravity G. This turning operation is the same as a part of the operation when the rouleau triangle forms a square locus.

  When the autonomously traveling cleaner 10 turns over a predetermined angle from the state facing the first wall R1, the right front apex 23 is directed to the apex of the corner R3 or the vicinity thereof as shown in FIG. The state in which the front apex 23 is closest to the apex of the corner R3 is formed. At this time, the body 20 covers a relatively wide range of the tip portion R4. Further, as described above, since the suction port 101 is provided in the vicinity of the maximum width of the body 20 defined by the two front top portions 23, the suction port 101 of the body 20 and the tip portion R4 of the corner R3 are connected to each other. The distance is shorter than the distance between the suction port 910 and the tip portion R4 of the corner R3 when the conventional autonomous traveling cleaner 900 (see FIG. 4) approaches the corner R3 to the limit.

  With such a configuration, it becomes possible to more surely suck in dust from the tip portion R4 of the corner R3 directly from the suction port 101, and the corner cleaning capability of the autonomous traveling cleaner 10 can be improved. It can be higher than the machine 900.

  Such corner cleaning ability of the autonomously traveling cleaner 10 of the present embodiment can be further explained as follows. According to the autonomously traveling cleaner 10 of the present embodiment, as described above, the angles formed by the tangent line L1 of the front surface 21 and the tangent lines L2 and L3 of the two side surfaces 22 are both acute angles. For this reason, when the autonomous mobile vacuum cleaner 10 is located at the corner R3 of the cleaning target area, it can turn on the spot and take various postures with respect to the corner R3. The posture includes, for example, a posture in which the front top portion 23 of the body 20 is directed to the distal end portion R4 including the apex of the corner R3 of the cleaning target region or the vicinity thereof.

  When the autonomous traveling cleaner 10 takes such a posture, the contour of the body 20 is compared with the case where the conventional autonomous traveling cleaner 900 having a circular main body approaches the limit to the corner R3 of the area to be cleaned. Is closer to the vertex of the corner R3, and the suction port 101 of the body 20 is also closer to the vertex of the corner R3. For this reason, the dust which the body 20 exists on the cleaning surface of the corner | angular R3 can be directly sucked in from the suction inlet 101 more reliably. That is, according to the configuration of the autonomous traveling cleaner 10 of the present embodiment, the dust present at the corner R3 of the area to be cleaned is more reliably compared with the conventional autonomous traveling cleaner 900 having a circular main body. Can be directly sucked from the suction port 101.

  Furthermore, the autonomously traveling vacuum cleaner 10 can rotate and change its direction on the spot when the front top 23 of the body 20 is oriented toward the tip portion R4 including the apex of the corner R3 or the vicinity thereof. . For this reason, when moving from the corner R3 of the area to be cleaned to another place, there is a low possibility that restrictions at the time of movement are imposed like a conventional autonomous traveling type cleaner having a D-type main body. That is, according to the configuration of the autonomous traveling cleaner 10 of the present embodiment, it can move quickly from the corner R3 to another place as compared with the conventional autonomous traveling cleaner having the D-type body. it can.

  According to the autonomously traveling vacuum cleaner 10 of the present embodiment, the following effects are further obtained.

  (1) In the autonomous traveling cleaner 10 of the present embodiment, the suction port 101 is provided in the vicinity of the maximum width line W of the body 20. With such a configuration, even when the longitudinal width of the suction port 101 is set to be narrower than the interval between the drive units 30, the garbage directly from the suction port 101 more reliably than the conventional autonomous traveling cleaner 900. It is possible to suck in more waste.

  Moreover, according to the autonomous traveling type cleaner 10 of this Embodiment, the width | variety of the longitudinal direction of the suction inlet 101 is provided more widely than the space | interval between the drive units 30. FIG. With such a configuration, more dust can be sucked directly from the suction port 101 as compared with a configuration in which the width of the suction port 101 is narrower than the interval between the drive units 30. Therefore, a configuration in which the suction port 101 is wider than the interval between the drive units 30 is more preferable.

  (2) In the autonomous traveling vacuum cleaner 10 of the present embodiment, the suction port 101 is provided in the vicinity of the maximum width line W of the body 20. With such a configuration, even when the suction port 101 is formed between the drive units 30, the dust at the tip portion R4 of the corner R3 can be more reliably and directly discharged from the suction port 101 than in the conventional autonomous traveling cleaner 900. Can be aspirated.

  Moreover, according to the autonomously traveling vacuum cleaner 10 of the present embodiment, the suction port 101 is on the front side of the body 20 relative to the drive unit 30, preferably in the vicinity of the maximum width line W of the body 20, more preferably the body 20. It is formed in the vicinity of the maximum width portion of the body 20 at a position as close as possible to the front surface 21 of the body. With such a configuration, when the autonomous mobile vacuum cleaner 10 approaches the wall, the suction port 101 further approaches the wall as compared with a configuration in which the suction port 101 is formed between the drive units 30.

  Therefore, the maximum width portion of the body 20 at the position where the suction port 101 is closer to the front side of the body 20 than the drive unit 30, preferably near the maximum width line W of the body 20, more preferably as close as possible to the front surface 21 of the body 20. With the configuration formed in the vicinity, the dust can be sucked directly from the suction port 101 more reliably.

  (3) According to the autonomous mobile vacuum cleaner 10 of the present embodiment, the maximum width of the body 20 is defined by each front top 23. That is, the maximum width of the body 20 is determined by the distance between the apex of the right front apex 23 and the apex of the left front apex 23.

  Moreover, according to the autonomous traveling type vacuum cleaner 10, the width of the rear portion of the body 20 is narrower than the width of the front portion of the body 20. That is, with respect to the center of gravity G of the autonomously traveling cleaner 10, the width of the body 20 at the rear part that is the rear side of the body 20 is larger than the center of gravity G. It is narrower than 20 width.

  With such a configuration, when turning around a place where an object is present in the surroundings, the rear part of the body 20 is less likely to come into contact with the object, and the autonomous traveling cleaner 10 can move more quickly. The mobility of the autonomously traveling vacuum cleaner 10 is improved.

  (4) The autonomous traveling type vacuum cleaner 10 of the present embodiment can also apply a steering type driving system. On the other hand, as described above, the autonomous two-wheel-type vacuum cleaner 10 according to the present embodiment can also apply an opposed two-wheel drive system. According to the configuration to which the opposed two-wheel drive system is applied, the structure can be simplified as compared with the steering drive system. In this respect, the configuration to which the opposed two-wheel drive system is applied is more preferable.

  (5) In the autonomous traveling cleaner 10 of the present embodiment, the positional relationship between the rotation axis H of each drive unit 30 and the center of gravity G of the autonomous traveling cleaner 10 is a major factor that determines the movable locus of the body 20. One of the factors. The autonomous traveling cleaner 10 may be configured such that the rotation axis H of the drive unit 30 exists on the rear side of the body 20 with respect to the center of gravity G of the autonomous traveling cleaner 10. In the case of such a configuration, the autonomously traveling vacuum cleaner 10 easily forms an operation of turning while changing the position of the center of gravity G of the center of gravity G in the area to be cleaned using contact with surrounding objects. For this reason, the autonomously traveling vacuum cleaner 10 can appropriately form at least a part of the square locus drawn by the above-described ruler triangle by the body 20, and can enhance the corner cleaning ability.

(Embodiment 2)
FIG. 8 is a plan view of the autonomous traveling cleaner 10 according to the second embodiment of the present invention. FIG. 9 is a bottom view of the autonomous traveling cleaner according to the second embodiment of the present invention.

  Autonomous traveling vacuum cleaner 10 of the present embodiment further has the following configuration that is not explicitly described in the first embodiment. In the description of the present embodiment, elements having the same reference numerals as those in the first embodiment have the same or similar functions as the corresponding elements in the first embodiment.

  As shown in FIG. 9, the cleaning unit 40 further includes a side brush 44 disposed on the bottom surface side of the lower unit 100 of the body 20 and a gear box 42 disposed on the left and right sides of the suction port 101. In the present embodiment, one side brush 44 is provided on each of the left and right sides on the bottom surface side of the lower unit 100 of the body 20.

  The gear box 42 on one side (right side in plan view of the body 20) is connected to the output shaft of the brush drive motor 41, the main brush 43, and one side brush 44, and the torque of the brush drive motor 41 is adjusted to the main brush 43 and It is transmitted to one side brush 44. The other (left side in plan view of the body 20) gear box 42 is connected to the main brush 43 and the other side brush 44, and transmits the torque of the main brush 43 to the other side brush 44.

  In the present embodiment, each of the pair of side brushes 44 has a brush shaft 44A attached to the two front tops 23 of the body 20, and a plurality of bristle bundles 44B attached to the brush shaft 44A. The position of the side brush 44 with respect to the body 20 is a rotation locus of the side brush 44 that can collect dust at the suction port 101 (refers to a circular locus drawn by one rotation of the side brush 44; the same applies hereinafter). A part of the rotation locus is located in the maximum width portion of the body 20. According to the present embodiment, the number of bristle bundles 44B attached to each brush shaft 44A is three, and each bristle bundle 44B is attached to the brush shaft 44A at a constant angular interval.

  Each brush shaft 44 </ b> A has a rotation shaft extending in the same direction as the height direction of the body 20 or approximately the same direction, and is supported by the body 20 so as to be rotatable with respect to the body 20. It arrange | positions ahead of the center line rather than the centerline.

  The bristle bundle 44B is composed of a plurality of bristles, and is fixed to the brush shaft 44A so as to extend in the same direction or approximately the same direction as the radial direction of each brush shaft 44A. According to the present embodiment, the length of each bristle bundle 44 </ b> B is set to such a length that the tip of each bristle bundle 44 </ b> B protrudes outside the contour of the body 20.

  The rotation direction of each side brush 44 is set such that the rotation locus of the side brush 44 is directed from the front to the rear of the body 20 on the center side in the width direction of the body 20 as indicated by an arrow AS in FIG. That is, the side brushes 44 rotate in opposite directions. In the present embodiment, each side brush 44 rotates from the front of the body 20 toward the rear in a portion of one rotation locus that is close to the rotation locus of the other side brush 44.

  According to the autonomous traveling cleaner 10 of the present embodiment, in addition to the effects (1) to (5) obtained by the autonomous traveling cleaner 10 of the above-described embodiment 1, the following effects are further obtained. It is done.

  (6) The autonomously traveling vacuum cleaner 10 of the present embodiment has a side brush 44. According to such a structure, since the dust which exists in corner | angular R3 (refer FIGS. 5-7) of the area | region to be cleaned is collected in the suction inlet 101 of the body 20 by the side brush 44, the corner | variety of the autonomous running type vacuum cleaner 10 is collected. The cleaning ability is further enhanced.

  (7) In the autonomous traveling type vacuum cleaner 10 of the present embodiment, the side brush 44 is attached to the bottom surface side of the two front top portions 23 of the body 20. According to such a configuration, the brush shaft 44A of the side brush 44 can be made closer to the apex of the corner R3 as compared with the conventional autonomous traveling cleaner 900. For this reason, the corner cleaning capability of the autonomous traveling type vacuum cleaner 10 is further enhanced.

  (8) According to the autonomous traveling cleaner 10 of the present embodiment, the two side brushes 44 rotate in opposite directions. Each side brush 44 rotates from the front to the rear of the body 20 in a portion of one rotation locus that is close to the rotation locus of the other side brush 44. According to such a configuration, since dust is collected from the front side of the body 20 to the suction port 101 by the side brush 44, for example, compared to a case where dust is collected from the side of the suction port 101 to the suction port 101. It is easy for dust to be sucked into the suction port 101. For this reason, the dust which exists on the cleaning surface of corner | angular R3 can be removed efficiently.

  (9) According to the conventional autonomous traveling type vacuum cleaner having the side brush, in order to collect the dust present on the cleaning surface at the corner R3 in the suction port 101 of the body 20, the length of the bristles bundle can be set long. Conceivable. However, when the length of the bristle bundle is set long, there is a high possibility that the bristle bundle is caught by surrounding objects when the autonomously traveling cleaner is traveling.

  On the other hand, in the autonomous traveling type vacuum cleaner 10 of the present embodiment, the side brush 44 is provided on each of the two front top portions 23 of the body 20. With such a configuration, the suction port 101 of the body 20 can be brought closer to the tip end portion R4 of the corner R3, so there is no need to set the length of the bristle bundle long, and the length of the bristle bundle 44B is compared. Can be set to a short length. Therefore, the possibility that the bristle bundle 44B is caught by surrounding objects can be reduced.

  (10) According to the conventional autonomous traveling type vacuum cleaner having the side brush, as the length of the bristles bundle becomes longer, the bristles bundle is easily bent when the bristles are moved. And when a bristle bundle bends greatly, there exists a possibility that a bristle bundle may not move garbage appropriately to the suction inlet of a body.

  On the other hand, the autonomously traveling cleaner 10 of the present embodiment can set the length of the bristle bundle 44B to be relatively short as described above. Since the length of the bristle bundle 44B can be set to such a relatively short length, the amount of bending of the bristle bundle 44B is reduced. For this reason, the dust which exists in corner | angular R3 can be more reliably collected in the suction inlet 101 by the bristle bundle 44B.

(Embodiment 3)
FIG. 10 is a perspective view of the autonomous traveling cleaner 10 according to the third embodiment of the present invention. Autonomous traveling vacuum cleaner 10 of the present embodiment further has the following configuration that is not explicitly described in the second embodiment. In the description of the third embodiment, elements having the same reference numerals as those of the second embodiment have the same or similar functions as the corresponding elements of the second embodiment.

  The autonomously traveling cleaner 10 shown in FIG. 10 more specifically shows the autonomously traveling cleaner 10 shown in FIGS. 1 to 9. As shown in FIG. 11, each front top 23 and rear top 24 of the body 20 has an R shape (arc R). The upper unit 200 includes a plurality of exhaust ports 211 that communicate the space inside the body 20 with the outside, a recess 214 formed on the front side of the lid 220, a light receiving unit 212 that is a communication unit disposed in the recess 214, and And a lid button 213 for opening the lid 220. The plurality of exhaust ports 211 are formed side by side along the edge of the lid 220, for example.

  The light receiving unit 212 receives a signal output from a charging stand (not shown) for charging the autonomous traveling cleaner 10 or a signal output from a remote controller (not shown) for operating the autonomous traveling cleaner 10. To do. When the light receiving unit 212 receives a signal, the light receiving unit 212 outputs a light receiving signal corresponding to the signal to the control unit 70 (see FIGS. 9 and 15). The surface 215 of the recess 214 including the edge of the recess 214 is inclined so that the outer peripheral portion of the body 20 is lower than the central portion of the body 20. With such a configuration, the recess 214 functions like a parabolic antenna, and the communication property of the light receiving unit 212 can be improved.

  FIG. 11 is a plan view of the autonomous traveling cleaner 10 according to the present embodiment. In the present embodiment, autonomously traveling cleaner 10 has a shape that is substantially line-symmetric with respect to a center line extending in the front-rear direction of body 20 (in FIG. 11, the upper side is the front and the lower side is the rear). . The bumper 230 has a pair of curved convex portions 231 protruding from the front top portion 23. The curved convex portion 231 is curved so as to follow the R shape (arc R) of the side surface 22 and forms a part of the contour of the body 20.

  Next, the upper unit 200 of the autonomous traveling type vacuum cleaner 10 of this Embodiment is demonstrated.

  FIG. 12 is a plan view showing a state in which the lid 220 of the autonomous traveling cleaner 10 of the present embodiment is opened. In addition to the cover 210, the lid 220, and the bumper 230, the upper unit 200 further includes an interface unit 240 on which parts operated by the user are disposed, and a trash box receptacle 250 that supports the trash box unit 60. The lid 220 has a pair of arms 221 that constitute the hinge structure of the lid 220. As shown in FIG. 24 showing the bottom surface side of the upper unit 200 and FIG. 25 showing the top surface side of the upper unit 200, the upper unit 200 further has a pair of arm accommodating portions 260 that accommodate the arms 221.

  As shown in FIG. 12, the interface unit 240 constitutes a part of the cover 210, is closed when the lid 220 is closed (see FIG. 11), and is opened when the lid 220 is opened. According to the present embodiment, the interface unit 240 includes an operation button 242 for turning on and off the operation of the autonomous traveling cleaner 10, a display unit 243 that displays information about the autonomous traveling cleaner 10, and the like. A panel 241 is included. The panel 241 further includes operation buttons (not shown) for inputting various settings related to the operation of the autonomous traveling cleaner 10. The main switch 83 is disposed in the interface unit 240 in the present embodiment.

  FIG. 24 is a perspective view of the bottom surface side of the autonomous traveling cleaner 10 upper unit 200.

  The trash can receptacle 250 is a box-like object that opens to the upper surface side of the upper unit 200, and has a bottom opening 251 that opens to the bottom side of the body 20 and a rear opening 252 that opens to the rear side of the body 20. As shown in FIG. 12, the trash box unit 60 is inserted into the trash box receptacle 250.

  Next, the lower unit 100 of the autonomous traveling type vacuum cleaner 10 of this Embodiment is demonstrated.

  FIG. 13 is a bottom view of the autonomous traveling cleaner 10 according to the present embodiment.

  The lower unit 100 includes a base 110 that forms a skeleton, and a support shaft 91 that is disposed in parallel with the longitudinal direction of the suction port 101 and supports the casters 90. The base 110 includes a power supply port 102 having a shape corresponding to the power supply unit 80 that is open on the bottom surface side of the body 20 and a pair of charging terminals 103 connected to a charging stand (not shown).

  In the present embodiment, the power supply port 102 is formed on the rear side of the body 20 with respect to the center of gravity G of the autonomous traveling cleaner 10, and a part of the power supply port 102 is formed between the pair of drive units 30. . The charging terminal 103 is formed on the front side of the body 20 with respect to the suction port 101. According to the present embodiment, each charging terminal 103 is arranged at a portion closer to the front surface 21 on the bottom surface of the base 110.

  The base 110 further includes a bottom bearing 111 for supporting the support shaft 91. The bottom bearing 111 is formed on the rear side of the body 20 with respect to the drive unit 30. According to the present embodiment, the bottom bearing 111 is disposed on the bottom surface side of the rear top portion 24 on the bottom surface of the base 110, on the rear side of the body 20 with respect to the power supply port 102.

  The support shaft 91 is inserted into the caster 90 so that the caster 90 can rotate. The end portions of the support shaft 91 are press-fitted into the bottom bearing 111, respectively. With such a configuration, the caster 90 is rotatably attached to the base 110.

  Autonomous traveling vacuum cleaner 10 of the present embodiment further includes magnet 77 that can be detected by a hall element (not shown) arranged on the charging stand. The magnet 77 is desirably disposed near the charging terminal 103. According to the present embodiment, the distance between magnet 77 and charging terminal 103 is shorter than the distance between magnet 77 and suction port 101. With such a configuration, when the autonomously traveling cleaner 10 approaches the charging stand, the magnet 77 is easily detected by the charging stand.

  FIG. 14 is a diagram of the autonomously traveling cleaner 10 according to the present embodiment as viewed from the side.

  According to the present embodiment, the main brush 43 rotates in the direction of the arrow AM. The distance between the rotation axis of the wheel 33 of the drive unit 30 and the rotation axis of the caster 90 is wider than the distance between the rotation axis of the wheel 33 and the rotation axis of the main brush 43. With such a configuration, the posture of the body 20 can be stabilized.

  FIG. 15 is an exploded perspective view of the lower unit 100 as viewed from the front side.

  On the upper surface side of the lower unit 100, a gear box 42 (a pair of gear boxes 42 in the present embodiment), a suction unit 50, a trash box unit 60 (see FIG. 12), and a control unit 70 are attached. The brush drive motor 41 is accommodated in a gear box 42 (in FIG. 15, one of a pair of gear boxes 42).

  The lower unit 100 further includes a brush housing 170 attached to the upper surface side of the base 110 in addition to the base 110. The brush housing 170 has a space for accommodating the main brush 43 and has a duct 171 connected to the trash box unit 60.

  According to the present embodiment, fan case 52 has a front case 52 </ b> A disposed on the front side of electric fan 51 and a rear case 52 </ b> B disposed on the rear side of electric fan 51. The fan case 52 is configured by combining the front case 52A and the rear case 52B with each other. The fan case 52 further includes a suction port 52C that faces the outlet 61B (see FIG. 17) of the trash box 61, a discharge port 52D (see FIG. 19) that opens to the drive unit 30 side, and a louver 52E that covers the suction port 52C. .

  FIG. 16 is an exploded perspective view of the bottom side of the lower unit 100 of the autonomous traveling cleaner 10 according to the present embodiment.

  On the bottom surface side of the lower unit 100, the drive unit 30, the main brush 43, the side brush 44, the caster 90, and the power supply unit 80 are attached. In the present embodiment, as shown in FIG. 16, a pair of drive units 30 are provided on the left and right sides of the lower unit 100, and a pair of side brushes 44 are also provided on the left and right. The number of drive units 30 and side brushes 44 provided is not limited to a pair. One or three or more may be provided.

  The lower unit 100 further includes a brush cover 180 attached to the bottom side of the brush housing 170, and a holding frame 190 attached to the power supply port 102 (see FIG. 13). The holding frame 190 holds the power supply unit 80 in cooperation with the base 110 by being fixed to the power supply port 102.

  The base 110 and the brush cover 180 have an attachment / detachment structure that allows the user to arbitrarily select a state in which the brush cover 180 is attached to the base 110 and a state in which the brush cover 180 is removed from the base 110.

  Further, the base 110 and the holding frame 190 have a detachable structure that allows the user to arbitrarily select the state in which the holding frame 190 is attached to the base 110 and the state in which the holding frame 190 is removed from the base 110.

  FIG. 20 is a perspective view showing the structure of the lower unit 100 of the autonomous traveling cleaner 10 of the present embodiment. FIG. 21 is a perspective view of the lower unit 100 of the autonomous traveling cleaner 10 according to the present embodiment as viewed from the side. FIG. 22 is a perspective view of the lower unit 100 of the present embodiment as viewed from the front side.

  The base 110 has a plurality of functional areas. For example, in the present embodiment, the base 110 has a drive part 120, a cleaning part 130, a trash can part 140, a suction part 150, and a power supply part 160 as a plurality of functional areas.

  The drive part 120 is a functional area that houses the drive unit 30 and has a plurality of elements. For example, in the present embodiment, the drive part 120 is opened to the bottom surface side of the base 110 as a plurality of elements, and a wheel house 121 that houses the drive unit 30 and a suspension spring that constitutes a suspension mechanism described later. 36 (see FIG. 21) is provided with a spring hook 122. In the present embodiment, a pair of wheel houses 121 are provided corresponding to the pair of drive units 30, and a pair of spring hooks 122 are also provided corresponding to the pair of suspension springs 36. Yes.

  As shown in FIG. 20, each wheel house 121 protrudes upward from the upper surface of the base 110, and is formed in a portion near the side surface 22 (see FIG. 19) in the base 110. Each spring hook 122 is formed at a front portion of the wheel house 121 and protrudes from the wheel house 121 approximately upward. As shown in FIG. 21, a wheel removal detection switch 75 is attached to the upper part of each wheel house 121. The derailment detection switch 75 is pushed in by the spring hook 32B as the drive unit 30 (see FIG. 15) derails from the cleaning surface of the area to be cleaned.

  The cleaning part 130 shown in FIG. 20 is a functional area that supports the cleaning unit 40 (see FIG. 2), and has a plurality of elements. Specifically, the cleaning part 130 includes, as a plurality of elements, a pair of shaft insertion portions 131 that support the brush shaft 44A (see FIG. 22) of the side brush 44 and a gear box 42 (see FIG. 22). 22) is disposed. The brush housing 170 and the brush cover 180 shown in FIG. 16 constitute a part of the cleaning part 130.

  17 is a cross-sectional view taken along line XVII-XVII in FIG. FIG. 18 is a cross-sectional view showing a state in which a part of the configuration of the autonomous traveling cleaner 10 of the present embodiment is separated along the line XVII-XVII in FIG. 11. 19 is a cross-sectional view taken along line XIX-XIX in FIG.

  As shown in FIG. 17, the main brush 43 is disposed inside the brush housing 170, whereby both end portions of the main brush 43 protrude from the brush housing 170 to the coupling portion 132 (see FIG. 20). The brush shaft 44A of the side brush 44 shown in FIG. 15 is inserted into a hole formed in the shaft insertion portion 131 (see FIG. 20).

  One gear box 42 shown in FIG. 15 is disposed in one coupling portion 132 (see FIG. 20), and is connected to one end of the main brush 43 and one brush shaft 44A. The other gear box 42 is disposed at the other coupling portion 132 (see FIG. 20), and is connected to the other end of the main brush 43 and the other brush shaft 44A.

  As shown in FIG. 20, the trash can part 140 is a functional area formed between the cleaning part 130 and the suction part 150 in the front-rear direction of the body 20, and the trash can receptacle 250 (see FIG. 18). It has a space to be arranged. The suction part 150 is a functional region that supports the suction unit 50 (see FIG. 15), and is formed approximately at the center of the base 110 or in the vicinity thereof. A wheel house 121 is formed on the side of the suction part 150. In the present embodiment, a pair of wheel houses 121 are formed.

  The power supply part 160 is a functional region that supports the power supply unit 80 (see FIG. 16), and is a recess that is recessed toward the upper surface side when viewed from the bottom surface of the base 110. The control unit 70 is mounted on the power supply part 160.

  As shown in FIG. 17, the brush cover 180 protrudes downward from the bottom surface of the base 110 and is attached to the base 110. The brush cover 180 has a suction port 101 that exposes the main brush 43 to the outside of the body 20, and a slope 181 that is formed in a front portion of the body 20. The slope 181 is a surface on which the distance from the bottom surface of the lower unit 100 increases as it goes from the rear to the front of the body 20. With such a configuration, the slope 181 can come into contact with the step existing on the cleaning surface of the area to be cleaned, and the front of the body 20 can be lifted.

  The duct 171 has a shape extending approximately in the vertical direction of the body 20, and has an inlet 172 that houses the upper part of the main brush 43 and an outlet 173 that is connected to the space inside the trash box unit 60. The outlet 173 is inserted into the bottom opening 251 of the trash can receptacle 250. The passage area of the outlet 173 is smaller than the passage area of the inlet 172. According to the example illustrated in FIG. 17 and the like, the passage in the duct 171 is slightly inclined toward the rear side of the body 20 from the inlet 172 toward the outlet 173. With such a configuration, dust sucked into the body 20 through the suction port 101 can be guided to the filter 62 side described later.

  As shown in FIG. 18, the trash box unit 60 includes a trash box 61 having a space for storing trash, and a filter 62 attached to the trash box 61. The trash box 61 has an inlet 61A connected to the outlet 173 of the duct 171, an outlet 61B where the filter 62 is disposed, and a bottom 61C whose size is set smaller than the upper part.

  As shown in FIG. 19, the filter 62 is disposed in the rear opening 252 of the trash can receiver 250, is disposed over substantially the entire width direction of the trash can 61, and faces the suction unit 50. As shown in FIG. 17, the bottom 61 </ b> C of the trash can 61 is disposed between the rear side of the duct 171 and the front side of the fan case 52. With such a configuration, the position of the bottom 61C in the height direction of the body 20 can be set to a lower position, and the center of gravity of the trash can 61 can be lowered.

  As shown in FIG. 17, the suction unit 50 is disposed to be inclined with respect to the base 110. Specifically, in the suction unit 50, the bottom of the suction unit 50 is positioned on the front side of the body 20 with respect to the top of the suction unit 50, and the top of the suction unit 50 is on the rear side of the body 20 with respect to the bottom of the suction unit 50. It is arranged to be located in. With such a configuration, the height of the body 20 can be set low.

  As shown in FIG. 19, the fan case 52 is closed on one side and provided with a discharge port 52D on the other side. According to such a configuration, the flow of air discharged from the electric fan 51 can be stabilized.

  FIG. 23 is another perspective view of the internal structure of the lower unit 100 of the autonomous mobile vacuum cleaner 10 according to the present embodiment as viewed from the front side and from a viewpoint different from that of FIG.

  As shown in FIGS. 21, 22, and 23, the lower unit 100 of the autonomously traveling cleaner 10 according to the present embodiment includes a gear box 42, a main brush 43, a side brush 44, a suction unit 50, and a control unit. 70 and a power supply unit 80 (see FIG. 17).

  FIG. 25 is a bottom view of the upper unit 200 of the autonomous mobile vacuum cleaner 10 according to the present embodiment.

  The upper unit 200 shown in FIGS. 24 and 25 is attached to the above-described lower unit 100, whereby the body 20 shown in FIG. 10 is configured.

  Next, the drive unit 30 of the autonomous traveling type vacuum cleaner 10 of this Embodiment is demonstrated in detail.

  The drive unit 30 has a function of causing the autonomous traveling cleaner 10 to move forward, reverse, and turn, and includes a plurality of elements. For example, according to the present embodiment, each drive unit 30 includes a plurality of elements in addition to the traveling motor 31 (see FIG. 19), the housing 32, and the wheel 33 as shown in FIGS. And a tire 34 attached around the wheel 33 and provided with a block-shaped tread pattern.

  In the present embodiment, each drive unit 30 further includes a support shaft 35 having a rotation shaft of the housing 32 and a suspension mechanism that absorbs an impact applied to the wheel 33 by a suspension spring 36 (see FIG. 21).

  Each housing 32 includes a motor housing portion 32A for housing the traveling motor 31, a spring hook portion 32B on which one end portion of the suspension spring 36 is hooked, and a bearing portion 32C into which the support shaft 35 is press-fitted. Each wheel 33 is supported by the housing 32 so as to be rotatable with respect to the housing 32.

  One end portion of the support shaft 35 is press-fitted into the bearing portion 32 </ b> C, and the other end portion is inserted into a bearing portion formed in the drive part 120. With such a configuration, the housing 32 and the support shaft 35 can rotate with respect to the drive part 120 around the rotation axis of the support shaft 35.

  As shown in FIG. 21, the other end of each suspension spring 36 is hung on the spring hook 122 of the drive part 120. Each suspension spring 36 applies a reaction force acting on the housing 32 in a direction in which the tire 34 (see FIG. 16) is pressed against the cleaning surface of the area to be cleaned. With such a configuration, the tire 34 is kept in contact with the cleaning surface.

  On the other hand, when the force for pushing up the tire 34 shown in FIG. 16 toward the body 20 is input from the cleaning surface to the tire 34, the housing 32 compresses the suspension spring 36 (see FIG. 21) around the center line of the support shaft 35. While rotating from the cleaning surface side to the body 20 side. With such a configuration, the force acting on the tire 34 is absorbed by the suspension spring 36.

  When the wheel 33 is removed, the housing 32 rotates relative to the drive part 120 by the reaction force of the suspension spring 36 (see FIG. 21), and the spring hook 32B is removed from the wheel removal detection switch 75 (FIG. 21). ). As a result, the wheel removal detection switch 75 shown in FIG. 21 outputs a signal to the control unit 70. The control unit 70 stops the traveling of the autonomous traveling cleaner 10 based on the signal.

  The distance between the brush drive motor 41 and one of the pair of drive units 30 coupled to the brush drive motor 41 (the first drive unit 30 that is the left drive unit 30 in this embodiment) is the brush drive motor. 41 is shorter than the distance between the other drive unit 30 that is not coupled to the brush drive motor 41 (the second drive unit 30 that is the right drive unit 30 in this embodiment). For this reason, the weight of the brush drive motor 41 acts more strongly on the wheel 33 and the tire 34 of the first drive unit 30. For this reason, when the elastic coefficient of the suspension spring 36 which gives reaction force to each drive unit 30 has the same magnitude | size, there exists a possibility that the position of the wheel 33 with respect to the body 20 may not be balanced. For this reason, the elastic coefficient of the suspension spring 36 that applies a reaction force to the first drive unit 30 is set larger than the elastic coefficient of the suspension spring 36 that applies a reaction force to the second drive unit 30.

  With such a configuration, the balance of the position of the wheel 33 with respect to the body 20 is not easily lost.

  As shown in FIGS. 21 to 23, the autonomously traveling cleaner 10 has a plurality of floor surface detection sensors 74. According to the present embodiment, the plurality of floor surface detection sensors 74 are more than the three floor surface detection sensors 74 disposed on the front side of the body 20 relative to the pair of drive units 30 and the pair of drive units 30. Two floor surface detection sensors 74 disposed on the rear side of the body 20 are included.

  The three floor surface detection sensors 74 on the front side are, for example, a sensor attached to the front center of the base 110, a sensor attached to the front top 23 on the right side of the base 110, and a front top 23 on the left side of the base 110. Sensor. As shown in FIG. 19, the two floor surface detection sensors 74 on the rear side include, for example, a sensor attached near the right side surface 22 of the base 110 and a sensor attached near the left side surface 22 of the base 110. It is.

  As shown in FIG. 13, the base 110 has a plurality of sensor windows 112 corresponding to the respective floor surface detection sensors 74. The plurality of sensor windows 112 correspond to the sensor window 112 corresponding to the front center floor detection sensor 74, the sensor window 112 corresponding to the front right floor detection sensor 74, and the front left floor detection sensor 74. A sensor window 112 is included. The plurality of sensor windows 112 further include a sensor window 112 corresponding to the rear right floor surface detection sensor 74 and a sensor window 112 corresponding to the rear left floor surface detection sensor 74.

  As illustrated in FIG. 24, the obstacle detection sensor 71 includes one transmitting unit 71A that outputs ultrasonic waves and two receiving units 71B that receive reflected ultrasonic waves. The transmitter 71A and the receiver 71B are attached to the back surface of the bumper 230, respectively.

  The upper unit 200 has a plurality of windows in addition to the cover 210, the lid 220, and the bumper 230. According to the present embodiment, the plurality of windows are a transmission window 232 at the front center portion shown in FIG. 10, a reception window 233 at the front left and right, and a pair of distance measurement windows 234 at the front top 23 at the left and right. including.

  As shown in FIG. 19, the transmission window 232 is formed in the bumper 230 corresponding to the transmission unit 71 </ b> A of the obstacle detection sensor 71. Thereby, the ultrasonic wave output from the transmission unit 71A is guided to the outside by the transmission window 232.

  The reception window 233 is formed in the bumper 230 corresponding to each reception unit 71B of the obstacle detection sensor 71. Thereby, the ultrasonic waves reflected from the surrounding objects are guided to the receiving units 71B by the receiving windows 233.

  A pair of distance measuring windows 234 are formed in the bumper 230 corresponding to the distance measuring sensor 72, respectively. As indicated by the broken line arrows in FIG. 19, the light output from the distance measurement sensor 72 passes through the distance measurement window 234 and is directed obliquely forward of the body 20.

  FIG. 26 is a block diagram illustrating functions of the electric system of the autonomous traveling cleaner 10 according to the present embodiment.

  The control unit 70 includes an obstacle detection sensor 71, a distance measurement sensor 72, a collision detection sensor 73, a floor surface detection sensor 74, a wheel removal detection switch 75, a light receiving unit 212, an operation button 242, a pair of travel motors 31, a brush drive. The motor 41, the electric fan 51, and the display unit 243 are electrically connected.

  The autonomously traveling vacuum cleaner 10 of the present embodiment operates as follows, for example.

  The control unit 70 starts the operation of the left and right traveling motors 31, the brush drive motor 41, and the electric fan 51 based on the fact that the autonomous traveling type vacuum cleaner 10 is turned on by operating the operation button 242. Let

  When the electric fan 51 is driven, the air inside the trash box 61 shown in FIG. 17 is sucked into the electric fan 51 and the air inside the electric fan 51 is discharged around the electric fan 51. Therefore, the air on the bottom surface side of the base 110 is sucked into the trash box 61 through the suction port 101 and the duct 171, and the air inside the fan case 52 is inserted into the body through the plurality of exhaust ports 211 shown in FIG. 20 is exhausted to the outside. That is, the air at the bottom of the base 110 shown in FIG. 17 includes the suction port 101, the duct 171, the trash box 61, the filter 62, the electric fan 51, the fan case 52, the space around the fan case 52 in the body 20, and It flows in the order of the exhaust port 211.

  The control unit 70 shown in FIG. 26 is based on the detection signals input from the obstacle detection sensor 71, the distance measurement sensor 72, the collision detection sensor 73, and the floor surface detection sensor 74. A travel route is set, and the autonomous traveling type vacuum cleaner 10 is traveled according to the set travel route. When the corner R3 of the area to be cleaned is included in the travel route, the control unit 70 is similar to the case where the autonomous traveling cleaner 10 of the first embodiment described above cleans the corner R3 (see FIGS. 5 to 7). Then, the autonomous traveling type vacuum cleaner 10 is caused to travel and turn.

  According to the autonomous traveling cleaner 10 of the present embodiment described above, in addition to the effects (1) to (10) obtained by the autonomous traveling cleaner 10 of the aforementioned embodiment 2, for example, the following An effect is obtained.

  (11) The autonomous traveling cleaner 10 of the present embodiment has a front top 23 and a rear top 24 provided with an R shape (arc R). According to such a configuration, when the body 20 turns in contact with a surrounding object, the object can be softly contacted with the object.

(Embodiment 4)
FIG. 27 is a perspective view showing a structure of a trash box unit 300 provided in the autonomous mobile cleaner 10 according to the fourth embodiment of the present invention. FIG. 28 is a cross-sectional view of autonomous traveling cleaner 10 of the present embodiment.

  The structure of the autonomously traveling cleaner 10 of the present embodiment is substantially the same as the structure of the autonomously traveling cleaner 10 of the third embodiment, and differs mainly in the following two points.

  The first point is that as shown in FIGS. 27 and 28, a trash box unit 300 having a different structure from the trash box unit 60 of the third embodiment described above is provided.

  The second point is that the structure around the trash box unit 300 in the body 20 is changed as shown in FIG. In the description of the present embodiment, elements having the same reference numerals as those in the third embodiment have the same or similar functions as the corresponding elements in the third embodiment.

  As shown in FIG. 28, the position of the trash box unit 300 inside the body 20 is approximately the same as the position of the trash box unit 60 in the body 20 of the above-described third embodiment. The body 20 and the trash box unit 300 have a detachable structure that allows the user to arbitrarily select the state in which the trash box unit 300 is attached to the body 20 and the state in which the trash box unit 300 is removed from the body 20.

  As shown in FIG. 27, the trash box unit 300 includes a trash box 310 having a space 311 for storing trash, a lid 320 for closing an outlet 313 that is an opening of the trash box 310, and a filter 330 attached to the lid 320. The trash can 310 and the lid 320 are connected by a hinge 360. The trash can 310 has an inlet 312 connected to the outlet 173 (see FIG. 28) of the duct 171 and an outlet 313 where the filter 330 is disposed.

  As shown in FIG. 28, the space 311 is closed by the lid 320 when the lid 320 is closed. The duct 171 has a shape extending approximately in the vertical direction of the body 20, and has an inlet 172 formed in front of the main brush 43 and an outlet 173 opening rearward of the body 20. The suction port 101 and the trash can 310 are connected by a flow path 174 formed inside the duct 171.

  Autonomous traveling vacuum cleaner 10 of the present embodiment further includes a dust detection sensor 76 that detects information related to dust contained in the air flowing through duct 171. As shown in FIG. 28, the dust detection sensor 76 is disposed in the flow path 174 of the duct 171. The dust detection sensor 76 preferably has a flow velocity higher than the flow velocity at the center line 175 of the flow channel 174 in the cross section obtained by cutting the flow channel 174 along the air flow direction in the flow channel 174 in the flow channel 174 of the duct 171. Placed in the fast area. As the dust detection sensor 76, for example, an infrared sensor is used. The dust detection sensor 76 has a light emitting part and a light receiving part. A detection signal from the dust detection sensor 76 is input to the control unit 70.

  As illustrated in FIG. 27, the filter 330 includes a collection unit 340 that is a part that allows air to pass through and collects dust in the air, and a frame 350 that supports the collection unit 340. The frame 350 and the lid 320 have a detachable structure. The frame 350 includes a pair of windows 351 in which the collection unit 340 is disposed, and an intermediate wall 352 that partitions the pair of windows 351. In a state where the space 311 is closed by the lid 320, the entrance 312 of the trash can 310 faces the intermediate wall 352 of the frame 350 and does not face the collection part 340. For this reason, the flow of air that has passed through the inlet 312 is separated into two-way flows by the intermediate wall 352, and each separated air flow passes through the collection section 340 disposed in each of the pair of windows 351. To do.

  According to the configuration of the autonomous traveling cleaner 10 of the present embodiment described above, in addition to the effects (1) to (11) obtained by the autonomous traveling cleaner 10 of the first to third embodiments described above. For example, the following effects can be obtained.

  (12) According to the autonomous traveling cleaner 10 of the present embodiment, the dust detection sensor 76 cuts the flow path 174 along the air flow direction in the flow path 174 in the flow path 174 of the duct 171. It arrange | positions in the area | region where a flow velocity is quicker than the flow velocity in the centerline 175 of the flow path 174 in a cross section. With such a configuration, even when dust adheres to the surface of the dust detection sensor 76, the adhered dust is easily blown off from the surface of the dust detection sensor 76 by the air flowing through the flow path 174.

  (13) Generally, the size of a trash box that can be mounted on an autonomously traveling vacuum cleaner is limited. For this reason, when the collection part of a filter is arranged in the part facing the entrance of a trash box, garbage concentrates on the part facing the trash box in a collection part, and garbage is collected on other parts of a collection part. Even if there is room to stack, the entrance may be blocked by debris.

  On the other hand, according to the autonomously traveling cleaner 10 of the present embodiment, the entrance 312 of the trash can 310 faces the intermediate wall 352 of the frame 350 and does not face the collecting part 340. With such a configuration, it is possible to prevent the dust from being concentrated and concentrated on the portion of the collection unit 340 facing the inlet 312 of the waste bin 310.

(Modification)
In addition to the embodiments described above, the present invention includes, for example, the following modifications.

  The body 20 of the autonomous traveling cleaner 10 according to the first to third modifications of the present invention has a different contour from the body 20 exemplified in the above-described embodiments.

(Modification 1)
FIG. 29 is a plan view of the autonomous traveling cleaner 10 according to the first modification of the present invention. A two-dot chain line in FIG. 29 indicates an outline of the body 20 represented by the first embodiment described above. As shown in FIG. 29, in the body 20 of the autonomous traveling cleaner 10 according to the first modification of the present invention, the side surfaces 22 have a front side surface 22 </ b> A and a rear side surface 22 </ b> B. It consists of. According to this modification, the front side surface 22A has a curved surface shape, and the rear side surface 22B has a planar shape.

  The autonomously traveling cleaner 10 constituted by the body 20 having such a contour can also obtain the same effects as those obtained by the above-described embodiments.

(Modification 2)
FIG. 30 is a plan view of the autonomous traveling cleaner 10 according to the second modification of the present invention. A two-dot chain line in FIG. 30 indicates an outline of the body 20 represented by the first embodiment described above. As shown in FIG. 30, in the body 20 of the autonomous traveling type vacuum cleaner 10 of the present modification, a part of the rear portion of the body 20 including the rear apex 24 is omitted, and a rear surface 25 is newly formed. In this modification, the rear surface 25 has a curved surface shape that is curved so as to expand outward. The rear surface 25 can also be formed in a planar shape.

  The autonomously traveling cleaner 10 constituted by the body 20 having such a contour can also obtain the same effects as those obtained by the above-described embodiments.

(Modification 3)
FIG. 31 is a plan view of the autonomous traveling cleaner 10 according to the third modification of the present invention. A two-dot chain line in the figure indicates an outline of the body 20 represented by the above-described third embodiment. As shown in FIG. 31, in the body 20 of this modification, a part of the rear portion of the body 20 including the rear apex 24 is omitted, and a rear surface 25 is newly formed. The rear surface 25 has a planar shape. The rear surface 25 can also be formed of a curved surface that is curved so as to expand outward.

  The autonomously traveling cleaner 10 constituted by the body 20 having such a contour can also obtain the same effects as those obtained by the above-described embodiments.

(Modification 4)
In the autonomously traveling vacuum cleaner 10 according to the fourth modification of the present invention, each side brush 44 has a portion of the body 20 that is close to the rotation locus of the other side brush 44 in the rotation locus of each side brush 44. It rotates from the rear to the front. According to such a configuration, the dust moved by the side brush 44 can be moved forward on the center side in the width direction of the body 20. As a result, since the dust collected by the side brush 44 easily approaches the suction port 101 when the autonomously traveling cleaner 10 is moving forward, it is difficult for dust to be left behind on the rear side of the suction port 101.

  The autonomously traveling vacuum cleaner 10 having such a configuration can also obtain the same effects as those obtained by the above-described embodiments.

(Modification 5)
In the autonomous traveling vacuum cleaner 10 of Modification 5 of the present invention, the side brush 44 has a bristle bundle 44 </ b> B having a tip on the inner side of the front surface 21 and the side surface 22 of the body 20.

  The autonomously traveling vacuum cleaner 10 having such a configuration can also obtain the same effects as those obtained by the above-described embodiments. For example, according to the autonomous traveling type vacuum cleaner 10 according to the second embodiment of the present invention described above, the side brushes 44 are respectively provided on the two front top portions 23 of the body 20, and the suction ports 101 of the body 20 are arranged at the corners. Since the tip portion R4 of R3 can be made closer, the same effect as that obtained by the second embodiment can be obtained.

(Modification 6)
The autonomously traveling cleaner 10 according to the sixth modification of the present invention includes a brush drive motor that applies torque to the main brush 43 and one side brush 44, and a brush drive motor that applies torque to the other side brush 44.

  The autonomously traveling vacuum cleaner 10 having such a configuration can also obtain the same effects as those obtained by the above-described embodiments.

(Modification 7)
The autonomous traveling type vacuum cleaner 10 of Modification 7 of the present invention is attached to each of the main brush 43, the right side brush 44, and the left side brush 44, and three brushes that individually give torque to the corresponding brush. It has a drive motor.

  The autonomously traveling vacuum cleaner 10 having such a configuration can also obtain the same effects as those obtained by the above-described embodiments.

(Modification 8)
The autonomously traveling vacuum cleaner 10 of Modification 8 of the present invention has a sensor of a type different from the ultrasonic sensor as the obstacle detection sensor 71. For example, an infrared sensor can be used as the obstacle detection sensor 71.

(Modification 9)
The autonomously traveling vacuum cleaner 10 of Modification 9 of the present invention has a sensor of a type different from the infrared sensor as the distance measuring sensor 72. For example, an ultrasonic sensor can be used as the distance measuring sensor 72.

(Modification 10)
The autonomously traveling vacuum cleaner 10 according to the tenth modified example of the present invention has a sensor of a type different from the contact displacement sensor as the collision detection sensor 73. For example, an impact sensor can be used as the collision detection sensor 73.

(Modification 11)
The autonomously traveling cleaner 10 according to the eleventh modification of the present invention has a sensor of a type different from the infrared sensor as the floor detection sensor 74. For example, an ultrasonic sensor can be used as the floor surface detection sensor 74.

(Modification 12)
The autonomously traveling cleaner 10 according to the twelfth modification of the present invention has a plurality of casters 90 arranged on the rear side of the body 20 with respect to the drive unit 30.

(Modification 13)
The autonomously traveling vacuum cleaner 10 of Modification 13 of the present invention has at least one caster 90 on the front side of the body 20 relative to the pair of drive units 30.

  Autonomous traveling type vacuum cleaner 10 which has the composition by the above-mentioned modification 8-13 can also acquire the same effect as the effect acquired by each embodiment mentioned above.

(Modification 14)
The autonomously traveling vacuum cleaner 10 according to the modified example 14 of the present invention includes a caster 90 having an uneven shape formed on the outer peripheral surface. The friction coefficient of the first portion, which is a convex portion with a large diameter on the outer peripheral surface of the caster 90, is smaller than the friction coefficient of the second portion, which is a concave portion with a smaller diameter than the first portion on the outer peripheral surface of the caster 90. .

  According to such a configuration, when the autonomous traveling cleaner 10 travels, the outer peripheral surface of the first portion of the outer peripheral surface of the caster 90 mainly contacts the cleaning surface. And since the friction coefficient of the outer peripheral surface of a 1st part is smaller than the friction coefficient of the outer peripheral surface of a 2nd part, the resistance when the body 20 goes straight is small, and it can move smoothly. In addition, since the caster 90 easily slides when the body 20 turns, the turning performance of the body 20 is improved.

(Modification 15)
The autonomous traveling type vacuum cleaner 10 of Modification 15 of the present invention has a steering type driving system instead of the opposed two-wheel type driving system.

  Each embodiment and each modification described above are examples of the present invention. For example, the above-described embodiments and one or more modifications can be combined with each other as necessary. Furthermore, the present invention includes the following embodiments.

(Embodiment 5)
Autonomous traveling vacuum cleaner 10 according to Embodiment 5 of the present invention includes body 20 having suction port 101, drive unit 30, and electric fan 51. The suction port 101 is provided in the maximum width portion of the body 20. As shown in FIG. 31, the body 20 has two front tops 23.

  Moreover, the autonomously traveling vacuum cleaner 10 according to the present embodiment is a tangent to the outer periphery in a plan view of the body 20, and is parallel to the maximum width line W of the body 20, which is a line connecting the vertices of the two front apexes 23. A tangent line (first tangent line) L1 and another tangent line on the outer periphery of the body 20 in a plan view, and the tangent line (the second tangent line and the third tangent line) on the two side faces 22 or the two side faces 22A of the body 20 The angles formed by L2 and L3 are both acute angles.

  According to such a configuration, since the shape of the body 20 approximates a Rouleau triangle, it is easy to turn at the corner R3 of the area to be cleaned. Further, the suction port 101 can easily reach the corner of the area to be cleaned, and the cleaning efficiency can be increased.

  Moreover, in the autonomous traveling type vacuum cleaner 10 of this Embodiment, the suction inlet 101 preferably has a horizontally long shape, more preferably a rectangular shape or a substantially rectangular shape. The body 20 has a front surface 21 provided with a curved surface curved outward.

  Moreover, as for the autonomous running type vacuum cleaner 10 of this Embodiment, as shown in FIG. 31, each of the two front top parts 23 of the body 20 has R shape (arc R). In the autonomously traveling vacuum cleaner 10 of the present embodiment, the curvature of the curved surface of the front surface 21 of the body 20 is smaller than the curvature of the R shape (arc R) of the two front apexes 23.

  According to such a configuration, since the shape of the body 20 approximates a Rouleau triangle, it is easy to turn at the corner R3 of the area to be cleaned. Further, the suction port 101 can easily reach the corner R3 of the area to be cleaned, and the cleaning efficiency can be improved.

  In addition, in autonomous traveling type vacuum cleaner 10 of the present embodiment, suction port 101 is arranged at a portion closer to the maximum width portion of body 20 than drive unit 30.

  According to such a configuration, since the shape of the body 20 approximates to a Rouleau triangle, it is easy to turn at the corner of the area to be cleaned. Further, the suction port 101 can easily reach the corner R3 of the area to be cleaned, and the cleaning efficiency can be improved.

  Moreover, the autonomous traveling type vacuum cleaner 10 of the present embodiment may further include a caster 90. In this case, in the front-rear direction of the body 20, the caster 90 is disposed at a portion farther from the maximum width portion of the body 20 than the drive unit 30, more preferably at a portion farther from the front surface 21 of the body 20.

  According to such a configuration, since the caster 90 is provided at a position away from the corner R3 of the cleaning target region, it is possible to prevent the dust at the corner R3 from adhering to the caster 90.

  In addition, the autonomous traveling cleaner 10 of the present embodiment may have a side brush 44. In this case, the side brush 44 is closer to the maximum width portion of the body 20 than the drive unit 30, preferably closer to the front surface 21 of the body 20, more preferably to the maximum width portion and the front surface 21 of the body 20. It is arranged in the close part.

  According to such a configuration, the dust collected by the side brush 44 can be directly sucked directly from the suction port 101.

  Moreover, the autonomously traveling vacuum cleaner 10 of the present embodiment may have a floor surface detection sensor 74. In this case, the floor detection sensor 74 is provided at a position closer to the maximum width portion of the body 20 than the drive unit 30 in the front-rear direction of the body 20.

  According to such a configuration, since the floor surface detection sensor 74 is disposed on the front side of the body 20, the presence or absence of a cleaning surface in the forward direction of the body 20 is detected at an early stage, and the wheel 33 of the drive unit 30 is derailed. Can be prevented.

  Moreover, the autonomous traveling type cleaner 10 of this Embodiment may have the charging terminal 103. FIG. In this case, the charging terminal 103 is disposed at a position closer to the maximum width portion of the body 20 than the drive unit 30 in the front-rear direction of the body 20.

  According to such a configuration, since the charging terminal 103 is disposed on the front side of the body 20, the charging terminal 103 can be more reliably connected to the charging stand.

  Moreover, the autonomous traveling type vacuum cleaner 10 of this Embodiment may have the power supply unit 80. FIG. In this case, the power supply unit 80 is disposed at a portion farther from the maximum width portion of the body 20 than the drive unit 30, preferably at a portion farther from the front surface 21 of the body 20.

  According to such a configuration, the front portion of the body 20 is relatively lifted due to the influence of the weight of the power supply unit 80. For example, a sensor such as the obstacle detection sensor 71 disposed on the front side of the body 20 is cleaned. Contact with the surface can be reduced.

  Further, when the autonomous traveling cleaner 10 of the present embodiment has the side brush 44, a part of the rotation locus of the side brush 44 is located in the maximum width portion of the body 20. Moreover, in the autonomous traveling type vacuum cleaner 10 of this Embodiment, the side brush 44 is provided in the body 20 so that a part of side brush 44 may be located in the largest width part of the body 20. FIG.

  According to such a configuration, dust collected by the side brush 44 can be more reliably sucked into the suction port 101.

(Embodiment 6)
Autonomous travel cleaner 10 according to the sixth embodiment of the present invention includes body 20 having suction port 101, drive unit 30, and electric fan 51. The body 20 has a front surface 21 provided with a curved surface curved outward and two side surfaces 22. At least a part of each of the two side surfaces 22 is provided with a curved surface curved outward.

  The body 20 has a right front top 23 defined by the front surface 21 and the right side 22 and a left front top 23 defined by the front surface 21 and the left side 22. As shown in FIG. 31, the angles formed by the tangent line L1 of the front surface 21 and the tangent lines L2 and L3 of the two side surfaces 22 are both acute angles. That is, as shown in FIG. 31, the autonomously traveling cleaner 10 of the present embodiment is a tangent to the outer periphery of the body 20 in plan view, and is a line connecting the vertices of the two front apexes 23. A first tangent line L1 parallel to the maximum width line W and another tangent line on the outer periphery of the body 20 in plan view, and a second tangent line in contact with the outer periphery on the rear side of the body 20 with respect to the maximum width line W of the body 20 L3 and the first tangent line L1 are further tangent lines on the outer periphery of the body 20 in plan view, and are in contact with the outer periphery on the rear side of the body 20 with respect to the maximum width line W of the body 20. Each of the angles formed with the tangent line L3 is an acute angle.

  According to such a configuration, since the shape of the body 20 approximates a Rouleau triangle, it is easy to turn at the corner R3 of the area to be cleaned. Further, the suction port 101 can easily reach the corner R3 of the area to be cleaned, and the cleaning efficiency can be improved.

  Moreover, in the autonomous running type vacuum cleaner 10 of this Embodiment, as shown in FIG. 31, the front top part 23 has R shape (arc R). In the autonomous traveling vacuum cleaner 10 of the present embodiment, the curvature of the curved surface of the front surface 21 of the body 20 is smaller than the curvature of the R shape of the front top 23.

  According to such a configuration, since the shape of the body 20 approximates a Rouleau triangle, it is easy to turn at the corner R3 of the area to be cleaned. Further, the suction port 101 can easily reach the corner R3 of the area to be cleaned, and the cleaning efficiency can be improved.

  In the autonomous traveling cleaner 10 of the present embodiment, the suction port 101 is disposed closer to the maximum width portion of the body 20 than the drive unit 30.

  According to such a configuration, the suction port 101 can easily reach the corner R3 of the area to be cleaned, and the cleaning efficiency can be improved.

  Moreover, the autonomous traveling type vacuum cleaner 10 of this Embodiment has the caster 90 further. The caster 90 is disposed at a portion farther from the maximum width portion of the body 20 than the drive unit 30, preferably at a portion farther from the front surface 21 of the body 20.

  According to such a configuration, since the caster 90 is separated from the corner R3 of the cleaning target region, it is possible to prevent the dust at the corner R3 from adhering to the caster 90.

  The autonomously traveling cleaner 10 according to the present embodiment includes a body 20 having a suction port 101, a drive unit 30, an electric fan 51, and a side brush 44. The side brush 44 is disposed closer to the maximum width portion of the body 20 than the drive unit 30.

  According to such a configuration, dust collected by the side brush 44 can be more reliably sucked from the suction port 101.

  Moreover, the autonomous traveling type vacuum cleaner 10 of this Embodiment has the body 20 which has the suction inlet 101, the drive unit 30, the electric fan 51, and the floor detection sensor 74. FIG. The floor detection sensor 74 is disposed at a portion closer to the maximum width portion of the body 20 than the drive unit 30, and is preferably disposed at a portion closer to the maximum width portion of the body 20 than the suction port 101. More preferably, the floor surface detection sensor 74 is disposed at a position close to the front surface 21 of the body 20.

  According to such a configuration, since the floor surface detection sensor 74 is disposed on the front side of the body 20, the presence or absence of a cleaning surface in the forward direction of the body 20 is detected at an early stage, and the wheel 33 of the drive unit 30 is derailed. Can be prevented.

  Moreover, the autonomous traveling type cleaner 10 of this Embodiment has the body 20 which has the suction inlet 101, the drive unit 30, the suction inlet 101, the electric fan 51, and the charge terminal 103. FIG. The charging terminal 103 is disposed at a portion closer to the portion where the width of the body 20 in the direction along the rotation axis of the wheel 33 is larger than the driving unit 30.

  According to such a configuration, since the charging terminal 103 is disposed on the front side of the body 20, the charging terminal 103 can be more reliably connected to the charging stand.

  The autonomously traveling cleaner 10 according to the present embodiment includes a body 20 having a suction port 101, a drive unit 30, an electric fan 51, and a power supply unit 80. The power supply unit 80 is disposed at a portion farther from the maximum width portion of the body 20 than the drive unit 30.

  According to such a configuration, the front side portion of the body 20 is relatively lifted due to the weight of the power supply unit 80. For example, a sensor such as the obstacle detection sensor 71 arranged on the front side of the body 20 is provided. Contact with the cleaning surface can be reduced.

  The autonomously traveling cleaner 10 according to the present embodiment includes a body 20 having a suction port 101, a drive unit 30, a suction port 101, an electric fan 51, and a side brush 44. The autonomously traveling vacuum cleaner 10 according to the present embodiment is configured such that a part of the side brush 44 is located at the maximum width portion of the body 20. More preferably, the autonomously traveling vacuum cleaner 10 of the present embodiment is configured such that a part of the side brush 44 and the suction port 101 are located in the maximum width portion of the body 20.

  According to such a configuration, dust collected by the side brush 44 can be more reliably sucked from the suction port 101.

(Embodiment 7)
The autonomously traveling cleaner 10 according to the seventh embodiment of the present invention includes a body 20 having a suction port 101, a drive unit 30 that moves the body 20, and an electric fan 51 that sucks dust from the suction port 101. The body 20 has at least two apexes (front apex 23). The body 20 has a maximum width ("maximum width of the body 20") defined by the distance between the vertices of the two tops. The suction port 101 preferably has a horizontally long shape, more preferably a rectangular shape or a substantially rectangular shape. In autonomous traveling type vacuum cleaner 10 of the present embodiment, suction port 101 is provided on the bottom surface side of body 20, and the longitudinal direction of suction port 101 is substantially parallel to the width direction of body 20 (the left-right direction in FIG. 13). It is arranged to be.

  Moreover, in the autonomous traveling type vacuum cleaner 10 of this Embodiment, the body 20 has the front surface 21 in which the curved surface curved toward the outer side was provided, and the two side surfaces 22. FIG. At least a part of each of the two side surfaces 22 is provided with a curved surface curved outward.

  In addition, the body 20 has the two front portions described above, the right front top portion 23 defined by the front surface 21 and the right side surface 22, and the left front top portion defined by the front surface 21 and the left side surface 22. 23. As shown in FIG. 31, the angles formed by the tangent line L1 of the front surface 21 and the tangent lines L2 and L3 of the two side surfaces 22 are both acute angles. That is, as shown in FIG. 31, the autonomously traveling cleaner 10 of the present embodiment is a tangent to the outer periphery of the body 20 in plan view, and is a line W (“body” connecting the vertices of the two front apexes 23. 20 is the other tangent of the outer periphery of the body 20 in plan view, and is in contact with the outer periphery on the rear side of the body 20 with respect to the maximum width line W of the body 20. The angle formed by the second tangent line L2 and the first tangent line L1 and another tangent line of the outer periphery of the body 20 in plan view, and the outer periphery on the rear side of the body 20 with respect to the maximum width line W of the body 20 The angle formed by the third tangent line L3 that is in contact with each other is an acute angle.

  According to such a configuration, since the shape of the body 20 approximates a Rouleau triangle, the autonomously traveling cleaner 10 can easily turn at the corner R3 of the area to be cleaned. Further, since the suction port 101 can easily reach the corner R3 of the area to be cleaned, the cleaning efficiency can be improved.

  Further, in the autonomously traveling cleaner 10 of the present embodiment, the curvature of the curved surface of the front surface 21 of the body 20 is smaller than the curvature of the R shape (the arc R shown in FIG. 31) of the front top portion 23 of the body 20.

  According to such a configuration, since the shape of the body 20 approximates a Rouleau triangle, the autonomously traveling cleaner 10 can easily turn at the corner R3 of the area to be cleaned. Further, since the suction port 101 can easily reach the corner R3 of the area to be cleaned, the cleaning efficiency can be improved.

  Further, in the autonomous traveling cleaner 10 of the present embodiment, the suction port 101 is preferably arranged so that the longitudinal direction of the suction port 101 is substantially parallel to the direction in which the maximum width line W of the body 20 extends. Is done. More preferably, the suction port 101 is disposed closer to the maximum width portion of the body 20 than the drive unit 30.

  According to such a configuration, the suction port 101 can easily reach the corner R3 of the area to be cleaned, so that the cleaning efficiency can be improved.

  In addition, the autonomous traveling cleaner 10 of the present embodiment is disposed rearward in the front-rear direction of the body 20 relative to the body 20 having the suction port 101, the drive unit 30 that moves the body 20, and the drive unit 30, A caster 90 that follows the movement of the wheel 33 of the drive unit 30 and an electric fan 51 that sucks dust from the suction port 101 are provided. The body 20 has a maximum width portion which is the widest portion, and the suction port 101 preferably has a horizontally long shape, more preferably a rectangular shape or a substantially rectangular shape. In the autonomously traveling cleaner 10 of the present embodiment, the longitudinal direction of the suction port 101 is along the width direction of the body 20, and the caster 90 is disposed at a portion farther from the maximum width portion than the drive unit 30.

  According to such a configuration, since the caster 90 is separated from the corner R3 of the cleaning target region, it is possible to prevent the dust at the corner R3 from adhering to the caster 90.

  In addition, the autonomously traveling cleaner 10 according to the present embodiment includes a body 20 having a suction port 101, a drive unit 30 that moves the body 20, an electric fan 51 that sucks dust from the suction port 101, and the body 20. And a side brush 44 disposed on the bottom surface. The body 20 has a maximum width portion which is the widest portion, and the suction port 101 preferably has a horizontally long shape, more preferably a rectangular shape or a substantially rectangular shape. In the autonomously traveling vacuum cleaner 10 of the present embodiment, the longitudinal direction of the suction port 101 is along the width direction of the body 20, and the side brush 44 is closer to the maximum width portion of the body 20 than the drive unit 30. Be placed.

  According to such a configuration, the dust collected by the side brush 44 can be more reliably sucked from the suction port 101. The autonomously traveling cleaner 10 according to the present embodiment includes a body 20 having a suction port 101, a drive unit 30 that moves the body 20, an electric fan 51 that sucks dust from the suction port 101, and the body 20. And a floor surface detection sensor 74 that detects a traveling cleaning surface. The body 20 has a maximum width portion which is the widest portion, and the suction port 101 preferably has a horizontally long shape, more preferably a rectangular shape or a substantially rectangular shape. In the autonomously traveling vacuum cleaner 10 of the present embodiment, the longitudinal direction of the suction port 101 is along the width direction of the body 20, and the floor surface detection sensor 74 is more forward in the front-rear direction of the body 20 than the suction port 101. It is arrange | positioned and it arrange | positions in the part near the maximum width part of the body 20 rather than the drive unit 30. FIG.

  According to such a configuration, since the floor surface detection sensor 74 is disposed on the front side of the body 20, the presence or absence of a cleaning surface in the forward direction of the body 20 is detected at an early stage, and the wheel 33 is prevented from being removed. be able to.

  The autonomously traveling cleaner 10 according to the present embodiment includes a body 20 having a suction port 101, a drive unit 30 that moves the body 20, an electric fan 51 that sucks dust from the suction port 101, and an electric fan 51. And a charging terminal 103 used for charging a power source capable of supplying power. The body 20 has a maximum width portion that is the widest portion, and the suction port 101 preferably has a horizontally long shape, more preferably a rectangular shape or a substantially rectangular shape. In the autonomously traveling vacuum cleaner 10 of the present embodiment, the longitudinal direction of the suction port 101 is along the width direction of the body 20, and the charging terminal 103 is disposed in front of the suction port 101 in the front-rear direction of the body 20. The drive unit 30 is disposed closer to the maximum width portion of the body 20 than the drive unit 30.

  According to such a configuration, since the charging terminal 103 is disposed on the front side of the body 20, the charging terminal 103 can be more reliably connected to the charging stand.

  The autonomously traveling cleaner 10 according to the present embodiment includes a body 20 having a suction port 101, a drive unit 30 that moves the body 20, an electric fan 51 that sucks dust from the suction port 101, and an electric fan 51. And a power supply unit 80 capable of supplying power. The body 20 has a maximum width portion which is the widest portion, and the suction port 101 preferably has a horizontally long shape, more preferably a rectangular shape or a substantially rectangular shape.

  In the autonomously traveling vacuum cleaner 10 of the present embodiment, the longitudinal direction of the suction port 101 is along the width direction of the body 20, and the drive unit 30 and the power supply unit 80 are rearward in the front-rear direction of the body 20 relative to the suction port 101. The power supply unit 80 is disposed in a portion farther from the maximum width portion of the body 20 than the drive unit 30.

  According to such a configuration, the front portion of the body 20 is relatively lifted due to the influence of the weight of the power supply unit 80. For example, a sensor such as the obstacle detection sensor 71 disposed on the front side of the body 20 Is difficult to come into contact with the cleaning surface.

  In addition, the autonomously traveling cleaner 10 according to the present embodiment includes a body 20 having a suction port 101, a drive unit 30 that moves the body 20, an electric fan 51 that sucks dust from the suction port 101, and the body 20. And a side brush 44 disposed on the bottom surface. The body 20 has a maximum width portion which is the widest portion, and the suction port 101 preferably has a horizontally long shape, more preferably a rectangular shape or a substantially rectangular shape.

  In autonomous traveling cleaner 10 of the present embodiment, suction port 101 is arranged on the bottom side of body 20 such that the longitudinal direction of suction port 101 is along the width direction of body 20. Moreover, the autonomously traveling vacuum cleaner 10 according to the present embodiment is configured such that a part of the side brush 44 is positioned at the maximum width portion of the body 20 on the bottom surface side of the body 20. More preferably, a part of the side brush 44 and the suction port 101 are disposed in the maximum width portion of the body 20 on the bottom surface side of the body 20.

  According to such a configuration, the dust collected by the side brush 44 can be more reliably sucked from the suction port 101.

(Embodiment 8)
The autonomously traveling cleaner 10 according to the eighth embodiment of the present invention includes a body 20 having a suction port 101, a drive unit 30 having a wheel 33 that moves the body 20, and an electric fan 51 that sucks dust from the suction port 101. And have. The body 20 has a maximum width portion that is the widest portion.

  In the autonomously traveling cleaner 10 of the present embodiment, the wheel 33 of the drive unit 30 is disposed on the body 20 so that the central axis of the wheel 33 is along the width direction of the body 20.

  Moreover, in the autonomous traveling type cleaner 10 of this Embodiment, the body 20 has the front surface 21 in which the curved surface curved toward the outer side was provided, and the two side surfaces 22. FIG. At least a part of each of the two side surfaces 22 is provided with a curved surface curved outward.

  The body 20 has a right front top 23 defined by the front surface 21 and the right side 22 and a left front top 23 defined by the front surface 21 and the left side 22.

  As shown in FIG. 31, the angles formed by the tangent line L1 of the front surface 21 and the tangent lines L2 and L3 of the two side surfaces 22 are both acute angles. That is, as shown in FIG. 31, the autonomously traveling cleaner 10 of the present embodiment is a tangent to the outer periphery of the body 20 in plan view, and is a line W (“body” connecting the vertices of the two front apexes 23. 20 is the other tangent of the outer periphery of the body 20 in plan view, and is in contact with the outer periphery on the rear side of the body 20 with respect to the maximum width line W of the body 20. The angle formed by the second tangent line L2 and the first tangent line L1 and another tangent line of the outer periphery of the body 20 in plan view, and the outer periphery on the rear side of the body 20 with respect to the maximum width line W of the body 20 The angle formed by the third tangent line L3 that is in contact with each other is an acute angle.

  According to such a configuration, since the shape of the body 20 approximates a Rouleau triangle, it is easy to turn at the corner R3 of the area to be cleaned. Therefore, it can move quickly from the corner R3 or the like. Further, since the suction port 101 can easily reach the corner R3 of the target area, the cleaning efficiency can be improved.

  Moreover, in the autonomous traveling type cleaner 10 of this Embodiment, each front top part 23 of the body 20 has R shape (arc R), as shown in FIG. The curvature of the curved surface of the front surface 21 of the body 20 is smaller than the curvature of the R shape of each front top 23.

  According to such a configuration, since the shape of the body 20 approximates a Rouleau triangle, the autonomous traveling cleaner 10 can easily turn at the corner R3 of the cleaning target region. Further, since the suction port 101 can easily reach the corner R3 of the target area, the cleaning efficiency can be improved.

  Further, in the autonomous traveling cleaner 10 of the present embodiment, the suction port 101 is disposed in a portion closer to the maximum width portion of the body 20 than the drive unit 30.

  According to such a configuration, since the shape of the body 20 approximates a Rouleau triangle, the autonomous traveling cleaner 10 can easily turn at the corner R3 of the cleaning target region. Further, since the suction port 101 can easily reach the corner R3 of the area to be cleaned, the cleaning efficiency can be improved.

  The autonomously traveling cleaner 10 of the present embodiment further includes a caster 90 that is disposed behind the drive unit 30 and that follows the movement of the wheel 33 of the drive unit 30. In the autonomously traveling cleaner 10 of the present embodiment, the central axis of the wheel 33 of the drive unit 30 is along the width direction of the body 20, and the caster 90 is a portion farther from the maximum width portion of the body 20 than the drive unit 30. Placed in.

  According to such a configuration, since the caster 90 is separated from the corner R3 of the cleaning target region, it is possible to prevent the dust at the corner R3 from adhering to the caster 90.

  The autonomously traveling cleaner 10 according to the present embodiment further includes a side brush 44 disposed on the bottom surface side of the body 20. In the autonomously traveling vacuum cleaner 10 of the present embodiment, the central axis of the wheel 33 is along the width direction of the body 20, and the side brush 44 is disposed closer to the maximum width portion of the body 20 than the drive unit 30. The

  According to such a configuration, the dust collected by the side brush 44 can be more reliably sucked from the suction port 101.

  Moreover, the autonomously traveling vacuum cleaner 10 of the present embodiment further includes a floor surface detection sensor 74 that detects a cleaning surface on which the body 20 travels. In the autonomously traveling vacuum cleaner 10 according to the present embodiment, the floor detection sensor 74 is disposed on the bottom surface side of the body 20 in front of the suction port 101 in the front-rear direction of the body 20, and the body 20 rather than the drive unit 30. It is arranged in a part close to the maximum width part.

  According to such a configuration, since the floor surface detection sensor 74 is disposed on the front side of the body 20, the presence or absence of a cleaning surface in the forward direction of the body 20 is detected at an early stage, and the wheel 33 is prevented from being removed. It becomes possible.

  The autonomously traveling cleaner 10 according to the present embodiment further includes a charging terminal 103 that is used for charging a power source that can supply power to the electric fan 51. In the autonomously traveling cleaner 10 according to the present embodiment, the charging terminal 103 is disposed on the bottom side of the body 20 in front of the suction port 101 in the front-rear direction of the body 20, and has a maximum width portion than the drive unit 30. It is arranged in a close part.

  According to such a configuration, since the charging terminal 103 is disposed on the front side of the body 20, the charging terminal 103 can be more reliably connected to the charging stand.

  The autonomously traveling cleaner 10 according to the present embodiment further includes a power supply unit 80 that can supply electric power to the electric fan 51. In autonomous traveling type vacuum cleaner 10 of the present embodiment, drive unit 30 and power supply unit 80 are arranged rearward in the front-rear direction of body 20 with respect to suction port 101. Further, the power supply unit 80 is disposed in a portion farther from the maximum width portion than the drive unit 30.

  According to such a configuration, the front portion of the body 20 is relatively lifted due to the influence of the weight of the power supply unit 80. For example, a sensor such as the obstacle detection sensor 71 disposed on the front side of the body 20 Is difficult to come into contact with the cleaning surface.

  Moreover, in the autonomous traveling type vacuum cleaner 10 of this Embodiment, a part of side brush 44 is located in the maximum width part in the bottom face side of the body 20. FIG. More preferably, a part of the side brush 44 and the suction port 101 are located in the maximum width portion on the bottom surface side of the body 20.

  According to such a configuration, the dust collected by the side brush 44 can be more reliably sucked from the suction port 101.

(Embodiment 9)
The autonomous traveling cleaner 10 according to the ninth embodiment of the present invention includes a body 20 having a suction port 101, a drive unit 30 having a wheel 33, an electric fan 51, and a communication unit 212. The communication unit 212 is disposed in a recess formed in the body 20, and the surface of the recess including the edge of the recess is inclined so that the outer peripheral portion of the body 20 is lower than the central portion of the body 20. Yes.

  According to such a configuration, since the concave portion functions like a parabolic antenna, the communication property of the communication unit 212 is improved.

  Further, in the present embodiment, communication unit 212 also receives a signal output from a charging stand for charging autonomous traveling cleaner 10 or a signal output from a remote controller for operating autonomous traveling cleaner 10. be able to.

(Embodiment 10)
The autonomously traveling cleaner 10 according to the tenth embodiment of the present invention includes a body 20 having a suction port 101, a drive unit 30 having a wheel 33, an electric fan 51, and a trash box unit 60. The trash box unit 60 includes a trash box 61 having an inlet connected to the suction port 101, and a filter 62 attached to the trash box 61. The filter 62 is provided with a collection unit 340 that is a part that allows air to pass through and collects dust in the air. The collection unit 340 is disposed in a portion that does not face the inlet 312.

  In general, in an autonomous traveling type vacuum cleaner, the size of a trash box that can be mounted is limited. For this reason, when a collection part is arranged in the part facing the entrance of a trash box, garbage concentrates on the part facing the entrance of the trash box in a collection part, and garbage is collected on other parts of a collection part. Even if there is room to stack, the entrance may be blocked by debris.

  However, in the autonomously traveling vacuum cleaner 10 of the present embodiment, the collection unit 340 is disposed at a portion that does not face the inlet 312, so that it concentrates on the portion of the collection portion 340 that faces the inlet 312 of the trash can 310. It is possible to prevent the garbage from being stacked.

  Further, the autonomously traveling cleaner 10 of the present embodiment includes a body 20 having a suction port 101, a drive unit 30 having a plurality of wheels 33, a plurality of suspension springs 36, an electric fan 51, and a main brush 43. And a brush drive motor 41. The suspension spring 36 applies a reaction force to the wheel 33 so that the wheel 33 protrudes from the body 20. The elastic coefficient of the suspension spring 36 that applies a reaction force to the first wheel 33 that is one of the plurality of wheels 33 is one of the plurality of wheels 33 and is farther from the brush drive motor 41 than the first wheel 33. It is larger than the elastic coefficient of the suspension spring 36 that gives a reaction force to the second wheel 33 that is the wheel 33 disposed in the portion.

  According to such a configuration, the weight of the brush drive motor 41 acts more strongly on the first wheel 33 than on the second wheel 33. For this reason, when the elastic coefficient of the suspension spring 36 which gives reaction force to each wheel 33 has the same magnitude | size, there exists a possibility that the position of the wheel 33 with respect to the body 20 may not be balanced. However, the balance of the position of the wheel 33 with respect to the body 20 is not easily lost by setting the elastic coefficient of the suspension spring 36 with such a configuration.

  The autonomously traveling cleaner 10 of the present embodiment includes a body 20 having a suction port 101, a drive unit 30 having a wheel 33, an electric fan 51, a trash box 61, and a dust detection sensor 76. The dust detection sensor 76 has a flow velocity higher than the flow velocity at the center line 175 of the flow channel 174 in the cross section cut along the air flow direction in the flow channel 174 in the flow channel 174 connecting the suction port 101 and the waste bin 310. Placed in the area.

  According to such a configuration, even when dust adheres to the surface of the dust detection sensor 76, the dust is likely to be blown off from the surface of the dust detection sensor 76 by the air flowing through the flow path 174.

  The autonomously traveling cleaner 10 according to the present embodiment includes a body 20 having a suction port 101, a drive unit 30 having a wheel 33, an electric fan 51, a charging terminal 103, and a magnet 77. The charging terminal 103 can be electrically connected to a terminal of a charging base that charges the power source, and the magnet 77 is disposed at a location close to the charging terminal 103.

  According to such a configuration, when the autonomous mobile vacuum cleaner 10 approaches the charging stand, the magnet 77 is easily detected by the charging stand.

  The autonomously traveling cleaner 10 according to the present embodiment includes a body 20 having a suction port 101, a drive unit 30, an electric fan 51, and casters 90. The rotation axis of the caster 90 is arranged to be parallel or substantially parallel to the longitudinal direction of the suction port 101. Moreover, in the autonomously traveling vacuum cleaner 10 of the present embodiment, the caster 90 has a first portion with a large diameter and a second portion with a diameter smaller than the first portion, and the first portion The friction coefficient of the outer peripheral surface of is smaller than the friction coefficient of the outer peripheral surface of the second portion.

  According to such a configuration, when the autonomous traveling cleaner 10 travels, the outer peripheral surface of the first portion of the outer peripheral surface of the caster 90 mainly contacts the cleaning surface. Since the friction coefficient of the outer peripheral surface of the first part is smaller than the friction coefficient of the outer peripheral surface of the second part, the resistance when the body 20 goes straight is small and the body 20 can move smoothly. Further, when the body 20 turns, the caster 90 easily slides sideways, so that the turning ability of the body 20 is improved.

(Embodiment 11)
Autonomous traveling cleaner 10 according to an eleventh embodiment of the present invention includes a body 20 having a suction port 101, a drive unit 30 having a wheel 33 that moves the body 20, and an electric fan that sucks dust from the suction port 101. 51 and a trash box unit 60 disposed on the body 20. The trash box unit 60 includes a trash box 61 for collecting trash sucked by the electric fan 51, and a filter 62 attached to the trash box 61. The filter 62 includes a collection unit 340 that is a part that allows air to pass through and collects dust in the air, and a frame 350 that supports the collection unit 340. The frame 350 includes a portion that faces the inlet 312 of the trash can 310, and the collection unit 340 is disposed at a portion that does not face the inlet 312 of the trash can 310.

  Generally, the size of a trash box that can be mounted on an autonomously traveling vacuum cleaner is limited. For this reason, when a collection part is arranged in the part facing the entrance of a trash box, garbage concentrates on the part facing the entrance of the trash box in a collection part, and garbage is collected on other parts of a collection part. Even if there is room to stack, the entrance may be blocked by debris.

  However, in the autonomous traveling type vacuum cleaner 10 of the present embodiment, since the collection unit 340 is disposed at a portion that does not face the entrance 312 of the trash can 310, a portion that faces the entrance 312 of the trash can 310 at the collection portion 340. It is possible to reduce the accumulation of dust by concentrating on the surface.

  The autonomously traveling cleaner 10 of the present embodiment includes a body 20 having a suction port 101, a main brush 43 disposed in the suction port 101, a brush drive motor 41 that rotates the main brush 43, and the body 20. And a pair of wheels 33 (a first wheel 33 and a second wheel 33). The autonomously traveling vacuum cleaner 10 according to the present embodiment further includes a first spring 36 that applies a reaction force to the first wheel 33 so that the first wheel 33 contacts the cleaning surface, and a second wheel 33. Has a second spring 36 that applies a reaction force to the second wheel 33 so as to contact the cleaning surface, and an electric fan 51 that sucks dust from the suction port 101. The brush drive motor 41 is disposed at a location near the first wheel 33 among the first wheel 33 and the second wheel 33. Further, in the autonomous traveling cleaner 10 of the present embodiment, the elastic coefficient of the first spring 36 is larger than the elastic coefficient of the second spring 36.

  According to such a configuration, the weight of the brush drive motor 41 acts more strongly on the first wheel 33 than on the second wheel 33. For this reason, when the elastic coefficient of the spring 36 which gives reaction force to each wheel 33 has the same magnitude | size, there exists a possibility that the position of the wheel 33 with respect to the body 20 may not be balanced.

  However, the balance of the position of the wheel 33 with respect to the body 20 is not easily lost by setting the elastic coefficient of the spring 36 based on the above-described configuration in the autonomous traveling cleaner 10 of the present embodiment.

  In addition, the autonomously traveling cleaner 10 of the present embodiment includes a body 20 having a suction port 101, a drive unit 30 having a wheel 33 that moves the body 20, and an electric fan 51 that sucks dust from the suction port 101. A waste bin 310 that collects the dust sucked by the electric fan 51, and a dust detection sensor 76 that is disposed in the flow path 174 that connects the electric fan 51 and the waste bin 310 and detects information related to the dust moving in the flow path 174. Have The dust detection sensor 76 is disposed at a location where the flow velocity of air is high in the flow path 174.

  According to such a configuration, when dust adheres to the surface of the dust detection sensor 76, the dust is likely to be blown from the surface of the sensor dust detection sensor 76 by the air flowing in the flow path 174.

  Moreover, the autonomous traveling type vacuum cleaner 10 of this Embodiment charges the body 20 which has the suction inlet 101, the drive unit 30, the electric fan 51 which attracts garbage from the suction inlet 101, and the power supply of the electric fan 51. A charging terminal 103 used for the purpose, and a magnet 77 that can be detected by a charging stand that supplies power to the charging terminal 103. In autonomous traveling type vacuum cleaner 10 of the present embodiment, the distance between magnet 77 and charging terminal 103 is shorter than the distance between magnet 77 and suction port 101.

  According to such a configuration, when the autonomous mobile vacuum cleaner 10 approaches the charging stand, the magnet 77 is easily detected by the charging stand.

  The autonomously traveling cleaner 10 according to the present embodiment includes a body 20 having a suction port 101, a drive unit 30, a caster 90 that is driven by a wheel 33, and an electric fan 51 that sucks dust from the suction port 101. Have The suction port 101 has a horizontally long shape, preferably a rectangular shape or a substantially rectangular shape. The longitudinal direction of the suction port 101 is along the width direction of the body 20, the central axis of the caster 90 is substantially parallel to the longitudinal direction of the suction port 101, and the caster 90 includes a first portion having a large diameter, and The second portion has a smaller diameter than the first portion, and the friction coefficient of the outer peripheral surface of the first portion is smaller than the friction coefficient of the outer peripheral surface of the second portion.

  According to such a configuration, when the autonomous traveling cleaner 10 travels, the outer peripheral surface of the first portion of the outer peripheral surface of the caster 90 mainly contacts the cleaning surface. Since the friction coefficient of the outer peripheral surface of the first part is smaller than the friction coefficient of the outer peripheral surface of the second part, the resistance when the body 20 goes straight is small and the body 20 can move smoothly. Further, when the body 20 turns, the caster 90 easily slides sideways, so that the turning ability of the body 20 is improved.

(Embodiment 12)
The autonomous traveling cleaner 10 according to the twelfth embodiment of the present invention includes a body 20 having a suction port 101, a plurality of drive units 30 that cause the body 20 to travel, and a suction unit 50 that is mounted on the body 20.

  The body 20 includes a front surface 21 and a plurality of side surfaces 22 having a curved surface curved outward in a plan view, and a plurality of front top portions 23 that are top portions defined by the front surface 21 and the side surfaces 22.

  The maximum width of the body 20 is defined by at least two apexes (front apex 23) among the plural apexes. Further, the suction port 101 is provided in a portion having the maximum width of the body 20. As described above, the “part having the maximum width of the body 20” or the “maximum width part of the body 20” refers to the line W (“body body” connecting the apex of the right front apex 23 and the apex of the left front apex 23. 20 maximum width line W ") and the vicinity thereof.

  As shown in FIG. 31, the angle formed between the tangent line (first tangent line) L1 of the front surface 21 and the tangent lines (second tangent line and third tangent line) L2, L3 of the side surface 22 is an acute angle.

  Autonomous traveling cleaner 10 of the present embodiment further includes at least one side brush 44 disposed on the bottom surface side of body 20. A part of the rotation locus of the side brush 44 is located in the maximum width portion of the body 20. More preferably, the side brush 44 is located at the maximum width portion of the body 20 and the suction port 101.

  According to such a configuration, the dust present at the corner R <b> 3 of the cleaning target region can be reliably collected by the suction port 101 provided on the bottom surface side of the body 20 by the side brush 44. For this reason, the ability to suck in the dust present at the corner R3 of the area to be cleaned is further enhanced. Moreover, since it is not necessary to lengthen the length of the bristle bundle 44 </ b> B constituting the side brush 44, the possibility that the side brush 44 is caught by an obstacle can be reduced.

  In the present embodiment, a plurality of side brushes 44 may be provided. In this case, the plurality of side brushes 44 include a right side brush 44 disposed in the right portion of the body 20 and a left side brush 44 disposed in the left portion of the body 20. A trajectory for sending garbage into the suction port 101 is formed by the rotation trajectory of the right side brush 44 and the rotation trajectory of the left side brush 44.

  According to such a configuration, the dust present at the corner R <b> 3 of the cleaning target area can be efficiently and reliably collected by the suction port 101 of the body 20 by the plurality of side brushes 44. For this reason, the ability to suck in the dust present at the corner R3 of the area to be cleaned can be further enhanced.

  In the present embodiment, when the autonomously traveling cleaner 10 has a plurality of side brushes 44, the plurality of side brushes 44 have a rotation locus of the right side brush 44 and a rotation locus of the left side brush 44. It is comprised so that it may go to back from the front of the body 20 in the center side of the width direction of the body 20. That is, each of the plurality of side brushes 44 rotates in a direction opposite to each other, and a portion of the rotation trajectory of each side brush 44 approaches the rotation trajectory of the other side brush 44 in front of the body 20. Rotate backward from

  According to such a configuration, since dust is collected from the front side of the body 20 to the suction port 101 by the side brush 44, for example, compared to a case where dust is collected from the side of the suction port 101 to the suction port 101. The suction port 101 can reliably suck in the dust.

(Embodiment 13)
Autonomous traveling cleaner 10 according to the thirteenth embodiment of the present invention includes a body 20 having a suction port 101 on the bottom surface, a plurality of drive units 30 that cause body 20 to travel, and a suction unit 50 mounted on body 20. Have.

  The body 20 exists in front of the center of gravity G of the autonomously traveling vacuum cleaner 10, has a widest portion that is the widest portion, a rear portion of the widest portion, and a width that decreases toward the rear. And a rear portion. In the present embodiment, as shown in FIG. 31, the outer peripheral surface of the maximum width portion of body 20 has an R shape (arc R).

  Further, in the present embodiment, the front surface 21 of the body 20 has a curved surface that is curved outward in a plan view of the body 20.

  Further, in the present embodiment, the curvature of the curved surface of the front surface 21 of the body 20 is smaller than the curvature of the R shape (arc R) of the outer peripheral surface of the maximum width portion of the body 20.

  Furthermore, in autonomous traveling type cleaner 10 of the present embodiment, side surface 22 is provided at the rear portion of body 20. The side surface 22 has a curved surface that is curved toward the outside in a plan view of the body 20.

  In the present embodiment, the curvature of the curved surface of the side surface 22 of the body 20 is smaller than the curvature of the R shape (arc R) of the outer peripheral surface of the maximum width portion of the body 20.

  With such a configuration, the shape of the body 20 approximates to a Rouleau triangle, and therefore it is easy to turn at the corner R3 of the area to be cleaned. Therefore, the autonomous traveling type vacuum cleaner 10 can be quickly moved from the corner R3 of the area to be cleaned. Further, since the suction port 101 can easily reach the tip portion R4 of the corner R3 of the cleaning target region, it is possible to improve the cleaning efficiency.

  Moreover, in this Embodiment, the suction inlet 101 is arrange | positioned in the part close | similar to the maximum width part of the body 20 rather than the gravity center G of the autonomous running type vacuum cleaner 10. FIG. Further, in the present embodiment, the suction unit 50 is arranged behind the suction port 101 in the front-rear direction of the body 20.

  With such a configuration, the suction port 101 can be brought closer to the apex of the corner R3 of the area to be cleaned, so that dust existing at the tip portion R4 of the corner R3 and the like can be more surely sucked directly from the suction port 101. Can do.

  In the present embodiment, the drive unit 30 may be disposed outside the suction port 101 in the width direction on the bottom surface side of the body 20. Even with such a configuration, since the suction port 101 is provided in the maximum width portion of the body 20, dust existing on the cleaning surface can be efficiently sucked.

(Embodiment 14)
Autonomous traveling vacuum cleaner 10 according to the fourteenth embodiment of the present invention includes a body 20 having a suction port 101 on the bottom surface, a plurality of drive units 30 that cause body 20 to travel, and a suction unit 50 mounted on body 20. Have.

  The body 20 has a front surface 21 and a plurality of side surfaces 22 having a curved surface that expands outward in plan view. The body 20 further includes a plurality of front top portions 23 that are top portions defined by the front surface 21 and the plurality of side surfaces 22. The maximum width of the body 20 is defined by at least two apexes (front apex 23) among the plural apexes. The suction port 101 is provided in a portion having the maximum width of the body 20. As described above, the “part having the maximum width of the body 20” or the “maximum width part of the body 20” means the line W (that connects the apex of the right front apex 23 and the apex of the left front apex 23. "The maximum width line W of the body 20") and the vicinity thereof.

  According to such a configuration, since the angle formed by the tangent line L1 of the front surface 21 and the tangent lines L2 and L3 of the side surface 22 is set to an acute angle, the autonomous traveling cleaner 10 is located at the corner R3 of the area to be cleaned. In addition, it is possible to turn on the spot and take various postures with respect to the angle R3. Such posture of the body 20 includes, for example, a posture in which the front top 23 of the body 20 is directed to the apex of the corner R3 of the region to be cleaned or the vicinity thereof. When the autonomous traveling cleaner 10 takes such a posture, the conventional autonomous traveling cleaner 10 having the circular body 20 approaches the limit to the corner R3 of the region to be cleaned. The apex (front apex 23) further approaches the apex of the corner R3, and the suction port 101 of the body 20 also approaches the apex of the corner R3. For this reason, the dust which exists on the cleaning surface of corner | angular R3 can be attracted | sucked from the suction inlet 101 more reliably.

  Moreover, according to the above structure, when the front top part 23 of the body 20 takes the attitude | position approaching toward the vertex of the corner | angular R3 or its vicinity, it can turn on the spot. For this reason, the autonomous traveling type vacuum cleaner 10 of this Embodiment is compared with the conventional autonomous traveling type vacuum cleaner which has the D-type body 20 when moving from the corner | angular R3 of a cleaning object area | region to another place. It is possible to move quickly from the corner R3 to another place.

  Further, in the present embodiment, the plurality of side surfaces 22 are formed on the right side with respect to the center in the width direction of the body 20 (in the present embodiment, a direction substantially perpendicular to the advance direction of the body 20). A right side surface 22 and a left side surface 22 formed on the left side with respect to the center in the width direction of the body 20 are included. The body 20 has a right front top 23 defined by a front surface 21 and a right side 22 and a left front top 23 defined by a front surface 21 and a left side 22. The right front top 23 and the left front top 23 define the maximum width of the body 20.

  Further, in the autonomous traveling cleaner 10 of the present embodiment, the width of the rear side (rear part) of the body 20 is narrower than the width of the front side (front part) of the body 20. With such a configuration, when the autonomous traveling cleaner 10 turns in a place where an object is present in the vicinity, the possibility that the rear portion of the body 20 contacts the object is reduced. For this reason, the mobility of the autonomous traveling type vacuum cleaner 10 can be improved.

  In the present embodiment, the plurality of drive units 30 includes a first drive unit 30 and a second drive unit 30. The first drive unit 30 and the second drive unit 30 each have a rotation shaft and are configured to be driven independently of each other. In the present embodiment, the drive system of the plurality of drive units 30 is an opposed two-wheel type constituted by the first drive unit 30 and the second drive unit 30. Such a structure simplifies the structure as compared with an autonomous traveling type cleaner having a steering type drive system.

  The autonomously traveling cleaner 10 according to the present embodiment further includes a control unit 70 that controls the plurality of drive units 30. The control unit 70 controls the plurality of drive units 30 so that the body 20 forms at least a part of a square locus drawn by the triangle of the rouleau.

  According to such a configuration, the control unit 70 operates each drive unit 30 to bring the front top 23 of the body 20 closer to the apex of the corner R3 of the area to be cleaned or the vicinity thereof, and cleans the suction port 101. It is possible to further approach the vertex of the corner R3 of the target area. For this reason, the autonomous running type vacuum cleaner 10 of this Embodiment can attract | suck the dust which exists in the corner | angular R3 of a cleaning object area | region more efficiently.

  Further, in the present embodiment, the rotation shafts of the first drive unit 30 and the second drive unit 30 are present on the rear side of the body 20 with respect to the center of gravity G of the autonomous traveling cleaner 10.

  The relationship between the rotation axis of each drive unit 30 and the center of gravity G of the autonomous traveling cleaner 10 corresponds to one of the main factors that determine the trajectory that the body 20 can form. As described above with respect to the rotation shaft of the drive unit 30, the autonomous traveling cleaner 10 of the present invention includes the body 20 having the suction port 101, the drive unit 30, the suction port 101, and the electric fan 51. The body 20 has two top portions (front top portions 23) that define the maximum width of the body 20, and the suction port 101 is provided in a portion having the maximum width on the bottom surface side of the body 20, and more than the drive unit 30. The body 20 is disposed in a portion close to the portion having the maximum width.

  According to such a configuration, since the shape of the body 20 approximates a Rouleau triangle, it is easy to turn at the corner R3 of the area to be cleaned. Therefore, it is possible to move quickly from the corner R3 of the region to be cleaned. Further, since the suction port 101 can easily reach the tip portion R4 of the corner R3 of the cleaning target region, it is possible to improve the cleaning efficiency.

  The autonomously traveling cleaner 10 according to the present invention further includes a caster 90 provided on the bottom side of the body 20. The caster 90 is disposed on the rear side of the body 20 relative to the drive unit 30 with the maximum width portion of the body 20 as a reference. According to such a configuration, since the caster 90 is provided at a position away from the suction port 101 where the dust at the corner R3 of the cleaning target area is sucked, the caster 90 has the garbage at the corner R3 of the cleaning target area. It can be prevented from adhering.

  The autonomously traveling vacuum cleaner 10 of the present invention further includes a side brush 44 provided on the bottom surface side of the body 20. A part of the rotation locus of the side brush 44 exists in a portion having the maximum width of the body 20. More preferably, a part of the rotation trajectory of the side brush 44 exists in a portion having the maximum width of the suction port 101 and the body 20. According to such a configuration, the dust collected by the side brush 44 can be more reliably sucked into the suction port 101.

  The autonomously traveling vacuum cleaner 10 of the present invention is a tangent line on the outer periphery of the body 20 in a plan view, and is parallel to the maximum width line W of the body 20, which is a line connecting the vertices of the two front top portions 23 of the body 20. An angle formed by the first tangent line L1 and another tangent line on the outer periphery of the body 20 in a plan view, the second tangent line L2 contacting the outer periphery behind the maximum width line W of the body 20, and the first The angle formed between the tangent line L1 and another tangent line on the outer periphery of the body 20 in plan view, and the third tangent line L3 contacting the outer periphery on the rear side of the maximum width line W of the body 20, is an acute angle.

  According to such a configuration, since the shape of the body 20 approximates a Rouleau triangle, it is easy to turn at the corner R3 of the area to be cleaned. Therefore, it is possible to move quickly from the corner R3 of the region to be cleaned. Further, since the suction port 101 can easily reach the tip portion R4 of the corner R3 of the cleaning target region, it is possible to improve the cleaning efficiency.

  In the autonomously traveling vacuum cleaner 10 of the present invention, the body 20 has an outer peripheral surface provided with a curved surface that is curved outward in a plan view. The body 20 has two top portions (front top portions 23) that define the maximum width of the body 20. As shown in FIG. 31, the two apexes (front apex 23) have an R shape (arc R), and the curvature of the curved surface of the outer peripheral surface of the body 20 is smaller than the curvature of the R shape of the two apexes.

  According to such a configuration, since the shape of the body 20 approximates a Rouleau triangle, it is easy to turn at the corner R3 of the area to be cleaned. Therefore, it is possible to move quickly from the corner R3 of the region to be cleaned. Further, since the suction port 101 can easily reach the tip portion R4 of the corner R3 of the cleaning target region, it is possible to improve the cleaning efficiency.

  As described above, the present invention enables the dust present at the corner of the area to be cleaned to be directly sucked from the suction port more reliably and quickly moves from the corner of the cleaning symmetrical area to another place. An autonomous traveling type vacuum cleaner with high cleaning efficiency that can be provided is provided. Therefore, it can utilize for the autonomous traveling type cleaner used in various environments including the autonomous traveling type cleaner for home use or the autonomous traveling type cleaner for business use.

DESCRIPTION OF SYMBOLS 10 Autonomous travel type vacuum cleaner 20 Body 21 Front surface 22 Side surface 22A Side surface 22B Side surface 23 Front top part 24 Back top part 25 Rear surface 30 Drive unit 31 Traveling motor 32 Housing 32A Motor accommodating part 32B Spring hook part 32C Bearing part 33 Wheel 34 Tire 35 Support Shaft 36 Suspension spring (spring)
40 Cleaning Unit 41 Brush Drive Motor 42 Gear Box 43 Main Brush 44 Side Brush 44A Brush Shaft 44B Bristle Bundle 50 Suction Unit 51 Electric Fan 52 Fan Case 52A Front Case 52B Rear Case 52C Suction Port 52D Discharge Port 52E Louver 60 Garbage Box Unit 61 Recycle Bin 61A Inlet 61B Outlet 61C Bottom 62 Filter 70 Control Unit 71 Obstacle Detection Sensor 71A Transmitter 71B Receiver 72 Distance Measurement Sensor 73 Collision Detection Sensor 74 Floor Detection Sensor 75 Derailment Detection Switch 76 Garbage Detection Sensor 77 Magnet 80 Power Supply Unit 81 Power supply case 82 Storage battery 83 Main switch 90 Caster 91 Support shaft 100 Lower unit 101 Suction port 102 Power supply port 103 Charging terminal 110 111 Bottom bearing 112 Sensor window 120 Drive part 121 Wheel house 122 Spring hook part 130 Cleaning part 131 Shaft insertion part 132 Coupling part 140 Recycle bin part 150 Suction part 160 Power supply part 170 Brush housing 171 Duct 172 Inlet 173 Outlet 180 Brush cover 181 Slope 190 Holding frame 200 Upper unit 210 Cover 211 Exhaust port 212 Light receiving part (communication part)
213 Lid button 220 Lid 221 Arm 230 Bumper 231 Curved convex part 232 Transmission window 233 Reception window 234 Distance measurement window 240 Interface part 241 Panel 242 Operation button 243 Display part 250 Recycle bin receiver 251 Bottom part opening 252 Rear opening 260 Arm housing part 300 trash can unit 310 trash can 311 space 312 inlet 313 outlet 320 lid 330 filter 340 collection part 350 frame 351 window 352 intermediate wall 360 hinge G center of gravity H wheel rotation axis RX room R1 first wall R2 second wall R3 angle R4 Tip part L1 Tangent (first tangent)
L2 tangent (second tangent)
L3 tangent (third tangent)

FIG. 1 is a plan view of the autonomous traveling cleaner according to the first embodiment of the present invention. FIG. 2 is a bottom view of the autonomous traveling cleaner according to the first embodiment of the present invention. FIG. 3 is a block diagram showing functions of the electric system of the autonomous traveling cleaner according to the first embodiment of the present invention. FIG. 4 is a plan view showing the operation of a conventional autonomous traveling type cleaner. FIG. 5 is a plan view for explaining the operation of the autonomous traveling cleaner according to the first embodiment of the present invention. FIG. 6 is another plan view for explaining the operation of the autonomous traveling cleaner according to the first embodiment of the present invention. FIG. 7 is another plan view for explaining the operation of the autonomous traveling cleaner according to the first embodiment of the present invention. FIG. 8 is a plan view of the autonomous traveling vacuum cleaner according to the second embodiment of the present invention. FIG. 9 is a bottom view of the autonomous traveling cleaner according to the second embodiment of the present invention. FIG. 10 is a perspective view of the autonomous traveling cleaner according to the third embodiment of the present invention. FIG. 11 is a plan view of the autonomous traveling cleaner according to the third embodiment of the present invention. FIG. 12 is a plan view showing the inside of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention. FIG. 13 is a bottom view of the autonomous traveling cleaner according to the third embodiment of the present invention. FIG. 14 is a side view of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention. FIG. 15 is an exploded perspective view when a part of the configuration of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention is viewed from the front side. FIG. 16 is an exploded perspective view when a part of the configuration of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention is viewed from the bottom surface side. 17 is a cross-sectional view taken along line XVII-XVII in FIG. FIG. 18 is a cross-sectional view showing a state in which a part of the configuration of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention is separated along the line XVII-XVII in FIG. 11. 19 is a cross-sectional view taken along line XIX-XIX in FIG. FIG. 20 is a perspective view showing the internal structure of the lower unit of the autonomous traveling vacuum cleaner according to Embodiment 3 of the present invention. FIG. 21 is a perspective view of the internal structure of the lower unit of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention as seen from the side. FIG. 22 is a perspective view of the internal structure of the lower unit of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention as viewed from the front side. FIG. 23 is another perspective view of the internal structure of the lower unit of the autonomous traveling cleaner according to the third embodiment of the present invention as viewed from the front side. FIG. 24 is a perspective view of the upper unit of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention. FIG. 25 is a bottom view of the upper unit of the autonomous traveling cleaner according to the third embodiment of the present invention. FIG. 26 is a block diagram showing functions of the electric system of the autonomous mobile vacuum cleaner according to the third embodiment of the present invention. FIG. 27 is a perspective view of the trash box unit of the autonomous mobile vacuum cleaner according to the fourth embodiment of the present invention. FIG. 28 is a cross-sectional view of the trash box unit according to Embodiment 4 of the present invention. FIG. 29 is a plan view of the autonomously traveling cleaner according to the first modification of the present invention. FIG. 30 is a plan view of an autonomously traveling vacuum cleaner according to Modification 2 of the present invention. FIG. 31 is a plan view of an autonomously traveling vacuum cleaner according to Modification 3 of the present invention.

Each wheel 33 is disposed on the outer side in the width direction of the body 20 than the traveling motor 31 that applies torque to each wheel 33. With such a configuration, the distance between the right wheel 33 and the left wheel 33 is wider than when the wheel 33 is disposed on the inner side in the width direction than the traveling motor 31. Improves.

As shown in FIG. 2, the cleaning unit 40 is disposed inside and outside the body 20 and has a plurality of elements such as a brush drive motor 41. According to this embodiment, the cleaning unit 40, in addition to the brush drive motor 41 disposed inside the body 20 (left side of the suction port 101), and a gear box 42, disposed in the suction port 101 of the body 20 The main brush 43 is provided.

In FIG. 4, a room RX that is an area to be cleaned has an angle R3 formed by, for example, a first wall R1 and a second wall R2. According to the example illustrated in FIG. 4 and the like, the angle R3 is approximately a right angle. Autonomous traveling cleaner 900 cannot cover tip R4 of corner R3 when it reaches corner R3. For this reason, a comparatively large space | interval is formed between the suction inlet 910 and the front-end | tip part R4 of the autonomous running type vacuum cleaner 900. FIG. In addition, when the side brush is mounted in the autonomous traveling type vacuum cleaner 900, it is possible to scrape the dust which exists in the front-end | tip part R4 with a side brush. However, since the dust present at the tip portion R4 is scraped by the rotational force of the side brush and is diffused to the periphery at the same time, the dust is directly sucked from the suction port 910 provided at a position away from the tip portion R4. Is limited to a part of the dust present at the tip portion R4.

In the present embodiment, each of the pair of side brushes 44 has a brush shaft 44A attached to the two front tops 23 of the body 20, and a plurality of bristle bundles 44B attached to the brush shaft 44A. Position of the side brush 44 relative to the body 20, the rotation locus of the side brush 44 which can collect dust in the suction port 101 portion of (say a circular trajectory side brush 44 is drawn by rotating 1. Hereinafter the same.) Is located at the maximum width portion of the body 20. According to the present embodiment, the number of bristle bundles 44B attached to each brush shaft 44A is three, and each bristle bundle 44B is attached to the brush shaft 44A at a constant angular interval.

FIG. 24 is a perspective view of the bottom side of the upper unit 200 of the autonomous traveling cleaner 10.

The distance between the brush drive motor 41 and one of the pair of drive units 30 (the first drive unit 30 that is the left drive unit 30 in the present embodiment) is the distance between the brush drive motor 41 and the other drive unit 30. (In the present embodiment, the distance is shorter than the distance from the second drive unit 30 which is the right drive unit 30). For this reason, the weight of the brush drive motor 41 acts more strongly on the wheel 33 and the tire 34 of the first drive unit 30. For this reason, when the elastic coefficient of the suspension spring 36 which gives reaction force to each drive unit 30 has the same magnitude | size, there exists a possibility that the position of the wheel 33 with respect to the body 20 may not be balanced. For this reason, the elastic coefficient of the suspension spring 36 that applies a reaction force to the first drive unit 30 is set larger than the elastic coefficient of the suspension spring 36 that applies a reaction force to the second drive unit 30.

According to such a configuration, when dust adheres to the surface of the dust detection sensor 76, the dust is likely to be blown off from the surface of the dust detection sensor 76 by the air flowing in the flow path 174.

The relationship between the rotation axis of each drive unit 30 and the center of gravity G of the autonomous traveling cleaner 10 corresponds to one of the main factors that determine the trajectory that the body 20 can form. As described above , the autonomously traveling cleaner 10 of the present invention includes the body 20 having the suction port 101, the drive unit 30, the suction port 101, and the electric fan 51. The body 20 has two top portions (front top portions 23) that define the maximum width of the body 20, and the suction port 101 is provided in a portion having the maximum width on the bottom surface side of the body 20, and more than the drive unit 30. The body 20 is disposed in a portion close to the portion having the maximum width.

As described above, the present invention is to allow the sucking directly from the corner more reliably inlet dust present in the cleaned area, quickly moves to a different location from the corner of the cleaned area An autonomous traveling type vacuum cleaner with high cleaning efficiency that can be provided is provided. Therefore, it can utilize for the autonomous traveling type cleaner used in various environments including the autonomous traveling type cleaner for home use or the autonomous traveling type cleaner for business use.

Claims (5)

A body having a suction port;
A drive unit for moving the body;
With an electric fan,
The body has two tops defining a maximum width of the body;
The suction port is provided in a portion having the maximum width of the body on the bottom side of the body,
The autonomous traveling type vacuum cleaner arrange | positioned in the part near the part which has the said maximum width of the said body rather than the said drive unit. Further comprising a caster provided on the bottom side of the body,
2. The autonomous traveling type vacuum cleaner according to claim 1, wherein the caster is disposed on a rear side of the body with respect to a portion of the body having the maximum width as a reference. A side brush provided on the bottom side of the body;
The autonomous traveling type vacuum cleaner according to claim 1 or 2, wherein a part of a rotation locus of the side brush is located in a portion of the body having the maximum width. A tangent to the outer periphery of the body in plan view;
A first tangent parallel to a line connecting each vertex of the two tops of the body;
It is another tangent of the outer periphery of the body in plan view, and an angle formed by a second tangent that contacts the outer periphery on the rear side of the body with respect to the line connecting the vertices of the two apexes of the body ,and,
The first tangent and another tangent of the outer periphery of the body in plan view, and in contact with the outer periphery on the rear side of the body with respect to the line connecting the vertices of the two apexes of the body The angle formed by the third tangent is
All are acute angles, The autonomous running type vacuum cleaner as described in any one of Claims 1-3. A tangent to the outer periphery of the body in plan view, and an outer periphery of the body in contact with a first tangent line parallel to a line connecting the vertices of the two apexes of the body is curved outward in plan view. An outer peripheral surface having a curved surface is provided;
The two tops of the body have an R shape;
The autonomous traveling type vacuum cleaner according to any one of claims 1 to 4, wherein a curvature of the curved surface of the outer peripheral surface of the body is smaller than a curvature of the R shape of the two top portions.

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