JPWO2018225173A1 - Electric vacuum cleaner - Google Patents

Electric vacuum cleaner Download PDF

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JPWO2018225173A1
JPWO2018225173A1 JP2019523259A JP2019523259A JPWO2018225173A1 JP WO2018225173 A1 JPWO2018225173 A1 JP WO2018225173A1 JP 2019523259 A JP2019523259 A JP 2019523259A JP 2019523259 A JP2019523259 A JP 2019523259A JP WO2018225173 A1 JPWO2018225173 A1 JP WO2018225173A1
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vacuum cleaner
operation member
main body
unit
drive unit
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貴之 古田
正裕 友納
秀彰 大和
智章 吉田
正晴 清水
悠 奥村
健吾 戸田
崇 小太刀
清 入江
祥尭 原
一輝 荻原
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Chiba Institute of Technology
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Chiba Institute of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/32—Handles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

【課題】使用者の好みや要望に応じた場所を効率よく短時間で清掃することができる電気掃除機を提供。【解決手段】電気掃除機１は、床面Ｆに沿って走行しつつ清掃可能な自走式の掃除機本体２と、掃除機本体２に取り付けて使用者が操作可能な操作部材３と、を備える。掃除機本体２は、自走するための車輪１１１を駆動する走行駆動部１１と、走行駆動部１１を駆動制御する本体制御部１２と、操作部材３を着脱自在に連結する本体連結部１５と、を有し、本体制御部１２は、操作部材３が連結されていない場合に走行駆動部１１により自走する自動モードと、操作部材３が連結されている場合に操作部材３からの手動操作を受け付ける手動モードと、を切り替える。【選択図】図１A vacuum cleaner capable of efficiently and quickly cleaning a place according to a user's preference and demand. A vacuum cleaner 1 includes a self-propelled cleaner body 2 that can be cleaned while traveling along a floor F, an operation member 3 that is attached to the cleaner body 2 and that can be operated by a user, Is provided. The cleaner body 2 includes a travel drive unit 11 that drives a wheel 111 for self-running, a main body control unit 12 that drives and controls the travel drive unit 11, and a main body connection unit 15 that removably connects the operation member 3. The main body control unit 12 includes an automatic mode in which the traveling drive unit 11 self-travels when the operation member 3 is not coupled, and a manual operation from the operation member 3 when the operation member 3 is coupled. Switch to manual mode to accept. [Selection] Figure 1

Description

本発明は、電気掃除機に関する。   The present invention relates to a vacuum cleaner.

従来、床面を清掃するための自走式電気掃除機（掃除ロボット）として、掃除機本体を走行させるための走行手段と、吸込口から掃除機本体内の集塵室に塵等を吸い込む吸込手段と、を備えたものが知られている（特許文献１等参照）。走行手段は、左右一対の車輪と、各車輪を正転方向と逆転方向に駆動する２台のモータと、を備え、掃除機本体を前後方向に走行させるとともに任意の方向に転回させるようになっている。吸込手段は、吸込口に連通されたダクトおよび送風機と、吸込口に設けられた回転ブラシと、を備え、回転ブラシによって掻き上げた塵等を吸込口から吸い込むように構成されている。   Conventionally, as a self-propelled vacuum cleaner (cleaning robot) for cleaning the floor surface, traveling means for running the vacuum cleaner main body and suction for sucking dust etc. from the suction port into the dust collecting chamber in the vacuum cleaner main body There is known one provided with a means (see Patent Document 1). The traveling means includes a pair of left and right wheels and two motors that drive the wheels in the forward direction and the reverse direction, and causes the cleaner body to travel in the front-rear direction and to rotate in any direction. ing. The suction means includes a duct and a blower communicated with the suction port, and a rotating brush provided at the suction port, and is configured to suck dust and the like scraped up by the rotating brush from the suction port.

特開２０１６−１３５３０３号公報JP-A-2006-135303

しかしながら、従来の一般的な自走式電気掃除機では、予め設定された走行ルートに沿って自走しつつ清掃することから、使用者の好みや要望に応じた特定の場所を重点的に清掃することが難しかった。また、所定の走行ルートを一巡するまで清掃が完了しないことから、完了するまでに長時間を要するという不都合もある。   However, in the conventional general self-propelled vacuum cleaner, cleaning is performed while self-propelled along a preset travel route, so that a specific place according to the user's preference and request is focused on cleaning. It was difficult to do. In addition, since cleaning is not completed until the predetermined travel route is completed, there is a disadvantage that it takes a long time to complete.

本発明の目的は、使用者の好みや要望に応じた場所を効率よく短時間で清掃することができる電気掃除機を提供することである。   The objective of this invention is providing the vacuum cleaner which can clean the place according to a user's liking and a request | requirement efficiently in a short time.

本発明の電気掃除機は、床面に沿って走行しつつ清掃可能な自走式の掃除機本体と、前記掃除機本体に取り付けて使用者が操作可能な操作部材と、を備え、前記掃除機本体は、自走するための車輪を駆動する走行駆動部と、前記走行駆動部を駆動制御する本体制御部と、前記操作部材を着脱自在に連結する本体連結部と、前記本体連結部に前記操作部材が連結されているか否かを検出する連結検出部と、を有し、前記本体制御部は、前記操作部材が連結されていない場合に前記走行駆動部により自走する自動モードと、前記操作部材が連結されている場合に該操作部材からの手動操作を受け付ける手動モードと、を切り替えることを特徴とする。   The electric vacuum cleaner of the present invention includes a self-propelled cleaner body that can be cleaned while traveling along a floor surface, and an operation member that is attached to the cleaner body and that can be operated by a user. The machine body includes a travel drive unit that drives a wheel for self-running, a main body control unit that drives and controls the travel drive unit, a main body connection unit that removably connects the operation member, and a main body connection unit. A connection detection unit that detects whether or not the operation member is connected, and the main body control unit is configured to automatically run by the traveling drive unit when the operation member is not connected; When the operation member is connected, a manual mode for accepting a manual operation from the operation member is switched.

このような本発明によれば、走行駆動部と本体制御部とを備えた掃除機本体が自動モードによって自走することで、自走式電気掃除機（掃除ロボット）として機能し、自動的に床面の清掃を実施することができる。一方、本体連結部に操作部材が連結されたことを検知して手動モードとなり、操作部材からの手動操作を受け付けることで、使用者が操作部材を操作して掃除機本体を移動させ、特定の場所を重点的に清掃することができる。従って、自動モードによって所定の走行ルートを一巡するのを待つことなく、手動モードで特定の場所を清掃することで、使用者の好みや要望に応じた場所を効率よく短時間で清掃することができる。   According to the present invention as described above, the vacuum cleaner main body including the travel drive unit and the main body control unit self-runs in the automatic mode, thereby functioning as a self-propelled electric vacuum cleaner (cleaning robot) and automatically. Floor cleaning can be carried out. On the other hand, when the operation member is connected to the main body connecting portion, the manual mode is entered. By accepting the manual operation from the operation member, the user operates the operation member to move the vacuum cleaner main body. The place can be cleaned intensively. Therefore, it is possible to efficiently and quickly clean a place according to the user's preference and demand by cleaning a specific place in the manual mode without waiting for a round of a predetermined travel route in the automatic mode. it can.

本発明では、前記手動モードは、前記車輪を自由回転させるように前記走行駆動部を制御する完全手動モードを備えることが好ましい。   In the present invention, it is preferable that the manual mode includes a complete manual mode for controlling the traveling drive unit so as to freely rotate the wheels.

このような構成によれば、車輪が自由回転するように走行駆動部を制御する完全手動モードを備えることで、操作部材を介した使用者による完全な手動操作によって掃除機本体を移動させつつ清掃を実施することができる。従って、使用者の意図した通りに掃除機本体を移動させることができるので、使用者の利便性を向上させつつ良好な使用感を得ることができる。   According to such a configuration, by providing a complete manual mode for controlling the traveling drive unit so that the wheels freely rotate, cleaning is performed while the cleaner body is moved by a complete manual operation by the user via the operation member. Can be implemented. Therefore, since the cleaner body can be moved as intended by the user, it is possible to obtain a good feeling of use while improving the convenience for the user.

本発明では、前記掃除機本体および前記操作部材の少なくとも一方には、該操作部材の操作方向および操作力を検出する操作検出部が設けられ、前記手動モードは、前記操作検出部が検出した前記操作部材の操作を補助するように前記走行駆動部を制御する補助モードを備えることが好ましい。   In the present invention, at least one of the cleaner body and the operation member is provided with an operation detection unit that detects an operation direction and an operation force of the operation member, and the manual mode is detected by the operation detection unit. It is preferable that an auxiliary mode for controlling the travel drive unit to assist the operation of the operation member is provided.

このような構成によれば、補助モードにおいて、操作検出部が検出した操作部材の操作を補助するように走行駆動部を制御することで、使用者は少ない操作力で掃除機本体を移動させることができ、使用者の負担を軽減させつつ利便性を高めることができる。   According to such a configuration, in the assist mode, the user can move the cleaner body with a small operation force by controlling the travel drive unit so as to assist the operation of the operation member detected by the operation detection unit. It is possible to improve convenience while reducing the burden on the user.

本発明では、前記操作部材には、前記掃除機本体の走行方向および走行速度の少なくとも一方を指示する走行指示部が設けられ、前記手動モードは、前記走行指示部からの指示に基づいて前記走行駆動部を制御する指示モードを備えることが好ましい。   In the present invention, the operation member is provided with a travel instruction unit that instructs at least one of a travel direction and a travel speed of the cleaner body, and the manual mode is based on an instruction from the travel instruction unit. It is preferable to provide an instruction mode for controlling the drive unit.

このような構成によれば、指示モードにおいて、操作部材に設けられた走行指示部を用いて使用者が掃除機本体の走行方向や走行速度を指示し、この指示に基づいて走行駆動部が動作することで、使用者はより少ない操作力で掃除機本体を移動させることができ、使用者の負担をより一層軽減させることができる。   According to such a configuration, in the instruction mode, the user instructs the traveling direction and the traveling speed of the cleaner body using the traveling instruction unit provided on the operation member, and the traveling drive unit operates based on the instruction. Thus, the user can move the main body of the cleaner with less operation force, and the burden on the user can be further reduced.

本発明では、前記操作部材には、前記掃除機本体に電力を供給する電力供給部が設けられていることが好ましい。   In the present invention, it is preferable that the operation member is provided with a power supply unit that supplies power to the cleaner body.

このような構成によれば、操作部材に設けられた電力供給部から掃除機本体に電力を供給することで、掃除機本体の残留電力が僅かになった際にも清掃を継続させることができる。なお、電力供給部としては、操作部材に設けられた充電池であってもよいし、操作部材から延びて電源コンセントに接続可能な電力線であってもよい。   According to such a configuration, by supplying power to the cleaner body from the power supply unit provided on the operation member, it is possible to continue cleaning even when the residual power of the cleaner body becomes small. . The power supply unit may be a rechargeable battery provided on the operation member, or a power line that extends from the operation member and can be connected to a power outlet.

本発明の第１実施形態に係る電気掃除機の斜視図The perspective view of the vacuum cleaner which concerns on 1st Embodiment of this invention. 前記電気掃除機の断面図であり、図１にII−II線で示す断面図It is sectional drawing of the said vacuum cleaner, and sectional drawing shown by the II-II line in FIG. 前記電気掃除機の断面図であり、図１にIII−III線で示す断面図It is sectional drawing of the said vacuum cleaner, and sectional drawing shown by the III-III line in FIG. 前記電気掃除機の概略構成を示す機能ブロック図Functional block diagram showing a schematic configuration of the electric vacuum cleaner 本発明の第２実施形態に係る電気掃除機の断面図Sectional drawing of the vacuum cleaner which concerns on 2nd Embodiment of this invention. 前記電気掃除機の概略構成を示す機能ブロック図Functional block diagram showing a schematic configuration of the electric vacuum cleaner 本発明の第３実施形態に係る電気掃除機の断面図Sectional drawing of the vacuum cleaner which concerns on 3rd Embodiment of this invention. 前記電気掃除機の概略構成を示す機能ブロック図Functional block diagram showing a schematic configuration of the electric vacuum cleaner

〔第１実施形態〕
以下、本発明の第１実施形態を図面に基づいて説明する。
図１は、本発明の第１実施形態に係る電気掃除機の斜視図である。
電気掃除機１は、図１に示すように、床面Ｆに沿って走行しつつ清掃可能な自走式の掃除機本体２と、掃除機本体２に取り付けて使用者が操作可能な操作部材３と、を備える。この電気掃除機１は、操作部材３が取り付けられていない掃除機本体２が自律走行式の掃除ロボットとして機能し、掃除機本体２に操作部材３が取り付けられることで手動操作式掃除機として機能する。[First Embodiment]
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a first embodiment of the invention will be described with reference to the drawings.
FIG. 1 is a perspective view of the electric vacuum cleaner according to the first embodiment of the present invention.
As shown in FIG. 1, the electric vacuum cleaner 1 includes a self-propelled cleaner main body 2 that can be cleaned while traveling along the floor surface F, and an operation member that is attached to the cleaner main body 2 and that can be operated by a user. 3. This vacuum cleaner 1 functions as a manually operated vacuum cleaner by attaching the operation member 3 to the vacuum cleaner main body 2 as the vacuum cleaner main body 2 to which the operation member 3 is not attached functions as an autonomously traveling cleaning robot. To do.

掃除機本体２は、全体円筒状のボディ１０と、自走するための一対の車輪１１１を駆動する走行駆動部１１と、走行駆動部１１を駆動制御する本体制御部１２と、掃除機本体２を操作するための本体操作部１３と、掃除機本体２の駆動電源としての本体バッテリ１４と、操作部材３を着脱自在に連結する本体連結部１５と、を備える。本体操作部１３には、電源ＯＮ／ＯＦＦボタンや、掃除モード選択ボタン、停止ボタン、充電ボタン等が設けられている。   The vacuum cleaner body 2 includes an overall cylindrical body 10, a travel drive unit 11 that drives a pair of wheels 111 for self-running, a main body control unit 12 that drives and controls the travel drive unit 11, and the vacuum cleaner body 2. A main body operating unit 13 for operating the main body, a main body battery 14 as a driving power source for the cleaner main body 2, and a main body connecting unit 15 for detachably connecting the operating member 3. The main body operation unit 13 is provided with a power ON / OFF button, a cleaning mode selection button, a stop button, a charge button, and the like.

操作部材３は、長尺棒状の操作桿２０と、操作桿２０の一端部に設けられて使用者が把持して操作するための把持部２１と、操作桿２０の他端部に設けられて本体連結部１５に連結される操作連結部２２と、連結された掃除機本体２を駆動制御する操作制御部２３と、把持部２１に設けられて使用者が指で操作可能なコントローラ２４と、操作桿２０の内部に設けられた操作バッテリ２５と、を備える。把持部２１には、図示しない電源ＯＮ／ＯＦＦボタンや、停止ボタン、充電ボタン等が設けられている。   The operation member 3 is provided on the long rod-shaped operation rod 20, a grip portion 21 provided on one end portion of the operation rod 20 for a user to grip and operate, and on the other end portion of the operation rod 20. An operation connecting part 22 connected to the main body connecting part 15, an operation control part 23 for driving and controlling the connected cleaner body 2, a controller 24 provided on the grip part 21 and operable by a user with a finger, And an operation battery 25 provided inside the operation rod 20. The grip portion 21 is provided with a power ON / OFF button, a stop button, a charge button, and the like (not shown).

図２、３は、それぞれ電気掃除機の断面図であり、図２は、図１にII−II線で示す断面図であり、図３は、図１にIII−III線で示す断面図である。
図２、３に示すように、掃除機本体２のボディ１０の下面には、床面Ｆ上の塵やほこりを吸い込むための吸込み部１６が設けられている。この吸込み部１６には、図示しないダクト、送風機、集塵室および排気口が接続されており、吸い込んだ塵等を集塵室のフィルタで集塵するとともに、吸い込んだ空気を排気口から排気するようになっている。2 and 3 are cross-sectional views of the vacuum cleaner, FIG. 2 is a cross-sectional view taken along line II-II in FIG. 1, and FIG. 3 is a cross-sectional view taken along line III-III in FIG. is there.
As shown in FIGS. 2 and 3, a suction portion 16 for sucking dust and dust on the floor surface F is provided on the lower surface of the body 10 of the cleaner body 2. A duct, a blower, a dust collection chamber, and an exhaust port (not shown) are connected to the suction portion 16, and sucked dust and the like are collected by a filter of the dust collection chamber, and the sucked air is exhausted from the exhaust port. It is like that.

走行駆動部１１は、図１、３に示すように、左右一対の車輪１１１と、一対の車輪１１１を各々独立して回転駆動するモータ１１２と、を備えている。また、図２に示すように、ボディ１０の前後には、補助輪１１３が設けられている。図３に示すように、モータ１１２と車輪１１１の回転軸との間には、車輪１１１とモータ１１２との相対回転を検出する回転センサ（操作検出部）１１４が設けられている。   As shown in FIGS. 1 and 3, the travel drive unit 11 includes a pair of left and right wheels 111 and a motor 112 that independently drives the pair of wheels 111 to rotate. In addition, as shown in FIG. 2, auxiliary wheels 113 are provided in front of and behind the body 10. As shown in FIG. 3, a rotation sensor (operation detection unit) 114 that detects relative rotation between the wheel 111 and the motor 112 is provided between the motor 112 and the rotation shaft of the wheel 111.

図２、３に示すように、本体連結部１５には、操作部材３の操作連結部２２が連結されているか否かを検出するための連結センサ（連結検出部）１５１と、操作連結部２２が鉛直軸Ｘ１回りの第１回転方向Ｒ１に回転したことを検出するための回転センサ（操作検出部）１５２と、操作連結部２２と電気的に接続される本体接点部１５３と、が設けられている。   As shown in FIGS. 2 and 3, a connection sensor (connection detection unit) 151 for detecting whether or not the operation connection part 22 of the operation member 3 is connected to the main body connection part 15, and the operation connection part 22. Is provided with a rotation sensor (operation detection unit) 152 for detecting that the motor rotates in the first rotation direction R1 about the vertical axis X1, and a main body contact unit 153 electrically connected to the operation coupling unit 22. ing.

操作連結部２２は、操作桿２０に接続するためのユニバーサルジョイント２２１と、本体連結部１５の本体接点部１５３に電気的に接続するための操作接点部２２２と、を備える。この操作連結部２２は、本体連結部１５に対して上方から差し込むことで連結され、図示しない係止部によって係止され、水平方向および鉛直方向に移動不能かつ、第１回転方向Ｒ１に沿って回転自在に連結される。また、操作部材３に設けられた図示しない連結解除スイッチの操作によって係止部の係止が外れ、本体接点部１５３から鉛直方向上方に操作連結部２２を抜くことで、操作部材３と掃除機本体２との連結が解除されるようになっている。   The operation connecting portion 22 includes a universal joint 221 for connecting to the operating rod 20 and an operation contact portion 222 for electrically connecting to the main body contact portion 153 of the main body connecting portion 15. The operation connecting portion 22 is connected to the main body connecting portion 15 by being inserted from above, locked by a not-shown locking portion, immovable in the horizontal direction and the vertical direction, and along the first rotation direction R1. It is connected rotatably. Further, the locking portion is unlocked by an operation of a connection release switch (not shown) provided on the operation member 3, and the operation connection portion 22 is removed from the main body contact portion 153 in the vertical direction. The connection with the main body 2 is released.

ユニバーサルジョイント２２１は、操作桿２０の軸方向Ｘ２回りの第２回転方向Ｒ２に沿った捩れを第１回転方向Ｒ１に沿った回転に変換する。さらに、ユニバーサルジョイント２２１と操作桿２０とは、互いに水平軸回りに回転自在に接続されており、この水平軸を中心として操作桿２０および把持部２１が上下方向に回動可能に支持されている。   The universal joint 221 converts the twist along the second rotation direction R2 around the axial direction X2 of the operating rod 20 into rotation along the first rotation direction R1. Furthermore, the universal joint 221 and the operating rod 20 are connected to each other so as to be rotatable around a horizontal axis, and the operating rod 20 and the grip portion 21 are supported so as to be rotatable in the vertical direction around the horizontal axis. .

本体連結部１５に操作連結部２２が連結されたことは、連結センサ１５１によって検出される。そして、把持部２１を持った使用者が操作桿２０を第２回転方向Ｒ２に捩じると、ユニバーサルジョイント２２１によって第１回転方向Ｒ１の回転として本体連結部１５に伝達され、この回転が回転センサ１５２によって検出される。また、本体接点部１５３と操作接点部２２２とが接触することで、掃除機本体２と操作部材３とが電気的に接続される。   The connection sensor 151 detects that the operation connecting portion 22 is connected to the main body connecting portion 15. When the user holding the grip portion 21 twists the operating rod 20 in the second rotation direction R2, the universal joint 221 transmits the rotation to the main body connection portion 15 as the rotation in the first rotation direction R1, and this rotation is rotated. Detected by sensor 152. Moreover, the cleaner main body 2 and the operation member 3 are electrically connected by the main body contact portion 153 and the operation contact portion 222 being in contact with each other.

図４は、電気掃除機の概略構成を示す機能ブロック図である。
以下、図４も参照しつつ電気掃除機１の動作について説明する。
掃除機本体２の本体制御部１２は、走行駆動部１１を制御する走行制御部１２１と、吸込み部１６を制御する吸込制御部１２２と、操作部材３が連結されたか否かに応じてモードを切り替えるモード制御部１２３と、本体バッテリ１４への充電を制御する電源制御部１２４と、を備える。FIG. 4 is a functional block diagram illustrating a schematic configuration of the electric vacuum cleaner.
Hereinafter, the operation of the electric vacuum cleaner 1 will be described with reference to FIG.
The main body control unit 12 of the vacuum cleaner main body 2 changes the mode according to whether the operation control unit 121 is connected to the travel control unit 121 that controls the travel drive unit 11, the suction control unit 122 that controls the suction unit 16, or not. A mode control unit 123 for switching and a power control unit 124 for controlling charging of the main battery 14 are provided.

掃除機本体２の電源がＯＮされると、本体制御部１２は、連結センサ１５１により本体連結部１５に操作部材３の操作連結部２２が連結されているか否かを検出する。操作連結部２２が連結されていないと判断した場合、モード制御部１２３は自動モードに切り替え、操作連結部２２が連結されていると判断した場合、モード制御部１２３は手動モードに切り替える。   When the power source of the cleaner body 2 is turned on, the main body control unit 12 detects whether or not the operation connecting portion 22 of the operating member 3 is connected to the main body connecting portion 15 by the connection sensor 151. When it is determined that the operation connecting unit 22 is not connected, the mode control unit 123 switches to the automatic mode, and when it is determined that the operation connecting unit 22 is connected, the mode control unit 123 switches to the manual mode.

自動モードにおいて、走行制御部１２１は、予め設定された走行プログラムに応じて走行駆動部１１を駆動制御し、モータ１１２によって車輪１１１を回転させて掃除機本体２を自走させる。掃除機本体２の走行に伴って、吸込制御部１２２は、吸込み部１６を制御して吸込み動作を実施させる。所定の走行プログラムが終了すると、走行制御部１２１が走行駆動部１１を停止させるとともに、吸込制御部１２２が吸込み部１６の動作を停止させ、本体制御部１２は、電気掃除機１を待機状態とする。   In the automatic mode, the travel control unit 121 drives and controls the travel drive unit 11 according to a preset travel program, and rotates the wheels 111 by the motor 112 to cause the cleaner body 2 to self-run. As the cleaner body 2 travels, the suction control unit 122 controls the suction unit 16 to perform a suction operation. When the predetermined travel program ends, the travel control unit 121 stops the travel drive unit 11, the suction control unit 122 stops the operation of the suction unit 16, and the main body control unit 12 puts the vacuum cleaner 1 into a standby state. To do.

手動モードにおいて、走行制御部１２１は、走行プログラムを用いず、操作部材３を用いた使用者からの操作を補助するように走行駆動部１１を駆動制御する（補助モード）。操作部材３を用いた使用者からの操作を受け付けている間、吸込制御部１２２は、吸込み部１６を制御して吸込み動作を実施させる。   In the manual mode, the traveling control unit 121 drives and controls the traveling drive unit 11 so as to assist the operation by the user using the operation member 3 without using the traveling program (auxiliary mode). While accepting an operation from the user using the operation member 3, the suction control unit 122 controls the suction unit 16 to perform a suction operation.

使用者が操作部材３を押すかまたは引いて掃除機本体２を前進または後進させた場合、車輪１１１の回転が回転センサ１１４によって検出され、この検出信号に基づき、すなわち使用者による操作部材３の操作方向および操作力に応じて、走行制御部１２１は、掃除機本体２を前進または後進させる方向に走行駆動部１１を駆動制御する。この際、走行駆動部１１は、使用者による前進または後進の操作速度を超えないように車輪１１１の駆動速度を調整する。   When the user pushes or pulls the operating member 3 to move the cleaner body 2 forward or backward, the rotation of the wheel 111 is detected by the rotation sensor 114, and based on this detection signal, that is, the operating member 3 by the user. Depending on the operation direction and the operation force, the travel control unit 121 controls the travel drive unit 11 in a direction in which the cleaner body 2 moves forward or backward. At this time, the travel drive unit 11 adjusts the drive speed of the wheels 111 so as not to exceed the forward or reverse operation speed of the user.

使用者が把持部２１によって操作桿２０を第２回転方向Ｒ２に捩じると、ユニバーサルジョイント２２１を介して操作連結部２２の回転が本体連結部１５の回転センサ１５２によって検出され、この検出信号を本体制御部１２が受信する。受信した検出信号に基づき、すなわち使用者による操作部材３の操作方向および操作力に応じて、走行制御部１２１は、左右の走行駆動部１１におけるモータ１１２の回転速度を制御し、掃除機本体２の走行方向を変更し、右転回または左転回させる。   When the user twists the operating rod 20 in the second rotation direction R2 with the grip portion 21, the rotation of the operation connecting portion 22 is detected by the rotation sensor 152 of the main body connecting portion 15 via the universal joint 221, and this detection signal Is received by the main body control unit 12. Based on the received detection signal, that is, according to the operation direction and operation force of the operation member 3 by the user, the travel control unit 121 controls the rotational speed of the motor 112 in the left and right travel drive units 11, and the cleaner body 2. Change the direction of travel and turn right or left.

また、使用者は、操作部材３を押したり引いたりせず、コントローラ２４を操作して前進または後進を指示してもよい（指示モード）。コントローラ２４が操作されると、操作制御部２３は、前進または後進の指示を電気信号として操作連結部２２に送り、操作接点部２２２および本体接点部１５３を介して本体制御部１２が指示を受信する。受信した指示の電気信号に基づき、走行制御部１２１は、走行駆動部１１を駆動制御して掃除機本体２を前進または後進させる。   Further, the user may instruct forward or backward operation by operating the controller 24 without pushing or pulling the operation member 3 (instruction mode). When the controller 24 is operated, the operation control unit 23 sends a forward or reverse instruction as an electrical signal to the operation connecting unit 22, and the main body control unit 12 receives the instruction via the operation contact unit 222 and the main body contact unit 153. To do. Based on the received electrical signal of the instruction, the travel control unit 121 drives and controls the travel drive unit 11 to move the cleaner body 2 forward or backward.

本体操作部１３または操作部材３の停止ボタンを使用者が押した停止信号を検出するか、または操作部材３の操作連結部２２と本体連結部１５との連結が解除されたことを連結センサ１５１が検出した場合、走行制御部１２１が走行駆動部１１を停止させるとともに、吸込制御部１２２が吸込み部１６の動作を停止させ、本体制御部１２は、電気掃除機１を待機状態とする。   A connection sensor 151 detects that a stop signal from the user pressing the stop button of the main body operation unit 13 or the operation member 3 is detected, or that the connection between the operation connection unit 22 of the operation member 3 and the main body connection unit 15 is released. Is detected, the travel control unit 121 stops the travel drive unit 11, the suction control unit 122 stops the operation of the suction unit 16, and the main body control unit 12 puts the vacuum cleaner 1 into a standby state.

本体連結部１５と操作連結部２２とが連結された状態において、本体操作部１３または操作部材３の充電ボタンを使用者が押すことで、電源制御部１２４は、操作部材３の操作バッテリ２５から本体バッテリ１４への充電を開始し、再び充電ボタンが押されるか本体バッテリ１４が満充電になると充電を停止する。なお、使用者による充電ボタンの操作によらず、操作部材３の操作連結部２２が本体連結部１５に連結されたことを連結センサ１５１が検出したときに、操作バッテリ２５から本体バッテリ１４への充電が自動的に開始されるように、電源制御部１２４が動作してもよい。   In a state where the main body connecting portion 15 and the operation connecting portion 22 are connected, when the user presses the charging button of the main body operating portion 13 or the operating member 3, the power supply control portion 124 is removed from the operating battery 25 of the operating member 3. Charging of main battery 14 is started, and charging is stopped when the charging button is pressed again or main battery 14 is fully charged. When the connection sensor 151 detects that the operation connecting portion 22 of the operation member 3 is connected to the main body connecting portion 15 regardless of the operation of the charging button by the user, the operation battery 25 is connected to the main battery 14. The power supply control unit 124 may operate so that charging is automatically started.

このような本実施形態によれば、以下の作用・効果を奏することができる。
（１）掃除機本体２が自動モードによって自走することで、自走式電気掃除機（掃除ロボット）として機能し、自動的に床面Ｆの清掃を実施することができる。一方、本体連結部１５に操作部材３が連結されたことを検知して手動モードとなり、操作部材３からの手動操作を受け付けることで、使用者が操作部材３を操作して掃除機本体２を移動させ、特定の場所を重点的に清掃することができる。従って、自動モードによって所定の走行ルートを一巡するのを待つことなく、手動モードで特定の場所を清掃することで、使用者の好みや要望に応じた場所を効率よく短時間で清掃することができる。According to the present embodiment as described above, the following operations and effects can be achieved.
(1) Since the cleaner body 2 is self-propelled in the automatic mode, it functions as a self-propelled electric vacuum cleaner (cleaning robot), and the floor F can be automatically cleaned. On the other hand, when the operation member 3 is detected to be connected to the main body connecting portion 15, the manual mode is entered, and the manual operation from the operation member 3 is accepted, whereby the user operates the operation member 3 to move the cleaner main body 2. It can be moved and a specific place can be intensively cleaned. Therefore, it is possible to efficiently and quickly clean a place according to a user's preference and demand by cleaning a specific place in the manual mode without waiting for a round of a predetermined travel route in the automatic mode. it can.

（２）手動モードのうち補助モードにおいて、回転センサ１１５，１５２が検出した操作部材３の操作方向や操作力を補助するように走行駆動部１１が車輪１１１を駆動することで、使用者は少ない操作力で掃除機本体２を移動させることができ、使用者の負担を軽減させつつ利便性を高めることができる。 (2) In the manual mode, in the assist mode, the traveling drive unit 11 drives the wheels 111 so as to assist the operation direction and the operation force of the operation member 3 detected by the rotation sensors 115 and 152, thereby reducing the number of users. The cleaner body 2 can be moved by operating force, and convenience can be enhanced while reducing the burden on the user.

（３）手動モードのうち指示モードにおいて、操作部材３に設けられたコントローラ２４を用いて使用者が掃除機本体２の前進や後進を指示し、この指示に基づいて走行駆動部１１が車輪１１１を駆動することで、使用者はより少ない操作力で掃除機本体２を移動させることができ、使用者の負担をより一層軽減させることができる。 (3) In the manual mode, in the instruction mode, the user instructs the cleaner main body 2 to move forward or backward using the controller 24 provided on the operation member 3, and based on this instruction, the traveling drive unit 11 causes the wheels 111 to move. By driving, the user can move the cleaner body 2 with a smaller operating force, and the burden on the user can be further reduced.

（４）操作部材３に設けられた操作バッテリ２５から掃除機本体２の本体バッテリ１４に電力を供給することで、掃除機本体２の残留電力が僅かになった際にも清掃を継続させることができ、利便性をさらに向上させることができる。 (4) Supplying power from the operation battery 25 provided on the operation member 3 to the main body battery 14 of the cleaner body 2 allows the cleaning to be continued even when the residual power of the cleaner body 2 becomes small. And convenience can be further improved.

〔第２実施形態〕
図５は、本発明の第２実施形態に係る電気掃除機の断面図であり、図６は、電気掃除機の概略構成を示す機能ブロック図である。
本実施形態の電気掃除機１は、前記第１実施形態と比較して、掃除機本体２の走行駆動部１１および本体連結部１５、操作部材３の操作連結部２２の構成が相違する。また、本実施形態の操作部材３には、操作制御部２３、コントローラ２４および操作バッテリ２５が設けられておらず、操作連結部２２が機械的に本体連結部１５に連結されるのみであって、掃除機本体２と操作部材３とが電気的に接続されない構成となっている。[Second Embodiment]
FIG. 5 is a cross-sectional view of a vacuum cleaner according to the second embodiment of the present invention, and FIG. 6 is a functional block diagram showing a schematic configuration of the vacuum cleaner.
The vacuum cleaner 1 of this embodiment differs in the structure of the driving | running | working drive part 11 of the cleaner main body 2, the main body connection part 15, and the operation connection part 22 of the operation member 3 compared with the said 1st Embodiment. Further, the operation member 3 of the present embodiment is not provided with the operation control unit 23, the controller 24, and the operation battery 25, and only the operation connection unit 22 is mechanically connected to the main body connection unit 15. The vacuum cleaner body 2 and the operation member 3 are not electrically connected.

図５、６に示すように、走行駆動部１１には、モータ１１２と車輪１１１との間で駆動力を伝達または切断するためのクラッチ１１５が設けられている。また、本体連結部１５には、第１実施形態と同様に、操作連結部２２の連結を検出する連結センサ１５１と、操作連結部２２の回転を検出する回転センサ１５２と、が設けられるとともに、これらに加えて操作連結部２２から前後方向に加わる力を検出する前後センサ１５４が設けられている。この前後センサ１５４は、操作連結部２２と本体連結部１５との間に生じる前後方向の微小な変位を検出する歪ゲージ等で構成されている。   As shown in FIGS. 5 and 6, the travel drive unit 11 is provided with a clutch 115 for transmitting or disconnecting the driving force between the motor 112 and the wheels 111. Further, as in the first embodiment, the main body connection portion 15 is provided with a connection sensor 151 that detects the connection of the operation connection portion 22 and a rotation sensor 152 that detects the rotation of the operation connection portion 22. In addition to these, a front-rear sensor 154 that detects a force applied in the front-rear direction from the operation connecting portion 22 is provided. The front / rear sensor 154 is configured by a strain gauge or the like that detects a minute displacement in the front / rear direction generated between the operation connecting portion 22 and the main body connecting portion 15.

本実施形態の電気掃除機１において、本体連結部１５に操作連結部２２が連結されず、自動モードに切り替えられた場合の掃除機本体２の動作は、第１実施形態と略同様である。この際、クラッチ１１５はモータ１１２と車輪１１１とを連結してモータ１１２の駆動力が車輪１１１に伝達される伝達位置に設定される。   In the vacuum cleaner 1 of this embodiment, the operation | movement connection part 22 is not connected with the main body connection part 15, but the operation | movement of the cleaner main body 2 at the time of switching to automatic mode is substantially the same as 1st Embodiment. At this time, the clutch 115 connects the motor 112 and the wheel 111 and is set to a transmission position where the driving force of the motor 112 is transmitted to the wheel 111.

一方、本体連結部１５に操作連結部２２が連結されたことを連結センサ１５１が検出すると、モード制御部１２３は手動モードに切り替える。本実施形態の手動モードは、使用者による操作部材３の操作を補助するように走行駆動部１１を駆動制御する補助モードと、走行駆動部１１を駆動せずに使用者による操作部材３の操作だけで掃除機本体２を走行させる完全手動モードと、を備える。補助モードと完全手動モードとの切り替えは、掃除機本体２または操作部材３に設けられた図示しないモード選択スイッチによって行われる。   On the other hand, when the connection sensor 151 detects that the operation connection unit 22 is connected to the main body connection unit 15, the mode control unit 123 switches to the manual mode. The manual mode of the present embodiment includes an auxiliary mode for driving and controlling the travel drive unit 11 so as to assist the operation of the operation member 3 by the user, and an operation of the operation member 3 by the user without driving the travel drive unit 11. And a complete manual mode in which the cleaner body 2 travels alone. Switching between the auxiliary mode and the complete manual mode is performed by a mode selection switch (not shown) provided in the cleaner body 2 or the operation member 3.

補助モードにおいて、本体連結部１５の回転センサ１５２および前後センサ１５４は、操作部材３の操作連結部２２から作用する使用者の操作を検出し、使用者の操作を補助するように走行駆動部１１を駆動制御する。使用者が操作部材３を押すかまたは引くと、その力が前後センサ１５４によって検出され、この検出信号に基づき、すなわち使用者による操作部材３の操作方向および操作力に応じて、走行制御部１２１は、掃除機本体２を前進または後進させる方向に走行駆動部１１を駆動制御する。また、使用者が把持部２１によって操作桿２０を捩じると、操作連結部２２の回転が回転センサ１５２によって検出され、この検出信号に基づき、すなわち使用者による操作部材３の操作方向および操作力に応じて、走行制御部１２１は、左右のモータ１１２の回転速度を制御して掃除機本体２を左右に転回させる。   In the assist mode, the rotation sensor 152 and the front / rear sensor 154 of the main body connecting portion 15 detect the user's operation acting from the operation connecting portion 22 of the operating member 3 and assist the user's operation. Is controlled. When the user pushes or pulls the operation member 3, the force is detected by the front / rear sensor 154, and based on this detection signal, that is, according to the operation direction and operation force of the operation member 3 by the user, the travel control unit 121. Controls driving of the traveling drive unit 11 in a direction in which the cleaner body 2 moves forward or backward. When the user twists the operating rod 20 with the grip portion 21, the rotation of the operation connecting portion 22 is detected by the rotation sensor 152. Based on this detection signal, that is, the operation direction and operation of the operation member 3 by the user. In accordance with the force, the traveling control unit 121 controls the rotational speed of the left and right motors 112 to rotate the cleaner body 2 left and right.

完全手動モードにおいて、走行制御部１２１は、クラッチ１１５によるモータ１１２と車輪１１１との連結を切断し、車輪１１１を自由回転させるように走行駆動部１１を制御する。従って、使用者は操作部材３の押し引きによって掃除機本体２を前進または後進させるとともに、把持部２１によって操作桿２０を捩じることで掃除機本体２を左右に転回させる。   In the complete manual mode, the travel control unit 121 controls the travel drive unit 11 to disconnect the motor 112 and the wheel 111 by the clutch 115 and to freely rotate the wheel 111. Therefore, the user moves the cleaner body 2 forward or backward by pushing and pulling the operation member 3 and turns the cleaner body 2 left and right by twisting the operation rod 20 with the grip portion 21.

このような本実施形態によれば、前記（１）の効果に加え以下の作用・効果を奏することができる。
（５）手動モードの補助モードにおいて、回転センサ１５２および前後センサ１５４が検出した操作部材３の操作を補助するように走行駆動部１１が車輪１１１を駆動することで、使用者は少ない操作力で掃除機本体２を移動させることができ、使用者の負担を軽減させつつ利便性を高めることができる。According to such this embodiment, in addition to the effect (1), the following actions and effects can be achieved.
(5) In the auxiliary mode of the manual mode, the traveling drive unit 11 drives the wheels 111 so as to assist the operation of the operation member 3 detected by the rotation sensor 152 and the front / rear sensor 154, so that the user can operate with less operation force. The cleaner body 2 can be moved, and convenience can be enhanced while reducing the burden on the user.

（６）完全手動モードにおいて、車輪１１１を自由回転させるように走行駆動部１１を制御することで、操作部材３を介した使用者による完全な手動操作によって掃除機本体を移動させつつ清掃を実施することができる。従って、使用者の意図した通りに掃除機本体２を移動させることができるので、使用者の利便性を向上させつつ良好な使用感を得ることができる。また、完全手動モードでは走行駆動部１１のモータ１１２が駆動しないので、省電力化を図ることができる。 (6) In the complete manual mode, the traveling drive unit 11 is controlled so as to freely rotate the wheels 111, thereby performing cleaning while moving the cleaner body by a complete manual operation by the user via the operation member 3. can do. Therefore, since the cleaner body 2 can be moved as intended by the user, a good feeling of use can be obtained while improving the convenience for the user. Further, since the motor 112 of the travel drive unit 11 is not driven in the complete manual mode, power saving can be achieved.

（７）操作部材３から電気部品が省略されて掃除機本体２と電気的に接続されていないので、操作部材３の構造を簡単化できるとともに、操作部材３を軽量化することができる。従って、操作部材３を操作する使用者の負担をさらに軽減させることができる。 (7) Since the electric component is omitted from the operation member 3 and is not electrically connected to the cleaner body 2, the structure of the operation member 3 can be simplified and the operation member 3 can be reduced in weight. Therefore, the burden on the user who operates the operation member 3 can be further reduced.

〔第３実施形態〕
図７は、本発明の第３実施形態に係る電気掃除機の断面図であり、図８は、電気掃除機の概略構成を示す機能ブロック図である。
本実施形態の電気掃除機１は、前記第１実施形態と比較して、掃除機本体２の本体連結部１５および操作部材３の構成が相違する。[Third Embodiment]
FIG. 7 is a cross-sectional view of a vacuum cleaner according to a third embodiment of the present invention, and FIG. 8 is a functional block diagram showing a schematic configuration of the vacuum cleaner.
The vacuum cleaner 1 of this embodiment differs in the structure of the main body connection part 15 and the operation member 3 of the cleaner main body 2 compared with the said 1st Embodiment.

図７、８に示すように、本体連結部１５には、第１実施形態と同様に、操作連結部２２の連結を検出する連結センサ１５１と、操作連結部２２と電気的に接続される本体接点部１５３と、が設けられるものの、第１実施形態の回転センサ１５２（図４）が省略されている。また、操作部材３には、第１実施形態のコントローラ２４（図４）が省略され、それに代えて操作検出部としての軸力センサ２６および回転センサ２７が設けられている。   As shown in FIGS. 7 and 8, the main body connecting portion 15 has a connection sensor 151 for detecting the connection of the operation connecting portion 22 and a main body electrically connected to the operation connecting portion 22, as in the first embodiment. Although the contact part 153 is provided, the rotation sensor 152 (FIG. 4) of 1st Embodiment is abbreviate | omitted. Moreover, the controller 24 (FIG. 4) of 1st Embodiment is abbreviate | omitted to the operation member 3, and it replaces with and the axial force sensor 26 and rotation sensor 27 as an operation detection part are provided.

軸力センサ２６および回転センサ２７は、操作桿２０の途中部分に設けられている。なお、軸力センサ２６および回転センサ２７は、操作桿２０に限らず、操作連結部２２のユニバーサルジョイント２２１や、操作桿２０と把持部２１との接続部分、操作桿２０と操作連結部２２との接続部分などに設けられていてもよい。軸力センサ２６は、使用者が操作部材３を押し引きした際に生じる軸方向Ｘ２に沿った軸力を検出する。回転センサ２７は、把持部２１によって操作桿２０を捩じった際に生じる第２回転方向Ｒ２回りの捩じり力を検出する。   The axial force sensor 26 and the rotation sensor 27 are provided in the middle of the operation rod 20. The axial force sensor 26 and the rotation sensor 27 are not limited to the operation rod 20, but the universal joint 221 of the operation coupling portion 22, the connection portion between the operation rod 20 and the gripping portion 21, and the operation rod 20 and the operation coupling portion 22. It may be provided in the connection part of the. The axial force sensor 26 detects an axial force along the axial direction X2 generated when the user pushes and pulls the operation member 3. The rotation sensor 27 detects a torsional force around the second rotation direction R <b> 2 that is generated when the operating rod 20 is twisted by the grip portion 21.

本実施形態の電気掃除機１において、本体連結部１５に操作連結部２２が連結されず、自動モードに切り替えられた場合の掃除機本体２の動作は、第１実施形態と同様である。   In the vacuum cleaner 1 of this embodiment, the operation | movement connection part 22 is not connected with the main body connection part 15, but operation | movement of the cleaner main body 2 at the time of switching to automatic mode is the same as that of 1st Embodiment.

一方、本体連結部１５に操作連結部２２が連結され、手動モードに切り替えられた場合、操作部材３の軸力センサ２６により検出した軸力および回転センサ２７により検出した捩じり力は、操作制御部２３に送られ、操作部材３を操作した操作力として演算処理される。操作制御部２３は、処理した操作力の情報を、操作連結部２２の操作接点部２２２および本体連結部１５の本体接点部１５３を介して本体制御部１２に送信する。本体制御部１２は、操作力の情報に基づいて、使用者の操作を補助するように走行駆動部１１を駆動制御する（補助モード）。   On the other hand, when the operation connecting portion 22 is connected to the main body connecting portion 15 and switched to the manual mode, the axial force detected by the axial force sensor 26 of the operating member 3 and the torsional force detected by the rotation sensor 27 are It is sent to the control unit 23 and is subjected to arithmetic processing as an operating force for operating the operating member 3. The operation control unit 23 transmits information on the processed operation force to the main body control unit 12 via the operation contact unit 222 of the operation connection unit 22 and the main body contact unit 153 of the main body connection unit 15. The main body control unit 12 controls the driving of the traveling drive unit 11 so as to assist the user's operation based on information on the operation force (auxiliary mode).

このような本実施形態によれば、前記（１）の効果に加え以下の作用・効果を奏することができる。
（８）手動モードの補助モードにおいて、軸力センサ２６および回転センサ２７が検出した操作部材３の操作を補助するように走行駆動部１１が車輪１１１を駆動することで、使用者は少ない操作力で掃除機本体２を移動させることができ、使用者の負担を軽減させつつ利便性を高めることができる。According to such this embodiment, in addition to the effect (1), the following actions and effects can be achieved.
(8) In the auxiliary mode of the manual mode, the traveling drive unit 11 drives the wheels 111 so as to assist the operation of the operation member 3 detected by the axial force sensor 26 and the rotation sensor 27, so that the user has less operation force. Thus, the cleaner body 2 can be moved, and convenience can be enhanced while reducing the burden on the user.

〔実施形態の変形〕
なお、本発明は、前記実施形態に限定されるものではなく、本発明の目的を達成できる範囲での変形、改良等は本発明に含まれるものである。
例えば、前記実施形態では、操作部材３が長尺棒状の操作桿２０を備えて構成されていたが、操作部材としては、全体長尺状のものに限らず、任意形状のものが利用可能である。また、前記実施形態では、掃除機本体２が全体円筒状のボディ１０を備えて構成されていたが、掃除機本体としては、全体円形のものに限らず、任意形状のものが利用可能である。さらに、掃除機本体に対する操作部材の連結位置は、円形の中心近傍に限らず、任意の位置であればよい。また、前記実施形態では、本体連結部１５と操作連結部２２とが互いに係止する構成であったが、これに限らず、本体連結部と操作連結部とが磁石等によって磁着することで掃除機本体に着脱自在に操作部材が連結される構成であってもよい。[Modification of Embodiment]
Note that the present invention is not limited to the above-described embodiment, and modifications, improvements, and the like within a scope in which the object of the present invention can be achieved are included in the present invention.
For example, in the above-described embodiment, the operation member 3 is configured to include the long rod-shaped operation rod 20, but the operation member is not limited to the overall long shape, and an arbitrary shape can be used. is there. Moreover, in the said embodiment, although the cleaner main body 2 was comprised including the whole cylindrical body 10, as a cleaner main body, not only a whole circular thing but the thing of arbitrary shapes can be utilized. . Furthermore, the connection position of the operation member with respect to the cleaner body is not limited to the vicinity of the center of the circle, and may be any position. Moreover, in the said embodiment, although the main body connection part 15 and the operation connection part 22 were the structures mutually latched, not only this but a main body connection part and an operation connection part are magnetized by a magnet etc. The structure by which an operation member is connected with a vacuum cleaner main body so that attachment or detachment is possible may be sufficient.

前記第１実施形態では、手動モードが補助モードと指示モードとに切り替え可能に構成されていたが、補助モードおよび指示モードのいずれか一方だけを備えていてもよい。補助モードのみで構成する場合には、操作部材３からコントローラ２４を省略することができる。指示モードのみで構成する場合には、掃除機本体２の走行駆動部１１から回転センサ１１４を省略することができる。   In the first embodiment, the manual mode is configured to be switchable between the auxiliary mode and the instruction mode. However, only one of the auxiliary mode and the instruction mode may be provided. In the case of configuring only the auxiliary mode, the controller 24 can be omitted from the operation member 3. When configured only in the instruction mode, the rotation sensor 114 can be omitted from the travel drive unit 11 of the cleaner body 2.

また、前記第１実施形態における走行指示部としてのコントローラ２４は、図１に示すように前進、後進をそれぞれ指示するための独立したボタンを備えたものに限らず、前進、後進を指示するスライダを備えていてもよい。さらに、走行指示部としては、前進および後進のみならず、左右転回を指示するように構成されていてもよい。その場合、走行指示部の構成としては、前後左右の独立したボタンや、前後左右にスライド可能なスライダ、指の接触を感知するタッチパッド等、適宜なものが利用可能である。   Further, the controller 24 as the travel instruction unit in the first embodiment is not limited to the one having independent buttons for instructing forward and backward as shown in FIG. 1, but is a slider for instructing forward and backward. May be provided. Furthermore, the travel instruction unit may be configured to instruct not only forward and reverse but also left and right turning. In this case, as the configuration of the traveling instruction unit, appropriate ones such as independent front / rear / left / right buttons, a slider slidable forward / backward / left / right, and a touch pad for detecting finger contact can be used.

前記第２実施形態では、手動モードが補助モードと完全手動モードとに切り替え可能に構成されていたが、補助モードおよび完全手動モードのいずれか一方だけを備えていてもよい。補助モードのみで構成する場合には、掃除機本体２の走行駆動部１１からクラッチ１１５を省略することができる。完全手動モードのみで構成する場合には、本体連結部１５から回転センサ１５２および前後センサ１５４を省略することができる。   In the second embodiment, the manual mode is configured to be switchable between the auxiliary mode and the complete manual mode. However, only one of the auxiliary mode and the complete manual mode may be provided. In the case of configuring only the auxiliary mode, the clutch 115 can be omitted from the travel drive unit 11 of the cleaner body 2. In the case of only the complete manual mode, the rotation sensor 152 and the front / rear sensor 154 can be omitted from the main body connecting portion 15.

前記第１、３実施形態では、本体連結部１５の本体接点部１５３と操作連結部２２の操作接点部２２２とが電気的に接続され、コントローラ２４の操作や、軸力センサ２６および回転センサ２７の検出に基づく操作制御部２３からの制御信号が有線接続によって掃除機本体２の本体制御部１２に送信されていたが、このような構成に限られない。すなわち、操作部材に設けられた走行指示部や操作検出部からの信号は、電波や光信号等の無線接続によって掃除機本体に送信されてもよい。   In the first and third embodiments, the main body contact portion 153 of the main body connection portion 15 and the operation contact portion 222 of the operation connection portion 22 are electrically connected to operate the controller 24, the axial force sensor 26, and the rotation sensor 27. Although the control signal from the operation control part 23 based on the detection of this was transmitted to the main body control part 12 of the vacuum cleaner main body 2 by wired connection, it is not restricted to such a structure. That is, a signal from a travel instruction unit or an operation detection unit provided on the operation member may be transmitted to the cleaner body through a wireless connection such as a radio wave or an optical signal.

前記第１、３実施形態では、操作部材３に設けられた操作バッテリ（電力供給部）２５から掃除機本体２の本体バッテリ１４に充電可能になっていたが、電力供給部としては、操作バッテリ２５に限らず、電源コンセントや外部バッテリに接続可能な電力線が操作部材から延びて設けられ、この電力線からの電力を本体バッテリ１４に充電可能に構成されていてもよい。また、電力供給部は、本発明における必須の構成ではなく、適宜に省略することができる。   In the first and third embodiments, the operation battery (power supply unit) 25 provided in the operation member 3 can be charged to the main battery 14 of the cleaner body 2. A power line that can be connected to a power outlet or an external battery is provided extending from the operation member, and the main battery 14 may be configured to be able to charge power from the power line. Further, the power supply unit is not an essential configuration in the present invention, and can be omitted as appropriate.

また、前記各実施形態では、掃除機本体２の電源がＯＮされた際に、連結センサ（連結検出部）１５１によって操作部材３が連結されているか否かを検出し、操作部材３が連結されていれば手動モードになり、操作部材３が連結されていなければ自動モードになる構成であったが、使用者からの操作指令によってモードが切り替え可能に構成されていてもよい。具体的には、操作部材にリモートコントロールの発信部が設けられ、その受信部が掃除機本体に設けられ、掃除機本体に操作部材が連結されていない状態で操作部材をリモート操作することで、掃除機本体の動作を制御する。例えば、自動モードで自走中の掃除機本体に対して操作部材から手動モードに切り替えるという指令を送信することで、掃除機本体を一旦停止させ、停止させた掃除機本体に操作部材を連結して手動モードに切り替えてもよい。この際、掃除機本体に音声発生手段が設けられ、この音声発生手段から音声を発することで、掃除機本体が自位置を使用者に知らせるようにしてもよい。また、操作部材の位置を認識する位置認識手段が掃除機本体に設けられ、操作部材からの指令を受信した掃除機本体が操作部材の場所まで移動するように構成されていてもよい。   Moreover, in each said embodiment, when the power supply of the cleaner body 2 is turned ON, it detects whether the operation member 3 is connected by the connection sensor (connection detection part) 151, and the operation member 3 is connected. In this case, the manual mode is selected, and the automatic mode is set when the operation member 3 is not connected. However, the mode may be switched according to an operation command from the user. Specifically, the operation member is provided with a remote control transmitter, the receiver is provided in the cleaner body, and the operation member is not connected to the cleaner body by remote operation, Controls the operation of the vacuum cleaner body. For example, by sending a command to switch from the operation member to the manual mode to the vacuum cleaner main body that is self-running in the automatic mode, the vacuum cleaner main body is temporarily stopped, and the operation member is connected to the stopped vacuum cleaner main body. You may switch to manual mode. At this time, the cleaner main body may be provided with sound generating means, and the cleaner main body may notify the user of its own position by generating sound from the sound generating means. Further, position recognition means for recognizing the position of the operation member may be provided in the cleaner body, and the cleaner body that has received a command from the operation member may be moved to the location of the operation member.

以上のように、本発明は、自動運転と手動操作を任意に切り替えることで使用者の好みや要望に応じた場所を効率よく短時間で清掃することができる電気掃除機に好適に利用できる。   As described above, the present invention can be suitably used for a vacuum cleaner that can efficiently and quickly clean a place according to a user's preference and demand by arbitrarily switching between automatic operation and manual operation.

１ 電気掃除機
２ 掃除機本体
３ 操作部材
１１ 走行駆動部
１２ 本体制御部
１５ 本体連結部
２２ 操作連結部
２４ コントローラ（走行指示部）
２５ 操作バッテリ（電力供給部）
２６ 軸力センサ（操作検出部）
２７ 回転センサ（操作検出部）
１１１ 車輪
１１４ 回転センサ（操作検出部）
１２１ 走行制御部
１５１ 連結センサ（連結検出部）
１５２ 回転センサ（操作検出部）
１５４ 前後センサ（操作検出部）
Ｆ 床面DESCRIPTION OF SYMBOLS 1 Electric vacuum cleaner 2 Vacuum cleaner main body 3 Operation member 11 Travel drive part 12 Main body control part 15 Main body connection part 22 Operation connection part 24 Controller (travel instruction | indication part)
25 Operation battery (power supply unit)
26 Axial force sensor (operation detector)
27 Rotation sensor (operation detection unit)
111 Wheel 114 Rotation sensor (Operation detection unit)
121 travel control unit 151 connection sensor (connection detection unit)
152 Rotation sensor (operation detection unit)
154 Front / rear sensor (operation detection unit)
F Floor

Claims (5)

床面に沿って走行しつつ清掃可能な自走式の掃除機本体と、
前記掃除機本体に取り付けて使用者が操作可能な操作部材と、を備え、
前記掃除機本体は、
自走するための車輪を駆動する走行駆動部と、
前記走行駆動部を駆動制御する本体制御部と、
前記操作部材を着脱自在に連結する本体連結部と、
前記本体連結部に前記操作部材が連結されているか否かを検出する連結検出部と、を有し、
前記本体制御部は、前記操作部材が連結されていない場合に前記走行駆動部により自走する自動モードと、前記操作部材が連結されている場合に該操作部材からの手動操作を受け付ける手動モードと、を切り替えることを特徴とする電気掃除機。A self-propelled vacuum cleaner that can be cleaned while traveling along the floor;
An operation member attached to the vacuum cleaner body and operable by a user,
The vacuum cleaner body is
A traveling drive unit that drives wheels for self-propelling;
A main body control unit for driving and controlling the travel drive unit;
A main body connecting portion for detachably connecting the operation member;
A connection detection unit that detects whether or not the operation member is connected to the main body connection unit;
The main body control unit includes an automatic mode in which the traveling drive unit self-runs when the operation member is not coupled, and a manual mode in which a manual operation from the operation member is accepted when the operation member is coupled. A vacuum cleaner characterized by switching between. 請求項１に記載された電気掃除機において、
前記手動モードは、前記車輪を自由回転させるように前記走行駆動部を制御する完全手動モードを備えることを特徴とする電気掃除機。The vacuum cleaner according to claim 1, wherein
The vacuum cleaner according to claim 1, wherein the manual mode includes a complete manual mode for controlling the travel drive unit to freely rotate the wheels. 請求項１または請求項２に記載された電気掃除機において、
前記掃除機本体および前記操作部材の少なくとも一方には、該操作部材の操作方向および操作力を検出する操作検出部が設けられ、
前記手動モードは、前記操作検出部が検出した前記操作部材の操作を補助するように前記走行駆動部を制御する補助モードを備えることを特徴とする電気掃除機。In the vacuum cleaner according to claim 1 or 2,
At least one of the cleaner body and the operation member is provided with an operation detection unit that detects an operation direction and an operation force of the operation member,
The vacuum cleaner according to claim 1, wherein the manual mode includes an auxiliary mode for controlling the travel drive unit to assist the operation of the operation member detected by the operation detection unit. 請求項１から請求項３のいずれかに記載された電気掃除機において、
前記操作部材には、前記掃除機本体の走行方向および走行速度の少なくとも一方を指示する走行指示部が設けられ、
前記手動モードは、前記走行指示部からの指示に基づいて前記走行駆動部を制御する指示モードを備えることを特徴とする電気掃除機。In the vacuum cleaner according to any one of claims 1 to 3,
The operation member is provided with a travel instruction unit that instructs at least one of a travel direction and a travel speed of the cleaner body,
The vacuum cleaner according to claim 1, wherein the manual mode includes an instruction mode for controlling the traveling drive unit based on an instruction from the traveling instruction unit. 請求項１から請求項４のいずれかに記載された電気掃除機において、
前記操作部材には、前記掃除機本体に電力を供給する電力供給部が設けられていることを特徴とする電気掃除機。In the vacuum cleaner according to any one of claims 1 to 4,
The vacuum cleaner characterized by the said operation member being provided with the electric power supply part which supplies electric power to the said vacuum cleaner main body.
JP2019523259A 2017-06-07 2017-06-07 Electric vacuum cleaner Pending JPWO2018225173A1 (en)

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