JPWO2019043938A1 - Self-propelled vacuum cleaner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled cleaner capable of downsizing and reducing load by simplifying the structure of a surrounding cleaning means. A self-propelled cleaner (1) includes a cleaner body (2) having wheels (121) for self-propelling, and a rotary cleaning unit capable of suction cleaning the periphery of the cleaner body (2). And (3). The rotation cleaning unit (3) includes an arm (21) that can rotate outward from the cleaner body (2), and a suction port (74) provided in the arm (21) for sucking dust and the like on the floor. , A rotation support portion (61, 144) for rotatably supporting the arm (21) on the cleaner body (2), and an arm (21) provided along the rotation axis of the rotation support portion (61, 144). And a suction path (66) that communicates the inside with the sub-duct (143). [Selection diagram] Fig. 20

Description

  The present invention relates to a self-propelled vacuum cleaner.

  2. Description of the Related Art Conventionally, as a self-propelled cleaner (cleaning robot) for cleaning a floor, a traveling means for traveling the cleaner main body, and a main cleaning provided on a lower surface of the cleaner main body to suck dust and the like on the floor. There is known an apparatus provided with a cleaning means and a peripheral cleaning means provided so as to be able to protrude laterally from the cleaner body (for example, see Patent Document 1). The traveling means drives a pair of left and right wheels and the respective wheels in a forward rotation direction and a reverse rotation direction to cause the cleaner body to travel in the front-rear direction and to rotate in an arbitrary direction. The main cleaning means includes a duct and a suction fan communicating with the main suction port, and dust sucked from the main suction port is sent to the dust collection chamber.

  The peripheral cleaning means of the self-propelled cleaner described in Patent Literature 1 includes a movable suction body (rotating body) that can protrude outward from the cleaner body, and a torsion coil spring that biases the movable suction body in a protruding direction. (Biasing means), and a motor with a reduction mechanism (drive means) for accommodating the movable suction body in the cleaner body against the biasing force of the torsion coil spring. The driving force from the motor with the speed reduction mechanism to the movable suction body is transmitted through the first and second transmission means in the storage direction, and the first and second transmission means are turned off in the protruding direction. By separating, the driving force is not transmitted, and only the urging force of the torsion coil spring acts on the movable suction body. Therefore, when the protruding movable mouthpiece comes into contact with an obstacle or the like, the movable mouthpiece is housed in the cleaner body against the urging force of the torsion coil spring, and moves away again from the obstacle by the urging force of the torsion coil spring. The mouthpiece is configured to protrude.

JP 2008-279066 A

  However, in a conventional self-propelled cleaner as described in Patent Literature 1, the surrounding cleaning means is configured such that a rotating body (movable suction body) is rotatably supported by the cleaner body and passes through the inside of the rotating body. Although the dust and the like are sent to the dust collection chamber of the cleaner body, the structures of the rotation supporting portion of the rotating body and the suction path are complicated. For this reason, there are problems such as an increase in the size of the peripheral cleaning means, an increase in driving load, and a decrease in suction performance.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a self-propelled vacuum cleaner capable of reducing the size and the load by simplifying the structure of the peripheral cleaning means.

  A self-propelled cleaner according to the present invention is a self-propelled cleaner that can be cleaned while traveling along a floor surface, and includes a cleaner body having wheels for self-propelling, and a periphery of the cleaner body. A surrounding area cleaning means that can be suction-cleaned, wherein the cleaner main body includes a dust collecting chamber for accommodating dust and the like sucked by the surrounding cleaning means, and a collecting part communicating the surrounding cleaning means and the dust collecting chamber. A dust path, wherein the surrounding cleaning means includes: a rotating body rotatable outward from the cleaner body; a suction port provided on the rotating body for sucking dust or the like on a floor surface; A rotary support portion rotatably supporting the moving body on the cleaner body; and a suction path provided along a rotation axis of the rotary support portion and communicating the inside of the rotary body with the dust collection path. It is characterized by being constituted.

  According to this aspect of the invention, the peripheral cleaning unit has the rotating body, the rotation support portion, and the suction path, and the suction path is provided along the rotation axis of the rotation support portion, and the suction path allows the inside of the rotation body to be connected to the rotation body. By communicating with the dust collection path, the structures of the rotation support portion of the rotating body and the suction path can be simplified. Therefore, it is possible to reduce the driving load and improve the suction performance while reducing the size of the peripheral cleaning unit.

  In the present invention, the rotation support portion of the peripheral cleaning means includes an annular outer cylinder provided in the cleaner body, and a cylindrical inner cylinder provided in the rotating body and inserted through the outer cylinder. , And the inside of the inner cylinder preferably forms the suction path.

  According to such a configuration, the rotation support portion has the outer cylinder on the cleaner body side and the inner cylinder on the rotating body side, and the inner cylinder is inserted into the outer cylinder and a suction path is formed by the inside of the inner cylinder. By doing so, dust and the like sucked from the suction port are smoothly sent to the dust collection path through the inside of the inner cylinder, and it is possible to prevent dust and the like from being caught and remaining in the suction path.

  In the present invention, it is preferable that the peripheral cleaning unit further includes a rotation driving unit that rotationally drives the rotating body with respect to the cleaner body.

  According to such a configuration, the rotating area is rotationally driven by the active driving of the rotary driving unit, so that the cleaning range of the peripheral cleaning unit can be appropriately changed, and the periphery of the cleaner body is efficiently cleaned. can do.

  In the present invention, the rotating body is provided with a rotor that rotates together with the rotating body, and the cleaner body includes an angle detecting unit that detects a rotating angle of the rotating body based on a position of the rotor. Is preferably provided outside the dust collection path.

  According to such a configuration, since the rotating body is provided with the rotor and the angle detection means is provided outside the dust collection path of the cleaner body, adhesion of dust and the like to the angle detection means is prevented. can do. Further, by detecting the rotation angle of the rotating body by the angle detection means based on the position of the rotor, it is possible to grasp the state of the surrounding cleaning means.

  In the present invention, it is preferable that the rotor is a permanent magnet, and the angle detecting means includes a detection circuit for detecting a change in a magnetic field accompanying rotation of the permanent magnet.

  According to such a configuration, the rotor is a permanent magnet, and by detecting a change in the magnetic field accompanying the rotation of the permanent magnet by the detection circuit, the rotation angle of the rotating body can be detected in a non-contact manner. .

  In the present invention, the rotating body has a first rotating body rotatably supported on one end side of the cleaner body, and the suction port provided rotatably supported on the other end side of the first rotating body. A second rotating body, and a second rotating support portion that rotatably supports the second rotating body with respect to the first rotating body, wherein the second rotating support portion includes the first rotating body. A second outer cylinder, a second cylindrical inner cylinder provided in the second rotating body and inserted through the second outer cylinder, and the suction port through the inside of the second inner cylinder. And a second suction path communicating with the inside of the first rotating body.

  According to such a configuration, since the rotating body includes the first rotating body, the second rotating body, and the second rotation supporting portion, the cleaning range by the surrounding cleaning unit can be expanded, and the rotation range can be reduced by walls or obstacles. The corner can be efficiently cleaned by allowing the second rotating body to reach the corner. The second rotation support portion has a second outer cylinder, a second inner cylinder, and a second suction path, and the second inner cylinder is inserted into the second outer cylinder, and the second inner cylinder has a second inner cylinder. Since the suction path is configured, dust and the like sucked from the suction port are smoothly sent to the first rotating body through the inside of the second inner cylinder, and the dust and the like are caught and remain in the second suction path. Can be prevented.

  In the present invention, it is preferable that the rotating body is provided with a rotation urging unit that urges the second rotating body with respect to the first rotating body in a rotation direction.

  According to such a configuration, the second rotating body is urged in the rotational direction by the rotation urging means, so that the second rotating body is rotationally displaced by the elasticity of the rotation urging means when an external force is applied. Accordingly, it is possible to reduce the load on the first rotating body and the rotation supporting portion, and to reduce damage to walls, furniture, and the like that the second rotating body contacts.

The perspective view which looked at the self-propelled cleaner concerning one embodiment of the present invention from the upper part. A perspective view of the self-propelled cleaner viewed from below. The perspective view which looked at the projection state of the circumference cleaning means from the upper part in the self-propelled cleaner. The perspective view which looked at the projection state of the circumference cleaning means from the lower part in the self-propelled cleaner. Front view showing the housed state of the surrounding cleaning means in the self-propelled vacuum cleaner Top view showing the housed state of the surrounding cleaning means in the self-propelled vacuum cleaner FIG. 4 is a right side view showing the housed state of the surrounding cleaning means in the self-propelled cleaner. Left side view showing the housed state of the surrounding cleaning means in the self-propelled vacuum cleaner Rear view showing the housed state of the surrounding cleaning means in the self-propelled vacuum cleaner Bottom view of the self-propelled vacuum cleaner showing a state in which peripheral cleaning means projects. Front view of the self-propelled vacuum cleaner showing a state in which peripheral cleaning means projects. Top view of the self-propelled vacuum cleaner showing a projected state of the surrounding cleaning means. FIG. 4 is a right side view showing a protruding state of peripheral cleaning means in the self-propelled cleaner. Left side view of the self-propelled cleaner in a state in which the surrounding cleaning means is projected. The rear view which shows the protrusion state of the periphery cleaning means in the said self-propelled (vacuum) cleaner. Bottom view of the self-propelled vacuum cleaner showing a state in which peripheral cleaning means projects. Bottom view of the self-propelled vacuum cleaner in which the protruding state of the surrounding cleaning means is changed. Sectional drawing which shows the protrusion state of the periphery cleaning means in the said self-propelled cleaner. Functional block diagram showing a schematic configuration of the self-propelled vacuum cleaner Sectional view showing the periphery cleaning means in an enlarged manner. A perspective view showing a cross section of the peripheral cleaning means. A perspective view showing a cross section of the peripheral cleaning means. Bottom view of the periphery cleaning means viewed from below and enlarged (A)-(D) are bottom views showing the operation of the peripheral cleaning means. (A), (B) is a top view which shows operation | movement of the said self-propelled cleaner. (A)-(C) is a top view which shows the other operation | movement of the said self-propelled (vacuum) cleaner.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
FIG. 1 is a perspective view of a self-propelled cleaner according to an embodiment of the present invention as viewed from above, and FIG. 2 is a perspective view of the self-propelled cleaner as viewed from below. FIG. 3 is a perspective view of the protruding state of the peripheral cleaning means in the self-propelled cleaner viewed from above, and FIG. 4 is a perspective view of the protruding state of the peripheral cleaning means in the self-propelled cleaner viewed from below. is there. 5 to 10 are six views (a front view, a top view, a right side view, a left side view, a rear view, and a bottom view) showing the housed state of the peripheral cleaning means in the self-propelled cleaner. 11 to 16 are six views (a front view, a top view, a right side view, a left side view, a rear view, and a bottom view) showing a protruding state of the peripheral cleaning means in the self-propelled cleaner. FIG. 17 is a bottom view of the self-propelled cleaner in which the protruding state of the surrounding cleaning means is changed. FIG. 18 is a cross-sectional view showing a protruding state of the peripheral cleaning means in the self-propelled cleaner, and is a cross-sectional view taken along a line AA in FIG. FIG. 19 is a functional block diagram illustrating a schematic configuration of the self-propelled cleaner.

  The self-propelled cleaner 1 is a cleaning robot that cleans the floor surface while traveling along the floor surface, and as shown in FIGS. 1 to 18, the cleaner body 2 and the periphery of the cleaner body 2. A rotary cleaning unit 3 as a peripheral cleaning unit (sub-cleaning unit) for cleaning, a sensor unit 4 for detecting an obstacle around the cleaner main body 2, a cleaner main unit 2, and the rotary cleaning unit 3 And a control unit 5 (see FIG. 19) as control means for controlling the driving of the sensor unit 4.

  The cleaner main body 2 includes a body 10 having an upper surface portion 101, a front surface portion 102, left and right side surface portions 103 and a rear surface portion 104, a chassis 11 forming a bottom surface portion 105, and a pair of left and right wheels 121 for self-propelling. , A lift 13 provided to be able to move up and down from the upper surface 101 of the body 10, and a suction provided to the bottom 105 of the body 10 for sucking dust and dust on the floor. And a main body operation unit 15 (see FIG. 19) for operating the cleaner main body 2. The main body operation unit 15 is, for example, a touch sensor type switch (not shown) provided on the upper surface portion 101 of the cleaner main body 2, and operates the self-propelled cleaner 1 by a touch operation by a user. The self-propelled cleaner 1 is stopped by the middle touch operation.

  The rotating cleaning unit 3 is provided as a pair of left and right at the front part of the cleaner body 2, and includes an arm 21 as a rotating body (projecting body) that protrudes laterally from the cleaner body 2 and can rotate. A motor 22 which will be described later as driving means for rotating and driving, a load sensor 23 (see FIG. 19) as load detecting means for detecting a load (torque) acting on the motor 22 from outside, and a turning angle of the arm 21 And an angle sensor 24 (see FIG. 19) as angle detecting means to be described later. The arm 21 has a first arm 21A as a first rotating body rotatably supported at one end side of the cleaner body 2 and a second rotating body rotatably supported at the other end side of the first arm 21A. And a second arm 21B.

  The sensor unit 4 includes a front sensor 31 provided on the front surface 102 of the body 10, a surrounding sensor 32 provided as a surrounding detecting unit provided on the elevating unit 13, and a rear sensor 33 provided on the back 104 of the body 10. , And is configured. The front sensor 31 includes an ultrasonic sensor, an infrared sensor, and the like, and detects an obstacle in front of the cleaner body 2. The ambient sensor 32 is a laser scanner (LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging)) that is driven to rotate inside the elevating unit 13 and measures the distance by irradiating a laser beam such as an infrared laser. Thus, the distance to the obstacle and the shape of the obstacle are calculated. The surrounding sensor 32 is not limited to the one provided on the elevating unit 13 and may be provided at any position on the body 10. The rear sensor 33 is for detecting a distance or a position with respect to a charging station or the like (not shown), and communicates with the charging station or the like using infrared rays or the like.

  The traveling drive unit 12 includes a pair of left and right wheels 121 and a motor (not shown) that independently drives the pair of wheels 121 to rotate. An auxiliary wheel 122 is provided at a rear portion of the chassis 11. The suction unit 14 is connected to a roller brush 141, a duct 142 (see FIG. 18), a suction fan (not shown), a dust collection chamber, and an exhaust port, and collects the sucked dust and the like with a filter in the dust collection chamber. The sucked air is exhausted from an exhaust port. As shown in FIG. 18, a sub duct 143 as a dust collection path connected to the arm 21 of the rotary cleaning unit 3 is connected to the duct 142 or the dust collection chamber of the suction unit 14.

  As shown in FIG. 19, the control unit 5 includes a traveling control unit 41 that controls the traveling driving unit 12, a suction control unit 42 that controls the suction unit 14, a front sensor 31, a surrounding sensor 32, and a rear sensor of the sensor unit 4. A detection calculation unit 43 that processes detection signals from the sensor 33 and the load sensor 23 and the angle sensor 24 of the rotation cleaning unit 3; and an arm control that drives and controls the motor 22 of the rotation cleaning unit 3 to rotate the arm 21. A part 44.

  Hereinafter, the structure and operation of the rotary cleaning unit 3 will be described in detail with reference to FIGS. FIG. 20 is an enlarged sectional view showing the rotary cleaning unit 3. 21 and 22 are perspective views each showing a cross section of the rotary cleaning unit 3, and FIG. 23 is an enlarged bottom view of the rotary cleaning unit 3 as viewed from below. FIGS. 24A to 24D are bottom views showing the operation of the rotary cleaning unit 3.

  As shown in FIGS. 20 to 22, the first arm 21A of the arm 21 is formed to be entirely hollow. On one end of the first arm 21A, a first cylindrical inner cylinder (inner cylinder) 61 which is open and protrudes upward, and a column 62 which is protruded downward are formed. An annular second outer cylinder portion (second outer cylinder) 63 that opens downward is formed. The sub duct 143 is formed with an annular first outer cylinder portion (outer cylinder) 144 that opens downward. The first inner cylinder 61 is inserted through the first outer cylinder 144 and is rotatably supported by the first outer cylinder 144 via a sliding ring 145 having a small coefficient of friction.

  On the other hand, an annular bearing portion 11B is formed on the support portion 11A provided on the chassis 11, and the columnar portion 62 is inserted through the bearing portion 11B and is carried via a sliding ring 11C having a small coefficient of friction. It is rotatably supported by the part 11B. The first arm 21A is attached to the cleaner main body 2 by the first inner cylindrical portion 61 and the cylindrical portion 62 of the first arm 21A, the first outer cylindrical portion 144 of the sub duct 143, and the bearing portion 11B of the chassis 11. A rotation support portion rotatably supported is configured.

  The second arm 21B is formed in the shape of a whole elongated bowl that opens downward, and has a cylindrical second inner cylinder portion (second inner cylinder) that projects upward and opens at an intermediate portion of the second arm 21B. ) 71 are formed. The second inner cylinder portion 71 is formed with an extended portion 72 that extends upward and is bent, and the extended portion 72 is pivotally supported on the inner surface of the first arm 21A by a pin 73. The second inner cylinder 71 is inserted through the second outer cylinder 63 of the first arm 21A and is rotatably supported by the second outer cylinder 63 via a sliding ring 64 having a small friction coefficient. ing. The second rotation support portion rotatably supports the second arm 21B on the first arm 21A by the second inner cylinder portion 71 of the second arm 21B and the second outer cylinder portion 63 of the first arm 21A. Is configured.

  The motor 22 is fixed inside the body 10 and reduces the rotation of the motor 22 via a drive gear 22A fixed to the output shaft thereof and a driven gear 22B supported inside the body 10, thereby reducing the first rotation. The first arm 21A is configured to be rotationally driven by transmitting it to the arm 21A. The motor 22 is provided with a load detection circuit (not shown) for detecting a load (rotation resistance) applied from the first arm 21A, and the load detection circuit constitutes a load sensor 23 (see FIG. 19).

  The first inner cylinder portion 61 of the first arm 21A is formed with a magnet holding portion 65 that extends upward and slides on the inner surface of the top plate of the sub duct 143, and a permanent magnet 81 as a rotor is mounted on the magnet holding portion 65. Is held. On the outer surface of the top plate of the sub duct 143, that is, outside the dust collection path, a magnetic field sensor 82 for detecting a change in a magnetic field due to rotation of the permanent magnet 81, and a substrate 83 having a detection circuit including the magnetic field sensor 82 are provided. , Are provided. The magnetic field sensor 82 and the substrate 83 constitute an angle sensor 24 (see FIG. 19) as angle detecting means for detecting the rotation angle of the first arm 21A.

  The second arm 21B has a suction port 74 that opens downward and sucks dust and the like on the floor surface, and a downward concave cover 75 is attached to the inside of the suction port 74. The suction port 74 communicates with the internal space of the first arm 21 </ b> A through the inside of the second inner cylinder 71, that is, a second suction path 76 is formed by the inside of the second inner cylinder 71. Further, the internal space of the first arm 21 </ b> A communicates with the internal space of the sub duct 143, which is a dust collection path, through the inside of the first inner cylinder 61, that is, the suction path 66 is formed by the inside of the first inner cylinder 61. It is configured.

  As shown in FIGS. 22 and 23, a coil spring 77 as a rotation urging means is provided above the cover 75 inside the second arm 21B. The coil spring 77 is a tension spring, one end of which is locked by a projection 78 provided on the distal end of the second arm 21B, and the other end of which is the distal end of the first arm 21A (of the second outer cylinder 63). The projection 67 extends downward from the outer side). An arc-shaped long hole 79 (see FIG. 23) is formed in the second arm 21B along the outer periphery of the second inner cylindrical portion 71. The projection 67 is inserted into the long hole 79, and The protrusion 67 is guided along the circumferential direction. Therefore, the rotation angle of the second arm 21B with respect to the first arm 21A is regulated by the circumferential length of the elongated hole 79 (the angle around the center of the second inner cylindrical portion 71).

  As shown in FIG. 24, the second arm 21B is rotatably supported by the first arm 21A, and is urged by the coil spring 77 toward the initial position shown in FIG. . At the initial position, the rotation of the second arm 21B is restricted by the protrusion 67 of the first arm 21A abutting on one edge of the elongated hole 79 of the second arm 21B. When an external force acts on the second arm 21B from the front (upper side in the figure) to the rear side (lower side in the figure), it resists the urging force of the coil spring 77 as shown in FIGS. As a result, the distal end of the second arm 21B rotates rearward. Then, when the second arm 21B rotates to the maximum rotation position shown in FIG. 24D, the protrusion 67 comes into contact with the other end edge of the long hole 79, thereby restricting the rotation of the second arm 21B. When the external force is removed, the second arm 21B returns to the initial position by the urging force of the coil spring 77.

  Further, when an external force acts on the second arm 21B to rotate against the urging force of the coil spring 77, a resistance accompanying the rotation is transmitted to the first arm 21A, and the first arm 21A is rotationally driven. The load is detected by a load sensor 23 (see FIG. 19) of the motor 22 that operates. When the rotation angle of the second arm 21B with respect to the first arm 21A increases, the urging force of the coil spring 77 increases, and the load detected by the load sensor 23 also increases. Therefore, the rotary cleaning unit 3 can function as a contact sensor (collision sensor) using the second arm 21B as a contact (bumper).

  As shown in FIG. 17, the rotary cleaning unit 3 is configured so that the arm 21 rotates between the housed state and the protruded state. When the arm 21 is in the housed state, the second arm 21B is positioned in front of the suction part 14 so as to overlap as shown by a virtual line (two-dot chain line) in FIG. Here, the width of the suction portion 14 is W1, the width of the second arm 21B is W2, and the width of the second arm 21B excluding the portion overlapping the suction portion 14 is W2a. Therefore, when the arm 21 is in the housed state, the cleaning width dimension of the suction unit 14 and the left and right rotating cleaning units 3 is (W1 + 2W2a). The width between the side end of the suction portion 14 and the outermost edge of the side surface portion 103 of the body 10 is W1a, and the outer end of the second arm 21B and the outermost edge of the side surface portion 103 of the body 10 are provided. Is W3.

  On the other hand, as shown by the solid line in FIG. 17, when the arm 21 is in the maximum protruding state orthogonal to the front-rear direction, the second arm 21B is positioned with a gap substantially on the side of the suction portion 14, and the width of this gap is set. The dimensions are W4. In the maximum protruding state, the cleaning width of the suction portion 14 and the left and right second arms 21B is (W1 + 2W2), and the width between the outer ends of the left and right second arms 21B is (W1 + 2W2 + 2W4). Further, the arm 21 is rotatable further backward from the maximum protruding state.

  Next, the operation of the self-propelled cleaner 1 will be described. When the power of the self-propelled cleaner 1 is turned on, the control unit 5 raises the elevating unit 13 to drive the surrounding sensor 32 and also drives the front sensor 31 and the rear sensor 33. Further, the travel control unit 41 of the control unit 5 controls the drive of the travel drive unit 12 according to a preset travel program, and rotates the wheels 121 by the motor to cause the cleaner body 2 to travel by itself. As the cleaner main body 2 travels, the suction control unit 42 controls the suction unit 14 to start a suction operation. At the start of cleaning, the arm 21 of the rotary cleaning unit 3 is in the housed state shown in FIGS.

  The self-propelled cleaner 1 that has started operation detects the presence / absence of a nearby obstacle and the distance to the obstacle using the front sensor 31 and the surrounding sensor 32, and while the self-propelled cleaner 1 is running by the traveling drive unit 12, the suction unit 14. To clean the floor. That is, based on detection signals from the front sensor 31 and the surrounding sensor 32, the detection calculation unit 43 calculates the distance to the obstacle, thereby recognizing the position and shape of the obstacle around the cleaner body 2. Can be. Note that the configuration may be such that the position or shape of the obstacle is recognized by the calculation of the front sensor 31 or the surrounding sensor 32, instead of the calculation of the detection calculation unit 43. As described above, the self-propelled cleaner 1 is stored in the storage state of the rotary cleaning unit 3 or the arm 21 is rotated while continuing to travel while recognizing the obstacles around the cleaner body 2. Cleaning is performed by, for example, positioning the device in a protruding state.

  Specific drive control of the rotary cleaning unit 3 during self-propelled cleaning will be described with reference to FIGS. FIGS. 25A and 25B are plan views showing the operation of the self-propelled cleaner. FIGS. 26A to 26C are plan views showing other operations of the self-propelled cleaner, and are diagrams showing operations at the time of cleaning a side wall and a corner of a wall.

  As shown in FIG. 25 (A), when the arm 21 of the rotary cleaning unit 3 is in the housed state, the width of the cleaning width dimension (W1 + 2W2a) is increased by the forward movement of the self-propelled cleaner 1 and the suction unit 14. It is cleaned by the left and right rotating cleaning units 3. In such a housed state of the arm 21, the portion of the width dimension W3 from the outer end of the second arm 21B to the outermost edge of the body 10 is not cleaned, and even if the arm 21 approaches the wall in this housed state. Thus, an uncleanable band-like area is formed near the wall. Therefore, when the wall surface W (see FIG. 26) is detected by the surrounding sensor 32, the arm 21 is turned according to the distance to the wall surface W as shown in FIG. .

  When the arm 21 of the rotary cleaning unit 3 is rotated to the maximum protruding state, the width W2 of the second arm 21B is larger than the width W3 as shown in FIG. It is possible to clean the side of the wall without gaps, including the impossible band-shaped area. The self-propelled cleaner 1 drives the traveling drive unit 12 to move forward while approaching the arm 21 to the maximum protruding state, approach the wall W, and travel in parallel with the wall W. At this time, the distance between the cleaner body 2 and the wall surface W may be based on a map of the cleaning area stored in the control unit 5 in advance, or may be based on the distance detected by the front sensor 31 or the surrounding sensor 32. The two-arm 21B travels along the wall surface W so as to maintain the distance at which the tip of the two arms 21B contacts the wall surface W or the closest distance without contacting the wall surface W.

  As shown in FIG. 26, when the arm 21 of the rotary cleaning unit 3 is cleaned along the wall surface W to clean the wall, the angle sensor 24 detects the rotary angle of the first arm 21A and the motor 22 The first arm 21A is rotated to a predetermined angle. As shown in FIG. 26A, when the self-propelled cleaner 1 continues to move forward with the tip of the second arm 21 </ b> B abutting on the wall W, the distance between the wall W and the cleaner body 2 is reduced. In this case, when the tip of the second arm 21B is pushed rearward, the second arm 21B rotates rearward against the urging force of the coil spring 77. Thus, even if the distance to the wall surface W fluctuates, the second arm 21B rotates, so that the copying cleaning along the wall surface W is executed.

  The front sensor 31 and the surrounding sensor 32 detect the front wall surface W, and when approaching the predetermined distance to the front wall surface W, the control unit 5 controls the driving of the traveling driving unit 12 by the traveling control unit 41 to stop the traveling driving unit 12. Turn (left turn) away from the side wall W (right side in the figure). As the self-propelled cleaner 1 turns in this manner, the tip of the second arm 21B separates from the side wall surface W, and the second arm 21B returns to the initial position by the urging force of the coil spring 77, and the second arm 21B The load sensor 23 detects that the load on 21B has disappeared. Based on this detection, the control unit 5 stops the turning by the traveling control unit 41, and then drives the motor 22 by the arm control unit 44 to reciprocate the arm 21 as shown in FIG. Thus, the corner of the wall surface W is suction-cleaned by the rotary cleaning unit 3. When the arm 21 is reciprocated in this manner, the rotation range of the arm 21 is adjusted based on the distance to the wall surface W, and the motor 22 is controlled before the tip of the second arm 21B contacts the wall surface W. Thus, the rotation speed of the arm 21 is reduced.

  When the arm 21 is reciprocated a predetermined number of times to clean the corner, the arm control unit 44 stops the motor 22 and fixes the first arm 21A. Subsequently, the control unit 5 controls the driving of the traveling drive unit 12 by the traveling control unit 41 to change the direction again, and further moves forward, as shown in FIG. Perform a follow-up cleaning.

According to the present embodiment, the following operations and effects can be obtained.
(1) The suction path 66 is formed by the inside of the first inner cylindrical portion 61 of the first arm 21A of the rotary cleaning section 3, and this suction path 66 is provided along the rotation axis of the rotation support section of the first arm 21A. The inside of the first arm 21A and the inside of the sub duct 143 (dust collection path) are communicated by the suction path 66, thereby simplifying the structure of the rotation support portion of the first arm 21A and the suction path 66. Can be. Accordingly, it is possible to reduce the driving load and improve the suction performance while reducing the size of the rotary cleaning unit 3.

(2) The rotation support section of the first arm 21A has the first outer cylinder section 144 of the cleaner body 2 and the first inner cylinder section 61 of the first arm 21A, and the first inner cylinder section 61 is the first outer cylinder section. Since the suction passage 66 is formed by the inside of the first inner cylinder portion 61 while being inserted into the cylinder portion 144, the sucked dust and the like smoothly pass through the inside of the first inner cylinder portion 61 to the sub duct 143. The dust and the like are sent to the suction path 66 and can be prevented from being caught and remaining.

(3) The second rotation support portion of the second arm 21B has the second outer cylinder portion 63, the second inner cylinder portion 71, and the second suction path 76, and the second inner cylinder is inserted through the second outer cylinder. In addition, since the second suction path 76 is formed by the inside of the second inner cylinder, dust and the like sucked from the suction port 74 can smoothly pass through the inside of the second inner cylinder portion 71 to the inside of the first arm 21A. And dust and the like can be prevented from being caught and remaining in the second suction path 76.

(4) Since the permanent magnet 81 is provided on the first arm 21A and the magnetic field sensor 82 and the substrate 83 are provided outside the sub duct 143 of the cleaner body 2, dust is generated on the magnetic field sensor 82 and the substrate 83. Etc. can be prevented from adhering. Further, by detecting the rotation angle of the first arm 21A by the angle sensor 24 based on the position of the permanent magnet 81, the state of the rotation cleaning unit 3 can be grasped.

(5) Since the rotary cleaning unit 3 includes the first arm 21A and the second arm 21B, each of the arms 21A and 21B rotates flexibly according to the shape of the obstacle, and is cleaned by the rotary cleaning unit 3. The range can be enlarged, and the corner can be efficiently cleaned by making the second arm 21B reach the corner formed by a wall or an obstacle.

(6) The first arm 21A is rotationally driven by the motor 22 with respect to the cleaner body 2, and the second arm 21B is urged in the rotational direction by the coil spring 77 with respect to the first arm 21A. The first arm 21A can be rotated by the active driving of the first arm 21A. Further, when an external force acts on the second arm 21B, the elasticity of the coil spring 77 causes the second arm 21B to be rotationally displaced, whereby the load on the first arm 21A and the motor 22 can be reduced. Further, by rotating the second arm 21B, the copying cleaning along the wall surface W can be executed without the second arm 21B being separated from the wall surface W even if the distance to the wall surface W fluctuates somewhat.

(7) By detecting the rotational load acting on the first arm 21A by the load sensor 23, the rotary cleaning unit 3 can be used as a contact-type sensor, and the traveling control of the self-propelled cleaner 1 can be efficiently performed. It can be carried out.

(8) Since the rotary cleaning unit 3 has a suction cleaning function of sucking dust and the like from the suction port 74 of the second arm 21B, the cleaning range can be more efficiently expanded.

(9) In the retracted state of the first arm 21A and the second arm 21B, a part of the second arm 21B overlaps the suction part 14 and another part is located on the side of the suction part 14, so that The cleaning range in the width direction when the traveling vacuum cleaner 1 travels can be expanded.

(10) Since the rotating cleaning unit 3 is provided in a pair on the left and right at the front part of the cleaner body 2, when the self-propelled cleaner 1 approaches the corner while traveling forward, the corner is removed. Even if it is on either side, it can be reliably cleaned.

(11) The drive control of the motor 22 of the rotary cleaning unit 3 based on the presence or absence of the obstacle detected by the surrounding sensor 32 and the drive control of the travel control unit 41 based on the load detected by the load sensor 23. In addition, the protrusion amount of the arm 21 and the traveling operation of the cleaner body 2 can be finely controlled.

(12) The load sensor 23 detects that the load on the second arm 21B has disappeared when the self-propelled cleaner 1 turns, and stops the turning based on this detection, and the arm control unit 44 By driving the arm 22 to reciprocate and rotate the arm 21, it is possible to efficiently rotate the arm 21 and clean the corners while suppressing an excessive load on the motor 22.

(13) When the surrounding sensor 32 detects an obstacle, the collision of the arm 21 with the obstacle is suppressed by controlling the motor 22 so that the rotation speed of the arm 21 decreases as the obstacle approaches the obstacle. The load can be reduced.

[Modification of Embodiment]
It should be noted that the present invention is not limited to the above-described embodiment, and includes modifications and improvements as long as the object of the present invention can be achieved.
For example, in the self-propelled cleaner 1 of the above-described embodiment, the rotary cleaning unit (peripheral cleaning unit) 3 is provided in a pair of right and left at the front part of the cleaner main body 2. Not limited to the front part, it may be provided on the side part or the rear part, not limited to the one provided on the left and right, may be provided only at one place, or may be provided at three or more places Good.

  In the above-described embodiment, the rotary cleaning unit (peripheral cleaning unit) 3 has a rotatable arm (rotary body) 21, and the arm 21 includes a first arm (first rotary body) 21 </ b> A and a second arm (rotary body). However, the configuration of the peripheral cleaning means is not limited to the above-described embodiment. That is, the rotating body of the peripheral cleaning means is not limited to the two rotating members such as the first rotating body and the second rotating body, but may be formed of one member, or has three or more members. May be configured.

  In the above-described embodiment, the rotary cleaning unit (surrounding cleaning means) 3 has a suction cleaning function of sucking dust and the like from the suction port 74 of the second arm 21B. Although the configuration is such that the dust is supplied from the dust path 143 to the dust collection chamber via the duct 142 of the suction unit (main cleaning unit) 14, the configuration is not limited to this. That is, the peripheral cleaning means has a sub-blower and a sub-dust collecting chamber independent of the main cleaning means, and the dust and the like sucked from the peripheral cleaning means suction port are sent from the dust collecting path to the sub-dust collecting chamber by the sub-blower. It may be configured.

  In the embodiment, in the rotary cleaning unit (peripheral cleaning unit) 3, the first arm (first rotary body) 21 </ b> A is driven to rotate by the motor (rotation driving unit) 22 with respect to the cleaner main body 2, Although the second arm (second rotating body) 21B is biased in the rotational direction by the coil spring (rotation biasing means) 77 with respect to 21A, the present invention is not limited to such a configuration. That is, the first rotating body may be urged by the rotation urging means against the cleaner body, and the second rotating body may be rotationally driven by the rotation driving means with respect to the first rotating body. At least one of the rotation urging means may be omitted. Further, the rotation driving means may be constituted by other appropriate driving means without being limited to the motor, and the rotation urging means may be constituted by other appropriate urging means without being limited to the coil spring.

  In the above-described embodiment, the rotation cleaning unit (peripheral cleaning unit) 3 detects the rotational load acting on the first arm 21A by the load sensor (load detection unit) 23 and the angle sensor (detects the rotation angle of the first arm 21A). Angle detecting means) 24, but at least one of the load detecting means and the angle detecting means may be omitted. Further, the load detecting means is not limited to a load detecting circuit configured to detect a rotational resistance acting on the motor 22, but may be a device that directly detects a load using a strain gauge, a load meter, or the like. . Further, the angle detecting means is not limited to the one including the permanent magnet 81 and the magnetic field sensor 82, but may be any sensor such as an optical sensor or an electromagnetic sensor.

  INDUSTRIAL APPLICABILITY As described above, the present invention can be suitably used for a self-propelled vacuum cleaner capable of reducing the size and the load by simplifying the structure of the peripheral cleaning means.

DESCRIPTION OF SYMBOLS 1 Self-propelled vacuum cleaner 2 Vacuum cleaner main body 3 Rotation cleaning part (sub cleaning means, peripheral cleaning means)
4 sensor unit 5 control unit (control means)
14 suction part (main cleaning means)
21 arm (rotating body, projecting body)
21A 1st arm (1st rotating body)
21B 2nd arm (2nd rotating body)
22 Motor (rotation drive means)
23 Load sensor (load detection means)
24 Angle sensor (angle detection means)
32 Ambient sensor (ambient detection means)
61 1st inner cylinder part (inner cylinder, rotation support part)
63 second outer cylinder (second outer cylinder, second rotation support)
66 Suction path 71 Second inner cylinder part (second inner cylinder, second rotation support part)
74 suction port 76 second suction path 77 coil spring (rotation biasing means)
81 Permanent magnet 82 Magnetic field sensor 83 Substrate 121 Wheel 143 Secondary duct (dust collection path)
144 1st outer cylinder part (outer cylinder, rotation support part)

Claims (7)

A self-propelled vacuum cleaner that can be cleaned while running along the floor,
A cleaner body having wheels for self-propelled operation,
Peripheral cleaning means capable of suction cleaning the periphery of the cleaner body,
The cleaner body is provided with a dust collecting chamber for storing dust and the like sucked by the surrounding cleaning means, and a dust collecting path communicating the surrounding cleaning means and the dust collecting chamber,
The surrounding cleaning means,
A rotating body rotatable outward from the cleaner body,
A suction port provided in the rotating body to suck dust and the like on the floor surface,
A rotation support portion that rotatably supports the rotating body on the cleaner body,
A self-propelled cleaner comprising: a suction path provided along a rotation axis of the rotation support portion and communicating the inside of the rotating body with the dust collection path. The self-propelled vacuum cleaner according to claim 1,
The rotation support portion of the peripheral cleaning means,
An annular outer cylinder provided on the cleaner body,
A cylindrical inner cylinder provided in the rotating body and inserted through the outer cylinder,
The self-propelled vacuum cleaner wherein the suction path is formed by the inside of the inner cylinder. In the self-propelled vacuum cleaner according to claim 1 or claim 2,
The surrounding cleaning means,
The self-propelled cleaner further includes a rotation driving unit that drives the rotating body to rotate with respect to the cleaner body. The self-propelled cleaner according to any one of claims 1 to 3,
The rotating body is provided with a rotor that rotates together with the rotating body,
A self-propelled cleaner, wherein the cleaner main body is provided with angle detection means for detecting a rotation angle of the rotating body based on a position of the rotor, outside the dust collection path. . The self-propelled vacuum cleaner according to claim 4,
The self-propelled cleaner according to claim 1, wherein the rotor is a permanent magnet, and the angle detection unit includes a detection circuit that detects a change in a magnetic field accompanying rotation of the permanent magnet. The rotating body,
A first rotating body having one end rotatably supported by the cleaner body;
A second rotating body rotatably supported on the other end side of the first rotating body and provided with the suction port;
A second rotation support portion that rotatably supports the second rotating body with respect to the first rotating body,
The second rotation support portion includes:
A second outer cylinder provided on the first rotating body,
A second cylindrical inner cylinder provided in the second rotating body and inserted through the second outer cylinder;
A self-propelled vacuum cleaner comprising: a second suction path that communicates the suction port and the inside of the first rotating body through the inside of the second inner cylinder. The self-propelled vacuum cleaner according to claim 6,
A self-propelled cleaner, wherein the rotating body is provided with a rotation urging means for urging the second rotating body in a rotational direction with respect to the first rotating body.

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