JPWO2020084659A1 - Storage device - Google Patents

Abstract

An object of the present invention is to provide a storage device capable of improving convenience.
The self-propelled vacuum cleaner (1) includes a vacuum cleaner body (2) as a moving body that moves in the environment and a charging station (6) as a storage device for storing the vacuum cleaner body (2). Be prepared. The charging station (6) includes a charging unit (52) for supplying energy as a power source to the vacuum cleaner main body (2), and a device-side operation executing means (52) for causing the vacuum cleaner main body (2) to perform a predetermined operation. 63A) and. The device-side operation executing means (63A) causes the vacuum cleaner main body (2) to execute a predetermined operation based on the instruction of the user.

Description

The present invention relates to a storage device for storing a moving body moving in an environment.

Conventionally, a moving body such as a self-propelled vacuum cleaner that is provided with a traveling means, a dust collecting unit that collects dust removed from the floor surface, and a battery that supplies electric power to the traveling means and the like is provided. Known (see, for example, Patent Document 1 etc.), the battery of this self-propelled vacuum cleaner has come to be charged from a charging stand (storage device) separately installed on the floor and connected to a power source. There is. The self-propelled vacuum cleaner relies on the return signal from the charging stand to control the drive wheels of the traveling means and return to the charging stand, and the charging terminal of the self-propelled vacuum cleaner and the power supply terminal of the charging stand are electrically connected. By being connected in a positive manner, it is detected that the return to the charging stand is completed, and the driving of the traveling means and the dust collecting unit is stopped.

Japanese Unexamined Patent Publication No. 2014-188602

However, in the conventional self-propelled vacuum cleaner as described in Patent Document 1, the charging stand is a pedestal that only charges the battery of the self-propelled vacuum cleaner, and causes the self-propelled vacuum cleaner to perform a predetermined operation. When executing, for example, when starting cleaning, the user must operate a self-propelled vacuum cleaner to start cleaning, and there is a problem that the convenience of the charging stand is reduced. ..

An object of the present invention is to provide a storage device capable of improving convenience.

The storage device of the present invention is a storage device for storing a moving body moving in an environment, and is a supply means for supplying energy as a power source to the moving body and a predetermined operation of the moving body. The device-side operation executing means is provided, and the device-side operation executing means is characterized in that the moving body executes a predetermined operation based on a user's instruction.

According to the present invention as described above, the storage device has a supply means for supplying energy as a power source to the moving body and a device-side operation executing means for causing the moving body to perform a predetermined operation. .. Then, since the device-side operation executing means causes the moving body to perform a predetermined operation based on the user's instruction, the user moves by instructing the storage device without instructing the moving body. The body can be made to perform a predetermined operation, and the convenience of the storage device can be improved.

In the present invention, the mobile body includes a supply switching means for switching the supply means between a supply state in which energy can be supplied and a non-supply state in which energy cannot be supplied, and the moving body changes the supply means from the supply state to the non-supply state. The mobile body side operation executing means for executing the predetermined operation when it is determined by the supply determining means that the supply means has been switched to the non-supply state is provided with the supply determining means for determining whether or not the switching has occurred. It is preferable that the device-side operation executing means causes the moving body to perform a predetermined operation by switching the supply means to the non-supply state by the supply switching means based on the instruction of the user.

According to such a configuration, the device-side operation executing means causes the moving body to execute a predetermined operation by switching the supply means to the non-supply state by the supply switching means based on the instruction of the user. The person can make the moving body perform a predetermined operation only by instructing to switch the supply means to the non-supply state.

In the present invention, the mobile body has a transmitting means for transmitting information to the moving body, and the moving body has a receiving means for receiving the information transmitted from the transmitting means and the receiving means for receiving the information transmitted from the transmitting means. The mobile body-side operation executing means for executing the predetermined operation is provided, and the device-side operation executing means transmits information to the moving body by the transmitting means based on the instruction of the user. Thereby, it is preferable to cause the moving body to perform a predetermined operation.

According to such a configuration, the device-side operation executing means causes the moving body to execute a predetermined operation by transmitting information to the moving body by the transmitting means based on the instruction of the user. The configuration can be simplified.

In the present invention, the locking portion for locking a part of the moving body on one end side and an elevating means for raising and lowering the locking portion are provided, and the locking portion for locking a part of the moving body is locked. By raising the portion by the elevating means, the moving body can be lifted and stored in an upright state with one end side facing upward, and the moving body detects a change in the posture of the moving body. The means and the moving body-side motion executing means for executing the predetermined motion when the posture detecting means detects a change in the posture of the moving body are provided, and the device-side motion executing means is instructed by the user. Based on the above, it is preferable to cause the moving body to perform a predetermined operation by lowering the locking portion in which a part of the moving body is locked by the elevating means to change the posture of the moving body.

According to such a configuration, the device-side operation executing means changes the posture of the moving body by lowering the locking portion that locks a part of the moving body by the elevating means based on the instruction of the user. Since the moving body is made to perform a predetermined operation, the user can cause the moving body to perform a predetermined operation only by instructing the moving body to lower the locking portion that locks a part of the moving body by the elevating means. ..

Front view of a self-propelled vacuum cleaner according to an embodiment of the present invention A side view of the vacuum cleaner body and a cross-sectional view of the storage device in the self-propelled vacuum cleaner. Side view showing the lifting state of the vacuum cleaner body in the self-propelled vacuum cleaner Side view showing the retracted state of the vacuum cleaner body in the self-propelled vacuum cleaner Functional block diagram showing a schematic configuration of the self-propelled vacuum cleaner Perspective view of the vacuum cleaner body as viewed from above Perspective view of the vacuum cleaner body as viewed from below A perspective view of the protruding state of the surrounding cleaning means in the vacuum cleaner body as viewed from above. A perspective view of the protruding state of the surrounding cleaning means in the vacuum cleaner body as viewed from below. Front view showing the protruding state of the surrounding cleaning means in the vacuum cleaner main body. Right side view showing the protruding state of the surrounding cleaning means in the vacuum cleaner body. Rear view showing the protruding state of the surrounding cleaning means in the vacuum cleaner main body. A perspective view showing the storage device of the self-propelled vacuum cleaner. Front view showing the storage device Cross-sectional view showing the storage device (A) to (D) are cross-sectional views showing the operation of the storage device. (A) and (B) are cross-sectional views showing a part of the storage device in an enlarged manner. Sectional drawing which shows the detection means of the storage device (A) and (B) are cross-sectional views showing the means for raising and lowering the storage device. A cross-sectional view showing an enlarged view of the elevating means of the storage device. A cross-sectional view showing an enlarged view of the elevating means of the storage device. A side view and a cross-sectional view showing the operation of the storage device. A side view and a cross-sectional view showing the operation of the storage device following FIG. 22. A side view and a cross-sectional view showing the operation of the storage device following FIG. 23. A side view and a cross-sectional view showing the operation of the storage device following FIG. 24. (A) to (C) are enlarged cross-sectional views showing the charging means of the storage device. A perspective view of the vacuum cleaner body according to the modified example of the present invention as viewed from below. A perspective view of the protruding state of the surrounding cleaning means in the vacuum cleaner body as viewed from below. A perspective view of the vacuum cleaner body according to the modified example of the present invention as viewed from below. A perspective view showing a storage device for a self-propelled vacuum cleaner according to a modified example of the present invention.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 26.
FIG. 1 is a front view of a self-propelled vacuum cleaner according to an embodiment of the present invention, and FIG. 2 is a side view of a vacuum cleaner main body and a cross-sectional view of a storage device in the self-propelled vacuum cleaner.
The self-propelled vacuum cleaner 1 is an electric moving body that cleans the floor surface F while traveling along the floor surface F. The self-propelled vacuum cleaner 1 includes a vacuum cleaner main body 2 which is a cleaning robot as a moving body main body, and a charging station 6 as a storage device for storing the vacuum cleaner main body 2 at the time of non-cleaning.
In the present embodiment, the vacuum cleaner main body 2 will be described as an example of the moving body main body, but the moving body main body may be different from the vacuum cleaner main body 2. For example, the main body of the moving body may be a vehicle, a kickboard, an electric bicycle, a drone, or the like. In short, the main body of the moving body may be one that can move in the environment by using electric power.

As will be described later, the vacuum cleaner main body 2 includes a traveling drive unit 12 having a pair of left and right wheels 121 for self-propelling, and an elevating unit 13 provided so as to be able to move up and down from the upper surface portion 101 of the body 10. Power is supplied to the suction unit 14 for sucking dust and dirt on the floor surface F, the main body operation unit 15 (see FIG. 5) for operating the vacuum cleaner main body 2, the traveling drive unit 12, the elevating unit 13, and the like. It includes a battery 18 (see FIG. 5). The charging station 6 is immovably installed at a predetermined position in the room and is connected to a power source such as an outlet.

FIG. 3 is a side view showing a lifting state of the vacuum cleaner main body in the self-propelled vacuum cleaner, and FIG. 4 is a side view showing the retracted state of the vacuum cleaner main body in the self-propelled vacuum cleaner.
As shown in FIGS. 3 and 4, the charging station 6 is configured so that the vacuum cleaner main body 2 can be lifted and stored in an upright state with the rear side, which is one end side, facing upward. The charging station 6 includes a hook 64 as a locking portion for locking the locked portion 16 (described later) provided on the rear side of the vacuum cleaner main body 2, and an elevating drive unit as an elevating means for raising and lowering the hook 64. It is configured to have 51 (described later).

FIG. 5 is a functional block diagram showing a schematic configuration of a self-propelled vacuum cleaner.
As shown in FIG. 5, the vacuum cleaner main body 2 is cleaned by a peripheral cleaning means 3 for cleaning the surroundings of the vacuum cleaner main body 2, a sensor unit 4 for detecting obstacles around the vacuum cleaner main body 2, and cleaning. It includes a machine body 2, a peripheral cleaning means 3, and a control unit 5 as a control means for driving and controlling the sensor unit 4.

The peripheral cleaning means 3 is provided in pairs on the left and right sides of the front portion of the vacuum cleaner main body 2, and has an arm 21 that projects laterally from the vacuum cleaner main body 2 and can rotate, a motor 22 that rotationally drives the arm 21, and a motor. A load sensor 23 for detecting a load acting on the 22 from the outside and an angle sensor 24 for detecting the rotation angle of the arm 21 are provided.

The sensor unit 4 includes a front sensor 31 provided at the front of the vacuum cleaner main body 2, a peripheral sensor 32 provided at the elevating unit 13, a rear sensor 33 provided at the rear of the vacuum cleaner main body 2, and a vacuum cleaner. It includes a posture detection sensor 34 provided inside the main body 2. The posture detection sensor 34 functions as a posture detection means for detecting a change in the posture of the vacuum cleaner main body 2. The posture detection sensor 34 may be any sensor as long as it can detect a change in the posture of the vacuum cleaner main body 2, and for example, an acceleration sensor, a gyro sensor, or the like can be adopted.

The control unit 5 includes a travel control unit 41 that controls the travel drive unit 12, a suction control unit 42 that controls the suction unit 14, a front sensor 31, a peripheral sensor 32, a rear sensor 33, and an attitude detection sensor 34 of the sensor unit 4. The load sensor 23 of the peripheral cleaning means 3, the detection calculation unit 43 that processes the detection signal from the angle sensor 24, the arm control unit 44 that drives and controls the motor 22 of the peripheral cleaning means 3 to rotate the arm 21. To be equipped with.

The charging station 6 returns to the charging station 6 with an elevating drive unit 51 as an elevating means for raising and lowering the hook 64, a charging unit 52 as a charging means for supplying power to and charging the battery 18 of the vacuum cleaner main body 2. A position detection unit 53 as a detection means for detecting the position of the vacuum cleaner main body 2 and a charge control unit 54 for controlling power supply by the charging unit 52 are provided.

Next, the structure of the vacuum cleaner main body 2 will be described with reference to FIGS. 6 to 12.
FIG. 6 is a perspective view of the vacuum cleaner body as viewed from above, and FIG. 7 is a perspective view of the vacuum cleaner body as viewed from below. FIG. 8 is a perspective view of the protruding state of the peripheral cleaning means in the vacuum cleaner main body as viewed from above, and FIG. 9 is a perspective view of the protruding state of the peripheral cleaning means in the vacuum cleaner main body as viewed from below. 10 to 12 are a front view, a right side view, and a rear view showing a protruding state of the surrounding cleaning means in the vacuum cleaner main body.

The vacuum 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 back surface portion 104, a chassis 11 constituting the bottom surface portion 105, and a pair of left and right wheels 121 for self-propelling. A traveling drive unit 12 having a A suction unit 14 and a main body operation unit 15 (FIG. 5) for operating the vacuum cleaner main body 2 are provided. 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 vacuum cleaner main body 2, and the vacuum cleaner main body 2 is operated by a touch operation by the user and is in operation. The vacuum cleaner main body 2 is stopped by a touch operation.

The arm 21 of the peripheral cleaning means 3 includes a first arm 21A rotatably supported on one end side of the vacuum cleaner main body 2 and a second arm 21B rotatably supported on the other end side of the first arm 21A. It is configured to have. The first arm 21A is formed in a hollow shape as a whole, and one end side thereof is rotatably supported by the chassis 11. The second arm 21B is formed in the shape of a long bowl that opens downward, and its intermediate portion is rotatably supported on the other end side of the first arm 21A. The second arm 21B has a sub-suction port 25 that opens downward to suck dust and the like on the floor surface F, and the sub-suction port 25 is a suction portion 14 through the internal spaces of the second arm 21B and the first arm 21A. It communicates with the duct and dust collection room. Further, on the lower surface of the second arm 21B, as will be described later, a rotating ball 26 is provided as a guiding means for rolling and guiding the front side (the other end side) of the vacuum cleaner main body 2 being lifted by the charging station 6. Has been done.

The sensor unit 4 includes a front sensor 31 provided on the front surface 102 of the body 10, a peripheral sensor 32 as a peripheral detection means provided on the elevating unit 13, and a rear sensor 33 provided on the back surface 104 of the body 10. And the above-mentioned posture detection sensor 34. The front sensor 31 is composed of an ultrasonic sensor, an infrared sensor, or the like, and detects an obstacle in front of the vacuum cleaner main body 2. The ambient sensor 32 is a laser scanner (LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging)) that is rotationally driven inside the elevating unit 13 and irradiates a laser beam such as an infrared laser to measure the distance. The distance to the obstacle and the shape of the obstacle are calculated. The peripheral sensor 32 is not limited to the one provided on the elevating part 13, and may be provided at an arbitrary position on the body 10. The rear sensor 33 is for detecting the distance and position with respect to the charging station 6, and communicates with the infrared light emitting unit 53C (see FIG. 13) of the position detecting unit 53 of the charging station 6 by infrared rays or the like. ..

The traveling drive unit 12 includes a pair of left and right wheels 121 and a motor (not shown) for independently rotating and driving the pair of wheels 121. Further, auxiliary wheels 122 are provided at the rear of the chassis 11. A roller brush 141, a duct (not shown), a suction fan, a dust collecting chamber, and an exhaust port are connected to the suction portion 14, and the sucked dust and the like are collected by the filter of the dust collecting chamber and the sucked air is exhausted. It is designed to exhaust from the mouth. The duct of the suction portion 14 and the internal space of the arm 21 of the peripheral cleaning means 3 are communicated with each other.

Next, the structure of the charging station 6 will be described with reference to FIGS. 13 to 18.
FIG. 13 is a perspective view showing the storage device of the self-propelled vacuum cleaner, and FIG. 14 is a front view showing the storage device. FIG. 15 is a cross-sectional view showing the accommodating device, and is a cross-sectional view of the position shown by the line AA in FIG. 16 (A) to 16 (D) are cross-sectional views showing the operation of the storage device. 17 (A) and 17 (B) are cross-sectional views showing a part of the storage device in an enlarged manner, and are partially enlarged views of FIG. FIG. 18 is a cross-sectional view showing a detection means of the storage device.

As shown in FIGS. 13 to 15, the charging station 6 as a storage device has a base 61 mounted on the floor surface F, a pair of left and right pillars 62 rising from the left and right sides of the base 61, and an upper end of the pillar 62. It includes an arch-shaped top 63 for connecting the portions and a pair of hooks 64 as locking portions. The base 61 includes a wedge-shaped base front portion 61A inclined upward from the front side to the rear side (from the lower left side to the upper right side in FIG. 13) and a box-shaped base rear portion 61B rising behind the base front portion 61A. , And is formed in a hollow shape as a whole. The pillar portion 62 rises continuously from the base rear portion 61B, has a pillar front surface portion 62A, a pillar inner side surface portion 62B, a pillar outer surface portion 62C, and a pillar back surface portion 62D, and is formed in an overall tubular shape. Inside the base portion 61 and the pillar portion 62, an elevating drive unit 51, a charging unit 52, a position detecting unit 53, and a charging control unit (control board) 54 are provided.

A slope 61C for guiding the training wheels 122 of the vacuum cleaner main body 2 is provided at the center of the upper surface of the base front portion 61A. The slope 61C has an upward slope from the front side to the rear side, and the auxiliary wheels 122 of the vacuum cleaner main body 2 approaching while retreating toward the charging station 6 ride on the slope 61C, as shown in FIG. As shown, the rear side (one end side) of the vacuum cleaner main body 2 is guided diagonally upward. A substantially horizontal flat portion (see FIG. 18) is provided at the rear end portion of the slope 61C, and the auxiliary wheel 122 rides on the flat portion so that the vacuum cleaner main body 2 does not easily slide down toward the front side. .. A second slope 61D is provided on both left and right ends on the upper surface of the base front portion 61A, and the second slope 61D is provided on the front side (the other end side) of the vacuum cleaner main body 2 as shown in FIG. It is configured to guide the provided rotating sphere 26.

A plurality of infrared light emitting units 53C constituting the position detection unit 53 are provided on the front surface of the base portion rear portion 61B. When the rear sensor 33 of the vacuum cleaner main body 2 receives the infrared rays emitted by these infrared light emitting units 53C, the vacuum cleaner main body 2 moves backward toward the charging station 6 and its own left-right position and distance with respect to the charging station 6. Is detected. The vacuum cleaner main body 2 retracts while appropriately adjusting the traveling drive unit 12 based on the detection of the rear sensor 33, and enters a predetermined liftable position (docking position shown in FIG. 2) at the charging station 6. Further, a slit 62E for guiding the hook 64 up and down is formed in the pillar inner side surface portion 62B of the pillar portion 62 from the base rear portion 61B. The pillar front surface portion 62A and the slit 62E of the pillar portion 62 are provided so as to be inclined rearward toward the upper side, so that the rear side of the vacuum cleaner main body 2 is obliquely upward as shown in FIGS. It is designed to be lifted toward.

A cleaning start switch 63A is provided at the center of the upper surface of the top portion 63 (see FIG. 13). When the cleaning start switch 63A is pressed, the vacuum cleaner main body 2 starts cleaning.

As shown in FIG. 16, the hook 64 is driven by the elevating drive unit 51 and is provided so as to be able to move up and down from the base portion 61 to the pillar portion 62. That is, the hook 64 passes from the retracted position shown in FIG. 16 (A) to the locked position shown in FIG. 16 (B) and the lifting intermediate position shown in FIG. 16 (C), and is stored as shown in FIG. 16 (D). It is configured to be able to move up and down to the position.

As shown in FIG. 17, the hook 64 has a hook base 64A connected to the elevating drive unit 51, and an extension piece 64B extending forward from the hook base 64A, that is, substantially horizontally toward the vacuum cleaner main body 2. On the upper surface of the tip of the extension piece 64B, a locking recess 64C recessed in an arc shape is formed. On the other hand, as shown in FIGS. 7, 9 and 17, a pair of locked portions 16 to be locked to the hook 64 are provided on the rear side (one end side) of the bottom surface portion of the vacuum cleaner main body 2. There is. The locked portion 16 is formed in a columnar shape having a diameter smaller than that of the locking recess 64C, can be moved back and forth by a small distance inside the locking recess 64C, and is rotatably locked to the locking recess 64C. It is supposed to be done. Further, the locked portion 16 is electrically connected to the battery 18 of the vacuum cleaner main body 2 and functions as a charging terminal of the vacuum cleaner main body 2 as described later.

In addition to the infrared light emitting unit 53C, the position detection unit 53 includes a Hall sensor substrate 53A provided inside the base front portion 61A and a Hall element 53B provided in the Hall sensor substrate 53A, as shown in FIG. , Equipped with. On the other hand, a magnet 17 is provided on the rear side (one end side) of the bottom surface portion of the vacuum cleaner main body 2. When the vacuum cleaner main body 2 retracts and the training wheels 122 cross the slope 61C and ride on the flat portion, the vacuum cleaner main body 2 returns to the docking position where it can be lifted by the hook 64. At this time, the Hall element 53B detects the magnet 17, and the position detection unit 53 detects that the vacuum cleaner main body 2 has returned to the docking position.

Until the position detection unit 53 detects that the vacuum cleaner body 2 has returned to the docking position in this way, as shown in FIG. 17A, the elevating drive unit 51 lowers the hook 64 to the retracted position. The hook 64 and the locked portion 16 do not come into contact with each other while the vacuum cleaner main body 2 is retracted. On the other hand, when the position detection unit 53 detects that the vacuum cleaner body 2 has returned to the docking position, the elevating drive unit 51 raises the hook 64 to the locking position and locks it, as shown in FIG. 17B. The locked portion 16 is locked by the recess 64C. Further, the hook 64 functions as a power supply terminal for supplying power from the charging unit 52 toward the vacuum cleaner main body 2, and the locked portion 16 is electrically connected to the battery 18 inside the vacuum cleaner main body 2. Then, the charge control unit 54 switches the charge unit 52 to a power supply state capable of supplying power. As a result, the electric power supplied from the hook 64 is supplied to the battery 18 via the locked portion 16.

Here, in the present embodiment, the locking position is set to a position where the hook 64 is raised by about several mm from the position where the locking recess 64C of the hook 64 and the locked portion 16 are in contact with each other. There is. In other words, the locking position is set so that the vacuum cleaner main body 2 is slightly lifted by bringing the locking recess 64C of the hook 64 into contact with the locked portion 16.
According to this, since the charging station 6 can increase the contact pressure between the locking recess 64C of the hook 64 and the locked portion 16, the locking recess 64C of the hook 64 and the locked portion 16 Can be reliably conducted.
Further, since the locking recess 64C is formed so as to be recessed in an arc shape, the hook 64 is raised by about several mm more than the position where the locking recess 64C of the hook 64 and the locked portion 16 are in contact with each other. By setting the position, if the vacuum cleaner main body 2 is displaced with respect to the charging station 6, this can be corrected.

Next, the elevating drive unit (elevating means) 51 of the charging station 6 will be described with reference to FIGS. 19 to 21.
19 (A) and 19 (B) are cross-sectional views showing the means for raising and lowering the accommodating device, respectively, and are cross-sectional views of the positions shown by lines BB and CC in FIG. FIG. 20 is an enlarged cross-sectional view showing the elevating means of the accommodating device, and FIG. 21 is an enlarged cross-sectional view showing the elevating means of the accommodating device.

As shown in FIGS. 19 to 21, the elevating drive unit 51 includes a motor 71, a drive shaft 72, a pair of left and right ball screw shafts 73, a ball screw 74 fixed to each of the left and right hooks 64, and a ball screw. A linear guide 75 that guides the 74 up and down is provided.

The drive shaft 72 is provided so as to extend to the left and right, and worm gears 72A are fixed to both ends thereof. As shown in FIG. 20, a pinion gear 71A is fixed to the output shaft of the motor 71, and a driven gear 72B is fixed to an intermediate portion on one side (left side in the drawing) of the drive shaft 72. A gear train consisting of a first gear 76A and a second gear 76B is provided between the pinion gear 71A and the driven gear 72B of the motor 71, and the motor 71 is provided via the gears 71A, 76A, 76B, and 72B, respectively. The output is transmitted to the drive shaft 72, and the drive shaft 72 rotates.

The ball screw shaft 73 is provided so as to extend vertically from the base portion 61 to the pillar portion 62, and the upper and lower end portions thereof are pivotally supported. A worm wheel 73A is fixed to the lower end of the ball screw shaft 73, and the worm wheel 73A meshes with the worm gear 72A of the drive shaft 72, and when the drive shaft 72 rotates, the rotation becomes the rotation of the ball screw shaft 73. Will be converted. The ball screw 74 meshes with the ball screw shaft 73, and when the ball screw shaft 73 rotates, the ball screw 74 and the hook 64 move up and down. The linear guide 75 includes a rail 75A extending vertically from the base 61 to the pillar 62 and fixed, and a movable portion 75B fixed to the ball screw 74 and guided by the rail 75A, and includes the ball screw 74 and the movable portion 75B. Guide the hook 64 so that it can move in a straight line.

Here, the charge control unit 54 switches the charge unit 52 to a non-power supply state in which power cannot be supplied when the hook 64 is moved up and down by the elevating drive unit 51.
As described above, in the present embodiment, the charge control unit 54 functions as a charge switching means for switching between a power supply state capable of supplying power to the charging unit 52 and a non-power supply state in which power cannot be supplied.

Here, the charging unit 52 functions as a charging means for charging the battery 18 of the vacuum cleaner main body 2, but also as a supply means for supplying energy as a power source to the vacuum cleaner main body 2 as a mobile body. It is functioning.

The charge control unit 54 also functions as a supply switching means for switching the charge unit 52 between a supply state in which energy can be supplied and a non-supply state in which energy cannot be supplied.
In the present embodiment, electric power is exemplified as the energy that becomes the power source of the mobile body, but for example, other energy such as gasoline or hydrogen may be adopted. When energy other than electric power is adopted as the energy that becomes the power source of the moving body, the moving body does not have to be electric.

Next, the charging unit (charging means) 52 of the charging station 6 will be described with reference to FIGS. 22 to 26.
22 to 25 are a side view and a cross-sectional view showing the operation of the accommodating device, and each figure (B) is a cross-sectional view of a position shown by a line AA in each figure (A). 26 (A) to 26 (C) are enlarged cross-sectional views showing the charging means of the accommodating device, and FIG. 26 (A) is an enlarged cross-sectional view of a part of FIG. 22 (B). 26 (B) is an enlarged cross-sectional view of a part of FIG. 23 (B), and FIG. 26 (C) is an enlarged cross-sectional view of a part of FIG. 25 (B).

The charging unit 52 includes a power supply unit 52A (see FIGS. 17 to 21) connected to a power source by an outlet, and the power supply unit 52A has the inside of the left and right pillar portions 62 as shown in FIGS. 22 to 25. The first terminal 52B provided from below to the inside of the base rear portion 61B and the second terminal 52C provided above the inside of the left and right pillar portions 62 are electrically connected. The upper end of the first terminal 52B is fixed to the terminal fixing portion 52D on the inner surface of the pillar outer surface portion 62C, and the first terminal 52B is cantilevered downward. The lower end of the second terminal 52C is fixed to the terminal fixing portion 52E on the inner surface of the pillar outer surface portion 62C, and the second terminal 52C is cantilevered upward. As shown in FIGS. 26A and 26B, the first terminal 52B has a first contact portion 52F protruding inward in the left-right direction, and the second terminal 52C is shown in FIG. 26C. As shown, it is formed with a second contact portion 52G protruding inward in the left-right direction. On the other hand, the hook 64 is formed with a conductive portion 64D that projects outward in the left-right direction and can contact the first contact portion 52F and the second contact portion 52G.

As shown in FIG. 26 (A), the first contact portion 52F of the first terminal 52B does not contact the conductive portion 64D when the hook 64 is in the retracted position, and as shown in FIG. 26 (B), the hook When 64 is in the locked position, it comes into contact with the conductive portion 64D. As shown in FIG. 26C, the second contact portion 52G of the second terminal 52C contacts the conductive portion 64D when the hook 64 is in the retracted position. On the other hand, as shown in FIG. 24, when the hook 64 is in the lifting position, the conductive portion 64D does not come into contact with either the first contact portion 52F or the second contact portion 52G.

As described above, the hook 64 in the locked position is conducted to the charging unit 52 via the first terminal 52B, and the hook 64 in the stored position is conducted to the charging unit 52 via the second terminal 52C. There is. Since the locked portion 16 of the vacuum cleaner main body 2 is locked to the hook 64, the electric power from the charging unit 52 by the charge control unit 54 is inside the vacuum cleaner main body 2 via the hook 64 and the locked portion 16. The battery 18 is supplied to the battery 18 and the battery 18 is charged.
Specifically, when the hook 64 is in the locked position or the stored position, the charge control unit 54 switches the charge unit 52 to a power supply state capable of supplying power. As a result, the electric power supplied from the hook 64 is supplied to the battery 18 via the locked portion 16.

The charging station 6 can select whether to stop the hook 64 at the locking position or the storage position when charging the battery 18 of the vacuum cleaner main body 2 according to the operation input of the user. It has become like. For example, the charging station 6 causes the hook 64 to be raised from the locked position to the stored position or the hook 64 to be lowered from the stored position to the locked position when the user presses and holds the cleaning start switch 63A for a long time. It may be configured in.

Further, the charge control unit 54 confirms the energized state of the charge unit 52. Therefore, in the present embodiment, the charge control unit 54 also functions as a power supply determination means for determining whether or not the battery 18 of the vacuum cleaner main body 2 can be supplied with power when the charge control unit 54 switches to the power supply state. do.
Then, when the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power, the charge control unit 54 switches the charge unit 52 to the non-power supply state.
Further, the evacuation drive unit 51 lowers the hook 64 to the retracted position when the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power.

Next, the operation of the self-propelled vacuum cleaner 1 will be described. When the vacuum cleaner main body 2 that has finished cleaning the floor surface F returns to the vicinity of the charging station 6, the rear side (rear portion 104 side) is directed toward the charging station 6, and the infrared rays of the charging station 6 are used by the rear sensor 33. It receives infrared rays from the light emitting unit 53C and moves backward while detecting the distance and position with respect to the charging station 6. Further, in the vacuum cleaner main body 2, the training wheels 122 ride on the slope 61C of the base front portion 61A and are guided diagonally upward, and then retract to the docking positions shown in FIGS. 2, 17, and 18. As shown in FIG. 18, when the Hall element 53B of the position detection unit 53 detects the magnet 17 and it is detected that the vacuum cleaner body 2 has retracted to the docking position, the vacuum cleaner body 2 is subjected to the traveling drive unit 12. Stop driving.

In the present embodiment, when the vacuum cleaner main body 2 returns to the vicinity of the charging station 6, the rear side (rear portion 104 side) is directed toward the charging station 6, and the rear sensor 33 emits infrared rays from the charging station 6. It received infrared rays from the unit 53C and retreated while detecting the distance and position with respect to the charging station 6.
On the other hand, for example, the vacuum cleaner main body 2 stores the horizontal cross-sectional shape of the charging station 6 in advance, and the horizontal cross-sectional shape of the charging station 6 and the shape of the obstacle calculated by the surrounding sensor 32. The distance and position with respect to the charging station 6 may be detected by collating with each other, and then the battery may be retracted in the same manner as in the present embodiment.
According to this, in the vacuum cleaner main body 2, the installation position of the charging station 6 when returning to the vicinity of the charging station 6 is different from the installation position of the charging station 6 when cleaning is started. Even so, the installation position of the charging station 6 can be reliably grasped, and the charging station 6 can be more reliably retracted to the docking position.

When the vacuum cleaner body 2 is retracted to the docking position, the elevating drive unit 51 of the charging station 6 raises the hook 64 from the retracted position shown in FIG. 17 (A) to the locked position shown in FIG. 17 (B) to lock the hook 64. The locked portion 16 is locked by the recess 64C. By locking the locked portion 16 with the hook 64 at the locked position in this way, as shown in FIG. 26 (B), the hook 64 is passed through the first terminal 52B, the hook 64, and the locked portion 16. The charging unit 52 and the battery 18 of the vacuum cleaner main body 2 are electrically connected, and the battery 18 is charged by supplying power from the charging unit 52 by the charging control unit 54.

When cleaning is started again after charging the battery 18 at the docking position in this way, the user may press the cleaning start switch 63A.
When the cleaning start switch 63A is pressed, the charge control unit 54 switches the charge unit 52 to the non-power supply state.
Further, as described above, the elevating drive unit 51 lowers the hook 64 from the locked position to the retracted position when the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power. ..
The control unit 5 of the vacuum cleaner main body 2 determines whether or not the charging unit 52 of the charging station 6 has switched from the power supply state to the non-power supply state, and when it is determined that the charging unit 52 has switched to the non-supply state, charging is performed. The station 6 is separated from the station 6 and the vacuum cleaner main body 2 is started to clean.

As described above, in the present embodiment, the control unit 5 of the vacuum cleaner main body 2 determines whether or not the charging unit 52 of the charging station 6 has switched from the power supply state to the non-power supply state (the supply means has switched from the supply state to the non-supply state). It functions as a supply determination means for determining (whether or not).
Further, the control unit 5 of the vacuum cleaner main body 2 executes cleaning as a predetermined operation when the control unit 5 of the vacuum cleaner main body 2 determines that the charging unit 52 has been switched to the non-supply state. Functions as an action execution means.
In the present embodiment, the start of cleaning is illustrated as a predetermined operation, but other operations may be adopted.

Then, in the present embodiment, the cleaning start switch 63A is a device that causes the vacuum cleaner main body 2 to start cleaning by switching the charging unit 52 to the non-powered state by the charging control unit 54 based on the instruction of the user. It functions as a side action execution means.

When the vacuum cleaner main body 2 is stored in the charging station 6, the elevating drive unit 51 raises the hook 64 that locks the locked portion 16. By raising the hook 64 in this way, as shown in FIG. 3, the rear side of the vacuum cleaner main body 2 is lifted diagonally upward. At the time of this lifting, the rotating ball 26 provided on the front side of the vacuum cleaner main body 2 rolls along the floor surface F, and the rotating ball 26 rides on the second slope 61D of the base front portion 61A and rides on the second slope. By rolling the rotating ball 26 along the 61D, the vacuum cleaner main body 2 is smoothly guided. When the elevating drive unit 51 further raises the hook 64 and the hook 64 reaches the storage position, the vacuum cleaner main body 2 is stored in the charging station 6 in an upright state with the rear side facing upward, as shown in FIG.

In the state where the vacuum cleaner main body 2 is stored in this way, as shown in FIG. 26C, the battery of the charging unit 52 and the vacuum cleaner main body 2 is passed through the second terminal 52C, the hook 64, and the locked portion 16. The battery 18 is charged by being conducted with 18 and supplying power from the charging unit 52 by the charging control unit 54.

When starting cleaning again, the user may press the cleaning start switch 63A.
When the cleaning start switch 63A is pressed, the charge control unit 54 switches the charge unit 52 to the non-power supply state.
The control unit 5 of the vacuum cleaner main body 2 determines whether or not power can be supplied by the charging unit 52 of the charging station 6, and even if it is determined that power cannot be supplied, the posture detection sensor 34 is used. When it is detected that the posture of the vacuum cleaner main body 2 is tilted, that is, the posture of the vacuum cleaner main body 2 is in the upright state, the vacuum cleaner main body 2 does not start cleaning.

After that, the elevating drive unit 51 lowers the hook 64 that locks the locked portion 16. At this time, the vacuum cleaner main body 2 is lowered not only by its own weight but also by the hook 64 pushing down the chassis 11. By lowering the hook 64 in this way, the rear side of the vacuum cleaner main body 2 is guided diagonally downward. At this time, the rotating sphere 26 provided on the front side of the vacuum cleaner main body 2 rolls along the second slope 61D of the base front portion 61A, and the rotating sphere 26 further rolls along the floor surface F. , The vacuum cleaner body 2 is guided smoothly.

Further, as described above, the elevating drive unit 51 lowers the hook 64 from the locked position to the retracted position when the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power. ..
The control unit 5 of the vacuum cleaner main body 2 determines whether or not power can be supplied by the charging unit 52 of the charging station 6, and if it is determined that power cannot be supplied, the control unit 5 disconnects from the charging station 6 and the vacuum cleaner main body. Let 2 start cleaning.
Here, the control unit 5 of the vacuum cleaner main body 2 determines whether or not power can be supplied by the charging unit 52 of the charging station 6, and when it is determined that power cannot be supplied, the posture detection sensor 34 is used. When it is not detected that the posture of the vacuum cleaner main body 2 is tilted, that is, the posture of the vacuum cleaner main body 2 is in the upright state, the vacuum cleaner main body 2 is started to clean.

In the present embodiment, the control unit 5 of the vacuum cleaner main body 2 determines whether or not the charging unit 52 of the charging station 6 can supply power, and it is determined that the power cannot be supplied. If the detection sensor 34 does not detect that the posture of the vacuum cleaner main body 2 is tilted, that is, the posture of the vacuum cleaner main body 2 is in the upright state, the vacuum cleaner main body 2 starts cleaning. I was letting you.
On the other hand, the control unit 5 of the vacuum cleaner main body 2 indicates that the posture of the vacuum cleaner main body 2 is tilted by the posture detection sensor 34, that is, the posture of the vacuum cleaner main body 2 is in the upright state. If it is not detected, the vacuum cleaner main body 2 may start cleaning regardless of whether or not power can be supplied by the charging unit 52 of the charging station 6.

As described above, in the present embodiment, when the control unit 5 of the vacuum cleaner main body 2 detects a change in the posture of the vacuum cleaner main body 2 by the posture detection sensor 34, the movement starts cleaning as a predetermined operation. It functions as a means of executing body-side movements.
In the present embodiment, the start of cleaning is illustrated as a predetermined operation, but other operations may be adopted.

Then, in the present embodiment, the cleaning start switch 63A changes the posture of the vacuum cleaner main body 2 by lowering the hook 64 that locks a part of the vacuum cleaner main body 2 by the elevating drive unit 51 based on the instruction of the user. By causing the vacuum cleaner body 2, the vacuum cleaner main body 2 functions as a device-side operation executing means for executing the start of cleaning.

According to such an embodiment, the following actions and effects can be obtained.
(1) The charging station 6 is in the stored state because the projected area of the stored vacuum cleaner body 2 with respect to the floor surface F can be reduced by lifting the rear side of the vacuum cleaner body 2 and storing it in an upright state. The occupied space of the vacuum cleaner main body 2 and the charging station 6 can be reduced. Further, since the charge control unit 54 switches the charging unit 52 to the non-power supply state when the hook 64 is moved up and down by the elevating drive unit 51, it is caused by chattering generated by the vibration of the hook 64 during raising and lowering. Noise can be prevented.

(2) In the charging station 6, the hook 64 for lifting the vacuum cleaner main body 2 functions as a power supply terminal, so that the battery 18 of the lifted vacuum cleaner main body 2 can be easily supplied with power without preparing a separate power supply terminal. And the battery 18 can be charged.

(3) The charging unit 52 has a first terminal 52B and a second terminal 52C that can contact the hook 64 to supply power, and the hook 64 conducts with the first terminal 52B at a locking position before lifting. By conducting the hook 64 with the second terminal 52C at the storage position after lifting, the vacuum cleaner main body is passed through the hook 64 at both the docking position and the storage position without directly connecting the wiring to the movable hook 64. The battery 18 of 2 can be charged.

(4) In the charging station 6, the elevating drive unit 51 lowers the hook 64 to the retracted position until the vacuum cleaner main body 2 comes to the docking position, so that a part of the vacuum cleaner main body 2 and the hook 64 are in sliding contact with each other. This can be prevented and the wear of the hook 64 can be reduced, and even when the vacuum cleaner main body 2 is absent from the charging station 6, the hook 64 does not protrude from the base 61, and the hook 64 can be attached to a person's foot or the like. It is possible to prevent clothes from being caught.

(5) The charging station 6 is cleaned by the hook 64 by raising the hook 64 to the locking position by the elevating drive unit 51 after the position detection unit 53 detects that the vacuum cleaner main body 2 has reached the docking position. The locked portion 16 of the machine body 2 can be securely locked, and the vacuum cleaner body 2 can be lifted stably.

(6) By raising and lowering the hook 64 by the elevating drive unit 51 in the direction of inclination toward the rear, the rear side of the vacuum cleaner main body 2 can be lifted diagonally upward, as compared with the case where the hook 64 is lifted in the vertical direction. Therefore, the vacuum cleaner main body 2 can be lifted stably and smoothly.

(7) By guiding the training wheels 122 of the vacuum cleaner main body 2 to be retracted diagonally upward by the slope 61C, the rear side of the vacuum cleaner main body 2 can be tilted upward and then lifted by the hook 64, so that cleaning can be performed more smoothly. The machine body 2 can be lifted.

(8) A locking recess 64C recessed in an arc shape is formed on the upper surface of the extension piece 64B of the hook 64, and a cylindrical locked portion 16 having a diameter smaller than that of the locking recess 64C is provided on the vacuum cleaner main body 2. Therefore, the locked portion 16 can be securely locked by the locking recess 64C.

(9) The angle between the vacuum cleaner main body 2 and the charging station 6 changes as the rear side of the vacuum cleaner main body 2 is lifted, but the cylindrical locked portion in the arc-shaped locking recess 64C Since 16 can rotate, the vacuum cleaner main body 2 can be lifted smoothly by suppressing resistance while maintaining a stable locked state.

(10) A rotating ball 26 is provided on the front side of the vacuum cleaner main body 2, and the rotating ball 26 rolls along the floor surface F and the second slope 61D of the charging station 6, so that the angle is increased as the vacuum cleaner is raised and lowered. The sliding contact resistance between the fluctuating front side of the vacuum cleaner body 2 and the floor surface F or the charging station 6 can be reduced, and the vacuum cleaner body 2 can be raised and lowered even more smoothly.

(11) By guiding the rear side of the vacuum cleaner main body 2 diagonally downward by the second slope 61D of the charging station 6, the hook 64 that locks the locked portion 16 of the vacuum cleaner main body 2 is moved by the elevating drive unit 51. When lowering, the vacuum cleaner main body 2 can be lowered more smoothly, and the vacuum cleaner main body 2 can be prevented from falling down to the charging station 6 side.

(12) Since the hook 64 locks a part of the rear side of the vacuum cleaner main body 2, the vacuum cleaner main body 2 retracts toward the charging station 6 and comes to a predetermined position where it can be lifted. A part of the rear side will be locked to the hook 64. Therefore, the vacuum cleaner main body 2 need only be provided with a rear sensor 33 for detecting its own left-right position and distance with respect to the charging station 6 on the rear side of the vacuum cleaner main body 2, and is provided on the front side of the vacuum cleaner main body 2. Since it is not necessary, the space on the front side of the vacuum cleaner main body 2 can be effectively used.

(13) The charging station 6 has a charging control unit 54 that switches between a power supply state capable of supplying power to the charging unit 52 and a non-power supply state in which power cannot be supplied. When the battery is raised and lowered, the charging unit 52 is switched to the non-powered state. Therefore, since the elevating drive unit 51 and the charging unit 52 do not use a large amount of electric power at the same time, the charging unit 52 can be miniaturized, and the charging station 6 can be miniaturized.

(14) The charge control unit 54 switches the charging unit 52 to the non-power supply state when the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power, so that the user's safety Can be enhanced.

(15) When the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power, the elevating drive unit 51 lowers the hook 64 to the retracted position so that the hook 64 does not protrude. This can prevent people's feet and clothes from getting caught, and can improve the safety of the user.

(16) The charging station 6 has a charging unit 52 for supplying energy as a power source to the vacuum cleaner main body 2, and a cleaning start switch 63A for causing the vacuum cleaner main body 2 to perform a predetermined operation. Then, since the cleaning start switch 63A causes the vacuum cleaner main body 2 to execute a predetermined operation based on the instruction of the user, the user gives an instruction to the charging station 6 without instructing the vacuum cleaner main body 2. As a result, the vacuum cleaner main body 2 can be made to perform a predetermined operation, and the convenience of the charging station 6 can be improved.

(17) The cleaning start switch 63A causes the vacuum cleaner main body 2 to execute a predetermined operation by switching the charging unit 52 to the non-supply state by the charging control unit 54 based on the instruction of the user. The vacuum cleaner main body 2 can be made to perform a predetermined operation only by an instruction to switch the charging unit 52 to the non-supply state.

(18) The cleaning start switch 63A changes the posture of the vacuum cleaner main body 2 by lowering the hook 64 that locks a part of the vacuum cleaner main body 2 by the elevating drive unit 51 based on the instruction of the user. Since the vacuum cleaner main body 2 is made to perform a predetermined operation, the user causes the vacuum cleaner main body 2 to perform a predetermined operation only by instructing the hook 64 that locks a part of the vacuum cleaner main body 2 to be lowered by the elevating drive unit 51. Can be executed.

[Modification of Embodiment]
The present invention is not limited to the above-described embodiment, and modifications, improvements, and the like within the range in which the object of the present invention can be achieved are included in the present invention.
For example, in the self-propelled vacuum cleaner 1 of the above-described embodiment, the peripheral cleaning means 3 is provided in the vacuum cleaner main body 2, but the peripheral cleaning means 3 may be omitted. Further, a rotating ball 26 is provided on the arm 21 of the peripheral cleaning means 3, and the rotating ball 26 rolls along the floor surface F or the second slope 61D of the charging station 6, whereby the guiding means is configured. The rotary ball 26 may be provided at the lower part of the front portion of the body 10 of the vacuum cleaner main body 2. Further, the guiding means is not limited to the one in which the rotating ball 26 is rolled and guided, and a sliding surface having a small frictional resistance is provided on the front portion of the vacuum cleaner main body 2, and this sliding surface is the floor surface F or the second. It may be configured to be slidably guided along the slope 61D. Further, the guiding means is not limited to the one provided in the vacuum cleaner main body, and may be composed of a rolling portion or a sliding portion provided in the storage device (for example, the second slope 61D or the like).

In the above embodiment, the hook 64 functions as a power supply terminal, and power is supplied to the battery 18 of the vacuum cleaner main body 2 via the hook 64 and the locked portion 16, but the power supply terminal is provided separately from the hook 64. It may be provided. In this case, in the storage device, the power feeding terminal may be configured to move up and down in synchronization with the locking portion, or the power feeding terminal may be provided one or more at a predetermined height without moving up and down. good. Further, the power supply structure for supplying power to the battery 18 of the vacuum cleaner main body 2 is not limited to the contact type in which the terminals are in contact with each other, and may be, for example, an electromagnetic induction type non-contact power supply structure.

In the above embodiment, the charging unit 52 has a first terminal 52B and a second terminal 52C, and charges the battery 18 of the vacuum cleaner main body 2 at the locking position before lifting and the storage position after lifting. However, the chargeable position is not limited to the two positions of the locking position and the storage position, and may be either the locking position or the storage position, and in addition to the two positions of the locking position and the storage position, 3 The above rechargeable positions may be provided. Further, the charging unit (charging means) 52 is not limited to the one in which the first terminal 52B and the second terminal 52C are separately provided, and each of these terminals is composed of a continuous integrated terminal member. May be good.

In the above embodiment, the Hall element 53B of the position detection unit (detection means) 53 of the charging station 6 detects the magnet 17 of the vacuum cleaner body 2 to detect that the vacuum cleaner body 2 is in a hoistable docking position. Then, the hook 64 was started to rise based on this detection, but the configuration of the detection means is not limited, and for example, a contact type sensor may be used. Further, the hook (locking portion) 64 is not limited to the one in which the hook (locking portion) 64 is lowered to the retracted position until the vacuum cleaner main body 2 reaches the docking position, and the locked portion of the vacuum cleaner main body is lowered to the locking position to be locked. It may be configured to be locked with the portion.

In the above embodiment, the hook (locking portion) 64 has a locking recess 64C, and the locked portion 16 is formed in a columnar shape, but the structure of the locking portion and the locked portion is the above-described embodiment. Any locking structure can be adopted. For example, the locking portion may be formed in a columnar shape, a concave portion recessed upward may be formed on the lower surface of the locked portion, and the locking portion may be locked in the concave portion.

In the above embodiment, the elevating drive unit (elevating means) 51 of the charging station 6 includes a motor 71, a drive shaft 72, a pair of left and right ball screw shafts 73, a ball screw 74, and a linear guide 75. The configuration of the elevating means is not particularly limited. The elevating means may be, for example, one provided with a wire, a belt, or the like for raising and lowering the locking portion, or may be one that raises and lowers the locking portion by a linear motor.

In the above embodiment, the hook 64 locks a part of the rear side of the vacuum cleaner main body 2, and the rotary ball 26 is provided on the front side of the vacuum cleaner main body 2, but is locked by the locking portion. The part of the vacuum cleaner body to be used and the position where the guiding means is provided are not particularly limited. For example, the locking portion may lock a part of the front side of the vacuum cleaner body, and the guiding means may be provided on the rear side of the vacuum cleaner body.

FIG. 27 is a perspective view of the vacuum cleaner main body according to the modified example of the present invention as viewed from below. FIG. 28 is a perspective view of the main body of the vacuum cleaner as viewed from below in a protruding state of the surrounding cleaning means.
In the above embodiment, a pair of locked portions 16 to be locked to the hook 64 are provided on the rear side of the bottom surface portion of the vacuum cleaner main body 2, but in this modification, the bottom surface of the vacuum cleaner main body 2 is provided. As shown in FIGS. 27 and 28, a pair of locked portions 16A that are locked to the hook 64 are provided on the front portion side (one end side) of the portions.

Further, in the above-described embodiment, the lower surface of the second arm 21B is provided with a rotating ball 26 as a guiding means for rolling and guiding the front side of the vacuum cleaner main body 2 being lifted by the charging station 6. In this modification, a rotating ball 26A is provided on the rear side of the bottom surface of the vacuum cleaner body 2 as a guiding means for rolling and guiding the rear side of the vacuum cleaner body 2 being lifted by the charging station 6.

In this modified example, the second arm 21B is shorter than that of the above embodiment so that the pair of locked portions 16A are arranged on the bottom surface portion of the vacuum cleaner main body 2. Further, in this modification, the magnet 17 is provided on the front side of the bottom surface of the vacuum cleaner body 2, and the rear sensor 33 is provided on the front part of the vacuum cleaner body 2 (not shown).

According to such a modification, the hook 64 locks a part of the front side of the vacuum cleaner main body 2, so that the vacuum cleaner main body 2 advances toward the charging station 6 and can be lifted at a predetermined position. When it comes to, a part of the front side of the vacuum cleaner main body 2 will be locked to the hook 64. Therefore, the vacuum cleaner main body 2 may be provided with a rear sensor 33 for detecting its own left-right position and distance with respect to the charging station 6 on the front side of the vacuum cleaner main body 2, and therefore on the rear side of the vacuum cleaner main body 2. The size of the provided rotating ball 26A can be increased, and the vacuum cleaner main body 2 can be raised and lowered even more smoothly.

Further, since another sensor such as the front sensor 31 provided at the front of the vacuum cleaner main body 2 can be used together with the rear sensor 33 to detect its own left-right position and distance with respect to the charging station 6, the vacuum cleaner The main body 2 can surely enter to a predetermined hoistable position in the charging station 6.
Further, since the vacuum cleaner main body 2 is formed so that the width on the front side is wider than the width on the rear side, the distance between the pair of locked portions 16A is the pair of engagements in the embodiment. It can be made wider than the spacing of the stops 16. According to this, the charging station 6 can stably lift the vacuum cleaner main body 2. When the distance between the pair of locked portions 16A is widened in this way, the distance between the pair of hooks 64 may also be widened according to the distance between the pair of locked portions 16A.

In the above embodiment, the moving body side operation executing means executes cleaning as a predetermined operation when the control unit 5 of the vacuum cleaner main body 2 determines that the charging unit 52 has been switched to the non-supply state, and the device The side operation executing means causes the vacuum cleaner main body 2 to start cleaning by switching the charging unit 52 to the non-powered state by the charging control unit 54 based on the instruction of the user. Further, when the posture detection sensor 34 detects a change in the posture of the vacuum cleaner main body 2, the moving body side operation executing means executes cleaning as a predetermined operation, and the device side operation executing means is the user's. Based on the instruction, the hook 64 that locks a part of the vacuum cleaner main body 2 is lowered by the elevating drive unit 51 to change the posture of the vacuum cleaner main body 2, thereby causing the vacuum cleaner main body 2 to start cleaning. rice field.

On the other hand, the storage device has a transmitting means for transmitting information to the moving body, and the moving body has a receiving means for receiving the information transmitted from the transmitting means and a receiving means for receiving the information transmitted from the transmitting means. It may be provided with a moving body-side operation executing means for executing a predetermined operation when it is received at. Then, the device-side operation executing means may be configured to cause the vacuum cleaner main body 2 to execute a predetermined operation by transmitting information to the moving body by the transmitting means based on the instruction of the user.

FIG. 29 is a perspective view of the vacuum cleaner main body according to the modified example of the present invention as viewed from below. FIG. 30 is a perspective view showing a storage device for a self-propelled vacuum cleaner according to a modified example of the present invention.
In this modification, as shown in FIG. 29, an infrared transmission / reception unit 131 is provided on the rear side of the bottom surface of the vacuum cleaner main body 2.
Further, as shown in FIG. 30, an infrared transmission / reception unit 61E is provided on the second slope 61D of the charging station 6. An infrared transmission / reception unit 62F is provided on the pillar portion 62 of the charging station 6.

The infrared transmitter / receiver 61E is provided at a position corresponding to the infrared transmitter / receiver 131 of the vacuum cleaner main body 2 when the vacuum cleaner main body 2 is in the docking position.
The infrared transmitter / receiver 62F is provided at a position corresponding to the infrared transmitter / receiver 131 of the vacuum cleaner main body 2 when the vacuum cleaner main body 2 is in a suspended position.

When the vacuum cleaner main body 2 is in the docking position and cleaning is to be started again, the user may press the cleaning start switch 63A as in the above embodiment.
When the cleaning start switch 63A is pressed, the charge control unit 54 switches the charge unit 52 to the non-power supply state.
Further, as described above, the elevating drive unit 51 lowers the hook 64 from the locked position to the retracted position when the charge control unit 54 determines that the battery 18 of the vacuum cleaner main body 2 cannot be supplied with power. ..

After that, the charging station 6 transmits information to the infrared transmission / reception unit 131 of the vacuum cleaner main body 2 via the infrared transmission / reception unit 61E, and the control unit 5 of the vacuum cleaner main body 2 is transmitted from the infrared transmission / reception unit 61E (transmission means). When the received information is received by the infrared transmission / reception unit 131 (reception means), the battery is separated from the charging station 6 and the vacuum cleaner main body 2 is started to clean.

As described above, in this modification, when the control unit 5 of the vacuum cleaner main body 2 receives the information transmitted from the infrared transmission / reception unit 61E by the infrared transmission / reception unit 131, the control unit 5 executes cleaning as a predetermined operation. It functions as a means for executing movement on the moving body side.
In the present embodiment, the start of cleaning is illustrated as a predetermined operation, but other operations may be adopted.

Then, in the present embodiment, the cleaning start switch 63A is a device that causes the vacuum cleaner main body 2 to start cleaning by transmitting information to the vacuum cleaner main body 2 by the infrared transmission / reception unit 61E based on the instruction of the user. It functions as a side action execution means.

According to this, the cleaning start switch 63A causes the vacuum cleaner main body 2 to execute a predetermined operation by transmitting information to the vacuum cleaner main body 2 by the infrared transmission / reception unit 61E based on the instruction of the user. The machine main body 2 can be surely executed a predetermined operation, and the configuration of the charging station 6 can be simplified.

In this modified example, when the vacuum cleaner main body 2 is in the suspended position and the cleaning is to be started again, the user may press the cleaning start switch 63A as in the above embodiment. .. According to this, the elevating drive unit 51 can lower the hook 64 that locks the locked portion 16 as in the above embodiment. After that, as described above, the vacuum cleaner main body 2 can be separated from the charging station 6 and cleaning can be started.

Further, in the present modification, when the vacuum cleaner main body 2 is in the lifted position and the cleaning is started again, the user may operate the main body operation unit 15 of the vacuum cleaner main body 2.
According to this, the control unit 5 of the vacuum cleaner main body 2 transmits information to the infrared transmission / reception unit 62F of the charging station 6 via the infrared transmission / reception unit 131, and the elevating drive unit 51 is covered by the elevating drive unit 51 as in the above embodiment. The hook 64 that locks the locking portion 16 can be lowered. After that, as described above, the vacuum cleaner main body 2 can be separated from the charging station 6 and cleaning can be started.

As described above, the present invention can be suitably used for a moving body such as a self-propelled vacuum cleaner that moves in the environment.

1 Self-propelled vacuum cleaner 2 Vacuum cleaner body 5 Control unit (moving body side operation execution means)
6 Charging station (storage device)
26 Rotating sphere (guidance means)
14 Suction part (cleaning means)
16 Locked portion 18 Battery 34 Posture detection sensor 34 (Posture detection means)
51 Lifting drive unit (lifting means)
52 Charging unit (charging means, supply means)
54 Charge control unit (charge switching means, supply switching means, power supply determination means, supply determination means)
52B 1st terminal 52C 2nd terminal 53 Position detection unit (detection means)
61C Slope 63A Cleaning start switch (device-side operation execution means)
64 Hook (locking part)
64B Extension piece 64C Locking recess 121 Wheel F Floor surface

Claims (4)

A storage device for storing mobile objects that move in the environment.
A supply means for supplying energy as a power source to the moving body,
It has a device-side operation executing means for causing the moving body to execute a predetermined operation.
The device-side operation executing means is a storage device characterized in that the moving body executes a predetermined operation based on a user's instruction. In the storage device according to claim 1,
A supply switching means for switching the supply means between a supply state in which energy can be supplied and a non-supply state in which energy cannot be supplied is provided.
The moving body is
A supply determination means for determining whether or not the supply means has switched from the supply state to the non-supply state, and
The moving body side operation executing means for executing the predetermined operation when the supply determining means determines that the supply means has been switched to the non-supply state is provided.
The storage device-side operation executing means causes the moving body to execute a predetermined operation by switching the supply means to the non-supply state by the supply switching means based on a user's instruction. Device. In the storage device according to claim 1,
It has a transmission means for transmitting information to the moving body, and has a transmission means.
The moving body is
A receiving means for receiving the information transmitted from the transmitting means, and
The moving body side operation executing means for executing the predetermined operation when the information transmitted from the transmitting means is received by the receiving means is provided.
The device-side operation executing means is a storage device characterized in that the moving body is made to perform a predetermined operation by transmitting information to the moving body by the transmitting means based on an instruction of a user. In the storage device according to claim 1,
A locking portion that locks a part of the moving body on one end side,
It has an elevating means for elevating and lowering the locking portion.
By raising the locking portion in which a part of the moving body is locked by the elevating means, the moving body can be lifted and stored in an upright state with one end side facing upward.
The moving body is
A posture detecting means for detecting a change in the posture of the moving body, and
When the posture detecting means detects a change in the posture of the moving body, the moving body side motion executing means for executing the predetermined motion is provided.
Based on the instruction of the user, the device-side operation executing means moves the moving body by lowering the locking portion that locks a part of the moving body by the elevating means to change the posture of the moving body. A storage device characterized in that the body performs a predetermined movement.

Images