1220383 玖、發明說明： 【發明所屬之技術領域】 本發明係關於-種地面清潔裝置，特別指一種兼具吸 塵及灰塵擦軾沾附功能之自動地面清潔裝置。 【先前技術】 隨家用設備之高度自動化及數位化趨勢，自動地面清 潔裝置（robotic floor cleaner)因具有完全自動化清潔家居地 板而大幅節省人力之優點’同時歸功其製造成本不斷下降 ’而已逐漸普及至一般家庭生活。 10 15 20 現有之自動地面清潔裝置除其基本吸塵作用外，亦有 於其抽風吸塵口附近加設刷狀掃掠構件，以將地面之灰塵 朝抽風口方向掃掠而提高實質吸塵效率。惟無論何種設叶 ，對於略為黏附於地面之灰塵或過小之雜質顆粒，盆吸取 :除效率仍屬有限，是故’如何提高地面清潔效果以確保 豕居生活之潔淨健康，是為本發明之研發重點。 【發明内容】 ▲ 口此本^明之主要目的，即在提供—種於原有吸塵 功能外’兼具灰塵擦拭沾附作用以提高地面潔 地面清潔裝置。 自動 ;疋’本發明之自動地面清潔裝置 :推進單元，設於本體而使本體可於一地面移動；―：制 ¥元’設於本體以控制推進單元使本體自動依―二 於地面移動；一吸塵單元 外於；^辨 、果工 又座平兀，具有一设於本體之風扇、至小 一牙透本體底部並連通風扇抽風侧之風道，及一與風道^ 4 5 =之集塵槽，以將地面之灰塵沿該風道吸人並收集於集塵 二:及—擦拭單元，具有_接設於本體底部之連接座，及 —裝設於連接座而於吸塵單元停止運作下接觸地面之擦拭 件’以將吸塵單元運作後仍殘留於地面之灰塵擦拭於 擦拭件。 、 於-較佳實施例中，該自動地面清潔装置更包括一掃 掠皁元，其具有至少一設於本體之驅動件，及至少一受驅 動件驅動旋轉轉地面之灰塵朝風道人口處掃掠之掃掠件 〇 10 【實施方式】 一本發明之前述及其他技術内容、特點與功效，於以下 配合參考圖式之較佳實施例詳細說明中，將可清楚明白。 15 首先如圖1至3所示，本發明自動地面清潔裝置1〇〇 之一較佳實施例，主要包括一本體1、一推進單元2、一控 制單元3、一吸塵單元4、一掃掠單元5及一擦拭單元6， 而用以清除地面或其他工作表面之灰塵，且本說明書中「 灰塵」一詞係含括如落塵、紙屑、沙礫、毛髮及其他任何 可以真空吸取方式吸入收集之待清除物。 20 本體1主要具有一略呈扁圓形之殼體11、複數容置於 殼體11内部以供應該清潔裝置1〇〇整體運作電力之電池12 ，及其他設置於殼體11之複數機構電子元件，其細節容後 詳述。殼體u底部並設一左右延伸而狹長之開孔m，其 作用於後續吸塵單元4將另詳述。 推進單元2則接設於該本體1底部，以供推進本體1 5 1220383 而使本體1可於地面自由移動。尤須指出者，如圖3、4所 示’本實施例中推進單元2係以可脫離方式結合於本體卜 而具有一對左右間隔對稱配置之推進輪組2〇。各推 主要包含-以可向下脫離方式容設於殼體u底部 室m之座豸21，一藉螺合或其他可釋離方式結合於殼: 11底面而令座體21固定容設於下容室112之下芸u ίο :妓轉之轉輪24、—組設於㈣21上側之避震彈 黃25,及-組設於座體21之電連接器（圖未示），且本實施 =中驅動構件23係包括_馬達231及複數減速傳動:輪 於操作狀態下，各推進輪組2〇係固定容設於殼體u之 下容室u2(如圖3中右側推進輪組2〇狀態 15 對接於設於本…之另一電連接器（圖未示），而自j =1220383 Description of the invention: [Technical field to which the invention belongs] The present invention relates to a kind of floor cleaning device, and particularly to an automatic floor cleaning device that has both the functions of dust absorption and dust wiping. [Previous technology] With the high degree of automation and digitalization of household equipment, robotic floor cleaners have the advantage of greatly saving labor due to fully automated cleaning of household floors. Normal family life. 10 15 20 In addition to its basic dust suction effect, the existing automatic floor cleaning device is also equipped with a brush-like sweeping member near the air suction port to sweep the ground dust toward the air suction port to improve the actual dust collection efficiency. However, no matter what kind of leaves are set, for the dust that is slightly adhered to the ground or the particles of particles that are too small, the basin sucks: the removal efficiency is still limited, so 'how to improve the cleaning effect of the ground to ensure the clean and healthy life of the dwelling is the invention R & D focus. [Summary of the Invention] ▲ The main purpose of this book is to provide a kind of dust cleaning function besides the original dust suction function to improve the cleanliness of the floor. Automatic; 疋 'The automatic ground cleaning device of the present invention: a propulsion unit is provided on the body so that the body can move on a ground; ―: system ¥ yuan' is set on the body to control the propulsion unit to automatically move the body according to ―2; A vacuuming unit is external; ^ distinguished, fruit workers are flat, with a fan set on the body, a small channel through the bottom of the body and connected to the fan exhaust side, and a wind channel ^ 4 5 = of Dust collecting trough to suck the dust from the ground along the air duct and collect it in dust collecting two: and-the wiping unit has a connecting seat connected to the bottom of the body, and-is installed on the connecting seat and stops at the dust collecting unit The wiper contacting the ground under operation 'wipes the dust that remains on the ground after the dust suction unit is operated. In a preferred embodiment, the automatic floor cleaning device further includes a sweeping soap element, which has at least one driving member provided on the body, and at least one driven by the driving member to rotate the ground to sweep the dust toward the airway population. Sweep part 010 [Embodiment] The foregoing and other technical contents, features, and effects of the present invention will be clearly understood in the following detailed description of the preferred embodiment with reference to the drawings. 15 First, as shown in FIGS. 1 to 3, a preferred embodiment of the automatic floor cleaning device 100 of the present invention mainly includes a body 1, a propulsion unit 2, a control unit 3, a dust suction unit 4, and a sweeping unit. 5 and a wiping unit 6, which are used to remove dust on the ground or other working surfaces, and the term "dust" in this manual includes items such as falling dust, paper scraps, grit, hair, and any other means that can be sucked and collected by vacuum suction. Clearance. 20 The main body 1 mainly has a casing 11 that is slightly oblate, a plurality of batteries 12 accommodated in the casing 11 to supply the overall operating power of the cleaning device 100, and other plural mechanism electronics provided in the casing 11. Components, the details of which are detailed later. The bottom of the casing u is provided with an elongated opening m extending from left to right, which acts on the subsequent dust collecting unit 4 in detail. The propulsion unit 2 is connected to the bottom of the body 1 for advancing the body 1 5 1220383 so that the body 1 can move freely on the ground. In particular, as shown in Figs. 3 and 4, the propulsion unit 2 in this embodiment is detachably coupled to the body and has a pair of left and right spaced symmetrically arranged propulsion wheels 20. Each push mainly includes-the seat 豸 21 accommodated in the bottom chamber m of the housing u in a detachable manner, and is combined with the shell by screwing or other releasable means: 11 the bottom surface makes the seat 21 fixedly accommodated in Bottom of the lower chamber 112: Wheels 24 for prostitutes, — shock absorber yellow 25 set on the upper side of ㈣21, and —electrical connectors (not shown) set on the base 21, and this Implementation = The middle drive member 23 series includes _motor 231 and multiple reduction transmissions: When the wheels are in operation, each propulsion wheel group 20 is fixedly accommodated in the housing u2 below the casing u (as shown in the right side of the propulsion wheel group in FIG. 3) 2〇State 15 is connected to another electrical connector (not shown) provided in this ... since j =
Lm7" 3接收訊號以驅動馬達231帶動轉輪24 。而虽故障或其他原因而需拆換推進輪組20時，僅· =累合下蓋22之螺栓（圖未示）卸下，即可拆解下蓋22(^ 20 中左側推進輪組20所示）而將推進輪組2〇整組自下容室 取出，故具有檢修及更換簡便之功效。 谷 所示’控制單元3之實體型態為-設於本體1 制推進單元2帶動本體1於-般狀態 针切入預疋運動模式於地面移動。本實例中該預定運 方清«置⑽依序依下述方式行走：⑴採亂數 工订’（2)主順時針螺旋狀繞行，（3)沿室内牆角行走， 6 (4)呈逆時針螺旋狀繞行，(5)呈 時針螺旋狀繞行，然非以此模式為=狀行走，及⑹呈逆 如圖1至3所示，吸塵單元4且 41、-位於風扇41前側之上風有：於本體1内部 及-穿過殼體㈣部開孔⑴之下上風風f442、一集塵槽43 以可向上脫離方式容設於殼體u^；；44。集塵槽43係 ⑴，而包含-槽體431、一設於二…^ 明槽蓋432，及—設於槽蓋似訂體431 了頁部之可掀式透 。下®、# w e 下方之可更換式濾網433 下：道44底部則形成-狹長之抽風口 441。 4“ ：:3!氣：經過下風道44底部抽風口 441、下風道 ^ 42而由風扇41抽送並排出之過程中 ^内之灰塵即由據網433予以據除沉降收集於集塵槽 。使用者則可透過透明槽蓋432隨時觀察集塵槽心 ^塵量，而視需要將集塵槽43自本體Μ上取出以清理 :塵。由於本實施财集塵槽43係自本體1朝上之方向取 ’與現有設計中集塵槽多自本體側向取出之方式相較， 更可避免灰塵於集塵槽43抽取過程中外散而造成二次污染 0 如圖2、6及5所不，掃掠單元5具有一對設於本體工 底邛開孔m附近兩側且左右間隔對稱配置之掃掠構件％ 。各知掠構件50包含一設於本體丨内部之座體51、一驅動 件52、複數受驅動件52驅動之傳動件53、一環套54及一 艾傳動件53 ητ動％轉以將地面之灰塵朝抽風口 44丨方向掃 掠之掃扣、件55 ’以辅助提高吸塵單元4之灰塵吸取效用。 %套54包括-向上凸伸而套設於傳動件η之—傳動轴如 夕山卜緣之套管54卜及複數供掃掠件55之兩嵌塊552歲 :欠孔⑷’藉環套54包圍傳動轴531外部，而可防切動 * 531文毛髮或其他絲狀物纏繞。此外，本實施例中择 件、55則係由橡皮或其他彈性材料製成，而具有-與地面： 觸並呈凹凸齒狀之掃掠面551 ’以改善現有設計中掃掠件多 呈刷狀而易纏繞沾黏毛髮或其他雜質之缺點。Lm7 " 3 receives a signal to drive a motor 231 to drive the runner 24. However, if the propulsion wheel set 20 needs to be replaced despite malfunction or other reasons, only the bolts (not shown) that are combined with the lower cover 22 can be removed to disassemble the lower cover 22 (^ 20 in the left side of the propulsion wheel set 20). (Shown), and the whole set of propulsion wheels 20 is taken out from the lower chamber, so it has the effect of easy maintenance and replacement. The physical form of the control unit 3 shown in the figure is-it is set on the body 1 and the propulsion unit 2 drives the body 1 in the normal state. The needle cuts into the pre-movement motion mode and moves on the ground. In this example, the ordering party clears the order and walks in the following way in sequence: ⑴ picking random orders' (2) the main clockwise spiral, (3) walking along the corner of the interior, 6 (4) showing Spiral in a counterclockwise spiral, (5) Spiral in a clockwise spiral, but instead of walking in this mode, the ⑹ is reversed, as shown in Figures 1-3. The upper wind includes: the upper wind f442 inside the body 1 and-through the opening 穿过 of the casing ㈣, and a dust collecting groove 43 accommodated in the casing u ^ in a detachable manner; 44. The dust collecting tank 43 is a ⑴, and includes-a tank body 431, one provided in two ... ^ exposed tank cover 432, and-the tank cover is arranged like a body 431 and can be tilted through. Bottom ®, # wa Bottom replaceable filter 433 Bottom: The bottom of the channel 44 is formed-a narrow exhaust vent 441. 4 ":: 3! Air: The dust in the process of being pumped and discharged by the fan 41 through the exhaust duct 441 at the bottom of the down duct 44 and the down duct ^ 42 is collected and collected in the dust collection by the net 433 The user can observe the dust volume of the dust collecting tank at any time through the transparent tank cover 432, and take out the dust collecting tank 43 from the main body M to clean up: dust as necessary. Since the dust collecting tank 43 is self-contained in this implementation, 1 Compared with the way in which the dust collecting tank is taken out from the side of the main body in the existing design, the dust can be prevented from being scattered outside during the extraction process of the dust collecting tank 43 and causing secondary pollution. 0 See Figures 2, 6 and No. 5, the sweeping unit 5 has a pair of sweeping members arranged symmetrically at left and right intervals on both sides near the opening m of the base of the body. Each sweeping member 50 includes a seat 51 provided inside the body. , A driving member 52, a plurality of transmission members 53 driven by the driving member 52, a ring 54 and a moxa transmission member 53 ητ% of rotation to sweep the ground dust toward the exhaust port 44 丨, a buckle 55 ' To assist in improving the dust suction effect of the dust suction unit 4. The% sleeve 54 includes-protruding upward and sleeved on the Piece η—the sleeve 54 of the transmission shaft is like the sleeve 54 of the edge of the mountain and the two inserts of the plurality of sweeping pieces 55 are 552 years old. 531 hairs or other filaments are entangled. In addition, in this embodiment, the optional part 55 is made of rubber or other elastic materials, and has-and the ground: the sweeping surface that touches the concave and convex shape 551 ′ to Improve the shortcomings of the existing designs that are mostly brush-like and easily entangled with sticky hair or other impurities.
如圖3、6、7所示，擦拭單元6具有一以可拆離方式 接設於本體！底部之連接座61，及—裝設科接座Μ而於 吸塵早凡4停止運作下接觸地面之擦拭件62,以將吸塵單 凡4運作後仍殘留於地面之灰塵擦拭沾附於擦拭件Μ而帶 以進-步提高地面之潔淨度。本實施例中連接座Μ包 含一矩形座體611，及一對自座體611左右兩外側向上凸伸 而具彈性之習知干涉件612，藉干涉件612如圖6、7所示 可干涉結合於殼體11底部開設之-對干涉孔114。本實施 例中擦拭件62為-習知帶靜電之矩形吸塵紙，然如布、軟 膠或其他可供灰塵沾附之材質皆可適用，同如圖6、7所示 裇拭件62平贴於座體611底面後，藉擦拭件62之四角向 上彎折而迫擠固持於座體611四角處之各一破孔613，可使 抆拭件62以可釋離置換方式結合於連接座6工。 本實施例中擦拭單元6係於吸塵單元4停止運作後， 由使用者安裝於本體1底部，再令清潔裝i 1GG於同-地 依先釗同一或不同運動模式運動，使殘留地面之灰塵由 擦拭單70 6沾附去除。然於其他變化例中，擦拭單元6亦 1220383 可保持安裝財體1底部，於吸塵單元4運作下未接觸地 面’而於吸塵U 4停止運作後始下降至擦栻件62接觸地 面之高度。 ίο 一除上述各主要單元外，如圖1所示，本體"頁部設有 谓測本體1上方高度内是否受遮蔽之光反射伯測器 13，以配合—設於控制單元3而_電池12電量之電量# 測電路(圖未不)運作。當電量谓測電路偵測電池12蓄電量 7-預設值’且光反射制器13藉由光反射原理制本 Γ 1上方預W度内受遮蔽時’控制單元3將控制推進單 ::而使本體1移動，直至光偵測器13偵測本體工上方預 定高度内未受遮蔽為止，藉此可確保清潔裝置i⑽於電量 耗盡狀態下，殘料止於如床、桌料家具底部 取出。 15 再㈣3所示，本體丄前端底部則設有一制本體i 下方-疋沬度内是否受遮蔽之另一光反射债測器u光 反射制器14藉光反射原則貞知本…下方預定深度^未 ==潔裝置1〇。適活動至階梯之梯面… ΓΓ 單元2轉向（如後退或左、右轉）以防止清潔 衣置100進一步前進而墜落損壞。 20 此外，同如圖3所示’本體丨前端底部另轉動樞設一 可Si:組2〇之轉輪24同時接觸地面之輪狀感應件15 件15於清潔裝置100操作中偵知感應件15未盘 地面接觸而脫離地面時，控制單元3將切斷清潔裝置1〇〇 整體電力之供應而令其緊急停機’藉此防止運财之轉輪 9 1220383 24或吸塵單& 4對使用者絲巾其他孩童、動物造成危 害 10 15 20 取後’如圖1、8所示，本體i前端更設有一碰撞緩衝 構件16，其具有凸^^本體1前緣而沿左右對稱延伸之前 抬板161 ’ 一位於前擋板161後側之内擋板ία、一對樞設 於本體1底部並各連接内播板162左右兩端之拉桿163，及 一兩端連接各拉桿163對稱處之拉伸彈簧164。藉此，當前 播板/61於清潔裝置_前進中碰撞如牆壁或其他障礙物 ，’藉内播板162帶動兩拉桿163略為樞轉，而由拉伸彈 簧163之拉伸形變吸收其碰撞衝擊力，而保護清潔裝置_ 本身之機構或電子元件不受損害。 是故，藉由上述構造及運作方式，本發明揭示一種於 原有吸塵功能外兼具灰塵擦拭沾附作用之自動地面清潔裝 置’而可提高地面潔淨度以確保居家生活之清 者，本發明之清潔裝置亦具備如前述推進輪組檢修更㈣ 便、離地斷電、防止墜落及碰撞緩衝等多重功能，故可謂 一具多重功效增進之新穎設計。 惟以上所述者，僅為本發明之較佳實施例而已，當不 能以此限定本發明實施之範圍，即大凡依本發明申請專利 範圍及發明說明書内容所作之簡單等效變化與修飾，皆應 仍屬本發明專利涵蓋之範圍内。 【圖式簡單說明】 圖1為本發明自動地面清潔裝置之一 合立體圖； 較佳實施例之組 10 1220383 圖2為該較佳實施例自侧上方所得之分解立體圖，其 中一擦拭單元未示出； 圖3為該較佳實施自侧下方所得之分解立體圖； 圖4為該較佳實施之一推進單元之分解立體圖； 5 圖5為該較佳實施之一掃掠單元之分解立體圖； 圖6為該較佳實施之一擦拭單元組裝於一本體底部之 侧視不意圖， 圖7為該較佳實施自侧下方所得之組合立體圖；及 圖8為該較佳實施之一碰撞緩衝構件之分解立獐圖。 10 15 20 11 1220383 【圖式之主要元件代表符號說明】 100地面清潔裝置 1本體 2推進單元 3控制單元 4吸塵單元 5掃掠單元 6擦拭單元 11殼體 12電池 111開孔 20推進輪組 21座體 112下容室 22下蓋 23驅動構件 24轉輪 25避震彈簧 231馬達 232傳動齒輪 41風扇 42上風道 43集塵槽 44下風道 113上容室 431槽體 432槽蓋 433濾網 441抽風口 50掃掠構件 51座體 52驅動件 53傳動件 54環套 55掃掠件 551掃掠面 61連接座 62擦拭件 611座體 612干涉件 114干涉孔 613破孔 13光反射偵測器 14光反射偵測器 1 5輪狀感應件 16碰撞緩衝構件 161前擋板161 162内擋板162 163拉桿 164彈簧 12As shown in Figures 3, 6, and 7, the wiping unit 6 has a detachable connection to the body! The connecting base 61 at the bottom, and the wiper 62 which is equipped with a connecting base M and contacts the ground when the vacuuming operation is stopped, so as to wipe the dust that remains on the ground after the vacuuming operation is performed. Μ and further improve the cleanliness of the ground. In this embodiment, the connecting base M includes a rectangular base body 611 and a pair of conventional interference members 612 protruding upward from the left and right sides of the base body 611 and having elasticity. The interference members 612 can interfere as shown in FIGS. 6 and 7. A pair of interference holes 114 is formed on the bottom of the casing 11. In this embodiment, the wiper 62 is a conventional rectangular dust-absorbing paper with static electricity, but it can be applied to cloth, soft rubber or other materials that can be attached by dust, as shown in Figures 6 and 7. After being affixed to the bottom surface of the base 611, the four corners of the wiper 62 are bent upwards to forcibly squeeze each of the holes 613 held at the four corners of the base 611, so that the wiper 62 can be releasably replaced with the connection base 6 workers. In this embodiment, after the cleaning unit 4 stops operating, the cleaning unit 6 is installed by the user on the bottom of the body 1, and then the cleaning device i 1GG is moved in the same or different motion mode according to the same or different movement mode, so that the dust on the ground remains. Removed by wiping sheet 70 6 adhesion. However, in other variations, the wiping unit 6 and 1220383 can keep the bottom of the installation body 1 and do not touch the ground 'under the operation of the dust collecting unit 4', and after the vacuuming U 4 stops operating, it descends to the height where the wiping member 62 contacts the ground. ίο In addition to the above main units, as shown in FIG. 1, the main body " page section is provided with a light reflection primary detector 13 for measuring whether it is shielded within the height above the main body 1 to cooperate—set in the control unit 3 and _ Battery # 12 electricity level measurement circuit (not shown) is working. When the power measuring circuit detects the battery 12's stored power 7-preset value 'and the light reflection controller 13 uses the principle of light reflection to make the cover Γ 1 above the pre-W degree is blocked within' W ', the control unit 3 will control the advance order :: And the main body 1 is moved until the light detector 13 detects that it is not covered within a predetermined height above the main body, thereby ensuring that the cleaning device i⑽ is in the state of exhausted power, and the residual material stops at the bottom of the bed or table furniture take out. 15 As shown in Figure 3, the bottom of the front end of the body is provided with a body i. Another light reflection debt detector u is reflected in the bottom of the body. The light reflection control device 14 knows the principle of light reflection ... the predetermined depth below. ^ Not == Clean Device 1〇. Suitable for moving to the ladder surface ... ΓΓ Unit 2 turns (such as backward or left and right) to prevent the cleaning clothes 100 from further advancing and falling. 20 In addition, as shown in FIG. 3, the main body 丨 the front and the bottom of the front side are also pivoted to set a wheel 24 that can contact the ground at the same time. The wheel-shaped sensor 15 can contact the ground at the same time. 15 The sensor is detected during the operation of the cleaning device 100. 15 When the floor is not in contact with the ground and is disconnected from the ground, the control unit 3 will cut off the overall power supply of the cleaning device 100 and cause it to stop immediately. This will prevent the runners of the fortune 9 1220383 24 or the dust collection sheet & 4 pairs of use Other children and animals can cause harm 10 15 20 After removal, as shown in Figs. 1 and 8, the front end of the body i is further provided with a collision cushioning member 16 which has a convex front edge of the body 1 and extends symmetrically along the left and right. Plate 161 ′ an inner baffle α located at the rear side of the front baffle 161, a pair of tie rods 163 pivotally arranged at the bottom of the body 1 and connected to the left and right ends of the inner seeding plate 162, and a symmetrical place where the two ends are connected to the respective tie rods 163 Extension spring 164. With this, the current seeding plate / 61 collides with a wall or other obstacle during the cleaning device_, and the two levers 163 are slightly pivoted by the inner seeding plate 162, and the impact shock is absorbed by the tensile deformation of the tension spring 163 Force, while protecting the cleaning device _ its mechanism or electronic components from damage. Therefore, with the above-mentioned structure and operation mode, the present invention discloses an automatic floor cleaning device that has the function of dust wiping and adhesion in addition to the original dust suction function, and can improve the cleanliness of the floor to ensure the cleanliness of home life. The present invention The cleaning device also has multiple functions such as easier maintenance of the aforementioned propulsion wheels, power-off from the ground, prevention of falling, and collision buffering, so it can be described as a novel design with multiple functions. However, the above are only the preferred embodiments of the present invention. When the scope of implementation of the present invention cannot be limited in this way, that is, any simple equivalent changes and modifications made in accordance with the scope of the patent application and the description of the invention, Should still fall within the scope of the invention patent. [Brief description of the drawings] FIG. 1 is a perspective view of an automatic floor cleaning device according to the present invention; a preferred embodiment of the group 10 1220383 FIG. 2 is an exploded perspective view of the preferred embodiment obtained from above the side, one of which is not shown Figure 3 is an exploded perspective view of the preferred embodiment from below; Figure 4 is an exploded perspective view of a propulsion unit of the preferred embodiment; 5 Figure 5 is an exploded perspective view of a sweep unit of the preferred embodiment; Figure 6 The side view of the assembly of the wiping unit on the bottom of a preferred embodiment is not intended, FIG. 7 is a combined perspective view of the preferred embodiment obtained from below the side; and FIG. 8 is an exploded view of a bumper member of the preferred embodiment. Tachibana map. 10 15 20 11 1220383 [Description of the main symbols of the drawings] 100 Floor cleaning device 1 Body 2 Propulsion unit 3 Control unit 4 Vacuum unit 5 Sweep unit 6 Wipe unit 11 Case 12 Battery 111 Opening 20 Propulsion wheel set 21 Base body 112 Lower chamber 22 Lower cover 23 Drive member 24 Runner 25 Suspension spring 231 Motor 232 Transmission gear 41 Fan 42 Upper air duct 43 Dust collecting tank 44 Lower air duct 113 Upper chamber 431 Tank 432 Tank cover 433 Filter Net 441 exhaust port 50 sweeping member 51 base body 52 driving member 53 transmission member 54 ring sleeve 55 sweeping member 551 sweeping surface 61 connecting seat 62 wiping member 611 seat body 612 interference member 114 interference hole 613 broken hole 13 light reflection detection Detector 14 Light reflection detector 1 5 Wheel-shaped sensor 16 Collision buffer member 161 Front bezel 162 162 Inner bezel 162 163 Tie rod 164 Spring 12