TWI566736B - Self-propelled electronic machines - Google Patents

Description

Self-propelled electronic machine

The present invention relates to a self-propelled electronic machine including a self-propelled sweeper and a self-propelled ion generator. More specifically, it relates to, for example, a self-propelled electronic machine having an environmental sensor that detects an ambient environment such as a temperature sensor or a humidity sensor.

In recent years, a self-propelled electronic device having a temperature sensor and a function of monitoring the ambient temperature has been known (for example, refer to Patent Document 1). The self-propelled sweeping machine of the patent document 1 is provided with a temperature sensor including a thermal resistor or the like for detecting the ambient temperature on the front surface of the upper surface of the sweeper body, and detects and objects using an obstacle sensor (sound wave sensor). For the distance of the object, the temperature is corrected using the ambient temperature detected by the temperature sensor.

Prior technical literature Patent literature

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2007-122327

However, the self-propelled sweeper disclosed in Patent Document 1 has a temperature sensor for detecting the ambient temperature outside the casing, so that the self-propelled sweeper is self-propelled indoors, and is close to a supply source such as an air conditioner or a heater. The temperature sensor disposed outside the casing is directly affected by the wind from the air supply source, and there is a possibility that the temperature of the surrounding environment cannot be correctly detected. Moreover, in the case where the self-propelled sweeper is close to a high heat source such as a furnace or a heater, the temperature sensor is subjected to high heat damage from the high heat source, and the wrong action of the temperature sensor is generated, and the correct operation cannot be performed correctly. The temperature is detected.

On the other hand, in the case where an environmental sensor such as a temperature sensor or a humidity sensor is provided outside the casing and inside the casing, the sensors are susceptible to being constituted by the power supply circuit and the drive system. Since the substrate component or the heat from the driving portion inside the casing such as a motor has an influence, for example, it is impossible to accurately detect the surrounding environment such as temperature or humidity. In the case of a self-propelled electronic device, the internal space is sometimes limited compared to a general sweeper, and the heat is filled inside the casing, so that there is a high possibility of causing an erroneous action of the environmental sensor. Moreover, unlike the operation of the general sweeper operated by the user, the self-propelled electronic device avoids the collision with the obstacle according to its own judgment, so the movement is irregular, and the drive is driven according to the different operating states. The thermal impact of the ministry has changed drastically, and the actual situation is that temperature correction is not easy.

In view of the peculiarities of such a self-propelled electronic device, the present invention provides a self-contained environment that does not depend on changes in the external environment during self-propellment and the heat source inside the casing, and can correctly detect the surrounding environment of the casing such as temperature or humidity. Walking electronic machine.

The present invention provides a self-propelled electronic device comprising: a housing; a walking portion for walking the housing; an environmental sensor for detecting an environment surrounding the housing; and a sliding member slidable relative to the housing; The environmental sensor is disposed inside the sliding member formed with a gap of a certain interval between the housing and the housing.

According to the present invention, it is possible to realize a self-propelled electronic device that can accurately detect the surrounding environment of a casing such as temperature or humidity without depending on the change in the external environment during self-propulsion and the heat source inside the casing.

1‧‧‧Self-moving sweeper

2‧‧‧Shell

2a‧‧‧floor

2b‧‧‧ top board

2c‧‧‧ side panels

2d‧‧‧buffer

3‧‧‧ Cover

4‧‧‧Charging terminal

6‧‧‧Inhalation

7‧‧‧Exhaust port

8‧‧‧ recess

9‧‧‧Rotary brush

10‧‧‧ side brush

11‧‧‧Attracting the way

12‧‧‧Exhaust road

13‧‧‧Floor surface detection sensor

14‧‧‧Battery

15‧‧‧Control substrate

15a‧‧‧CPU

17‧‧‧ Shielding body

17a‧‧‧Control unit

18‧‧‧Memory Department

18a‧‧‧ walking chart

19‧‧‧Floor surface detection sensor

20‧‧‧Motor unit

22‧‧‧Electric blower

22a‧‧‧Motor drive

24a‧‧‧1st exhaust road

24b‧‧‧2nd exhaust road

26‧‧‧ Rear wheel

27‧‧‧ front wheel

28‧‧‧Ion generator

29‧‧‧Drive wheel

30‧‧‧ dust box

31‧‧‧dust container

32‧‧‧ Cover

33‧‧‧Filter Department

34‧‧‧Incoming road

35‧‧‧Discharge road

39‧‧‧ partition wall

40‧‧‧Charging station

41‧‧‧ Terminals

51‧‧‧Travel motor

51a‧‧‧Motor drive

52‧‧‧Smell sensor

52a‧‧‧Control unit

53‧‧‧Humidity sensor

53a‧‧‧Control unit

54‧‧‧ human sensor

54a‧‧‧Control unit

55‧‧‧Contact Sensor

55a‧‧‧Control unit

56‧‧‧Temperature Sensor

56a‧‧‧Control unit

201‧‧‧Self-propelled ion generator

209‧‧‧Inhalation cover

210‧‧‧Inlet suction cover drive

211‧‧‧Exhaust cover

212‧‧‧Exhaust port cover drive

213‧‧‧Control Department

215‧‧‧ drive wheel

241‧‧‧Exhaust port

242‧‧‧Inhalation

292‧‧‧ Receiving Department

AR‧‧‧ Ventilation Road

C‧‧‧ center line

F‧‧‧Floor surface

M‧‧‧ drive motor

R1‧‧‧ front storage room

R2‧‧‧Intermediate storage room

R3‧‧‧ rear storage room

S‧‧‧ side wall

SL‧‧‧ gap

Fig. 1 is a perspective view showing the configuration of a self-propelled electronic device according to a first embodiment of the present invention.

Figure 2 is a cross-sectional view taken along the line A-A of the self-propelled electronic machine shown in Figure 1.

Figure 3 is a bottom plan view of the self-propelled electronic machine shown in Figure 1.

Fig. 4 is a view corresponding to Fig. 2 showing a state in which the lid portion of the casing is opened and the dust collecting portion is taken out.

Fig. 5 is a perspective view showing a state in which a top plate, a control board, and the like of the casing of the self-propelled electronic device shown in Fig. 1 are removed.

Figure 6 is a block diagram showing the electrical configuration of the self-propelled electronic device shown in Figure 1.

Fig. 7 is a schematic plan view showing a state in which a top plate, a control substrate, and the like of the casing of the self-propelled electronic device shown in Fig. 1 are removed.

Figure 8 is a cross-sectional view taken along the line B-B of the buffer shown in Figure 7.

Fig. 9 is a perspective view showing the configuration of a self-propelled electronic device according to a second embodiment of the present invention.

Fig. 10 is a perspective view showing a state in which a top plate, a control board, and the like of the casing of the self-propelled electronic device shown in Fig. 9 are removed.

Figure 11 is a block diagram showing the electrical configuration of the self-propelled electronic device shown in Figure 9.

The present invention provides a self-propelled electronic device including: a housing; a walking portion for walking the housing; an environmental sensor for detecting an environment surrounding the housing; and a sliding member slidable relative to the housing; The environmental sensor is disposed inside the sliding member formed with a gap between the housings at a specific interval.

In the self-propelled electronic device of the present invention, the term "self-propelled" means a housing that houses a drive unit, a drive wheel that moves the housing, a control unit that controls rotation, stop, and rotation directions of the drive wheel, and the like. An electronic device that independently travels after the control unit itself determines the traveling, stopping, and traveling directions, and an example is shown by using an embodiment of the drawings described later.

The "environmental sensor" is a sensor that detects the state around the self-propelled electronic device that changes in the self-propelled electronic device. For example, the environmental sensor is a temperature sensor, a humidity sensor, or an odor sensor.

The "sliding member" is, for example, a front side plate that functions as a movable damper that mitigates a collision at the time of collision of the self-propelled electronic device. In this example, the "gap" is fixed to the gap between the side plate of the casing and the damper.

In the self-propelled electronic device of the present invention, the environmental sensor may be at least one of a temperature sensor, a humidity sensor, and an odor sensor.

In this way, the environmental sensor can correctly detect the temperature, humidity and/or odor around the casing according to the change of the external environment during self-propellment and the heat source inside the casing.

In the self-propelled electronic device of the present invention, the environmental sensor may be a central portion provided inside the sliding member.

In this way, since the environmental sensor is provided at the central portion of the inner side of the sliding member, the wind can be received even if the self-propelled electronic device is in direct contact with the wind from the air supply source such as an electric fan or an air conditioner. The casing or the sliding member is shielded from reaching the central portion of the inner side of the sliding member, so that it is less susceptible to environmental influence from the outside, and accurate detection of the environment around the casing can be achieved. In addition, it is also possible to prevent the self-propelled electronic device from colliding with an obstacle or the like during self-propelled, water on the upper surface of the self-propelled electronic device, or falling of an object, etc., so that the electronic circuit of the environmental sensor is immersed in water or the like. Malfunctions caused by malfunctions or obscuration of environmental sensors due to falling objects.

In the self-propelled electronic device of the present invention, the sliding member may be formed to be slidably formed in the lateral direction with respect to the casing.

In this way, in addition to the impact of the self-propelled electronic device colliding with the obstacle by sliding of the sliding member, the sliding member can be slid to compress or expand the air inside the casing, so that the air can be detected through the gap and can be correctly detected. surroundings.

In the self-propelled electronic device of the present invention, the self-propelled electronic device may be a sweeper or an ion generator.

Thus, the aforementioned self-propelled electronic device is a sweeper or an ion generator, so it is not rooted. According to the existence of the heat source existing on the path in the self-propelled or the irregular operation state of the machine, a sweeper or an ion generator capable of correctly detecting the environment around the casing can be realized.

[First Embodiment] <Composition of self-propelled sweeper>

Next, as the self-propelled electronic device according to the first embodiment of the present invention, the self-propelled sweeper 1 will be described as an example. This example is merely an example, and the above concept is of course included as a self-propelled electronic device.

Hereinafter, a self-propelled electronic device according to a first embodiment of the present invention will be described based on the drawings.

Fig. 1 is a perspective view showing the configuration of the self-propelled sweeper 1 according to the first embodiment of the present invention. Figure 2 is a cross-sectional view taken along the line A-A of the self-propelled sweeper 1 shown in Figure 1. Figure 3 is a bottom plan view of the self-propelled sweeper 1 shown in Figure 1. Fig. 4 is a view corresponding to Fig. 2 showing a state in which the lid portion 3 of the casing 2 is opened and the dust collecting portion is taken out. Fig. 5 is a perspective view showing a state in which the top plate 2b of the casing 2 of the self-propelled sweeper 1 shown in Fig. 1 and a control board and the like are removed. Fig. 6 is a block diagram showing the electrical configuration of the self-propelled sweeper 1 shown in Fig. 1.

The self-propelled sweeping machine 1 according to the first embodiment of the present invention sucks air containing dust on the floor surface F while being self-propelled on the floor surface F of the installation place, and sweeps the floor surface by discharging the air after the dust is removed. Self-propelled sweeper on F.

The self-propelled sweeper includes a housing having a suction port and an exhaust port, a housing fan and a dust collecting chamber, and a driving portion for moving the housing.

The self-propelled sweeper 1 is provided with a disc-shaped casing 2, and a rotating brush 9, a side brush 10, a dust collecting box 30, a blowing portion including an electric blower 22, and a pair of driving wheels are provided inside or outside the casing 2. 29. Components such as the rear wheel 26 and the front wheel 27, and a control unit including various sensors.

In the self-propelled sweeper 1, a portion in which the front wheels 27 are disposed is a front portion, a portion in which the rear wheels 26 are disposed is a rear portion, and a portion in which the dust box 30 is disposed is an intermediate portion.

In the first embodiment, the drive unit of the present invention corresponds to the electric blower 22 and the ion generator. The device 28, the traveling motor 51, the drive motor M, and the like. The traveling portion of the present invention is realized by the traveling motor 51, the drive wheels 29, the rear wheels 26, and the front wheels 27. Moreover, the environmental sensor of the present invention is equivalent to the humidity sensor 53, the temperature sensor 56, and/or the odor sensor 52. The sliding member of the present invention corresponds to the damper 2d, and the gap of the present invention corresponds to the gap SL.

The casing 2 includes a bottom plate 2a having a circular shape in plan view, and a suction port 6 formed at a position near the boundary between the intermediate portion of the front portion, and a top plate 2b having an opening and closing when the casing 2 is inserted into the dust box 30 at the intermediate portion. The lid portion 3; the side plate 2c having a circular shape in plan view is provided along the outer peripheral portion of the bottom plate 2a and the top plate 2b. Further, a plurality of holes are formed in the bottom plate 2a so that the lower portion of the front wheel 27, the pair of drive wheels 29, and the rear wheel 26 protrudes from the inside of the casing 2, and a row is formed in the vicinity of the boundary between the front portion and the intermediate portion of the top plate 2b. Air port 7. Further, the side plate 2c is divided into two before and after, and the front portion of the side plate 2c functions as a damper 2d that can slide back and forth.

Further, as shown in FIG. 4, the front portion has a front storage chamber R1 in which a motor unit (air blowing portion) 20 including an electric blower 22, an ion generating device 28 (see FIG. 5), and the like are housed in the front portion, and the intermediate portion has an intermediate portion. The intermediate storage chamber R2 of the dust box 30 is housed, and the rear control unit 15 includes a control board 15 that houses the control unit, a rear storage chamber R3 such as the battery 14 and the charging terminal 4, and a suction path 11 and exhaust gas in the vicinity of the boundary between the front portion and the intermediate portion. Road 12. The suction passage 11 connects the suction port 6 and the intermediate storage chamber R2, and the exhaust passage 12 connects the intermediate storage chamber R2 and the front storage chamber R1. Further, the storage chambers R1, R2, and R3, the suction passage 11, and the exhaust passage 12 are partitioned by a partition wall 39 provided in the casing 2 to constitute the spaces.

The pair of driving wheels 29 are fixed to one of the pair of driving wheels 29 at right angles to the center line C of the center of the circular casing 2, and the casing 2 is advanced or retracted when the pair of driving wheels 29 rotate in the same direction. When the housing 29 rotates in the reverse direction, the housing 2 rotates about the center line C.

The pair of rotating shafts are coupled to each other to obtain a rotational force from the motor, and the motors are fixed to the bottom plate 2a of the casing 2 directly or via a suspension mechanism.

The front wheel 27 includes a roller and is grounded to a step difference appearing on the forward route. To allow the casing 2 to easily pass the step, the floor surface F grounded from the drive wheel 29 is slightly floated and rotatably disposed in the casing. One part of the bottom plate 2a of the body 2.

The rear wheel 26 includes a free wheel, and the floor surface F to which the drive wheel 29 is grounded is grounded and rotatably provided at a portion of the bottom plate 2a of the casing 2.

Thus, a pair of driving wheels 29 are disposed in the middle of the front-rear direction with respect to the casing 2, so that the front wheels 27 are floated from the floor surface F, so that the self-propelled sweeper 1 can be supported by the pair of driving wheels 29 and the rear wheels 26. In the manner of weight, the weight is distributed in the front-rear direction with respect to the casing 2. Thereby, the dust in front of the forward route can be introduced into the suction port 6 without being shielded by the front wheel 27.

The suction port 6 is formed on the open surface of the recess 8 of the bottom surface of the casing 2 (the lower surface of the bottom plate 2a) so as to face the floor surface F. A rotating brush 9 that rotates about the axis of the first rotating shaft that is parallel to the bottom surface of the casing 2 is provided in the recessed portion 8, and is provided on the left and right sides of the recessed portion 8 so as to be perpendicular to the bottom surface of the casing 2. The side brush 10 of the axis of rotation of the rotating shaft. The rotating brush 9 is formed by spirally providing a brush on the outer peripheral surface of the rotating shaft, that is, the roller. The side brush 10 is formed by radially providing a brush bundle at the lower end of the rotating shaft. The rotating shaft of the rotating brush 9 and the rotating shaft of the pair of side brushes 10 are rotatably provided at a portion of the bottom plate 2a of the casing 2, and are driven by a power transmission mechanism including a pulley and a belt, and a drive motor M provided in the vicinity thereof. (See Figure 5) Linked.

As shown in Fig. 3, a floor surface detecting sensor 13 for detecting the floor surface F is disposed between the bottom surface of the casing 2 and the front wheel 27, and a floor surface detecting sensor 19 is disposed in front of the side portions of the left and right driving wheels 29, respectively. . When the floor surface detecting sensor 13 detects the descending step, the detection signal is transmitted to the control unit, and the control unit controls the pair of driving wheels 29 to stop. Further, in the case where the floor surface detecting sensor 13 is malfunctioning, the floor surface detecting sensor 19 can detect the descending step and stop the pair of driving wheels 29, thereby preventing the falling of the descending step of the self-propelled sweeper 1. Further, when the floor surface detecting sensor 19 detects the descending step, the detection signal is transmitted to the control unit, and the control unit can also control the driving wheel 29 to avoid walking down the step.

A control circuit for controlling each element such as the drive wheel 29, the rotary brush 9, the side brush 10, and the electric blower 22 of the self-propelled sweeper 1 is provided on the control board 15.

A charging terminal 4 for charging the battery 14 is provided at the rear end of the side plate 2c of the casing 2. The self-propelled sweeper 1 that sweeps away while moving indoors is returned to the charging station 40 installed indoors. When the charging terminal 4 comes into contact with the terminal portion 41 provided in the charging stand 40, charging of the battery 14 is performed. The charging station 40 connected to the commercial power source (socket) is generally disposed along the side wall S of the room.

The battery 14 is charged by the charging stand 40 via the charging terminal 4, and supplies electric power to each element such as the control board 15, the drive wheel 29, the rotating brush 9, the side brush 10, the electric blower 22, and various sensors.

The dust box 30 is generally housed in the intermediate storage chamber R2 which is higher than the axis of the rotation axis of the drive wheel 29 in the casing 2, and the dust collected in the dust box 30 is discarded, as shown in FIG. As shown, the lid portion 3 of the casing 2 can be opened to allow the dust box 30 to enter and exit.

The dust box 30 includes a dust collecting container 31 having an opening, a filter portion 33 that covers an opening of the dust collecting container 31, and a cover portion 32 that covers the opening of the filter portion 33 and the dust collecting container 31. The cover portion 32 and the filter portion 33 are rotatably supported on the edge of the open end of the front side of the dust collecting container 31.

In the front portion of the side wall of the dust collecting container 31, the dust collecting box 30 is housed in the intermediate storage chamber R2 of the casing 2, and is provided with an inflow path 34 connected to the suction path 11 of the casing 2, and the casing 2 The exhaust path 12 is connected to the exhaust path 35.

As shown in FIG. 6, the control unit that performs the operation control of the entire self-propelled sweeper 1 is configured to include a control board 15 having a control circuit including an IC 15a and other electronic components (not shown), and a memory walking diagram 18a. The memory unit 18; the motor driver 22a for driving the electric blower 22; the motor driver 51a for driving the traveling motor 51 of the driving wheel 29; and the light shielding body 17 rotatably provided near the exhaust port 7 in the casing 2. And a control unit 17a for driving the same; an odor sensor 52 and its control unit 52a; a humidity sensor 53 and its control unit 53a; a human sensor 54 and its control unit 54a; a contact sensor 55 And its control unit 55a; temperature sensor 56 and its control unit 56a and the like.

The CPU 15a is a central processing unit that individually transmits control signals to the motor drivers 22a and 51a and the control unit 17a based on the program data stored in advance in the storage unit 18, and drives and controls the electric blower 22, the traveling motor 51, and the light blocking body 17 to perform a series of sweeps. Operation and ion release operation.

Further, the CPU 15a receives the condition setting of the operation of the user's self-propelled sweeper 1 from the operation panel (not shown), and stores it in the storage unit 18. The memory unit 18 can memorize the walking map 18a around the installation place of the self-propelled sweeper 1. The travel information shown in Fig. 18a is a walking path or a walking speed of the self-propelled sweeper 1, and can be memorized in advance by the user in the memory unit 18, or the self-propelled sweeper 1 itself can automatically record in the sweeping operation.

The odor sensor 52 detects the odor of the outer periphery of the casing 2. As the odor sensor 52, for example, a semiconductor type or a contact combustion type odor sensor can be used. In order to detect the odor of the outer periphery of the casing 2 of the self-propelled sweeper 1, for example, the odor sensor 52 is disposed on the inner side surface of the damper 2d of the casing 2. The CPU 15a is connected to the odor sensor 52 via the control unit 52a, and obtains odor information of the outer periphery of the casing 2 based on the output signal of the odor sensor 52.

The humidity sensor 53 detects the humidity of the outer periphery of the casing 2. As the humidity sensor 53, for example, an electrostatic capacitance type or a resistance type humidity sensor using a polymer moisture sensitive material can be used. In order to detect the relative humidity of the outer periphery of the casing 2 of the self-propelled sweeper 1, for example, a humidity sensor 53 is disposed on the inner side surface of the damper 2d of the casing 2. The CPU 15a is connected to the humidity sensor 53 via the control unit 53a, and obtains humidity information of the outer periphery of the casing 2 based on the output signal from the humidity sensor 53.

In addition, in the travel map 18a, a position where the odor floating above a certain threshold value in the installation place where the self-propelled sweeper 1 is to be installed and a position where the moisture is higher than a certain threshold or more may be stored as a specific position. In this way, the CPU 15a can determine the specific position as the position determined based on the surrounding environment of the casing 2. In other words, the walking pattern 18a functions as an environment detecting device that detects the surrounding environment of the casing 2, similarly to the odor sensor 52 and the humidity sensor 53.

As the human sensor 54, for example, a human sensor that detects the presence of a person based on infrared rays, ultrasonic waves, visible light, or the like can be employed. In order to detect the presence of a person outside the periphery of the self-propelled sweeper 1, for example, the human sensor 54 is disposed in a state of being exposed to the outside from the side plate 2c or the top plate 2b of the casing 2. The CPU 15a is connected to the human sensor 54 via the control unit 54a, and obtains the presence information of the person outside the casing 2 based on the output signal from the human sensor 54.

The contact sensor 55 is in contact with an obstacle when detecting the walking of the self-propelled sweeper 1, for example, disposed at the front of the side panel 2c of the casing 2. The CPU 15a is in contact with the contact sensor 55 via the control unit 55a, and based on the output signal from the contact sensor 55, the presence information of the obstacle of the outer periphery of the casing 2 is obtained.

The temperature sensor 56 detects the temperature of the outer periphery of the casing 2. As the temperature sensor 56, for example, a temperature sensor such as a thermocouple or a thermal resistor can be used. In the first embodiment, a digital temperature sensor, TMP175 or TMP75 is used. To detect the temperature of the outer periphery of the casing 2 of the self-propelled sweeper 1, for example, a temperature sensor 56 is disposed on the inner side of the damper 2d of the casing 2. The CPU 15a is connected to the temperature sensor 56 via the control unit 56a, and obtains temperature information of the outer periphery of the casing 2 based on the output signal from the temperature sensor 56.

In the self-propelled sweeper 1 configured as described above, the electric blower 22, the ion generating device 28, the drive wheels 29, the rotary brush 9, and the side brush 10 are driven in accordance with the command of the sweeping operation. Thereby, in a state in which the rotating brush 9, the side brush 10, the driving wheel 29, and the rear wheel 26 are grounded to the floor surface F, the casing 2 sucks the air containing the dust of the floor surface F from the suction port 6 while moving away from the suction port 6 in a specific range. . At this time, the dust on the floor surface F rises by the rotation of the rotary brush 9, and is introduced into the suction port 6. Moreover, the dust on the side of the suction port 6 by the rotation of the side brush 10 is introduced into the suction port 6.

The air containing the dust sucked into the casing 2 from the suction port 6 flows into the dust collecting container 31 through the inflow path 34 of the dust box 30 through the suction path 11 in the casing 2 as indicated by an arrow A1 in Fig. 2 . . The airflow that has flowed into the dust collecting container 31 flows into the space between the filter unit 33 and the cover portion 32 through the filter unit 33, and is discharged to the exhaust passage 12 in the casing 2 through the discharge path 35. At this time, the dust contained in the airflow in the dust collecting container 31 is trapped by the filter unit 33, so that the dust is accumulated in the dust collecting container 31.

As shown in the arrow A2 of FIG. 2, the airflow which flows in from the dust collecting box 30 to the exhaust path 12 of the casing 2 flows into the front storage chamber R1, and flows through the first exhaust passage 24a and the second exhaust passage 24b (refer to Figure 5). The gas flowing through the second exhaust passage 24b contains ions released by the ion generating device 28. Then, as shown by an arrow A3 in Fig. 2, the ion-containing gas stream is discharged obliquely upward from the exhaust port 7 provided on the upper surface of the casing 2. Thereby, the cleaning on the floor surface F is performed, and the ions contained in the exhaust gas of the self-propelled sweeper 1 are used for sterilization and deodorization in the room. At this time, since the exhaust port 7 is exhausted obliquely upward toward the rear, dust on the floor surface F can be prevented from rising, and the cleanliness of the room can be improved. Alternatively, the ions released from the ion generating device 28 can be either negative or positive ions, or both. In the case of releasing both negative ions and positive ions, there is a particularly excellent effect of purifying air, sterilizing or deodorizing.

Further, a part of the airflow flowing through the second exhaust passage 24b may be introduced into the recess 8. In this way, ions are contained in the airflow introduced into the suction passage 11 from the suction port 6, so that the sterilization and deodorization of the inside of the dust collecting container 31 of the dust collecting case 30 and the filter portion 33 can be performed.

Further, the self-propelled sweeper 1 is rotated forward in the same direction by the left and right drive wheels 29, reversely reversing in the same direction, and rotated in opposite directions to rotate about the center line C. For example, in the case where the self-propelled sweeper 1 reaches the peripheral portion of the sweeping area or collides with an obstacle on the forward route, the drive wheels 29 are stopped, and the orientation is changed by rotating the left and right drive wheels 29 in opposite directions. Thus, the self-propelled sweeper 1 can prevent the obstacle from being self-propelled as a whole or in the desired range of the installation site.

Further, the self-propelled sweeper 1 is grounded at three points of the left and right drive wheels 29 and the rear wheel 26, and the rear wheel 26 can be weight-distributed without being separated from the floor surface F even if it is suddenly stopped when moving forward. Therefore, it is possible to prevent the self-propelled sweeper 1 from suddenly stopping in the forward step in the forward step, whereby the self-propelled sweeper 1 is tilted forward and falls down toward the descending step. In addition, in order to stop slipping even if it is suddenly stopped, the drive wheel 29 is embedded in the rubber tire having the groove Formed by wheels.

Further, since the dust box 30 is disposed above the rotation axis of the drive wheel 29, the weight balance of the self-propelled sweeper 1 can be maintained even if the weight is increased due to dust collection.

The self-propelled sweeper 1 can perform unique actions based on information obtained from the odor sensor 52, the humidity sensor 53, the walking map 18a, and the human sensor 54. For example, the self-propelled sweeper 1 can stay at a specific position specified by the environmental detecting device based on the surrounding environment for a certain period of time, and release the ion-containing gas from the exhaust port 7.

The self-propelled sweeper 1 returns to the charging station 40 at the end of the sweeping. Then, the battery 14 is charged by connecting the charging terminal 4 to the terminal portion 41.

Further, the self-propelled sweeper 1 can drive the electric blower 22 and the ion generating device 28 in a state of returning to the charging stand 40. Thereby, the ion-containing gas stream is released obliquely upward from the exhaust port 7 to the rear, and the ion-containing gas stream rises along the side wall and flows along the ceiling wall and the opposite side wall of the room. As a result, the ions are spread throughout the room, and the sterilization effect and the deodorizing effect can be improved. Thus, the self-propelled sweeper 1 can also perform the ion release motion alone.

An operation portion is provided on the upper surface of the self-propelled sweeper 1, and the sweeping operation and the ion releasing operation can be performed by the operation portion. Further, the self-propelled sweeper 1 may be remotely operated by providing a receiver in the casing 2 and a transmitter that transmits a command signal to the receiving portion. Further, the self-propelled sweeper 1 can be remotely operated by transmitting a command signal to the self-propelled sweeper 1 via a network route and a router installed indoors from a mobile phone called a smart phone.

<Installation position of temperature sensor>

Next, the mounting position of the temperature sensor 56 will be described. In the following description, as an example of the environmental sensor, the case where the temperature sensor 56 is mounted will be described, but other environmental sensors may be mounted at the same position.

Inside the casing 2, a temperature sensor 56 is provided on the inner side surface of the damper 2d.

Figure 7 is a view showing the top plate 2b of the casing of the self-propelled sweeping machine 1 shown in Figure 1 and the control thereof A plan view of the state of the substrate 15 and the like. Fig. 8 is a cross-sectional view taken along line B-B of the damper 2d shown in Fig. 7.

As shown in FIGS. 7 and 8, a temperature sensor 56 is attached to the inner side surface of the damper 2d. Further, in addition to the temperature sensor 56, an odor sensor 52 and a humidity sensor 53 may be attached. The damper 2d is formed with a certain gap SL between the left and right sides of the casing 2 and the casing 2. In this case, as shown in Fig. 7, the air passage AR is formed via the gap SL on the side of the damper 2d, and as shown in Fig. 8, the ventilating is formed by the gap SL between the bottom plate 2a and the top plate 2b via the damper 2d. The path AR, the air inside the damper 2d is continuously ventilated via the gap SL to allow heat to flow, and accurate temperature detection can be performed.

Further, since the temperature sensor 56 is shielded from the outside by the damper 2d and the top plate 2b, it is not affected by the external environment such as the air supply source, and the temperature around the casing 2 can be accurately detected.

Further, as shown in FIG. 7, the temperature sensor 56 is disposed away from various motors or power sources. The position of the drive circuit is therefore not susceptible to such heat. Therefore, the surrounding environment can be correctly detected without depending on the operating state of the self-propelled sweeper 1.

In the first embodiment, the temperature sensor 56 is disposed on the right side of the damper 2d. However, the temperature sensor 56 may be disposed on the left side of the damper 2d. Further, the temperature sensor 56 may be provided at the center of the inner side of the damper 2d. This allows the surrounding environment to be properly detected without being affected by the external environment. Further, it is considered that the temperature sensor 56 is provided inside the casing 2, but since it is susceptible to the temperature inside the casing 2, it is difficult to detect it correctly. However, if there is no temperature change inside the casing 2, and the temperature sensor provided inside the casing 2 has no influence, a temperature sensor may be disposed inside the casing 2. At this time, the structure in which the temperature sensor is disposed inside the casing 2 can be realized in a simpler structure than that provided on the inner side of the damper 2d.

Further, the damper 2d may be slidably formed on the other portion of the casing 2. According to this configuration, the impact of the self-propelled sweeper 1 against the obstacle can be absorbed by the sliding of the damper 2d. Further, since the air inside the casing 2 is compressed or expanded by the damper 2d, the air is taken in and out through the gap SL, and the surrounding environment of the casing 2 can be accurately detected.

[Second Embodiment] <Composition of self-propelled ion generator>

Next, as the self-propelled electronic device according to the second embodiment of the present invention, the self-propelled ion generator 201 will be described below as an example. The self-propelled ion generator includes a housing having a suction port and an exhaust port, and housing a blower and an ion generating device, and a driving portion for moving the casing. This example is merely an example, and the above concept is of course included as a self-propelled electronic device.

Hereinafter, a self-propelled electronic device according to a second embodiment of the present invention will be described based on the drawings.

In the self-propelled sweeper 1 of the first embodiment, the same reference numerals will be given to the corresponding portions, and the description thereof will be omitted.

Fig. 9 is a perspective view showing the configuration of the self-propelled ion generator 201 according to the second embodiment of the present invention. Fig. 10 is a perspective view showing a state in which the top plate 2b of the casing 2 of the self-propelled ion generator 201 shown in Fig. 9 and a control board and the like are removed. Fig. 11 is a block diagram showing the electrical configuration of the self-propelled ion generator 201 shown in Fig. 9.

A charging station 40 is provided at a specific location of the house that releases the air containing ions. By connecting the charging stand 40 and the self-propelled ion generator 201, the self-propelled ion generator 201 receives the power supply from the charging stand 40 in a state of being in contact with the charging stand 40, and the self-propelled ion generator 201 is not shown. Battery shown. Further, the self-propelled ion generator 201 performs an ion generating function while moving away from the charging stand 40.

The self-propelled ion generator 201 of the present invention sucks the surrounding air while being self-propelled on the floor surface F of the installation place, and sterilizes the air containing the generated ions. The self-propelled ion generator 201 of the present invention has a function of automatically returning to the charging stand 40 if the capacity of the battery is lowered or the process such as specific deodorization is completed.

As shown in FIG. 9, the self-propelled ion generator 201 is provided with a disk-shaped casing 2, and an ion generating device 28, a control portion 213, a battery, a motor driver 22a, and a plurality of driving devices are provided inside or outside the casing 2. Wheel 215, wheel including rear wheel and front wheel, exhaust port 241, suction port 242. The receiving unit 292, the suction port cover 209 for opening and closing the suction port 242, the suction port cover driving unit 210 for driving the suction port cover 209, the exhaust port cover 211 for opening and closing the exhaust port 241, and the exhaust port for driving the exhaust port The cover opening driving portion 212 of the cover 211 and the control portion 213 for collectively controlling the respective portions. There are other components.

In FIG. 9, a portion in which the receiving portion 292 and the front wheel are not shown is referred to as a front portion, and a portion in which a rear wheel is not illustrated is referred to as a rear portion.

In the second embodiment, the drive unit of the present invention corresponds to the electric blower 22, the ion generator 28, the travel motor 51, the suction port cover drive unit 210, the exhaust port cover drive unit 212, the drive motor M, and the like. The traveling portion of the present invention is realized by the traveling motor 51 and the driving wheel 215. Moreover, the environmental sensor of the present invention is equivalent to the humidity sensor 53, the temperature sensor 56, and/or the odor sensor 52. The sliding member of the present invention corresponds to the shock absorber 2d.

Similarly to the self-propelled sweeper 1, the casing 2 is composed of a top plate 2a and a side plate 2c, a damper 2d, a blocking side plate 2c, and a top plate 2b which is a top view of the upper portion of the damper 2d. The damper 2d can also be slidably constructed as a movable damper to other portions of the casing 2.

The suction port 242 is formed on the later side than the center of the top plate 2b, and the exhaust port 241 is formed on the side slightly forward of the center of the top plate 2b.

When the suction port 242 and the exhaust port 241 are not in operation such as charging, in order to prevent dust or foreign matter from entering from the suction port 242 or the exhaust port 241, the movable inlet port cover 209 or the exhaust port cover 211 can be formed. Opening and closing.

Further, the self-propelled ion generator 201 is rotated forward in the same direction by the pair of driving wheels 215, reversely reversing in the same direction, and rotated in opposite directions to rotate in the stationary state. For example, in the case where the self-propelled ion generator 201 reaches the peripheral portion of the room or collides with an obstacle on the advancing route, the drive wheels 215 are stopped, and the pair of drive wheels 215 are rotated in opposite directions to each other to change the orientation. In this way, the self-propelled ion generator 201 can avoid the obstacle on the whole side of the installation site as a whole or a desired range. go.

Further, the self-propelled ion generator 201 detects a signal emitted from a non-illustrated transmission unit of the charging station 40 by the receiving unit 292, and recognizes the direction of the charging station 40, for example, when the remaining amount of charge of the battery is small, or setting When the set time of the automatic operation timer has elapsed, it automatically travels straight in the direction of the charging stage 40, and returns to the charging stand 40.

Further, in the case where the signal from the charging stand 40 cannot be detected when returning in the present invention, the self-propelled ion generator 201 is temporarily stationary, rotated once here (360° rotation), and it is confirmed whether or not charging is detected. The signal from the station 40 can also detect the direction in which the charging station 40 is present.

In the case where a signal is detected, it is recognized that the charging unit 40 is in the front direction of the receiving unit 292 at the time of detection, and travels straight in the direction of the charging station 40. However, if there is an obstacle, it is prevented from moving in the direction of the charging stand 40.

Each component shown in FIG. 11 will be described below.

As shown in FIG. 11, the control unit 213 that controls the operation of the entire self-propelled ion generator 201 includes a control board having a control circuit including a control unit and other electronic components (not shown), and a memory walking map. a memory unit 18 of 18a; a motor driver 22a for driving the electric blower 22; a motor driver 51a for driving the travel motor 51 of the drive wheel 215; a suction port cover 209 for opening and closing the suction port 242; and a suction port cover 209 for driving a suction port cover driving unit 210; an exhaust port for opening and closing the exhaust port 241; the exhaust port cover driving unit 212 for driving the exhaust port cover 211; the odor sensor 52 and its control unit 52a; Humidity sensor 53 and its control unit 53a; human sensor 54 and its control unit 54a; contact sensor 55 and its control unit 55a; temperature sensor 56 and its control unit 56a and the like. The details of each configuration are the same as those of the self-propelled sweeper 1 of the first embodiment.

Similarly to the self-propelled sweeper 1 of the first embodiment, the self-propelled ion generator 201 of the second embodiment is provided with a temperature sensor 56 on the inner side surface of the damper 2d shown in the Y portion of Fig. 10 . Moreover, it may be provided in the center part of the inside of the buffer 2d. So, the week can be detected correctly Temperature, humidity and/or odor around the environment.

Further, in addition to the self-propelled sweeper 1 or the self-propelled ion generator 201, in the conventional self-propelled electronic device, the same effect can be obtained by providing the environmental sensor at the same position.

1‧‧‧Self-moving sweeper

2‧‧‧Shell

2b‧‧‧ top board

2c‧‧‧ side panels

2d‧‧‧buffer

3‧‧‧ Cover

7‧‧‧Exhaust port

10‧‧‧ side brush

SL‧‧‧ gap

Claims (4)

A self-propelled electronic device comprising: a housing; a walking portion that moves the housing; and a sensor that detects at least one of temperature, humidity, and odor around the housing; and a sliding member, The side plate includes a side plate that covers a side portion of the casing and is slidable relative to the casing; and the side plate is connected to a side of the casing to form a ventilation path extending in a circumferential direction of the casing. A gap of a predetermined interval is formed at an end portion of the air passage; and the sensor is disposed in the air passage. The self-propelled electronic device of claim 1, wherein the sensor is disposed at a central portion of an inner side of the sliding member. The self-propelled electronic machine of claim 1 or 2, wherein the sliding member is formed to be slidable in a lateral direction with respect to the housing. A self-propelled electronic machine according to claim 1 or 2, wherein said self-propelled electronic machine is a sweeper or an ion generator.