WO2013161406A1 - 自走式電子機器 - Google Patents
自走式電子機器 Download PDFInfo
- Publication number
- WO2013161406A1 WO2013161406A1 PCT/JP2013/056673 JP2013056673W WO2013161406A1 WO 2013161406 A1 WO2013161406 A1 WO 2013161406A1 JP 2013056673 W JP2013056673 W JP 2013056673W WO 2013161406 A1 WO2013161406 A1 WO 2013161406A1
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- WIPO (PCT)
- Prior art keywords
- housing
- self
- propelled
- electronic device
- wheel
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Definitions
- This invention relates to a self-propelled electronic device.
- Patent Document 1 As a self-propelled cleaner that is an example of a self-propelled electronic device, for example, one disclosed in Patent Document 1 is known. Moreover, the thing of patent document 2 is well-known, for example as a self-propelled air cleaner which is another example of a self-propelled electronic device. Patent Document 1 includes a detector that detects an object on the floor surface in front of the main body, and a lifting means that lifts the front of the main body in the traveling direction from the floor surface with the traveling means as a base point based on the detection result. A self-propelled cleaner that can get over obstacles is described. As a result, it is possible to clean over obstacles such as electric cords and newspapers.
- This self-propelled cleaner has a shape in which the lower end surface of the main body is inclined with respect to the traveling direction so that it can be self-propelled even if there is a step on the floor surface. This inclination makes it easy to get over the step.
- Patent Document 2 describes a self-propelled air cleaner that includes an intake port that opens in the traveling direction and an exhaust port that opens upward, and includes a brush for lifting between the drive wheels and the front wheels. .
- This self-propelled air purifier moves in a room to supply clean air, and at the same time, a fried brush cleans the floor surface.
- a bumper is provided over the entire front surface of the main body and has a curved shape from the lower end to the bottom surface of the bumper.
- the self-propelled cleaner of Patent Document 1 can move forward without straddling an unfixed obstacle such as an electric cord by moving forward with the front end of the main body lifted using a lifting means. it can.
- a complicated configuration for realizing the lifting means is required.
- an inclination is provided on the lower end surface of the main body so as to easily get over the step.
- the corner portion of the step may be damaged while traveling repeatedly.
- there is a slight step between the front end of the main body and the front end of the inclined portion for this reason, there may be a case where it is not possible to smoothly run on the uneven portion.
- the self-propelled air cleaner of patent document 2 detects a collision with an obstacle by a bumper in front of the main body, and protects the casing.
- the self-propelled air purifier is configured to stop, reverse, and reverse the traveling to avoid the obstacle when the front obstacle is detected by the bumper pressing and / or non-contact sensor. ing.
- the lower end of the bumper is set to a predetermined height from the floor surface. Step over a bumper lower than the bottom edge of the bumper.
- the bottom surface of the self-propelled device does not collide with the step and it is easy to get over the step.
- a straightforward example would be a configuration where the bottom surface is higher than the lower end of the bumper.
- a self-propelled cleaner needs to have a suction port on the bottom surface to suck in dust on the floor surface.
- the suction port is too far from the floor surface, dust cannot be sucked in efficiently.
- the self-propelled electronic device generally needs to suppress the overall height so that it can be sterilized, deodorized, allergic substances can be suppressed by traveling under a bed, for example. Therefore, it may be difficult to raise the bottom surface. In such a case, it is conceivable to provide a slope as in Patent Document 1 so as to easily overcome the step.
- the present invention has been made in consideration of such circumstances, and provides a self-propelled electronic device that can be smoothly overcome even if there is a step by devising the shape below the housing. It is.
- the present invention provides a housing, a drive wheel that is disposed on the bottom surface of the housing and that is in contact with the floor surface and travels the housing, and is disposed on the bottom surface and that is in contact with the floor surface and is in contact with the housing surface.
- a driven wheel that supports the body, and an inclined plate that is arranged so as to continue from the front lower end of the housing to the bottom surface in the traveling direction, the housing having a bumper that is displaceable in the traveling direction,
- the inclined plate provides a self-propelled electronic device in which a front end is located behind a front lower end portion of the bumper when the bumper is retracted.
- a self-propelled electronic device includes an inclined plate arranged so as to continue from the front lower end portion of the housing to the bottom surface, the housing having a bumper that can be displaced in a traveling direction, Since the front end is located behind the front lower end of the bumper when the bumper is retracted, the step can be smoothly overcome.
- FIG. 4 is a bottom view of the self-propelled ion generator shown in FIG. 3. It is explanatory drawing of the various inclination board with which the self-propelled ion generator shown by FIG. 3 is equipped.
- FIG. 4 is a cross-sectional view of the self-propelled ion generator shown in FIG.
- FIG. 4 is a cross-sectional view of the self-propelled ion generator shown in FIG.
- FIG. 4 is a cross-sectional view taken along the line CC of the self-propelled ion generator shown in FIG. 3.
- FIG. 5 is a diagram corresponding to FIG. It is a block diagram which shows the structure of the control part which controls the self-propelled ion generator shown by FIG. It is explanatory drawing explaining the schematic structure of the ion generator provided in the ion generation part of the self-propelled ion generator shown by FIG. It is a perspective view of the self-propelled cleaner which is a different mode of the present invention. It is AA arrow sectional drawing of the self-propelled cleaner shown by FIG.
- FIG. 15 is a view corresponding to FIG. 14, showing a state where the lid of the housing is opened and the dust collecting unit is taken out. It is a perspective view which shows the decomposition
- FIG. 14 is a block diagram showing an electrical configuration of the self-propelled cleaner shown in FIG. 13.
- the self-propelled electronic device includes a housing, a driving wheel disposed on the bottom surface of the housing and in contact with the floor surface to cause the housing to travel, and a housing wheel disposed on the bottom surface and in contact with the floor surface.
- a driven wheel that supports the wheel, an inclined plate that is arranged so as to continue from the front lower end of the housing to the bottom surface in the traveling direction, and a rear end of the inclined plate that is more than the driving wheel and the driven wheel.
- a front auxiliary wheel disposed in front wherein the front auxiliary wheel has a lower end lower than the bottom surface and higher than the floor surface, and the inclined plate extends from the floor surface toward the rear from the front. It is characterized in that it is inclined so as to have a low height.
- the housing may have a bumper that is displaceable in a traveling direction at a front portion, and the inclined plate may have a front end positioned rearward of a front lower end portion of the bumper when the bumper is retracted. In this way, even when the bumper is displaced rearward, the front end of the inclined plate is located behind the bumper, so that the inclined plate does not contact the obstacle and damage the obstacle or the inclined plate. be able to.
- the bumper may have a bent portion with a lower end bent backward, and the bent portion may be the front lower end.
- the front lower end of the bumper and the front end of the inclined plate are smoothly connected to each other, and even if the step is slightly lower than the lower end of the bumper, it smoothly moves to the front auxiliary wheel along the inclination of the inclined plate. After being guided, the front auxiliary wheel can climb over the step and get over smoothly.
- the inclined plate is arranged with a predetermined width from the front center portion of the housing to the left and right, and the height from the floor surface of the inclined plate in the width direction is lower than the bottom surfaces on both sides. Also good. In this way, it is not necessary to form the inclined plate over the entire width, and even if the step contacts the inclined plate, it does not contact the bottom surface on both sides, and follows the inclination of the inclined plate. As a result, the front auxiliary wheel can smoothly climb over the steps and get over the steps.
- the housing is substantially circular in plan view
- the drive wheel is disposed in a pair of left and right at the approximate center of the housing in the traveling direction
- the driven wheel is disposed behind the drive wheel. It may be.
- the inclined plate may be formed integrally with the bottom surface of the casing or may be formed as a separate member.
- the self-propelled electronic device may be an automatic ion generator or a self-propelled cleaner that blows an airflow upward.
- Preferred embodiments of the present invention include combinations of any of the plurality of embodiments shown here.
- the self-propelled electronic device has a substantially circular casing in plan view, an air outlet formed on the top surface of the casing, and protrudes from the bottom surface of the casing, and the traveling direction of the casing Drive wheels disposed on both sides of a center line extending along the front, rear rear wheels in the traveling direction, and front auxiliary wheels forward in the traveling direction. Furthermore, a drive control unit and a control unit are provided inside the housing. The drive control unit controls the drive wheel, and the control unit controls air blowing from the air outlet. Furthermore, the self-propelled electronic device includes an inclined plate having a front end at a front lower end portion of the casing and a rear end connected to the bottom surface of the casing near the front auxiliary wheel.
- An example of the self-propelled electronic device has a suction port on the bottom surface, a flow path from the suction port on the bottom surface to the air outlet on the top surface, and a filter in the middle of the flow path.
- FIG. 13 shows an example of the appearance.
- Another example of a self-propelled electronic device has a suction port on the bottom or top surface, and has a flow path from the suction port on the bottom surface to the top outlet on the inside of the housing. It is an ion generator provided with a generating element.
- FIG. 3 shows an example of the appearance.
- the self-propelled electronic device means an electronic device that autonomously runs away from the user's hand and performs a cleaning operation and / or an air cleaning operation or other work.
- the casing according to the present invention includes a casing having a circular shape in plan view, but the casing does not mean only a perfect circle, but has a substantially circular shape or a long diameter portion having some unevenness around the casing. And an elliptical shape having a minor axis portion.
- casing in which a blower outlet is formed is not restricted only to a top surface.
- the upper surface when the housing is divided into the upper surface, the side surface, and the bottom surface means the upper surface of the housing.
- the air outlet is an exhaust port in the case of a vacuum cleaner, and is a clean air outlet in the case of an ion generator.
- the drive wheel is a wheel that causes the self-propelled electronic device to travel straight, rotate, and move backward.
- the drive control unit controls the drive wheels so that when the self-propelled electronic device performs a cleaning operation or an air cleaning operation, the drive controller travels through the room without any obstacles and avoids obstacles. Control the straight drive, rotation, and reverse drive.
- the drive wheel is attached to the housing via a suspension mechanism so as to follow even if the floor surface is uneven.
- the housing is supported at three points by a pair of left and right drive wheels and a rear wheel that is a driven wheel, so that the self-propelled electronic device can travel stably.
- the housing Since the housing is supported by the driving wheel and the rear wheel, a heavy object such as a battery can be disposed in the rear portion of the housing, and the front portion of the housing can be reduced in weight. Therefore, the front part of the housing is easily lifted, and even if there is an obstacle, it can be easily overcome.
- FIG. 1 is an explanatory diagram of an inclined plate used in the self-propelled electronic device of the present invention.
- the inclined plate will be described.
- the inclined plate 104 is in front of the traveling direction of the casing 101 that is circular in plan view.
- the front end of the inclined plate 104 is at the position of the front lower end portion 102, and the rear end is connected to the bottom surface of the housing 101 near the front portion of the outer periphery of the front auxiliary wheel 103.
- the front auxiliary wheel 103 floats from the floor surface F so as not to contact the floor surface F.
- FIG. 1 also shows a lid 105, an intake port 106, an exhaust port 107, a drive wheel 108, a rear wheel 109, and a bumper 111.
- the side on which the front auxiliary wheel 103 is disposed is referred to as the front side
- the side on which the rear wheel 109 is disposed is referred to as the rear side.
- the inclined plate 104 has a predetermined width on both sides across the center line of the housing along the traveling direction. Desirably, it has a fan-shaped shape that is 30 ° or 60 ° open from the position just below the front auxiliary wheel 103 toward the front in the traveling direction. Alternatively, a region extending forward from the position just below the front auxiliary wheel 103 to both ends of the housing in the width direction perpendicular to the traveling direction is the front end. Alternatively, a region including a position directly below the front auxiliary wheel 103 and having a length that is two to three times the width of the front auxiliary wheel in the width direction is a region in front of the rear end.
- the housing 101 includes an inclined plate 104 along an inclined surface that is continuous with the bottom surface in the vicinity of the front auxiliary wheel 103 with the front lower end portion 102 positioned at the front end in the traveling direction. Accordingly, the self-propelled electronic device can travel over the obstacle Z even when the obstacle Z exists in the forward direction.
- FIG. 2 is an explanatory view of a self-propelled electronic device having no inclined plate, which is a feature of the present invention, as a comparative example. As shown in FIG. 2, if there is a step X with an obtuse angle compared to FIG. 1 between the front lower end 102 along the traveling direction of the housing 101 and the front auxiliary wheel 103, the step X collides with the obstacle Z. As a result, a large load is applied to the drive wheel 108, and it is difficult for the self-propelled electronic device 100 to get over the obstacle Z.
- the bumper 111 is urged forward by a spring and a spring (not shown), and protrudes slightly forward from the housing 101.
- the bumper 111 slides (displaces) backward as indicated by a dotted line in FIG.
- the inclined plate 104 is formed so that the front lower end portion of the bumper 111 coincides with the front end of the inclined plate 104 at a position where the bumper 111 slides backward (a position indicated by a broken line 111a) (see FIG. 1). .
- the rear end of the inclined plate 104 is continuous with the bottom surface of the housing 101, and the front auxiliary wheel 103 is disposed at the rear end portion.
- the bumper 111 is bent or bent toward the bottom surface side of the housing 101.
- the front end of the inclined plate 104 is arranged so as to coincide with the position where the front lower end portion of the bumper 111 bent or bent slides backward. Since the tip of the inclined plate 104 is provided so as to extend to the front end of the lower surface of the housing, the inclined angle of the inclined plate 104 in FIG. 1 is gentler than the inclined angle of the step X in FIG. The impact at the time of contact with the step is reduced, and the step can be easily and smoothly overcome.
- the tip of the inclined plate 104 extends to a position where the bumper 111 slides backward, but does not protrude further forward, so that the bumper 111 prevents the obstacle and the tip of the inclined plate 104 from colliding with each other.
- the tip is protected from damage, breakage, and the like.
- FIG. 3 is a perspective view of a self-propelled ion generator according to an embodiment of the present invention.
- FIG. 4 is a perspective view showing a state where the upper cover is removed from the self-propelled ion generator shown in FIG.
- FIG. 5 is a bottom view of the self-propelled ion generator shown in FIG.
- FIG. 6 is an explanatory diagram of various inclined plates provided in the self-propelled electronic device.
- FIG. 7 is a cross-sectional view of the self-propelled ion generator shown in FIG. 8 is a cross-sectional view of the self-propelled ion generator shown in FIG. FIG.
- FIG. 9 is a CC arrow view of the self-propelled ion generator shown in FIG.
- FIG. 10 is a diagram corresponding to FIG. 7 showing the state of returning to the charging stand.
- FIG. 11 is a block diagram showing a configuration of a control unit that controls the self-propelled ion generator shown in FIG.
- FIG. 12 is an explanatory diagram showing a schematic configuration of an ion generator mounted on the ion generator.
- a self-propelled ion generator 1 as a self-propelled electronic device autonomously travels around the floor F of the place where it is installed while Suction is performed from the air inlet 3. For example, a part of the sucked air is ionized by the ion generating element 4, and the air containing the generated ions is discharged from the exhaust port 5.
- the self-propelled ion generator 1 includes a disk-shaped housing 2. As shown in FIG.
- the control unit 13 includes a control board 14 on which various electronic components are mounted.
- an intake lid 9 that opens and closes the air inlet 3
- a pair of drive wheels 15 as a traveling unit that causes the housing 2 to travel with respect to the floor surface F, and the posture of the housing 2.
- a front auxiliary wheel 16 and a rear wheel 17 are provided for stabilization.
- the direction in which the front auxiliary wheel 16 is disposed is referred to as the front side, and the direction in which the rear wheel 17 is disposed is referred to as the rear side.
- the casing 2 includes a bottom plate 2a and a rear side plate 2b that are circular in plan view that constitute a chassis, a front side plate 2c that functions as a movable bumper, and a circular top cover that covers the upper portions of the rear side plate 2b and the front side plate 2c. 2d.
- the inclined plate U is provided with the bottom plate 2a or the front side plate 2c, or the boundary between the bottom plate 2a and the front side plate 2c as the front end.
- the inclined plate U has a rear end near the front auxiliary wheel 16 and continues to the bottom surface 2a.
- the front side plate 2c functions as a movable bumper, and normally protrudes forward in the traveling direction by a spring or a spring (not shown).
- the inclined plate U is formed such that the front end is located at the front lower end of the front side plate 2c in a state where the front side plate 2c is retracted.
- the lower part of the front side plate 2c is bent or bent toward the bottom surface of the casing to form a front lower end portion of the front side plate 2c.
- the intake port 3 is formed slightly rearward of the center of the upper cover 2d, and the exhaust port 5 is formed forward of the center of the upper cover 2d.
- the intake port 3 and the exhaust port 5 are respectively closed by a movable intake lid body 9 and an exhaust lid body 11. This is to prevent dust and foreign matter from entering from the intake port 3 and the exhaust port 5.
- the intake lid body 9 and the exhaust lid body 11 are respectively driven by an intake lid drive section 10 and an exhaust lid drive section 12 provided inside the housing 2.
- the filter 8 separates the dust contained in the air sucked from the suction port and allows the air from which the dust has been removed to pass through.
- the filter 8 is detachably provided for maintenance and the like. As shown in FIG. 7, the bottom cover 2e which can be removed with respect to the baseplate 2a is provided.
- the ion generating element 4 ionizes water molecules in the air by discharge, for example, H + (H 2 O) m (m is an arbitrary natural number) as positive ions, and O 2 ⁇ (H 2 O as negative ions. ) N (n is an arbitrary natural number).
- the ion generating element 4 may generate negative ions instead of the ions as described above.
- the pair of drive wheels 15 are fixed to a pair of rotating shafts 15a (see FIG. 5) that intersect the center line C along the traveling direction through the center of the casing 2 that is circular in plan view.
- the pair of rotating shafts 15a can individually obtain driving force from a pair of travel motors (not shown). Each traveling motor is connected to a respective rotating shaft via a power transmission mechanism (not shown). Each traveling motor is fixed to the bottom plate 2a of the housing 2 directly or via a suspension mechanism.
- the front auxiliary wheel 16 is made of a roller and can be rotated so as to be slightly lifted from the floor surface F on the front side of the bottom plate 2a of the housing 2 so that the step appearing on the path of the self-propelled ion generator 1 can be easily overcome.
- the rear wheel 17 includes a free wheel that is rotatably provided on the rear side of the bottom plate 2 a of the housing 2, and contacts the floor surface F together with the drive wheel 15 to support the housing 2.
- the front auxiliary wheel 16 and the rear wheel 17 are not connected to a drive source such as a travel motor, but are driven wheels.
- the self-propelled ion generator 1 has the pair of drive wheels 15 arranged in the middle in the front-rear direction of the housing 2, and the weight of the self-propelled ion generator 1 while floating the front auxiliary wheel 16 from the floor surface F.
- the weight in the front-rear direction is distributed so that can be supported by a pair of drive wheels and rear wheels.
- a floor surface detection sensor 18 that detects the floor surface F is disposed in front of the front auxiliary wheel 16 on the bottom surface of the housing 2, and a similar floor is also disposed in front of the pair of driving wheels 15.
- a surface detection sensor 19 is arranged.
- the detection signal is transmitted to the control unit 13, and the control unit 13 controls the pair of drive wheels 15 to stop.
- the pair of drive wheels 15 can be stopped by the floor detection sensor 19 detecting a descending staircase or the like. Therefore, the fall of the self-propelled ion generator 1 to the down stairs is prevented.
- the control unit may perform control so that the drive wheel 15 travels while avoiding the descending stairs, that is, the self-propelled ion generator 1 is moved backward or rotated.
- the weight in the front-rear direction is distributed so that the rear wheel 17 does not lift from the floor surface F even if it suddenly stops when moving forward. Therefore, even if it stops suddenly before the descending stairs while moving forward, it does not tilt forward and fall to the descending stairs.
- the drive wheel 15 is configured such that a rubber tire having a groove is fitted into the wheel so as not to slip even when suddenly stopped.
- an inclined plate U is provided between the front lower end T of the housing 2 and the front auxiliary wheel 16 on the bottom surface of the housing 2.
- the inclined plate U can be provided by forming an inclination in the front side plate 2c or the bottom plate 2a of the housing 2.
- the inclined plate U is formed so as to be continuous with the bottom surface in the vicinity of the front auxiliary wheel 16 with the front lower end T of the housing 2 as the front end position.
- the inclination board U has a predetermined
- the fan-shaped U1 that is 30 ° opened on both sides from the vicinity of the front auxiliary wheel 16 of the housing 2 toward the front, or forward as shown in FIG. 6 (b).
- the fan-shaped U2 that is 60 ° open on both sides or a straight line parallel to the rotation axis of the front auxiliary wheel 16 and a half of the arc at the front lower end in front of the straight line.
- a straight line that includes the front auxiliary wheel 16 and is parallel to the rotation axis of the front auxiliary wheel 16 and is larger than the width of the front auxiliary wheel 16, for example, three times as long.
- a region U4 having two straight lines extending forward from both ends of the straight line and a circular arc at a front lower end sandwiched between the straight lines.
- a charging terminal 20 for charging the battery 6 is provided at the rear end of the rear side plate 2 b of the housing 2.
- the self-propelled ion generator 1 that releases ions while autonomously running in the room is installed in the room as shown in FIG. 10 when a predetermined condition is met, such as when the remaining amount of the battery 6 falls below a threshold value. It returns to the charging stand 21 that has been made. Thereby, the charging terminal 20 contacts the terminal part 22 provided in the charging stand 21, and the battery 6 is charged.
- the charging stand 21 connected to a commercial power source (outlet) is usually installed along the indoor side wall S.
- the battery 6 is charged from the charging stand 21 via the charging terminal 20, and power is supplied to each element such as the control unit 13, a pair of traveling motors that drive the pair of driving wheels 15, the ion generating element 4, the electric blower 7, and various sensors. Supply.
- FIG. 11 is a block diagram illustrating a configuration of the control unit 13 that controls the self-propelled ion generator 1 according to the present embodiment.
- the control unit 13 is a microcomputer.
- the microcomputer includes a CPU 23 that performs arithmetic processing, a ROM 24 that stores a control program executed by the CPU 23, and a RAM 25 that provides a work area to the CPU 23.
- various sensors provided in the self-propelled ion generator 1 under the control of the CPU 23, an I / O port 26 for inputting and outputting control signals to and from various sensors of the self-propelled ion generator 1.
- a driver circuit 27 that drives the drive unit and a storage unit 28 that stores various information under the control of the CPU 23 are provided.
- the control part 13 controls the self-propelled ion generator 1 integratedly, and performs a series of autonomous running and ion discharge
- the control unit 13 receives a condition setting relating to the operation of the self-propelled ion generator 1 by the user from an operation panel (not shown) and stores it in the storage unit 28.
- the storage unit 28 can store a travel map around the installation location of the self-propelled ion generator 1.
- the traveling map is information relating to traveling such as the traveling route and traveling speed of the self-propelled ion generator 1 and is stored in the storage unit 28 by the user in advance, or the self-propelled ion generator 1 itself performs ion emission operation. Can be automatically recorded during.
- the control part 13 can also be controlled to drive
- the odor sensor 29 detects the odor around the outside of the housing 2.
- the odor sensor 29 for example, a semiconductor type or catalytic combustion type odor sensor can be used.
- the odor sensor 29 is disposed so as to be exposed from the housing 2 to the outside.
- the control unit 13 is connected to the odor sensor 29 via the I / O port 26, and obtains odor information around the outside of the housing 2 based on an output signal from the odor sensor 29.
- the humidity sensor 30 detects the humidity around the outside of the housing 2.
- the humidity sensor 30 for example, a capacitance type or electric resistance type humidity sensor using a polymer moisture sensitive material can be used.
- the humidity sensor 30 is disposed so as to be exposed from the housing 2 to the outside.
- the control unit 13 is connected to the humidity sensor 30 via the I / O port 26, and obtains humidity information around the outside of the housing 2 based on an output signal from the humidity sensor 30.
- a location where the odor above the predetermined threshold and a location where the humidity is higher than the predetermined threshold at the installation location where the self-propelled ion generator 1 is installed are specified in advance. It may be stored. If it does in this way, it can be judged that the control part 13 is the location which determined this specific location based on the surrounding environment of the housing
- the human sensor 31 for example, a human sensor that detects the presence of a person using infrared rays, ultrasonic waves, visible light, or the like can be used.
- the human sensor 31 is disposed so as to be exposed from the housing 2 to the outside.
- the control unit 13 is connected to the human sensor 31 via the I / O port 26, and obtains presence information of people around the outside of the housing 2 based on an output signal from the human sensor 31.
- the contact sensor 32 for example, a microswitch that detects that the self-propelled ion generator 1 has come into contact with an obstacle during autonomous traveling can be used.
- a microswitch that detects that the self-propelled ion generator 1 has come into contact with an obstacle during autonomous traveling.
- the contact sensor 32 in order to detect the movement of a movable front side plate (e.g., having a function as a bumper) 2c that is displaced by contact with an obstacle, it is arranged in the vicinity of the front side plate 2c in the housing 2.
- the control unit 13 is connected to the contact sensor 32 via the I / O port 26, and obtains presence information of an obstacle around the outside of the housing 2 based on an output signal from the contact sensor 32.
- the pair of driving wheels 15 stops and the pair of driving wheels 15 are moved in opposite directions. Rotate to change direction. Thereby, the self-propelled ion generator 1 can autonomously travel while avoiding obstacles.
- the control unit 13 controls the intake lid drive unit 10 and the exhaust lid drive unit 12 to open the intake port 3 and the exhaust port 5 when the ion generating element 4 is operated.
- the intake lid drive unit 10 and the exhaust lid drive unit 12 are controlled so as to close the intake port 3 and the exhaust port 5 when the ion generating element 4 is not in operation. This is to prevent dust and foreign matter from entering through the intake port 3 and the exhaust port 5 during charging and other non-operations and causing the self-propelled ion generator 1 to malfunction.
- the driving of the electric blower 7, the ion generating element 4, and the pair of drive wheels 15 is started in response to an ion release operation command.
- the self-propelled ion generator 1 sucks ambient air from the intake port 3 while autonomously traveling within a predetermined range, and discharges air containing ions generated by the ion generating unit element 4 from the exhaust port 5. It is possible to spread ions by traveling the self-propelled ion generator 1 even in places where ions cannot be sufficiently distributed by the stationary type or the table type, so that mold fungi and airborne bacteria in the air can be efficiently used. It can be decomposed / removed or sterilized.
- the self-propelled ion generator 1 can also perform a unique ion emission operation based on information obtained from the odor sensor 29, the humidity sensor 30, the travel map, and the human sensor 31 which are environment detection devices. For example, the self-propelled ion generator 1 can be operated such that it stays at a specific location for a certain period of time based on the surrounding environment detected by the environment detection device and intensively discharges air containing ions from the exhaust port 5.
- FIG. 12 is a perspective view of the ion generating element 4.
- the ion generating element 4 has a plurality of ion emitting portions 41a and 41b facing the exhaust path.
- the ion emitting portions 41a and 41b are formed by opening a part of the resin casing of the ion generating element 4 in, for example, a circular shape, and the following electrodes for generating ions are provided corresponding to the openings. It has been. That is, a common counter electrode 42 and needle-like discharge electrodes 43a and 43b are respectively provided in the respective ion emission portions 41a and 41b.
- the discharge electrodes 43a and 43b are needle electrodes having pointed tips, and the counter electrode 42 is a common grounded electrode opened so as to surround the discharge electrodes 43a and 43b.
- the ion generating element 4 has a main body portion 45 with a built-in high-voltage electricity generating circuit, and operates by being supplied with electric power from the battery 6 via two terminals 46 provided on the side surface (the bottom surface in FIG. 7).
- a positive or negative high voltage having an AC waveform or an impulse waveform is applied to the discharge electrodes 43a and 43b.
- the ion generating element 4 has a plurality of discharge electrodes. For example, a high voltage having a positive impulse waveform is applied to the discharge electrode 43a.
- ions generated by ionization are combined with moisture in the air to generate positive cluster ions mainly composed of H + (H 2 O) m.
- a high voltage having a negative impulse waveform is applied to the other discharge electrode 43b, and ions generated by ionization combine with moisture in the air to form negative cluster ions mainly composed of O 2 ⁇ (H 2 O) n. Generated.
- m and n are arbitrary natural numbers.
- .OH is one kind of active species, and represents radical OH.
- the configuration of the ion generating element 4 described above is an example in which positive and negative ions are generated at the same time.
- One discharge electrode is provided, and by supplying an alternating high voltage to the discharge electrode, positive or negative ions are generated. It is also possible to generate them alternately. Further, it may be one that generates negative ions instead of generating positive and negative ions.
- FIG. 13 is a perspective view of a self-propelled cleaner according to Embodiment 2 of the present invention.
- FIG. 14 is a cross-sectional view of the self-propelled cleaner shown in FIG.
- FIG. 15 is a bottom view of the self-propelled cleaner shown in FIG.
- FIG. 16 is an explanatory diagram of various inclined plates provided in the self-propelled cleaner.
- FIG. 17 is a view corresponding to FIG. 14 showing a state where the cover of the housing is opened and the dust collecting part is taken out.
- FIG. 18 is a perspective view showing a state in which a top plate, a control board and the like of the housing of the self-propelled cleaner shown in FIG. 13 are removed.
- FIG. 19 is a block diagram showing an electrical configuration of the self-propelled cleaner shown in FIG.
- a self-propelled cleaner (hereinafter referred to as a cleaning robot) 201 sucks air containing dust on the floor surface and exhausts the air from which dust has been removed while self-propelled on the floor surface where it is installed.
- This is a cleaning robot that cleans the floor surface.
- the cleaning robot 201 includes a disk-shaped housing 202. Inside and outside the housing 202, a rotary brush 209, a side brush 210, a dust collection box 230, a blower unit having an electric blower 222, and a pair of drive wheels 229. Components such as a rear wheel 226, a front auxiliary wheel 227, and a control unit including various sensors are provided.
- a portion where the front auxiliary wheel 227 is disposed is a front portion
- a portion where the rear wheel 226 is disposed is a rear portion
- a portion where the dust collection box 230 is disposed is an intermediate portion.
- the casing 202 opens and closes when the dust collection box 230 is taken in and out of the casing 202 and the bottom plate 202a having a circular shape in plan view and having a suction port 206 formed on the front portion side near the boundary between the front portion and the intermediate portion.
- a top plate 202b having a lid portion 203 at an intermediate portion.
- a side plate 202c having an annular shape in plan view is provided along the outer peripheral portions of the bottom plate 202a and the top plate 202b.
- the bottom plate 202a is formed with a plurality of holes for projecting the lower part of the front auxiliary wheel 227, the pair of drive wheels 229, and the rear wheel 226 from the inside of the housing 2 to the outside.
- An exhaust port 207 is formed in the vicinity of the boundary between the front portion and the middle portion of the top plate 202b.
- the side plate 202b is divided into two parts, front and rear, and the front side of the side plate functions as a bumper.
- An inclined plate U (see FIG. 14) is formed at the boundary between the bottom plate 202a and the front side plate 202c, with the front lower end portion of the housing 202 being the front end position and continuing to the bottom near the front auxiliary wheel 227.
- the front side plate 202c has a function as a bumper and is attached so as to protrude from the housing 202 by a spring or a spring (not shown). When the cleaning robot 201 hits an obstacle during self-running, the front side plate 202c moves backward (displaces) to absorb the impact.
- the inclined plate U is formed so as to be connected to the bottom surface in the vicinity of the front auxiliary wheel 227 with the front end as a front end when the front side plate 202c is retracted.
- the lower part of the front side plate 202c is bent or bent toward the bottom surface of the casing to form a front lower end. Since the inclined plate U is smoothly inclined so that the distance from the floor surface F becomes closer from the front to the rear, the inclined plate U contacts the corner of the step when the cleaning robot 201 passes through the step. The front part of the cleaning robot 201 is lifted. Therefore, the cleaning robot 201 can smoothly get over the steps.
- the housing 202 has a front storage chamber R1 at the front inside, an intermediate storage chamber R2 at the inner intermediate portion, and a rear storage chamber R3 at the rear rear portion. Further, a suction path 211 and an exhaust path 212 are provided near the boundary between the front part and the intermediate part.
- the front storage chamber R1 stores a motor unit (air blower) 220 having an electric blower 222, a housing 221 constituting exhaust passages 212 and 224, an ion generating element 225 (see FIG. 18) disposed in the exhaust passage, and the like.
- the intermediate storage chamber R2 stores the dust collection box 230.
- the rear storage chamber R3 stores a control board 215 as a control unit, a battery 214, a charging terminal 204, and the like.
- the suction path 211 connects the suction port 206 (see FIG. 14) and the intermediate storage chamber R2, and the exhaust path 212 connects the intermediate storage chamber R2 and the front storage chamber R1.
- Each of the storage chambers R1, R2, R3, the suction path 211, and the exhaust path 212 is partitioned by a partition wall 239 (see FIG. 17) inside the housing 202.
- the pair of drive wheels 229 are respectively fixed to rotation axes that are perpendicular to the center line C that passes through the center of the casing 202 that is circular in plan view and that extends along the traveling direction.
- the housing 202 advances and retreats, and when each driving wheel 229 rotates in the opposite direction, the housing 2 rotates around the center line C.
- the pair of drive wheels 229 are coupled so that rotational force can be obtained individually from a pair of travel motors (not shown), and each travel motor is fixed to the bottom plate 202a of the housing directly or via a suspension mechanism. .
- the front auxiliary wheel 227 is made of a roller and comes into contact with a step appearing on the course, so that the case 202 can easily get over the step, and the bottom plate 202a of the case 202 is slightly lifted from the floor F where the drive wheel 229 contacts the ground. It is provided in a part so that it can rotate.
- the rear wheel 226 is a free wheel, and is rotatably provided on a part of the bottom plate 202a of the housing 202 so as to come into contact with the floor surface F to which the drive wheel 229 contacts.
- the pair of driving wheels 229 is disposed in the middle in the front-rear direction with respect to the housing 202, the front auxiliary wheel 227 is lifted from the floor F, and the weight of the cleaning robot 201 is increased by the pair of driving wheels 229 and the rear wheels 226. Weight is distributed to the housing 202 in the front-rear direction so that it can be supported. Thereby, the dust in front of the course can be guided to the suction port 206 without being blocked by the front auxiliary wheel 227.
- the suction port 206 is an open surface of the recess 208 formed on the bottom surface of the housing 202 (the lower surface of the bottom plate 202a) so as to face the floor surface F.
- a rotating brush 209 that rotates around a first axis parallel to the bottom surface of the housing 202 is provided in the recess 208.
- Side brushes 210 that rotate about a second rotation axis perpendicular to the bottom surface of the housing 202 are provided on the left and right sides of the recess 208.
- the rotating brush 209 is formed by implanting a brush spirally on the outer peripheral surface of a roller that is a rotating shaft.
- the side brush 210 is formed by providing a brush bundle radially at the lower end of the rotating shaft.
- the rotating shaft of the rotating brush 209 and the rotating shaft of the pair of side brushes 210 are rotatably supported by a part of the bottom plate 202a of the housing 202, and a drive motor M (see FIG. 18) provided in the vicinity thereof. It is connected via a power transmission mechanism including a pulley and a belt.
- a floor surface detection sensor 213 for detecting the floor surface F is disposed between the bottom surface of the housing 202 and the front auxiliary wheel 227, and the same is provided in front of the side portions of the left and right drive wheels 229.
- Floor surface detection sensor 219 is disposed.
- the detection signal is transmitted to the control unit, and the control unit controls the left and right drive wheels 229 to stop.
- the floor detection sensor 213 breaks down, the floor detection sensor 219 can detect the descending stair and stop the left and right drive wheels 229, so that the cleaning robot 201 is prevented from falling to the descending stair. Yes.
- the detection signal is transmitted to the control unit, and the control unit controls the drive wheel 229 to move backward or rotate so as to avoid the descending staircase. May be.
- FIG. 16 shows a schematic drawing of FIG.
- an inclined plate U is provided between the front lower end T and the front auxiliary wheel 227 on the bottom surface of the housing 202.
- the inclined plate U can be provided by forming an inclination on the bottom plate 202 a of the housing 202.
- the inclined plate U is formed so as to be continuous with the bottom surface in the vicinity of the front auxiliary wheel 227 with the front lower end T of the housing 202 as the front end position.
- the inclination board U has a predetermined
- a fan-shaped U1 that is 30 ° opened on both sides from the vicinity of the front auxiliary wheel 227 toward the front, or 60% on both sides toward the front as shown in FIG. 16 (b).
- An open sector U2 or a semicircular shape U3 having a straight line parallel to the rotation axis of the front auxiliary wheel 227 and a circular arc at the lower end in front of the straight line as an outer edge, as shown in FIG.
- a straight line that includes the front auxiliary wheel 227 and is parallel to the rotational axis of the front auxiliary wheel 227 is larger than the width of the front auxiliary wheel 227, for example, three times as long.
- a region U4 having two straight lines extending forward from both ends of the straight line and a circular arc at a front lower end sandwiched between the straight lines.
- the control board 215 is provided with a control circuit that controls each element such as the drive wheel 229, the rotating brush 209, the side brush 210, and the electric blower 222 in the cleaning robot 201.
- a charging terminal 204 for charging the battery 214 is provided at the rear end of the side plate 202 c of the housing 202.
- the cleaning robot 201 that cleans the room while traveling is returned to the charging stand 240 installed in the room. As a result, the charging terminal 204 comes into contact with the terminal portion 241 provided on the charging stand 240 and the battery 214 is charged.
- the charging stand 240 connected to a commercial power source (outlet) is usually installed along the side wall S in the room.
- the battery 214 is charged from the charging stand 240 through the charging terminal 204 and is driven by the control board 215, the driving motor for driving the drive wheels 229, the driving motor for driving the rotating brush 209 and the side brush 210, the electric blower 222, various sensors, and the like. Power is supplied to each element.
- the dust collection box 230 is normally stored in the intermediate storage chamber R2 inside the housing 202, and when the dust collected in the dust collection box 230 is discarded, as shown in FIG.
- the lid 203 of the body 202 can be opened and the dust collection box 230 can be taken in and out.
- the dust collection box 230 includes a dust collection container 231 having an opening, a filter part 233 that covers the opening of the dust collection container 231, and a cover 232 that covers the filter part 233 and the opening of the dust collection container 231. ing.
- the cover part 232 and the filter part 233 are pivotally supported by the opening edge of the front side of the dust collection container 231 so that rotation is possible.
- An inflow passage 234 and a discharge passage 235 are provided in the front portion of the side wall of the dust collection container 231.
- the inflow path 234 communicates with the suction path 211 of the casing 202 in a state where the dust collection box 230 is stored in the intermediate storage chamber R2 of the casing 202.
- the discharge path 235 communicates with the exhaust path 212 of the casing 202 when the dust collection box 230 is stored in the intermediate storage chamber R2 of the casing 202.
- the control unit controls the operation of the entire cleaning robot 201.
- the control unit includes a control board 215 having a control circuit composed of a CPU 215a and other electronic components (not shown).
- a storage unit 218 for storing the travel map 218a, a motor driver 222a for driving the electric blower 222, and a motor driver 251a for driving the travel motor 251 of the drive wheels 229 are provided.
- a louver 217 rotatably provided near the exhaust port 207 in the housing 202 and a control unit 217a for driving the louver are provided.
- an odor sensor 252 and its control unit 252a a humidity sensor 253 and its control unit 253a, a human sensor 254 and its control unit 254a, a contact sensor 255 and its control unit 255a, and the like are provided.
- the CPU 215a is a central processing unit, and individually transmits control signals to the motor drivers 222a and 251a and the control unit 217a based on program data stored in advance in the storage unit 218. Further, the electric blower 222, the traveling motor 251 and the louver 217 are driven and controlled to perform a series of cleaning operation and ion release operation.
- the CPU 215a accepts a condition setting related to the operation of the cleaning robot 201 by the user from an operation panel (not shown) and stores it in the storage unit 218.
- the storage unit 218 can store a travel map 218a around the installation location of the cleaning robot 201.
- the travel map 218a is information related to travel such as the travel route and travel speed of the cleaning robot 201, and is stored in advance in the storage unit 218 by the user or automatically recorded during the cleaning operation by the cleaning robot 201 itself. Can do.
- the odor sensor 252 detects the odor around the outside of the housing 202.
- the odor sensor 252 for example, a semiconductor type or catalytic combustion type odor sensor can be used.
- the odor sensor 252 is disposed in a state exposed from the side plate 202c or the top plate 202b of the housing 202 to the outside.
- the CPU 215a is connected to the odor sensor 252 via the control unit 252a, and obtains odor information around the outside of the housing 2 based on an output signal from the odor sensor 252.
- the humidity sensor 253 detects the humidity around the outside of the housing 202.
- the humidity sensor 253 for example, a capacitance type or electric resistance type humidity sensor using a polymer moisture sensitive material can be used.
- the humidity sensor 253 is disposed in a state of being exposed to the outside from the side plate 202c or the top plate 202b of the housing 202.
- the CPU 215a is connected to the humidity sensor 253 via the control unit 253a, and obtains humidity information around the outside of the housing 202 based on an output signal from the humidity sensor 253.
- a location where an odor above a predetermined threshold and a location where the humidity is higher than the predetermined threshold in the installation location where the cleaning robot 201 is installed may be stored in advance as specific locations.
- the CPU 215a can determine that this specific location is a location determined based on the surrounding environment of the housing 202. That is, the travel map 218a serves as an environment detection device that detects the surrounding environment of the housing 202, like the odor sensor 252 and the humidity sensor 253.
- the human sensor 254 for example, a human sensor that detects the presence of a person using infrared rays, ultrasonic waves, visible light, or the like can be used.
- the human sensor 254 is disposed in a state of being exposed to the outside from the side plate 202c or the top plate 202b of the housing 202.
- the CPU 215a is connected to the human sensor 254 via the control unit 254a, and obtains presence information of people around the outside of the housing 2 based on an output signal from the human sensor 254.
- the contact sensor 255 is disposed, for example, at the front portion of the side plate 202c of the housing 202 in order to detect that the cleaning robot 201 has come into contact with an obstacle during traveling.
- the CPU 215a is connected to the contact sensor 255 via the control unit 255a, and obtains presence information of obstacles around the outside of the housing 202 based on an output signal from the contact sensor 255.
- the electric blower 222, the ion generating element 225, the drive wheel 229, the rotating brush 209, and the side brush 210 are driven by a cleaning operation command.
- the housing 202 is allowed to remove dust on the floor surface F from the suction port 206 while traveling in a predetermined range. Inhale air containing.
- the dust on the floor surface F is scraped up by the rotation of the rotating brush 209 and guided to the suction port 206. Further, the dust on the side of the suction port 206 is guided to the suction port 206 by the rotation of the side brush 210.
- the air containing the dust sucked into the housing 202 from the suction port 206 passes through the suction passage 211 of the housing 202 and the inflow passage 234 of the dust collection box 230 as indicated by an arrow A1 in FIG. It flows into the dust collecting container 231.
- the airflow that has flowed into the dust collecting container 231 passes through the filter portion 233, flows into the space between the filter portion 233 and the cover portion 232, and is discharged to the exhaust passage 212 of the housing 202 through the discharge passage 235.
- the At this time, the dust contained in the airflow in the dust collecting container 231 is captured by the filter unit 233, so that the dust accumulates in the dust collecting container 231.
- an air flow containing ions is exhausted obliquely upward at the rear from an exhaust port 207 provided on the upper surface of the housing 2. Thereby, cleaning on the floor surface F is performed, and indoor sterilization and deodorization are performed by ions contained in the exhaust of the cleaning robot 201.
- the ions emitted from the ion generating element 225 may be either negative ions or positive ions, or both. When both negative ions and positive ions are released, there is a particularly excellent air purification, sterilization or deodorization effect.
- a part of the airflow flowing through the second exhaust path 224b may be guided to the recess 208.
- the inside of the dust collection container 231 of the dust collection box 230 and the filter part 233 can be sterilized and deodorized. Further, it is possible to suppress the electrostatic adsorption of the dust or the like to the dust collecting container 231 or the like by gradually charging the dust.
- the cleaning robot 201 turns around the center line C by rotating the left and right drive wheels 229 forward in the same direction, moving forward, moving backward in the same direction, moving backward, and rotating in the opposite directions.
- the cleaning robot 201 when the cleaning robot 201 reaches the periphery of the cleaning area and collides with an obstacle on the course, the driving wheel 229 stops and the left and right driving wheels 229 rotate in opposite directions to change directions. Thereby, the cleaning robot 201 can be self-propelled while avoiding obstacles in the entire installation place or the entire desired range.
- the cleaning robot 201 is grounded at three points, the left and right drive wheels 229 and the rear wheel 226, and the weight is distributed in such a balance that the rear wheel 226 does not rise from the floor F even if it suddenly stops during forward movement. Yes. Therefore, it is prevented that the cleaning robot 201 suddenly stops in front of the descending stairs while moving forward, and thereby the cleaning robot 201 is tilted forward and falls to the descending stairs.
- the drive wheel 229 is formed by fitting a rubber tire having a groove into the wheel so that the drive wheel 229 does not slip even when suddenly stopped. Further, since the dust collection box 230 is disposed above the rotation shaft of the drive wheel 229, the weight balance of the cleaning robot 201 is maintained even if the weight increases due to dust collection.
- the cleaning robot 201 can perform a unique operation based on information obtained from the odor sensor 252, the humidity sensor 253, the travel map 218 a, and the human sensor 254 that are environment detection devices. For example, the cleaning robot 201 can stay for a certain period of time at a specific location determined based on the surrounding environment detected by the environment detection device, and can release an airflow including ions from the exhaust port 207. The cleaning robot 201 returns to the charging stand 240 when cleaning is completed. As a result, the charging terminal 204 contacts the terminal portion 241 and the battery 214 is charged.
- the cleaning robot 201 can drive the electric blower 222 and the ion generating element 225 while returning to the charging stand 240.
- an airflow containing ions is released obliquely upward from the exhaust port 207, and the airflow containing ions rises along the side wall S and circulates along the indoor ceiling wall and the opposite side wall.
- the cleaning robot 201 can also perform the ion emission operation alone.
- An operation unit is provided on the upper surface of the cleaning robot 201, and a cleaning operation and an ion emission operation can be executed by the operation unit.
- a receiving unit may be provided in the housing 202 and a transmitter that transmits a command signal may be provided to the receiving unit so that the remote controller can be operated.
- a command signal may be transmitted to the cleaning robot 201 from a mobile phone called a smartphone via an Internet line and a router provided in the room so that it can be remotely operated.
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- Electric Suction Cleaners (AREA)
Abstract
Description
特許文献1には、本体前方の床面上の物体を検出する検出器と、その検出の結果に基づいて前記本体の進行方向の前方を走行手段を基点として床面から持ち上げる持ち上げ手段とを備え、障害物を乗り越えることができる自走式掃除機が記載されている。これにより、電気コードや新聞紙のような障害物を乗り越えて掃除することができる。この自走式掃除機は、床面に段差があっても自走できるように、本体下端面が進行方向に対して傾斜した形状を有している。この傾斜により段差部を乗り越え易くしている。
また、特許文献2には、走行方向に開口した吸気口と、上方に開口した排気口を備え、駆動輪と前輪の間に掻き揚げ用ブラシを備える自走式空気清浄機が記載されている。この自走式空気清浄機は、部屋内を移動して清浄な空気を供給し、同時に掻き揚げブラシが床面の清掃を行なう。特許文献2の図1には、本体の前面かつ全幅に渡ってバンパーが設けられ、バンパーの下端から底面にかけて曲面形状を有するものが記載されている。
しかし、バンパーにより障害物を検知してその障害物を回避するものでは、例えばカーペットの端などある程度の段差は乗り越えて走行するようにしなければ、部屋中を清掃することはできない。よって、バンパーの下端は床面から所定の高さに設定される。バンパーの下端より低い高さの段差は乗り越える。
自走式機器の底面を床面から離せば、段差に自走式機器の底面が衝突することなく、その段差を乗り越えやすくなる。端的な例は、底面をバンパーの下端よりも高くする構成であろう。しかし、例えば自走式掃除機は底面に吸込口を配して床面上の塵埃を吸込む必要があるところ、吸込口が床面から離れ過ぎると塵埃を効率よく吸込むことができない。また、自走式電子機器は、例えばベッドの下を走行して除菌、消臭、アレルギー物質の抑制等ができるよう一般的に全高を抑える必要がある。従って、底面を高くすることが難しい場合がある。このような場合、前記特許文献1のような傾斜を持たせたりして段差を乗り越えやすくする対応が考えられる。
この発明の自走式電子機器は、筐体と、前記筐体の底面に配置され床面に接して前記筐体を走行させる駆動輪と、前記底面に配置され床面に接して前記筐体を支持する従動輪と、走行方向において前記筐体の前方下端部から前記底面に連なるように配置される傾斜板と、前記傾斜板の後端部に配置されかつ前記駆動輪および従動輪よりも前方に配置される前方補助輪とを備え、前記前方補助輪は、下端が前記底面よりも低く、床面よりも高い位置にあり、前記傾斜板は、前方から後方へ向かうにつれて床面からの高さが低くなるように傾斜していることを特徴とする。
前記筐体は、走行方向に変位可能なバンパーを前部に有し、前記傾斜板は前端が、前記バンパーが後退したときにそのバンパーの前方下端部よりも後方に位置していてもよい。このようにすれば、バンパーが後方へ変位した状態でもそのバンパーよりも後方に傾斜板の前端が位置するので、傾斜板が障害物に接触して障害物あるいは傾斜板が損傷するのを回避することができる。
この発明の好ましい態様は、ここで示した複数の態様のうち何れかを組み合わせたものも含む。
以上の実施形態において、自走式電子機器は、平面視略円形の筐体と、前記筐体の上面に形成した空気の吹出口と、前記筐体の底面から突出し、前記筐体の進行方向に沿う中心線を挟んで両側に配置された駆動輪と、前記進行方向後方の後輪と、前記進行方向前方の前方補助輪とを備えている。さらに、前記筐体の内部に駆動制御部および制御部を備えている。前記駆動制御部は前記駆動輪を制御し、前記制御部は前記吹出口からの空気の吹出しを制御する。さらにまた、前記自走式電子機器は、前端が前記筐体の前方下端部にあり、後端が前方補助輪の付近で前記筐体の底面に連なる傾斜板を備えている。
空気の吹出口は、掃除機の場合は排気口であり、イオン発生機の場合は清浄な空気の吹出し口である。駆動輪は、自走式電子機器を直進走行、回転走行および後退走行させる車輪である。また、駆動制御部は、駆動輪を制御し、自走式電子機器が掃除動作をする場合あるいは空気清浄動作をする場合、部屋内を隈なく走行するように、また、障害物を避けて走行するように直進、回転、後退駆動を制御する。駆動輪は、床面に凹凸があっても追従するようにサスペンション機構を介して筐体に取付けられている。また、左右1対の駆動輪と従動輪である後輪とによって筐体を3点支持し、自走式電子機器を安定に走行させる。駆動輪と後輪により筐体が支持されるので、筐体の後方部分にバッテリーのような重量物を配置して、筐体の前方部分を軽量にすることができる。従って、筐体の前方部分が持ち上がりやすくなり、障害物があっても容易に乗り越えることができる。
筐体101は、進行方向において前方下端部102を前端の位置とし、前方補助輪103の付近で底面に連なる傾斜面に沿った傾斜板104を備える。これによって、自走式電子機器は進行方向前方に障害物Zが存在する場合も障害物Zを乗り越えて進行することができる。
図2は、比較例として、この発明の特徴である傾斜板がない自走式電子機器の説明図である。図2に示すように、筐体101の進行方向に沿う前方下端部102から前方補助輪103までの間に図1と比較して鈍角の段差Xがあると、段差Xが障害物Zに衝突して駆動輪108に対する大きな負荷となり、自走式電子機器100が障害物Zを乗り越えることが困難になる。
傾斜板104の先端が、筺体下面の前端まで延設された状態で設けられていることから、図1の傾斜板104の傾斜角度は図2の段差Xの傾斜角度に比べて緩やかであり、段差と接触したときの衝撃が軽減され、その段差を容易かつスムーズに乗り越えることができる。また、その傾斜板104の先端は、バンパー111が後方へスライドした位置まで延設されているがそれ以上前方へ突出していないので、バンパー111によって障害物と傾斜板104の先端との衝突が回避され、先端部が損傷、破損等から保護される。
この発明に係る自走式イオン発生機について説明する。
図3はこの発明の実施形態に係る自走式イオン発生機の斜視図である。
図4は図3に示される自走式イオン発生機から上部カバーを取り外した状態を示す斜視図である。
図5は図3に示される自走式イオン発生機の底面図である。
図6は自走式電子機器に備えられる各種傾斜板の説明図である。
図7は図3に示される自走式イオン発生機のA-A矢視断面図である。
図8は図3に示される自走式イオン発生機のB-B矢視断面図である。
図9は図3に示される自走式イオン発生機のC-C矢視図である。
図10は充電台に帰還した状態を示す図7対応図である。
図11は図3に示される自走式イオン発生機を制御する制御部の構成を示すブロック図である。
図12はイオン発生部に搭載されるイオン発生装置の概略的な構成を示す説明図である。
自走式イオン発生機1は、円盤形の筐体2を備える。図7に示すように、この筐体2の内部には電力を蓄える充電式のバッテリー6、筐体2内に空気を吸引すると共に排気口5から空気を排出させる電動送風機7、筐体2内に導入された空気からほこりや異物を除去するフィルタ8が設けられている。さらに、筐体2内に導入された空気を電離処理してイオンを発生するイオン発生素子4、吸気口3を開閉する吸気用蓋体9、吸気用蓋体9を駆動する吸気用蓋体駆動部10(図4参照)が設けられている。さらにまた、排気口5を開閉する排気用蓋体11、排気用蓋体11を駆動する排気用蓋体駆動部12(図4参照)および各部の動作を統合的に制御する制御部13が設けられている。制御部13は各種電子部品を実装した制御基板14によって構成されている。
フィルタ8は、吸込口から吸い込まれた空気中に含まれる塵埃を分離し、塵埃を除去した空気を通過させるものである。このフィルタ8は、メンテナンス等を行うために着脱可能に設けられている。図7に示すように底板2aに対して取り外し可能な底蓋2eが設けられている。底蓋2eを外すことで吸気された空気の流路の一部が開放され、その部分に設けられているフィルタ8を取り出すことができる。
また、イオン発生素子4は、例えば、放電により空気中の水分子を電離し、正イオンとしてH+(H2O)m(mは任意の自然数)、負イオンとしてO2―(H2O)n(nは任意の自然数)を生成する。このイオン発生素子4は、上述したようなイオンでなく、負イオンを生成するものでもよい。
一対の駆動輪15は、平面視円形の筐体2の中心を通り進行方向に沿う中心線Cに対して直角に交わる一対の回転軸15a(図5参照)に固定されている。一対の駆動輪15が同一方向に回転すると筐体2が進退し、一対の駆動輪15が互いに逆方向に回転すると筐体2が中心線Cの回りに回転する。
一対の回転軸15aは、図示しない一対の走行モータからそれぞれ個別に駆動力が得られる。各走行モータは、図示しない動力伝達機構を介してそれぞれの回転軸に接続されている。各走行モータは筐体2の底板2aに直接またはサスペンション機構を介して固定されている。
後輪17は、筐体2の底板2aの後方側に回転可能に設けられた自在車輪からなり、駆動輪15と共に床面Fに接触して筐体2を支持する。前方補助輪16及び後輪17は、走行モータのような駆動源に接続されず、従動輪となっている。
このように、自走式イオン発生機1は筐体2の前後方向の中間に一対の駆動輪15が配置され、前方補助輪16を床面Fから浮かせつつ自走式イオン発生機1の重量を一対の駆動輪と後輪によって支持できるよう、前後方向の重量が配分されている。
また、駆動輪15は、急停止してもスリップしないよう、溝を有するゴムタイヤをホイールに嵌め込んだ構成とされている。
例えば、図6(a)に示すように、筐体2の前方補助輪16付近から前方へ向けて両側にそれぞれ30°開いた扇形U1、または図6(b)に示すように、前方へ向けて両側にそれぞれ60°開いた扇形U2、または、図6(c)に示すように、前方補助輪16の回転軸に平行な直線とその直線より前方の前方下端部の円弧を外縁とする半円形状U3である。または、図6(d)に示すように、前方補助輪16を含み、前方補助輪16の回転軸に平行な直線で前方補助輪16の幅より大きく、例えば3倍の長さを有する直線と、前記直線の両端から前方へむかう2本の直線と、それらの直線で挟まれる前方下端部の円弧とを外縁とする領域U4である。
バッテリー6は充電端子20を介して充電台21から充電され、制御部13、一対の駆動輪15を駆動する一対の走行モータ、イオン発生素子4、電動送風機7、各種センサ等の各要素に電力を供給する。
また、制御部13はイオン発生素子4の作動時に吸気口3と排気口5を開くように吸気用蓋体駆動部10および排気用蓋体駆動部12をそれぞれ制御する。イオン発生素子4の非稼働時に吸気口3と排気口5を閉じるように吸気用蓋体駆動部10および排気用蓋体駆動部12をそれぞれ制御する。充電等の非稼働時にほこりや異物が吸気口3や排気口5から侵入して自走式イオン発生機1が故障することを防止するためである。
つまり、各々のイオン放出部41a、41bには、共通の対向電極42と針状の放電電極43a、43bが各々設けられる。放電電極43a、43bは先端が尖った針電極であり、対向電極42は放電電極43a、43bの周囲を囲うように開口された共通の接地された電極である。
本体部分45の高圧電気発生回路は、放電電極43a、43bに、交流波形またはインパルス波形から成る正または負の高電圧が印加される。前述のようにイオン発生素子4は複数の放電電極を持ち、例えば放電電極43aには、正のインパルス波形の高電圧が印加される。これにより、電離により発生するイオンが空気中の水分と結合して主としてH+(H2O)mから成る正のクラスタイオンが生成される。
他の放電電極43bには、負のインパルス波形の高電圧が印加され、電離により発生するイオンが空気中の水分と結合して主としてO2 -(H2O)nから成る負のクラスタイオンが生成される。ここで、m、nは任意の自然数である。
以上のイオン発生素子4の構成は、正および負のイオンを同時に発生させる一例であり、一つの放電電極を設け、その放電電極に交流の高電圧を供給させることで、正または負のイオンを交互に発生させることも可能である。また、正負のイオンを生成させるものでなく、負のイオンを発生させるようなものでもよい。
図13はこの発明の実施形態2に係る自走式掃除機の斜視図である。
図14は図13に示される自走式掃除機のA-A矢視断面図である。
図15は図13に示される自走式掃除機の底面図である。
図16は自走式掃除機に備えられる各種傾斜板の説明図である。
図17は筐体の蓋部が開放され集塵部が取り出された状態を示す図14対応図である。
図18は図13に示される自走式掃除機の筐体の天板および制御基板等を取り外した状態を示す斜視図である。
図19は図13に示される自走式掃除機の電気的な構成を示すブロック図である。
掃除ロボット201は、円盤形の筐体202を備え、この筐体202の内部および外部に、回転ブラシ209、サイドブラシ210、集塵ボックス230、電動送風機222を有する送風部、一対の駆動輪229、後輪226および前方補助輪227、各種センサを含む制御部等の構成要素が設けられている。
この掃除ロボット201において、前方補助輪227が配置されている部分が前方部、後輪226が配置されている部分が後方部、集塵ボックス230が配置されている部分が中間部である。
前方収納室R1は、電動送風機222を有するモータユニット(送風部)220、排気路212、224を構成するハウジング221、排気路に配置されるイオン発生素子225(図18参照)等を収納する。中間収納室R2は、集塵ボックス230を収納する。後方収納室R3は、制御部としての制御基板215、バッテリー214、充電端子204等を収納する。吸引路211は吸込口206(図14参照)と中間収納室R2とを連通させ、排気路212は中間収納室R2と前方収納室R1とを連通させている。なお、これらの各収納室R1、R2、R3、吸引路211および排気路212は、筐体202の内部の仕切り壁239(図17参照)によって仕切られている。
一対の駆動輪229は、図示しない一対の走行モータからそれぞれ個別に回転力が得られるように連結されており、各走行モータは筐体の底板202aに直接またはサスペンション機構を介して固定されている。
後輪226は自在車輪からなり、駆動輪229が接地する床面Fと接地するよう筐体202の底板202aの一部に回転可能に設けられている。
このように、筐体202に対して前後方向中間に一対の駆動輪229を配置し、前方補助輪227を床面Fから浮かせ、掃除ロボット201の重量を一対の駆動輪229と後輪226によって支持できるよう、筐体202に対して前後方向に重量が配分されている。これにより、進路前方の塵埃を前方補助輪227によって遮ることなく吸込口206に導くことができる。
例えば、図16(a)に示すように、前方補助輪227付近から前方へ向けて両側にそれぞれ30°開いた扇形U1、または図16(b)に示すように前方へ向けて両側にそれぞれ60°開いた扇形U2、または、図16(c)に示すように、前方補助輪227の回転軸に平行な直線とその直線より前方の下端部の円弧を外縁とする半円形状U3である。または、図16(d)に示すように、前方補助輪227を含み、前方補助輪227の回転軸に平行な直線で前方補助輪227の幅より大きく、例えば3倍の長さを有する直線と、前記直線の両端から前方へむかう2本の直線と、それらの直線で挟まれる前方下端部の円弧とを外縁とする領域U4である。
筐体202の側板202cの後端には、バッテリー214の充電を行なう充電端子204が設けられている。室内を自走しながら掃除する掃除ロボット201は、室内に設置されている充電台240に帰還する。これにより、充電台240に設けられた端子部241に充電端子204が接触し、バッテリー214の充電が行われる。商用電源(コンセント)に接続される充電台240は、通常、室内の側壁Sに沿って設置される。
バッテリー214は、充電端子204を介して充電台240から充電され、制御基板215、駆動輪229を駆動する走行モータ、回転ブラシ209およびサイドブラシ210を駆動する駆動モータ、電動送風機222、各種センサ等の各要素に電力を供給する。
集塵ボックス230は、開口部を有する集塵容器231と、集塵容器231の開口部を覆うフィルタ部233と、フィルタ部233と集塵容器231の開口部とを覆うカバー部232とを備えている。カバー部232およびフィルタ部233は、集塵容器231の前側の開口端縁に回動可能に軸支されている。
集塵容器231の側壁前部には、流入路234と排出路235とが設けられている。流入路234は、集塵ボックス230が筐体202の中間収納室R2内に収納された状態において、筐体202の吸引路211と連通する。排出路235は、集塵ボックス230が筐体202の中間収納室R2内に収納された状態において、筐体202の排気路212と連通する
また、CPU215aは、ユーザーによる掃除ロボット201の動作に係る条件設定を操作パネル(図示省略)から受け付けて記憶部218に記憶させる。この記憶部218は、掃除ロボット201の設置場所周辺の走行マップ218aを記憶することができる。走行マップ218aは、掃除ロボット201の走行経路や走行速度などといった走行に係る情報であり、予めユーザーによって記憶部218に記憶させるか、あるいは掃除ロボット201自体が掃除運転中に自動的に記録することができる。
また、掃除ロボット201は、左右の駆動輪229が同一方向に正回転して前進し、同一方向に逆回転して後退し、互いに逆方向に回転することにより中心線Cを中心に旋回する。例えば、掃除ロボット201は、掃除領域の周縁に到達した場合および進路上の障害物に衝突した場合、駆動輪229が停止し、左右の駆動輪229を互いに逆方向に回転して向きを変える。これにより、掃除ロボット201は、設置場所全体あるいは所望範囲全体に障害物を避けながら自走することができる。
また、集塵ボックス230が駆動輪229の回転軸の上方に配置されているため、集塵によって重量が増加しても掃除ロボット201の重量バランスが維持される。
掃除ロボット201は、掃除が終了すると充電台240に帰還する。これにより、充電端子204が端子部241に接してバッテリー214が充電される。
前述した実施の形態の他にも、この発明について種々の変形例があり得る。それらの変形例は、この発明の範囲に属さないと解されるべきものではない。この発明には、請求の範囲と均等の意味および前記範囲内でのすべての変形とが含まれるべきである。
Claims (6)
- 筐体と、
前記筐体の底面に配置され床面に接して前記筐体を走行させる駆動輪と、
前記底面に配置され床面に接して前記筐体を支持する従動輪と、
走行方向において前記筐体の前方下端部から前記底面へ連なるように配置される傾斜板とを備え、
前記筐体は、走行方向に変位可能なバンパーを有し、
前記傾斜板は前端が、前記バンパーが後退したときにそのバンパーの前方下端部よりも後方に位置することを特徴とする自走式電子機器。 - 前記傾斜板の後端部に配置されかつ前記駆動輪および従動輪よりも前方に配置される前方補助輪を備え、該前方補助輪は、下端が前記底面よりも低く、床面よりも高い位置にある請求項1に記載の自走式電子機器。
- 前記バンパーは、下端部が後方に折り曲げられた曲げ部を有し、前記曲げ部が前記前方下端部である請求項2に記載の自走式電子機器。
- 前記傾斜板は、前記筐体の前方中央部から左右に所定の幅で配置され、
その幅の方向において前記傾斜板の床面からの高さは、両側の底面よりも低い請求項1~3の何れか一つに記載の自走式電子機器。 - 前記傾斜板は、前記筐体の底面と一体または別体のものとして形成される請求項1~4の何れか一つに記載の自走式電子機器。
- 前記自走式電子機器は、イオンを放出するイオン発生機または清掃を行う自走式掃除機である請求項1~5の何れか一つに記載の自走式電子機器。
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- 2013-03-11 CN CN201390000434.0U patent/CN204146964U/zh not_active Expired - Fee Related
- 2013-03-11 KR KR1020147032593A patent/KR101688292B1/ko active IP Right Grant
- 2013-03-11 WO PCT/JP2013/056673 patent/WO2013161406A1/ja active Application Filing
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Also Published As
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JP6068823B2 (ja) | 2017-01-25 |
CN204146964U (zh) | 2015-02-11 |
KR20150006857A (ko) | 2015-01-19 |
TWI576077B (zh) | 2017-04-01 |
US20150134179A1 (en) | 2015-05-14 |
JP2013230201A (ja) | 2013-11-14 |
KR101688292B1 (ko) | 2016-12-20 |
TW201343127A (zh) | 2013-11-01 |
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