CN110536627A - Electric sweeper - Google Patents

Abstract

The invention provides an electric sweeper, which can efficiently sweep a place corresponding to the preference or expectation of a user in a short time. The electric sweeper (1) is provided with a self-propelled sweeper body (2) capable of sweeping while traveling along a ground surface (F), and an operating member (3) which is attached to the sweeper body (2) and can be operated by a user. The sweeper body (2) is provided with a traveling drive unit (11) for driving wheels (111) for self-traveling, a body control unit (12) for driving and controlling the traveling drive unit (11), and a body connecting unit (15) for detachably connecting the operation member (3), wherein the body control unit (12) switches between an automatic mode in which self-traveling is performed by the traveling drive unit (11) when the operation member (3) is not connected, and a manual mode in which manual operation from the operation member (3) is received when the operation member (3) is connected.

Description

Electric sweeper

technical field

The present invention relates to an electric sweeper.

Background technique

Conventionally, as a self-propelled sweeper (robot sweeper) for cleaning the floor, it is known to include a traveling unit for running the sweeper main body and a suction for sucking dust and the like into a dust collection chamber in the sweeper main body from a suction port product of the unit (refer to Patent Document 1, etc.). The traveling unit is provided with a pair of left and right wheels and two motors that drive each wheel in the forward and reverse directions, so that the main body of the sweeper can travel in the forward and backward directions and rotate in any direction. The suction unit is provided with a duct that communicates with the suction port, a blower, and a rotating brush provided at the suction port, and is configured to suck in dust and the like scraped by the rotating brush from the suction port.

prior art literature

Patent Literature

Patent Document 1: Japanese Patent Application Laid-Open No. 2016-135303

SUMMARY OF THE INVENTION

The problem to be solved by the invention

Conventional general self-propelled electric cleaners perform cleaning while self-propelling along a preset travel route, so it is difficult to perform focused cleaning on a specific place corresponding to the user's preference and desire. In addition, since the cleaning cannot be completed until one cycle of the predetermined travel route is completed, there is a problem that it takes a long time to complete.

An object of the present invention is to provide an electric cleaning machine capable of efficiently cleaning a place corresponding to a user's preference and desire in a short time.

means of solving problems

The electric sweeper of the present invention includes: a self-propelled sweeper body capable of cleaning while walking along the ground; and an operation member attached to the sweeper body so as to be operable by a user, the sweeper body having: a drive A running drive part for a self-propelled wheel; a main body control part for driving and controlling the running driving part; a main body connecting part for detachably connecting the said operating member; The detection unit is connected, and the main body control unit switches between an automatic mode in which the traveling drive unit performs self-propelled operation when the operation member is not connected, and a manual mode in which a manual operation from the operation member is received when the operation member is connected. .

According to the present invention thus constituted, the cleaning machine main body including the traveling drive unit and the main body control unit is self-propelled in the automatic mode to function as a self-propelled electric cleaner (sweeping robot), and can automatically clean the floor. On the other hand, by detecting that the operation member is connected to the main body connection portion, the manual mode is performed, and the user can operate the operation member to move the cleaning machine main body by receiving the manual operation from the operation member, and it is possible to focus on a specific place. clean up. Therefore, it is possible to clean a place according to the user's preference or desire efficiently and in a short time by cleaning a specific place in the manual mode without waiting for a predetermined travel route to complete one cycle in the automatic mode.

In this invention, it is preferable that the said manual mode has the complete manual mode which controls the said traveling drive part so that the said wheel may rotate freely.

According to such a configuration, by providing the full manual mode in which the traveling drive unit is controlled so that the wheels can freely rotate, the cleaning can be performed while moving the main body of the sweeper by the full manual operation of the operating member by the user. Therefore, since the main body of the cleaning machine can be moved according to the user's intention, the convenience of the user can be improved and a good feeling of use can be obtained.

In the present invention, preferably, at least one of the sweeper main body and the operation member is provided with an operation detection portion that detects an operation direction and an operation force of the operation member, and the manual mode includes the operation member to assist the detection of the operation detection portion. The mode of operation controls the assist mode of the above-mentioned traveling drive unit.

According to such a configuration, in the assist mode, the traveling drive unit is controlled so as to assist the operation of the operation member detected by the operation detection unit, so that the user can move the cleaning machine body with a small operating force, and the burden on the user can be reduced. At the same time improve convenience.

In the present invention, it is preferable that the operation member is provided with a travel instruction portion that instructs at least one of a travel direction and a travel speed of the sweeper body, and the manual mode includes an instruction to control the travel drive portion based on an instruction from the travel instruction portion. model.

According to such a configuration, in the instruction mode, the traveling direction and/or traveling speed of the sweeper body is instructed by the user using the traveling instruction portion provided on the operation member, and the traveling driving portion is actuated based on the instruction, so that the user can further A small operation force moves the main body of the sweeper, which can further reduce the burden on the user.

In this invention, it is preferable that the electric power supply part which supplies electric power to the said cleaning machine main body is provided in the said operation member.

According to such a configuration, power is supplied to the cleaning machine body from the power supply unit provided in the operation member, so that cleaning can be continued even when the residual power of the cleaning machine body becomes small. Moreover, as a power supply part, the rechargeable battery provided in the operation member may be sufficient, and the electric power line which can be connected to a power outlet extended from the operation member may be sufficient as it.

Description of drawings

Fig. 1 is a perspective view of the electric cleaning machine according to the first embodiment of the present invention;

Fig. 2 is a sectional view of the above-mentioned electric sweeper, and is a sectional view shown on line II-II in Fig. 1;

Fig. 3 is a sectional view of the above-mentioned electric sweeper, and is a sectional view shown on line III-III in Fig. 1;

Fig. 4 is a functional block diagram showing a schematic configuration of the above-mentioned electric cleaning machine;

5 is a cross-sectional view of the electric cleaning machine according to the second embodiment of the present invention;

Fig. 6 is a functional block diagram showing a schematic configuration of the above-mentioned electric cleaning machine;

7 is a cross-sectional view of an electric cleaning machine according to a third embodiment of the present invention;

FIG. 8 is a functional block diagram showing a schematic configuration of the above-mentioned electric cleaning machine.

Description of reference numbers:

1 Electric sweeper

2 The main body of the sweeper

3 Operating parts

11 Traveling drive part

12 Main body control part

15 Main body connection

22 Operation link

24 Controller (travel indicator)

25 Operating the battery (power supply section)

26 Axial force sensor (operation detection part)

27 Rotation sensor (operation detection part)

111 Wheels

114 Rotation sensor (operation detection part)

121 Travel Control Department

151 Connection sensor (connection detection part)

152 Rotation sensor (operation detection part)

154 Front and rear sensors (operation detection part)

F ground

Detailed ways

[First Embodiment]

Hereinafter, a first embodiment of the present invention will be described based on the drawings.

FIG. 1 is a perspective view of the electric cleaning machine according to the first embodiment of the present invention.

As shown in FIG. 1 , the electric sweeper 1 is provided with a self-propelled sweeper body 2 capable of cleaning while running along the floor F, and an operation member 3 attached to the sweeper body 2 and operable by a user. In this electric cleaning machine 1, the cleaning machine main body 2 to which the operation member 3 is not attached functions as an autonomous walking type cleaning robot, and by attaching the operation member 3 to the cleaning machine main body 2, it functions as a manually-operated cleaning machine.

The main body 2 of the sweeper is provided with an overall cylindrical body 10, a traveling drive unit 11 for driving a pair of wheels 111 for self-propelled travel, and a main body control unit 12 for driving and controlling the traveling drive unit 11, for operating the sweeper body 2, the main body operation part 13, the main body battery 14 which is the drive power source of the cleaning machine main body 2, and the main body connection part 15 which connects the operation member 3 detachably. The main body operation portion 13 is provided with a power ON (on)/OFF (off) button, a cleaning mode selection button, a stop button, a charge button, and the like.

The operation member 3 is provided with a long rod-shaped operation lever 20 , a grip portion 21 provided at one end of the operation lever 20 for the user to hold and operate, and the other end portion of the operation lever 20 and connected to the main body connection portion 15 . The operation connection part 22 , the operation control part 23 for driving and controlling the connected cleaning machine body 2 , the controller 24 provided in the grip part 21 to be operated by the user's fingers, and the operation battery 25 provided in the operation lever 20 . The grip portion 21 is provided with a power ON/OFF button, a stop button, a charge button, and the like, not shown.

2 and 3 are cross-sectional views of the electric cleaning machine, respectively. FIG. 2 is a cross-sectional view taken along the line II-II in FIG. 1 , and FIG. 3 is a cross-sectional view taken along the line III-III in FIG. 1 .

As shown in FIGS. 2 and 3 , on the lower surface of the body 10 of the sweeper main body 2 , a suction part 16 for sucking in dust or dust on the floor F is provided. A duct, an air blower, a dust collection chamber, and an exhaust port (not shown) are connected to the suction portion 16, so that the inhaled dust and the like are collected by the filter of the dust collection chamber, and the inhaled air is discharged from the exhaust port. gas.

As shown in FIGS. 1 and 3 , the traveling drive unit 11 is provided with a pair of left and right wheels 111 and a motor 112 for rotationally driving the pair of wheels 111 independently. Moreover, as shown in FIG. 2, the auxiliary|assistant wheel 113 is provided in the front part of the body 10. As shown in FIG. As shown in FIG. 3 , a rotation sensor (operation detection unit) 114 that detects the relative rotation of the wheel 111 and the motor 112 is provided between the motor 112 and the rotation shaft of the wheel 111 .

As shown in FIGS. 2 and 3 , the main body connection portion 15 is provided with a connection sensor (connection detection portion) 151 for detecting whether or not the operation connection portion 22 of the operation member 3 is connected, and for detecting whether or not the operation connection portion 22 is connected to the operation connection portion 22 or not. A rotation sensor (operation detection part) 152 that rotates around the first rotation direction R1 of the vertical axis X1 and a main body contact part 153 that is electrically connected to the operation connection part 22 .

The operation connection portion 22 is provided with a universal joint 221 for connecting with the operation lever 20 and an operation contact portion 222 for electrical connection with the main body contact portion 153 of the main body connection portion 15 . The operation connecting portion 22 is inserted into the main body connecting portion 15 from above to be connected, is locked by a locking portion (not shown), cannot move in the horizontal direction and the vertical direction, and is freely rotatable in the first rotational direction R1. link. In addition, by the operation of the unillustrated connection release switch provided in the operation member 3 to release the locking portion, the operation connection portion 22 is pulled out from the main body contact portion 153 vertically upward, so that the operation member 3 and the cleaning The connection of the main body 2 is released.

The universal joint 221 converts the twist in the second rotation direction R2 around the axial direction X2 of the operation lever 20 into the rotation in the first rotation direction R1. Further, the universal joint 221 and the operation lever 20 are rotatably connected to each other around a horizontal axis, and the operation lever 20 and the grip portion 21 are supported so as to be rotatable in the vertical direction around the horizontal axis.

The connection sensor 151 detects that the operation connection portion 22 is connected to the main body connection portion 15 . Then, when the user holding the grip portion 21 twists the operation lever 20 in the second rotational direction R2, the rotation in the first rotational direction R1 from the universal joint 221 is transmitted to the main body connection portion 15, and the rotation is rotated Sensor 152 detects. Moreover, the main body contact part 153 is in contact with the operation contact part 222, and the cleaning machine main body 2 and the operation member 3 are electrically connected.

FIG. 4 is a functional block diagram showing a schematic configuration of the electric cleaning machine.

Hereinafter, the operation of the electric cleaning machine 1 will be described with reference to FIG. 4 .

The main body control unit 12 of the cleaning machine body 2 is provided with a travel control unit 121 that controls the travel drive unit 11, a suction control unit 122 that controls the suction unit 16, and a mode control unit 123 that switches the mode according to whether the operation member 3 is connected or not. The power supply control unit 124 for charging the main battery 14 .

When the power supply of the cleaning machine main body 2 is turned on, the main body control part 12 detects whether or not the operation connection part 22 of the operation member 3 has been connected to the main body connection part 15 through the connection sensor 151 . When it is determined that the operation connection unit 22 is not connected, the mode control unit 123 switches to the automatic mode, and when it is determined that the operation connection unit 22 is connected, the mode control unit 123 switches to the manual mode.

In the automatic mode, the travel control unit 121 drives and controls the travel drive unit 11 according to a preset travel program, and rotates the wheels 111 by the motor 112 to make the sweeper main body 2 travel by itself. The suction control unit 122 controls the suction unit 16 to perform the suction operation as the sweeper main body 2 travels. When the predetermined travel program ends, the travel control unit 121 stops the travel drive unit 11, the suction control unit 122 stops the operation of the suction unit 16, and the main body control unit 12 puts the electric sweeper 1 in a standby state.

In the manual mode, the travel control unit 121 drives and controls the travel drive unit 11 so as to assist the operation from the user using the operation member 3 without adopting the travel program (assist mode). The inhalation control unit 122 controls the inhalation unit 16 to perform an inhalation operation while receiving an operation from the user who uses the operation member 3 .

When the user pushes or pulls the operation member 3 to move the sweeper body 2 forward or backward, the rotation of the wheel 111 is detected by the rotation sensor 114, and based on the detection signal, the operation direction of the operation member 3 by the user corresponds to the operation. and the operating force, the travel control unit 121 drives and controls the travel drive unit 11 in the direction in which the cleaning machine main body 2 is moved forward or backward. At this time, the traveling drive unit 11 adjusts the drive speed of the wheels 111 so as not to exceed the user's forward or backward operation speed.

When the user twists the operating lever 20 in the second rotational direction R2 using the grip portion 21 , the rotation of the operating coupling portion 22 via the universal joint 221 is detected by the rotation sensor 152 of the main body coupling portion 15 , and the detection signal is controlled by the main body. Section 12 receives. Based on the received detection signal, that is, the travel control unit 121 controls the rotational speed of the motors 112 in the left and right travel drive units 11 in accordance with the operation direction and force of the user's operation on the operation member 3 , and changes the travel of the cleaning machine main body 2 direction to make it turn right or left.

In addition, the user may operate the controller 24 to instruct forward or backward (instruction mode) instead of pushing or pulling the operation member 3 . When the controller 24 is operated, the operation control part 23 sends forward or backward instructions to the operation connection part 22 as an electrical signal, and the main body control part 12 receives the instruction via the operation contact part 222 and the main body contact part 153 . Based on the received electric signal of the instruction, the travel control unit 121 drives and controls the travel drive unit 11 to move the cleaning machine main body 2を forward or backward.

When the connection sensor 151 detects the stop signal that the user pressed the stop button of the main body operation part 13 or the operation member 3, or detects that the connection between the operation connection part 22 of the operation member 3 and the main body connection part 15 is released, the running control is performed. The part 121 stops the traveling drive part 11, the suction control part 122 stops the operation of the suction part 16, and the main body control part 12 puts the electric cleaning machine 1 into a standby state.

In the state where the main body connection portion 15 and the operation connection portion 22 are connected, the charging button of the main body operation portion 13 or the operation member 3 is pressed by the user, and the power control portion 124 starts to charge the main body battery 14 from the operation battery 25 of the operation member 3 to the main body battery 14 . Charging is stopped when the charging button is pressed again or the main battery 14 becomes fully charged. In addition, regardless of the user's operation of the charge button, the power control unit 124 may automatically start the transfer from the operation battery 25 to the main battery 14 when the connection sensor 151 detects that the operation connection part 22 of the operation member 3 is connected to the main body connection part 15 . The way of charging the way of action.

According to the present embodiment configured in this way, the following operations and effects can be achieved.

(1) The cleaning machine main body 2 functions as a self-propelled electric cleaning machine (cleaning robot) by self-propelling in the automatic mode, and can perform cleaning of the floor F automatically. On the other hand, when it is detected that the operation member 3 is connected to the main body connection portion 15, the manual mode is performed, and the manual operation from the operation member 3 is received, so that the user operates the operation member 3 to move the cleaning machine main body 2. Focus on cleaning in specific places. Therefore, it is possible to clean a place corresponding to the user's preference or desire efficiently and in a short time by cleaning a specific place in the manual mode without waiting for the completion of one cycle of the predetermined travel route in the automatic mode.

(2) In the assist mode in the manual mode, the drive unit 11 drives the wheels 111 so as to assist the operation direction and the operation force of the operation member 3 detected by the rotation sensors 115 and 152, so that the user can use a small operation force By moving the cleaning machine main body 2, the user's burden is reduced and convenience is improved.

(3) In the instruction mode in the manual mode, the user instructs the sweeper body 2 to move forward or backward using the controller 24 provided in the operation member 3, and the travel drive unit 11 drives the wheels 111 based on the instruction, so that the user The sweeper main body 2 can be moved with a smaller operation force, and the burden on the user can be further reduced.

(4) Power is supplied to the main battery 14 of the sweeper main body 2 from the operation battery 25 provided in the operation member 3, so that the cleaning can be continued even when the residual power of the sweeper main body 2 becomes small, and the convenience can be further improved.

[Second Embodiment]

FIG. 5 is a cross-sectional view of an electric cleaning machine according to a second embodiment of the present invention, and FIG. 6 is a functional block diagram showing a schematic configuration of the electric cleaning machine.

The electric sweeper 1 of this embodiment differs from the above-described first embodiment in the configuration of the traveling drive part 11 of the sweeper main body 2 , the main body connection part 15 , and the operation connection part 22 of the operation member 3 . In addition, the operation control part 23 , the controller 24 and the operation battery 25 are not provided in the operation member 3 of the present embodiment, and only the operation connection part 22 is mechanically connected to the main body connection part 15 , so that the cleaning machine main body 2 and the operation member 3 are not provided. A configuration for making electrical connections.

As shown in FIGS. 5 and 6 , the traveling drive unit 11 is provided with a clutch 115 for transmitting or cutting off the driving force between the motor 112 and the wheel 111 . In addition, the main body connection portion 15 is provided with a connection sensor 151 for detecting the connection of the operation connection portion 22 and a rotation sensor 152 for detecting the rotation of the operation connection portion 22 in the same manner as in the first embodiment. The front-rear sensor 154 detects the force applied in the front-rear direction from the operation connection portion 22 . The front-rear sensor 154 is constituted by a strain gauge or the like that detects minute displacement in the front-rear direction that occurs between the operation connection portion 22 and the main body connection portion 15 .

In the electric cleaning machine 1 of the present embodiment, the operation of the cleaning machine main body 2 when the operation connection portion 22 is not connected to the main body connection portion 15 and the operation is switched to the automatic mode is substantially the same as that of the first embodiment. At this time, the clutch 115 is set to a transmission position where the motor 112 and the wheel 111 are coupled, and the driving force of the motor 112 is transmitted to the wheel 111 .

On the other hand, when the connection sensor 151 detects that the operation connection part 22 is connected to the main body connection part 15, the mode control part 123 switches to the manual mode. The manual mode of the present embodiment includes an assist mode in which the travel drive unit 11 is driven and controlled so as to assist the user in operating the operation member 3 , and an assist mode in which the travel drive unit 11 is not driven and the sweeper main body is driven only by the user's operation of the operation member 3 . 2 walk in full manual mode. Switching between the assist mode and the full manual mode is performed by a mode selection switch (not shown) provided in the cleaning machine body 2 or the operation member 3 .

In the assist mode, the rotation sensor 152 and the front/rear sensor 154 of the main body connecting portion 15 detect the user's operation acting on the operation connecting portion 22 of the operation member 3 , and drive and control the traveling drive portion 11 to assist the user's operation. When the user pushes or pulls the operation member 3, the force thereof is detected by the front and rear sensor 154, and based on the detection signal, that is, corresponding to the operation direction and the operation force of the user's operation on the operation member 3, the travel control unit 121 moves the sweeper to The traveling drive unit 11 is driven and controlled in the forward or backward direction of the main body 2 . In addition, when the user twists the operation lever 20 by using the grip portion 21, the rotation of the operation connection portion 22 is detected by the rotation sensor 152, and based on the detection signal, the operation direction and the operation force of the operation on the operation member 3 by the user correspond to the detection signal. The travel control unit 121 controls the rotational speed of the left and right motors 112 to rotate the cleaning machine main body 2 left and right.

In the full manual mode, the travel control unit 121 disconnects the connection between the motor 112 and the wheel 111 by the clutch 115 , and controls the travel drive unit 11 so that the wheel 111 can freely rotate. Therefore, the user moves the cleaning machine body 2 forward or backward by pushing and pulling the operation member 3 , and twists the operation lever 20 with the grip portion 21 to turn the cleaning machine body 2 left and right.

According to the present embodiment thus constituted, in addition to the effect of (1) above, the following functions and effects can be achieved.

(5) In the assist mode of the manual mode, the driving unit 11 drives the wheels 111 so as to assist the operation of the operation member 3 detected by the rotation sensor 152 and the front/rear sensor 154, so that the user can operate the sweeper with a small operating force. The main body 2 can improve convenience while reducing the burden on the user.

(6) In the full manual mode, the traveling drive unit 11 is controlled so that the wheels 111 can rotate freely, and the cleaning can be performed while moving the cleaning machine body by the full manual operation of the operation member 3 by the user. Therefore, since the cleaning machine main body 2 can be moved according to the user's intention, the user's convenience can be improved and a good feeling of use can be obtained. In addition, since the motor 112 of the travel drive unit 11 is not driven in the full manual mode, power saving can be achieved.

(7) Since electrical parts are omitted from the operation member 3 and are not electrically connected to the sweeper body 2 , the structure of the operation member 3 can be simplified and the weight of the operation member 3 can be reduced. Therefore, the burden on the user who operates the operation member 3 can be further reduced.

[Third Embodiment]

FIG. 7 is a cross-sectional view of an electric cleaning machine according to a third embodiment of the present invention, and FIG. 8 is a functional block diagram showing a schematic configuration of the electric cleaning machine.

The electric cleaning machine 1 of this embodiment differs from the above-mentioned 1st Embodiment in the structure of the main body connection part 15 of the cleaning machine main body 2, and the operation member 3. As shown in FIG.

As shown in FIGS. 7 and 8 , the main body connection portion 15 is provided with a connection sensor 151 that detects connection of the operation connection portion 22 and a main body contact portion 153 that is electrically connected to the operation connection portion 22 as in the first embodiment. , but the rotation sensor 152 ( FIG. 4 ) of the first embodiment is omitted. In addition, in the operation member 3, the controller 24 (FIG. 4) of 1st Embodiment is abbreviate|omitted, and the axial force sensor 26 and the rotation sensor 27 as an operation detection part are provided instead.

The axial force sensor 26 and the rotation sensor 27 are provided in the middle part of the operation lever 20 . In addition, the axial force sensor 26 and the rotation sensor 27 are not limited to being provided in the operation lever 20, but may be provided in the universal joint 221 of the operation connecting portion 22, the connection portion between the operation lever 20 and the grip portion 21, and the operation lever 20 and the operation connecting portion. 22 connection part, etc. The axial force sensor 26 detects the axial force along the axial direction X2 generated when the user pushes and pulls the operation member 3 . The rotation sensor 27 detects the twisting force around the second rotation direction R2 generated when the grip portion 21 twists the operation lever 20 .

In the electric cleaning machine 1 of the present embodiment, the operation of the cleaning machine body 2 when the operation connection portion 22 is not connected to the main body connection portion 15 and the operation of the cleaning machine body 2 is switched to the automatic mode is the same as that of the first embodiment.

On the other hand, when the operation connecting portion 22 is connected to the main body connecting portion 15 and the manual mode is switched, the axial force detected by the axial force sensor 26 of the operation member 3 and the twisting force detected by the rotation sensor 27 are transmitted to the operation The control unit 23 is processed to calculate the operation force for operating the operation member 3 . The operation control unit 23 transmits the information of the operating force to be processed to the body control unit 12 via the operation contact unit 222 of the operation connection unit 22 and the body contact unit 153 of the body connection unit 15 . The main body control unit 12 drives and controls the traveling drive unit 11 so as to assist the user's operation based on the information of the operating force (assist mode).

According to the present embodiment thus constituted, in addition to the effect of (1) above, the following functions and effects can be achieved.

(8) In the assist mode of the manual mode, the driving unit 11 drives the wheels 111 so as to assist the operation of the operation member 3 detected by the axial force sensor 26 and the rotation sensor 27 , so that the user can clean up with a small operation force. The movement of the main body 2 can improve convenience while reducing the burden on the user.

[Variation of Embodiment]

In addition, this invention is not limited to the said embodiment, The deformation|transformation, improvement, etc. within the range which can achieve the objective of this invention are included in this invention.

For example, in the above-described embodiment, the operation member 3 is configured by providing the elongated rod-shaped operation lever 20 , but the operation member is not limited to the overall elongated configuration, and an arbitrary shape can be used. In addition, in the said embodiment, although the cleaning machine main body 2 is provided with the body 10 of the cylindrical shape as a whole, it is comprised, but as a cleaning machine main body, it is not limited to the structure of an overall circular shape, The structure of arbitrary shapes can be utilized. Furthermore, the connection position of the operation member with respect to the cleaning machine body is not limited to the vicinity of the center of the circle, and may be any position. In addition, in the above-mentioned embodiment, the structure in which the main body connecting portion 15 and the operation connecting portion 22 are locked to each other is adopted, but the present invention is not limited to this. The structure of connecting the operation member detachably.

In the above-described first embodiment, the manual mode is configured to be switchable between the assist mode and the instruction mode, but it may have only one of the assist mode and the instruction mode. When it consists only of the assist mode, the controller 24 can be omitted from the operation member 3 . In the case where only the instruction mode is used, the rotation sensor 114 can be omitted from the traveling drive unit 11 of the cleaning machine body 2 .

In addition, the controller 24 as the travel instruction unit of the first embodiment described above is not limited to having independent buttons for instructing forward and backward as shown in FIG. 1 , but may include a slider for instructing forward and backward. Further, as the running instruction unit, it may be configured to instruct not only forward movement and backward movement, but also left-right rotation. In this case, as the configuration of the walking instruction unit, appropriate components such as buttons independent of front, rear, left and right, sliders that can slide forward, backward, left and right, and touch pads that sense the touch of a finger can be used.

In the above-described second embodiment, the manual mode is configured to be switchable between the assist mode and the full manual mode, but it may have only one of the assist mode and the full manual mode. In the case of the configuration only in the assist mode, the clutch 115 can be omitted from the travel drive unit 11 of the sweeper main body 2 . In the case where only the full manual mode is used, the rotation sensor 152 and the front-rear sensor 154 can be omitted from the main body connection portion 15 .

In the above-described first and third embodiments, the main body contact portion 153 of the main body connection portion 15 and the operation contact portion 222 of the operation connection portion 22 are electrically connected, and are operated by the controller 24 or detected by the axial force sensor 26 and the rotation sensor 27 . The control signal from the operation control part 23 is transmitted to the main body control part 12 of the cleaning machine main body 2 through a wired connection, but it is not limited to such a configuration. That is, the signal from the running instruction|indication part or the operation detection part provided in the operation member may be transmitted to the cleaning machine main body by wireless connection, such as a radio wave or an optical signal.

In the above-described first and third embodiments, the main battery 14 of the cleaning machine main body 2 can be charged from the operation battery (power supply unit) 25 provided in the operation member 3, but the power supply unit is not limited to the operation battery 25, and may be configured The main body battery 14 is charged with the electric power from the power line so that the power line which can be connected to a power outlet or an external battery is extended from the operation member. In addition, the power supply unit is not an essential structure of the present invention, and can be omitted as appropriate.

In addition, in each of the above-described embodiments, when the power supply of the cleaning machine body 2 is turned on, the connection sensor (connection detection unit) 151 detects whether or not the operation member 3 is connected, and if the operation member 3 is connected, the manual mode is performed. When the operation member 3 is not connected, the automatic mode is configured, but the mode can be switched according to the user's operation command. Specifically, the information transmission part of the remote controller is provided on the operation member, and the information receiving part is provided in the cleaning machine body, and the operation member is remotely operated in the state where the operation member is not connected to the cleaning machine body, so as to control the operation of the cleaning machine body. action. For example, in the automatic mode, a command to switch from the operation member to the manual mode is sent to the self-propelled sweeper main body, the sweeper main body is temporarily stopped, and the operation member is connected to the stopped sweeper main body to switch to the manual mode. In this case, a sound generating unit may be provided on the main body of the cleaning machine, and a sound is emitted from the sound producing unit, so that the main body of the cleaning machine notifies the user of its own position. In addition, a position recognition unit for recognizing the position of the operation member may be provided in the sweeper main body, and the sweeper main body which received the command from the operation member may be moved to the place of the operation member.

Industrial use possibility

As described above, the present invention can arbitrarily switch between automatic operation and manual operation, and can be suitably applied to an electric cleaning machine that can clean a place according to the user's preference or desire in a short time with high efficiency.

Claims (5)

1. a kind of electrical sweeper, which is characterized in that

The electrical sweeper has: the self-propelled sweeper main body cleaned while can be along ground traveling；And Be installed on the sweeper main body with can by the operation portion material that user operates,

The sweeper main body includes driving for carrying out the traveling driving portion from the wheel walked；Traveling described in drive control is driven The main body control portion in dynamic portion；Link to disassembly ease the main body linking part of the operation portion material；And detection connects in the main body Whether the connection test section of the operation portion material has been linked in knot,

The main body control portion switches in do not link the operation portion material in the case where carried out by the traveling driving portion from walking Automatic mode and the manual mode for receiving the manual operation from the operation portion material in the case where having linked the operation portion material.

2. electrical sweeper as described in claim 1, which is characterized in that the manual mode has so that the wheel is free The mode of rotation controls the completely manual mode of the traveling driving portion.

3. electrical sweeper as claimed in claim 1 or 2, which is characterized in that in the sweeper main body and the operation The operation direction for detecting the operation portion material and the operation detection part of operating force, the manual mode tool is arranged in at least one party of portion's material Have and controls the auxiliary of the traveling driving portion in a manner of the operation for the operation portion material for assisting the operation detection part to detect Help mode.

4. electrical sweeper as claimed in any one of claims 1 to 3, which is characterized in that be arranged on the operation portion material and refer to Show the traveling instruction unit of the direction of travel of the sweeper main body and at least one party of traveling speed, the manual mode has base The indicating mode of the traveling driving portion is controlled in the instruction from the traveling instruction unit.

5. such as the described in any item electrical sweepers of Claims 1 to 4, which is characterized in that be provided on the operation portion material The power feeding section that the sweeper main body is supplied electric power.