JP2007325701A - Self-propelled vacuum cleaner - Google Patents

Abstract

In a self-propelled cleaner, the suction force is reduced as dust is sucked and dust accumulates on a filtration filter of a dust collecting portion, and the suction performance cannot be maintained.
SOLUTION: A dust collecting section 5 for separating and collecting dust from air sucked in by an electric blower 4 by a filtration filter, a roller 11 driven by a drive motor to run a cleaner body 1, an electric blower 4, and a drive A power supply unit 6 for supplying power to the motor, sensors 9 and 10 for recognizing the surrounding environment, and a control device (control means) are provided, and dust attached to the filtration filter is collected in the dust collecting unit 5. A self-propelled type that provides a vibration-removing part (dust removing means) 50 for dust removal, and stores the algorithm in the control device so that the electric blower 4 is stopped and the filter of the dust collecting part 5 is removed after the cleaning operation is completed. Since the vacuum cleaner is used, high suction performance can be maintained by peeling off dust accumulated on the filter from the filter surface.
[Selection] Figure 1

Description

  The present invention relates to a self-propelled cleaner having a self-propelled function in a cleaner body and automatically cleaning a surface to be cleaned.

  Conventionally, this type of self-propelled vacuum cleaner sucks dust adhering to the surface to be cleaned from the suction part by the flow of air sucking in the dust generated by the electric blower, and the dust collecting part has the suction dust sucked in the dust collecting part. The vacuum cleaner main body is configured to collect dust separately from the air sucked by the filter, and further includes an electric blower, a battery that supplies power to a drive motor, which will be described later, and a plurality of sensors that detect distance by ultrasonic waves The vacuum cleaner body can be driven by a roller driven by a drive motor.

The self-propelled cleaner configured in this way turns on the power switch provided in the cleaner body, turns on the start switch and starts operation, drives the electric blower, and goes straight by the roller driven by the drive motor. Start running. While traveling, measure the distance to obstacles such as furniture with multiple sensors, check the steps on the surface to be cleaned, avoid obstacles and steps, and simultaneously generate air generated by an electric blower. As a result of this flow, the dust adhering to the surface to be cleaned is sucked from the suction portion, and the surface to be cleaned is automatically cleaned (see, for example, Patent Document 1).
JP 2002-360480 A

  In such a conventional configuration, since the suction force is reduced as the dust is sucked and the dust is deposited on the filtration filter of the dust collecting portion, there is a problem that the suction performance cannot be made constant.

  This invention solves the said conventional subject, and it aims at providing the self-propelled cleaner which prevented the fall of the suction performance by the sucked dust.

  In order to solve the conventional problems, the present invention provides a suction portion that sucks dust adhering to a surface to be cleaned, an electric blower that generates a flow of air that sucks dust, and a filter that filters the dust sucked by the electric blower. A dust collecting unit that separates and collects dust from the air sucked in, a roller that is driven by a drive motor to run the cleaner body, the electric blower, and a power supply unit that supplies power to the drive motor. High suction performance can be maintained by providing dust removing means for removing dust accumulated on the filtration filter in the vicinity of the portion and separating the dust accumulated on the filtration filter from the filter surface.

  As described above, according to the present invention, it is possible to provide a self-propelled cleaner that has high suction performance and can reliably collect dust on the surface to be cleaned.

  According to a first aspect of the present invention, a suction portion that sucks dust adhering to the surface to be cleaned, an electric blower that generates a flow of air that sucks dust, and a filter that separates and collects dust sucked by the electric blower from the air sucked by the electric blower. A dust collecting unit, a motor driven by a drive motor, and a vacuum cleaner main body to run, a power supply unit that supplies power to the electric blower, the drive motor, and a sensor and control means for recognizing the surrounding environment and running independently The dust collecting part is provided with dust removing means for removing dust adhering to the filtration filter, and after the cleaning work is finished, the electric blower is stopped to remove dust from the filtration filter of the dust collecting part. The control means stores the algorithm, and high suction performance is achieved by separating dust accumulated on the filter from the filter surface. It is possible to equity. In the next cleaning use, a high suction force, that is, a high dust collection performance can be exhibited from the beginning of cleaning.

  According to a second aspect of the present invention, a suction portion that sucks in dust adhering to the surface to be cleaned, an electric blower that generates a flow of air that sucks in dust, and a filter that separates and collects dust sucked in by the electric blower by a filtration filter. Dust collecting part for dust, roller driven by the drive motor to run the cleaner body, the electric blower, the power supply part for supplying power to the drive motor, and the sensor and control for recognizing the surrounding environment and running independently And a dust removing means for removing dust adhering to the filtration filter is provided in the dust collecting section, and the traveling and the electric blower are stopped every time a certain time or a certain area is cleaned during the cleaning operation. An algorithm is stored in the control means so as to remove dust from the filtration filter of the dust collecting part, and dust accumulated on the filtration filter is filtered. It is possible to maintain a high suction performance by peeling from the surface. In addition, high suction force, that is, high dust collection performance can be maintained from the beginning to the end of cleaning.

  3rd invention has the electric power feeding means for electrically feeding to the power supply part of a vacuum cleaner main body separately from the said main body, and returns itself to the said electric power feeding means after completion | finish of cleaning work, and supplies electric power from the said electric power feeding means to a main body The algorithm is stored in the control means so as to remove dust from the filtration filter of the dust collecting part, and at the time of the next cleaning use, high suction force, that is, high dust collection performance is demonstrated from the beginning of cleaning. In addition, the power of the power supply unit built in the main body is not consumed, the time required for the cleaning work can be extended and the floor area for cleaning can be increased, and the usability can be improved.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the present embodiment.

(Embodiment 1)
As shown in FIG. 1 and FIG. 2, the vacuum cleaner main body 1 is provided with a suction portion 3 having two rotating brushes 2 at the front bottom, and the rotating brush 2 scrapes up dust adhering to the surface to be cleaned. is doing. The electric blower 4 generates a flow of air that sucks in dust. The electric blower 4 communicates with the suction portion 3 through the dust collecting portion 5, and the dust sucked from the suction portion 3 by the electric blower 4 is collected in the dust collecting portion 5. It is configured to do. In addition, a shaker (dust removal means) 50 that transmits shocking vibration to the dust collector 5 is provided in the vicinity of the dust collector 5.

  The power supply unit 6 includes a battery pack 7 that stores a plurality of rechargeable secondary batteries, and supplies power to the electric blower 4 and a drive motor 8 described later. A distance measuring sensor (sensor) 9 measures the distance at an angle between the reflected light irradiated with light (infrared rays) and reflected by an obstacle such as furniture. A plurality of side and rear are provided. The step sensor (sensor) 10 detects a step on the surface to be cleaned (floor surface), and is configured in the same manner as the distance measuring sensor 9 described above. As shown in FIG. It is provided obliquely downward.

  The rollers 11 drive the cleaner main body 1 and are provided on the left and right sides of the cleaner main body 1 and are independently driven left and right by a drive motor 8 attached to a metal chassis 12 as shown in FIG. The drive motor 8 is a geared motor with a built-in reduction gear (not shown). The caster 13 supports the cleaner body 1 so as to be able to run.

  The panel switch 14 has a function of turning on and off when touched with a function of displaying characters and the like, and is provided on the upper surface of the cleaner body 1. The first display means 15 displays the detection state by the distance measuring sensor 9 and the step sensor 10, is constituted by a light emitting diode, and is provided above the step sensor 10 provided at the corner portion of the cleaner body 1. . The second display means 16 displays the operating state of the electric blower 4 and the drive motor 8 and is provided on the upper surface of the cleaner body 1. The third display means 17 is displayed when the cleaner body 1 is stopped, and is provided on the upper surface of the cleaner body 1.

  One of the first display unit 15 and the second display unit 16 displays the detection state by the distance measuring sensor 9 and the step sensor 10 and the operation state of the electric blower 4 and the drive motor 8. It may be. Further, the first display means 15 may be provided on the upper surface of the cleaner body 1. The panel switch 14, the first display unit 15, the second display unit 16, and the third display unit 17 are connected to the control device 18, and when the user touches the panel switch 14, the control device 18. By controlling the operation of the electric blower 4, the drive motor 8 and the like, the electric blower 4 sucks dust and automatically runs by the roller 11 driven by the drive motor 8, and at the time of emergency during automatic running, the panel switch 14 By touching the predetermined portion, at least the drive motor 8 is stopped. Reference numeral 19 denotes a power switch.

  The vacuum cleaner body 1 includes a suction part 3, an electric blower 4, a dust collecting part 5, a power supply part 6, a drive motor 8, a distance measuring sensor 9, a step sensor 10, a control device 18, and the like, and is covered with a transparent outer shell 20. ing. For this reason, the distance measuring sensor 9 and the step sensor 10 transmit and receive light (infrared rays) through the outer shell 20, and the step sensor 10 is provided obliquely downward at the corner of the cleaner body 1, Light (infrared rays) is transmitted and received through the protruding portion 21 that is partially protruded. The outer shell 20 may be translucent.

  A bumper 22 made of an elastic body is provided below the outer shell 20. The handle portion 23 is provided on the upper surface of the cleaner body 1 so as to be able to be pulled out and carries the cleaner body 1.

  The power supply unit 6 is provided behind the roller 11 so that the center of gravity G of the cleaner body 1 is located between the caster 13 and the roller 11 as shown in FIG. For this reason, when the vacuum cleaner main body 1 is suspended by the handle 23, the suction portion 3 is inclined so as to be above the roller 11, and when the vacuum cleaner main body 1 is installed on the floor surface from this state, the suction portion 3 is placed on the floor surface after the roller 11. It is trying to contact.

  The operation in the above configuration will be described. When the power switch 19 is turned on, the panel switch 14 sequentially indicates whether there is no heat source, the door is closed, or there are no children or pets in the room, etc. Remove obstacles. Thereafter, when “start cleaning” is displayed and “OK” is input, the electric blower 4 is driven, and the roller 11 is driven by the drive motor 8 to start straight traveling forward. At this time, as shown in FIG. 6, “cleaning” and “pause” are displayed on the panel switch 14.

  While traveling, the distance measuring sensor 9 always sends and receives light (infrared rays) through the transparent or semi-transparent outline 20 while collecting the dust with the electric blower 4 to determine the distance to obstacles such as surrounding furniture. While measuring, the level difference sensor 10 confirms the level difference of the surface to be cleaned in the same manner. The detection state by the distance measuring sensor 9 and the step sensor 10 is displayed by the first display unit 15, and the operation state of the electric blower 4 and the drive motor 8 is displayed by the second display unit 16.

  When the distance from the cleaner body 1 to an obstacle such as furniture approaches a predetermined distance, the vehicle temporarily stops and then changes its direction by a predetermined angle and travels. The same applies when there are steps on the surface to be cleaned. In this way, cleaning is performed by automatically running the cleaning area while avoiding obstacles such as furniture and steps.

  At this time, the battery pack 7 is cooled by passing the exhaust of the electric blower 4 between the battery packs 7 as shown by the arrows in FIG. 7 so that the exhaust of the electric blower hits the battery pack 7. And increase in battery temperature can be reduced.

  Moreover, since the exhaust of the electric blower 4 is discharged from between the bumper 22 and the cleaner body 1 as shown by the arrow in FIG. 8, the bumper 22 is provided over almost the entire circumference of the cleaner body 1. The exhaust of the electric blower 4 can be distributed and discharged over almost the entire circumference of the cleaner body 1, the flow speed when discharging can be reduced, furniture in the vicinity of the travel path of the cleaner body 1, etc. On the other hand, adverse effects due to exhaust can be eliminated.

  The exhaust of the electric blower 4 may be discharged from the upper surface of the cleaner body 1 as indicated by the arrow in FIG. 9. In this case as well, furniture in the vicinity of the travel path of the cleaner body 1, etc. On the other hand, the exhaust of the electric blower does not hit, and the adverse effect of the exhaust can be eliminated.

  Next, when an obstacle occurs in automatic driving, such as hitting an obstacle during driving, touching the “pause” displayed on the panel switch 14 stops at least the drive motor 8 and stops the emergency. Safety can be ensured. At this time, the display on the panel switch 14 is “restart”. At this time, since the cleaner body 1 is stopped, the stop of the cleaner body 1 can be displayed by the third display means 17 and the position of the cleaner body 1 can be notified.

  After removing obstacles to automatic travel, touching the “OK” displayed on the panel switch 14 at the same time as “restart”, the roller 11 is again driven by the drive motor 8 to automatically travel. Restart and clean the surface to be cleaned.

  Thus, the vacuum cleaner main body includes the distance measuring sensor 9 and the step sensor 10 for optically detecting the distance, the heat source and the like while making the outer shell 20 transparent or translucent. Light (infrared rays) of the step sensor 10 can be transmitted and received through the outer shell 20, the sensor can be operated reliably, can travel while avoiding obstacles, and can improve traveling performance. . Further, the structure of the outer shell 20 can be simplified and the cost can be reduced.

  Moreover, in order to detect the level difference of the step sensor 10 and the surface to be cleaned (floor surface), it is necessary to provide it obliquely downward, but by arranging it at the corner portion viewed from the upper surface of the cleaner body 1, Space can be used effectively.

  Moreover, since the power supply unit 6 is provided behind the roller 11 so that the center of gravity of the cleaner body 1 is positioned between the caster 13 and the roller 11, when the cleaner body 1 is carried by the handle 23, etc. When the vacuum cleaner main body 1 is installed on the floor surface from the state where the vacuum cleaner body 1 is suspended by the handle portion 23, the roller 11 first comes into contact with the floor surface, so that a large force is not applied to the suction portion 3, and the suction portion 3 is damaged. Can be prevented.

  Further, as shown in FIG. 10, the electric blower 4, the drive motor 8, the distance measuring sensor 9, the step sensor 10, the control device 18, and the shaking unit 50 are connected to the ground wire 24, and the ground wire 24 is connected to the power source. It is connected to the negative terminal of the battery 25 constituting the part 6.

  The operation in the above configuration will be described. When the electric blower 4 is driven and the roller 11 is driven by the drive motor 8 to automatically travel and clean, particularly when the surface to be cleaned is a carpet, static electricity is generated. This static electricity is connected to the negative terminal of the battery 25 via the ground wire 24 because the electric blower 4, the drive motor 8, the distance measuring sensor 9, the step sensor 10, and the control device 18 are connected via the ground wire 24. It can escape and can prevent destruction by static electricity. In addition, even when a strong electric field is applied, the breakdown due to the strong electric field can be similarly prevented.

  Further, as shown in FIG. 11, the electric blower 4, the drive motor 8, the distance measuring sensor 9, the step sensor 10, the control device 18, and the shaking unit 50 are made of metal that attaches the drive motor 8 via the ground wire 24. By connecting to the chassis 12 and connecting the chassis 12 to the negative terminal of the battery 25, similarly, when static electricity or a strong electric field is applied, breakdown due to the static electricity or the strong electric field can be prevented.

  In the present embodiment, the electric blower 4, the drive motor 8, the distance measuring sensor 9, the step sensor 10, the control device 18, and the shaking unit 50 are connected to the negative terminal of the battery 25 through the ground wire 24. However, at least one of them may be connected to the negative terminal of the battery 25 via the ground wire 24, and the same effect can be obtained.

  Further, as shown in FIG. 12, the dust collecting unit 5 shown in FIG. 2 is composed of a dust box 26 that can be taken out and a filter 27 that is mounted in the dust box 26 and filters the dust. 3, except for the front surface of the cleaner body, for example, as shown in FIG. 13, the cleaner body 1 can be taken out from the lateral direction. Here, at least one of the dust box 26 and the filter 27 is subjected to a flame-retardant treatment. The vibration unit 50 built in the main body is composed of a solenoid. The vibration unit 51 protrudes toward the dust box 26 when energized and collides with the dust box striking unit 52 to apply an impact. It is configured to return by a spring (not shown) built in the seismic portion 50.

  Further, as shown in FIG. 14, a dust box detection switch 28 is provided in the cleaner body 1 to detect the presence or absence of the dust box 26. As shown in FIG. 15, when the dust box 26 is pulled out, the dust box detection switch 28 is turned off, and at least the electric blower 4 is stopped.

  The operation in the above configuration will be described. When the dust box 26 fitted with the filter 27 is stored in the cleaner body 1, the dust box detection switch 28 is turned on. In this state, when the electric blower 4 is driven and dust on the surface to be cleaned is sucked from the suction portion 3, the dust is filtered by the filter 27 and collected in the dust box 26. When the energization / non-energization of the shaking portion 50 is repeated several times as described above, the dust attached to the filter 27 peels off from the filter surface and falls into the dust box 26, and the suction performance can be recovered. .

  Further, the time when the vibration unit 50 is activated is stored in a memory (not shown) of a control device built in the main body, and the dust is removed from the filter 27 before or after the cleaning is finished. The suction force can be demonstrated.

  Also, the energization time to the electric blower 4 and the energization time to the drive motor 8 are accumulated in the memory, the floor area that has been cleaned is calculated, and the approximate amount of dust collected is estimated for a certain time or a certain floor area. It is possible to recover the high suction force by removing the dust from the filter 27 every time the vehicle travels.

  When the dust collected in the dust box 26 is full, the dust box 26 is taken out and the accumulated dust is discarded. Here, since the dust box 26 can be taken out from a lateral direction other than the front surface of the vacuum cleaner main body 1, even if the vacuum cleaner main body 1 starts running when the dust box 26 is taken out, the dust box 26. It is possible to improve safety without hitting the person who is taking out.

  Moreover, since the dust box 26 is attached immediately above the suction part 3, the hose (not shown) connecting between the dust box 26 and the suction part 3 can be shortened, the structure can be simplified, and the dust box 26 can be It can be easily taken out.

  In addition, when the dust box 26 is not attached, at least the electric blower 4 is stopped by the dust box detection switch 28. Therefore, when the dust box 26 is not attached, the dust box 26 is not sucked and can be kept clean. .

  In addition, since at least one of the dust box 26 and the filter 27 is flame-retardant, safety can be ensured even when high-temperature dust such as a lit cigarette is sucked in.

  As shown in FIG. 16, the metal chassis 12 is provided with a drive motor 8 that drives a roller 11 for running the cleaner body 1, and the cleaner body 1 is attached above the chassis 12. A spring 29 is provided between the vacuum cleaner main body 1 and the vacuum cleaner main body 1 to constantly bias the vacuum cleaner main body 1 upward.

  As shown in FIG. 17, the weight detection switch 30, when a weight of a predetermined value or more is applied to the vacuum cleaner main body 1, the vacuum cleaner main body 1 is lowered against the spring force of the spring 29, thereby causing the protrusion 31. When the weight detection switch 30 is turned on, at least the drive motor 8 is stopped. Other configurations are the same as those of the first embodiment.

  The operation in the above configuration will be described. When a weight more than a predetermined value is applied to the cleaner body 1, such as when a person gets on the cleaner body 1, the weight detection switch 30 is turned on to stop at least the drive motor 8, thereby cleaning the body. It is possible to notify the person on the machine body 1 that there is an abnormal condition, and to ensure safety.

  Further, since the cleaner body 1 is mounted above the chassis 12 via the spring 29, the spring 29 functions as a damper, and vibration or impact when the cleaner body 1 is driven by the roller 11 is the cleaner. The reliability can be improved without being transmitted to the main body 1, particularly the control device.

  Further, as shown in FIG. 18, the bumper 22a is provided below the cleaner body 1 and is made of an elastic body to prevent the furniture from being damaged, and to move when it comes into contact with an obstacle such as furniture. A control device (not shown) is provided that controls the operation of the electric blower, the drive motor, and the like by the movement of the bumper 22a when it is in contact with an obstacle such as furniture.

  Here, the bumper 22a is disposed at a position 10 mm or more away from the floor surface (surface to be cleaned) and 100 mm or less from the floor surface. Other configurations are the same as those of the first embodiment.

  The operation in the above configuration will be described. When the electric blower 4 is driven and the roller 11 is driven by the drive motor 8 to automatically travel and clean, when there is an obstacle at a position 10 mm or more away from the floor surface, the obstacle hits the bumper 22a. Thus, the electric blower, the drive motor, and the like are stopped by the control device.

  On the other hand, when the floor surface (surface to be cleaned) is a carpet, it may be necessary to prevent the electric blower, drive motor, etc. from stopping when the carpet hits the bumper 22a. By disposing at the positions separated as described above, it is possible to prevent the operation from being influenced by the carpet.

  A switch such as a stove placed on the floor surface (surface to be cleaned) is located at a position higher than 100 mm from the floor surface. Therefore, even if the bumper 22a hits a stove or the like during traveling, the bumper 22a is not switched on, and safety can be ensured.

  Further, as shown in FIG. 19, the suction portion 3a is provided with the rotary brush 2 so as to be rotatable, and when the brushed cloth 32 is fixed before and after the rotary brush 2 and hits the floor surface (surface to be cleaned), While preventing the floor from being damaged, a raised cloth 33 is provided to improve the suction performance. A step detecting switch 34 for detecting a step on the floor surface is provided in the vicinity of both ends of the suction portion 3a. As shown in FIG. 20, the level difference detection switch 34 has a first roller body 35 that is rotatable and abuts against the floor surface.

  When the first roller body 35 is in contact with the floor surface, the first roller body 35 is in a state shown by a solid line in FIG. 21C. It will be in the state shown. As shown in FIG. 21A, the first roller body 35 is provided with a projecting piece 36. When the first roller body 35 is in contact with the surface to be cleaned by the projecting piece 36, suction is performed. When the detection switch 37 provided in the part 3a is turned on and derailed to a step or the like, the detection switch 37 is turned off and at least the drive motor is stopped.

  Further, as shown in FIG. 21 (c), a magnet 39 is fixed to the roller portion 38 of the first roller body 35, and a magnetic detecting element 40 such as a Hall element is provided at a position where the magnetic flux of the magnet 39 can be detected. And the rotation state of the roller portion 38, in other words, the running state of the cleaner body is detected by the magnetic detection element 40.

  The operation in the above configuration will be described. In a state where the first roller body 35 of the step detection switch 34 provided near both ends of the suction portion 3a is in contact with the surface to be cleaned, the rotary brush 2 is driven simultaneously with driving the electric blower, and the roller is driven by the drive motor. Drive and drive automatically to clean.

  In this state, when the first roller body 35 is deviated to a concave step or the like, the state shown by the dotted line in FIG. 21C is entered, the detection switch 37 is turned off, at least the drive motor is stopped, and the vacuum cleaner The main body can be prevented from falling into a concave step.

  Further, in the state where the roller is driven by the drive motor and automatically travels, the roller portion 38 of the first roller body 35 is rotating, so that the magnetic detection element 40 is periodically rotated according to the rotation of the roller portion 38. The signal is being output. Here, when the roller that automatically travels through the cleaner body slips, the cleaner body does not travel even though the drive motor and the roller are rotating.

  At this time, since the roller portion 38 of the first roller body 35 is stopped, it is possible to detect that the output from the magnetic detection element 40 is lost and the main body of the cleaner is stopped. The problem that the vacuum cleaner main body does not travel despite the rotation can be solved.

  Further, as shown in FIG. 22, the suction part 3b is provided with a safety switch 41 having a sliding part at the front center. As shown in FIG. 23, the safety switch 41 includes a rotatable second roller body 42 that abuts against a floor surface (surface to be cleaned).

  The second roller body 42 is configured in the same manner as the first roller body 35 described above. When the second roller body 42 is in contact with the floor surface, the vacuum cleaner main body is in the state shown by the solid line in FIG. When the suction portion 3b is separated from the floor surface, the state shown by the dotted line in FIG. 21C is entered, and in this state, at least the rotating brush 3 is stopped.

  The operation in the above configuration will be described. In the state where the second roller body 42 of the safety switch 41 provided at the front center of the suction part 3b is in contact with the floor surface (surface to be cleaned), the rotary brush 2 is driven simultaneously with driving the electric blower, A roller is driven by a drive motor to perform automatic running and cleaning.

  In this state, when the vacuum cleaner main body is tilted and the suction part 3b is separated from the floor surface, the second roller body 42 is in a state indicated by a dotted line in FIG. 21 (c), the detection switch 37 is turned off, and at least the rotating brush 2 can be stopped, and the safety in the case of an abnormality such as the vacuum cleaner main body tilting and the suction part moving away from the floor surface can be improved.

  Further, in the state where the roller is driven automatically by the drive motor and is automatically traveling, the roller portion of the second roller body 42 is rotating in the same manner as in the sixth embodiment. A periodic signal is output to the detection element 40. Here, when the roller that automatically travels through the cleaner body slips, the cleaner body does not travel even though the drive motor and the roller are rotating.

  At this time, since the roller portion of the second roller body 42 is stopped, the output from the magnetic detection element 40 is lost, and it can be detected that the cleaner body is stopped, so that the drive motor and the roller rotate. In spite of this, the problem that the cleaner body does not travel can be solved.

  The safety switch 41 may also serve as the step detection switch 34. In this case, the configuration can be simplified and the cost can be reduced.

  FIG. 24 shows a state in which a charging device 60 for supplying power from a household power source is connected to the power source unit 6 constituted by the battery pack 7 containing a plurality of rechargeable secondary batteries, and the power receiving terminal of the main body. (Not shown) is connected to the power supply connecting portion 61 to supply power.

  In this state, power can be supplied to the shaking unit 50 to perform dust removal operation of the filter 27 to prepare for the next cleaning use, so that a high suction force can be exhibited and the power source unit 6 of the main body. Since no power is used, the cleaning area can be expanded.

  ADVANTAGE OF THE INVENTION According to this invention, the self-propelled (vacuum) cleaner with sufficient usability and enhanced response to safety can be provided.

The perspective view of the self-propelled cleaner of the 1st embodiment of the present invention Vertical section of the self-propelled vacuum cleaner Top view of the self-propelled vacuum cleaner Cross section of the main part of the self-propelled cleaner Side view of the self-propelled vacuum cleaner suspended from the handle Top view of the display state during operation of the self-propelled cleaner A longitudinal sectional view showing the exhaust state of the electric blower of the self-propelled cleaner The perspective view which shows the exhaust state of the electric blower of the self-propelled cleaner The perspective view which shows the other example of the exhaust state of the electric blower of the self-propelled cleaner Block diagram showing the connection state of the ground wire of the self-propelled cleaner The block diagram which shows the other example of the connection state of the ground wire of the self-propelled cleaner Side view of the self-propelled vacuum cleaner with a partially cutaway dust box Perspective view of the self-propelled vacuum cleaner with the dust box pulled out Front view of the self-propelled vacuum cleaner Front view partially cut away with the dust box of the self-propelled vacuum cleaner pulled out Side view of the self-propelled vacuum cleaner Side view of the self-propelled vacuum cleaner partially cut away with the vacuum cleaner body lowered Side view of the self-propelled vacuum cleaner Bottom view of the suction part of the self-propelled cleaner Side view of the suction part of the self-propelled cleaner (A) Right side view of first roller body of suction portion of self-propelled cleaner (b) Front view of first roller body of suction portion of self-propelled cleaner (c) Self-propelled type Left side view of first roller body of suction part of vacuum cleaner Bottom view of the suction part of the self-propelled cleaner Side sectional view of the suction part of the self-propelled cleaner Side view of the battery charger connected to the self-propelled cleaner

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vacuum cleaner main body 3 Suction part 4 Electric blower 5 Dust collection part 6 Power supply part 8 Drive motor 9 Ranging sensor (sensor)
10 Step sensor (sensor)
11 Roller 18 Control device (control means)
20 Outer 50 50 Shaking part (dust removal means)
60 Charging device

Claims (3)

A suction part for sucking dust adhering to the surface to be cleaned, an electric blower for generating a flow of air for sucking dust, and a dust collecting part for separating and collecting the dust sucked by the electric blower with a filter. A roller driven by a drive motor for running the cleaner body, the electric blower, a power supply for supplying power to the drive motor, a sensor for recognizing the surrounding environment, and a control means, The dust collecting part is provided with dust removing means for removing dust adhering to the filtration filter, and after the cleaning work is completed, the electric blower is stopped and the control means is configured to remove dust from the filtration filter of the dust collecting part. A self-propelled vacuum cleaner that stores the algorithm. A suction part for sucking dust adhering to the surface to be cleaned, an electric blower for generating a flow of air for sucking dust, and a dust collecting part for separating and collecting the dust sucked by the electric blower with a filter. A roller driven by a drive motor for running the cleaner body, the electric blower, a power supply for supplying power to the drive motor, a sensor for recognizing the surrounding environment, and a control means, The dust collecting part is provided with dust removing means for removing dust adhering to the filtration filter, and during cleaning work, every time a certain time or a certain area is cleaned, the running and the electric blower are stopped, and the dust collecting part A self-propelled cleaner in which an algorithm is stored in the control means so as to remove dust from the filtration filter. A power supply means for supplying power to the power supply part of the vacuum cleaner main body is separated from the main body, and returns to the power supply means after completion of the cleaning work, and receives power from the power supply means to the main body to collect dust. The self-propelled cleaner according to claim 1 or 2, wherein an algorithm is stored in the control means so as to remove dust from the filtration filter.

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