U.S. patent application number 11/042874 was filed with the patent office on 2005-08-25 for self-propelling cleaner.
This patent application is currently assigned to Funai Electric Co., Ltd.. Invention is credited to Uehigashi, Naoya.
Application Number | 20050183229 11/042874 |
Document ID | / |
Family ID | 34857622 |
Filed Date | 2005-08-25 |
United States Patent
Application |
20050183229 |
Kind Code |
A1 |
Uehigashi, Naoya |
August 25, 2005 |
Self-propelling cleaner
Abstract
A side wall 51 provided with a coupling hole 50 coupled to the
dust transporting pipe 6 of a dust chamber 5 is configured in a
sloped shape so as to have a predetermined angle .theta. with
respect to the bottom surface of the dust chamber. A photo detector
14 having a light receiving surface along the surface 51 is
disposed near the coupling hole 50 of the side wall 51. A photo
diode 15 for irradiating light toward the photo detector 14 is
disposed on the upper surface of the dust chamber 5. When dust is
filled within the dust chamber 5, since dust is accumulated on the
photo detector 14, the photo detector 14 does not outputs a light
detection signal.
Inventors: |
Uehigashi, Naoya; (Osaka,
JP) |
Correspondence
Address: |
OSHA LIANG L.L.P.
1221 MCKINNEY STREET
SUITE 2800
HOUSTON
TX
77010
US
|
Assignee: |
Funai Electric Co., Ltd.
Osaka
JP
|
Family ID: |
34857622 |
Appl. No.: |
11/042874 |
Filed: |
January 25, 2005 |
Current U.S.
Class: |
15/319 ; 15/339;
15/340.1 |
Current CPC
Class: |
A47L 9/2852 20130101;
A47L 9/2857 20130101; A47L 9/2889 20130101; A47L 9/2805 20130101;
A47L 2201/06 20130101; A47L 9/19 20130101; A47L 9/009 20130101 |
Class at
Publication: |
015/319 ;
015/340.1; 015/339 |
International
Class: |
A47L 009/28 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 30, 2004 |
JP |
JP2004-024505 |
Claims
What is claimed is:
1. A self-propelling cleaner comprising: a main body; a cleaning
unit that accommodates dust taken from a cleaning nozzle through a
dust transporting pipe within a dust chamber; a propelling unit
that propels and turnarounds the main body; a propelling control
unit that controls the propelling unit to move the main body within
a predetermined region; and a dust amount detection unit that
detects an amount of dust accommodated within the dust chamber, the
dust amount detection unit including a light detector that detects
light introduced within the dust chamber to detect the amount of
dust, wherein one side wall of the dust chamber having a coupling
hole coupled to the dust transporting pipe is formed in a sloped
shape, wherein the light detector is disposed at a position near
the coupling hole of the side wall, wherein a plurality of the
light detector are disposed at different positions in a vertical
direction of the side wall, wherein the propelling control unit
controls the propelling unit to perform a propelling and circling
movement different from a movement at a normal cleaning operation
when the dust amount detection unit detects that dust is filled
within the dust chamber.
2. A self-propelling cleaner comprising: a main body; a cleaning
unit that accommodates dust taken from a cleaning nozzle through a
dust transporting pipe within a dust chamber; a propelling unit
that propels and turnarounds the main body; a propelling control
unit that controls the propelling unit to move the main body within
a predetermined region; and a dust amount detection unit that
detects an amount of dust accommodated within the dust chamber, the
dust amount detection unit including a light detector that detects
light introduced within the dust chamber to detect the amount of
dust, wherein one side wall of the dust chamber having a coupling
hole coupled to the dust transporting pipe is formed in a sloped
shape, and wherein the light detector is disposed at a position
near the coupling hole of the side wall.
3. The self-propelling cleaner according to claim 2, wherein the
dust amount detection unit includes a light emitting unit that
emits light within the dust chamber towards the light detector.
4. The self-propelling cleaner according to claim 2, wherein the
dust amount detection unit includes an external-light introducing
window that is provided at the main body and introduces light into
the dust chamber towards the light detector.
5. The self-propelling cleaner according to claim 2, wherein a
plurality of the light detector are disposed at different positions
in a vertical direction of the side wall.
6. The self-propelling cleaner according to claim 2, wherein
another side wall of the dust chamber opposing to the one side wall
having the coupling hole is formed in a sloped shape, and wherein
the dust amount detection unit is provided at both of the one side
wall and the another side wall.
7. The self-propelling cleaner according to claim 2, wherein the
propelling control unit controls the propelling unit to perform a
propelling and circling movement different from a movement at a
normal cleaning operation when the dust amount detection unit
detects that dust is filled within the dust chamber.
Description
BACKGROUND OF THE INVENTION
[0001] 1. Field of the Invention
[0002] The present invention relates to a self-propelling cleaner
which performs cleaning while automatically propelling in a
cleaning range.
[0003] 2. Description of the Related Art
[0004] A self-propelling cleaner includes a propelling unit for
propelling a main body thereof and a cleaning unit for performing
cleaning and performs cleaning while automatically propelling in a
cleaning range set in advance.
[0005] FIG. 8 is a diagram showing the schematic configuration of a
conventional self-propelling cleaner.
[0006] As shown in FIG. 8, the conventional self-propelling cleaner
is provided in a main body 1 with driving wheels 2, driven wheels
8, and further provided with a nozzle 4 having a brush 40 which
contacts with the floor surface and rolls up dust on the floor
surface, a dust chamber 5 for accommodating dust thus rolled up by
the nozzle 4, and a dust transporting pipe 6 for introducing dust
from the nozzle 4 to the dust chamber 5. The self-propelling
cleaner includes a propelling control unit 11 for controlling a
driving motor 16 for driving the driving wheels 2 to propel the
main body 1 along a predetermined route within a cleaning region
set in advance, a cleaning control unit 12 for performing the
control relating to the cleaning such as the operation control of
the brush 40, and a control unit 10 for controlling the entire
operation of the cleaner.
[0007] Such a conventional self-propelling cleaner is provided with
a dust detection unit 13 for detecting an amount of dust within the
dust chamber 5. The dust detection unit 13 detects an amount of
dust within the dust chamber 5 by using a pressure sensor, an air
flow sensor, a reflection type sensor etc. When the dust chamber 5
is filled with dust, the propelling operation and the cleaning
operation are stopped and a dust full state is notified to a user
by giving a sound or light alarm etc. Conventional self-propelling
cleaners as configured as above are disclosed in: JP-A-2003-061882;
JP-A-3-173521; JP-A-6-022889; and JP-A-2002-306387.
SUMMARY OF THE INVENTION
[0008] However, according to the aforesaid conventional dust
detection unit, it is not easy to accurately detect an amount of
dust within the dust chamber. For example, in the case of using the
pressure sensor or the air flow sensor, different pressures or
different air flow rates are observed depending on the states of
the floor surface being cleaned even when an amount of dust within
the dust chamber is the same. Thus, the detected amount of dust is
required to be corrected in accordance with the state of the floor
surface being cleaned in order to accurately detect the amount of
dust within the dust chamber. Alternatively, in the case of using
the reflection type sensor, it is determined that there is no dust
within the dust chamber when light emitted from a light emitting
portion into the dust chamber is not received by a light receiving
portion, whilst it is determined that the dust chamber is filled
with dust when the light receiving portion receives the light.
However, since an amount of reflection light changes depending on
the kind of dust accumulated within the dust chamber and so an
amount of light received by the light receiving portion also
changes, a dust full state cannot be determined easily.
[0009] When it is determined that dust is in a full state, the
propelling operation and the cleaning operation are stopped and an
alarm is issued by using light or sound, as described above.
However, when the operation is stopped, it is difficult to
determine whether the operation is stopped due to a failure or due
to the termination of the cleaning operation. Further, in the case
of the light alarm, since a small-sized light emitting element such
as an LED is used as the light emitting portion, it is difficult
for a user to recognize the alarm. Furthermore, in the case of the
sound alarm, such an alarm cannot be used at the time of cleaning
an area where a silent state is required to be kept.
[0010] Accordingly, one of objects of the invention is to provide a
self-propelling cleaner which can surely detect a dust full state
within a dust chamber irrespective of kinds of dust and surely
notify dust full information to a user.
[0011] According to a first aspect of the invention, there is
provided a self-propelling cleaner including: a main body; a
cleaning unit that accommodates dust taken from a cleaning nozzle
through a dust transporting pipe within a dust chamber; a
propelling unit that propels and turnarounds the main body; a
propelling control unit that controls the propelling unit to move
the main body within a predetermined region; and a dust amount
detection unit that detects an amount of dust accommodated within
the dust chamber, the dust amount detection unit including a light
detector that detects light introduced within the dust chamber to
detect the amount of dust, wherein one side wall of the dust
chamber having a coupling hole coupled to the dust transporting
pipe is formed in a sloped shape, wherein the light detector is
disposed at a position near the coupling hole of the side wall,
wherein a plurality of the light detector are disposed at different
positions in a vertical direction of the side wall, wherein the
propelling control unit controls the propelling unit to perform a
propelling and circling movement different from a movement at a
normal cleaning operation when the dust amount detection unit
detects that dust is filled within the dust chamber.
[0012] According to a second aspect of the invention, there is
provided a self-propelling cleaner including: a main body; a
cleaning unit that accommodates dust taken from a cleaning nozzle
through a dust transporting pipe within a dust chamber; a
propelling unit that propels and turnarounds the main body; a
propelling control unit that controls the propelling unit to move
the main body within a predetermined region; and a dust amount
detection unit that detects an amount of dust accommodated within
the dust chamber, the dust amount detection unit including a light
detector that detects light introduced within the dust chamber to
detect the amount of dust, wherein one side wall of the dust
chamber having a coupling hole coupled to the dust transporting
pipe is formed in a sloped shape, and wherein the light detector is
disposed at a position near the coupling hole of the side wall.
BRIEF DESCRIPTION OF THE DRAWINGS
[0013] The above objects and advantages of the present invention
will become more apparent by describing preferred exemplary
embodiments thereof in detail with reference to the accompanying
drawings, wherein:
[0014] FIGS. 1A and 1B are block diagrams showing a schematic
configuration of the self-propelling cleaner according to a first
embodiment and an enlarged sectional diagram showing a dust chamber
5;
[0015] FIGS. 2A and 2B are enlarged sectional diagrams showing
different dust accumulating states within the dust chamber 5 shown
in FIGS. 1A and 1B;
[0016] FIG. 3 is a flow chart showing the operation at the time of
the propelling and cleaning operation of the self-propelling
cleaner according to the first embodiment;
[0017] FIG. 4 is a plan view showing a range and a route in and
along which the self-propelling cleaner propels;
[0018] FIGS. 5A and 5B are side views showing schematic
configurations near the dust chamber of the self-propelling cleaner
according to a second embodiment;
[0019] FIGS. 6A-6C are side views showing schematic configurations
near the dust chamber of the self-propelling cleaner according to a
third embodiment;
[0020] FIGS. 7A-7C are side views showing schematic configurations
near the dust chamber of the self-propelling cleaner according to a
fourth embodiment;
[0021] FIG. 8 is a block diagram showing the schematic
configuration of a conventional self-propelling cleaner.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0022] Referring now to the accompanying drawings, a description
will be given in detail of preferred embodiments of the
invention.
[0023] A self-propelling cleaner according to the first embodiment
of the invention will be explained with reference to drawings. In
the embodiment, the explanation will be made as to a
self-propelling cleaner of a strike-up type which strikes dust up
by a brush within a nozzle and accommodates the dust thus struck-up
within a dust chamber.
[0024] FIG. 1A is a block diagram showing the schematic
configuration of the self-propelling cleaner according to this
embodiment, and FIG. 1B is an enlarged sectional diagram showing a
dust chamber 5.
[0025] The self-propelling cleaner is configured by a propelling
control unit and a propelling unit for propelling a main body 1
along a route within a cleaning region set in advance, and a
cleaning unit for removing dust on the floor surface within the
cleaning region and accommodating the dust therein.
[0026] Driving wheels 2 and driving motors 16 coupled to the
driving wheels 2 to rote the driving wheels 2 are provided at the
left and right portions of the lower portion at the rear side of
the main body 1, respectively. A driven wheel 3 is provided at the
lower portion of the front side of the main body 1. The driving
wheels 2, the driving motors 16 and the driven wheel 3 correspond
to "the propelling unit" according to the invention. A driving
motor 16 is coupled to a propelling control unit 11.
[0027] The main body 1 is provided, at the lower portion of the
front side thereof, with a nozzle 4 for removing dust on the floor
surface, a box-shaped dust chamber 5 for accommodating dust
therein, and a dust transporting pipe 6 for coupling the nozzle 4
to the dust chamber 5 to conduct dust into the dust chamber 5. A
brush 40 is disposed within the nozzle 4. The main body 1 is
provided with a cleaning control unit 12 for controlling the
cleaning operation. The nozzle 4, the brush 40, the dust chamber 5,
the dust transporting pipe 6 and the cleaning control unit 12
correspond to "a cleaning unit" according to the invention.
[0028] As shown in FIG. 1B, a coupling hole 50 coupled to the dust
transporting pipe 6 is formed at a portion near the upper end of
the side wall 51 of the dust chamber 5. The side wall 51 is
configured in a sloped shape with respect to the bottom surface
thereof, that is, configured in a manner that an angle .theta.
between the bottom surface and the inner surface of the side wall
51 forms an obtuse angle larger than 90 degrees. The remaining side
walls of the dust chamber are configured so as to be orthogonal to
the bottom surface. When the dust chamber is configured in this
manner, even when dust reached within the dust chamber 5 from the
coupling hole 50 is placed on the surface of the side wall 51, the
dust slips down the slope in the bottom surface direction and so
accumulated sequentially from the bottom surface side. A photo
detector 14 having a light receiving surface in parallel to the
side wall 51 is provided neat the coupling hole 50 of the side wall
51. A photo diode 15 for irradiating light toward the photo
detector 14 is provided near the coupling hole 50 on the upper
surface of the dust chamber 5.
[0029] The photo diode 15 and the photo detector 14 are coupled to
a control unit 10 for controlling the entirety of the cleaner
including the propelling control unit 11 and the cleaning control
unit 12. When the photo detector 14 cannot receive light emitted
from the photo diode 15, it is detected that the dust chamber 5 is
filled with dust. The photo diode 15 and the photo detector 14
correspond to "a dust amount detection unit" according to the
invention.
[0030] Next, the explanation will be made as to the normal cleaning
operation of such a self-propelling cleaner.
[0031] When a user inputs a cleaning start instruction or a
cleaning start time set in advance is detected, the cleaning
control unit 12 rotates the brush 40 to strike up dust on the floor
surface thereby to introduce the dust within the nozzle 4. The dust
introduced within the nozzle 4 is accommodated into the dust
chamber 5 through the dust transporting pipe 6.
[0032] The propelling control unit 11 controls the driving motors
16 to rotate the driving wheels 2 thereby to start the propelling
operation from a cleaning start position. In this case, a not-shown
memory stores the propelling route of the main body 1 in advance.
For example, in an example shown in FIG. 4, the main body propels
along the long side of a rectangular cleaning region (an approach
route), then makes a right-angle turn in the direction along the
short side of the cleaning region when the main body reaches the
boundary of the cleaning region and propels by a predetermined
distance along the short side. Next, the main body makes a
right-angle turn in the direction along the long side and propels
along the long side in the direction opposite to the approach
route. Then, the main body makes a right-angle turn in the
direction along the short side and propels by the predetermined
distance. Hereinafter, the aforesaid procedures are repeated. In
general, this route is called a zigzag propelling route. The
propelling control unit 11 controls the driving motors 16 so that
the main body propels along this route, whereby the driving motors
16 rotate in the predetermined directions in accordance with the
control of the propelling control unit. Not-shown plurality of
sensors are attached to the main body 1. These sensors detect the
circumstance in the periphery of the main body 1. The detection
results of the sensors are inputted into the propelling control
unit 11. Then, the propelling control unit 11 drives the driving
motors 16 in accordance with the detection results thereby to
prevent the main body from colliding with an obstacle and a wall at
the periphery thereof.
[0033] Light is emitted continuously or at a predetermined period
from the photo diode 15 toward the photo detector 14 while the main
body propels and cleans in the aforesaid manner. When the photo
detector 14 receives the light, the photo detector generates a
detection signal to output it to the control unit 10. Then, the
control unit 10 recognizes in response to the detection signal that
the dust chamber 5 is not filled with dust and so controls the
cleaning control unit 12 and the propelling control unit 11 so as
to continue the cleaning operation while continuing the propelling
operation.
[0034] When the cleaning of the region set in advance is completed,
the cleaning control unit 12 stops the rotation of the brush 40
thereby to stop the cleaning operation. On the other hand, the
propelling control unit 11 stops the propelling operation at this
time or continuously drives the driving motors 16 to move the main
body to a predetermined standby position (for example, a charging
position or the cleaning start position).
[0035] Next, the explanation will be made with reference to FIGS.
2A to 4 as to the operation when the dust chamber 5 is filled with
dust during the cleaning operation.
[0036] FIGS. 2A and 2B are enlarged sectional diagrams of the dust
chamber 5, wherein FIG. 2A shows a case where an amount of dust
accumulated is small, and FIG. 2B shows a case where the dust
chamber is filled with dust.
[0037] FIG. 3 is a flowchart at the time of the propelling and
cleaning operation. FIG. 4 is a plan view showing a region, a route
and a locus where the self-propelling cleaner propels.
[0038] As described above, when the cleaning operation and the
propelling operation are started (S1 to S2), the photo diode 15
emits light in accordance with the voltage applied from the control
unit 10. In this case, as shown in FIG. 2A, when an mount of dust
100 within the dust chamber 5 is small, dust placed on the surface
of the side wall 51 moves to the bottom surface side as described
above. Thus, since there is no dust on the photo detector 14, the
photo detector receives light emitted from the photo diode 15. When
the photo detector 14 receives light, the photo detector outputs
the detection signal to the control unit 10. The control unit 10
recognizes the detection signal thereby to detect that the dust
chamber 5 is not filled with dust 100 (S3) and outputs an
instruction for continuing the cleaning operation and the
propelling operation to the propelling control unit 11 and the
cleaning control unit 12. On the other hand, as shown in FIG. 2(b),
when the dust chamber 5 is filled with dust 100, since dust also
exists on the photo detector 14, the photo detector 14 cannot
receive light emitted from the photo diode 15. Thus, the photo
detector 14 does not generate the detection signal nor apply it to
the control unit 10. Since the control unit 10 cannot detect the
detection signal, the control unit 10 detects that the dust chamber
5 is filled with dust 100 (S3). When the control unit 10 detects
the dust full state, the control unit outputs an instruction for
stopping the cleaning due to the dust full state to the propelling
control unit 11 and the cleaning control unit 12. In accordance
with this instruction, the cleaning control unit 12 stops the
operation of the brush 40 to stop the cleaning operation and also
the propelling control unit 11 stops the operation of the driving
motors 16 (S4). Next, after the control unit 10 confirms that the
cleaning operation has stopped, the control unit outputs to the
propelling control unit 11 an instruction for starting a special
movement at the time of the dust full state. In accordance with
this instruction, the propelling control unit 11 controls the left
and right driving motors 16 so as to perform a special movement
stored in advance, that is, to circle for a predetermined number of
times with a predetermined radius at the position where the dust
full state is detected, for example, as shown in FIG. 4. Thus, in
accordance with this instruction, the right driving motor 16
rotates at the speed higher than that of the left driving motor 16,
whereby the main body 1 continuously circles counterclockwise.
Since such an operation does not appear in the normal cleaning
operation, a user can know that the dust chamber 5 is filled with
dust when the user sees this circling operation. Thus, the user
takes the dust chamber 5 out of the main body 1, then throws out
the dust 100 within the dust chamber 5 and attaches the dust
chamber within the main body 1 again. At this time, since the dust
on the photo detector 14 is removed, the photo detector 14
generates and outputs the detection signal to the control unit 10.
The control unit 10 determines that the dust within the dust
chamber 5 is removed (not in the dust full state) in accordance
with the detection signal and so outputs control instructions for
performing the normal cleaning operation again to the propelling
control unit 11 and the cleaning control unit 12. In accordance
with these instructions, the cleaning control unit 12 starts the
brush 40 to rotate again and the propelling control unit 11
controls the driving motors 16 so as to propel the main body along
the route of the non-cleaned region.
[0039] Since the embodiment is configured in the aforesaid manner,
dust is placed on the photo detector provided on the side wall of
the dust chamber only when dust is filled within the dust chamber
thereby to interrupt the light reception, so that the dust full
state can be detected surely. Further, since transmission light is
employed for the detection, amount of light to be detected does not
change depending on the kinds of dust, so that the dust full state
can be detected surely irrespective of the kinds of dust.
Furthermore, since the light receiving surface of the photo
detector is inclined upward, the photo detector can receive light
from the upper direction of the dust chamber and also light from
the side surface opposing to the side surface where the photo
detector is provided. Thus, the attachment position of the photo
detector can be selected from the wide area. In particular, since
the photo diode can be attached to the upper surface side where the
photo diode can be attached relatively with ease, the
self-propelling cleaner having the aforesaid effects can be
realized with the simple configuration. Furthermore, since the
light receiving surface of the photo detector is inclined upward,
the dust full state can be detected surely even when a window for
introducing external light into the dust chamber is provided at the
upper surface of the dust chamber in place of the photo diode.
Thus, the self-propelling cleaner having the aforesaid effects can
be realized with the further simple configuration.
[0040] Further, since the embodiment is configured in the aforesaid
manner, a user can easily and surely recognize that the dust
chamber is filled with dust by seeing the movement of the main
body. Further, since the dust full state is notified by the
movement of the main body, the dust full state can be notified in a
wider range as compared with the case of notifying the dust full
state by a small-sized light emitting element such as an LED.
Furthermore, since the dust full state is notified only by the
movement of the main body, even when the cleaner is used in an
environment requiring silence (for example, a room where a baby
exists), the dust full state can be notified surely without
disturbing the silent environment. In this manner, when the
aforesaid configuration of the embodiment is employed, even when a
user exists at a position relatively away from the cleaner, the
dust full state of the dust chamber can be notified surely to the
user without influencing on the utilizing environment.
[0041] Next, the self-propelling cleaner according to the second
embodiment will be explained with reference to FIGS. 5A and 5B. In
this embodiment, the explanation will be made as to a
self-propelling cleaner of a vacuum type which is provided with an
evacuation fan at the dust chamber.
[0042] FIGS. 5A and 5B are side views showing the schematic
configurations near the dust chamber of the self-propelling cleaner
according to this embodiment, wherein FIG. 5A shows a state where
an amount of dust accumulated within a dust chamber 5 is small, and
FIG. 5B shows a state where the dust chamber 5 is filled with
dust.
[0043] The self-propelling cleaner shown in FIGS. 5A and 5B
includes an evacuation fan 21 on a side wall 52 opposing to a side
wall 51 having a coupling hole 50 coupled to a dust transporting
pipe 6 within the dust chamber 5. The evacuation fan 21 is driven
by a fanmotor 22. The fan motor 22 is controlled in its operation
by a cleaning control unit 12. The remaining configuration of this
embodiment is same as the self-propelling cleaner shown in FIG.
1.
[0044] Since this embodiment is configured in the aforesaid manner,
dust is accumulated within the dust chamber 5 as shown in FIGS. 5A
and 5B, that is, dust is gradually accumulated on the bottom
surface closer to the side wall 52 side provided with the
evacuation fan 21. Even in such an accumulation state of the dust,
since the operation of the photo detector 14 is same as that of the
first embodiment, this embodiment can obtain the same effects as
those of the first embodiment. Further, since dust on a floor is
forcedly sucked by using the evacuation fan 21, the cleaning is
performed further cleanly as compared with the first
embodiment.
[0045] Next, the self-propelling cleaner according to the third
embodiment will be explained with reference to FIGS. 6A-6C.
[0046] FIGS. 6A-6C are side views showing the schematic
configurations near the dust chamber of the self-propelling cleaner
according to this embodiment, wherein FIG. 6A shows a state where
an amount of dust accumulated within a dust chamber 5 is small,
FIG. 6B shows a state where an amount of dust accumulated within
the dust chamber 5 is close to full, and FIG. 6C shows a state
where the dust chamber 5 is filled with dust.
[0047] The self-propelling cleaner shown in FIGS. 6A-6C is
configured in a manner that photo detectors 14a, 14b are attached
to different vertical positions on the side wall 51 of the dust
chamber 5, and photo diodes 15a, 15b for irradiating lights toward
the photo detectors 14a, 14b are provided on the upper surface of
the dust chamber 5, respectively. The remaining configuration of
this embodiment is same as the self-propelling cleaner shown in
FIG. 1. The photo detector 14a is provided near the coupling hole
50 of the side wall 51 like the photo detector 14 in FIG. 1. The
photo detector 14b is disposed in adjacent to the photo detector
14a at a position below the photo detector 14a by a predetermined
distance.
[0048] Since this embodiment is configured in this manner, in a
state where an accumulated amount of dust is small, both the photo
detectors 14a, 14b can receive light and so a control unit 10 can
detect that an amount of dust accumulated within the dust chamber 5
is small. Next, when dust is accumulated gradually, firstly the
photo detector 14a becomes unable to receive light from the photo
diode and the control unit 10 detects this fact. In this case,
since the photo detector 14b is disposed in adjacent to the photo
detector 14a at the position below the photo detector 14a by the
predetermined distance, the photo detector 14a shortly becomes also
unable to receive light from the photo diode. That is, this fact
means that an amount of dust is closing to the full state. When the
control unit 10 detects this state, the control unit issues to a
user information representing that dust will be full soon. As the
information issuing method, although it is possible to use light or
sound, for example, a movement different from the aforesaid special
movement at the time of the dust full state may be performed
temporarily. Then, the cleaning operation is continued, and when
the dust chamber is filled with dust, the diode 14a also becomes
unable to receive light from the photo diode. Thus, the aforesaid
operation of notifying the dust full state is performed.
[0049] According to the aforesaid configuration, a user can know in
advance that the dust chamber will be soon filled with dust. That
is, in this manner, a user can obtain information relating to the
dust full state twice. Accordingly, a user can recognize the dust
full state within the dust chamber further surely. Further, since a
user can also throw out dust within the dust chamber in response to
the information issued before the dust full state, the user can
throw out dust before the dust within the dust chamber becomes full
and the cleaning operation is stopped. Thus, it is possible to
prevent the waste of cleaning time during the stoppage due to the
dust full state. Further, since the special movement differs
between the dust full state and the state just before the dust full
state, a user can recognize whether the current state is the dust
full state or the state just before the dust full state by seeing
the movement of the cleaner.
[0050] Incidentally, although this embodiment employs two photo
detectors, three or more photo detectors may be disposed on the
side wall at different vertical positions, in accordance with the
required specification.
[0051] Further, although the aforesaid embodiment is configured to
provide one photo diode for one photo detector, this embodiment may
be configured to provide one photo diode for plural photo
detectors. In such a configuration, the number of the photo diodes
to be disposed can be reduced.
[0052] Next, the self-propelling cleaner according to the fourth
embodiment will be explained with reference to FIGS. 7A-7C.
[0053] FIGS. 7A-7C are side views showing the schematic
configurations near the dust chamber of the self-propelling cleaner
according to this embodiment, wherein FIG. 7A shows a state where
dust is scarcely accumulated within a dust chamber 5, FIG. 7B shows
a state where dust is accumulated on one side within the dust
chamber, and FIG. 7C shows a state where the dust chamber 5 is
filled with dust.
[0054] The self-propelling cleaner shown in FIGS. 7A-7C is
configured in a manner that each of a side wall 51 provided with
the coupling hole 50 of the dust chamber 5 and a side wall 52
opposing thereto is formed in a sloped shape. The side wall 51 is
provided with a photo detector 14a near the coupling hole 50 and
the side wall 52 is provided with a photo detector 14c at the same
height as the photo detector 14a. Photo diodes 15a, 15c for
respectively emitting lights toward the photo detectors 14a, 14c
are disposed on the upper surface of the dust chamber 5.
[0055] Since this embodiment is configured in the aforesaid manner,
in the state where dust does not exist at all within the dust
chamber 5 as shown in FIG. 7A, each of the photo detectors 14a, 14c
can receive light, so that a control unit 10 can detect that dust
is scarcely accumulated within the dust chamber 5. Next, when dust
is accumulated on the side wall 51 side within the dust chamber,
the photo detector 14a cannot receive light but the photo detector
14c can receive light. Thus, a detection signal only from the photo
detector 14c is outputted to the control unit 10. The control unit
10 receives this detection signal thereby to detect that dust is
accumulated on the one side within the dust chamber 5 and then
issues information relating to the one-side accumulation state of
dust within the dust chamber 5. When a user receives this
information, the user temporarily stops the self-propelling
cleaner, then performs an operation such as shaking of the main
body thereby to eliminate the one-side accumulation state of dust
and restarts the cleaning operation. In this case, the one-side
accumulation state of dust may be eliminated by automatically
moving the main body like the aforesaid special movement at the
time of the dust full state. Then, in the state where the one-side
accumulation state of dust is eliminated, the cleaning operation is
performed again. When dust is accumulated on the photo detectors
14a, 14c as shown in FIG. 7C, each of the photo detectors 14a, 14c
becomes unable to receive light and so the detection signal is not
outputted from the photo detectors. Thus, the control unit 10
discriminates that dust is filled within the dust chamber 5 and so
the aforesaid control at the time of the dust full state is
performed.
[0056] According to such a configuration, the one-side accumulation
state of dust within the dust chamber can be confirmed without
opening the main body. Further, as the needs arises, a user can
throw dust out or eliminate the one-side accumulation state of dust
and then start the cleaning operation again. Further, the
self-propelling cleaner can be configured which can prevent the
erroneous detection of the dust full state due to the one-side
accumulation state of dust within the dust chamber and can surely
detect the dust full state.
[0057] Incidentally, in this embodiment, although the photo
detector is disposed on each of the opposing side walls, a
plurality of the photo detectors may be disposed on each of the
opposing side walls like the third embodiment.
[0058] Further, although each of the third and fourth embodiments
is configured based on the configuration of the self-propelling
cleaner of a strike-up type shown in the first embodiment, the
self-propelling cleaner of a vacuum type as shown in the second
embodiment may be applied to the configuration shown in each of the
third and fourth embodiments.
[0059] As described above with reference to the embodiments,
according to one aspect of the invention, there is provided a
self-propelling cleaner including: a main body; a cleaning unit
that accommodates dust taken from a cleaning nozzle through a dust
transporting pipe within a dust chamber; a propelling unit that
propels and turnarounds the main body; a propelling control unit
that controls the propelling unit to move the main body within a
predetermined region; and a dust amount detection unit that detects
an amount of dust accommodated within the dust chamber, the dust
amount detection unit including a light detector that detects light
introduced within the dust chamber to detect the amount of dust,
wherein one side wall of the dust chamber having a coupling hole
coupled to the dust transporting pipe is formed in a sloped shape,
and wherein the light detector is disposed at a position near the
coupling hole of the side wall.
[0060] According to this configuration, dust introduced into the
dust chamber sequentially flows on the bottom surface side along
the slope-shaped side wall and then accumulated. Thus, when the
dust chamber is not filled with dust, dust is not accumulated on
the light detector, so that the light detector can receive light
within the dust chamber and so it is detected that the dust chamber
is not filled with dust. On the other hand, when the dust chamber
is filled with dust, dust is accumulated on the light detector, so
that the light detector cannot receive light and so it is detected
that the dust chamber is filled with dust.
[0061] Further, the self-propelling cleaner according to the
invention is characterized in that the light detector detects light
introduced within the dust chamber from an external-light
introducing window provided at the main body.
[0062] According to this configuration, when the dust chamber is
not filled with dust, light introduced from the external-light
introducing window reaches the light detector and then received
thereby. On the other hand, when the dust chamber is filled with
dust, light introduced from the external-light introducing window
does not reach the light detector and so not received thereby, so
that the aforesaid dust full state is detected.
[0063] Further, the self-propelling cleaner according to the
invention is characterized in that a plurality of the light
detector are disposed at different vertical positions of the
slope-shaped side wall.
[0064] According to this configuration, since a plurality of the
light detector are provided at the different vertical positions of
the side wall by utilizing a fact that dust is gradually
accumulated from the bottom surface of the dust chamber, dust
detection results representing plural states respectively according
to different amounts of dust within the dust chamber can be
outputted.
[0065] Further, the self-propelling cleaner according to the
invention is characterized in that another side wall of the dust
chamber opposing to the one side wall having the coupling hole is
formed in a sloped shape, and the dust amount detection unit is
also provided at the another side wall.
[0066] According to this configuration, since the dust amount
detection unit is provided at each of the opposed side walls, the
one-side accumulation state of dust within the dust chamber can be
detected. That is, in the case where the light detector is provided
at both the opposed side walls at the same height, when a light
receiving element on the side wall of the coupling hole side does
not detect light but a light receiving element on the side wall of
the opposite side detects light, it can be recognized that
accumulated dust is higher on the side of the side wall of the
coupling hole side than the side of the side wall of the opposite
side and so dust is accumulated on one side.
[0067] Further, the self-propelling cleaner according to the
invention is characterized in that the propelling control unit
controls the propelling unit to perform a propelling and circling
movement different from a movement at a normal cleaning operation
when the dust amount detection unit detects that dust is filled
within the dust chamber.
[0068] According to this configuration, when dust is filled within
the dust chamber, the main body changes its movement from that at
the normal operation and the dust full state of the dust chamber is
notified to a user.
[0069] According to the self-propelling cleaner as thus configured,
since the side wall is formed in a sloped shape, the light detector
cannot be shielded from light until dust is accumulated to the
height where the light detector is provided. Further, the invention
is configured in a manner that the dust amount detection unit is
constituted by using a light transmission type sensor including
this light detector. Thus, the dust full state within the dust
chamber can be surely detected irrespective of kinds of dust.
[0070] Further, according to the self-propelling cleaner, external
light is introduced as a light irradiated to the light detector,
whereby the dust amount detection unit, which can surely detect the
dust full state in the aforesaid manner without requiring light
emitting unit, can be configured with a simple configuration.
[0071] Furthermore, according to the self-propelling cleaner, since
a user can recognize an amount of dust within the dust chamber at
plural levels, the user can surely recognize information such that
dust will be filled soon within the dust chamber as well as the
dust full information.
[0072] Furthermore, according to the self-propelling cleaner, the
dust amount detection unit is provided at each of the opposed side
walls. Thus, when the detection results of these dust amount
detection unit are compared, the dust full state and the dust
accumulation state such as the one-side accumulation state of dust
within the dust chamber can be detected further accurately.
[0073] Furthermore, according to the self-propelling cleaner, since
the main body moves in a manner different from the usual movement
in accordance with the dust full state detected by the dust amount
detection unit, the dust full state can be surely notified to a
user who exists at a position relatively away from the cleaner.
Further, the dust full state can be surely notified without being
restricted by a peripheral circumstance such as an environment
required to be silent.
[0074] Although the present invention has been shown and described
with reference to a specific preferred embodiment, various changes
and modifications will be apparent to those skilled in the art from
the teachings herein. Such changes and modifications as are obvious
are deemed to come within the spirit, scope and contemplation of
the invention as defined in the appended claims.
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