U.S. patent application number 14/394847 was filed with the patent office on 2015-05-14 for self-traveling electronic apparatus.
The applicant listed for this patent is SHARP KABUSHIKI KAISHA. Invention is credited to Koji Murakami, Choji Yoshida.
Application Number | 20150134179 14/394847 |
Document ID | / |
Family ID | 49482746 |
Filed Date | 2015-05-14 |
United States Patent
Application |
20150134179 |
Kind Code |
A1 |
Murakami; Koji ; et
al. |
May 14, 2015 |
SELF-TRAVELING ELECTRONIC APPARATUS
Abstract
Provided is a self-traveling electronic apparatus including a
housing whose lower part is uniquely shaped so that the
self-traveling electronic apparatus can climb over level
differences smoothly. The self-traveling electronic apparatus
includes a housing, a drive wheel disposed at a bottom of the
housing and coming in contact with a floor surface so that the
housing travels on the floor surface, a follower wheel disposed on
the bottom of the housing and coming in contact with the floor
surface to support the housing, and a sloped plate disposed so as
to lay smoothly from a front lower end of the housing to the bottom
in a travel direction, wherein the housing has a bumper slidable in
the travel direction; and a front end of the sloped plate is
positioned behind a front lower end of the bumper in case the
bumper slides backward.
Inventors: |
Murakami; Koji; (Osaka-shi,
JP) ; Yoshida; Choji; (Osaka-shi, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SHARP KABUSHIKI KAISHA |
Osaka-shi, Osaka |
|
JP |
|
|
Family ID: |
49482746 |
Appl. No.: |
14/394847 |
Filed: |
March 11, 2013 |
PCT Filed: |
March 11, 2013 |
PCT NO: |
PCT/JP2013/056673 |
371 Date: |
October 16, 2014 |
Current U.S.
Class: |
701/23 |
Current CPC
Class: |
A47L 2201/04 20130101;
A47L 9/009 20130101 |
Class at
Publication: |
701/23 |
International
Class: |
A47L 9/00 20060101
A47L009/00 |
Foreign Application Data
Date |
Code |
Application Number |
Apr 27, 2012 |
JP |
2012-103163 |
Claims
1. A self-traveling electronic apparatus comprising: a housing; a
drive wheel disposed at a bottom of the housing and coming in
contact with a floor surface so that the housing travels on the
floor surface; a follower wheel disposed on the bottom of the
housing and coming in contact with the floor surface to support the
housing; and a sloped plate disposed so as to lay smoothly from a
front lower end of the housing to the bottom in a travel direction,
wherein the housing has a bumper slidable in the travel direction;
and a front end of the sloped plate is positioned behind a front
lower end of the bumper in case the bumper slides backward.
2. The self-traveling electronic apparatus according to claim 1
further comprising a front support wheel disposed at a rear part of
the sloped plate but disposed in front of the drive wheel and the
follower wheel, wherein the front support wheel is disposed in such
a way that its lower end is positioned lower than the bottom but
higher than the floor surface.
3. The self-traveling electronic apparatus according to claim 2,
wherein the bumper has a curved part formed by folding its lower
end backward, and the curved part may function as the front lower
end.
4. The self-traveling electronic apparatus according to claim 1,
wherein the sloped plate is designed to have a predetermined width
extending from a front center of the housing to right and left, and
the sloped plate may be lower in height from the floor surface than
the bottom on both sides of the sloped plate, in its width
direction.
5. The self-traveling electronic apparatus according to claim 1,
wherein the sloped plate may be formed by integrating with the
bottom of the housing or may be formed individually.
6. The self-traveling electronic apparatus according to claim 1,
wherein the self-traveling electronic apparatus may be manufactured
to function as a self-traveling ion generator blowing an ion flow
or as a self-traveling vacuum cleaner.
Description
TECHNICAL FIELD
[0001] This invention relates to a self-traveling electronic
apparatus.
BACKGROUND ART
[0002] A self-traveling vacuum cleaner that is an example of a
self-traveling electronic apparatus is known, for example, as the
one described in Patent Document 1. A self-traveling air cleaner
that is another example of the self-traveling electronic apparatus
is known, for example, as the one described in Patent Document
2.
[0003] Patent Document 1 describes the self-traveling vacuum
cleaner including a sensor for sensing an object on a floor surface
in front of a body of the self-traveling vacuum cleaner, and
lifting means for lifting a front part of the body from the floor
surface on the basis of a sensing result, the front part of the
body being determined based on a travel direction of the
self-traveling vacuum cleaner and raised from the floor surface on
the basis of traveling means; and the self-traveling vacuum cleaner
is capable of climbing over the object. The self-traveling vacuum
cleaner is, therefore, capable of climbing over the object such as
an electric cord or newspaper to clean. This self-traveling vacuum
cleaner has a lower end surface that is sloped with respect to the
travel direction so that the self-traveling vacuum cleaner
self-travels even if the floor surface has a level difference. This
slope allows the self-traveling vacuum cleaner to climb over the
level difference easily.
[0004] Patent Document 2 describes the self-traveling air cleaner
including an intake opening open toward a travel direction of the
self-traveling air cleaner, an exhaust opening open upward, and a
brush disposed between a drive wheel and a front wheel to rake up
dust. This self-traveling air cleaner supplies a clean air to a
room while traveling in the room and simultaneously cleans a floor
surface with use of the brush. FIG. 2 illustrates the
self-traveling air cleaner of Patent Document 2 provided with a
bumper that is disposed at a front surface of a body and across a
full width of the body, and the bumper is curved from its lower end
toward its bottom.
PRIOR ART DOCUMENTS
Patent Documents
[0005] [Patent Document 1] Japanese Unexamined Patent Application
Publication No. 2006-155274
[0006] [Patent Document 2] Japanese Unexamined Patent Application
Publication No. 2005-331128
SUMMARY OF THE INVENTION
Problems that the Invention is to Solve
[0007] The self-traveling vacuum cleaner of Patent Document 1 is
capable of traveling forward while lifting its front end with use
of the lifting means to stride over an unfixed object such as an
electric cord without jamming with the unfixed object. The
self-traveling vacuum cleaner, however, requires a complicated
structure in order to actualize the lifting means. The
self-traveling vacuum cleaner is provided with the slope at its
lower end surface of the body to allow the self-traveling vacuum
cleaner to climb over the level difference easily. This slope,
however, comes in contact with level differences in the course of
traveling repeatedly, possibly resulting in damage to corners of
the level differences. The self-traveling vacuum clear also has a
slight stair disposed between the front end of the body and a front
end of the slope. The self-traveling vacuum clear may, therefore,
be incapable of self-traveling smoothly on an uneven surface.
[0008] The self-traveling air cleaner of Patent Document 2 senses a
collision with an object with use of the bumper disposed at a front
part of the body and protects a housing. The self-traveling air
cleaner is configured to sense the object in front of the
self-traveling air cleaner with use of a pressing force of the
bumper and/or a non-contact sensor so that the self-traveling air
cleaner stops, travels backward, and rotates to avoid the object
before traveling again.
[0009] In the case where the self-traveling air cleaner avoids the
object by sensing the object with use of the bumper, the
self-traveling air cleaner cannot clean the room unless the
self-traveling air cleaner can climb over some degree of the level
difference such as an edge of a carpet and travels. The lower end
of the bumper is, therefore, configured to be raised apart from the
floor surface at a predetermined height. The self-traveling air
clear climbs over a level difference lower than a height between
the lower end of the bumper and the floor surface.
[0010] If a bottom of a self-traveling apparatus is set apart from
the floor surface, the bottom of the self-traveling apparatus does
not collide with a level difference or climbs over the level
difference. Its simple example should have a structure where the
bottom of the bumper is higher than its lower end. The
self-traveling vacuum cleaner needs, for example, to suck in the
dust on the floor surface through the intake opening disposed on
the bottom of the self-traveling vacuum cleaner; therefore, the
self-traveling vacuum cleaner does not suck in the dust efficiently
if the intake opening is too far from the floor surface. The
self-traveling apparatus generally needs to keep its height low in
order to travel under, for example, a bed to sterilize, deodorize,
and to inhibit allergic substances. It may, therefore, be difficult
to set the bottom high. In this case, the slope described in Patent
Document 1 may be necessary so that the self-traveling apparatus
may climb over the level difference easily.
[0011] This invention is contrived in view of the above-described
circumstances and is to provide a self-traveling electronic
apparatus including a housing whose lower part is uniquely shaped
so that the self-traveling electronic apparatus can climb over
level differences smoothly.
Means of Solving the Problems
[0012] To solve the above-described problems, this invention is to
provide the self-traveling electronic apparatus characterized by
including a housing, a drive wheel disposed at a bottom of the
housing and coming in contact with a floor surface so that the
housing travels on the floor surface, a follower wheel disposed on
the bottom of the housing and coming in contact with the floor
surface to support the housing, and a sloped plate disposed so as
to lay smoothly from a front lower end of the housing to the bottom
in a travel direction, wherein the housing has a bumper slidable in
the travel direction; and a front end of the sloped plate is
positioned behind a front lower end of the bumper in case the
bumper slides backward.
Effect of the Invention
[0013] The self-traveling electronic apparatus of this invention is
capable of climbing over the level difference smoothly because the
self-traveling electronic apparatus includes the sloped plate
disposed so as to smoothly link the front lower end of the housing
with the bottom of the housing, the housing has the bumper slidable
in the travel direction, and the front end of the sloped plate is
positioned behind the front lower end of the bumper in case the
bumper slides backward.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] FIG. 1 is an example of an explanatory drawing of a sloped
plate used for a self-traveling electronic apparatus of this
invention.
[0015] FIG. 2 is an explanatory drawing of a conventional
self-traveling electronic apparatus without having a sloped plate,
which is a comparative example to this invention.
[0016] FIG. 3 is a prospective view of a self-traveling ion
generator exemplifying an embodiment of this invention.
[0017] FIG. 4 is a prospective view of the self-traveling ion
generator illustrated in FIG. 3 without a top cover.
[0018] FIG. 5 is a bottom plan view of the self-traveling ion
generator illustrated in FIG. 3.
[0019] FIG. 6 illustrates explanatory drawings of various sloped
plates to be placed on the self-traveling ion generator illustrated
in FIG. 3.
[0020] FIG. 7 is a cross-section view of the self-traveling ion
generator illustrated in FIG. 3, viewed along arrows A-A in FIG.
3.
[0021] FIG. 8 is a cross-section view of the self-traveling ion
generator illustrated in FIG. 3, viewed along arrows B-B in FIG.
3.
[0022] FIG. 9 is a cross-section view of the self-traveling ion
generator illustrated in FIG. 3, viewed along arrows C-C in FIG.
3.
[0023] FIG. 10 is a corresponding drawing of the self-traveling ion
generator illustrated in FIG. 4 that returns to a charging
station.
[0024] FIG. 11 is a block diagram indicating a contexture of a
controller for controlling the self-traveling ion generator
illustrated in FIG. 3.
[0025] FIG. 12 is an explanatory drawing of a brief structure of an
ion-generating device to be installed in the self-traveling ion
generator illustrated in FIG. 3.
[0026] FIG. 13 is a prospective view of a self-traveling vacuum
cleaner exemplifying another embodiment of this invention.
[0027] FIG. 14 is a cross-section view of the self-traveling vacuum
cleaner illustrated in FIG. 13, viewed along arrows A-A in FIG.
13.
[0028] FIG. 15 is a bottom plan view of the self-traveling vacuum
cleaner illustrated in FIG. 13.
[0029] FIG. 16 illustrates explanatory drawings of various sloped
plates to be placed on the self-traveling vacuum cleaner
illustrated in FIG. 13.
[0030] FIG. 17 illustrates a corresponding drawing of the
self-traveling vacuum cleaner illustrated in FIG. 14 whose cover is
open and also illustrates a dust collection member pulled out from
the self-traveling vacuum cleaner.
[0031] FIG. 18 is a prospective view of the self-traveling vacuum
cleaner illustrated in FIG. 13 in a state of disassembly where a
top board of a housing, a control circuit board, etc. are pulled
out.
[0032] FIG. 19 is a block diagram indicating an electrical
contexture of the self-traveling vacuum cleaner illustrated in FIG.
13.
MODE FOR CARRYING OUT THE INVENTION
[0033] Some of preferred aspects of this invention will be
described below before embodiments of this invention will be
explained.
[0034] A self-traveling electronic apparatus of this invention is
characterized by including a housing, a drive wheel disposed at a
bottom of the housing and coming in contact with a floor surface so
that the housing travels on the floor surface, a follower wheel
disposed on the bottom and coming in contact with the floor surface
to support the housing, a sloped plate disposed so as to smoothly
link a front lower end of the housing with the bottom in a travel
direction, and a front support wheel disposed at a rear part of the
sloped plate but disposed in front of the drive wheel and the
follower wheel, wherein the front support wheel is disposed in such
a way that its lower end is positioned lower than the bottom but
higher than the floor surface; and the sloped plate is disposed in
such a way that its front part is higher from the floor surface
than its rear part in a smooth fashion.
[0035] The housing has a bumper disposed at its front part that is
slidable in the travel direction, and a front end of the sloped
plate may be positioned behind a front lower end of the bumper in
case the bumper slides backward. Because the front end of the
sloped plate is positioned behind the bumper--even if the bumper
slides backward, the bumper can avoid damage to an object or the
sloped plate in case the sloped plate collides with the object.
[0036] The bumper has a curved part formed by folding its lower end
backward, and the curved part may function as the front lower end.
In this case, the front lower end of the bumper is configured to be
linked smoothly with the front end of the sloped plate; therefore,
the self-traveling electronic apparatus can climb over a level
difference--even if the level difference is slightly lower than the
lower end of the bumper--since the front support wheel climbs over
the level difference while a slope of the sloped plate guides the
front support wheel smoothly.
[0037] The sloped plate is designed to have a predetermined width
extending from a front center of the housing to right and left, and
the sloped plate may be lower in height from the floor surface than
the bottom on both sides of the sloped plate, in its width
direction. In this case, the sloped plate does not have to be
formed throughout its width; and in case the level difference
collides with the sloped plate, the bottom on the both sides of the
sloped plate would not collide with the level difference; and the
front support wheel climbs over the level difference along the
slope of the sloped plate smoothly.
[0038] Furthermore, the housing is in the form of an approximate
circle from a planar view; a pair of opposed drive wheels is
disposed evenly apart from an approximate center of the housing in
the travel direction; and the follower wheel may be disposed behind
the drive wheels.
[0039] The sloped plate may be formed by integrating with the
bottom of the housing or may be formed individually.
[0040] Moreover, the self-traveling electronic apparatus may be
manufactured to function as a self-traveling ion generator blowing
an airflow upward or as a self-traveling vacuum cleaner.
[0041] The preferred aspects of this invention include combinations
of any of the above-described aspects.
[0042] In the following, this invention will be described in detail
through the use of drawings. Note that the following explanations
are exemplifications in all respects and should not be comprehended
to limit this invention only to these explanations.
[0043] According to the above-described embodiments, the
self-traveling electronic apparatus includes the housing in the
form of an approximate circle from a planar view; an air blow valve
disposed on a top surface of the housing; the pair of opposed drive
wheels disposed evenly apart from a center line along the travel
direction of the housing and projecting from the bottom of the
housing; a rear wheel disposed at a rear end of the housing along
the travel direction; and the front support wheel disposed at a
front end of the housing along the travel direction. The
self-traveling electronic apparatus also includes a drive
controller and a controller inside the housing. The drive
controller controls the drive wheels, and the controller controls
an air blow from the air blow valve. The self-traveling electronic
apparatus further includes the sloped plate whose front end is
disposed at the front lower end of the housing and whose rear end
links smoothly with the bottom of the housing in the vicinity of
the front support wheel.
[0044] One example of the self-traveling electronic apparatus is a
vacuum cleaner including a suction vent disposed at its bottom, a
passage disposed inside a housing and extending from the suction
vent on the bottom to an air blow valve at a top surface of the
vacuum cleaner, and a filter disposed at some midpoint of the
passage. FIG. 13 illustrates an example of an exterior appearance
of the vacuum cleaner. Another example of the self-traveling
electronic apparatus is an ion generator including a suction vent
disposed at its bottom or top surface, a passage disposed inside a
housing and extending from the suction vent on the bottom to an air
blow valve at a top surface of the ion generator, and an
ion-generating unit disposed at some midpoint of the passage. FIG.
3 illustrates an example of an exterior appearance of the ion
generator. The self-traveling electronic apparatus of this
invention means an electronic apparatus capable of autonomously
traveling independent from user attention, and of carrying out a
cleaning function and/or an air-cleaning function or of carrying
out other operations.
[0045] The housing of this invention indicates a housing in a round
shape from a planar view, but the round shape does not mean only a
perfectly round shape; namely, the round shape includes an
approximately round shape that is somewhat uneven and an oval shape
having a long axis and a short axis. The top surface of the housing
where the air blow valve is disposed may not be a vertex. The top
surface of the housing means an upper surface that is distinguished
simply from a side surface and a bottom surface of the housing.
[0046] The air blow valve may function as an exhaust vent of the
vacuum cleaner or as an air blow valve of the ion generator blowing
clean air. The drive wheels allow the self-traveling electronic
apparatus to travel forward and backward and to rotate. The drive
controller controls the drive wheels to allow the self-traveling
electronic apparatus to travel thoroughly inside a room by using
the cleaning function or the air-cleaning function and also to
allow the self-traveling electronic apparatus to travel forward and
backward and to rotate in order to avoid an object. The drive
wheels are installed on the housing together with a suspension
mechanism so that the drive wheels are adaptable to an uneven floor
surface. The housing has a three-point support consisting of the
pair of opposed drive wheels and the rear wheel functioning as the
follower wheel to allow the self-traveling electronic apparatus to
travel stably. Because the housing is supported on the drive wheels
and the rear wheel, the housing can have a heavy article such as a
battery disposed at a rear part of the housing so that a front part
of the housing is reduced in weight. The front part of the housing
can, therefore, be lifted easily to climb over an object.
[0047] FIG. 1 illustrates an explanatory drawing as an example of
the sloped plate used for the self-traveling electronic apparatus
of this invention. In the following, the sloped plate will be
explained. As illustrated in FIG. 1, a sloped plate 104 of a
self-traveling electronic apparatus 100 is disposed at a front part
of a round shape housing 101 from a planar view in a travel
direction. A front end of the sloped plate 104 is positioned at a
front bottom portion 102, and a rear end of the sloped plate 104
links smoothly with a bottom of the housing 101 in the vicinity of
a front part of an outer periphery of a front support wheel 103.
The front support wheel 103 is raised apart from a floor surface F
so that the front support wheel 103 does not come in contact with
the floor surface F while the self-traveling electronic apparatus
100 travels on the floor surface F. The bottom of the housing 101
is configured higher than a lower end of the front support wheel
103. In this case, the bottom of the housing 101 does not come in
contact with an object in case the front support wheel 103 climbs
over the object. FIG. 1 also illustrates a cover 105, an inflow
vent 106, an exhaust vent 107, a drive wheel 108, a rear wheel 109,
and a bumper 111. In FIG. 1, the side where the front support wheel
103 is disposed indicates the forward side; and the side where the
rear wheel 109 is disposed indicates the backward side.
[0048] The sloped plate 104 is designed to have a predetermined
width extending from a center line of the housing to right and
left, the center line extending along the travel direction. The
sloped plate 104 is desired to have a fan shape spreading to the
both sides at an angle of 30.degree. or 60.degree. from a position
directly underneath the front support wheel 103 toward the front of
the travel direction. Alternatively, the sloped plate is an area
disposed in front of a rear end of a line extending between both
ends of the housing from a position directly underneath the front
support wheel 103 in a width direction perpendicular to the travel
direction. Alternatively, the sloped plate includes a position
directly underneath the front support wheel 103 and is an area
disposed in front of a rear end of a line that is two or three
times longer than a width of the front support wheel in the width
direction.
[0049] The housing 101 is configured to have the front bottom
portion 102 as a position of a front end of the travel direction
and includes the sloped plate 104 disposed along a sloped surface
linking smoothly with the bottom in the vicinity of the front
support wheel 103. The self-traveling electronic apparatus can,
therefore, climb over an object Z and keep traveling even though
the object Z is present right on the travel direction.
[0050] FIG. 2 illustrates, as a comparative example, an explanatory
drawing of a self-traveling electronic apparatus that does not
include a sloped plate characterizing this invention. As
illustrated in FIG. 2, a housing 101 has an obtuse stair X disposed
between a front bottom portion 102 and a front support wheel 103
along a travel direction of the housing 101, unlike the housing 101
in FIG. 1, resulting in a considerable stress on a drive wheel 108
in case the stair X collides with an object Z; therefore, it is
difficult for a self-traveling electronic apparatus 100 to climb
over the object Z.
[0051] As indicated by a solid line, a bumper 111 is actuated
forward by a spring (not illustrated) and projects slightly from
the housing 101. As indicated in FIG. 2 by a dotted line, the
bumper 111 slides backward upon colliding with an object. The
sloped plate 104 is configured in such a way that a front lower end
of the bumper 111 aligns with the front end of the sloped plate 104
at a position (indicated by a reference numeral 111a) where the
bumper 111 slides backward (see FIG. 1). The sloped plate 104 links
smoothly with the bottom of the housing 101 at its rear end and is
equipped with the front support wheel 103 at its rear end. The
bumper 111 curves or is folded toward the bottom side of the
housing 101. The front end of the sloped plate 104 is configured to
align with a position where the front lower end of the curved or
folded bumper 111 slides backward.
[0052] The sloped plate 104 has an edge that extends to the front
end of the bottom of the housing; therefore, a slope angle of the
sloped plate 104 of FIG. 1 is more moderate than a slope angle of
the stair X of FIG. 2, with the result that an impact is reduced in
case the sloped plate collides with a level difference and that the
self-traveling electronic apparatus can climb over the level
difference easily and smoothly. The edge of the sloped plate 104
extends to a position where the bumper 111 slides backward but does
not project farther than this position; therefore, the impact
occurred between the object and the edge of the sloped plate 104 is
minimized by the bumper 111; and the edge is protected from damage,
tear, etc.
<<General Structure of a Self-Traveling Ion
Generator>>
[0053] A self-traveling ion generator of this invention will be
explained.
[0054] FIG. 3 illustrates a prospective view of a self-traveling
ion generator exemplifying an embodiment of this invention.
[0055] FIG. 4 illustrates a prospective view of the self-traveling
ion generator illustrated in FIG. 3 without a top cover.
[0056] FIG. 5 illustrates a bottom plan view of the self-traveling
ion generator illustrated in FIG. 3.
[0057] FIG. 6 illustrates explanatory drawings of various sloped
plates to be placed on a self-traveling electronic apparatus.
[0058] FIG. 7 illustrates a cross-section view of the
self-traveling ion generator illustrated in FIG. 3, viewed along
arrows A-A in FIG. 3.
[0059] FIG. 8 illustrates a cross-section view of the
self-traveling ion generator illustrated in FIG. 3, viewed along
arrows B-B in FIG. 3.
[0060] FIG. 9 illustrates a cross-section view of the
self-traveling ion generator illustrated in FIG. 3, viewed along
arrows C-C in FIG. 3.
[0061] FIG. 10 illustrates a corresponding drawing of the
self-traveling ion generator illustrated in FIG. 7 that returns to
a charging station.
[0062] FIG. 11 illustrates a block diagram indicating a contexture
of a controller for controlling the self-traveling ion generator
illustrated in FIG. 3.
[0063] FIG. 12 illustrates an explanatory drawing of a brief
structure of an ion-generating device to be installed in an
ion-generating member.
[0064] As illustrated in FIGS. 3 to 9, a self-traveling ion
generator 1 as the self-traveling electronic apparatus in the
embodiments of this invention sucks in an ambient air through an
inflow vent 3 while self-traveling on a floor surface F of an
installation location. The sucked air is, for example, subjected
partially to an ionization treatment with use of an ion-generating
unit 4; and the treated ion-containing air is blown through an
exhaust vent 5.
[0065] The self-traveling ion generator 1 includes a disk-like
housing 2. As illustrated in FIG. 7, provided in the housing 2 are
a rechargeable battery 6 for storing electric power; an electric
fan 7 for supplying air into the housing 2 and for blowing the air
through the exhaust vent 5; and a filter 8 for separating dust or
foreign objects from the air supplied into the housing 2. The
self-traveling ion generator is also provided with the
ion-generating unit 4 for generating ions by subjecting the air
sucked into the housing 2 to the ionization treatment; a cover 9
used for sucking in the air and for opening and closing the inflow
vent 3 (which may be referred to as "the inflow vent 3-covering
cover 9" hereinafter); and a drive member 10 for driving the cover
9 (which may be referred to as "the cover 9-driving drive member
10" hereinafter) (see FIG. 4). Also provided in the housing 2 are a
cover 11 used for opening and closing the exhaust vent 5 (which may
be referred to as "the exhaust vent 5-covering cover 11"
hereinafter); a drive member 12 for driving the cover 11 (which may
be referred to as "the cover 11-driving drive member 12"
hereinafter) (see FIG. 4); and a controller 13 for comprehensively
controlling functions of each component. The controller 13 is
equipped with a control circuit board 14 mounted with various
electronic components.
[0066] The housing 2 is provided outside with the cover 9 used for
opening and closing the inflow vent 3; a pair of drive wheels 15
functioning as traveling members to allow the housing 2 to travel
on the floor surface F; and a front support wheel 16 and a rear
wheel 17 disposed to stabilize balance of the housing 2. The side
where the front support wheel 16 is disposed indicates the forward
side, and the side where the rear wheel 17 is disposed indicates
the backward side.
[0067] The housing 2 mainly includes a bottom plate 2a in a round
shape from a planar view and a rear side-plate 2b, a front
side-plate 2c functioning as a slidable bumper, and a top cover 2d
in a round shape from a planar view for covering upper parts of the
rear side-plate 2b and of the front side-plate 2c. Provide at a
front end of the bottom plate 2a or the front side-plate 2c, or a
border between the bottom plate 2a and the front side-plate 2c as a
front end is a sloped plate U. A rear end of the sloped plate U is
disposed in the vicinity of the front support wheel 16 and links
with the bottom plate 2a smoothly. The front side-plate 2c
functioning as the slidable bumper is actuated by a spring (not
illustrated) and projects toward a travel direction. Once the
self-traveling ion generator collides with an object, the front
side-plate 2c slides backward to absorb impact. The sloped plate U
is configured in such a way that the front end of the front
side-plate 2c comes to be positioned at a front lower end of the
front side-plate 2c as the front side-plate 2c slides backward. A
lower end of the front side-plate 2c curves or is folded toward the
bottom side of the housing to form the front lower end of the front
side-plate 2c. The inflow vent 3 is disposed slightly behind a
center of the top cover 2d, and the exhaust vent 5 is disposed in
front of the center of the top cover 2d.
[0068] While the ion generator 1 is being charged and is not
operating, the inflow vent 3 and the exhaust vent 5 are closed with
the movable cover 9 and the movable cover 11, respectively. The
cover 9 and the cover 11 are closed to prevent dust or foreign
objects from entering through the inflow vent 3 or the exhaust vent
5. The inflow vent 3-covering cover 9 and the exhaust vent
5-covering cover 11 are driven by the cover 9-driving drive member
10 and the cover 11-driving drive member 12, respectively, both of
the drive members are provided in the housing 2.
[0069] The filter 8 is to separate dust from air sucked through the
inflow vent and to allow the air without the dust to pass
therethrough. This filter 8 is removably mounted so that
maintenance, etc. can be performed. As illustrated in FIG. 7, the
bottom plate 2a is provided with a detachable bottom cover 2e. By
detaching the bottom cover 2e, part of a passage of the sucked air
is exposed; and the filter 8 mounted under the bottom cover can be
removed.
[0070] The ion-generating unit 4 is to ionize, for example, water
molecules in air by electric discharge and to generate
H.sup.+(H.sub.2O).sub.m (m is any number of non-negative integers)
as positive ions and O.sub.2.sup.-(H.sub.2O).sub.n (n is any number
of non-negative integers) as negative ions. This ion-generating
unit 4 may generate negative ions other than the above-described
ions.
[0071] The pair of drive wheels 15 is fastened to a pair of
rotation shafts 15a (see FIG. 5) intersecting orthogonally with a
center line C extending along a center of the housing 2 in a round
shape from a planar view and along the travel direction. The
housing 2 travels forward or backward as the pair of drive wheels
15 rotates in a same direction, and the housing 2 rotates on the
center line C as the pair of drive wheels 15 rotates in opposite
directions.
[0072] The pair of rotation shafts 15a obtains driving forces from
a pair of traveling motors (not illustrated), respectively. The
traveling motors are connected to the rotation shafts,
respectively, through a power transmission mechanism (not
illustrated). Each traveling motor is fastened directly with the
bottom plate 2a of the housing 2 or through a suspension
mechanism.
[0073] The front support wheel 16 includes a roller; and the front
support wheel is disposed in front of the bottom plate 2a of the
housing 2 and is raised slightly apart from the floor surface F so
that the self-traveling ion generator 1 can easily climb over a
level difference on its way as the front support wheel rotates.
[0074] The rear wheel 17 includes a swivel wheel; and the rear
wheel is disposed behind the bottom plate 2a of the housing 2 and
supports the housing 2 while the rear wheel and the drive wheels
come in contact with the floor surface F. The front support wheel
16 and the rear wheel 17 are not connected to a drive source such
as the traveling motor and thereby function as follower wheels.
[0075] As described above, the self-traveling ion generator 1 has
the pair of drive wheels 15 disposed in the middle of a
forward-backward direction of the housing 2; and the front support
wheel 16 is raised apart from the floor surface F, in such a way
that a weight of the self-traveling ion generator 1 is supported on
the pair of drive wheels and the rear wheel, with the result that
the weight in the forward-backward direction is distributed.
[0076] As illustrated in FIG. 5, disposed on the bottom of the
housing 2 are a floor-sensing sensor 18 and a pair of floor-sensing
sensors 19, the floor-sensing sensor 18 being disposed in front of
the front support wheel 16 to sense the floor surface F; and the
floor-sensing sensors 19 being disposed in front of the drive
wheels 15, respectively, to sense the floor surface F. When the
floor-sensing sensor 18 senses a downward staircase or the like,
the floor-sensing sensor 18 sends a sensing signal to the
controller 13; and the controller 13 controls the pair of drive
wheels 15 to stop. Even when the floor-sensing sensor 18
malfunctions, the floor-sensing sensors 19 sense a downward
staircase or the like and stop the pair of drive wheels 15. The
self-traveling ion generator 1, therefore, is prevented from
falling down to the downward staircase. When the floor-sensing
sensors 19 sense a downward staircase or the like, the
floor-sensing sensors 19 send a sensing signal to the controller.
The controller may control the self-traveling ion generator 1 to
avoid the downward staircase--namely, the controller controls the
self-traveling ion generator 1 to travel backward--or to
rotate.
[0077] The weight in the forward-backward direction is distributed
in such a way that the self-traveling ion generator 1 does not lift
the rear wheel 17 upon sudden stop during forward traveling. In
case the self-traveling ion generator suddenly stops just before a
downward staircase during forward traveling, the self-traveling ion
generator is prevented from falling down to the downward staircase
as leaning forward.
[0078] Each drive wheel 15 has a rubber tire fitted onto a groove
of a wheel bearer so that the drive wheels do not skid upon sudden
stop.
[0079] Provided on the bottom of the housing 2 is the sloped plate
U disposed between a front lower end T and the front support wheel
16. The sloped plate U is formed by tilting the front side-plate 2c
or the bottom plate 2a of the housing 2. The sloped plate U is
configured to link smoothly with the bottom in the vicinity of the
front support wheel 16 as the front lower end T of the housing 2 is
positioned as a front end. The sloped plate U is designed to have a
predetermined width extending from the center line of the housing
to right and left, the center line extending along the travel
direction.
[0080] The sloped plate may be configured such as a fan-shaped
plate U1 spreading to the both sides at an angle of 30.degree. from
the neighborhood of the front support wheel 16 toward the front
(see FIG. 6(a)), a fan-shaped plate U2 spreading to the both sides
at an angle of 60.degree. toward the front (see FIG. 6(b)), or a
semicircle-shaped plate U3 bordered by the following two lines: a
straight line parallel to a rotation shaft of the front support
wheel 16 and a curved line of the front lower end of the housing in
front of this straight line (see FIG. 6(c)). Alternatively, the
sloped plate may be configured such as an area U4 encompassing the
front support wheel 16 and bordered by the following four lines: a
straight line parallel to the rotation shaft of the front support
wheel 16 whose length is longer than a width of the front support
wheel 16--for example, three times as long as the width of the
front support wheel; two straight lines extending from both ends of
the above-described straight line toward the front; and a curved
line of the front lower end of the housing lengthened between these
two straight lines (see FIG. 6(d)).
[0081] Provided at a rear end of the rear side-plate 2b of the
housing 2 is a charging terminal 20 for charging the battery 6. The
self-traveling ion generator 1 blowing ions while self-traveling
inside a room returns to a charging station 21 placed in the room
when a prescribed condition arises--for example, a charging level
in the battery 6 becomes lower than a threshold level (see FIG.
10). In this case, the charging terminal 20 comes in contact with a
terminal 22 installed on the charging station 21; therefore, the
battery 6 starts being charged. The charging station 21 is usually
connected with a commercial power supply (e.g., a wall outlet)
installed on a side wall S of the room.
[0082] The battery 6 is charged by the charging station 21 through
the charging terminal 20 and supplies an electric power to
components such as the controller 13, the pair of traveling motors
for driving the pair of drive wheels 15, the ion-generating unit 4,
the electric fan 7, and the various sensors.
[0083] FIG. 11 illustrates a block diagram indicating a contexture
of the controller 13 for controlling the self-traveling ion
generator 1 exemplifying an embodiment of this invention. As
illustrated in FIG. 11, the controller 13 is a microcomputer. The
microcomputer includes a CPU 23 for carrying out an arithmetic
processing, an ROM 24 for storing a control program carried out by
the CPU 23, and an RAM 25 for supplying a memory area to the CPU
23. The microcomputer also includes an I/O port 26 for inputting a
control signal from any of the sensors installed on the
self-traveling ion generator 1 and outputting a control signal
under the control of the CPU 23, a driver circuit 27 for driving
any of the drive members installed in the self-traveling ion
generator 1 under the control of the CPU 23, and a memory 28 for
storing a variety of information under the control of the CPU 23.
The controller 13 comprehensively controls the self-traveling ion
generator 1 and carries out a series of a self-traveling operation
and an ion-blowing operation.
[0084] The controller 13 receives condition settings for functions
of the self-traveling ion generator 1 programmed by a user from an
operating panel (not illustrated) and controls the memory 28 to
store the condition settings. The memory 28 is capable of storing a
traveling route of an area where the self-traveling ion generator 1
is placed. The traveling route indicates the information about a
traveling record of the self-traveling ion generator 1 such as a
traveling pathway or a traveling speed, and the traveling route can
be stored in the memory 28 in two different ways: a user stores a
traveling route in the memory 28 in advance, and the memory 28
records a traveling route in an automated way while the
self-traveling ion generator 1 travels and blows ions. The
controller 13 can be also controlled by a user by remote control
(not illustrated) so that the self-traveling ion generator travels
to any given location.
[0085] An odor sensor 29 senses odor around the housing 2. Usable
as the odor sensor 29 are, for example, a semiconductor-type odor
sensor and a contact combustion-type odor sensor. The odor sensor
29 is disposed on the housing 2 in such a way as to project outward
from the housing 2 in order to sense the odor around the
self-traveling ion generator 1. The controller 13 is connected to
the odor sensor 29 through the I/O port 26 and receives the
information about the odor around the housing 2 based on an output
signal from the odor sensor 29.
[0086] A humidity sensor 30 senses humidity around the housing 2.
Usable as the humidity sensor 30 are, for example, a capacitance
humidity sensor made of a moisture-sensitive polymer material and
an electric-resistive humidity sensor. The humidity sensor 30 is
disposed on the housing 2 in such a way as to project outward from
the housing 2 in order to sense relative humidity around the
self-traveling ion generator 1. The controller 13 is connected to
the humidity sensor 30 through the I/O port 26 and receives the
information about the humidity around the housing 2 based on an
output signal from the humidity sensor 30.
[0087] The traveling route stored in the memory 28 may store in
advance, as a specific location where the self-traveling ion
generator 1 is placed, a location where has odor with a level
higher than a threshold level or a location where has humidity with
a level higher than a threshold level. This allows the controller
13 to detect the specific location as the stored location based on
an ambient environment of the housing 2. Namely, the traveling
route plays a part as an environment sensor that senses the ambient
environment of the housing 2 in a similar way to the odor sensor 29
and the humidity sensor 30.
[0088] A human sensor 31 is to sense the presence of a human with
use of, for example, infrared light, ultrasound wave, or visible
light. The human sensor 31 is disposed on the housing 2 in such a
way as to project outward from the housing 2 in order to sense the
human around the self-traveling ion generator 1. The controller 13
is connected to the human sensor 31 through the I/O port 26 and
receives the existence information about the human around the
housing 2 based on an output signal from the human sensor 31.
[0089] A collision sensor 32 is to sense a collision of the
self-traveling ion generator 1 with an object with use of, for
example, a microswitch while the self-traveling ion generator
self-travels. The collision sensor exemplifying an embodiment of
this invention is disposed near the front side-plate 2c of the
housing 2 in order to sense a motion of the slidable front
side-plate 2c (which may function as the bumper) that slides as a
result of the collision with the object. The controller 13 is
connected to the collision sensor 32 through the I/O port 26 and
receives the existence information about the object around the
housing 2 based on an output signal from the collision sensor
32.
[0090] In the case where the self-traveling ion generator 1, for
example, arrives at a rim of a traveling region or collides with an
object on its way, the pair of drive wheels 15 stops; and the drive
wheels 15 rotate in directions opposite from each other, with the
result that the self-traveling ion generator 1 redirects its travel
direction. This allows the self-traveling ion generator 1 to
self-travel as avoiding the object.
[0091] While the ion-generating unit 4 operates, the controller 13
controls the cover 9-driving drive member 10 and the cover
11-driving drive member 12 to open the inflow vent 3 and the
exhaust vent 5, respectively. While the ion-generating unit 4 is at
rest, the controller 13 controls the cover 9-driving drive member
10 and the cover 11-driving drive member 12 to close the inflow
vent 3 and the exhaust vent 5, respectively. This prevents dust or
foreign objects from entering through the inflow vent 3 or the
exhaust vent 5 while the ion-generating unit is at rest--for
example, the ion-generating unit is being charged--and prevents
malfunction of the self-traveling ion generator 1.
[0092] The electric fan 7, the ion-generating unit 4, and the pair
of drive wheels 15 are actuated by a directive of the ion-blowing
operation. The self-traveling ion generator 1 sucks in the ambient
air through the inflow vent 3 while self-traveling in a
predetermined area and blows the ion-containing air generated by
the ion-generating unit 4 from the exhaust vent 5. Because of its
mobility, the self-traveling ion generator 1 is capable of
sufficiently spreading the ions to areas where a standing-type or
desktop ion generator cannot spread ions and is capable of
efficiently decomposing and eliminating mold or floating fungi in
the air, or sterilizing the air.
[0093] The self-traveling ion generator 1 is also capable of
carrying out a particular ion-blowing operation based on the
information from the environment sensors such as the odor sensor
29, the humidity sensor 30, the traveling route, and the human
sensor 31. For example, the self-traveling ion generator 1 is
capable of staying in a specified location for a certain period of
time based on an ambient environment sensed by the environment
sensors and intensively blowing the ion-containing air through the
exhaust vent 5.
[0094] Another example of the ion-generating unit 4 used for this
invention will be explained with reference to FIG. 12. FIG. 12
illustrates a prospective view of the ion-generating unit 4. The
ion-generating unit 4 has ion-dischargers 41a and 41b engaged with
an exhaust passage. These ion-dischargers 41a and 41b are openings
formed by, for example, circularly perforating a part of a resin
housing of the ion-generating unit 4; and these openings are
provided with the below-described electrodes for generating
ions.
[0095] More specifically, the ion-dischargers 41a and 41b are
provided with opposite electrodes 42 in common, respectively, and
are also provided with needle-like discharge electrodes 43a and
43b, respectively. The discharge electrodes 43a and 43b each are a
needle electrode that sharpens at its tip, and the opposite
electrodes 42 are openings perforated in such a way as to encompass
the discharge electrodes 43a and 43b, respectively.
[0096] The ion-generating unit 4 has a high-voltage circuit
installed in its body part 45 and is provided with two terminals 46
disposed on its side surface (or on its bottom in FIG. 7) so that
electric power supplied from the battery 6 through the terminals 46
actuates the ion-generating unit.
[0097] The high-voltage circuit in the body part 45 applies a
positive or negative high voltage having an alternating-current or
impulse waveform to the discharge electrodes 43a and 43b. As
described above, the ion-generating unit 4 has the plurality of
discharge electrodes; and the high voltage having the positive
impulse waveform is applied, for example, to the discharge
electrode 43a. In this case, ions generated by ionization bind with
water in the air; and positive cluster ions mainly including
H.sup.+(H.sub.2O).sub.m are generated.
[0098] The high voltage having the negative impulse waveform is
applied to the discharge electrode 43b, and ions generated by
ionization bind with water in the air, with the result that
negative cluster ions mainly including
O.sub.2.sup.-(H.sub.2O).sub.n are generated. m and n each represent
any number of non-negative integers.
[0099] The ionized H.sup.+(H.sub.2O).sub.m and
O.sub.2.sup.-(H.sub.2O).sub.n blown into the air attach to an outer
surface of fungi and are changed to active species by chemical
reactions such as H.sub.2O.sub.2 and --OH. H.sub.2O.sub.2 and --OH
have a greatly strong activity; therefore, they enclose the
floating fungi in the air to eliminate or sterilize the fungi. In
this case, --OH is one of the active species and indicates a
radical --OH.
[0100] The above-described ion-generating unit 4 is one example of
its contexture for generating the positive ions and the negative
ions simultaneously, and the ion-generating unit provided with only
one discharge electrode is capable of generating the positive ions
and the negative ions alternately while the alternating-current
high voltage is applied to the discharge electrode. Instead of
generating the positive and negative ions, the ion-generating unit
may have a contexture for generating only the negative ions.
<<General Structure of a Self-Traveling Vacuum
Cleaner>>
[0101] FIG. 13 illustrates a prospective view of a self-traveling
vacuum cleaner exemplifying an embodiment of this invention.
[0102] FIG. 14 illustrates a cross-section view of the
self-traveling vacuum cleaner illustrated in FIG. 13, viewed along
arrows A-A in FIG. 13.
[0103] FIG. 15 illustrates a bottom plan view of the self-traveling
vacuum cleaner illustrated in FIG. 13.
[0104] FIG. 16 illustrates explanatory drawings of various sloped
plates to be placed on the self-traveling vacuum cleaner.
[0105] FIG. 17 illustrates a corresponding drawing of the
self-traveling vacuum cleaner illustrated in FIG. 14 whose cover is
open and also illustrates a dust collection member pulled out from
the self-traveling vacuum cleaner.
[0106] FIG. 18 illustrates a prospective view of the self-traveling
vacuum cleaner illustrated in FIG. 13 from where a top board of a
housing, a control circuit board, etc. are pulled out.
[0107] FIG. 19 illustrates a block diagram indicating an electrical
contexture of the self-traveling vacuum cleaner illustrated in FIG.
13.
[0108] A self-traveling vacuum cleaner 201 (hereinafter referred to
as "the cleaning robot") of this invention is a cleaning robot that
cleans a floor surface by sucking in air containing dust on the
floor surface and by blowing air without the dust while
self-traveling on the floor surface of a location where the
self-traveling vacuum cleaner is placed.
[0109] The cleaning robot 201 includes a disk-like housing 202; and
this housing 202 is provided inside or outside with components such
as a rotary brush 209, a side broom 210, a dust collection box 230,
a blower having an electric fan 222, a pair of drive wheels 229, a
rear wheel 226, front support wheels 227, and a controller
including various sensors.
[0110] The side of the cleaning robot 201 where the front support
wheels 227 are disposed indicates the forward side, the side where
the rear wheel 226 is disposed indicates the backward side, and a
region where the dust collection box 230 is disposed indicates a
middle part of the cleaning robot.
[0111] The housing 202 includes a bottom plate 202a in a round
shape from a planar view having a suction vent 206 disposed at the
forward side near a border between the forward side and the middle
part; and a top board 202b having a cover 203 disposed at the
middle part, the cover being configured to open and close so that
the dust collection box 230 can be pulled out of or inserted into
the housing 202. The housing also includes a side plate 202c in the
form of a ring from a planar view disposed along outer peripheries
of the bottom plate 202a and of the top board 202b. The bottom
plate 202a is provided with openings for allowing lower parts of
the front support wheels 227, of the pair of drive wheels 229, and
of the rear wheel 226 to project from the housing 2. The top board
202b is provided with an exhaust vent 207 near the border between
the forward side and the middle part. The side plate 202b is
divided into two portions in front and in the rear, and the front
portion of the side plate functions as a bumper.
[0112] The housing 202 is provided with a sloped plate U (see FIG.
14) disposed at a border between the bottom plate 202a and the
front portion of the side plate 202c and linking smoothly with a
bottom of the housing in the vicinity of the front support wheels
227 as a front lower end of the housing 202 is positioned as a
front end. The front side-plate 202c functions as the bumper and is
installed together with a spring (not illustrated) so as to project
from the housing 202. Once the cleaning robot 201 collides with an
object while self-traveling, the front side-plate 202c slides
backward to absorb impact. The sloped plate U is configured to link
smoothly with the bottom in the vicinity of the front support
wheels 227 at the front end of the front lower end of the housing
202 as the front side-plate 202c slides backward. A lower end of
the front side-plate 202c curves or is folded toward the bottom
side of the housing to form the front lower end. The sloped plate U
is configured to tilt smoothly in such a way that a distance
between the sloped plate U and a floor surface F becomes closer as
heading from its front part toward its rear part; therefore, the
cleaning robot 201 lifts its front part when the sloped plate U
comes in contact with a corner of a level difference. The cleaning
robot 201 can, therefore, climb over the level difference
smoothly.
[0113] As illustrated in FIG. 17, the housing 202 has a front
chamber R1 disposed therein at the forward side; a middle chamber
R2 disposed therein at the middle part; and a rear chamber R3
disposed therein at the backward side. The housing also has a
suction passage 211 and an exhaust passage 212, both of the
passages are disposed near the border between the forward side and
the middle part.
[0114] The front chamber R1 accommodates a motor unit 220 (blower)
having the electric fan 222, an inner housing 221 encompassing the
exhaust passages 212 and 224, an ion-generating unit 225 disposed
at the exhaust passages, etc. (see FIG. 18). The middle chamber R2
accommodates the dust collection box 230. The rear chamber R3
accommodates a control plate 215 functioning as a controller, a
battery 214, charging terminals 204, etc. The suction passage 211
connects the suction vent 206 (see FIG. 14) to the middle chamber
R2, and the exhaust passage 212 connects the middle chamber R2 to
the front chamber R1. The chambers R1, R2, and R3, the suction
passage 211, and the exhaust passage 212 are walled with a divider
239 in the housing 202 (see FIG. 17).
[0115] The drive wheels 229 are fastened to rotation shafts,
respectively, intersecting perpendicular to a center line C
extending along a center of the housing 202 in a round shape from a
planar view and along a travel direction. The housing 202 travels
forward or backward when the pair of drive wheels 229 rotates in a
same direction, and the housing 202 rotates on the center line C
when the pair of drive wheels 229 rotates in opposite
directions.
[0116] The pair of drive wheels 229 is connected with a pair of
traveling motors (not illustrated), respectively, to obtain driving
forces from the traveling motors, respectively; and each traveling
motor is fastened directly with the bottom plate 202a of the
housing or through a suspension mechanism.
[0117] Each front support wheel 227 includes a roller and is
installed rotatably on a part of the bottom plate 202a of the
housing 202 in such a way as to be raised slightly apart from the
floor surface F where comes in contact with the drive wheels 229 so
that the housing 202 can climb over a level difference on its way
upon collision.
[0118] The rear wheel 226 includes a swivel wheel and is installed
rotatably on a part of the bottom plate 202a of the housing 202 in
such a way as to come in contact with the floor surface F where
comes in contact with the drive wheels 229.
[0119] As described above, the cleaning robot is provided with the
pair of drive wheels 229 disposed in the middle of a
forward-backward direction with respect to the housing 202; and the
front support wheels 227 are raised apart from the floor surface F,
in such a way that a weight of the cleaning robot 201 is supported
on the pair of drive wheels 229 and the rear wheel 226, with the
result that the weight is distributed in the forward-backward
direction with respect to the housing 202. This allows the cleaning
robot to suck in the dust laying in the travel direction through
the suction vent 206 while the front support wheels 227 do not
block a sucking operation.
[0120] The suction vent 206 is an open region at a concave 208
formed on the bottom of the housing 202 (a lower surface of the
bottom plate 202a) and facing to the floor surface F. Provided in
this concave 208 is the rotary brush 209 rotating on a first shaft
center parallel to the bottom of the housing 202. The concave 208
is provided at its both sides with the side brooms 210 rotating on
second shaft centers perpendicular to the bottom of the housing
202. The rotary brush 209 has brushes implanted in an outer
periphery of a rotation shaft as a roller in a spiral manner. The
side brooms 210 each have brush bundles disposed at a lower end of
a rotation shaft and extending in a radial pattern. The rotation
shaft of the rotary brush 209 and the rotation shafts of the pair
of side brooms 210 are supported rotatably by a part of the bottom
plate 202a of the housing 202 and are connected to each other
through a power transmission mechanism including a drive motor M
(see FIG. 18), a pulley, a belt, etc., all of these components are
provided in the vicinity of the rotary brush and the side
brooms.
[0121] As illustrated in FIG. 15, the housing 202 is provided at
its bottom with a floor-sensing sensor 213 and floor-sensing
sensors 219, the floor-sensing sensor 213 being disposed between
the bottom of the housing 202 and the front support wheels 227 to
sense the floor surface F; and the floor-sensing sensors 219 being
disposed in front and by the side of the drive wheels 229,
respectively, to sense the floor surface F. When the floor-sensing
sensor 213 senses a downward staircase, the floor-sensing sensor
213 sends a sensing signal to the controller; and the controller
controls the pair of drive wheels 229 to stop. Even when the
floor-sensing sensor 213 malfunctions, the floor-sensing sensors
219 sense a downward staircase and stop the pair of drive wheels
229; therefore, the cleaning robot 201 is prevented from falling
down to the downward staircase. When the floor-sensing sensors 219
sense a downward staircase, the floor-sensing sensors 219 send a
sensing signal to the controller; and the controller may control
the drive wheels 229 to travel backward or to rotate in order to
avoid the downward staircase.
[0122] FIG. 16 illustrates schematic views of the cleaning robot
illustrated in FIG. 15. The housing 202 is provided at its bottom
with the sloped plate U disposed between a front lower end T and
the front support wheels 227. The sloped plate U is formed by
tilting the bottom plate 202a of the housing 202. The sloped plate
U is configured to link smoothly with the bottom in the vicinity of
the front support wheels 227 as the front lower end T is positioned
as a front end. The sloped plate U is designed to have a
predetermined width extending from a center line of the housing to
right and left, the center line extending along the travel
direction.
[0123] The sloped plate may be configured such as a fan-shaped
plate U1 spreading to the both sides at an angle of 30.degree. from
the neighborhood of the front support wheels 227 toward the front
(see FIG. 16(a)), a fan-shaped plate U2 spreading to the both sides
at an angle of 60.degree. toward the front (see FIG. 16(b)), or a
semicircle-shaped plate U3 bordered by a straight line parallel to
a rotation shaft of each front support wheel 227 and by the curved
front lower end of the housing in front of this straight line (see
FIG. 16(c)). Alternatively, an area U4 encompassing the front
support wheels 227 and bordered by the following four lines: a
straight line parallel to the rotation shaft of each front support
wheel 227 whose length is longer than a width of the front support
wheel 227--for example, three times as long as the width of the
front support wheel; two straight lines extending from both ends of
the above-described straight line toward the front; and the curved
front lower end of the housing lengthened between these two
straight lines (see FIG. 16(d)).
[0124] The control plate 215 of the cleaning robot 201 is equipped
with a control circuit for controlling components such as the drive
wheels 229, the rotary brush 209, the side brooms 210, and the
electric fan 222.
[0125] The side plate 202c of the housing 202 is provided at its
rear end with the charging terminals 204 for charging the battery
214. The cleaning robot 201 cleaning while self-traveling inside a
room returns to a charging station 240 placed in the room. The
battery 214, therefore, starts being charged once the charging
terminals 204 come in contact with terminals 241, respectively,
installed on the charging station 240. The charging station 240 is
usually connected with a commercial power supply (e.g., a wall
outlet) installed on a side wall S of the room.
[0126] The battery 214 is charged by the charging station 240
through the charging terminals 204 and supplies an electric power
to components such as the control panel 215, the traveling motors
for driving the drive wheels 229, the drive motor for driving the
rotary brush 209 and the side brooms 210, the electric fan 222, and
the various sensors.
[0127] The dust collection box 230 is usually accommodated in the
middle chamber R2 in the housing 202 and can be pulled out of or
inserted into the middle chamber (see FIG. 17) by opening the cover
203 of the housing 202 to discard the dust collected in the dust
collection box 230.
[0128] The dust collection box 230 includes a dust collection cup
231 having an opening, a filter 233 for covering the opening of the
dust collection cup 231, and a cover 232 for covering the filter
233 and the opening of the dust collection cup 231. The cover 232
and the filter 233 are axially fastened rotatably to a front edge
of the opening of the dust collection cup 231.
[0129] The dust collection cup 231 is provided at its side front
part with an inflow passage 234 and a discharge passage 235. The
inflow passage 234 connects with the suction passage 211 in the
housing 202 in the case where the dust collection box 230 is
accommodated in the middle chamber R2 in the housing 202. The
discharge passage 235 connects with the exhaust passage 212 in the
housing 202 in the case where the dust collection box 230 is
accommodated in the middle chamber R2 in the housing 202.
[0130] The controller controls all functions of the cleaning robot
201. The controller is equipped with the control plate 215 having
the control circuit including a CPU 215a (see FIG. 19) and other
electronic components (not illustrated). The controller also
includes a memory 218 for storing a traveling route 218a, a motor
driver 222a for driving the electric fan 222, and motor drivers
251a for driving traveling motors 251 of the drive wheels 229. The
controller further includes a louver 217 and a control unit 217a
for driving the louver, the louver 217 being provided rotatably in
the vicinity of the exhaust vent 207 in the housing 202.
Furthermore, the controller includes an odor sensor 252 and its
control unit 252a; a humidity sensor 253 and its control unit 253a;
a human sensor 254 and its control unit 254a; a collision sensor
255 and its control unit 255a; and the like.
[0131] The CPU 215a is a central processing unit and sends control
signals individually to the motor drivers 222a and 251a and the
control unit 217a on the basis of program data previously stored in
the memory 218. The CPU 215a also controls the electric fan 222,
the traveling motors 251, and the louver 217 and carries out a
series of a cleaning operation and an ion-blowing operation.
[0132] The CPU 215a controls the memory 218 to receive condition
settings of functions of the cleaning robot 201 programmed by a
user from an operating panel (not illustrated) and to store the
condition settings. This memory 218 is capable of storing the
traveling route 218a of an area where the cleaning robot 201 is
placed. The traveling route 218a indicates the information about a
traveling record of the cleaning robot 201 such as a traveling
pathway or a traveling speed, and the traveling route can be stored
in the memory 218 in two different ways: a user stores a traveling
route in the memory 218 in advance, and the memory 218 records a
traveling route in an automated way while the cleaning robot 201
cleans.
[0133] The odor sensor 252 senses odor around the housing 202.
Usable as the odor sensor 252 are, for example, a
semiconductor-type odor sensor and a contact combustion-type odor
sensor. The odor sensor 252 is disposed on the cleaning robot 201
in such a way as to project outward, for example, from the side
plate 202c or the top board 202b of the housing 202 in order to
sense the odor around the cleaning robot 201. The CPU 215a is
connected to the odor sensor 252 through the control unit 252a and
receives the information about the odor around the housing 2 based
on an output signal from the odor sensor 252.
[0134] The humidity sensor 253 senses humidity around the housing
202. Usable as the humidity sensor 253 are, for example, a
capacitance humidity sensor made of a moisture-sensitive polymer
material and an electric-resistive humidity sensor. The humidity
sensor 253 is disposed on the housing 202 in such a way as to
project outward, for example, from the side plate 202c or the top
board 202b of the housing 2 in order to sense relative humidity
around the cleaning robot 201. The CPU 215a is connected to the
humidity sensor 253 through the control unit 253a and receives the
information about the humidity around the housing 202 based on an
output signal from the humidity sensor 253.
[0135] The traveling route 218a may store in advance, as a specific
location where the cleaning robot 201 is placed, a location where
has odor with a level higher than a threshold level or a location
where has humidity with a level higher than a threshold level. This
allows the CPU 215a to detect the specific location as the stored
location based on an ambient environment of the housing 202.
Namely, the traveling route 218a plays a part as an environment
sensor that senses the ambient environment of the housing 202 in a
similar way to the odor sensor 252 and the humidity sensor 253.
[0136] The human sensor 254 is to sense the presence of a human
with use of, for example, infrared light, ultrasound wave, or
visible light. The human sensor 254 is disposed in such a way as to
project outward, for example, from the side plate 202c or the top
board 202b of the housing 202 in order to sense the human around
the cleaning robot 201. The CPU 215a is connected to the human
sensor 254 through the control unit 254a and receives the existence
information about the human around the housing 2 based on an output
signal from the human sensor 254.
[0137] The collision sensor 255 is disposed, for example, at a
front part of the side plate 202c of the housing 202 to sense a
collision of the cleaning robot 201 with an object while the
cleaning robot travels. The CPU 215a is connected to the collision
sensor 255 through the control unit 255a and receives the existence
information about the object around the housing 202 based on an
output signal from the collision sensor 255.
[0138] The cleaning robot 201 as structured above drives the
electric fan 222, the ion-generating unit 225, the drive wheels
229, the rotary brush 209, and the side brooms 210 at a directive
of the cleaning operation. The housing 202, therefore, sucks in air
containing dust on the floor surface F through the suction vent 206
while self-traveling in a predetermined area as the rotary brush
209, the side brooms 210, the drive wheels 229, and the rear wheel
226 come in contact with the floor surface F. This allows the
rotary brush 209 to rake up the dust on the floor surface F and to
bring the dust to the suction vent 206. This also allows the
rotating side brooms 210 to bring the dust around the suction vent
206 to the suction vent 206.
[0139] The dust-containing air sucked into the housing 202 through
the suction vent 206 passes through the suction passage 211 in the
housing 202 (as illustrated in FIG. 14, along an arrow A1) and
through the inflow passage 234 of the dust collection box 230 and
flows into the dust collection cup 231. The airflow flown into the
dust collection cup 231 flows into a space between the filter 233
and the cover 232 through the filter 233 and is blown into the
exhaust passage 212 in the housing 202 through the discharge
passage 235. In this case, the dust contained in the airflow in the
dust collection cup 231 is filtered through the filter 233 and is
collected in the dust collection cup 231.
[0140] The airflow flown into the exhaust passage 212 in the
housing 202 from the dust collection box 230 flows into the front
chamber R1 (as illustrated in FIG. 14, along an arrow A2) and
passes through a first exhaust passage 224a and a second exhaust
passage 224b (see FIG. 18). The airflow passing through the second
exhaust passage 224b contains ions generated by the ion-generating
unit 225. The ion-containing airflow is blown out obliquely upward
toward the back of the housing through the exhaust vent 207
disposed on the top surface of the housing 2 (as illustrated in
FIG. 14, along an arrow A3). The floor surface F is, therefore,
cleaned; and the ions contained in the airflow blown out of the
cleaning robot 201 sterilize and deodorize the air in the room.
Because the ions are blown out obliquely upward toward the back of
the housing through the exhaust vent 207, the dust on the floor
surface F is prevented from being blown up, with the result that
the air in the room improves cleanness. The ions blown out of the
ion-generating unit 225 may be either negative ions or positive
ions, or the both. In the case where the both negative ions and
positive ions are blown out, it brings about a particularly
excellent effect such as cleanness, sterilization, or deodorization
of the air.
[0141] The airflow passing through the second exhaust passage 224b
may flow partially into the concave 208. Because the airflow flown
into the suction passage 211 from the suction vent 206 contains the
ions, the inside of the dust collection cup 231 in the dust
collection box 230 and the filter 233 can be sterilized and
deodorized. The ion-containing airflow is also capable of
electrically neutralizing the dust and the like and inhibiting the
dust from electrostatically adsorbing to the dust collection cup
231 and the like.
[0142] The cleaning robot 201 travels forward as the both drive
wheels 229 rotate forward in a same direction and travels backward
as the both drive wheels rotate backward in a same direction, and
the cleaning robot rotates on the center line C as the drive wheels
rotate in directions opposite from each other. For example, in the
case where the cleaning robot 201 arrives at a rim of a traveling
region or collides with an object on its way, the drive wheels 229
stop; and then both the drive wheels 229 rotate in directions
opposite from each other, with the result that the cleaning robot
redirects its travel direction. This allows the cleaning robot 201
to self-travel in all around an area where the cleaning robot 201
is placed or in all around a desired area as avoiding the
object.
[0143] The three components of the cleaning robot 201--the both
drive wheels 229 and the rear wheel 226--are configured to come in
contact with the ground so that the weight of the cleaning robot is
distributed in a balanced manner in such a way that the rear wheel
226 is not lifted from the floor surface F upon sudden stop during
forward traveling. In case the cleaning robot 201 suddenly stops
just before a downward staircase during forward traveling, the
cleaning robot 201 is prevented from falling down to the downward
staircase as leaning forward. Each drive wheel 229 includes a
rubber tire fitted onto a groove of a wheel bearer so that the
drive wheels do not skid upon sudden stop.
[0144] Since the dust collection box 230 is disposed above the
rotation shafts of the drive wheels 229, the cleaning robot 201
increased in weight because of the collected dust can still
maintain its weight balance.
[0145] The cleaning robot 201 is capable of carrying out particular
functions based on the information from the environment sensors
such as the odor sensor 252, the humidity sensor 253, the traveling
route 218a, and the human sensor 254. For example, the cleaning
robot 201 is capable of staying in a specified location for a
certain period of time based on an ambient environment sensed by
the environment sensors and blowing the ion-containing airflow
through the exhaust vent 207.
[0146] The cleaning robot 201 returns to the charging station 240
after cleaning. The battery 214, therefore, starts being charged
once the charging terminals 204 come in contact with the terminals
241, respectively.
[0147] The cleaning robot 201 is also capable of driving the
electric fan 222 and the ion-generating unit 225 after returning to
the charging station 240. In this case, the ion-containing airflow
is blown out obliquely upward toward the back of the housing
through the exhaust vent 207; and the ion-containing airflow
ascends along the side wall S and flows along a ceiling and a wall
opposite from the side wall S of the room. The ions, therefore, are
spread throughout the room and can improve the effect such as the
sterilization or the deodorization of the air. The cleaning robot
201 is, therefore, capable of carrying out the ion-blowing
operation only.
[0148] The cleaning robot 201 is provided with an operating member
on its top surface and is capable of carrying out the cleaning
operation and the ion-blowing operation with use of the operating
member. The cleaning robot is also provided with a receiving member
in the housing 202, and the receiving member may be provided with a
transmitter for sending a directive signal to the receiving member
so that the cleaning robot can be remotely controlled. The cleaning
robot 201 may also be remotely controlled by sending a directive
signal from a cellular phone known as a smartphone via the Internet
connection and a router placed in a room.
[0149] This invention may have a variety of varied examples besides
the above-described embodiments. These varied examples should not
be excluded from the scope of this invention. This invention should
include the scope of claims and all varied examples comparable to
those in claims and within the claims.
EXPLANATION OF REFERENCE NUMERALS
[0150] 1: self-traveling ion generator; 2: housing; 2a: bottom
plate; 2b: rear side-plate; 2c: front side-plate; 2d: top cover;
2e: bottom cover; 3: inflow vent; 4: ion-generating unit; 41a, 41b:
ion-discharger; 42: opposite electrode; 43a, 43b: discharge
electrode; 45: main body; 46: terminal; 5: exhaust vent; 6:
battery; 7: electric fan; 8: filter; 9: cover for an inflow vent 3;
10: drive member for driving a cover 9 for an inflow vent 3; 11:
cover for an exhaust vent 5; 12: drive member for driving a cover
11 for an exhaust vent 5; 13: controller; 14: control circuit
board; 15: drive wheel; 15a: rotation shaft; 16: front support
wheel; 17: rear wheel; 18, 19: floor-sensing sensor; 20: charging
terminal; 21: charging station; 22: terminal; 23: CPU; 24: ROM; 25:
RAM; 26: I/O port; 27: driver circuit; 28: memory; 29: odor sensor;
30: humidity sensor; 31: human sensor; 32: collision sensor; 100:
self-traveling electronic apparatus; 101: housing; 102: front
bottom portion; 103: front support wheel; 104: sloped plate; 105:
cover; 106: inflow vent; 107: exhaust vent; 108: drive wheel; 109:
rear wheel; 111: bumper; 201: cleaning robot; 202: housing; 202a:
bottom plate; 202b: top board; 202c: front side-plate; 203: cover;
204: charging terminal; 206: suction vent; 207: exhaust vent; 208:
concave; 209: rotary brush; 210: side broom; 211: suction passage;
212: exhaust passage; 213: floor-sensing sensor; 214: battery; 215:
control circuit board; 215a: CPU; 217: louver; 217a: control unit;
218: memory; 218a: traveling route; 219: floor-sensing sensor; 220:
motor unit (blower); 221: inner housing; 222: electric fan; 222a:
motor driver; 224a: first exhaust passage; 224b: second exhaust
passage; 225: ion-generating unit; 226: rear wheel; 227: front
support wheel; 229: drive wheel; 230: dust collection box; 231:
dust collection cup; 232: cover; 233: filter; 234: inflow passage;
235: discharge passage; 239: divider; 240: charging station; 241:
terminal; 251: traveling motor; 251a: motor driver; 252: odor
sensor; 252a: control unit; 253: humidity sensor; 253a: control
unit; 254: human sensor; 254a: control unit; 255: collision sensor;
255a: control unit; R1: front chamber; R2: middle chamber; R3: rear
chamber
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