U.S. patent application number 15/386864 was filed with the patent office on 2017-04-13 for autonomous travel-type cleaner.
The applicant listed for this patent is Panasonic Intellectual Property Management Co., Ltd.. Invention is credited to Tatsuo KIKKAWA, Chizuyo MATSUMOTO, Toshifumi MIYAHARA, Masakazu ONDA.
Application Number | 20170100007 15/386864 |
Document ID | / |
Family ID | 55018763 |
Filed Date | 2017-04-13 |
United States Patent
Application |
20170100007 |
Kind Code |
A1 |
MATSUMOTO; Chizuyo ; et
al. |
April 13, 2017 |
AUTONOMOUS TRAVEL-TYPE CLEANER
Abstract
Self-travelling vacuum cleaner (10) has body (20) having suction
port (101), drive unit (30), and an electric fan. Since suction
port (101) is disposed in a maximum width part of body (20) closer
than drive unit (30), self-travelling vacuum cleaner (10) can suck
a trash on a corner in a target region to be cleaned easily and can
move from the corner to another area quickly.
Inventors: |
MATSUMOTO; Chizuyo; (Shiga,
JP) ; KIKKAWA; Tatsuo; (Shiga, JP) ; ONDA;
Masakazu; (Shiga, JP) ; MIYAHARA; Toshifumi;
(Shiga, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Panasonic Intellectual Property Management Co., Ltd. |
Osaka |
|
JP |
|
|
Family ID: |
55018763 |
Appl. No.: |
15/386864 |
Filed: |
December 21, 2016 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
PCT/JP2015/003242 |
Jun 29, 2015 |
|
|
|
15386864 |
|
|
|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A47L 9/2894 20130101;
A47L 9/28 20130101; A47L 9/2857 20130101; A47L 2201/022 20130101;
A47L 9/02 20130101; A47L 9/2815 20130101; A47L 9/2826 20130101;
A47L 9/2873 20130101; A47L 9/009 20130101; A47L 9/0488 20130101;
A47L 9/1409 20130101; A47L 9/0477 20130101; A47L 2201/04 20130101;
A47L 9/22 20130101; A47L 9/2884 20130101; A47L 9/00 20130101; A47L
9/0472 20130101 |
International
Class: |
A47L 9/00 20060101
A47L009/00; A47L 9/14 20060101 A47L009/14; A47L 9/28 20060101
A47L009/28; A47L 9/04 20060101 A47L009/04; A47L 9/22 20060101
A47L009/22 |
Foreign Application Data
Date |
Code |
Application Number |
Jun 30, 2014 |
JP |
2014-135124 |
Jul 2, 2014 |
JP |
2014-136524 |
Mar 13, 2015 |
JP |
2015-051343 |
Claims
1. A self-travelling vacuum cleaner comprising: a body having a
suction port; a drive unit which, in operation, moves the body; and
an electric fan configured to suck air inside of the body, and a
caster provided on a bottom side of body, wherein the body has two
apex parts which define a maximum width of the body, the suction
port is disposed at a part having the maximum width of the body on
a bottom side of the body, the suction port is disposed at a part
closer to the part having the maximum width of body than the drive
unit, and the caster is disposed at a part farther from the part
having the maximum width of body than the drive unit.
2. The self-travelling vacuum cleaner according to claim 1, wherein
the caster is disposed at a rear side of the body farther than the
drive unit with respect to the part having the maximum width of the
body.
3. The self-travelling vacuum cleaner according to claim 1, further
comprising a side brush disposed on the bottom side of the body,
wherein a part of a rotation track of the side brush overlaps the
part having the maximum width of the body.
4. The self-travelling vacuum cleaner according to claim 1, wherein
each of angles formed between a first tangent and a second tangent
and between a first tangent and a third tangent is an acute angle,
wherein the first tangent is a tangent of an outer periphery of the
body in a plane view and is parallel to a line connecting apexes of
the two apex parts of the body, and the second tangent is another
tangent of the outer periphery of the body in the plane view and
makes contact with the outer periphery at a point on the rear side
of the body relative to the line connecting the apexes of the two
apex parts of the body, and the third tangent is still another
tangent of the outer periphery of the body in the plane view and
makes contact with the outer periphery at another point at the rear
side of the body relative to the line connecting the apexes of the
two apex parts of the body.
5. The self-travelling vacuum cleaner according to claim 1, wherein
an outer peripheral surface has a curved surface with which the
first tangent makes contact, the curved surface being protruded
outwardly in the plane view of the body, each of the two apex parts
of the body has a round shape, and a curvature of the curved
surface of the outer peripheral surface of the body is smaller than
curvatures of the round shapes of two apex parts.
6. The self-travelling vacuum cleaner according to claim 1, further
comprising a charge terminal disposed at a part closer to the part
having the maximum width of the body than the drive unit.
7. The self-travelling vacuum cleaner according to claim 1, further
comprising a power source unit disposed at a part farther from the
part having the maximum width of the body than the drive unit.
8. The self-travelling vacuum cleaner according to claim 1, wherein
the drive unit has a first drive unit and a second drive unit, each
of the first drive unit and the second drive unit has a suspension
spring, and elastic modulus of one of the suspension springs is set
to be larger than elastic modulus of the other suspension
spring.
9. The self-travelling vacuum cleaner according to claim 1, further
comprising a main brush disposed in the suction port and a brush
driving motor configured to apply torque to the main brush, wherein
the body has a plurality of suspension springs, the drive unit has
a first wheel and a second wheel, the second wheel is disposed at a
part farther from the brush driving motor than the first wheel, and
elastic modulus of one of the plurality of suspension springs which
is configured to apply reaction force to the first wheel is larger
than elastic modulus of another of the plurality of suspension
springs which is configured to apply reaction force to the second
wheel.
Description
RELATED APPLICATIONS
[0001] This application is a continuation of PCT/JP2015/003242
filed on Jun. 29, 2015, which claims priority to JP2014-135124
filed on Jun. 30, 2014, JP2014-136524 filed Jul. 2, 2014 and
JP2015-051343 filed Mar. 13, 2015, the entire contents of which are
incorporated herein by reference.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] The present invention relates to a self-travelling vacuum
cleaner.
[0004] 2. Description of the Related Art
[0005] Generally, a self-travelling vacuum cleaner has a body in
which various components are mounted, a driving device which moves
the body, a main brush disposed at a suction port formed on the
body so as to collect a trash on a cleaning floor, and a sucking
device which is configured to suck the trash from the suction port
of the body. As disclosed in many literatures such as PTL 1 and PTL
2, a body of a conventional self-travelling vacuum cleaner is
formed in a substantially circular shape. The self-travelling
vacuum cleaner having the circular shaped body has high turning
ability.
[0006] On the other hand, according to the conventional
self-travelling vacuum cleaner having the circular shaped body,
when the self-travelling vacuum cleaner is moved to the limit to a
corner area in a target region to be cleaned, a relatively large
gap is generated between the suction port of the body and an apex
in the corner area. Thus, the trash on the corner area in the
target region to be cleaned is not sufficiently sucked by the
sucking device.
[0007] In order to solve this problem, an improved conventional
self-travelling vacuum cleaner has one or more side brushes
disposed on a bottom surface of a body. For example, such an
improved self-travelling vacuum cleaner is disclosed in PTLs 3 to
6. In the improved self-travelling vacuum cleaner, the side brush
has bristle bundles which protrude from an outline of the body
toward the outside. The bristle bundles collect the trash outside
of the outline of the body to the suction port of the body.
Accordingly, the self-travelling vacuum cleaner disclosed in PTLs 3
to 6 can suck much more trashes on the corner area in the target
region to be cleaned.
[0008] However, according to the self-travelling vacuum cleaner
disclosed in PTLs 3 to 6, sucking ability, that is an ability to
suck the trash on the corner area in the target region to be
cleaned (hereinafter, merely also referred to as "corner cleaning
ability"), is mainly defined by an aspect of the side brush.
However, the aspect of the bristle bundles is determined under
various restrictions. For example, when a length of the bristle
bundles is set to be longer, the bristle bundles are easily caught
by an obstacle, or the bristle bundles interfere with other
component in the self-travelling vacuum cleaner such as a driving
device, and therefore travelling of the self-travelling vacuum
cleaner might be disturbed. Accordingly, the corner cleaning
ability obtained by the side brush is also influenced by such
restriction.
[0009] Further, when the trash on the corner area in the target
region to be cleaned is collected by the side brush, although the
side brush can sweep the trash on the corner area, it is difficult
to deliver all the swept trash to the suction port directly, and
the trash diffused by the side brush is remained on the target
region to be cleaned without being sucked from the suction
port.
[0010] Thus, the self-travelling vacuum cleaner, which collects the
trash on the corner area in the target region to be cleaned by the
side brush, as disclosed in PTLs 3 to 6, has a room for improvement
in view of the corner cleaning ability.
[0011] On the other hand, PTL 7 discloses an example of a
self-travelling vacuum cleaner in which the corner cleaning ability
is further improved. The self-travelling vacuum cleaner disclosed
in PTL 7 has a body formed in substantially D-shape, a suction port
formed on a bottom side of the body, and a pair of side brushes
mounted to a corner of a bottom surface of the body. When the
self-travelling vacuum cleaner disclosed in PTL 7 is located at the
corner area in the target region to be cleaned, a shaft of the side
brush and the suction port of the body are located further closer
to the apex in the corner area compared to, for example, when the
self-travelling vacuum cleaner disclosed in PTLs 3 to 6 is located
at the corner area. Thus, the body formed in the D-shape appears to
be able to suck much more trashes than the conventional
self-travelling vacuum cleaner disclosed in PTLs 3 to 6.
[0012] However, when the self-travelling vacuum cleaner disclosed
in PTL 7 is located at the corner area in the target region to be
cleaned, since a front surface and a side surface of the body
formed in the D-shape make contact with a wall forming the corner
area or approach the wall closer to the extent of making contact
with the wall, the body cannot pivotally rotate at the position.
Thus, the self-travelling vacuum cleaner disclosed in PTL 7 indeed
has a relatively large restriction in a track when the
self-travelling vacuum cleaner moves from the corner area to other
area after cleaning the corner area in the target region to be
cleaned, and therefore it takes much time to move out of the corner
area.
CITATION LIST
Patent Literatures
[0013] PTL 1: Unexamined Japanese Patent Publication No.
2008-296007
[0014] PTL 2: Japanese Translation of PCT Publication No.
2014-504534
[0015] PTL 3: Unexamined Japanese Patent Publication No.
2011-212444
[0016] PTL 4: Unexamined Japanese Patent Publication No.
2014-073192
[0017] PTL 5: Unexamined Japanese Patent Publication No.
2014-094233
[0018] PTL 6: Japanese Translation of PCT Publication No.
2014-512247
[0019] PTL 7: Unexamined Japanese Patent Publication No.
2014-061375
SUMMARY OF THE INVENTION
[0020] In view of the above-described problem of the conventional
self-travelling vacuum cleaner, an object of the present invention
is to provide a self-travelling vacuum cleaner having high cleaning
efficiency capable of more reliably and directly sucking a trash on
a corner area in a target region to be cleaned from a suction port
and quickly moving from the corner area in the target region to be
cleaned to other area.
[0021] Specifically, a self-travelling vacuum cleaner of the
present invention has a body having a suction port, a drive unit
which moves the body, and an electric fan. The body has two apex
parts which define a maximum width of the body. The suction port is
disposed on a bottom side of the body and at a part closer to the
maximum width of the body than the drive unit.
[0022] With such configuration, trash on a corner in a target
region to be cleaned can be sucked more reliably and directly from
the suction port and the self-travelling vacuum cleaner can move
from the corner in the target region to be cleaned to other area
quickly, and therefore cleaning efficiency can be enhanced.
BRIEF DESCRIPTION OF THE DRAWINGS
[0023] FIG. 1 is a plane view of a self-travelling vacuum cleaner
according to a first exemplary embodiment of the present
invention.
[0024] FIG. 2 is a bottom view of the self-travelling vacuum
cleaner according to the first exemplary embodiment of the present
invention.
[0025] FIG. 3 is a block diagram illustrating a function of an
electric system of the self-travelling vacuum cleaner according to
the first exemplary embodiment of the present invention.
[0026] FIG. 4 is a plane view illustrating movement of a
conventional self-travelling vacuum cleaner.
[0027] FIG. 5 is a plane view illustrating movement of the
self-travelling vacuum cleaner according to the first exemplary
embodiment of the present invention.
[0028] FIG. 6 is other plane view illustrating the movement of the
self-travelling vacuum cleaner according to the first exemplary
embodiment of the present invention.
[0029] FIG. 7 is another plane view illustrating the movement of
the self-travelling vacuum cleaner according to the first exemplary
embodiment of the present invention.
[0030] FIG. 8 is a plane view of a self-travelling vacuum cleaner
according to a second exemplary embodiment of the present
invention.
[0031] FIG. 9 is a bottom view of the self-travelling vacuum
cleaner according to the second exemplary embodiment of the present
invention.
[0032] FIG. 10 is a perspective view of a self-travelling vacuum
cleaner according to a third exemplary embodiment of the present
invention.
[0033] FIG. 11 is a plane view of the self-travelling vacuum
cleaner according to the third exemplary embodiment of the present
invention.
[0034] FIG. 12 is a plane view illustrating an inside of the
self-travelling vacuum cleaner according to the third exemplary
embodiment of the present invention.
[0035] FIG. 13 is a bottom view of the self-travelling vacuum
cleaner according to the third exemplary embodiment of the present
invention.
[0036] FIG. 14 is a side view of the self-travelling vacuum cleaner
according to the third exemplary embodiment of the present
invention.
[0037] FIG. 15 is an exploded perspective view of a part in the
configuration of the self-travelling vacuum cleaner when seen from
a front side according to the third exemplary embodiment of the
present invention.
[0038] FIG. 16 is an exploded perspective view of a part in the
configuration of the self-travelling vacuum cleaner when seen from
a bottom side according to the third exemplary embodiment of the
present invention.
[0039] FIG. 17 is a cross-sectional view taken along line XVII-XVII
in FIG. 11.
[0040] FIG. 18 is a cross-sectional view taken along line XVII-XVII
in FIG. 11, in which a part in the configuration of the
self-travelling vacuum cleaner is separated according to the third
exemplary embodiment of the present invention.
[0041] FIG. 19 is a cross-sectional view taken along line XIX-XIX
in FIG. 14.
[0042] FIG. 20 is a perspective view illustrating an inner
structure of a lower unit of the self-travelling vacuum cleaner
according to the third exemplary embodiment of the present
invention.
[0043] FIG. 21 is a perspective view of the inner structure of the
lower unit of the self-travelling vacuum cleaner when seen from a
side according to the third exemplary embodiment of the present
invention.
[0044] FIG. 22 is a perspective view of the inner structure of the
lower unit of the self-travelling vacuum cleaner when seen from a
front side according to the third exemplary embodiment of the
present invention.
[0045] FIG. 23 is another perspective view of the inner structure
of the lower unit of the self-travelling vacuum cleaner when seen
from the front side according to the third exemplary embodiment of
the present invention.
[0046] FIG. 24 is a perspective view of an upper unit of the
self-travelling vacuum cleaner according to the third exemplary
embodiment of the present invention.
[0047] FIG. 25 is a bottom view of the upper unit of the
self-travelling vacuum cleaner according to the third exemplary
embodiment of the present invention.
[0048] FIG. 26 is a block diagram illustrating a function of an
electric system of the self-travelling vacuum cleaner according to
the third exemplary embodiment of the present invention.
[0049] FIG. 27 is a perspective view of a trash box unit of a
self-travelling vacuum cleaner according to a fourth exemplary
embodiment of the present invention.
[0050] FIG. 28 is a cross-sectional view of the trash box unit
according to the fourth exemplary embodiment of the present
invention.
[0051] FIG. 29 is a plane view of a self-travelling vacuum cleaner
according to a first modified example of the present invention.
[0052] FIG. 30 is a plane view of a self-travelling vacuum cleaner
according to a second modified example of the present
invention.
[0053] FIG. 31 is a plane view of a self-travelling vacuum cleaner
according to a third modified example of the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0054] Hereinafter, exemplary embodiments of the present invention
are described with reference to the drawings. However, the present
invention is not limited to the exemplary embodiments.
First Exemplary Embodiment
[0055] FIG. 1 is a plane view of self-travelling vacuum cleaner 10
according to a first exemplary embodiment of the present invention.
FIG. 2 is a bottom view of self-travelling vacuum cleaner 10
according to the first exemplary embodiment of the present
invention.
[0056] As shown in FIG. 1, self-travelling vacuum cleaner 10 is a
robot type vacuum cleaner which autonomously travels on a cleaning
surface of a target region to be cleaned (hereinafter, referred to
as "target region to be cleaned" or merely "target region") and
sucks a trash on the cleaning surface. The target region to be
cleaned denotes, for example, a room, and the cleaning surface
denotes, for example, a floor of the room.
[0057] According to the present exemplary embodiment,
self-travelling vacuum cleaner 10 has body 20 in which various
components are mounted, drive unit 30 (see FIG. 2) which drives
body 20, cleaning unit 40 (see FIG. 2) which collects a trash in
the target region to be cleaned, and sucking unit 50 which is
configured to suck the trash into an inside of body 20.
Self-travelling vacuum cleaner 10 may further have trash box unit
60 which stores the trash sucked by sucking unit 50, and control
unit 70 which controls at least drive unit 30, cleaning unit 40 and
sucking unit 50.
[0058] Self-travelling vacuum cleaner 10 according to the present
exemplary embodiment may further have caster 90 which rotates in
accordance with rotation of drive unit 30, and power source unit 80
which supplies electric power to drive unit 30, cleaning unit 40,
sucking unit 50 and the like.
[0059] An upper side in each of FIG. 1 and FIG. 2 is a front side
of body 20, and a lower side in each of FIG. 1 and FIG. 2 is a rear
side of body 20. A width direction of self-travelling vacuum
cleaner 10 is defined based on a forward movement direction (upper
side in FIG. 1) of self-travelling vacuum cleaner 10. For example,
in the present exemplary embodiment, the width direction of
self-travelling vacuum cleaner 10 is defined by a direction
(lateral direction in FIG. 1 and FIG. 2) substantially orthogonal
to the forward movement direction of self-travelling vacuum cleaner
10.
[0060] In the present exemplary embodiment, a pair of drive units
30 are disposed respectively at a left side and a right side
(hereinafter, left side drive unit 30 may also be referred to as a
first drive unit, and right side drive unit 30 may also be referred
to as a second drive unit) with respect to a center of body 20 in
the width direction in a plane view. Further, a number of drive
unit 30 is not limited to two, and it may be one or three or
more.
[0061] Further, body 20 has lower unit 100 (see FIG. 2) which forms
an outer shape of a lower side of body 20, and upper unit 200 (see
FIG. 1) which forms an outer shape of an upper side of body 20.
Body 20 is formed by combining lower unit 100 and upper unit 200.
As shown in FIG. 1, upper unit 200 has cover 210 which forms a main
part of upper unit 200, lid 220 disposed in an openable and
closable manner against cover 210, and bumper 230 displaceable
against cover 210.
[0062] A plane shape of body 20 is preferably the Reuleaux triangle
shape, or the Reuleaux polygonal shape which is substantially the
same shape as the Reuleaux triangle, or a shape in which apex parts
of the Reuleaux triangle or the Reuleaux polygonal shape are formed
in a round shape (circular arc R shown in FIG. 11 and FIG. 31).
With such shape, the same or a similar characteristic to a
geometrical characteristic of the Reuleaux triangle can be applied
to body 20. Namely, since the Reuleaux triangle has a curve of
constant width, the Reuleaux triangle can rotate while being
inscribed inside a rectangle having a constant width (namely, a
length of a side of a regular triangle inscribed in the Reuleaux
triangle). With this, body 20 can draw a track of a rectangle
(substantially square). In the present exemplary embodiment, as
shown in FIG. 1, body 20 has substantially the same plane shape as
the Reuleaux triangle.
[0063] Further, body 20 has a plurality of outer peripheral
surfaces and a plurality of apex parts. In the present exemplary
embodiment, a plurality of the outer peripheral surfaces include
front surface 21 disposed at the forward movement side (upper side
in FIG. 1) of self-travelling vacuum cleaner 10, right side surface
22 disposed at a right and rear side with respect to front surface
21, and left side surface 22 disposed at a left and rear side with
respect to front surface 21 in the plan view of body 20. Further,
in the present exemplary embodiment, front surface 21 has a curve
surface protruded outwardly. Bumper 230 may be formed on the curve
surface protruded outwardly. Each side surface 22 has a curve
surface protruded outwardly at least in a part of side surface 22.
In the present exemplary embodiment, the curve surface protruded
outwardly is formed on a side part of bumper 230 and a side part of
cover 210.
[0064] In the present exemplary embodiment, a plurality of the apex
parts include right side front apex part 23 defined by front
surface 21 and right side surface 22, and left side front apex part
23 defined by front surface 21 and left side surface 22. A
plurality of the apex parts may further include rear apex part 24
defined by right side surface 22 and left side surface 22. As shown
in FIG. 1, each of the angles formed between tangent L1 of front
surface 21 and tangent L2 of side surface 22 and between tangent L1
of front surface 21 and tangent L3 of side surface 22 is an acute
angle.
[0065] A maximum width of body 20 is defined by a distance between
apexes of a plurality of the apex parts of body 20. In the present
exemplary embodiment, the maximum width of body 20 is defined by
right side front apex part 23 and left side front apex part 23.
According to an example shown in FIG. 1, for example, the maximum
width of body 20 is defined by a distance between an apex of right
side front apex part 23 and an apex of the left side front apex
part 23, or a distance between two apexes among three apexes of the
Reuleaux triangle.
[0066] Further, in body 20, a part on and closer to line W
(hereinafter, referred to as "maximum width line W of body 20")
connecting the apex of right side front apex part 23 and the apex
of left side front apex part 23 is called as "a part having the
maximum width of body 20" or "maximum width part of body 20".
Further, "a part closer to maximum width line W of body 20" and "a
part near maximum width line W of body 20" means a part near
maximum width line W of body 20, namely a part between maximum
width line W of body 20 and a center of gravity G (see FIG. 2) of
self-travelling vacuum cleaner 10 and a part between maximum width
line W of body 20 and front surface 21, more specifically a part
between maximum width line W of body 20 and a front end of drive
unit 30 in the forward movement direction of body 20 and a part
between maximum width line W of body 20 and front surface 21.
[0067] Further, the maximum width part of body 20 is preferably set
to a part closer to front surface 21 of body 20. Further, an
extending direction of maximum width line W of body 20 is
preferably set to be substantially orthogonal to the forward
movement direction of body 20.
[0068] As shown in FIG. 2, body 20 further has suction port 101 for
sucking a trash to an inside of body 20. Suction port 101 is formed
on a bottom surface of lower unit 100 of body 20. Suction port 101
is formed in a laterally elongate shape, preferably in a
rectangular shape or a substantially rectangular shape. Further,
the shape of suction port 101 is not limited to this, but may be an
oval shape, a trapezoid shape, and a shape curved along the outer
peripheral shape of body 20, etc. In the present exemplary
embodiment, suction port 101 has a rectangular shape. Further, in
the present exemplary embodiment, suction port 101 is disposed on
the bottom surface of lower unit 100 of body 20 such that a
longitudinal direction of suction port 101 is extended
substantially in the width direction of body 20, and a short
direction of suction port 101 is extended substantially in a
front-rear direction of body 20.
[0069] Further, suction port 101 is formed on the bottom surface of
lower unit 100 of body 20 at a part closer to the part having the
maximum width of body 20, and more preferably at a part closer to
maximum width line W of body 20. This positional relationship is
specifically defined by a positional relationship of suction port
101 against other components of self-travelling vacuum cleaner 10.
For example, it is defined by one or both of the following two
kinds of positional relationships:
[0070] In a first positional relationship, suction port 101 is
located at a position closer to the front side of the outer
periphery of body 20 than the center of gravity G (see FIG. 2) of
self-travelling vacuum cleaner 10. More specifically, a center line
M (hereinafter, referred to as "center line of suction port 101 in
the longitudinal direction) of suction port 101 which extends
substantially in the longitudinal direction of suction port 101 is
located at a position closer to the front side of the outer
periphery of body 20 than the center of gravity G (see FIG. 2) of
self-travelling vacuum cleaner 10, or a front part of body 20, or
the maximum width part of body 20. Further, the center line of
suction port 101 in the longitudinal direction may be located at a
part closer to front surface 21 than maximum width line W of body
20.
[0071] In a second positional relationship, suction port 101 is
located at a part closer to maximum width line W of body 20 than
drive unit 30, and preferably at a part on or a part closer to
maximum width line W of body 20, and more preferably at a part
closer to front surface 21 than maximum width line W of body
20.
[0072] Further, in the present exemplary embodiment, a width of
suction port 101 in the longitudinal direction is set to be wider
than an inner distance between right side drive unit 30 and left
side drive unit 30. Such configuration can be achieved, for
example, by the second positional relationship of suction port 101
described above. With such configuration, suction port 101 can be
formed more widely, and therefore the trash can be sucked more
reliably and directly from suction port 101 and an amount of the
trash sucked by sucking unit 50 described below can be
increased.
[0073] Next, drive unit 30 is described.
[0074] As shown in FIG. 2, each drive unit 30 is disposed on a
bottom side of lower unit 100 and has a plurality of elements such
as wheel 33 which travels on the cleaning surface. According to the
present exemplary embodiment, each drive unit 30 has travel motor
31 which applies torque to wheel 33, and housing 32 which houses
travel motor 31, in addition to wheel 33 which travels on the
cleaning surface. Each wheel 33 is housed in a recess part formed
on lower unit 100 and supported by lower unit 100 in a rotatable
manner with respect to lower unit 100.
[0075] Each wheel 33 is disposed at a position closer to the outer
periphery of body 20 in the width direction than travel motor 31
which applies torque to each wheel 33. With such configuration, a
distance between right side wheel 33 and left side wheel 33 is
longer than that of a configuration in which each wheel 33 is
disposed at a position closer to the center of body 20 in the width
direction than travel motor 31, and therefore stability of body 20
can be improved.
[0076] A driving system of self-travelling vacuum cleaner 10
according to the present exemplary embodiment is a facing two
wheels type. Namely, right side drive unit 30 and left side drive
unit 30 are arranged so as to face each other in the width
direction of body 20. Further, in the present exemplary embodiment,
as shown in FIG. 2, rotation axis H of right side wheel 33 and
rotation axis H of left side wheel 33 are arranged to be
substantially coaxial.
[0077] A distance between rotation axis H and the center of gravity
G of self-travelling vacuum cleaner 10 is defined for example such
that self-travelling vacuum cleaner 10 has a predetermined turning
ability. The predetermined turning ability means that body 20 can
draw the same or a similar track to a rectangular track formed by
an outline of the Reuleaux triangle. According to the present
exemplary embodiment, a position of rotation axis H is set at a
position closer to the rear side of the outer periphery of body 20
than the center of gravity G of self-travelling vacuum cleaner 10,
and a distance between rotation axis H and the center of gravity G
is set to be a predetermined distance. According to self-travelling
vacuum cleaner 10 of the facing two wheels type, with such
configuration, the track described above can be formed by using
contact between body 20 and an object around.
[0078] Next, cleaning unit 40 is described.
[0079] As shown in FIG. 2, cleaning unit 40 is disposed inside and
outside of body 20, and has a plurality of elements such as brush
driving motor 41 and so on. According to the present exemplary
embodiment, cleaning unit 40 has gear box 42, and main brush 43
disposed in suction port 101 of body 20 in addition to brush
driving motor 41 disposed inside of body 20 (left side of suction
port 101).
[0080] Brush driving motor 41 and gear box 42 are mounted to lower
unit 100. Gear box 42 is connected to an output shaft of brush
driving motor 41 and main brush 43. Gear box 42 transmits torque of
brush driving motor 41 to main brush 43.
[0081] Main brush 43 has a length substantially equal to a length
of suction port 101 in longitudinal direction. Main brush 43 is
rotatably supported against lower unit 100 by a shaft receiving
part. The shaft receiving part is formed, for example, on one or
both of gear box 42 and lower unit 100. According to the present
exemplary embodiment, a rotation direction of main brush 43 is set
such that its rotation track at a side of the cleaning surface is
along a direction from a front side to a rear side of body 20 as
shown by an arrow AM in FIG. 14 illustrating a side view of
self-travelling vacuum cleaner 10.
[0082] Next, sucking unit 50 is described.
[0083] As shown in FIG. 1, sucking unit 50 is disposed inside of
body 20, and has a plurality of elements such as fan case 52 and so
on. According to the present exemplary embodiment, sucking unit 50
is disposed at a rear side of trash box unit 60 and at a front side
of power source unit 80 described below. Sucking unit 50 has fan
case 52 mounted to lower unit 100 (see FIG. 2), and electric fan 51
disposed inside fan case 52.
[0084] Electric fan 51 sucks air inside of trash box unit 60 and
discharges the air toward an outside of the electric fan 51. The
air discharged from electric fan 51 is passed through a space
inside of fan case 52 and a space around fan case 52 inside of body
20, and is exhausted to the outside of body 20.
[0085] Next, trash box unit 60 is described.
[0086] As shown in FIG. 2, trash box unit 60 is disposed inside of
body 20 at a rear side of main brush 43 and at a front side of
sucking unit 50 between drive units 30. Body 20 and trash box unit
60 have a detachable structure in which a user can arbitrarily
select a state in which trash box unit 60 is mounted to body 20 and
a state in which trash box unit 60 is detached from body 20.
[0087] Next, control unit 70 is described.
[0088] As shown in FIG. 1, control unit 70 is disposed inside of
body 20 at a rear side of sucking unit 50. As shown in FIG. 1 and
FIG. 2, self-travelling vacuum cleaner 10 may further have a
plurality of sensors. According to the present exemplary
embodiment, a plurality of the sensors include obstacle detecting
sensor 71 (see FIG. 1) which detects an obstacle in front of body
20, and distance measuring sensor 72 (see FIG. 1) which detects a
distance between an object around body 20 and body 20. A plurality
of the sensors further include collision detecting sensor 73 (see
FIG. 1) which detects a collision between body 20 and the object
around, and a plurality of floor detecting sensors 74 (see FIG. 2)
which detect the cleaning surface below the bottom surface of body
20. Each of obstacle detecting sensor 71, distance measuring sensor
72, collision detecting sensor 73, and floor detecting sensor 74
sends a detection signal to control unit 70.
[0089] For example, an ultrasonic wave sensor is used for obstacle
detecting sensor 71. Obstacle detecting sensor 71 has a
transmitting part and a receiving part. For example, an infrared
sensor is used for distance measuring sensor 72 and floor detecting
sensor 74. Each of distance measuring sensor 72 and floor detecting
sensor 74 has a light emitting part and a light receiving part. For
example, a contact type displacement sensor is used for collision
detecting sensor 73. For example, collision detecting sensor 73 has
a switch which is turned on when bumper 230 is pushed against cover
210.
[0090] As shown in FIG. 1, in the present exemplary embodiment,
each of distance measuring sensors 72 is respectively arranged at a
right side and a left side of body 20 with respect to the center in
the width direction in a plane view. Right side distance measuring
sensor 72 is disposed at a right side of front apex part 23 and
emits light toward a diagonally forward right direction of body 20.
Left side distance measuring sensor 72 is disposed at a left side
of front apex part 23 and emits light toward a diagonally forward
left direction of body 20. With such configuration, when
self-travelling vacuum cleaner 10 turns, a distance between an
object around closest to the outline of body 20 and body 20 can be
detected.
[0091] As shown in FIG. 2, a plurality of floor detecting sensors
74 are arranged respectively, for example, at a position closer to
the front side of the outer periphery of body 20 and at a position
closer to the rear side of the outer periphery of body 20 than
drive unit 30.
[0092] Next, power source unit 80 is described.
[0093] Self-travelling vacuum cleaner 10 may further have power
source unit 80 which supplies electric power to drive unit 30,
cleaning unit 40, sucking unit 50, obstacle detecting sensor 71,
distance measuring sensor 72, collision detecting sensor 73, and
floor detecting sensor 74. Power source unit 80 is disposed at a
part on the rear side of the body farther than the center of
gravity G of self-travelling vacuum cleaner 10 and at a part on the
rear side of body 20 farther than to sucking unit 50. Power source
unit 80 has a plurality of elements such as power source case 81
and the like. According to the present exemplary embodiment, power
source unit 80 has power source case 81 mounted to lower unit 100,
battery 82 housed in power source case 81, and main switch 83 which
switches power supply and interruption of the power supply to each
element from power source unit 80. For example, a secondary battery
is used for battery 82.
[0094] Next, a controlling method of self-travelling vacuum cleaner
10 by control unit 70 is described.
[0095] FIG. 3 is a block diagram illustrating a function of an
electric system of self-travelling vacuum cleaner 10.
[0096] Control unit 70 is disposed on power source unit 80 (see
FIG. 1 and FIG. 2) inside of body 20 and electrically connected to
power source unit 80. Control unit 70 is further electrically
connected to obstacle detecting sensor 71, distance measuring
sensor 72, collision detecting sensor 73, floor detecting sensor
74, a pair of travel motors 31, brush driving motor 41, and
electric fan 51.
[0097] Control unit 70 determines whether an object, which
interferes the traveling of self-travelling vacuum cleaner 10,
exists or not in a predetermined range in front of body 20 based on
a detection signal input from obstacle detecting sensor 71. Control
unit 70 calculates a distance between the object which exists
around front apex part 23 of body 20 and the outline of body 20
based on a detection signal input from distance measuring sensor
72.
[0098] Control unit 70 determines whether body 20 collides with the
object around or not based on a detection signal input from
collision detecting sensor 73. Control unit 70 judges whether the
cleaning surface in the target region to be cleaned exists or not
under body 20 based on a detection signal input from floor
detecting sensor 74.
[0099] Control unit 70 controls travel motor 31, brush driving
motor 41, and electric fan 51 by using one or more results of the
judgment or the calculation described above such that the cleaning
surface in the target region is cleaned by self-travelling vacuum
cleaner 10.
[0100] FIG. 4 is a plane view illustrating movement of conventional
self-travelling vacuum cleaner 900.
[0101] In FIG. 4, room RX which is the target region to be cleaned
has, for example, corner area R3 formed by first wall R1 and second
wall R2. According to an example shown in FIG. 4, corner area R3
has a substantially right-angled corner, for example. When
self-travelling vacuum cleaner 900 reaches to corner area R3,
self-travelling vacuum cleaner 900 cannot cover apex part R4 of
corner area R3. Thus, a relatively large space is generated between
suction port 910 of self-travelling vacuum cleaner 900 and apex
part R4. Here, in a case where a side brush is mounted in
self-travelling vacuum cleaner 900, it is possible to sweep the
trash on apex part R4 by the side brush. However, since the trash
on apex part R4 is swept by rotation of side brush and at the same
time the trash is diffused around, the trash directly sucked from
suction port 910 distantly disposed from apex part R4 is merely a
part of the trashes on apex part R4.
[0102] Next, movement of self-travelling vacuum cleaner 10
according to the present exemplary embodiment when self-travelling
vacuum cleaner 10 cleans corner area R3 is described.
[0103] FIGS. 5 to 7 are plane views illustrating the movement of
self-travelling vacuum cleaner 10 which cleans corner area R3
according to the present exemplary embodiment.
[0104] Control unit 70, for example, moves self-travelling vacuum
cleaner 10 to clean corner area R3 in room RX as described below.
Namely, as shown in FIG. 5, control unit 70 moves self-travelling
vacuum cleaner 10 along second wall R2 toward first wall R1 while
body 20 faces first wall R1. At this time, self-travelling vacuum
cleaner 10 travels while one front apex part 23 makes contact with
second wall R2 or one front apex part 23 keeps a state to be closer
to the extent of making contact with second wall R2.
[0105] As shown in FIG. 6, control unit 70 temporarily stops the
travelling of self-travelling vacuum cleaner 10 at a position where
front surface 21 of body 20 makes contact with first wall R1 or
front surface 21 is to be closer to the extent of making contact
with first wall R1. At this time, a part of front apex part 23
covers a part of apex part R4 of corner area R3. In this way, in
self-travelling vacuum cleaner 10 according to the present
exemplary embodiment, suction port 101 of body 20 is to be closer
to apex part R4 of corner area R3 compared to conventional
self-travelling vacuum cleaner 900 (see FIG. 4) located closer to
the limit to corner area R3.
[0106] Next, as shown in FIG. 7, control unit 70 makes
self-travelling vacuum cleaner 10 repeatedly perform movement in
which front surface 21 is turned while making contact with first
wall R1 and movement in which right side surface 22 is turned while
making contact with second wall R2. Thus, self-travelling vacuum
cleaner 10 is turned toward a left direction while changing a
position of the center of gravity G by (i) reaction force applied
to body 20 caused by contact between front surface 21 and first
wall R1 and (ii) reaction force applied to body 20 caused by
contact between side surface 22 and second wall R2. This turning
movement is a similar to a part of movement of the Reuleaux
triangle forming a rectangular track.
[0107] When self-travelling vacuum cleaner 10 is turned at a
predetermined angle from a state in which self-travelling vacuum
cleaner 10 faces first wall R1, as shown in FIG. 7, right side
front apex part 23 is directed to the apex of corner area R3 or
adjacent area thereof, and front apex part 23 is located to be the
closest to the apex of corner area R3. At this time, body 20 covers
a relatively large part of apex part R4. Further, as described
above, since suction port 101 is disposed closer to the maximum
width of body 20 defined by two front apex parts 23, a distance
between suction port 101 of body 20 and apex part R4 of corner area
R3 is shorter than a distance between suction port 910 and apex
part R4 of corner area R3 when conventional self-travelling vacuum
cleaner 900 (see FIG. 4) is located to be close to the limit to
corner area R3.
[0108] With such configuration, the trash on apex part R4 of corner
area R3 can be more reliably and directly sucked from suction port
101, and therefore the corner cleaning ability of self-travelling
vacuum cleaner 10 can be enhanced compared to that of conventional
self-travelling vacuum cleaner 900.
[0109] Such a corner cleaning ability of self-travelling vacuum
cleaner 10 according to the present exemplary embodiment can be
further described as below. According to self-travelling vacuum
cleaner 10 of the present exemplary embodiment, as described above,
each angle formed between tangent L1 of front surface 21 and
tangent L2 and tangent L3 of two side surfaces 22 is an acute
angle. Thus, when self-travelling vacuum cleaner 10 is located at
corner area R3 in the target region to be cleaned, self-travelling
vacuum cleaner 10 is pivotally turned, and therefore
self-travelling vacuum cleaner 10 can take various positions
against corner area R3. Examples of the position include that front
apex part 23 of body 20 is directed to apex part R4 or an adjacent
part thereof including the apex of corner area R3 in the target
region to be cleaned.
[0110] In a case in which self-travelling vacuum cleaner 10 takes
such a position, the outline of body 20 is located further closer
to the apex of corner area R3 and suction port 101 of body 20 is
also located closer to the apex of corner area R3 compared to a
case in which conventional self-travelling vacuum cleaner 900
having a circular body is located closer to the limit to corner
area R3 in the target region to be cleaned. Thus, body 20 can suck
the trash on the cleaning surface of corner area R3 more reliably
and directly from suction port 101. Namely, according to the
configuration of self-travelling vacuum cleaner 10 of the present
exemplary embodiment, it is possible to suck the trash on corner
area R3 in the target region to be cleaned more reliably and
directly from suction port 101 compared to conventional
self-travelling vacuum cleaner 900 having the circular body.
[0111] Further, when self-travelling vacuum cleaner 10 takes a
position in which front apex part 23 of body 20 is directed to apex
part R4 or the adjacent part thereof including the apex of corner
area R3, self-travelling vacuum cleaner 10 can pivotally turn and
change its direction. Thus, when self-travelling vacuum cleaner 10
moves from corner area R3 in the target region to be cleaned to
another area, a restriction in moving such as in the conventional
self-travelling vacuum cleaner having the D-shape body may not be
applied. Namely, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment can move quickly from corner area R3
to another area compared to the conventional self-travelling vacuum
cleaner having the D-shape body.
[0112] According to self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, further effects described below
can be obtained.
[0113] (1) In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, suction port 101 is disposed closer
to maximum width line W of body 20. With such configuration, even
if the width of suction port 101 in the longitudinal direction is
set to be narrower than a distance between drive units 30, the
trash can be sucked more reliably and directly from suction port
101 compared to conventional self-travelling vacuum cleaner 900,
and therefore much more trashes can be sucked.
[0114] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, the width of suction port 101 in
the longitudinal direction is wider than the distance between drive
units 30. With such configuration, much more trashes can be sucked
directly from suction port 101 compared to a configuration in which
the width of suction port 101 is narrower than the distance between
drive units 30. Thus, a configuration in which the width of suction
port 101 is wider than the distance between drive units 30 is more
preferable.
[0115] (2) In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, suction port 101 is disposed adjacent
to maximum width line W of body 20. With such configuration, even
if suction port 101 is disposed between drive units 30, the trash
on apex part R4 of corner area R3 can be sucked more reliably and
directly from suction port 101 compared to conventional
self-travelling vacuum cleaner 900.
[0116] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, suction port 101 is disposed at a
position closer to the outer periphery at the front side of body 20
than drive unit 30, preferably adjacent to maximum width line W of
body 20, more preferably adjacent to the maximum width part of body
20 in an area closest to front surface 21 of body 20. With such
configuration, when self-travelling vacuum cleaner 10 approaches
the wall, suction port 101 is located much closer to the wall
compared to a configuration in which suction port 101 is disposed
between drive units 30.
[0117] Thus, with such configuration in which suction port 101 is
disposed at a position closer to the front side of the outer
periphery of body 20 than drive unit 30, preferably adjacent to
maximum width line W of body 20, more preferably adjacent to the
maximum width part of body 20 in the area closest to front surface
21 of body 20, the trash can be sucked more reliably and directly
from suction port 101.
[0118] (3) In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, the maximum width of body 20 is
defined by both front apex parts 23. Namely, the maximum width of
body 20 is determined by a distance between the apex of right side
front apex part 23 and the apex of left side front apex part
23.
[0119] Further, in self-travelling vacuum cleaner 10, a width of a
rear part of body 20 is narrower than a width of a front part of
body 20. Specifically, a width at a rear part of body 20 which is
defined to be a part on a rear side of body 20 with respect to the
center of gravity G of self-travelling vacuum cleaner 10 is
narrower than a width at a front part of body 20 which is defined
to be a part on a front side of body 20 with respect to the center
of gravity G of self-travelling vacuum cleaner 10.
[0120] With such configuration, when self-travelling vacuum cleaner
10 turns around an object, since the possibility of contact between
the rear part of body 20 and the object is reduced and
self-travelling vacuum cleaner 10 can move more quickly, moving
ability of self-travelling vacuum cleaner 10 can be enhanced.
[0121] (4) Self-travelling vacuum cleaner 10 according to the
present exemplary embodiment can adopt a steering type driving
system. On the other hand, as described above, self-travelling
vacuum cleaner 10 according to the present exemplary embodiment can
also adopt the facing two wheels type driving system. According to
a configuration in which the facing two wheels type driving system
is adopted, a structure can be simplified compared to the steering
type driving system. In this point, the configuration in which the
facing two wheels type driving system is adopted is more
preferable.
[0122] (5) In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, a positional relationship between
rotation axis H of each drive unit 30 and the center of gravity G
of self-travelling vacuum cleaner 10 is one of the main factors to
determine a movable track of body 20. In self-travelling vacuum
cleaner 10, rotation axis H of drive unit 30 may be arranged to be
located at a part on the rear side of body 20 farther than the
center of gravity G of self-travelling vacuum cleaner 10. In such
configuration, self-travelling vacuum cleaner 10 is apt to turn
while changing a position of the center of gravity G thereof in the
target region to be cleaned by making contact with the object
around. Thus, in self-travelling vacuum cleaner 10, at least a part
of the rectangular track drawn by the Reuleaux triangle described
above can be appropriately traced by body 20 and therefore the
corner cleaning ability can be enhanced.
Second Exemplary Embodiment
[0123] FIG. 8 is a plane view of self-travelling vacuum cleaner 10
according to a second exemplary embodiment of the present
invention. FIG. 9 is a bottom view of the self-travelling vacuum
cleaner according to the second exemplary embodiment of the present
invention.
[0124] Self-travelling vacuum cleaner 10 according to the present
exemplary embodiment further has the following configuration which
is not shown in the first exemplary embodiment. Here, in the
present exemplary embodiment, an element to which the same
reference mark as the first exemplary embodiment is assigned has
the same or a similar function to the corresponding element in the
first exemplary embodiment.
[0125] As shown in FIG. 9, cleaning unit 40 may further have side
brush 44 disposed on a bottom side of lower unit 100 of body 20,
and gear boxes 42 arranged at a right side and a left side of
suction port 101 respectively. In the present exemplary embodiment,
side brushes 44 are arranged at a right side and a left side on the
bottom side of lower unit 100 of body 20 respectively. One gear box
42 (right side of body 20 in a plane view) is connected to an
output shaft of brush driving motor 41, main brush 43, and one side
brush 44. One gear box 42 transmits torque of brush driving motor
41 to main brush 43 and one side brush 44. Another gear box 42
(left side of body 20 in a plane view) is connected to main brush
43 and another side brush 44. Another gear box 42 transmits torque
of main brush 43 to another side brush 44.
[0126] In the present exemplary embodiment, one side brush 44 has
brush shaft 44A and a plurality of bristle bundles 44B mounted to
one of two front apex parts 23 of body 20. Another side brush 44
has brush shaft 44A and a plurality of bristle bundles 44B mounted
to another one of two front apex parts 23 of body 20. Side brush 44
is disposed with respect to body 20 such that a part of a rotation
track of side brush 44 (hereinafter, it means a circular track
drawn by side brush 44 when side brush 44 is rotated once) capable
of collecting the trash to suction port 101 is located in the
maximum width part of body 20. According to the present exemplary
embodiment, a number of bristle bundles 44B mounted to each brush
shaft 44A is three, and three bristle bundles 44B are mounted to
brush shaft 44A at a predetermined angular interval.
[0127] Each brush shaft 44A has a rotation axis extending in the
same or a substantially same direction as a height direction of
body 20. Each brush shaft 44A is supported by body 20 in a
rotatable manner against body 20, and disposed at a part of the
front side of body 20 closer to the outer periphery of the front
side of body 20 than the center line of suction port 101 in a
longitudinal direction.
[0128] Each of bristle bundles 44B is formed by a plurality of
bristles and fixed to brush shaft 44A so as to extend in the same
or a substantially same direction as a radius direction of brush
shaft 44A. According to the present exemplary embodiment, a length
of bristle bundles 44B is set such that a tip of bristle bundles
44B is protruded toward an outside from the outline of body 20.
[0129] A rotation direction of each side brush 44 is set, as shown
by an arrow AS in FIG. 8, to a direction in which the rotation
track of side brush 44 is directed from a front side toward a rear
side of body 20 at a center side in the width direction of body 20.
Namely, side brushes 44 are rotated in directions opposite to each
other. In the present exemplary embodiment, each side brush 44 is
rotated from the front side toward the rear side of body 20 at a
part of its rotation track adjacent to the rotation track of
another side brush 44.
[0130] According to self-travelling vacuum cleaner 10 of the
present exemplary embodiment, in addition to the effects of (1) to
(5) obtained from self-travelling vacuum cleaner 10 according to
the first exemplary embodiment described above, following effects
can be further obtained.
[0131] (6) Self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has side brush 44. According to such
configuration, since the trash on corner area R3 (see FIGS. 5 to 7)
in the target region to be cleaned is collected to suction port 101
of body 20 by side brush 44, the corner cleaning ability of
self-travelling vacuum cleaner 10 can be further enhanced.
[0132] (7) In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, each of side brushes 44 is mounted to
the bottom sides of two front apex parts 23 of body 20. According
to such configuration, brush shaft 44A of side brush 44 can
approach the apex of corner area R3 compared to conventional
self-travelling vacuum cleaner 900. Thus, the corner cleaning
ability of self-travelling vacuum cleaner 10 can be further
enhanced.
[0133] (8) According to self-travelling vacuum cleaner 10 of the
present exemplary embodiment, two side brushes 44 are rotated in
the directions opposite to each other. Each side brush 44 is
rotated from the front side toward the rear side of body 20 at a
part of its rotation track adjacent to the rotation track of
another side brush 44. According to such configuration, since the
trash is collected to suction port 101 from the front side of body
20 by side brush 44, the trash can be easily sucked from suction
port 101 compared to, for example, a configuration in which the
trash is collected to suction port 101 from around a side area of
suction port 101. Thus, the trash on the cleaning surface of corner
area R3 can be removed efficiently.
[0134] (9) In the conventional self-travelling vacuum cleaner
having the side brush, in order to collect the trash on the
cleaning surface of corner area R3 to suction port 101 of body 20,
it may be considered to set a length of the bristle bundles to be
longer. However, in a case in which the length of the bristle
bundles is set to be longer, the bristle bundles may be caught by
the object around when the self-travelling vacuum cleaner is
travelling.
[0135] On the other hand, in self-travelling vacuum cleaner 10
according to the present exemplary embodiment, each of side brushes
44 is arranged at two front apex parts 23 of body 20. With such
configuration, suction port 101 of body 20 can further approach
apex part R4 of corner area R3. This configuration can eliminate
the need for setting the length of the bristle bundles to be
longer, and therefore the length of bristle bundles 44B can be set
to be a relatively short length. Thus, a possibility that bristle
bundles 44B is caught by the object around can be reduced.
[0136] (10) According to the conventional self-travelling vacuum
cleaner having the side brush, the bristle bundles are apt to be
bent when the bristle bundles move the trash as the length of the
bristle bundles becomes longer. And when the bristle bundles are
largely bent, the bristle bundles might not move the trash
appropriately to the suction port of the body.
[0137] On the other hand, self-travelling vacuum cleaner 10
according to the present exemplary embodiment can set the length of
bristle bundles 44B to be relatively shorter as described above.
Since the length of bristle bundles 44B can be set to the
relatively short length, a bending amount of bristle bundles 44B is
decreased. Thus, the trash on corner area R3 can be collected more
reliably to suction port 101 by bristle bundles 44B.
Third Exemplary Embodiment
[0138] FIG. 10 is a perspective view of self-travelling vacuum
cleaner 10 according to a third exemplary embodiment of the present
invention. Self-travelling vacuum cleaner 10 according to the
present exemplary embodiment may further have the following
configurations which are not shown in the second exemplary
embodiment. Here, in the third exemplary embodiment, an element to
which the same reference mark as the second exemplary embodiment is
assigned has the same or a similar function to the corresponding
element in the second exemplary embodiment.
[0139] Self-travelling vacuum cleaner 10 shown in FIG. 10
illustrates self-travelling vacuum cleaner 10 shown in FIGS. 1 to 9
in detail. As shown in FIG. 11, each of front apex parts 23 and
rear apex part 24 of body 20 has a round shape (circular arc R).
Upper unit 200 has a plurality of exhaust ports 211 which
communicate an inner space of body 20 with an outside, recess part
214 formed at a front side of lid 220, light receiving part 212
which is a communication part disposed in recess part 214, and lid
button 213 for opening lid 220. The plurality of exhaust ports 211
is arranged, for example, along an edge of lid 220.
[0140] Light receiving part 212 receives a signal output from a
charge mount (not shown) which charges self-travelling vacuum
cleaner 10 or a signal output from a remote controller (not shown)
which operates self-travelling vacuum cleaner 10. When light
receiving part 212 receives the signal, light receiving part 212
outputs a receiving signal corresponding to the signal to control
unit 70 (see FIG. 9 and FIG. 15). Surface 215 of recess part 214
including an edge of recess part 214 is inclined such that a part
at an outer peripheral side of body 20 is to be lower than a part
at a center side of body 20. With such configuration, recess part
214 functions as a parabola antenna and therefore communication
ability of light receiving part 212 can be enhanced.
[0141] FIG. 11 is a plane view of self-travelling vacuum cleaner 10
according to the present exemplary embodiment. In the present
exemplary embodiment, self-travelling vacuum cleaner 10 has a
substantially linear symmetrical shape with respect to a center
line extending in a front-rear direction of body 20 (upper side in
FIG. 11 is front side, and lower side in FIG. 11 is rear side).
Bumper 230 has a pair of curved protruded parts 231 protruded from
front apex part 23. Curved protruded part 231 is curved along the
round shape (circular arc R) of side surface 22 and forms a part of
the outline of body 20.
[0142] Next, upper unit 200 of self-travelling vacuum cleaner 10
according to the present exemplary embodiment is described.
[0143] FIG. 12 is a plane view of self-travelling vacuum cleaner 10
according to the present exemplary embodiment in which lid 220 is
opened. Upper unit 200 may further have interface part 240 in which
a member operated by a user is disposed, and trash box receiver 250
which supports trash box unit 60, in addition to cover 210, lid
220, and bumper 230. Lid 220 has a pair of arms 221 forming a
hinged structure of lid 220. As shown in FIG. 24 illustrating a
bottom side of upper unit 200 and in FIG. 25 illustrating an upper
side of upper unit 200, upper unit 200 may further have a pair of
arm housing parts 260 which house arms 221.
[0144] As shown in FIG. 12, interface part 240 forms a part of
cover 210 and when lid 220 is closed, interface part 240 is closed
(see FIG. 11) and when lid 220 is opened, interface part 240 is
opened. According to the present exemplary embodiment, interface
part 240 has operation button 242 for turning on and off of the
movement of self-travelling vacuum cleaner 10, and panel 241
including display part 243 and the like, which displays information
of self-travelling vacuum cleaner 10. Panel 241 may further have an
operation button (not shown) for inputting various settings with
respect to the movement of self-travelling vacuum cleaner 10. In
the present exemplary embodiment, main switch 83 is disposed in
interface part 240.
[0145] FIG. 24 is a perspective view at the bottom side of upper
unit 200 of self-travelling vacuum cleaner 10.
[0146] Trash box receiver 250 is formed in a box shape having an
opening at an upper side of upper unit 200. Trash box receiver 250
has bottom opening 251 opened at a bottom side of body 20 and rear
opening 252 opened at a rear side of body 20. As shown in FIG. 12,
trash box unit 60 is inserted into trash box receiver 250.
[0147] Next, lower unit 100 of self-travelling vacuum cleaner 10
according to the present exemplary embodiment is described.
[0148] FIG. 13 is a bottom view of self-travelling vacuum cleaner
10 according to the present exemplary embodiment.
[0149] Lower unit 100 has base 110 forming a frame, and supporting
shaft 91 which is disposed parallel to the longitudinal direction
of suction port 101 and supports caster 90. Base 110 has power port
102 opened at the bottom side of body 20 and formed in a shape
corresponding to power source unit 80, and a pair of charge
terminals 103 connected to the charge mount (not shown).
[0150] In the present exemplary embodiment, power port 102 is
disposed at a part on a rear side of body 20 farther than the
center of gravity G of self-travelling vacuum cleaner 10 and a part
of power port 102 is disposed between a pair of drive units 30.
Further, charge terminal 103 is disposed at the front side of body
20 farther than suction port 101. According to the present
exemplary embodiment, each charge terminal 103 is disposed in a
part at a side of front surface 21 on the bottom surface of base
110.
[0151] Base 110 further has bottom part shaft receiver 111 which
supports support shaft 91. Bottom part shaft receiver 111 is
disposed at a part on a rear side of body 20 farther than drive
unit 30. According to the present exemplary embodiment, bottom part
shaft receiver 111 is disposed on the bottom surface of base 110 at
a part on a rear side of body 20 farther than power port 102 and at
the bottom side of rear apex part 24.
[0152] Support shaft 91 is inserted into caster 90 so as to allow
caster 90 to rotate. End parts of support shaft 91 are fixed into
bottom part shaft receivers 111, respectively. With such
configuration, caster 90 is mounted to base 110 in a rotatable
manner.
[0153] Self-travelling vacuum cleaner 10 according to the present
exemplary embodiment may further have magnet 77 which can be
detected by a hall element (not shown) disposed in the charge
mount. Magnet 77 is preferably disposed closer to charge terminal
103. According to the present exemplary embodiment, a distance
between magnet 77 and charge terminal 103 is shorter than a
distance between magnet 77 and suction port 101. With such
configuration, when self-travelling vacuum cleaner 10 approaches
the charge mount, magnet 77 is easily detected by the charge
mount.
[0154] FIG. 14 is a side view of self-travelling vacuum cleaner 10
according to the present exemplary embodiment.
[0155] According to the present exemplary embodiment, main brush 43
is rotated in a direction of arrow AM. A distance between a
rotation axis of wheel 33 of drive unit 30 and a rotation axis of
caster 90 is longer than a distance between the rotation axis of
wheel 33 and a rotation axis of main brush 43. With such
configuration, a position of body 20 can be stabilized.
[0156] FIG. 15 is an exploded perspective view of lower unit 100
when seen from the front side.
[0157] At an upper side of lower unit 100, gear box 42 (in the
present exemplary embodiment, a pair of gear boxes 42), sucking
unit 50, trash box unit 60 (see FIG. 12), and control unit 70 are
mounted. Brush driving motor 41 is housed in gear box 42 (in FIG.
15, one of a pair of gear boxes 42).
[0158] Lower unit 100 may further have brush housing 170 mounted at
an upper side of base 110, in addition to base 110. Brush housing
170 may have duct 171 having a space for housing main brush 43 and
connected to trash box unit 60.
[0159] According to the present exemplary embodiment, fan case 52
has front side case 52A disposed at a front side of electric fan
51, and rear side case 52B disposed at a rear side of electric fan
51. Fan case 52 is formed by combining front side case 52A and rear
side case 52B. Fan case 52 may further have suction port 52C facing
exit 61B (see FIG. 17) of trash box 61, discharging port 52D (see
FIG. 19) opened at a side of drive unit 30, and louver 52E which
covers suction port 52C.
[0160] FIG. 16 is an exploded perspective view of the bottom side
of lower unit 100 of self-travelling vacuum cleaner 10 according to
the present exemplary embodiment.
[0161] At the bottom side of lower unit 100, drive unit 30, main
brush 43, side brush 44, caster 90, and power source unit 80 are
mounted. In the present exemplary embodiment, as shown in FIG. 16,
drive units 30 are disposed at the right side and the left side as
a pair at the bottom side of lower unit 100, and side brushes 44
are also arranged at the right side and the left side as a pair.
Here, a number of a pair of drive units 30 and a pair of side
brushes 44 are not limited to one. One or more than three drive
units or side brushes may be disposed.
[0162] Lower unit 100 may further have brush cover 180 mounted at
the bottom side of brush housing 170, and holding frame 190 mounted
to power port 102 (see FIG. 13). Holding frame 190 holds power
source unit 80 in conjunction with base 110 when holding frame 190
is fixed to power port 102.
[0163] Base 110 and brush cover 180 have a detachable structure in
which a user can arbitrarily select a state in which brush cover
180 is mounted to base 110 and a state in which brush cover 180 is
detached from base 110.
[0164] Further, base 110 and holding frame 190 have a detachable
structure in which a user can arbitrarily select a state in which
holding frame 190 is mounted to base 110 and a state in which
holding frame 190 is detached from base 110.
[0165] FIG. 20 is a perspective view illustrating a structure of
lower unit 100 of self-travelling vacuum cleaner 10 according to
the present exemplary embodiment. FIG. 21 is a perspective view of
lower unit 100 of self-travelling vacuum cleaner 10 according to
the present exemplary embodiment when seen from the side. FIG. 22
is a perspective view of lower unit 100 according to the present
exemplary embodiment when seen from the front side.
[0166] Base 110 has a plurality of functional regions. For example,
in the present exemplary embodiment, base 110 has driving part 120,
cleaning part 130, trash box part 140, sucking part 150, and power
source part 160 as a plurality of functional regions.
[0167] Driving part 120 is a functional region which houses drive
unit 30, and has a plurality of elements. For example, in the
present exemplary embodiment, driving part 120 has wheel house 121
which is opened at the bottom side of base 110 and houses drive
unit 30, and spring hooked part 122 to which suspension spring 36
(see FIG. 21) forming a suspension mechanism described below is
hooked. Further, in the present exemplary embodiment, a pair of
wheel houses 121 is disposed so as to correspond to a pair of drive
units 30, and further a pair of spring hooked parts 122 is disposed
so as to correspond to a pair of suspension springs 36.
[0168] As shown in FIG. 20, each wheel house 121 is protruded
upward from an upper surface of base 110 and is disposed at a side
adjacent to side surface 22 (see FIG. 19) in base 110. Each spring
hooked part 122 is formed at a front part of wheel house 121 and is
protruded substantially upward from wheel house 121. As shown in
FIG. 21, running off detecting switch 75 is disposed above each
wheel house 121. Running off detecting switch 75 is pushed by
spring hooked part 32B when drive unit 30 (see FIG. 15) is run off
from the cleaning surface of the target region to be cleaned.
[0169] Cleaning part 130 shown in FIG. 20 is a functional region
which supports cleaning unit 40 (see FIG. 2), and has a plurality
of elements. Specifically, in the present exemplary embodiment,
cleaning part 130 has a pair of shaft insertion parts 131 which
supports brush shaft 44A (see FIG. 22) of side brush 44, and
connecting part 132 in which gear box 42 (see FIG. 22) is disposed.
Brush housing 170 and brush cover 180 shown in FIG. 16 form a part
of cleaning part 130.
[0170] FIG. 17 is a cross-sectional view taken along line XVII-XVII
in FIG. 11. FIG. 18 is a cross-sectional view taken along line
XVII-XVII in FIG. 11 in which a part of components of
self-travelling vacuum cleaner 10 according to the present
exemplary embodiment is separated. FIG. 19 is a cross-sectional
view taken along line XIX-XIX in FIG. 14.
[0171] As shown in FIG. 17, when the main brush 43 is disposed
inside brush housing 170, both end parts of main brush 43 are
protruded from brush housing 170 toward connecting parts 132 (see
FIG. 20). Brush shaft 44A of side brush 44 shown in FIG. 15 is
inserted into a hole formed in shaft insertion part 131 (see FIG.
20).
[0172] One gear box 42 shown in FIG. 15 is disposed in one
connecting part 132 (see FIG. 20) and is connected to one end of
main brush 43 and one brush shaft 44A. Another gear box 42 is
disposed in another connecting part 132 (see FIG. 20) and is
connected to another end of main brush 43 and another brush shaft
44A.
[0173] As shown in FIG. 20, trash box part 140 is a functional
region formed between cleaning part 130 and sucking part 150 in the
front-rear direction of body 20 and has a space in which trash box
receiver 250 (see FIG. 18) is disposed.
[0174] Further, sucking part 150 is a functional region which
supports sucking unit 50 (see FIG. 15) and is disposed at a
substantially center part of base 110 or adjacent thereof. Wheel
house 121 is disposed at a side part of sucking part 150. In the
present exemplary embodiment, a pair of wheel houses 121 is
disposed.
[0175] Power source part 160 is a functional region which supports
power source unit 80 (see FIG. 16) and is a recess part recessed
toward an upper side when seen from a bottom surface of base 110.
Control unit 70 is mounted above power source part 160.
[0176] As shown in FIG. 17, brush cover 180 is mounted to base 110
so as to protrude downwardly from the bottom surface of base 110.
Brush cover 180 has suction port 101 which exposes main brush 43 to
an outside of body 20, and inclined surface 181 formed at a front
part of body 20. Inclined surface 181 is formed such that a
distance between the bottom surface of lower unit 100 and inclined
surface 181 is increased as it goes from the rear side toward the
front side of body 20. With such configuration, when inclined
surface 181 makes contact with a stepped part on the cleaning
surface of the target region to be cleaned, the front side of body
20 can rise.
[0177] Duct 171 is formed to extend in a substantially vertical
direction of body 20 and has entrance 172 which houses an upper
part of main brush 43 and exit 173 which communicates with an inner
space of trash box unit 60. Exit 173 is inserted into bottom
opening 251 of trash box receiver 250. A passage area of exit 173
is smaller than a passage area of entrance 172. According to an
example shown in FIG. 17 and the like, a passage inside duct 171 is
slightly inclined toward the rear side of body 20 as it goes from
entrance 172 to exit 173. With such configuration, the trash sucked
inside body 20 via suction port 101 can be guided to a side of
filter 62 described below.
[0178] As shown in FIG. 18, trash box unit 60 has trash box 61
having a space for storing trashes, and filter 62 mounted to trash
box 61. Trash box 61 has entrance 61A connected to exit 173 of duct
171, exit 61B in which filter 62 is disposed, and bottom part 61C
in which its size is set to be smaller than a size of an upper
part.
[0179] As shown in FIG. 19, filter 62 is disposed in rear opening
252 of trash box receiver 250 so as to be across substantially a
whole region of trash box 61 in a width direction. Filter 62 faces
sucking unit 50. As shown in FIG. 17, bottom part 61C of trash box
61 is disposed between a rear side of duct 171 and a front side of
fan case 52. With such configuration, bottom part 61C is disposed
at a lower position in a height direction of body 20, and therefore
a center of gravity of trash box 61 can be lowered.
[0180] As shown in FIG. 17, sucking unit 50 is disposed so as to be
inclined relative to base 110. Specifically, sucking unit 50 is
disposed such that a bottom part of sucking unit 50 is positioned
at a part on a front side of body 20 relative to a top part of
sucking unit 50, and the top part of sucking unit 50 is positioned
at a part on a rear side of body 20 relative to the bottom part of
sucking unit 50. With such configuration, the height of body 20 can
be lowered.
[0181] As shown in FIG. 19, one side part of fan case 52 is closed
and discharging port 52D is disposed at another side part. With
such configuration, a flow of air discharged from electric fan 51
can be stabilized.
[0182] FIG. 23 is another perspective view of the inner structure
of lower unit 100 of self-travelling vacuum cleaner 10 according to
the present exemplary embodiment when seen from the front side
along a different view line from that in FIG. 22.
[0183] As shown in FIG. 21, FIG. 22, and FIG. 23, lower unit 100 of
self-travelling vacuum cleaner 10 according to the present
exemplary embodiment has gear box 42, main brush 43, side brush 44,
sucking unit 50, control unit 70, and power source unit 80 (see
FIG. 17).
[0184] FIG. 25 is a bottom view of upper unit 200 of
self-travelling vacuum cleaner 10 according to the present
exemplary embodiment.
[0185] When upper unit 200 shown in FIG. 24 and FIG. 25 is mounted
to lower unit 100 as described above, body 20 is formed as shown in
FIG. 10.
[0186] Next, drive unit 30 of self-travelling vacuum cleaner 10
according to the present exemplary embodiment is described in
detail.
[0187] Drive unit 30 has a function which drives self-travelling
vacuum cleaner 10 in a forward direction and a rearward direction,
or drives self-travelling vacuum cleaner 10 to turn. Drive unit 30
is provided with a plurality of elements. For example, in the
present exemplary embodiment, as shown in FIGS. 15 and 16, each
drive unit 30 has travel motor 31 (see FIG. 19), housing 32, wheel
33, and tire 34 mounted around wheel 33, as a plurality of
elements. Block type tread patterns may be formed on tire 34.
[0188] In the present exemplary embodiment, each drive unit 30
further has support shaft 35 having a rotation axis of housing 32,
and a suspension mechanism which absorbs impact applied to wheel 33
by using suspension spring 36 (see FIG. 21).
[0189] Each housing 32 has motor housing part 32A which houses
travel motor 31, spring hooked part 32B to which one end of
suspension spring 36 is hooked, and shaft receiving part 32C into
which support shaft 35 is fitted. Each wheel 33 is supported by
housing 32 in a rotatable manner against housing 32.
[0190] One end of support shaft 35 is fitted into shaft receiving
part 32C, and another end is inserted into a shaft receiving part
formed in diving part 120. With such configuration, housing 32 and
support shaft 35 can be rotated around the rotation axis of support
shaft 35 against driving part 120.
[0191] As shown in FIG. 21, another end of each suspension spring
36 is hooked to spring hooked part 122 of driving part 120. Each
suspension spring 36 applies reaction force to housing 32 in a
direction to push tire 34 (see FIG. 16) against the cleaning
surface of the target region to be cleaned. With such
configuration, a state in which tire 34 makes contact with the
cleaning surface is maintained.
[0192] On the other hand, when force to push up tire 34 shown in
FIG. 16 toward a side of body 20 is applied to tire 34 from the
cleaning surface, housing 32 is rotated around a center line of
support shaft 35 from a side of the cleaning surface toward a side
of body 20 while compressing suspension spring 36 (see FIG. 21).
With such configuration, the force applied to tire 34 is absorbed
by suspension spring 36.
[0193] Further, when wheel 33 is run off, housing 32 is rotated
against driving part 120 by the reaction force of suspension spring
36 (see FIG. 21), and therefore spring hooked part 32B pushes
running off detecting switch 75 (see FIG. 21). With this, running
off detecting switch 75 shown in FIG. 21 outputs a signal to
control unit 70. Control unit 70 stops the travelling of
self-travelling of vacuum cleaner 10 based on the signal.
[0194] A distance between brush driving motor 41 and one of a pair
of drive units 30 (in the present exemplary embodiment, first drive
unit 30 as left side drive unit 30) is shorter than a distance
between brush driving motor 41 and another drive unit 30 (in the
present exemplary embodiment, second drive unit 30 as right side
drive unit 30). Thus, weight of brush drive unit 41 is applied
largely to wheel 33 and tire 34 of first drive unit 30. Thus, in a
case in which suspension springs 36, which apply the reaction force
to respective drive units 30, have the same elastic modulus,
positions of wheels 33 against body 20 may not be balanced. Thus,
elastic modulus of suspension spring 36 which applies the reaction
force to first drive unit 30 is set to be larger than elastic
modulus of suspension spring 36 which applies the reaction force to
second drive unit 30.
[0195] With such configuration, the balance of positions of wheels
33 against body 20 is maintained.
[0196] As shown in FIG. 21 to FIG. 23, self-travelling vacuum
cleaner 10 has a plurality of floor detecting sensors 74. According
to the present exemplary embodiment, the plurality of floor
detecting sensors 74 includes three floor detecting sensors 74
disposed at the front side of body 20 relative to a pair of drive
units 30, and two floor detecting sensors 74 disposed at a part on
the rear side of body 20 relative to the pair of drive units
30.
[0197] For example, front side three floor detecting sensors 74
include a sensor mounted at a center of the front side of base 110,
a sensor mounted to right side front apex part 23 of base 110, and
a sensor mounted to left side front apex part 23 of base 110. As
shown in FIG. 19, for example, rear side two floor detecting
sensors 74 include a sensor mounted adjacent to right side surface
22 of base 110, and a sensor mounted adjacent to left side surface
22 of base 110.
[0198] As shown in FIG. 13, base 110 has a plurality of sensor
windows 112, each of which corresponds to each floor detecting
sensor 74. The plurality of sensor windows 112 includes sensor
window 112 corresponding to front side center floor detecting
sensor 74, sensor window 112 corresponding to front right side
floor detecting sensor 74, and sensor window 112 corresponding to
front left side floor detecting sensor 74. The plurality of sensor
windows 112 further includes sensor window 112 corresponding to
rear right side floor detecting sensor 74, and sensor window 112
corresponding to rear left side floor detecting sensor 74.
[0199] As shown in FIG. 24, obstacle detecting sensor 71 has one
transmitting part 71A which outputs ultrasonic wave, and two
receiving parts 71B which receive the reflected ultrasonic wave.
Transmitting part 71A and receiving part 71B are mounted to a back
surface of bumper 230.
[0200] Upper unit 200 has a plurality of windows in addition to
cover 210, lid 220, and bumper 230. According to the present
exemplary embodiment, the plurality of the windows includes
transmitting window 232 disposed at a front side center part shown
in FIG. 10, receiving windows 233 disposed at front side right and
left parts, and a pair of distance measuring windows 234 disposed
at right and left front apex parts 23.
[0201] As shown in FIG. 19, transmitting window 232 is formed in
bumper 230 so as to correspond to transmitting part 71A of obstacle
detecting sensor 71. With this, the ultrasonic wave output from
transmitting part 71A is guided to an outside through transmitting
window 232.
[0202] Receiving window 233 is formed in bumper 230 so as to
correspond to each receiving part 71B of obstacle detecting sensor
71. With this, the ultrasonic wave reflected by the object around
is guided to each receiving part 71B through each receiving window
233.
[0203] Each of a pair of distance measuring windows 234 is formed
in bumper 230 so as to correspond to distance detecting sensor 72.
As shown by a dashed arrow in FIG. 19, light output from distance
measuring sensor 72 is directed toward a diagonally forward
direction of body 20 through distance measuring window 234.
[0204] FIG. 26 is a block diagram illustrating a function of an
electric system of self-travelling vacuum cleaner 10 according to
the present exemplary embodiment.
[0205] Control unit 70 is electrically connected to obstacle
detecting sensor 71, distance measuring sensor 72, collision
detecting sensor 73, floor detecting sensor 74, running off
detecting switch 75, light receiving part 212, operation button
242, a pair of travel motor 31, brush driving motor 41, electric
fan 51, and display part 243.
[0206] Self-travelling vacuum cleaner 10 according to the present
exemplary embodiment is, for example, operated as described
below.
[0207] Control unit 70 starts operation of both right and left
travel motors 31, brush driving motor 41, and electric fan 51 when
self-travelling vacuum cleaner 10 is turned on by operation of
operation button 242.
[0208] When electric fan 51 is driven, air inside trash box 61
shown in FIG. 17 is sucked to electric fan 51, and air inside
electric fan 51 is exhausted around electric fan 51. Thus, air
residing on a bottom side of base 110 is sucked to an inside of
trash box 61 via suction port 101 and duct 171, and air inside fan
case 52 is exhausted to an outside of body 20 via a plurality of
exhaust ports 211 shown in FIG. 10. Namely, the air at a bottom
part of base 110 shown in FIG. 17 is flowed suction port 101, duct
171, trash box 61, filter 62, electric fan 51, fan case 52, a space
around fan case 52 in body 20, and exhaust port 211 in this
order.
[0209] Control unit 70 shown in FIG. 26 sets a travel route of
self-travelling vacuum cleaner 10 based on detection signals input
from obstacle detecting sensor 71, distance measuring sensor 72,
collision detecting sensor 73, and floor detecting sensor 74, and
makes self-travelling vacuum cleaner 10 travel in accordance with
the set travel route. When corner area R3 in the target region to
be cleaned is included in the travel route, control unit 70 makes
self-travelling vacuum cleaner 10 travel and turn similar to a case
in which self-travelling vacuum cleaner 10 according to the first
exemplary embodiment described above cleans corner area R3 (see
FIG. 5 to FIG. 7).
[0210] According to self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, in addition to the effects of (1)
to (10) obtained by self-travelling vacuum cleaner 10 according to
the second exemplary embodiment described above, for example, the
following effect can be obtained.
[0211] (11) Self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has front apex part 23 and rear apex
part 24 in which the round shape (circular arc R) is formed. With
such configuration, when body 20 is turned by making contact with
the object around, body 20 can make contact softly with the
object.
Fourth Exemplary Embodiment
[0212] FIG. 27 is a perspective view illustrating a structure of
trash box unit 300 disposed in self-travelling vacuum cleaner 10
according to a fourth exemplary embodiment of the present
invention. FIG. 28 is a cross-sectional view of self-travelling
vacuum cleaner 10 according to the present exemplary
embodiment.
[0213] The structure of self-travelling vacuum cleaner 10 according
to the present exemplary embodiment corresponds with most parts of
the structure of self-travelling vacuum cleaner 10 according to the
third exemplary embodiment; however, the following two points are
mainly different from the third exemplary embodiment:
[0214] A first point is that, as shown in FIG. 27 and FIG. 28,
trash box unit 300 having a different structure from trash box unit
60 according to the third exemplary embodiment described above is
disposed.
[0215] A second point is that, as shown in FIG. 28, a structure
around trash box unit 300 in body 20 is modified. Here, in the
descriptions of the present exemplary embodiment, an element to
which the same reference mark as the third exemplary embodiment is
assigned have the same or a similar functions to the corresponding
element of the third exemplary embodiment.
[0216] As shown in FIG. 28, a position of trash box unit 300 inside
body 20 is substantially the same as the position of trash box unit
60 in body 20 according to the third exemplary embodiment described
above. Body 20 and trash box unit 300 have a detachable structure
in which a user can arbitrary select a state in which trash box
unit 300 is mounted to body 20 and a state in which trash box unit
300 is detached from body 20.
[0217] As shown in FIG. 27, trash box unit 300 has trash box 310
having a space 311 to store trashes, lid 320 which closes exit 313
as an opening of trash box 310, and filter 330 mounted to lid 320.
Trash box 310 and lid 320 are connected by hinge 360. Trash box 310
has entrance 312 connected to exit 173 (see FIG. 28) of duct 171,
and exit 313 in which filter 330 is disposed.
[0218] As shown in FIG. 28, when lid 320 is closed, space 311 is
closed by lid 320. Duct 171 is formed in an elongate shape extended
in substantially a vertical direction of body 20. Duct 171 has
entrance 172 formed at a front side of main brush 43 and exit 173
opened at a rear side of body 20. Suction port 101 and trash box
310 are communicated by passage 174 formed inside duct 171.
[0219] Self-travelling vacuum cleaner 10 according to the present
exemplary embodiment may further have trash detecting sensor 76
which detects information with respect to the trash included in air
flowed in duct 171. As shown in FIG. 28, trash detecting sensor 76
is disposed in passage 174 of duct 171. Trash detecting sensor 76
is preferably disposed in a region in passage 174 of duct 171 in
which a flowing speed of air is faster than that on center line 175
of passage 174 in a cross section of passage 174 taken along a
flowing direction of air in passage 174. For example, an infrared
sensor is used for trash detecting sensor 76. Trash detecting
sensor 76 has a light transmitting part and a light receiving part.
A detection signal of trash detecting sensor 76 is input to control
unit 70.
[0220] As shown in FIG. 27, filter 330 has collecting part 340
which collects trashes in air passing through thereof, and frame
350 which supports collecting part 340. Frame 350 and lid 320 have
a detachable structure to each other. Frame 350 has a pair of
windows 351 in which collecting part 340 is disposed, and
intermediate wall 352 which partitions a pair of windows 351. In a
state in which space 311 is closed by lid 320, entrance 312 of
trash box 310 does not face collecting part 340 but intermediate
wall 352 of frame 350. Thus, the flow of air passed through
entrance 312 is separated in two directions by intermediate wall
352, and each air in the separated flow is passed through each
collecting part 340 disposed in each of a pair of windows 351.
[0221] According to a configuration of self-travelling vacuum
cleaner 10 according to the present exemplary embodiment described
above, in addition to the effects of (1) to (11) obtained by
self-travelling vacuum cleaner 10 according to the first to third
exemplary embodiments described above, for example following
effects can be obtained.
[0222] (12) In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, trash detecting sensor 76 is disposed
in the region in passage 174 of duct 171 in which the flowing speed
of air is faster than that on center line 175 of passage 174 in the
cross section of passage 174 taken along the flowing direction of
air in passage 174. With such configuration, even if the trash
adheres to a surface of trash detecting sensor 76, the adhered
trash is easily blown away from the surface of trash detecting
sensor 76 by air flowed through passage 174.
[0223] (13) Generally, in a self-travelling vacuum cleaner, a size
of a trash box to be mounted is restricted. Thus, in a case in
which a collecting part of a filter is disposed at a part facing an
entrance of the trash box, the trash is concentrated and stored on
a part of the collecting part facing the trash box, and therefore
the entrance may be blocked by the trash even if there is a space
to store the trashes in other part of the collecting part.
[0224] On the other hand, according to self-travelling vacuum
cleaner 10 according to the present exemplary embodiment, entrance
312 of trash box 310 does not face collecting part 340 but
intermediate wall 352 of frame 350. With such configuration, it is
possible to prevent the trash from being concentrated and stored on
the part of collecting part 340 facing entrance 312 of trash box
310.
Modified Example
[0225] The present invention includes, for example, modified
examples described below in addition to the exemplary embodiments
described above.
[0226] Body 20 of self-travelling vacuum cleaner 10 according to a
first to a third modified examples of the present invention has an
outline different from the outline of body 20 shown in the
exemplary embodiments described above.
First Modified Example
[0227] FIG. 29 is a plane view of self-travelling vacuum cleaner 10
according to a first modified example of the present invention. A
double-dashed line in FIG. 29 shows the outline of representative
body 20 shown in the first exemplary embodiment described above. As
shown in FIG. 29, in body 20 of self-travelling vacuum cleaner 10
according to the first modified example of the present invention,
each side surface 22 is provided with front side surface 22A and
rear side surface 22B of body 20 formed in shapes different from
each other. According to the present modified example, front side
surface 22A is formed in a curved shape, and rear side surface 22B
is formed in a flat shape.
[0228] In self-travelling vacuum cleaner 10 provided with body 20
having such an outline, the similar effects obtained in each of the
exemplary embodiments described above can be also obtained.
Second Modified Example
[0229] FIG. 30 is a plane view of self-travelling vacuum cleaner 10
according to a second modified example of the present invention. A
double-dashed line in FIG. 30 shows the outline of representative
body 20 shown in the first exemplary embodiment described above. As
shown in FIG. 30, in body 20 of self-travelling vacuum cleaner 10
according to the present modified example, rear surface 25 is
formed instead of forming a part of a rear part of body 20
including rear apex part 24. In the present modified example, rear
surface 25 is formed in a curved shape protruded outwardly. Here,
rear surface 25 may be formed in a flat shape.
[0230] In self-travelling vacuum cleaner 10 provided with body 20
having such an outline, the similar effects obtained in each of the
exemplary embodiments described above can be also obtained.
Third Modified Example
[0231] FIG. 31 is a plane view of self-travelling vacuum cleaner 10
according to a third modified example of the present invention. A
double-dashed line in the figure shows the outline of
representative body 20 shown in the third exemplary embodiment
described above. As shown in FIG. 31, in body 20 of the present
modified example, rear surface 25 is formed instead of forming a
part of a rear part of body 20 including rear apex part 24. Rear
surface 25 is formed in a flat shape. Here, rear surface 25 may be
formed in a curved shape protruded outwardly.
[0232] In self-travelling vacuum cleaner 10 provided with body 20
having such an outline, the similar effects obtained in each
exemplary embodiment described above can be also obtained.
Fourth Modified Example
[0233] In self-travelling vacuum cleaner 10 according to a fourth
modified example of the present invention, each side brush 44 is
rotated from the rear side toward the front side of body 20 at a
part of its rotation track adjacent to the rotation track of
another side brush 44. According to such configuration, the trash
moved by side brush 44 can be moved toward the front side in a
center region in the width direction of body 20. With this, since
the trash collected by side brush 44 is apt to approach suction
port 101 when self-travelling vacuum cleaner 10 is moved in the
forward movement direction, the trash may not be remained at a rear
side of suction port 101.
[0234] In self-travelling vacuum cleaner 10 having such
configuration, the similar effects obtained in each exemplary
embodiment described above can be also obtained.
Fifth Modified Example
[0235] In self-travelling vacuum cleaner 10 according to a fifth
modified example of the present invention, side brush 44 has
bristle bundles 44B in which a distal end thereof is located at an
inner side than front surface 21 and side surface 22 of body
20.
[0236] In self-travelling vacuum cleaner 10 having such
configuration, the similar effects obtained in each of the
exemplary embodiments described above can be also obtained. For
example, according to self-travelling vacuum cleaner 10 according
to the second exemplary embodiment described above, side brushes 44
are arranged in two front apex parts 23 of body 20 respectively.
Also, suction port 101 of body 20 can further approach apex part R4
in corner area R3. Such effects as those obtained in the second
exemplary embodiment can be also obtained in the fifth modified
example.
Sixth Modified Example
[0237] Self-travelling vacuum cleaner 10 according to a sixth
modified example of the present invention has a brush driving motor
which applies torque to main brush 43 and one side brush 44, and a
brush driving motor which applies torque to another side brush
44.
[0238] In self-travelling vacuum cleaner 10 having such
configuration, the similar effects obtained in each of the
exemplary embodiments described above can be also obtained.
Seventh Modified Example
[0239] Self-travelling vacuum cleaner 10 according to a seventh
modified example of the present invention has three brush driving
motors respectively mounted to main brush 43, right side brush 44,
and left side brush 44. The brush driving motor applies torque to
corresponding brush independently.
[0240] In self-travelling vacuum cleaner 10 having such
configuration, the similar effects obtained in each of the
exemplary embodiments described above can be also obtained.
Eighth Modified Example
[0241] Self-travelling vacuum cleaner 10 according to an eighth
modified example of the present invention has a sensor, which is a
different kind of sensor from the ultrasonic wave sensor, as
obstacle detecting sensor 71. For example, as obstacle detecting
sensor 71, an infrared sensor may be used.
Ninth Modified Example
[0242] Self-travelling vacuum cleaner 10 according to a ninth
modified example of the present invention has a sensor, which is a
different kind of sensor from the infrared sensor, as distance
measuring sensor 72. For example, as distance measuring sensor 72,
an ultrasonic wave sensor may be used.
Tenth Modified Example
[0243] Self-travelling vacuum cleaner 10 according to a tenth
modified example of the present invention has a sensor, which is a
different kind of sensor from the contact type displacement sensor,
as collision detecting sensor 73. For example, as collision
detecting sensor 73, an impact sensor may be used.
Eleventh Modified Example
[0244] Self-travelling vacuum cleaner 10 according to an eleventh
modified example of the present invention has a sensor, which is a
different kind of sensor from the infrared sensor, as floor
detecting sensor 74. For example, as floor detecting sensor 74, an
ultrasonic wave sensor may be used.
Twelfth Modified Example
[0245] Self-travelling vacuum cleaner 10 according to a twelfth
modified example of the present invention has a plurality of
casters 90 disposed at the rear side of body 20 farther than drive
unit 30.
Thirteenth Modified Example
[0246] Self-travelling vacuum cleaner 10 according to a thirteenth
modified example of the present invention has at least one caster
90 disposed at the front side of body 20 farther than a pair of
drive units 30.
[0247] In self-travelling vacuum cleaner 10 having such
configuration according to each of the eighth to thirteenth
modified examples, the similar effects obtained in each of the
exemplary embodiments described above can be also obtained.
Fourteenth Modified Example
[0248] Self-travelling vacuum cleaner 10 according to a fourteenth
modified example has caster 90 having an uneven part on an outer
peripheral surface. Friction coefficient of a first part, which is
a convex part having a large diameter, on the outer peripheral
surface of caster 90 is smaller than friction coefficient of a
second part which is a concave part having a diameter smaller than
a diameter of the first part on the outer peripheral surface of the
caster.
[0249] According to such configuration, when self-travelling vacuum
cleaner 10 travels, an outer peripheral surface of the first part
in the outer peripheral surface of caster 90 mainly makes contact
with the cleaning surface. Further, since the friction coefficient
of the outer peripheral surface of the first part is smaller than
the friction coefficient of the outer peripheral surface of the
second part, resistance in a forward travelling of body 20 is small
and therefore body 20 can be moved smoothly. Further, when body 20
is turned, since caster 90 is apt to make a sideslip, the turning
ability of body 20 can be enhanced.
Fifteenth Modified Example
[0250] Self-travelling vacuum cleaner 10 according to a fifteenth
modified example has a steering type driving system instead of the
facing two wheels type driving system.
[0251] Each of the exemplary embodiments and the modified examples
described above is merely one example of the present invention. For
example, each of the exemplary embodiments and one or more modified
examples may be combined where necessary.
[0252] Further, the present invention includes the following
exemplary embodiments.
Fifth Exemplary Embodiment
[0253] Self-travelling vacuum cleaner 10 according to a fifth
exemplary embodiment of the present invention has body 20 having
suction port 101, drive unit 30, and electric fan 51. Suction port
101 is disposed in the maximum width part of body 20. As shown in
FIG. 31, body 20 has two front apex parts 23.
[0254] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, each of the angles formed between
tangent L1 (first tangent) and tangent L2 (second tangent), and
between tangent L1 and tangent L3 (third tangent) is an acute
angle. Tangent L1 is a tangent of an outer periphery of body 20 in
a plane view and is parallel to maximum width line W of body 20.
Here, maximum width line W is defined to be a line connecting
apexes of two front apex parts 23. Tangent L2 and tangent L3 on two
side surfaces 22 or two side surfaces 22A of body 20 are other
tangents of the outer periphery of body 20 in the plane view.
[0255] According to such configuration, since a shape of body 20 is
approximated to the Reuleaux triangle, body 20 can easily turn in
corner area R3 in the target region to be cleaned. Further, suction
port 101 can easily reach to a corner of the target region to be
cleaned, and therefore the cleaning efficiency can be enhanced.
[0256] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, suction port 101 is preferably
formed in a laterally elongate shape, more preferably in a
rectangular shape or a substantially rectangular shape. Body 20 has
front surface 21 having a curved surface protruded outwardly.
[0257] Further, as shown in FIG. 31, in self-travelling vacuum
cleaner 10 according to the present exemplary embodiment, each of
two front apex parts 23 of body 20 has the round shape (circular
arc R). In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, a curvature of the curved surface of
front surface 21 of body 20 is smaller than a curvature of the
round shape (circular arc R) of two front apex parts 23.
[0258] According to such configuration, since the shape of body 20
is approximated to the Reuleaux triangle, body 20 can easily turn
in corner area in the target region to be cleaned. Further, suction
port 101 can easily reach to corner area R3 in the target region to
be cleaned, and therefore the cleaning efficiency can be
enhanced.
[0259] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, suction port 101 is disposed at a
part closer to the maximum width part of body 20 than drive unit
30.
[0260] According to such configuration, since the shape of body 20
is approximated to the Reuleaux triangle, body 20 can easily turn
in corner area in the target region to be cleaned. Further, suction
port 101 can easily reach to a corner area R3 of the target region
to be cleaned, and therefore cleaning efficiency can be
enhanced.
[0261] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment may further have caster 90. In this
case, in the front-rear direction of body 20, caster 90 is disposed
at a part farther from the maximum width part of body 20 than drive
unit 30, more preferably at a part farther from front surface 21 of
body 20.
[0262] According to such configuration, since caster 90 is disposed
farther from corner area R3 in the target region to be cleaned, the
trash on corner area R3 can be prevented from being caught by
caster 90.
[0263] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment may have side brush 44. In this case,
side brush 44 is disposed at a part closer to the maximum width
part of body 20 than drive unit 30, preferably at a part closer to
front surface 21 of body 20, more preferably at a part closer to
the maximum width part and front surface 21 of body 20.
[0264] According to such configuration, the trash collected by side
brush 44 can be sucked more reliably and directly from suction port
101.
[0265] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment may have floor detecting sensor 74. In
this case, floor detecting sensor 74 is disposed at a part closer
to the maximum width part of body 20 than drive unit 30 in the
front-rear direction of body 20.
[0266] According to such configuration, since floor detecting
sensor 74 is disposed at the front side of body 20, the cleaning
surface in the forward movement direction of body 20 can be
detected quickly, and wheel 33 of drive unit 30 can be prevented
from running off.
[0267] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment may have charge terminal 103. In this
case, charge terminal 103 is disposed at a part closer to the
maximum width part of body 20 than drive unit 30 in the front-rear
direction of body 20.
[0268] According to such configuration, since charge tell final 103
is disposed at the front side of body 20, charge terminal 103 can
be further reliably connected to the charge mount.
[0269] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment may have power source unit 80. In this
case, power source unit 80 is disposed at a part farther from the
maximum width part of body 20 than drive unit 30, preferably at a
part farther from front surface 21 of body 20.
[0270] According to such configuration, since the front part of
body 20 relatively rises due to weight of power source unit 80, for
example, possibility of contact between a sensor such as obstacle
detecting sensor 71 disposed at the front side of body 20 and the
cleaning surface can be reduced.
[0271] Further, in a case in which self-travelling vacuum cleaner
10 according to the present exemplary embodiment has side brush 44,
a part of the rotation track of side brush 44 is located in the
maximum width part of body 20. Further, in self-travelling vacuum
cleaner 10 according to the present exemplary embodiment, side
brush 44 is disposed in body 20 such that a part of side brush 44
is located in the maximum width part of body 20.
[0272] According to such configuration, the trash collected by side
brush 44 can be more reliably sucked by suction port 101.
Sixth Exemplary Embodiment
[0273] Self-travelling vacuum cleaner 10 according to a sixth
exemplary embodiment of the present invention has body 20 having
suction port 101, drive unit 30, and electric fan 51. Body 20 has
front surface 21 having a curved surface protruded outwardly, and
two side surfaces 22. A curved surface protruded outwardly is
formed on at least a part of each of two side surfaces 22.
[0274] Further, body 20 has right side front apex part 23 defined
by front surface 21 and right side surface 22, and left side front
apex part 23 defined by front surface 21 and left side surface 22.
As shown in FIG. 31, each of the angles formed between tangent L1
of front surface 21 and tangent L2 of side surface 22, and between
tangent L1 of front surface 21 and tangent L3 of side surface 22 is
an acute angle. Namely, as shown in FIG. 31, in self-travelling
vacuum cleaner 10 according to the present exemplary embodiment,
(i) an angle formed between first tangent L1 which is a tangent of
an outer periphery of body 20 in the plane view and is parallel to
maximum width line W of body 20, and second tangent L2 which is
another tangent of the outer periphery of body 20 in the plane view
and makes contact with the outer periphery at a point of the rear
side, the point being closer to a rear end of body 20 than maximum
width line W of body 20, is an acute angle, and (ii) an angle
formed between first tangent L1 and third tangent L3 which is still
another tangent of the outer periphery of body 20 in the plane view
and makes contact with the outer periphery at another point of the
rear side, another point being closer to the rear end of body 20
than maximum width line W of body 20, is also an acute angle. Here,
maximum width line W of body 20 is defined to be a line connecting
apexes of two front apex parts 23.
[0275] According to such configuration, since a shape of body 20 is
approximated to the Reuleaux triangle, body 20 can easily turn in
corner area R3 in the target region to be cleaned. Further, suction
port 101 can easily reach to corner area R3 in the target region to
be cleaned, and therefore the cleaning efficiency can be
enhanced.
[0276] Further, as shown in FIG. 31, in self-travelling vacuum
cleaner 10 according to the present exemplary embodiment, front
apex part 23 has the round shape (circular arc R). In
self-travelling vacuum cleaner 10 according to the present
exemplary embodiment, a curvature of a curved surface of front
surface 21 of body 20 is smaller than a curvature of the round
shape of front apex part 23.
[0277] According to such configuration, since the shape of body 20
is approximated to the Reuleaux triangle, body 20 can easily turn
in corner area R3 in the target region to be cleaned. Further,
suction port 101 can easily reach to corner area R3 in the target
region to be cleaned, and therefore the cleaning efficiency can be
enhanced.
[0278] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, suction port 101 is disposed at a
part closer to the maximum width part of body 20 than drive unit
30.
[0279] According to such configuration, suction port 101 can easily
reach to corner area R3 in the target region to be cleaned, and
therefore the cleaning efficiency can be enhanced.
[0280] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment may further have caster 90. Caster 90
may be disposed farther from the maximum width part of body 20 than
drive unit 30, more preferably at a part farther from front surface
21 of body 20.
[0281] According to such configuration, since caster 90 is disposed
farther from corner area R3 in the target region to be cleaned, the
trash on corner area R3 can be prevented from being caught by
caster 90.
[0282] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30, electric fan 51, and side brush 44. Side brush 44 is
disposed at a part closer to the maximum width part of body 20 than
drive unit 30.
[0283] According to such configuration, the trash collected by side
brush 44 can be more reliably sucked from suction port 101.
[0284] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30, electric fan 51, and floor detecting sensor 74.
Floor detecting sensor 74 is disposed at a part closer to the
maximum width part of body 20 than drive unit 30, preferably at a
part closer to the maximum width part of body 20 than suction port
101. More preferably, floor detecting sensor 74 is disposed at a
part closer to front surface 21 of body 20.
[0285] According to such configuration, since floor detecting
sensor 74 is disposed at the front side of body 20, the cleaning
surface in the forward movement direction of body 20 can be
detected quickly, and therefore wheel 33 of drive unit 30 can be
prevented from running off.
[0286] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30, suction port 101, electric fan 51, and charge
terminal 103. Charge terminal 103 is disposed at a part closer to
the maximum width part of body 20 than drive unit 30 in a direction
along the rotation axis of wheel 33.
[0287] According to such configuration, since charge terminal 103
is disposed at the front side of body 20, charge terminal 103 can
be further reliably connected to the charge mount.
[0288] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30, electric fan 51, and power source unit 80. Power
source unit 80 is disposed at a part farther from the maximum width
part of body 20 than drive unit 30.
[0289] According to such configuration, since the front part of
body 20 relatively rises due to weight of power source unit 80, for
example, possibility of contact between a sensor such as obstacle
detecting sensor 71 disposed at the front side of body 20 and the
cleaning surface can be reduced.
[0290] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30, suction port 101, electric fan 51, and side brush
44. In the self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, a part of side brush 44 is located in
the maximum width part of body 20. More preferably, in
self-travelling vacuum cleaner 10 according to the present
exemplary embodiment, a part of side brush 44 and suction port 101
are located in the maximum width part of body 20.
[0291] According to such configuration, the trash collected by side
brush 44 can be more reliably sucked by suction port 101.
Seventh Exemplary Embodiment
[0292] Self-travelling vacuum cleaner 10 according to a seventh
exemplary embodiment of the present invention has body 20 having
suction port 101, drive unit 30 which drives body 20, and electric
fan 51 which is configured to suck a trash from suction port 101.
Body 20 has at least two apex parts (front apex parts 23). Body 20
has a maximum width (maximum width of body 20) defined by a
distance between apexes of two apex parts. Suction port 101 is
formed preferably in a laterally elongate shape, more preferably in
a rectangular shape or a substantially rectangular shape. In
self-travelling vacuum cleaner 10 according to the present
exemplary embodiment, suction port 101 is disposed at a bottom side
of body 20 such that a longitudinal direction of suction port 101
is substantially parallel to a width direction (lateral direction
in FIG. 13) of body 20.
[0293] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, body 20 has front surface 21
having a curved surface protruded outwardly, and two side surfaces
22. A curved surface protruded outwardly is formed on at least a
part of each of two side surfaces 22.
[0294] Further, body 20 has right side front apex part 23 defined
by front surface 21 and right side surface 22, and left side front
apex part 23 defined by front surface 21 and left side surface 22
as two apexes described above. As shown in FIG. 31, each of the
angles formed between tangent L1 of front surface 21 and tangent L2
of side surface 22, and between tangent L1 and tangent L3 of side
surface 22 is an acute angle. Namely, as shown in FIG. 31, in
self-travelling vacuum cleaner 10 according to the present
exemplary embodiment, (i) an angle formed between first tangent L1
which is a tangent of an outer periphery of body 20 in a plane view
and is parallel to line W (maximum width line W of body 20 which is
a line connecting apexes of two front apex parts 23), and second
tangent L2, which is another tangent of the outer periphery of body
20 in the plane view and makes contact with the outer periphery at
a point of the rear side of body 20, the point being closer to a
rear end of body 20 than maximum width line W of body 20 is an
acute angle, and (ii) an angle formed between first tangent L1 and
third tangent L3 which is still another tangent of the outer
periphery of body 20 in the plane view and makes contact with the
outer periphery of at another point of the rear side of body 20,
another point being closer to the rear end of body 20 than maximum
width line W of body 20 is also an acute angle.
[0295] According to such configuration, since a shape of body 20 is
approximated to the Reuleaux triangle, self-travelling vacuum
cleaner 10 can easily turn in corner area R3 in the target region
to be cleaned. Further, suction port 101 can easily reach to corner
area R3 in the target region to be cleaned, and therefore the
cleaning efficiency can be enhanced.
[0296] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, a curvature of a curved surface
of front surface 21 of body 20 is smaller than a curvature of the
round shape (circular arc R shown in FIG. 31) of front apex part 23
of body 20.
[0297] According to such configuration, since the shape of body 20
is approximated to the Reuleaux triangle, self-travelling vacuum
cleaner 10 can easily turn in corner area R3 in the target region
to be cleaned. Further, suction port 101 can easily reach to corner
area R3 in the target region to be cleaned, and therefore the
cleaning efficiency can be enhanced.
[0298] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, suction port 101 is preferably
disposed such that the longitudinal direction of suction port 101
is substantially parallel to a direction in which maximum width
line W of body 20 is extended. Further, more preferably, suction
port 101 is disposed at a part closer to the maximum width part of
body 20 than drive unit 30.
[0299] According to such configuration, suction port 101 can easily
reach to corner area R3 in the target region to be cleaned, and
therefore the cleaning efficiency can be enhanced.
[0300] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30 which moves body 20, caster 90 disposed at a part on
the rear side of body 20 farther than drive unit 30 in the
front-rear direction of body 20 and rotated in accordance with a
movement of wheel 33 of drive unit 30, and electric fan 51 which is
configured to suck the trash from suction port 101. Body 20 has the
maximum width part whose width is the widest in body 20. Suction
port 101 is formed preferably in a laterally elongate shape, more
preferably in a rectangular shape or a substantially rectangular
shape. In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, the longitudinal direction of suction
port 101 is extended along the width direction of body 20. Caster
90 may be disposed at a part farther from the maximum width part
than drive unit 30.
[0301] According to such configuration, since caster 90 is disposed
farther from corner area R3 in the target region to be cleaned, the
trash on corner area R3 can be prevented from being caught by
caster 90.
[0302] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30 which moves body 20, electric fan 51 which is
configured to suck the trash from suction port 101, and side brush
44 disposed on the bottom surface of body 20. Body 20 has the
maximum width part whose width is the widest in body 20. Suction
port 101 is formed preferably in a laterally elongate shape, more
preferably in a rectangular shape or a substantially rectangular
shape. In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, the longitudinal direction of suction
port 101 is extended along the width direction of body 20. Side
brush 44 is disposed at a part closer to the maximum width part of
body 20 than drive unit 30.
[0303] According to such configuration, the trash collected by side
brush 44 can be more reliably sucked from suction port 101.
Further, self-travelling vacuum cleaner 10 according to the present
exemplary embodiment has body 20 having suction port 101, drive
unit 30 which moves body 20, electric fan 51 which is configured to
suck the trash from suction port 101, and floor detecting sensor 74
which detects the cleaning surface on which body 20 travels. Body
20 has the maximum width part whose width is the widest in body 20.
Suction port 101 is formed preferably in a laterally elongate
shape, more preferably in a rectangular shape or a substantially
rectangular shape. In self-travelling vacuum cleaner 10 according
to the present exemplary embodiment, the longitudinal direction of
suction port 101 is extended along the width direction of body 20.
Floor detecting sensor 74 is disposed at the front side of body 20
relative to suction port 101 in the front-rear direction of body 20
and disposed at a part closer to the maximum width part of body 20
than drive unit 30.
[0304] According to such configuration, since floor detecting
sensor 74 is disposed at the front side of body 20, the cleaning
surface in the forward movement direction of body 20 can be
detected quickly, and wheel 33 can be prevented from running
off.
[0305] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30 which moves body 20, electric fan 51 which is
configured to suck the trash from suction port 101, and charge
terminal 103 used for charge of a power source capable of supplying
electric power to electric fan 51. Body 20 has the maximum width
part whose width is the widest in body 20. Suction port 101 is
formed preferably in a laterally elongate shape, more preferably in
a rectangular shape or a substantially rectangular shape. In
self-travelling vacuum cleaner 10 according to the present
exemplary embodiment, the longitudinal direction of suction port
101 is extended along the width direction of body 20. Charge
terminal 103 is disposed at the front side of body 20 relative to
suction port 101 in the front-rear direction of body 20 and
disposed at a part closer to the maximum width part of body 20 than
drive unit 30.
[0306] According to such configuration, since charge terminal 103
is disposed at the front side of body 20, charge terminal 103 can
be further reliably connected to the charge mount.
[0307] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30 which moves body 20, electric fan 51 which is
configured to suck the trash from suction port 101, and power
source unit 80 capable of supplying electric power to electric fan
51. Body 20 has the maximum width part whose width is the widest in
body 20. Suction port 101 is formed preferably in a laterally
elongate shape, more preferably in a rectangular shape or a
substantially rectangular shape.
[0308] In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, the longitudinal direction of suction
port 101 is extended along the width direction of body 20. Drive
unit 30 and power source unit 80 are disposed at a part on the rear
side of body 20 relative to suction port 101 in the front-rear
direction of body 20, and power source unit 80 is disposed at a
part farther from the maximum width part of body 20 than drive unit
30.
[0309] According to such configuration, since the front part of
body 20 relatively rises due to weight of power source unit 80, for
example, possibility of contact between a sensor such as obstacle
detecting sensor 71 disposed at the front side of body 20 and the
cleaning surface can be reduced.
[0310] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30 which moves body 20, electric fan 51 which is
configured to suck the trash from suction port 101, and side brush
44 disposed on the bottom surface of body 20. Body 20 has the
maximum width part whose width is the widest in body 20. Suction
port 101 is formed preferably in a laterally elongate shape, more
preferably in a rectangular shape or a substantially rectangular
shape.
[0311] In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, suction port 101 is disposed at the
bottom side of body 20 such that the longitudinal direction of
suction port 101 is extended along the width direction of body 20.
Further, in self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, a part of side brush 44 is located in
the maximum width part of body 20 at the bottom side of body 20.
More preferably, a part of side brush 44 and suction port 101 are
disposed in the maximum width part of body 20 at the bottom side of
body 20.
[0312] According to such configuration, the trash collected by side
brush 44 can be more reliably sucked by suction port 101.
Eighth Exemplary Embodiment
[0313] Self-travelling vacuum cleaner 10 according to an eighth
exemplary embodiment of the present invention has body 20 having
suction port 101, drive unit 30 having wheel 33 which moves body
20, and electric fan 51 which is configured to suck a trash from
suction port 101. Body 20 has a maximum width part whose width is
the widest in body 20.
[0314] In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, wheel 33 of drive unit 30 is disposed
in body 20 such that a center axis of wheel 33 is extended along a
width direction of body 20.
[0315] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, body 20 has front surface 21
having a curved surface protruded outwardly, and two side surfaces
22. A curved surface protruded outwardly is formed on at least a
part of each of two side surfaces 22.
[0316] Further, body 20 has right side front apex part 23 defined
by front surface 21 and right side surface 22, and left side front
apex part 23 defined by front surface 21 and left side surface
22.
[0317] As shown in FIG. 31, each of the angles formed between
tangent L1 of front surface 21 and tangent L2 of side surface 22,
and between tangent L1 and tangent L3 of side surface 22 is an
acute angle. Namely, as shown in FIG. 31, in self-travelling vacuum
cleaner 10 according to the present exemplary embodiment, (i) an
angle formed between first tangent L1 which is a tangent of an
outer periphery of body 20 in a plane view and is parallel to line
W (maximum width line W of body 20 which is a line connecting
apexes of two front apex parts 23), and second tangent L2 which is
another tangent of the outer periphery of body 20 in the plane view
and makes contact with the outer periphery at a point of the rear
side of body 20, the point being closer to a rear end of body 20
than maximum width line W of body 20 is an acute angle, and (ii) an
angle formed between first tangent L1 and third tangent L3 which is
still another tangent of the outer periphery of body 20 in the
plane view and makes contact with the outer periphery at another
point of the rear side of body 20, another point being closer to
the rear end of body 20 than maximum width line W of body 20 is
also an acute angle.
[0318] According to such configuration, since a shape of body 20 is
approximated to the Reuleaux triangle, body 20 can easily turn in
corner area R3 in the target region to be cleaned. Thus,
self-travelling vacuum cleaner 10 can move quickly from corner area
R3 and the like. Further, suction port 101 can easily reach to
corner area R3 in the target region to be cleaned, and therefore
cleaning efficiency can be enhanced.
[0319] Further, as shown in FIG. 31, in self-travelling vacuum
cleaner 10 according to the present exemplary embodiment, each
front apex part 23 of body 20 has a round shape (circular arc R). A
curvature of a curved surface of front surface 21 of body 20 is
smaller than a curvature of the round shape of each front apex part
23.
[0320] According to such configuration, since the shape of body 20
is approximated to the Reuleaux triangle, self-travelling vacuum
cleaner 10 can easily turn in corner area R3 in the target region
to be cleaned. Further, suction port 101 can easily reach to corner
area R3 in the target region to be cleaned, and therefore the
cleaning efficiency can be enhanced.
[0321] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, suction port 101 is disposed at a
part closer to the maximum width part of body 20 than drive unit
30.
[0322] According to such configuration, since the shape of body 20
is approximated to the Reuleaux triangle, self-travelling vacuum
cleaner 10 can easily turn in corner area R3 in the target region
to be cleaned. Further, suction port 101 can easily reach to corner
area R3 in the target region to be cleaned, and therefore the
cleaning efficiency can be enhanced.
[0323] Self-travelling vacuum cleaner 10 according to the present
exemplary embodiment may further have caster 90 disposed at a part
on the rear side of body 20 farther than drive unit 30 and rotated
in accordance with a movement of wheel 33 of drive unit 30. In
self-travelling vacuum cleaner 10 according to the present
exemplary embodiment, a center axis of wheel 33 of drive unit 30 is
extended along the width direction of body 20. Caster 90 may be
disposed at a part farther from the maximum width part of body 20
than drive unit 30.
[0324] According to such configuration, since caster 90 is disposed
farther from corner area R3 in the target region to be cleaned, the
trash on corner area R3 can be prevented from being caught by
caster 90.
[0325] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment may further have side brush 44
disposed at the bottom side of body 20. In self-travelling vacuum
cleaner 10 according to the present exemplary embodiment, the
center axis of wheel 33 is extended along the width direction of
body 20. Side brush 44 is disposed at a part closer to the maximum
width part of body 20 than drive unit 30.
[0326] According to such configuration, the trash collected by side
brush 44 can be more reliably sucked from suction port 101.
[0327] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment may further have floor detecting
sensor 74 which detects the cleaning surface on which body 20
travels. In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, floor detecting sensor 74 is disposed
at the front side of body 20 relative to suction port 101 in the
front-rear direction of body 20 at the bottom side of body 20 and
disposed at a part closer to the maximum width part of body 20 than
drive unit 30.
[0328] According to such configuration, since floor detecting
sensor 74 is disposed at the front side of body 20, the cleaning
surface in the forward movement direction of body 20 can be
detected quickly, and wheel 33 of drive unit 30 can be prevented
from running off.
[0329] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment may further have charge terminal 103
used for charge of a power source capable of supplying electric
power to electric fan 51. In self-travelling vacuum cleaner 10
according to the present exemplary embodiment, charge terminal 103
is disposed at the front side of body 20 relative to suction port
101 in the front-rear direction of body 20 at the bottom side of
body 20 and disposed at a part closer to the maximum width part of
body 20 than drive unit 30.
[0330] According to such configuration, since charge terminal 103
is disposed at the front side of body 20, charge terminal 103 can
be further reliably connected to the charge mount.
[0331] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment may further have power source unit 80
capable of supplying electric power to electric fan 51. In
self-travelling vacuum cleaner 10 according to the present
exemplary embodiment, drive unit 30 and power source unit 80 are
disposed at a part on the rear side of body 20 relative to suction
port 101 in the front-rear direction of body 20. Further, power
source unit 80 is disposed at a part farther from the maximum width
part of body 20 than drive unit 30.
[0332] According to such configuration, since the front part of
body 20 relatively rises due to weight of power source unit 80, for
example, possibility of contact between a sensor such as obstacle
detecting sensor 71 disposed at the front side of body 20 and the
cleaning surface can be reduced.
[0333] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, a part of side brush 44 is
located in the maximum width part at the bottom side of body 20.
More preferably, a part of side brush 44 and suction port 101 are
located in the maximum width part at the bottom side of body
20.
[0334] According to such configuration, the trash collected by side
brush 44 can be more reliably sucked by suction port 101.
Ninth Exemplary Embodiment
[0335] Self-travelling vacuum cleaner 10 according to a ninth
exemplary embodiment of the present invention has body 20 having
suction port 101, drive unit 30 having wheel 33, electric fan 51,
and communication part 212. Communication part 212 is disposed in a
recess part formed on body 20, and a surface of the recess part
including an edge of the recess part is inclined such that a part
at an outer peripheral side of body 20 is lower than a part at a
center side of body 20.
[0336] According to such configuration, the recess part is
functioned as a parabola antenna and therefore communication
ability of communication part 212 can be enhanced.
[0337] Further, in the present exemplary embodiment, communication
part 212 can also receive a signal output from a charge mount which
charges self-travelling vacuum cleaner 10 or a signal output from a
remote controller which operates self-travelling vacuum cleaner
10.
Tenth Exemplary Embodiment
[0338] Self-travelling vacuum cleaner 10 according to a tenth
exemplary embodiment of the present invention has body 20 having
suction port 101, drive unit 30 having wheel 33, electric fan 51,
and trash box unit 60. Trash box unit 60 has trash box 61 having an
entrance communicated with suction port 101, and filter 62 mounted
to trash box 61. Collecting part 340, which collects trashes in air
passing through thereof, is disposed on filter 62. Collecting part
340 is disposed at a part not facing entrance 312.
[0339] Generally, in a self-travelling vacuum cleaner, a size of a
trash box to be mounted is restricted. Thus, in a case in which a
collecting part is disposed at a part facing an entrance of the
trash box, the trash is concentrated and stored on a part of the
collecting part facing the entrance of the trash box, and therefore
the entrance may be blocked by the trashes even if there is a space
to store the trashes in other part of the collecting part.
[0340] However, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, since collecting part 340 is
disposed at the part not facing entrance 312, it is possible to
prevent the trash from being concentrated and stored on the part of
collecting part 340 facing entrance 312 of trash box 310.
[0341] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30 having a plurality of wheels 33, a plurality of
suspension springs 36, electric fan 51, main brush 43, and brush
driving motor 41. Suspension spring 36 applies reaction force to
wheel 33 such that wheel 33 is protruded from body 20. Elastic
modulus of suspension spring 36 which applies the reaction force to
first wheel 33 as one of the plurality of wheels 33 is larger than
elastic modulus of suspension spring 36 which applies the reaction
force to second wheel 33 as one of the plurality of wheels 33
disposed at a part farther from brush driving motor 41 than first
wheel 33.
[0342] According to such configuration, weight of brush driving
motor 41 is applied larger to first wheel 33 than to second wheel
33. Thus, in a case in which suspension springs 36, which apply the
reaction force to respective wheels 33, have the same elastic
modulus, positions of wheels 33 against body 20 may not be
balanced. However, with such configuration, by setting elastic
modulus of suspension springs 36, the balance of positions of
wheels 33 against body 20 is maintained.
[0343] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30 having wheel 33, electric fan 51, trash box 61, and
trash detecting sensor 76. In passage 174 which communicates with
suction port 101 and trash box 310, trash detecting sensor 76 is
disposed in a region in which a flowing speed of air is faster than
that on center line 175 of passage 174 in a cross section of
passage 174 taken along a flowing direction of air in passage
174.
[0344] According to such configuration, even if the trash adheres
to a surface of trash detecting sensor 76, the adhered trash is
easily blown away from the surface of trash detecting sensor 76 by
air flowed through passage 174.
[0345] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30 having wheel 33, electric fan 51, charge terminal
103, and magnet 77. Charge terminal 103 can be electrically
connected to a terminal of a charge mount which charges a power
source. Magnet 77 is disposed at a part adjacent to charge terminal
103.
[0346] According to such configuration, when self-travelling vacuum
cleaner 10 approaches the charge mount, magnet 77 is easily
detected by the charge mount.
[0347] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30, electric fan 51, and caster 90. A rotation shaft of
caster 90 is disposed so as to be parallel or substantially
parallel to a longitudinal direction of suction port 101. Further,
in self-travelling vacuum cleaner 10 according to the present
exemplary embodiment, caster 90 has a first part having a large
diameter, and a second part having a smaller diameter than the
first part. A friction coefficient of an outer peripheral surface
of the first part is smaller than a friction coefficient of an
outer peripheral surface of the second part.
[0348] According to such configuration, when self-travelling vacuum
cleaner 10 travels, the outer peripheral surface of the first part
in the outer peripheral surface of caster 90 is mainly contacted
with the cleaning surface. Since the friction coefficient of the
outer peripheral surface of the first part is smaller than the
friction coefficient of the outer peripheral surface of the second
part, resistance in a forward travelling of body 20 is small and
therefore body 20 can be moved smoothly. Further, when body 20 is
turned, since caster 90 is apt to make a sideslip, the turning
ability of body 20 can be enhanced.
Eleventh Exemplary Embodiment
[0349] Self-travelling vacuum cleaner 10 according to an eleventh
exemplary embodiment of the present invention has body 20 having
suction port 101, drive unit 30 which moves body 20 and has wheel
33, electric fan 51 which is configured to suck a trash from
suction port 101, and trash box unit 60 disposed in body 20. Trash
box unit 60 has trash box 61 which stores the trash sucked by
electric fan 51, and filter 62 mounted to trash box 61. Filter 62
has collecting part 340 which collects trashes in air passing
through thereof, and frame 350 which supports collecting part 340.
Frame 350 includes a part facing entrance 312 of trash box 310.
Collecting part 340 is disposed at a part not facing entrance 312
of trash box 310.
[0350] Generally, in a self-travelling vacuum cleaner, a size of a
trash box to be mounted is restricted. Thus, in a case in which a
collecting part is disposed so as to face an entrance of the trash
box, the trash is concentrated and stored on a part of the
collecting part facing the entrance of the trash box, and therefore
the entrance may be blocked by the trashes even if there is a space
to store the trashes in other part of the collecting part.
[0351] However, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, since collecting part 340 is
disposed at the part not facing entrance 312 of trash box 310, it
is possible to prevent the trash from being concentrated and stored
on the part of collecting part 340 facing entrance 312 of trash box
310.
[0352] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
main brush 43 disposed on suction port 101, brush driving motor 41
which rotates main brush 43, and a pair of wheels 33 (first wheel
33 and second wheel 33) which moves body 20. Self-travelling vacuum
cleaner 10 according to the present exemplary embodiment may
further have first spring 36 which applies reaction force to first
wheel 33 such that first wheel 33 makes contact with the cleaning
surface, second spring 36 which applies reaction force to second
wheel 33 such that second wheel 33 makes contact with the cleaning
surface, and electric fan 51 which is configured to suck the trash
from suction port 101. Brush driving motor 41 is disposed at a part
closer to first wheel 33 than second wheel 33. Further, in
self-travelling vacuum cleaner 10 according to the present
exemplary embodiment, elastic modulus of first spring 36 is larger
than elastic modulus of second spring 36.
[0353] According to such configuration, weight of brush drive unit
41 is applied larger to first wheel 33 than to second wheel 33.
Thus, in a case where both springs 36, which apply the reaction
force to respective wheels 33, have the same elastic modulus,
positions of wheels 33 against body 20 may not be balanced.
[0354] However, by setting elastic modulus of springs 36 based on
the configuration of self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, the balance of positions of
wheels 33 against body 20 is maintained.
[0355] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30 which moves body 20 and has wheel 33, electric fan 51
which is configured to suck a trash from suction port 101, trash
box 310 which stores the trash sucked by electric fan 51, and trash
detecting sensor 76 disposed in passage 174 which communicates with
electric fan 51 and trash box 310 and detects information with
respect to the trash moving inside passage 174. Trash detecting
sensor 76 is disposed in a region in which a flowing speed of air
is faster within passage 174.
[0356] According to such configuration, even if the trash adheres
to a surface of trash detecting sensor 76, the adhered trash is
easily blown away from the surface of trash detecting sensor 76 by
air flowed through passage 174.
[0357] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30, electric fan 51 which is configured to suck the
trash from suction port 101, charge terminal 103 used for charge of
a power source of electric fan 51, and magnet 77 which can be
detected by a charge mount which supplies electric power to charge
terminal 103. In self-travelling vacuum cleaner 10 according to the
present exemplary embodiment, a distance between magnet 77 and
charge terminal 103 is shorter than a distance between magnet 77
and suction port 101.
[0358] According to such configuration, when self-travelling vacuum
cleaner 10 approaches the charge mount, magnet 77 is easily
detected by the charge mount.
[0359] Further, self-travelling vacuum cleaner 10 according to the
present exemplary embodiment has body 20 having suction port 101,
drive unit 30, caster 90 rotated in accordance with a movement of
wheel 33, and electric fan 51 which is configured to suck the trash
from suction port 101. Suction port 101 is formed preferably in a
laterally elongate shape, more preferably in a rectangular shape or
a substantially rectangular shape. A longitudinal direction of
suction port 101 is extended along the width direction of body 20.
A center axis of caster 90 is substantially parallel to the
longitudinal direction of suction port 101. Caster 90 may have a
first part having a large diameter, and a second part having a
smaller diameter than the first part. A friction coefficient of an
outer peripheral surface of the first part is smaller than a
friction coefficient of an outer peripheral surface of the second
part.
[0360] According to such configuration, when self-travelling vacuum
cleaner 10 travels, the outer peripheral surface of the first part
in the outer peripheral surface of caster 90 mainly makes contact
with the cleaning surface. Since the friction coefficient of the
outer peripheral surface of the first part is smaller than the
friction coefficient of the outer peripheral surface of the second
part, resistance in a forward travelling of body 20 is small and
therefore body 20 can be moved smoothly. Further, when body 20 is
turned, since caster 90 is apt to make a sideslip, the turning
ability of body 20 can be enhanced.
Twelfth Exemplary Embodiment
[0361] Self-travelling vacuum cleaner 10 according to a twelfth
exemplary embodiment of the present invention has body 20 having
suction port 101, a plurality of drive units 30 which make body 20
move, and sucking unit 50 mounted in body 20.
[0362] Body 20 has front surface 21 having a curved shape protruded
outwardly in the plane view, a plurality of side surface 22, and a
plurality of front apex parts 23 each of which is an apex defined
by front surface 21 and side surface 22.
[0363] A maximum width of body 20 is defined by at least two apexes
(front apex parts 23) among a plurality of apexes. Further, suction
port 101 is disposed in a part having the maximum width of body 20.
"A part having the maximum width of body 20" or "maximum width part
of body 20" means, as described above, a part on or a part closer
to line W ("maximum width line W of body 20") connecting the apex
of right side front apex part 23 and the apex of left side front
apex part 23.
[0364] As shown in FIG. 31, each of the angles formed between
tangent L1 (first tangent) of front surface 21 and tangent L2
(second tangent) of side surface 22, and between tangent L1 and
tangent L3 (third tangent) of side surface 22 is an acute
angle.
[0365] Self-travelling vacuum cleaner 10 according to the present
exemplary embodiment may further have at least one side brush 44
disposed on a bottom side of body 20. A part of a rotation track of
side brush 44 covers at least a part of the maximum width part of
body 20. More preferably, side brush 44 is located in the maximum
width part and suction port 101 of body 20.
[0366] According to such configuration, the trash on corner area R3
in the target region to be cleaned can be more reliably collected
to suction port 101 disposed at the bottom side of body 20 by side
brush 44. Thus, ability to suck the trash on corner area R3 in the
target region to be cleaned can be further enhanced. Further, this
configuration can eliminate the need for lengthening bristle
bundles 44B forming side brush 44, and therefore the possibility
that side brush 44 is caught by an obstacle can be reduced.
[0367] In the present exemplary embodiment, a plurality of side
brushes 44 may be disposed. In this case, the plurality of side
brushes 44 includes right side brush 44 disposed at a right side of
body 20, and left side brush 44 disposed at a left side of body 20.
A track which delivers the trash to suction port 101 is formed by a
rotation track of right side brush 44 and a rotation track of left
side brush 44.
[0368] According to such configuration, the trash on corner area R3
in the target region to be cleaned can be collected to suction port
101 efficiently and reliably by the plurality of side brushes 44.
Thus, the ability to suck the trash on corner area R3 in the target
region to be cleaned can be further enhanced.
[0369] Further, in the present exemplary embodiment, in a case in
which self-travelling vacuum cleaner 10 has the plurality of side
brushes 44, the plurality of side brushes 44 is formed such that
the rotation track of right side brush 44 and the rotation track of
left side brush 44 are directed from the front side toward the rear
side of body 20 at a center side in the width direction of body 20.
Namely, the plurality of side brushes 44 is rotated in directions
opposite to each other, and each side brush 44 is rotated from the
front side toward the rear side of body 20 at a part of its
rotation track adjacent to the rotation track of another side brush
44.
[0370] According to such configuration, since the trash is
collected to suction port 101 from the front side of body 20 by
side brush 44, the trash can be more reliably sucked from suction
port 101 compared to, for example, a configuration in which the
trash is collected to suction port 101 from around a side area of
suction port 101.
Thirteenth Exemplary Embodiment
[0371] Self-travelling vacuum cleaner 10 according to a thirteenth
exemplary embodiment of the present invention has body 20 having
suction port 101 disposed on a bottom surface thereof, a plurality
of drive units 30 which drive body 20, and sucking unit 50 mounted
in body 20.
[0372] Body 20 has a maximum width part whose width is the widest
in body 20. The maximum with part is arranged at a front side
relative to a center of gravity G of self-travelling vacuum cleaner
10. Body 20 also has a rear part disposed at a rear side relative
to the maximum width part and becoming narrower toward a rear end.
In the present exemplary embodiment, as shown in FIG. 31, an outer
peripheral surface of the maximum width part of body 20 has a round
shape (circular arc R).
[0373] Further, in the present exemplary embodiment, front surface
21 of body 20 has a curved shape protruded outwardly in a plane
view of body 20.
[0374] Further, in the present exemplary embodiment, a curvature of
a curved surface of front surface 21 of body 20 is smaller than a
curvature of the round shape (circular arc R) of the outer
peripheral surface of the maximum width part of body 20.
[0375] Further, in self-travelling vacuum cleaner 10 of the present
exemplary embodiment, side surface 22 is disposed at a rear part of
body 20. Side surface 22 has a curved surface protruded outwardly
in the plane view of body 20.
[0376] In the present exemplary embodiment, a curvature of the
curved surface of side surface 22 of body 20 is smaller than the
curvature of the round shape (circular arc R) of the outer
peripheral surface of the maximum width part of body 20.
[0377] With such configuration, since a shape of body 20 is
approximated to the Reuleaux triangle, body 20 can easily turn in
corner area R3 in the target region to be cleaned. Thus,
self-travelling vacuum cleaner 10 can move quickly from corner area
R3 and the like in the target region to be cleaned. Further,
suction port 101 can easily reach to apex part R4 of corner area R3
in the target region to be cleaned, and therefore the cleaning
efficiency can be enhanced.
[0378] Further, in the present exemplary embodiment, suction port
101 is disposed at a part closer to the maximum width part of body
20 than the center of gravity G of self-travelling vacuum cleaner
10. Further, in the present exemplary embodiment, sucking unit 50
is disposed at the rear side relative to suction port 101 in the
front-rear direction of body 20.
[0379] With such configuration, since suction port 101 can approach
an apex of corner area R3 in the target region to be cleaned, the
trash on apex part R4 of corner area R3 can be more reliably and
directly sucked from suction port 101.
[0380] In the present exemplary embodiment, drive unit 30 may be
disposed at the bottom side of body 20 and at an outer side
relative to suction port 101 in the width direction of body 20.
With such configuration, since suction port 101 is disposed in the
maximum width part of body 20, the trash on the cleaning surface
can be efficiently sucked.
Fourteenth Exemplary Embodiment
[0381] Self-travelling vacuum cleaner 10 according to a fourteenth
exemplary embodiment of the present invention has body 20 having
suction port 101 disposed on a bottom surface thereof, a plurality
of drive units 30 which drive body 20, and sucking unit 50 mounted
in body 20.
[0382] Body 20 has front surface 21 having a curved shape protruded
outwardly in a plane view and a plurality of side surfaces 22. Body
20 further has a plurality of front apex parts 23 each of which is
an apex defined by front surface 21 and the plurality of side
surfaces 22. The maximum width of body 20 is defined by at least
two apexes (front apex parts 23) among a plurality of apexes.
Suction port 101 is disposed in a part having the maximum width of
body 20. Here, "a part having the maximum width of body 20" or
"maximum width part of body 20" means, as described above, a part
on or a part closer to line W ("maximum width line W of body 20")
connecting the apex of right side front apex part 23 and the apex
of left side front apex part 23.
[0383] According to such configuration, since each of the angles
formed between tangent L1 of front surface 21 and tangent L2 of
side surface 22, and between tangent L1 and tangent L3 of side
surface 22 is set to be an acute angle, when self-travelling vacuum
cleaner 10 is located on corner area R3 in the target region to be
cleaned, self-travelling vacuum cleaner 10 can pivotally turn and
take various positions against corner area R3. Examples of the
position of body 20 include that front apex part 23 of body 20 is
directed to an apex or an adjacent part thereof of corner area R3
in the target region to be cleaned. In a case in which
self-travelling vacuum cleaner 10 takes such a position, the apex
(front apex part 23) of body 20 is located further closer to the
apex of corner area R3 and suction port 101 of body 20 is also
located further closer to the apex of corner area R3 compared to a
case in which conventional self-travelling vacuum cleaner 10 having
a circular body 20 is located closer to the limit to corner area R3
in the target region to be cleaned. Thus, the trash on the cleaning
surface of corner area R3 can be sucked more reliably from suction
port 101.
[0384] Further, according to such configuration as described above,
when self-travelling vacuum cleaner 10 takes the position in which
front apex part 23 of body 20 approaches toward the apex or the
adjacent area thereof of corner area R3, self-travelling vacuum
cleaner 10 can pivotally turn. Thus, when self-travelling vacuum
cleaner 10 according to the present exemplary embodiment moves from
corner area R3 in the target region to be cleaned toward another
area, self-travelling vacuum cleaner 10 can move quickly from
corner area R3 to another area compared to the conventional
self-travelling vacuum cleaner having D-shape body 20.
[0385] Further, in the present exemplary embodiment, the plurality
of side surfaces 22 includes right side surface 22 disposed at a
right side with respect to a center in a width direction of body 20
(in the present exemplary embodiment, a direction substantially
orthogonal to the forward movement direction of body 20), and left
side surface 22 disposed at a left side with respect to the center
in the width direction of body 20. Body 20 has right side front
apex part 23 defined by front surface 21 and right side surface 22,
and left side front apex part 23 defined by front surface 21 and
left side surface 22. A maximum width of body 20 is defined by
right side front apex 23 and left side front apex 23.
[0386] Further, in self-travelling vacuum cleaner 10 according to
the present exemplary embodiment, a width of the rear side (rear
part) of body 20 is narrower than a width of the front side (front
part) of body 20. With such configuration, when self-travelling
vacuum cleaner 10 turns around an object, possibility of contact
between the rear part of body 20 and the object is reduced. Thus,
moving ability of self-travelling vacuum cleaner 10 can be
enhanced.
[0387] Further, in the present exemplary embodiment, the plurality
of drive units 30 includes first drive unit 30 and second drive
unit 30. Each of first drive unit 30 and second drive unit 30 has
rotation axe and is formed to be driven independently to each
other. Further, in the present exemplary embodiment, a driving
system of the plurality of drive units 30 is a facing two wheels
type driving system provided with first drive unit 30 and second
drive unit 30. With such configuration, a structure can be
simplified compared to a self-travelling vacuum cleaner having a
steering type driving system.
[0388] Self-travelling vacuum cleaner 10 according to the present
exemplary embodiment may further have control unit 70 which
controls the plurality of drive units 30. Control unit 70 controls
the plurality of drive units 30 such that body 20 forms a part of a
rectangular track drawn by the Reuleaux triangle.
[0389] According to such configuration, control unit 70 operates
each drive unit 30 such that front apex part 23 of body 20
approaches the apex or the adjacent part thereof of corner area R3
in the target region to be cleaned, and therefore suction port 101
can be located further closer to the apex of corner area R3 in the
target region to be cleaned. Thus, self-travelling vacuum cleaner
10 according to the present exemplary embodiment can efficiently
suck the trash on corner area R3 in the target region to be
cleaned.
[0390] Further, in the present exemplary embodiment, the rotation
axes of first drive unit 30 and second drive unit 30 are located
respectively at a part on the rear side of body 20 farther than the
center of gravity G of self-travelling vacuum cleaner 10.
[0391] A relationship between the rotation axis of each drive unit
30 and the center of gravity G of self-travelling vacuum cleaner 10
corresponds to one of main factors which determines the track drawn
by body 20. Self-travelling vacuum cleaner 10 of the present
invention has body 20 having suction port 101, drive unit 30,
suction port 101, and electric fan 51. Body 20 has two apexes
(front apex parts 23) which define the maximum width of body 20.
Suction port 101 is disposed at a part having the maximum width
part at the bottom side of body 20, and disposed at a part closer
to the maximum width part of body 20 than drive unit 30.
[0392] According to such configuration, since a shape of body 20 is
approximated to the Reuleaux triangle, body 20 can easily turn in
corner area R3 in the target region to be cleaned. Thus,
self-travelling vacuum cleaner 10 can move quickly from corner area
R3 and the like in the target region to be cleaned. Further,
suction port 101 can easily reach to apex part R4 of corner area R3
in the target region to be cleaned, and therefore the cleaning
efficiency can be enhanced.
[0393] Self-travelling vacuum cleaner 10 of the present invention
may further have caster 90 disposed at the bottom side of body 20.
Caster 90 may be disposed at a part on the rear side of body 20
farther than drive unit 30 with respect to the maximum width part
of body 20. According to such configuration, since caster 90 is
disposed farther from suction port 101 from which the trash on
corner area R3 in the target region to be cleaned is sucked, the
trash on corner area R3 in the target region to be cleaned can be
prevented from being caught by caster 90.
[0394] Self-travelling vacuum cleaner 10 of the present invention
may further have side brush 44 disposed at the bottom side of body
20. A part of a rotation track of side brush 44 covers at a part
having the maximum width part of body 20. More preferably, the part
of the rotation track of side brush 44 is located at a part having
suction port 101 and the maximum width part of body 20. According
to such configuration, the trash collected by side brush 44 can be
more reliably sucked by suction port 101.
[0395] In self-travelling vacuum cleaner 10 of the present
invention, (i) an angle formed between first tangent L1 and second
tangent L2 is an acute angle, and (ii) an angle formed between
first tangent L1 and third tangent L3 is also an acute angle. Here,
first tangent L1 is a tangent of an outer periphery of body 20 in a
plane view and is parallel to maximum width line W of body 20
(which is a line connecting apexes of two front apex parts 23).
Second tangent L2 is another tangent of the outer periphery of body
20 in the plane view and makes contact with the outer periphery at
a point on the rear side of body 20 relative to the maximum width
line W of body 20. Third tangent L3 is still another tangent of the
outer periphery of body 20 in the plane view and makes contact with
the outer periphery at another point on the rear side of body 20
relative to maximum width line W of body 20.
[0396] According to such configuration, since the shape of body 20
is approximated to the Reuleaux triangle, body 20 can easily turn
in corner area R3 in the target region to be cleaned. Thus,
self-travelling vacuum cleaner 10 can move quickly from corner area
R3 and the like in the target region to be cleaned. Further,
suction port 101 can easily reach to apex part R4 of corner area R3
in the target region to be cleaned, and therefore the cleaning
efficiency can be enhanced.
[0397] In self-travelling vacuum cleaner 10 of the present
invention, body 20 has an outer peripheral surface on which a
curved surface protruded outwardly in the plane view is formed.
Further, body 20 has two apexes (front apex parts 23) which define
the maximum width of body 20. As shown in FIG. 31, each of two
apexes (front apex parts 23) has a round shape (circular arc R),
and a curvature of the curved surface of the outer peripheral
surface of body 20 is smaller than a curvature of the round shape
of two apexes.
[0398] According to such configuration, since the shape of body 20
is approximated to the Reuleaux triangle, body 20 can easily turn
in corner area R3 in the target region to be cleaned. Thus,
self-travelling vacuum cleaner 10 can move quickly from corner area
R3 and the like in the target region to be cleaned. Further,
suction port 101 can easily reach to apex part R4 in corner area R3
in the target region to be cleaned, and therefore the cleaning
efficiency can be enhanced.
INDUSTRIAL APPLICABILITY
[0399] As described above, the present invention provides a
self-travelling vacuum cleaner having high cleaning efficiency
capable of more reliably and directly sucking a trash on a corner
in a target region to be cleaned from a suction port, and moving
from the corner in the target region to be cleaned to another area.
Thus, the present invention can be applied to a self-travelling
vacuum cleaner used in various circumstances such as a
self-travelling vacuum cleaner for domestic use or commercial
use.
* * * * *