U.S. patent application number 16/645591 was filed with the patent office on 2020-09-03 for self-propelled vacuum cleaner.
The applicant listed for this patent is Chiba institute of technology. Invention is credited to Takayuki FURUTA, Yoshitaka HARA, Kiyoshi IRIE, Takashi KODACHI, Kazuki OGIHARA, Yu OKUMURA, Masaharu SHIMIZU, Kengo TODA, Masahiro TOMONO, Hideaki YAMATO, Tomoaki YOSHIDA.
Application Number | 20200275815 16/645591 |
Document ID | / |
Family ID | 1000004886520 |
Filed Date | 2020-09-03 |
![](/patent/app/20200275815/US20200275815A1-20200903-D00000.png)
![](/patent/app/20200275815/US20200275815A1-20200903-D00001.png)
![](/patent/app/20200275815/US20200275815A1-20200903-D00002.png)
![](/patent/app/20200275815/US20200275815A1-20200903-D00003.png)
![](/patent/app/20200275815/US20200275815A1-20200903-D00004.png)
![](/patent/app/20200275815/US20200275815A1-20200903-D00005.png)
![](/patent/app/20200275815/US20200275815A1-20200903-D00006.png)
![](/patent/app/20200275815/US20200275815A1-20200903-D00007.png)
![](/patent/app/20200275815/US20200275815A1-20200903-D00008.png)
![](/patent/app/20200275815/US20200275815A1-20200903-D00009.png)
![](/patent/app/20200275815/US20200275815A1-20200903-D00010.png)
View All Diagrams
United States Patent
Application |
20200275815 |
Kind Code |
A1 |
FURUTA; Takayuki ; et
al. |
September 3, 2020 |
SELF-PROPELLED VACUUM CLEANER
Abstract
An autonomous vacuum cleaner that can reduce the footprint in a
standby state is provided. An autonomous vacuum cleaner (1)
includes a vacuum cleaner body (2) and a charging station (6). The
charging station (6) has a hook (64) that latches a latched member
(16) provided to a rear side of the vacuum cleaner body (2), and a
lift driver (61) that raises and lowers the hook (64), and is
configured to be capable of storing the vacuum cleaner body (2) in
a standing state where the vacuum cleaner body (2) is hoisted and
the rear side is oriented upward.
Inventors: |
FURUTA; Takayuki; (Chiba,
JP) ; TOMONO; Masahiro; (Chiba, JP) ; YAMATO;
Hideaki; (Chiba, JP) ; YOSHIDA; Tomoaki;
(Chiba, JP) ; SHIMIZU; Masaharu; (Chiba, JP)
; OKUMURA; Yu; (Chiba, JP) ; TODA; Kengo;
(Chiba, JP) ; KODACHI; Takashi; (Chiba, JP)
; IRIE; Kiyoshi; (Chiba, JP) ; HARA;
Yoshitaka; (Chiba, JP) ; OGIHARA; Kazuki;
(Chiba, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Chiba institute of technology |
Chiba |
|
JP |
|
|
Family ID: |
1000004886520 |
Appl. No.: |
16/645591 |
Filed: |
September 13, 2017 |
PCT Filed: |
September 13, 2017 |
PCT NO: |
PCT/JP2017/033010 |
371 Date: |
March 9, 2020 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A47L 2201/022 20130101;
A47L 9/009 20130101; A47L 9/0063 20130101; A47L 9/2894 20130101;
A47L 9/2805 20130101; A47L 9/2873 20130101; A47L 9/2852
20130101 |
International
Class: |
A47L 9/28 20060101
A47L009/28; A47L 9/00 20060101 A47L009/00 |
Claims
1. An autonomous vacuum cleaner capable of cleaning while
travelling along a floor surface, comprising: a vacuum cleaner body
including a cleaning means configured to suck up dirt and the like
on the floor surface; and a storage device for storing the vacuum
cleaner body during non-cleaning time, wherein the storage device
includes: a latch configured to latch a part of one end side of the
vacuum cleaner body; and a lift means configured to raise and lower
the latch, and the autonomous vacuum cleaner is configured to be
capable of storing the vacuum cleaner body in a standing state
where the vacuum cleaner body is hoisted and the one end side is
oriented upward, by causing the lift means to raise the latch
latching the part of the vacuum cleaner body.
2. The autonomous vacuum cleaner according to claim 1, wherein the
storage device includes a charging means for charging the vacuum
cleaner body, and the latch functions as a feeder terminal to feed
power from the charging means to the vacuum cleaner body.
3. The autonomous vacuum cleaner according to claim 2, wherein the
charging means includes a power feeder capable of feeding power in
contact with the latch, and the power feeder is configured
including: a first terminal capable of coming into contact with the
latch at a latch position before hoisting the vacuum cleaner body;
and a second terminal capable of coming into contact with the latch
at a storage position after hoisting the vacuum cleaner body.
4. The autonomous vacuum cleaner according to claim 1, wherein the
storage device includes a detection means configured to detect
whether or not the vacuum cleaner body is at a predetermined
hoistable position, and on the basis of the detection by the
detection means, the lift means keeps the latch down at a retracted
position until the vacuum cleaner body comes to the predetermined
position, and raises the latch to the latch position upon the
vacuum cleaner body coming to the predetermined position.
5. The autonomous vacuum cleaner according to claim 1, wherein the
lift means raises and lowers the latch along a backward and upward
inclined direction with respect to the vacuum cleaner body.
6. The autonomous vacuum cleaner according to claim 1, wherein the
storage device includes a slope configured to guide the one end
side of the vacuum cleaner body obliquely upward until the vacuum
cleaner body comes to the predetermined hoistable position.
7. The autonomous vacuum cleaner according to claim 1, wherein the
latch includes an extension piece extending toward the vacuum
cleaner body, a latch recess recessed in an arc shape is formed in
a top surface of the extension piece, and the part of the vacuum
cleaner body is provided with a latched member formed into a
columnar shape with a smaller diameter than that of the latch
recess, the latched member being configured to be latched in the
latch recess.
8. The autonomous vacuum cleaner according to claim 1, wherein at
least one of the vacuum cleaner body and the storage device is
provided with a guide means configured to roll or slide and guide
the other end side of the vacuum cleaner body midway through the
hoist.
Description
TECHNICAL FIELD
[0001] The present invention relates to an autonomous vacuum
cleaner.
BACKGROUND ART
[0002] An autonomous vacuum cleaner including a travel means, a
dust collection assembly that collects dust removed from the floor
surface, and a battery that supplies electric power to the travel
means and the like is conventionally known (refer to, for example,
Patent Literature 1). The battery of the autonomous vacuum cleaner
is configured to be installed separately on the floor surface and
charged from a charging base connected to a power source. The
autonomous vacuum cleaner controls a drive wheel of the travel
means, depending on a return signal from the charging base, to
return to the charging base. A charging terminal of the autonomous
vacuum cleaner and a feeder terminal of the charging base are
electrically connected to detect the completion of the return to
the charging base and stop the drive of the travel means and the
dust collection assembly.
CITATION LIST
Patent Literature
[0003] PATENT LITERATURE 1: JP-A-2014-188062
SUMMARY OF THE INVENTION
Problems to be Solved by the Invention
[0004] However, in such a known autonomous vacuum cleaner as is
described in Patent Literature 1, the autonomous vacuum cleaner and
the charging base are planarly connected in a standby state where
the autonomous vacuum cleaner has returned and is on standby.
Hence, an area of the floor surface results in being occupied by a
combined projected area of the autonomous vacuum cleaner and the
charging base, which leads a problem that the footprint in the
standby state is large.
[0005] An object of the present invention is to provide an
autonomous vacuum cleaner that can reduce the footprint in a
standby state.
Solutions to the Problems
[0006] An autonomous vacuum cleaner according to the present
invention is an autonomous vacuum cleaner capable of cleaning while
travelling along a floor surface, including: a vacuum cleaner body
including a cleaning means configured to suck up dirt and the like
on the floor surface; and a storage device for storing the vacuum
cleaner body during non-cleaning time. The storage device includes:
a latch configured to latch a part of one end side of the vacuum
cleaner body; and a lift means configured to raise and lower the
latch, and the autonomous vacuum cleaner is configured to be
capable of storing the vacuum cleaner body in a standing state
where the vacuum cleaner body is hoisted and the one end side is
oriented upward, by causing the lift means to raise the latch
latching the part of the vacuum cleaner body.
[0007] According to such a present invention, the storage device
causes the lift means to raise the latch, and stores the vacuum
cleaner body in the standing state where the vacuum cleaner body
latched by the latch is hoisted and the one end side is oriented
upward. Accordingly, it is possible to reduce a projected area of
the stored vacuum cleaner body on the floor surface and reduce the
combined footprint of the vacuum cleaner body in a standby state
and the storage device.
[0008] In the present invention, the storage device preferably
includes a charging means for charging the vacuum cleaner body, and
the latch functions as a feeder terminal to feed power from the
charging means to the vacuum cleaner body.
[0009] According to such a configuration, the latch for hoisting
the vacuum cleaner body functions as the feeder terminal.
Accordingly, the storage device can easily feed power to the
hoisted vacuum cleaner body without preparing an additional feeder
terminal.
[0010] In the present invention, it is preferred that the charging
means includes a power feeder capable of feeding power in contact
with the latch, and the power feeder is configured including: a
first terminal capable of coming into contact with the latch at a
latch position before hoisting the vacuum cleaner body; and a
second terminal capable of coming into contact with the latch at a
storage position after hoisting the vacuum cleaner body.
[0011] According to such a configuration, the charging means has
the power feeder that can feed power in contact with the latch. The
power feeder has the first and second terminals. Accordingly, each
terminal comes into contact with the latch at both of the latch
position before the hoist and the storage position after the hoist
to apply power thereto. Consequently, it is possible to feed power
to the vacuum cleaner body via the latch. Moreover, the necessity
to directly connect a feeder wire to the moving latch is
eliminated. Accordingly, the wire does not become entangled, or
there is no need to secure space where the wire moves.
[0012] In the present invention, it is preferred that the storage
device includes a detection means configured to detect whether or
not the vacuum cleaner body is at a predetermined hoistable
position, and on the basis of the detection by the detection means,
the lift means keeps the latch down at a retracted position until
the vacuum cleaner body comes to the predetermined position, and
raises the latch to the latch position upon the vacuum cleaner body
coming to the predetermined position.
[0013] According to such a configuration, the lift means keeps the
latch down at the retracted position until the vacuum cleaner body
comes to the predetermined position. Accordingly, the storage
device can prevent the latch from protruding and catching a
person's leg and clothing and prevent the part of the vacuum
cleaner body and the latch from coming into sliding contact with
each other to reduce the wear-out of the latch. Moreover, the
detection means detects that the vacuum cleaner body has come to
the predetermined position, and then the lift means raises the
latch to the latch position. Accordingly, the storage device can
securely latch the part of the vacuum cleaner body with the latch,
and can stably hoist the vacuum cleaner body.
[0014] In the present invention, the lift means preferably raises
and lowers the latch along a backward and upward inclined direction
with respect to the vacuum cleaner body.
[0015] According to such a configuration, the lift means raises and
lowers the latch along the inclined direction. Accordingly, it is
possible to hoist the one end side of the vacuum cleaner body
obliquely upward and stably and smoothly hoist the vacuum cleaner
body as compared to a case of vertically hoisting the vacuum
cleaner body.
[0016] In the present invention, the storage device preferably
includes a slope configured to guide the one end side of the vacuum
cleaner body obliquely upward before the vacuum cleaner body comes
to the predetermined hoistable position.
[0017] According to such a configuration, the one end side of the
vacuum cleaner body is guided obliquely upward by the slope of the
storage device. Accordingly, it is possible to hoist the vacuum
cleaner body with the latch after inclining the vacuum cleaner body
and more smoothly hoist the vacuum cleaner body. Moreover, a
portion higher than the floor surface is formed by the slope.
Accordingly, the portion can be used as a retraction space for the
latch.
[0018] In the present invention, it is preferred that the latch
includes an extension piece extending toward the vacuum cleaner
body, a latch recess recessed in an arc shape is formed in a top
surface of the extension piece, and the part of the vacuum cleaner
body is provided with a latched member formed into a columnar shape
with a smaller diameter than that of the latch recess, the latched
member being configured to be latched in the latch recess.
[0019] According to such a configuration, the latch recess recessed
in an arc shape is formed in the top surface of the extension piece
of the latch. The part of the vacuum cleaner body is provided with
the latched member formed into a columnar shape with a smaller
diameter than that of the latch recess. Accordingly, it is possible
to securely latch the latched member in the latch recess. Moreover,
as the one end side of the vacuum cleaner body is hoisted, the
angle formed by the vacuum cleaner body and the storage device
changes. However, the columnar latched member can rotate in the
arc-shaped latch recess. Accordingly, it is possible to reduce
resistance while maintaining a stable latched state and smoothly
hoist the vacuum cleaner body.
[0020] In the present invention, preferably, at least one of the
vacuum cleaner body and the storage device is provided with a guide
means configured to roll or slide and guide the other end side of
the vacuum cleaner body midway through the hoist.
[0021] According to such a configuration, the vacuum cleaner body
or storage device is provided with the guide means. The guide means
rolls or slides and guides the other end side of the vacuum cleaner
body. Accordingly, it is possible to reduce sliding contact
resistance between the other end side of the vacuum cleaner body
where the angle changes as the vacuum cleaner body moves up or
down, and the floor surface or storage device, and more smoothly
raise and lower the vacuum cleaner body.
BRIEF DESCRIPTION OF THE DRAWINGS
[0022] FIG. 1 is a front view of an autonomous vacuum cleaner
according to one embodiment of the present invention.
[0023] FIG. 2 is a side view of a vacuum cleaner body and a
cross-sectional view of a storage device in the autonomous vacuum
cleaner.
[0024] FIG. 3 is a side view illustrating a hoisted state of the
vacuum cleaner body in the autonomous vacuum cleaner.
[0025] FIG. 4 is a side view illustrating a stored state of the
vacuum cleaner body in the autonomous vacuum cleaner.
[0026] FIG. 5 is a functional block diagram illustrating the
schematic configuration of the autonomous vacuum cleaner.
[0027] FIG. 6 is a perspective view of the vacuum cleaner body as
viewed from above.
[0028] FIG. 7 is a perspective view of the vacuum cleaner body as
viewed from below.
[0029] FIG. 8 is a perspective view of a protruding state of a
surrounding cleaning means in the vacuum cleaner body as viewed
from above.
[0030] FIG. 9 is a perspective view of the protruding state of the
surrounding cleaning means in the vacuum cleaner body as viewed
from below.
[0031] FIG. 10 is a front view illustrating the protruding state of
the surrounding cleaning means in the vacuum cleaner body.
[0032] FIG. 11 is a right-side view illustrating the protruding
state of the surrounding cleaning means in the vacuum cleaner
body.
[0033] FIG. 12 is a back view illustrating the protruding state of
the surrounding cleaning means in the vacuum cleaner body.
[0034] FIG. 13 is a perspective view illustrating the storage
device of the autonomous vacuum cleaner.
[0035] FIG. 14 is a front view illustrating the storage device.
[0036] FIG. 15 is a cross-sectional view illustrating the storage
device.
[0037] FIGS. 16(A) to 16(D) are cross-sectional views illustrating
the operation of the storage device.
[0038] FIGS. 17(A) and 17(B) are cross-sectional views illustrating
a part of the enlarged storage device.
[0039] FIG. 18 is a cross-sectional view illustrating a detection
means of the storage device.
[0040] FIGS. 19(A) and 19(B) are cross-sectional views illustrating
a lift means of the storage device.
[0041] FIG. 20 is a cross-sectional view illustrating the enlarged
lift means of the storage device.
[0042] FIG. 21 is a cross-sectional view illustrating the enlarged
lift means of the storage device.
[0043] FIGS. 22(A) and 22(B) are a side view and a cross-sectional
view, which illustrate the operation of the storage device.
[0044] FIGS. 23(A) and 23(B) are a side view and a cross-sectional
view, which illustrate the operation of the storage device, and are
continued from FIGS. 22(A) and 22(B).
[0045] FIGS. 24(A) and 24(B) are a side view and a cross-sectional
view, which illustrate the operation of the storage device, and are
continued from FIGS. 23(A) and 23(B).
[0046] FIGS. 25(A) and 25(B) are a side view and a cross-sectional
view, which illustrate the operation of the storage device, and are
continued from FIGS. 24(A) and 24(B).
[0047] FIGS. 26(A) to 26(C) are cross-sectional views illustrating
an enlarged charging means of the storage device.
DESCRIPTION OF THE EMBODIMENTS
[0048] One embodiment of the present invention is described
hereinafter on the basis of FIGS. 1 to 26(A) to 26(C).
[0049] FIG. 1 is a front view of an autonomous vacuum cleaner
according to one embodiment of the present invention. FIG. 2 is a
side view of a vacuum cleaner body and a cross-sectional view of a
storage device in the autonomous vacuum cleaner.
[0050] An autonomous vacuum cleaner 1 includes a vacuum cleaner
body 2 being a cleaning robot that cleans a floor surface F while
travelling along the floor surface F, and a charging station 6 as a
storage device for storing the vacuum cleaner body 2 during
non-cleaning time.
[0051] As described below, the vacuum cleaner body 2 includes a
travel driver 12 having a pair of left and right wheels 121 for
travelling autonomously, a lift 13 that is provided, configured to
be capable of lifting up from a top surface 101 of a body 10, a
vacuum assembly 14 for sucking up dust and dirt on the floor
surface F, and a body operator 15 (refer to FIG. 5) for operating
the vacuum cleaner body 2. The charging station 6 is installed in a
predetermined location in a room in such a manner as to be
immovable, and is connected to a power source such as a
receptacle.
[0052] FIG. 3 is a side view illustrating a hoisted state of the
vacuum cleaner body in the autonomous vacuum cleaner. FIG. 4 is a
side view illustrating a stored state of the vacuum cleaner body in
the autonomous vacuum cleaner.
[0053] As illustrated in FIGS. 3 and 4, the charging station 6 is
configured in such a manner as to be capable of storing the vacuum
cleaner body 2 in a standing state where a rear side thereof being
one end side is oriented upward by hoisting the vacuum cleaner body
2. The charging station 6 is configured including hooks 64 as
latches that latch latched members 16 (described below) provided to
the rear side of the vacuum cleaner body 2, and a lift driver 51
(described below) as a lift means that raises and lowers the hooks
64.
[0054] FIG. 5 is a functional block diagram illustrating the
schematic configuration of the autonomous vacuum cleaner.
[0055] As illustrated in FIG. 5, the vacuum cleaner body 2 includes
a surrounding cleaning means 3 for cleaning around the vacuum
cleaner body 2, a sensor system 4 for detecting an obstacle around
the vacuum cleaner body 2, and a controller 5 as a control means
that controls and drives the vacuum cleaner body 2, the surrounding
cleaning means 3, and the sensor system 4.
[0056] The surrounding cleaning means 3 are provided in a pair on
left and right sides of a front part of the vacuum cleaner body 2.
The surrounding cleaning means 3 includes a pivotable arm 21 that
protrudes sideway from the vacuum cleaner body 2, a motor 22 that
drives the arm 21 to pivot, a load sensor 23 that detects load
acting on the motor 22 from the outside, and an angle sensor 24
that detects the pivot angle of the arm 21.
[0057] The sensor system 4 includes a front sensor 31 provided on
the front part of the vacuum cleaner body 2, a surroundings sensor
32 provided in the lift 13, and a rear sensor 33 provided on a rear
part of the vacuum cleaner body 2.
[0058] The controller 5 includes a travel controller 41 that
controls the travel driver 12, a vacuum controller 42 that controls
the vacuum assembly 14, a detection computer 43 that processes
detection signals from the front sensor 31, the surroundings sensor
32, and the rear sensor 33 of the sensor system 4, and the load
sensor 23 and the angle sensor 24 of the surrounding cleaning means
3, and an arm controller 44 that controls and drives the motor 22
of the surrounding cleaning means 3 and causes the arm 21 to
pivot.
[0059] The charging station 6 includes the lift driver 51 as the
lift means that raises and lowers the hooks 64, a charger 52 as a
charging means for feeding and charging a battery of the vacuum
cleaner body 2, a position detector 53 as a detection means that
detects the position of the vacuum cleaner body 2 that has returned
to the charging station 6, and a charge controller 54 that controls
power feed by the charger 52.
[0060] Next, the structure of the vacuum cleaner body 2 is
described on the basis of FIGS. 6 to 12.
[0061] FIG. 6 is a perspective view of the vacuum cleaner body as
viewed from above. FIG. 7 is a perspective view of the vacuum
cleaner body as viewed from below. FIG. 8 is a perspective view of
a protruding state of the surrounding cleaning means in the vacuum
cleaner body as viewed from above. FIG. 9 is a perspective view of
the protruding state of the surrounding cleaning means in the
vacuum cleaner as viewed from below. FIGS. 10 to 12 are a front
view, a right-side view, and a back view, which illustrate the
protruding state of the surrounding cleaning means in the vacuum
cleaner body.
[0062] The vacuum cleaner body 2 includes the body 10 having the
top surface 101, a front surface 102, left and right side surfaces
103, and a rear surface 104, a chassis 11 forming an undersurface
105, the travel driver 12 having the pair of left and right wheels
121 for travelling autonomously, the lift 13 that is provided,
configured to be capable of lifting up from the top surface 101 of
the body 10, the vacuum assembly 14 that is provided on the
undersurface 105 of the body 10 to suck up dust and dirt on the
floor surface F, and the body operator 15 (refer to FIG. 5) for
operating the vacuum cleaner body 2. The body operator 15 is, for
example, a touch sensor switch (not illustrated) provided on the
top surface 101 of the vacuum cleaner body 2, and operates the
vacuum cleaner body 2 with a touch operation by a user and stops
the vacuum cleaner body 2 with a touch operation during
operation.
[0063] The arm 21 of the surrounding cleaning means 3 is configured
including a first arm 21A rotatably supported on one end side
thereof by the vacuum cleaner body 2, and a second arm 21B
rotatably supported on the other end side of the first arm 21A. The
first arm 21A as a whole is formed into a hollow shape, and is
rotatably supported on the one end side by the chassis 11. The
second arm 21B as a whole is formed into an extra-long cup shape
that opens downward. A middle portion of the second arm 21B is
rotatably supported on the other end side of the first arm 21A. The
second arm 21B includes a sub-vacuum inlet 25 that opens downward
to suck up dirt and the like on the floor surface F. The sub-vacuum
inlet 25 communicates with a duct and a dust collection chamber of
the vacuum assembly 14 through internal spaces of the second arm
21B and the first arm 21A. Moreover, as described below, an
undersurface of the second arm 21B is provided with a rotating ball
26 as a guide means that rolls and guides the front side (the other
end side) of the vacuum cleaner body 2 that is being hoisted by the
charging station 6.
[0064] The sensor system 4 is configured including the front sensor
31 provided on the front surface 102 of the body 10, the
surroundings sensor 32 as a surrounding detection means provided in
the lift 13, and the rear sensor 33 provided on the rear surface
104 of the body 10. The front sensor 31 includes an ultrasonic
sensor, an infrared sensor, or the like, and detects an obstacle
ahead of the vacuum cleaner body 2. The surroundings sensor 32 is a
laser scanner (LIDAR (Light Detection and Ranging or Laser Imaging
Detection and Ranging)) that is driven and rotated inside the lift
13 and measures distance by applying laser light such as infrared
laser light, and calculates the distance to an obstacle and the
shape of the obstacle. The surroundings sensor 32 is not limited to
the one provided in the lift 13 and is simply required to be
provided at any position in the body 10. The rear sensor 33 is for
detecting its distance and position with respect to the charging
station 6, and communicates with infrared light or the like with
infrared emitters 53C (refer to FIG. 13) of the position detector
53 of the charging station 6.
[0065] The travel driver 12 includes the pair of left and right
wheels 121, and a motor (not illustrated) that drives and rotates
the pair of wheels 121 independently. Moreover, an auxiliary wheel
122 is provided to a rear part of the chassis 11. The vacuum
assembly 14 is connected to a roller brush 141, and the duct, a
suction fan, the dust collection chamber, and an exhaust port,
which are not illustrated. The vacuum assembly 14 is configured in
such a manner as to collect the sucked dust and the like through a
filter of the dust collection chamber and exhaust the sucked air
from the exhaust port. The duct of the vacuum assembly 14
communicates with the internal space of the arm 21 of the
surrounding cleaning means 3.
[0066] Next, the structure of the charging station 6 is described
with reference to FIGS. 13 to 18.
[0067] FIG. 13 is a perspective view illustrating the storage
device of the autonomous vacuum cleaner. FIG. 14 is a front view
illustrating the storage device. FIG. 15 is a cross-sectional view
illustrating the storage device, and is a cross-sectional view
taken at a position indicated by line A-A in FIG. 14. FIGS. 16(A)
to 16(D) are cross-sectional views illustrating the operation of
the storage device. FIGS. 17(A) and 17(B) are cross-sectional views
illustrating a part of the enlarged storage device, and a partial
enlarged view of FIG. 2. FIG. 18 is a cross-sectional view
illustrating a detection means of the storage device.
[0068] As illustrated in FIGS. 13 to 15, the charging station 6 as
the storage device includes a base 61 mounted on the floor surface
F, a pair of left and right columns 62 rising from left and right
parts of the base 61, an arch-shaped top 63 coupling upper ends of
the columns 62, and a pair of the hooks 64 as the latches. The base
61 has a wedge-shaped base front portion 61A inclined upward from
the front side to the rear side (from the bottom left side to the
top right side in FIG. 13), and a box-shaped base rear portion 61B
rising at the back of the base front portion 61A. The base 61 as a
whole is formed into a hollow shape. The column 62 rises
continuously from the base rear portion 61B. The column 62 has a
column front portion 62A, a column inner side portion 62B, a column
outer side portion 62C, and a column rear portion 62D. The column
62 as a whole is formed into a hollow shape. The lift driver 51,
the charger 52, the position detector 53, and the charge controller
(control board) 54 are provided inside such a base 61 and column
62.
[0069] A slope 61C that guides the auxiliary wheel 122 of the
vacuum cleaner body 2 is provided in the middle of a top surface of
the base front portion 61A. The slope 61C has an ascent from the
front side to the rear side. It is configured in such a manner that
the auxiliary wheel 122 of the vacuum cleaner body 2 that has
approached the charging station 6, moving back, runs up onto the
slope 61C; accordingly, as illustrated in FIG. 2, the rear side
(the one end side) of the vacuum cleaner body 2 is guided obliquely
upward. A rear end of the slope 61C is provided with a
substantially horizontal flat portion (refer to FIG. 18). The
auxiliary wheel 122 runs up onto the flat portion to make it
difficult for the vacuum cleaner body 2 to slip down to the front
side. Moreover, each of left and right ends on the top surface of
the base front portion 61A is provided with a second slope 61D. As
illustrated in FIG. 4, it is configured in such a manner that the
second slope 61D guides the rotating ball 26 provided on the front
side (the other end side) of the vacuum cleaner body 2.
[0070] A front surface of the base rear portion 61B is provided
with a plurality of the infrared emitters 53C configuring the
position detector 53. The infrared light emitted by the infrared
emitters 53C is received by the rear sensor 33 of the vacuum
cleaner body 2. Accordingly, the vacuum cleaner body 2 detects its
sideward position and distance with respect to the charging station
6 while moving back to the charging station 6. The vacuum cleaner
body 2 moves back while appropriately adjusting the travel driver
12 on the basis of the detection of the rear sensor 33, and
approaches a predetermined hoistable position (a docking position
illustrated in FIG. 2) on the charging station 6. Moreover, a slit
62E that guides the hook 64 upward and downward is formed from the
base rear portion 61B to the column inner side portion 62B of the
column 62. The column front portion 62A and the slit 62E of the
column 62 are provided, inclined upward to the rear. Consequently,
as illustrated in FIGS. 2 to 4, it is configured in such a manner
that the rear side of the vacuum cleaner body 2 is hoisted
obliquely upward.
[0071] As illustrated in FIGS. 16(A) to 16(D), the hook 64 is
provided in such a manner as to be driven by the lift driver 51 and
be movable up and down from the base 61 all the way along the
column 62. In other words, the hook 64 is configured in such a
manner as to be movable up and down between a retracted position
illustrated in FIG. 16(A) and a storage position illustrated in
FIG. 16(D) through a latch position illustrated in FIG. 16(B) and a
hoist midway position illustrated in FIG. 16(C).
[0072] As illustrated in FIGS. 17(A) and 17(B), the hook 64
includes a hook base 64A that is coupled to the lift driver 51, and
an extension piece 64B extending substantially horizontally from
the hook base 64A to the front, that is, the vacuum cleaner body 2.
A latch recess 64C recessed in an arc shape is formed in a top
surface of a distal end of the extension piece 64B. On the other
hand, as illustrated in FIGS. 7, 9, and 17(A) and 17(B), the rear
side (the one end side) of the undersurface of the vacuum cleaner
body 2 is provided with a pair of the latched members 16 that is
latched by the hooks 64. The latched member 16 is formed into a
columnar shape with a smaller diameter than that of the latch
recess 64C, and is configured in such a manner as to be movable
back and forth a very short distance inside the latch recess 64C
and be capable of being rotatably latched in the latch recess 64C.
Moreover, the latched member 16 is electrically connected to the
battery (not illustrated) of the vacuum cleaner body 2, and
functions as a charging terminal of the vacuum cleaner body 2 as
described below.
[0073] As illustrated in FIG. 18, the position detector 53
includes, in addition to the infrared emitters 53C, a Hall effect
sensor board 53A provided inside the base front portion 61A, and a
Hall effect sensor 53B provided on the Hall effect sensor board
53A. On the other hand, the rear side (the one end side) on the
undersurface of the vacuum cleaner body 2 is provided with a magnet
17. When the vacuum cleaner body 2 moved back and the auxiliary
wheel 122 run over the slope 61C and onto the flat portion, it
indicates that the vacuum cleaner body 2 has returned to the
docking position where the vacuum cleaner body 2 can be hoisted
with the hooks 64. At this point in time, the Hall effect sensor
53B detects the magnet 17, and the position detector 53 detects
that the vacuum cleaner body 2 has returned to the docking
position.
[0074] It is configured in such a manner that until the position
detector 53 detects that the vacuum cleaner body 2 returns to the
docking position, the lift driver 51 keeps the hooks 64 down at the
retracted position to prevent the hooks 64 and the latched members
16 from coming into contact with each other while the vacuum
cleaner body 2 moves back as illustrated in FIG. 17(A). On the
other hand, when the position detector 53 detects that the vacuum
cleaner body 2 has returned to the docking position, the lift
driver 51 raises the hooks 64 to the latch position to latch the
latched members 16 in the latch recesses 64C, as illustrated in
FIG. 17(B). Moreover, it is configured in such a manner that the
hook 64 functions as a feeder terminal that feeds power from the
charger 52 to the vacuum cleaner body 2, the latched member 16 is
electrically connected to the unillustrated battery inside the
vacuum cleaner body 2, and the power fed by the hook 64 is supplied
to the battery via the latched member 16.
[0075] Next, the lift driver (lift means) 51 of the charging
station 6 is described with reference to FIGS. 19(A) and 19(B) to
21.
[0076] FIGS. 19(A) and 19(B) are cross-sectional views illustrating
the lift means of the storage device, respectively, and are
cross-sectional views taken at positions indicated by line B-B and
line C-C in FIG. 14. FIG. 20 is a cross-sectional view illustrating
the enlarged lift means of the storage device. FIG. 21 is a
cross-sectional view illustrating the enlarged lift means of the
storage device.
[0077] As illustrated in FIGS. 19(A) and 19(B) to 21, the lift
driver 51 includes a motor 71, a drive shaft 72, a pair of left and
right ball screw shafts 73, ball screws 74 fixed respectively to
the left and right hooks 64, and linear guides 75 that guide the
ball screw 74 upward and downward.
[0078] The drive shaft 72 is provided extending to the left and
right. A worm gear 72A is fixed at either end portion of the drive
shaft 72. As illustrated in FIG. 19, a pinion gear 71A is fixed to
an output shaft of the motor 71. A driven gear 72B is fixed in the
middle on one side (the left side in FIG. 20) of the drive shaft
72. A gear train including a first gear 76A and a second gear 76B
is provided between the pinion gear 71A of the motor 71 and the
driven gear 72B. The output of the motor 71 is transmitted to the
drive shaft 72 via the gears 71A, 76A, 76B, and 72B to rotate the
drive shaft 72.
[0079] The ball screw shaft 73 is provided extending up and down
from the base 61 all the way along the column 62. An upper and a
lower end of the ball screw shaft 73 are pivotally supported. A
worm wheel 73A is fixed at the lower end of the ball screw shaft
73. The worm wheel 73A meshes with the worm gear 72A of the drive
shaft 72. When the drive shaft 72 rotates, the rotation is
converted into rotation of the ball screw shaft 73. The ball screw
74 meshes with the ball screw shaft 73. When the ball screw shaft
73 rotates, the ball screw 74 and the hook 64 move up and down. The
linear guide 75 includes a rail 75A that is fixed, extending up and
down from the base 61 all the way along the column 62, and a
movable member 75B that is fixed to the ball screw 74 and is guided
by the rail 75A. The linear guide 75 guides the ball screw 74 and
the hook 64 in such a manner as to be linearly movable.
[0080] Next, the charger (charging means) 52 of the charging
station 6 is described with reference to FIGS. 22(A) and 22(B) to
26(A) to 26(C).
[0081] FIGS. 22(A) and 22(B) to 25(A) and 25(B) are side views and
cross-sectional views, which illustrate the operation of the
storage device. Each figure (B) is a cross-sectional view taken at
a position indicated by line A-A in each figure (A). FIGS. 26(A) to
26(C) are cross-sectional views illustrating the enlarged charging
means of the storage device. FIG. 26(A) is a cross-sectional view
of an enlargement of a part of FIG. 22(B). FIG. 26(B) is a
cross-sectional view of an enlargement of a part of FIG. 23(B).
FIG. 26(C) is a cross-sectional view of an enlargement of a part of
FIG. 25(B).
[0082] The charger 52 includes a power supply 52A (refer to FIGS.
17(A) and 17(B) to 21) connected to a power source through a
receptacle. As illustrated in FIGS. 22(A) and 22(B) to 25(A) and
25(B), the power supply 52A is electrically connected to a first
terminal 52B provided from a lower part inside each of the left and
right columns 62 all the way to the inside of the base rear portion
61B, and a second terminal 52C provided to an upper part inside
each of the left and right columns 62. The first terminal 52B is
fixed at an upper end thereof to a terminal fixture 52D on an inner
surface of the column outer side portion 62C, and cantilevered
downward. The second terminal 52C is fixed at a lower end thereof
to the terminal fixture 52E on the inner surface of the column
outer side portion 62C, and is cantilevered upward. As illustrated
in FIGS. 26(A) and 26(B), the first terminal 52B includes a first
contact 52F protruding inward in the left-and-right direction. As
illustrated in FIG. 26(C), the second terminal 52C is formed
including a second contact 52G protruding inward in the
left-and-right direction. On the other hand, an electrically
conductive portion 64D that protrudes outward in the left-and-right
direction and can come into contact with the first contact 52F and
the second contact 52G is formed on the hook 64.
[0083] As illustrated in FIG. 26(A), the first electrically
conductive portion 52F of the first terminal 52B is not in contact
with the electrically conductive portion 64D when the hook 64 is at
the retracted position and, as illustrated in FIG. 26(B), is in
contact with the electrically conductive portion 64D when the hook
64 is at the latch position. As illustrated in FIG. 26(C), the
second contact 52G of the second terminal 52C is in contact with
the electrically conductive portion 64D when the hook 64 is at the
storage position. On the other hand, it is configured in such a
manner that as illustrated in FIGS. 24(A) and 24(B), when the hook
64 is at the hoist midway position, the electrically conductive
portion 64D is in contact with neither the first electrically
conductive portion 52F nor the second contact 52G.
[0084] As described above, the charger 52 brings the hook 64 at the
latch position into conduction via the first terminal 52B, and
brings the hook 64 at the storage position into conduction via the
second terminal 52C. The latched member 16 of the vacuum cleaner
body 2 is latched by the hook 64. Accordingly, it is configured in
such a manner that the charge controller 54 supplies the power from
the charger 52 to the battery inside the vacuum cleaner body 2 via
the hooks 64 and the latched members 16 to charge the battery.
[0085] Next, the operation of the autonomous vacuum cleaner 1 is
described. When the vacuum cleaner body 2 that has cleaned the
floor surface F returns to the vicinity of the charging station 6,
the vacuum cleaner body 2 turns the rear side (the rear surface 104
side) to the charging station 6, causes the rear sensor 33 to
receive infrared light from the infrared emitters 53C of the
charging station 6, and moves back while detecting its distance and
position with respect to the charging station 6. Furthermore, the
auxiliary wheel 122 runs up onto the slope 61C of the base front
portion 61A, and the vacuum cleaner body 2 is guided obliquely
upward and moves back to the docking position illustrated in FIGS.
2, 17(A) and 17(B), and 18. As illustrated in FIG. 18, when the
Hall effect sensor 53B of the position detector 53 detects the
magnet 17 and accordingly detects that the vacuum cleaner body 2
has moved back to the docking position, the vacuum cleaner body 2
stops the drive of the travel driver 12.
[0086] When the vacuum cleaner body 2 has moved back to the docking
position, the lift driver 51 of the charging station 6 raises the
hooks 64 from the retracted position illustrated in FIG. 17(A) to
the latch position illustrated in FIG. 17(B), and latches the
latched members 16 in the latch recesses 64C. In this manner, the
hooks 64 latch the latched members 16 at the latch position.
Accordingly, as illustrated in FIG. 26(B), the charger 52 and the
battery of the vacuum cleaner body 2 are brought into conduction
via the first terminals 52B, the hooks 64, and the latched members
16. The charge controller 54 causes the charger 52 to feed power to
charge the battery. In this manner, if the battery is charged at
the docking position and then cleaning is resumed, the lift driver
51 lowers the hooks 64 to the retracted position, and then the
vacuum cleaner body 2 drives the travel driver 12, travels forward,
and leaves the charging station 6.
[0087] When the vacuum cleaner body 2 is stored in the charging
station 6, the lift driver 51 raises the hooks 64 that have latched
the latched members 16. In this manner, the hooks 64 move up;
accordingly, as illustrated in FIG. 3, the rear side of the vacuum
cleaner body 2 is hoisted obliquely upward. At the time of the
hoist, the rotating balls 26 provided on the front side of the
vacuum cleaner body 2 roll along the floor surface F. Furthermore,
the rotating balls 26 run up onto the second slopes 61D of the base
front portion 61A and roll along the second slopes 61D.
Accordingly, the vacuum cleaner body 2 is configured in such a
manner as to be smoothly guided. When the lift driver 51 further
raises the hooks 64 and the hooks 64 reach the storage position,
the vacuum cleaner body 2 is stored in the charging station 6 in
the standing state where the rear side is oriented upward as
illustrated in FIG. 4.
[0088] As illustrated in FIG. 26(C), in the state where the vacuum
cleaner body 2 is stored in this manner, the charger 52 and the
battery of the vacuum cleaner body 2 are brought into conduction
via the second terminals 52C, the hooks 64, and the latched members
16, and the charge controller 54 causes the charger 52 to feed
power; accordingly, the battery is charged. If cleaning is resumed,
after the lift driver 51 lowers the hooks 64 to the retracted
position, the vacuum cleaner body 2 drives the travel driver 12,
travels forward, and then leaves the charging station 6.
[0089] According to such an embodiment, the following
operations/effects can be exerted:
[0090] (1) The charging station 6 stores the vacuum cleaner body 2
in the standing state by hoisting the rear side of the vacuum
cleaner body 2. Accordingly, it is possible to reduce the projected
area of the stored vacuum cleaner body 2 on the floor surface F and
reduce the combined footprint of the vacuum cleaner body 2 in the
stored state and the charging station 6.
[0091] (2) The hook 64 for hoisting the vacuum cleaner body 2
functions as the feeder terminal. Accordingly, the charging station
6 can easily feed power to the battery of the hoisted vacuum
cleaner body 2 without preparing an additional feeder terminal, and
charge the battery.
[0092] (3) The charger 52 includes the first terminals 52B and the
second terminals 52C, which can feed power in contact with the
hooks 64. The hook 64 is electrically connected to the first
terminal 52B at the latch position before the hoist, and is
electrically connected to the second terminal 52C at the storage
position after the hoist. Accordingly, it is possible to charge the
battery of the vacuum cleaner body 2 via the hooks 64 at both of
the docking position and the storage position without connecting
wiring directly to the moving hooks 64.
[0093] (4) The lift driver 51 keeps the hooks 64 down at the
retracted position until the vacuum cleaner body 2 comes to the
docking position. Accordingly, the charging station 6 can prevent a
part of the vacuum cleaner body 2 and the hooks 64 from coming into
sliding contact with each other and reduce the wear-out of the
hooks 64, and can prevent the hooks 64 from catching a person's leg
and clothing by eliminating the protrusion of the hooks 64 from the
base 61 while the vacuum cleaner body 2 is away from the charging
station 6.
[0094] (5) The position detector 53 detects that the vacuum cleaner
body 2 has come to the docking position, and then the lift driver
51 raises the hooks 64 to the latch position. Accordingly, the
charging station 6 can cause the hooks 64 to securely latch the
latched members 16 of the vacuum cleaner body 2 and can hoist the
vacuum cleaner body 2 stably.
[0095] (6) The lift driver 51 raises and lowers the hooks 64 along
the backward inclined direction. Accordingly, it is possible to
hoist the rear side of the vacuum cleaner body 2 obliquely upward
and hoist the vacuum cleaner body 2 more stably and smoothly than
in a case of vertically hoisting the vacuum cleaner body 2.
[0096] (7) The auxiliary wheel 122 of the vacuum cleaner body 2
that is moving back is guided obliquely upward by the slope 61C.
Accordingly, it is possible to cause the hooks 64 to hoist the
vacuum cleaner body 2 after inclining the vacuum cleaner body 2
with the rear side up and more smoothly hoist the vacuum cleaner
body 2.
[0097] (8) The latch recess 64C recessed in an arc shape is formed
in the top surface of the extension piece 64B of the hook 64. The
vacuum cleaner body 2 is provided with the columnar latched member
16 with a smaller diameter than that of the latch recess 64C.
Accordingly, it is possible to securely latch the latched member 16
in the latch recess 64C.
[0098] (9) As the rear side of the vacuum cleaner body 2 is
hoisted, the angle formed by the vacuum cleaner body 2 and the
charging station 6 changes. However, the columnar latched member 16
can rotate in the arc-shaped latch recess 64C. Accordingly, it is
possible to reduce resistance while maintaining the stable latched
state and smoothly hoist the vacuum cleaner body 2.
[0099] (10) The front side of the vacuum cleaner body 2 is provided
with the rotating balls 26. The rotating balls 26 roll along the
floor surface F and the second slopes 61D of the charging station
6. Accordingly, it is possible to reduce sliding contact resistance
between the front side of the vacuum cleaner body 2 where the angle
changes as it moves up and down, and the floor surface F or the
charging station 6 and more smoothly raise and lower the vacuum
cleaner body 2.
Modifications of Embodiment
[0100] The present invention is not limited to the embodiment, and
includes modifications, improvements, and the like within the scope
that can achieve the object of the present invention.
[0101] For example, in the autonomous vacuum cleaner 1 of the
embodiment, the vacuum cleaner body 2 is provided with the
surrounding cleaning means 3. However, the surrounding cleaning
means 3 may be omitted. Moreover, the arm 21 of the surrounding
cleaning means 3 is provided with the rotating ball 26. The guide
means is configured in such a manner that the rotating ball 26
rolls along the floor surface F and the second slope 61D of the
charging station 6. However, the rotating ball 26 may be provided
to a lower part of the front part of the body 10 of the vacuum
cleaner body 2. Moreover, the guide means is not limited to the one
that rolls and guides the rotating ball 26, and a sliding surface
with low frictional resistance may be provided to the front part of
the vacuum cleaner body 2 and the sliding surface may be configured
to be slid and guided along the floor surface F and the second
slope 61D. Furthermore, the guide means is not limited to the one
provided to the vacuum cleaner body and may be configured by a
rolling portion or a sliding portion, which is provided to the
storage device (for example, the second slope 61D).
[0102] In the embodiment, the hook 64 functions as the feeder
terminal, and it is configured in such a manner as to feed power to
the battery of the vacuum cleaner body 2 via the hook 64 and the
latched member 16. However, a feeder terminal may be provided
separately from the hook 64. In this case, in the storage device,
the feeder terminal may be configured to move up and down in
synchronization with the latch, or one or more feeder terminals may
be provided at a predetermined height or heights without moving up
and down. Furthermore, the feeding structure that feeds power to
the battery of the vacuum cleaner body 2 is not limited to the one
of the contact type where terminals come into contact with each
other, and may be, for example, a non-contact feeding structure of
an electromagnetic induction type.
[0103] In the embodiment, the charger 52 includes the first
terminal 52B and the second terminal 52C, and is configured to
charge the battery of the vacuum cleaner body 2 at the latch
position before the hoist and at the storage position after the
hoist. However, the rechargeable positions are not limited to the
two positions: the latch position and the storage position, and may
be any of the latch position and the storage position, or three or
more rechargeable positions in addition to the two positions: the
latch position and the storage position may be provided. Moreover,
the charger (charging means) 52 is not limited to the one where the
first terminal 52B and the second terminal 52C are provided
separately, and may be configured by an integral terminal member
where these terminals are continuous.
[0104] In the embodiment, the Hall effect sensor 53B of the
position detector (detection means) 53 of the charging station 6
detects the magnet 17 of the vacuum cleaner body 2. Accordingly, it
is detected that the vacuum cleaner body 2 is at the hoistable
docking position. The hooks 64 start moving up on the basis of the
detection. However, the configuration of the detection means is not
limited, and, for example, a contact sensor may be used. Moreover,
the configuration is not limited to the one where the hooks
(latches) 64 stay down at the retracted position until the vacuum
cleaner body 2 comes to the docking position, and may be a
configuration where the latched members of the vacuum cleaner body
move down to the latch position to be latched onto the latches.
[0105] In the embodiment, the hook (latch) 64 includes the latch
recess 64C, and the latched member 16 is formed into a columnar
shape. However, the structures of the latch and the latched member
are not limited to those of the embodiment, and any latch structure
can be employed. It may be, for example, one where the latch is
formed into a columnar shape, a recess recessed upward is formed in
an undersurface of the latched member, and the latch is latched in
the recess.
[0106] In the embodiment, the lift driver (lift means) 51 of the
charging station 6 is configured including the motor 71, the drive
shaft 72, the pair of left and right ball screw shafts 73, the ball
screws 74, and the linear guides 75. However, the configuration of
the lift means is not especially limited. The lift means may be,
for example, one configured including a wire, a belt, or the like
for raising and lowering the latch, or one where a direct-acting
motor raises and lowers the latch.
INDUSTRIAL APPLICABILITY
[0107] As described above, the present invention can be suitably
used for an autonomous vacuum cleaner that can reduce the footprint
in a standby state.
LIST OF REFERENCE NUMERALS
[0108] 1 Autonomous vacuum cleaner [0109] 2 Vacuum cleaner body
[0110] 6 Charging station (storage device) [0111] 26 Rotating ball
(guide means) [0112] 14 Vacuum assembly (cleaning means) [0113] 16
Latched member [0114] 51 Lift driver (lift means) [0115] 52 Charger
(charging means) [0116] 52B First terminal [0117] 52C Second
terminal [0118] 53 Position detector (detection means) [0119] 61C
Slope [0120] 64 Hook (latch) [0121] 64B Extension piece [0122] 64C
Latch recess [0123] 121 Wheel [0124] F Floor surface
* * * * *