JP6120695B2 - Dust collector, vacuum cleaner, self-propelled cleaner, and system including self-propelled cleaner and charging stand - Google Patents

Description

  The present invention relates to a dust collector, a vacuum cleaner, a self-propelled cleaner, and a system including a self-propelled cleaner and a charging stand.

  A conventional dust collector includes a first dust collecting unit having a filter that collects dust, a second dust collecting unit that communicates with the first dust collecting unit and accumulates dust, and dust collected by the filter. And a moving body that rotates in conjunction with the rotation of the rotating body and scrapes off the dust scraped off by the rotating body and moves it to the second dust collecting unit. (For example, refer to Patent Document 1).

JP 2008-246154 A (paragraph [0007] to paragraph [0124], FIGS. 1 to 10)

  In the conventional dust collector, the dust scraped off from the filter by the rotation of the rotating body is further scraped off by the rotation of the moving body and moved to the second dust collecting section, so the mechanism becomes complicated. There was a problem such as an increase in the size of the apparatus.

  The present invention has been made against the background of the above problems, and provides a dust collector that can store collected dust while compressing it with a simple mechanism. Moreover, the vacuum cleaner carrying such a dust collector is obtained. Moreover, the self-propelled cleaner equipped with such a dust collector is obtained. Moreover, the system containing the self-propelled cleaner equipped with such a dust collector and a charging stand is obtained.

In the dust collector according to the present invention, a first opening is formed in a part of the inner surface, the dust-containing air that is sucked and flows in from the air inlet is separated into dust and clean air, and the clean air is covered with a filter. 2 a dust separation part that discharges from the opening, a dust collection part that communicates with the first opening and accumulates dust inside, and a rotation center shaft is provided in the dust separation part , and adheres to the filter by a rotating operation. A plate-shaped dust removing body that removes dust and moves the removed dust to the dust collecting portion through the first opening, and a region between the intake port and the dust collecting portion in a region where the dust removing body rotates. And a dust transfer plate that holds the dust removed by the dust remover from the filter to the dust collecting portion, and the dust remover moves from the intake port to the first opening by the rotating operation. A part of the dust removing body is Enters, rotates while bending the interfere with the dust transfer plate, it is an arrangement to return to become the original shape not interfere with the dust transfer plate.

  In the dust collector according to the present invention, a first opening is formed in a part of the inner surface, the dust-containing air that is sucked and flows in from the air inlet is separated into dust and clean air, and the clean air is covered with a filter. 2 A dust separating part that discharges from the opening, a dust collecting part that communicates with the first opening and accumulates dust inside, a dust separating part that is provided inside the dust separating part, and removes dust adhering to the filter by a rotating operation. The dust removing body that moves the removed dust to the dust collecting portion through the first opening is provided with a simple mechanism for storing the collected dust while compressing it.

It is a bottom view of the self-propelled cleaner according to the first embodiment. 3 is a plan view of the self-propelled cleaner according to Embodiment 1. FIG. 1 is a left side view of a self-propelled cleaner according to Embodiment 1. FIG. It is sectional drawing in the Ba-Bb line | wire described in FIG. It is sectional drawing in the Ca-Cb line described in FIG. 3 is a plan view of the self-propelled cleaner according to Embodiment 1. FIG. 3 is a plan view of the self-propelled cleaner according to Embodiment 1. FIG. 3 is a plan view of the self-propelled cleaner according to Embodiment 1. FIG. 3 is a plan view of the self-propelled cleaner according to Embodiment 1. FIG. 3 is a plan view of the self-propelled cleaner according to Embodiment 1. FIG. It is sectional drawing in the Da-Db line | wire described in FIG. 2 is a perspective view of a rotating brush unit of the self-propelled cleaner according to Embodiment 1. FIG. 2 is a perspective view of a rotating brush unit of the self-propelled cleaner according to Embodiment 1. FIG. 2 is a perspective view of a rotating brush unit of the self-propelled cleaner according to Embodiment 1. FIG. 3 is a perspective view of a bearing fixing member of the self-propelled cleaner according to Embodiment 1. FIG. 2 is a perspective view of a rotating brush unit of the self-propelled cleaner according to Embodiment 1. FIG. 2 is a perspective view of a rotating brush unit of the self-propelled cleaner according to Embodiment 1. FIG. It is a figure which shows the state which the self-propelled cleaner which concerns on Embodiment 1 rotated. It is a figure which shows the state which the self-propelled cleaner which concerns on Embodiment 1 rotated. It is sectional drawing in the Da-Db line | wire described in FIG. It is sectional drawing in the Ba-Bb line | wire described in FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows operation | movement of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 1. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 1. FIG. 6 is a plan view of a self-propelled cleaner according to Embodiment 2. FIG. It is sectional drawing in the Ba-Bb line | wire described in FIG. It is sectional drawing in the Ca-Cb line described in FIG. It is a perspective view of the dust remover disk of the self-propelled cleaner according to the second embodiment. It is a top view which shows the dust removal body and transfer body of the self-propelled cleaner concerning Embodiment 2. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 2. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 2. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 2. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 2. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 2. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 2. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 2. FIG. It is a figure which shows the state of the dust of the self-propelled cleaner which concerns on Embodiment 2. FIG. FIG. 10 is a plan view of a system including a self-propelled cleaner and a charging stand according to Embodiment 3. It is sectional drawing in the Ca-Cb line described in FIG. FIG. 10 is a plan view of a system including a self-propelled cleaner and a charging stand according to Embodiment 3. It is sectional drawing in the Ca-Cb line described in FIG. It is a top view of the self-propelled cleaner concerning Embodiment 4.

Hereinafter, a dust collector according to the present invention will be described with reference to the drawings.
In addition, below, the case where the dust collector which concerns on this invention is applied to a self-propelled cleaner and the case where it is applied to the system containing a self-propelled cleaner and a charging stand is demonstrated. However, it is not limited to such a case. Further, the configuration, operation, and the like described below are merely examples, and are not limited to such configuration, operation, and the like. Moreover, in each figure, the same code | symbol is attached | subjected to the same or similar thing, or attaching | subjecting code | symbol is abbreviate | omitted. Further, the illustration of the fine structure is simplified or omitted as appropriate. In addition, overlapping or similar descriptions are appropriately simplified or omitted.

Embodiment 1 FIG.
The self-propelled cleaner according to Embodiment 1 will be described below.
(Outline structure)
The schematic structure of the self-propelled cleaner according to the first embodiment will be described below.
FIG. 1 is a bottom view of self-propelled cleaner 500 according to the first embodiment.
As shown in FIG. 1, the self-propelled cleaner 500 includes a main body 1 having an outer shape surrounded by an arc R having a center angle A of 270 ° and two tangent lines S extending from both ends of the arc. The main body 1 has a central portion 2 and an outer shell portion 3 that are divided by a circle concentric with the arc R.
The outer shell portion 3 has a right angle portion 4 and an arc portion 5. The outer shell portion 3 can rotate around the central portion 2 within a total range of 90 °, 45 ° clockwise and 45 ° counterclockwise from the state shown in FIG. The right angle portion 4 is supported by the outer shell portion 3 so as to be movable up and down.

A pair of drive wheels 6 a and 6 b are provided inside the central portion 2. The drive wheels 6a and 6b protrude from the drive wheel openings 7a and 7b provided symmetrically on the bottom surface of the central portion 2 with the center line Ba-Bb interposed therebetween so that the lower surfaces are in contact with the floor surface.
The drive wheels 6a and 6b are independently driven by drive wheel motors 8a and 8b, which will be described later, and the rotational force of the drive wheel motors 8a and 8b is transmitted through gear portions 9a and 9b connecting a plurality of gears. The center portion 2 is provided with a driven wheel 10 that can change its direction in the middle rear of the driving wheels 6a and 6b, and the main body 1 is supported by the driving wheels 6a and 6b and the driven wheel 10.

The right angle portion 4 has a right suction port 11a serving as a first dust suction port and a left suction port 11b serving as a second dust suction port in front of the bottom surface, and dust is removed by negative pressure generated by a blower 34 described later. Suction.
The right suction port 11a and the left suction port 11b have a rectangular shape, and the longitudinal direction of the opening is arranged in parallel with each of the right side surface 24a and the left side surface 24b constituting the right angle portion 4. That is, the right suction port 11a and the left suction port 11b are arranged such that the longitudinal directions intersect with each other at an angle of about 90 °.

The right suction port 11a and the left suction port 11b are provided with a first rotating brush 12a and a second rotating brush 12b, respectively. That is, a pair of rotating brushes 12a and 12b are provided.
The second rotating brush 12b is longer than the first rotating brush 12a. The end portion on the distal end side of the right angle portion 4 of the second rotating brush 12b extends so as to exceed the extension line of the rotating shaft of the first rotating brush 12a. That is, the second rotating brush 12b, which is the other rotating brush, is positioned in the rotation axis direction of the first rotating brush 12a, which is one rotating brush.
These rotary brushes 12a and 12b are rotatably supported by bearings 14 (14a, 14b, 14c and 14d), and are supported by rotary brush shafts 13a and 13b, and bristle brush 15 planted on the rotary brush shafts 13a and 13b. Consists of.

The first rotating brush 12a is supported at both ends of the rotating brush shaft 13a by bearings 14 (14a, 14b), and the second rotating brush 12b is supported at one end and an intermediate portion of the rotating brush shaft 13b by bearings 14 ( 14c, 14d).
The bearings 14 (14 b, 14 c) of the first rotating brush 12 a and the second rotating brush 12 b positioned on the front end side of the right angle portion 4 are fixed to the right suction port 11 a and the left suction port 11 b by the bearing fixing member 104, respectively. Is done.
The straight line extending in the rotation axis direction of the first rotating brush 12a and the straight line extending in the rotation axis direction of the second rotating brush 12b are orthogonal to each other.

The rotary brushes 12a and 12b are driven by a rotary brush motor 50 described later. The bristle brush 15 forms a plurality of rows and is implanted in a spiral shape. The length of the bristle brush 15 is set to a length that protrudes from the outer periphery of the right-angled portion 4.
The rotating brush shafts 13a and 13b are also provided so as to be parallel to the longitudinal direction of the right suction port 11a and the left suction port 11b, respectively.

  Each of the right suction port 11a and the left suction port 11b is provided with dust receivers 16a and 16b made of a sheet-like elastic member, a bristle brush row, or a cloth on the center side of the main body. The length of the dust receivers 16a and 16b in the vertical direction is set to a length at which the tip contacts the floor surface. The dust receivers 16a and 16b suppress the dust removed from the floor surface by the rotating brushes 12a and 12b from passing behind the right suction port 11a and the left suction port 11b, and are sucked by the right suction port 11a and the left suction port 11b. Guide you to be.

  The second rotary brush 12b is located on the bottom surface of the tip of the right angle portion 4, and is scraped by the bristle brush 15 on the tip side of the right angle portion 4 as compared to the bearing fixing member 104 of the second rotary brush 12b. The scattered dust is sent out to the first rotating brush 12a side. Then, it is sucked into the right suction port 11a by the first rotating brush 12a.

A pair of left and right front step detection sensors 22a and 22b that detect a concave step when the main body 1 moves forward, and a pair of left and right rear step detection sensors 23a and 23b that detect a concave step when going backward, Are provided.
Each level difference detection sensor includes a light emitting unit that emits infrared light and a light receiving unit, and detects the depth of the concave step by receiving the infrared light emitted from the light emitting unit and reflected on the floor surface by the light receiving unit. The control unit (not shown) changes the movement direction of the main body 1 when a concave step having a preset reference depth or more is detected.
In addition, each level | step difference detection sensor is not restricted to what is comprised by the light emission part and light-receiving part which radiate | emit infrared rays, Other sensors, such as a contact-type switch and an ultrasonic transmitter / receiver, may be sufficient.

The interval between the drive wheel 6a and the drive wheel 6b is set narrower than the interval between the main body rear side end of the first rotary brush 12a and the main body rear side end of the second rotary brush 12b.
With this configuration, when the drive wheels 6a and 6b roll in the forward direction with the rotary brushes 12a and 12b facing forward, the floor surface where the drive wheels 6a and 6b are cleaned by the rotary brushes 12a and 12b. This prevents the dust from adhering to the drive wheels 6a and 6b.

FIG. 2 is a plan view of self-propelled cleaner 500 according to the first embodiment. FIG. 3 is a left side view of self-propelled cleaner 500 according to the first embodiment.
As shown in FIGS. 2 and 3, the right angle portion 4 has a planar right side surface 24 a serving as a first side surface of the main body 1 and a planar left side surface 24 b serving as a second side surface. The angle at which the right side surface 24a and the left side surface 24b intersect (including the apex angle formed by straight lines parallel to the right side surface 24a and the left side surface 24b) is about 90 °.
That is, the right side surface 24a and the left side surface 24b are arranged so that the apex angle formed by the mutual surfaces is about 90 ° (substantially right angle).
Further, the drive wheels 6a and 6b are configured to be able to roll in a direction parallel to the bisector of the apex angle formed by the right side surface 24a serving as the first side surface and the left side surface 24b serving as the second side surface. Has been.
The intersecting portion of the right side surface 24a and the left side surface 24b is illustrated with a sharp shape, but when the surface is rounded and connected to a human body, furniture, etc., injuries, injuries, and the like are suppressed. Good.

The right side surface 24a and the left side surface 24b are provided with two right side surface proximity sensors 25a and 26a and two left side surface proximity sensors 25b and 26b that are spaced apart from each other by a predetermined distance. Each proximity sensor includes a light emitting unit that emits infrared rays and a light receiving unit, and the light receiving unit receives infrared rays that are emitted from the light emitting unit and reflected.
A control unit (not shown) detects the distance from each proximity sensor signal to a wall, an obstacle, or the like. Moreover, a control part (not shown) detects the angle of the wall surface, an obstruction, etc. with respect to the right side surface 24a or the left side surface 24b by comparing the distance output of two proximity sensors in the same plane.
Each proximity sensor is not limited to a light emitting unit that emits infrared light and a light receiving unit, and may be another sensor such as a contact switch or an ultrasonic transmitter / receiver.

A right proximity sensor 27a, a left proximity sensor 27b, a right rear proximity sensor 28a, a left rear proximity sensor 28b, and a rear proximity sensor 29 are provided on the left, right, left, right, and rear of the side surface of the arc portion 5. .
Each proximity sensor includes a light emitting unit that emits infrared light and a light receiving unit, and the light receiving unit receives the infrared light emitted from the light emitting unit and reflected. A control unit (not shown) detects the distance between the side or rear of the main body 1 and the wall surface, obstacle, and the like.
Each proximity sensor is not limited to a light emitting unit that emits infrared light and a light receiving unit, and may be another sensor such as a contact switch or an ultrasonic transmitter / receiver.

The arc part 5 has an operation display part 30 at the rear of the upper surface. The operation display unit 30 is provided with a plurality of operation buttons 31 and a display unit 32 for switching functions such as a power source and an operation mode.
A dust collector cover 33 is provided on the upper surface of the main body 1. The dust collector cover 33 opens and closes by rotating around a hinge 331 as a fulcrum when a dust collector 37 described later is attached to and detached from the main body 1.

(Dust collector structure)
Below, the structure of the dust collector of the self-propelled cleaner according to the first embodiment will be described.
4 is a cross-sectional view of the self-propelled cleaner 500 according to the first embodiment, taken along line Ba-Bb described in FIG. FIG. 5 is a cross-sectional view of the self-propelled cleaner 500 according to Embodiment 1 taken along the line Ca—Cb described in FIG. 1.
As shown in FIGS. 4 and 5, a blower 34 is provided at the center of the arc portion 5. The blower 34 has a fan 35 composed of a plurality of rotating blades that rotate horizontally, and rotates the fan 35 to generate negative pressure. The air flows from the upper side in the axial direction of the fan 35 due to the negative pressure generated by the fan 35 and is discharged from the exhaust duct 36 provided in the radial direction of the fan 35.

  A detachable dust collecting device 37 is provided on the top of the blower 34. The dust collecting device 37 has a substantially rectangular parallelepiped dust collecting portion 372 communicating with the curved side surface of the cylindrical dust separating portion 371. A dust separation filter 40 that separates dust from dust-containing air sucked from the air inlet 373 and allows only air to pass through is provided on the bottom surface of the dust separator 371, that is, on the blower 34 side. The dust collector cover 38 that covers the dust separator 371 and the dust collector 372 is configured to be openable and closable with the hinge 39 as a fulcrum, and is held closed by a locking means (not shown).

  The dust collector lid 38 is provided with a dust remover 374 that rotates about the central axis of the cylinder of the dust separator 371. Part or all of the dust removing body 374 is made of an elastic material such as rubber or elastomer, and its lower end is disposed in contact with or in close proximity to the dust separation filter 40. The dust remover rotating shaft 375 connects the dust remover 374 inside the dust separator 371 and the rotation drive plate 376 provided on the upper side (outside) of the dust collector lid 38. The dust remover rotating shaft 375 is rotatably held by the dust collector lid 38 via a sliding seal member 377. Since the sliding seal member 377 has a hard rubber surface treated with fluororesin, the dust separation unit 371 can be hermetically sealed while holding the dust remover rotating shaft 375 rotatably.

  When removing dust adhering to the dust separation filter 40, the dust removing body 374 is rotated counterclockwise when viewed from the upper surface of the main body 1. The dust is pushed by the dust removing body 374, scraped off from the dust separation filter 40, and moves in the horizontal direction. A dust transfer plate 378 is disposed at the boundary between the dust separator 371 and the dust collector 372 so as to contact the dust remover 374, and the dust scraped by the dust remover 374 is moved to the dust collector 372. When the dust remover 374 contacts the dust transfer plate 378, the dust remover 374 continues to rotate while being bent.

  A dust separation portion suction valve 381 is provided at a connection portion between the dust separation portion 371 and the intake port 373. The dust separation unit suction valve 381 is an arc-shaped plate and is rotatably held with one end as a rotation axis. The dust separator suction valve 381 is biased by a spring, and closes the air passage when there is no suction to the dust collector 37, and rotates inside the dust separator 371 to open the air passage when there is suction. .

  A dust remover rotation motor 379 is provided outside the dust collector 37, and rotational force is transmitted to the rotation drive plate 376 via the gear 380.

  A lattice 41 is provided at the opening of the blower 34, and the lattice 41 holds a backup filter 401 that collects fine dust that could not be separated by the dust separation filter 40. In addition, the lattice 41 prevents foreign matter from entering when the dust collector 37 and the backup filter 401 are removed.

On the bottom surface of the dust collector 37, a ring-shaped seal member 42 that ensures airtightness between the dust collector 37 and the blower 34 is provided. The seal member 42 is made of a material in which an elastic member such as rubber or elastomer resin is blended with a fluororesin having lubricity, and has a V-shaped cross section.
The opening of the dust collector 37 and the opening of the blower 34 are in contact with different surfaces forming the V-shape of the seal member 42. By comprising in this way, the dust collector 37 and the air blower 34 can slide in the horizontal direction, ensuring airtightness.

  FIG. 6 is a plan view of self-propelled cleaner 500 according to Embodiment 1 with dust collector cover 33 removed. FIG. 7 is a plan view of self-propelled cleaner 500 according to Embodiment 1 with rotational drive plate 376 removed. FIG. 8 is a plan view of self-propelled cleaner 500 according to Embodiment 1 with dust collector lid 38 opened. FIG. 9 is a plan view of the self-propelled cleaner 500 according to Embodiment 1 with the dust collector 37 and the backup filter 401 removed. FIG. 10 is a plan view including a partial cross section of self-propelled cleaner 500 according to the first embodiment.

  As shown in FIGS. 6 to 10, the dust separator 371 of the dust collector 37 is disposed at the center of the central portion 2, and the dust collector 372 is located on the right side of the dust separator 371 when viewed from the upper surface of the main body 1. Link. The dust collection part 372 is arranged in the direction of an angle of 270 ° from the air inlet 373 with the center of the dust separation part 371 as a reference. The horizontal width of the dust collecting portion 372 is narrower than the diameter of the dust separating portion 371 and wider than half the diameter. When the dust-containing air flows into the dust separator 371 from the air inlet 373, the dust separator suction valve 381 opens, and the dust-containing air flows along the curved inner surface of the dust separator 371. The dust-containing air turns inside the dust separation unit 371 and travels toward the dust separation filter 40. At this time, part of the dust in the dust-containing air receives centrifugal force and flows into the dust collecting portion 372 side. The dust transfer plate 378 is a plate-like member that extends from the right side surface of the air inlet 373 to the vicinity of the center of the dust separator 371 so as to suppress dust flowing into the dust collector 372 from returning to the dust separator 371. Act on.

The dust separation filter 40 is disposed substantially at the center of the bottom surface of the dust separation portion 371, and is configured in a fan shape with the rotation center of the dust removing body 374 as the center of an arc. The dust separation filter 40 is made of a mesh of resin fibers such as nylon having an opening width of about 0.5 mm, and dust attached to the surface is easily removed when receiving a force from the lateral direction.
The dust collector lid 38 can be opened with the hinge portion 39 as a fulcrum. A seal member (not shown) is provided on the contact surface between the dust collector lid 38 and the dust collector 37 to ensure airtightness. The dust collector lid 38 is provided with a locking claw (not shown), and the dust collector lid 38 is closed by engaging the locking claw (not shown) with the dust collector 37. Maintained.
The rotary drive plate 376 provided on the upper portion of the dust collector 37 is configured in a tooth shape at the circumferential portion, and meshes with the gear 380 when the dust collector lid 38 is closed.

A suction air passage 43 and a universal coupling portion 44 communicating with the dust collector 37 are connected to the right suction port 11a and the left suction port 11b. Dust-containing air sucked from the right suction port 11 a and the left suction port 11 b by the negative pressure generated by the blower 34 merges in the suction air passage 43 and is sucked by the dust collector 37 through the universal connection portion 44.
The sucked dust-containing air is collected by the dust separation filter 40 in the dust separation unit 371. Only the air filtered by the dust separation filter 40 is sucked into the blower 34. In addition, the universal connection part 44 is a bellows structure comprised by elastic members, such as rubber | gum and an elastomer resin, and ensures airtightness also when the suction air path 43 and the dust collector 37 adjoin and separate.

(Electric system layout)
Below, arrangement | positioning of the electric system of the self-propelled cleaner which concerns on Embodiment 1 is demonstrated.
As shown in FIGS. 4 and 10, an assembled battery 46 in which a plurality of cylindrical storage batteries 45 are integrated and stored in a resin case is provided at the rear of the arc portion 5. The plurality of storage batteries 45 are arranged in an arc shape along the outer shape of the arc portion 5. By arranging the storage batteries 45 in an arc shape, the main body 1 can be reduced in size.

  An electric circuit board 47 is provided in the central portion 2, and electric parts such as a control circuit and a sensor are mounted on the electric circuit board 47. A plurality of main body exhaust ports 48 are provided on the rear side surface of the arc portion 5. Exhaust air discharged from the blower 34 passes through the central portion 2 and the arc portion 5, cools the electric parts of the electric circuit board 47, the heating elements such as the storage battery 45, and is discharged from the main body exhaust port 48. .

(Rotating brush drive system)
The structure of each drive system of the self-propelled cleaner according to the first embodiment will be described below.
11 is a cross-sectional view of the self-propelled cleaner 500 according to the first embodiment, taken along the line Da-Db described in FIG. FIG. 12 is a rear perspective view of the rotating brush unit 100 of the self-propelled cleaner 500 according to the first embodiment. FIG. 13 is a left perspective view of the rotating brush unit 100 of the self-propelled cleaner 500 according to the first embodiment. FIG. 14 is a right perspective view of rotating brush unit 100 of self-propelled cleaner 500 according to the first embodiment. FIG. 15 is a perspective view of bearing fixing member 104 of self-propelled cleaner 500 according to the first embodiment. FIG. 16 is a bottom perspective view of rotating brush unit 100 of self-propelled cleaner 500 according to the first embodiment. FIG. 17 is a bottom side perspective view of self-propelled cleaner 500 according to Embodiment 1 with bearing fixing member 104 of rotating brush unit 100 removed. In addition, in FIG.13, FIG.14, FIG.16, FIG. 17, illustration of the bristle brush 15 of the rotating brush shafts 13a and 13b is abbreviate | omitted.

  As shown in FIGS. 11 to 17, the rotating brush unit 100 installed in the right angle portion 4 is a structure that rotatably supports the first rotating brush 12 a and the second rotating brush 12 b. The rotating brush unit 100 includes a rotating brush housing portion 101a and a rotating brush housing portion 101b that are arranged at right angles to each other. The rotating brush accommodating portion 101a accommodates the first rotating brush 12a, and the rotating brush accommodating portion 101b accommodates the second rotating brush 12b. Drive transmission portions 102a and 102b are provided at the right end of the rotating brush accommodating portion 101a and the left end of the rotating brush accommodating portion 101b, respectively.

  Bearings 14a and 14b are fitted to both ends of the rotating brush shaft 13a. The rotating brush shaft 13a is pivotally supported by the drive transmission portion 102a and the support portion 103 via bearings 14a and 14b. The support portion 103 hangs down from the upper surface at a position close to the drive transmission portion 102a from the end corresponding to the apex of the right-angled portion 4 of the rotating brush accommodating portion 101a, and fits with the bearing 14b of the rotating brush shaft 13a. The rotating brush shaft 13a is configured to be shorter than the rotating brush shaft 13b, and is arranged such that the cylindrical surface of the rotating brush shaft 13b overlaps the axial extension of the rotating brush shaft 13a.

  The rotating brush shaft 13b is divided into two shafts, and bearings 14c and 14d are fitted to the end portions of the divided portion and the longer shaft, respectively. The rotating brush shaft 13a and the rotating brush shaft 13b are both rotatably attached to the rotating brush unit 100 by supporting the lower sides of the bearings 14b and 14c by the bearing fixing member 104, respectively.

As shown in FIG. 15, the bearing fixing member 104 has two support portions 105a and 105b separated at right angles.
The bearing fixing member 104 includes engaging portions 106a and 106b that engage with the rotating brush accommodating portions 101a and 101b, and a fitting portion 107 that fits rotatably on the support shaft 108 of the rotating brush unit 100. The bearing fixing member 104 rotates with the support shaft 108 as a fulcrum, and the engaging portions 106a and 106b are fitted into concave fitting portions 109a and 109b provided in the rotary brush accommodating portions 101a and 101b, respectively.
At this time, the support part 105a is fixed by supporting the bearing 14b fitted to the support part 103 from the lower side. Further, the support portion 105b is fitted to a support portion (not shown) that hangs down from the upper surface at a position close to the drive transmission portion 102b from the end corresponding to the apex of the right-angled portion 4 of the rotating brush accommodating portion 101b. The bearing 14c is fixed by being supported from below.

A rotary brush motor 50 is provided on the upper part of the rotary brush housing portion 101b, and the power of the rotary brush motor 50 is transmitted to the drive transmission portion 102b. The drive transmission unit 102b rotates the rotary brush drive shaft 110b connected to the rotary brush shaft 13b and rotates the power transmission shaft 111b.
The power transmission shaft 111b is pivotally supported by a bearing 112b provided at one end of the drive transmission portion 102b and at the other end of the rotating brush accommodating portion 101b. A bevel gear 113b is provided at the tip of the power transmission shaft 111b.

A power transmission shaft 111a, a bearing 112a, and a bevel gear 113a that are paired with a power transmission shaft 111b, a bearing 112b, and a bevel gear 113b are provided on the upper part of the rotating brush housing 101a with reference to the Ba-Bb line shown in FIG. As symmetric.
The bevel gear 113a is arranged so as to mesh with the bevel gear 113b at a right angle, and the rotation of the bevel gear 113b is transmitted to the bevel gear 113a by converting the rotation axis by 90 °. The drive transmission unit 102a transmits the power transmitted to the power transmission shaft 111a to the rotating brush shaft 13a.

When the rotating brush motor 50 rotates, the rotating brush drive shaft 110b rotates and the rotating brush shaft 13b rotates. The second rotating brush 12b attached to the rotating brush shaft 13b rotates in the direction from the outside of the main body 1 toward the center side when the bristle brush 15 contacts the floor surface F.
When the bevel gear 113b rotates due to the rotation of the power transmission shaft 111b, the meshed bevel gear 113a rotates, and the power is transmitted by the power transmission shaft 111a, so that the rotating brush drive shaft 110a rotates.
That is, the rotating brush shaft 13b and the rotating brush shaft 13a rotate in synchronization. The first rotating brush 12a attached to the rotating brush shaft 13a is directed from the outside of the main body 1 toward the center of the main body 1 when the bristle brush 15 contacts the floor surface F, similarly to the second rotating brush 12b. Rotate in the direction.

  The rotating brush accommodating portions 101a and 101b are provided with openings 114a and 114b, respectively. The openings 114 a and 114 b communicate with the suction air passage 43 inside the rotary brush unit 100. Dust taken into the right suction port 11 a and the left suction port 11 b is sucked from the openings 114 a and 114 b and collected by the dust collector 37 through the suction air passage 43.

  When removing the rotating brush shafts 13a and 13b from the rotating brush unit 100, the bearing fixing member 104 is pulled down as shown in FIG. When the engaging portions 106a and 106b are disengaged from the concave fitting portions 109a and 109b, the bearing fixing member 104 rotates about the support shaft 108 to release the fitting between the bearings 14b and 14c and the support portions 105a and 105b. Thus, the rotating brush shafts 13a and 13b are removed.

  As shown in FIG. 13, the gear 116 fitted on the rotary brush motor shaft 115 meshes with the gear 117 in the cover of the drive transmission unit 102 b. A gear 119 fitted on the same shaft 118 as the gear 117 meshes with the gear 120. The gear 120 meshes with the gear 121 to rotate the power transmission shaft 111b. The gear 123 fitted on the same shaft 122 as the gear 120 meshes with the gear 124 to rotate the rotating brush drive shaft 110b.

  As shown in FIG. 14, the gear 125 inserted into the power transmission shaft 111 a meshes with the gear 126 in the cover of the drive transmission unit 102 a. The gear 128 fitted on the same shaft 127 as the gear 126 meshes with the gear 129 to rotate the rotating brush drive shaft 110a.

As described above, by combining a plurality of gears having different diameters, the rotational speed of the rotary brush motor 50 can be reduced and the rotary brushes 12a and 12b can be rotated at an appropriate speed.
In addition, the two rotating brushes 12a and 12b arranged orthogonally can be rotated synchronously by one motor (rotating brush motor 50).

(Outer shell drive system)
As shown in FIGS. 4 and 10, the outer shell portion 3 is rotatably connected to the central portion 2. The central portion 2 is disposed inside the outer shell portion 3, and a plurality of columnar rolling members 56 are provided at a connection portion with the outer shell portion 3. The rotatable angle of the outer shell portion 3 with respect to the central portion 2 is 90 °, and the outer shell portion 3 is 45 ° clockwise and counterclockwise from the state shown in FIG. Rotate in range.

  An angle adjustment motor 57 and a pinion gear 58 that transmits the rotational force of the angle adjustment motor 57 are provided at the rear of the arc portion 5. A rack gear 59 is provided in the central portion 2. The rack gear 59 meshes with the pinion gear 58, and the rotational force of the angle adjustment motor 57 is transmitted via the pinion gear 58. The control unit (not shown) rotates the central portion 2 of the outer shell portion 3 by rotating the angle adjusting motor 57 during the operation of the main body 1.

  The arc portion 5 is provided with an angle detection sensor (not shown) that detects the position of the rack gear 59 and detects the rotation angle of the outer shell portion 3. A control unit (not shown) controls the rotation angle of the outer shell 3 based on a signal from the angle detection sensor.

FIG. 18 is a plan view including a partial cross section of self-propelled cleaner 500 according to the first embodiment, and outer shell portion 3 rotates counterclockwise around central portion 2 from the state shown in FIG. It is a figure which shows the state rotated 45 degrees.
In the state shown in FIG. 10, when the control unit (not shown) rotates the angle adjustment motor 57 counterclockwise, the pinion gear 58 rotates counterclockwise and rolls the gear portion of the rack gear 59 that meshes. While moving to the right of the rack gear 59.
As the pinion gear 58 moves, the outer shell 3 to which the angle adjusting motor 57 is fixed rotates counterclockwise around the central portion 2. Then, when the outer shell 3 rotates 45 degrees around the central portion 2 counterclockwise, an angle detection sensor (not shown) detects this and outputs a signal to the control unit (not shown). The control unit (not shown) receives the signal and stops the angle adjustment motor 57.

At this time, the axis Ga-Gb of the drive wheels 6a and 6b is perpendicular to the rotating brush shaft 13b. In this state, the left side surface 24b can be brought into contact with the wall surface H, and the main body 1 is moved along the wall surface H while rotating the second rotating brush 12b, so that the floor surface F at the wall is continuous. Can be cleaned.
Further, since the first rotating brush 12a is perpendicular to the moving direction of the main body 1, an area corresponding to the width of the first rotating brush 12a can be simultaneously cleaned from the wall surface H, and the floor F at the wall is cleaned. It is possible to further improve the efficiency.

FIG. 19 is a plan view including a partial cross section of self-propelled cleaner 500 according to the first embodiment. From the state shown in FIG. 10, outer shell portion 3 rotates 45 around center portion 2 clockwise. FIG. 3 is a view showing a state rotated.
In the state shown in FIG. 10, when a control unit (not shown) rotates the angle adjustment motor 57 clockwise, the pinion gear 58 rotates clockwise and the rack gear 59 rotates while rotating the gear portion of the meshing rack gear 59. Move to the left of 59.
As the pinion gear 58 moves, the outer shell 3 to which the angle adjusting motor 57 is fixed rotates clockwise around the central portion 2. When the outer shell 3 rotates 45 ° around the central portion 2 clockwise, an angle detection sensor (not shown) detects this and outputs a signal to the control unit (not shown). The control unit (not shown) receives the signal and stops the angle adjustment motor 57.

At this time, the central axis Ga-Gb of the drive wheels 6a and 6b is perpendicular to the rotating brush shaft 13a. In this state, the right side surface 24a can be brought into contact with the wall surface I, and the main body 1 is moved along the wall surface I while the first rotating brush 12a is rotated, so that the floor surface F at the wall is continuous. Can be cleaned.
Further, since the second rotating brush 12b is perpendicular to the moving direction of the main body 1, an area corresponding to the width of the second rotating brush 12b can be simultaneously cleaned from the wall surface I, and the floor F at the wall is cleaned. It is possible to further improve the efficiency.

Here, when the main body 1 is moved along the right side surface 24a along the wall surface, an area where the bristle brush 15 does not come into contact with the lower floor surface of the bearing 14c of the second rotating brush 12b occurs, but the left side surface 24b. Compared with the area | region where the bristle brush 15 produced between the 1st rotating brush 12a and the 2nd rotating brush 12b in the case of making it follow along a wall surface does not contact | abut a floor surface, the area | region can be comprised narrowly. Therefore, as shown in FIG. 19, the cleaning operation in which the main body 1 is moved along the right side surface 24a along the wall surface is compared with the cleaning operation in which the main body 1 is moved along the left side surface 24b along the wall surface. And cleaning performance is high.
That is, the main body 1 is moved so that the left side surface 24b, which is a portion provided with the second rotary brush 12b, which is configured longer than the first rotary brush 12a, is in front of or behind in the movement direction. Thus, the area that can be cleaned with the rotating brushes 12a and 12b can be increased.
In addition, although demonstrated by the case where the main body 1 moves along a wall surface, it cannot be overemphasized that said effect is show | played also when not transferring along a wall surface.

20 is a cross-sectional view taken along line Da-Db in FIG. 1, in a state where the self-propelled cleaner 500 according to Embodiment 1 is in contact with or close to the wall surface.
As shown in FIG. 20, the left side surface 24 b of the main body 1 is in contact with the wall surface H. The position of the rotary brush shaft 13b and the length of the bristle brush 15 are set so that the bristle brush 15 of the second rotary brush 12b protrudes outside the left side surface 24b. Further, the bristle brush 15 reaches the corner of the floor surface F in a state where the left side surface 24 b is in contact with the wall surface H. By being configured in this way, it is possible to reliably clean up to the wall.

(Driving system of driving wheels)
As shown in FIGS. 4 and 10, the pair of drive wheels 6a and 6b are connected to the drive wheel motors 8a and 8b via the gear portions 9a and 9b, respectively, thereby forming an integrated drive unit. . The pair of drive wheels 6a and 6b is rotatably supported by a hinge portion (not shown) provided on the rear side of the main body.
The drive unit receives a force in a direction in which the drive wheels 6a and 6b protrude from the drive wheel openings 7a and 7b by a spring (not shown). When the main body 1 is lifted from the floor surface F, the drive unit receives a force by the spring, so that the amount of protrusion of the drive wheels 6a and 6b from the drive wheel openings 7a and 7b increases.

  Each drive wheel unit is provided with a drive wheel ground sensor (not shown) that detects displacement. The control unit (not shown) recognizes the contact state between the drive wheels 6a and 6b and the floor F by monitoring the output of the drive wheel ground sensor.

Below, operation | movement of the right-angled part of the self-propelled cleaner which concerns on Embodiment 1 is demonstrated.
(Operation of right angle part)
As shown in FIG. 4, the right angle portion 4 is supported by the outer shell portion 3 so as to be movable up and down. The outer shell portion 3 is provided with a plurality of guides 60, and the right angle portion 4 moves up and down along the guides 60. In addition, when approaching the convex step, the second rotating brush 12b receives a force from the convex step, and the right angle portion 4 to which the rotary brush unit 100 is fixed moves upward.

A displacement amount detection sensor 61 that detects the amount of vertical displacement of the right angle portion 4 is provided behind the right angle portion 4. The displacement detection sensor 61 includes an infrared light emitting unit and a light receiving unit.
The control unit (not shown) detects the displacement of the right-angled part 4 by detecting the reflected light of the infrared ray emitted to the boundary part by the light receiving unit. The control unit (not shown) controls the drive wheels 6a and 6b so as to get over the right-angled part 4 when it gets on the convex step.
In addition, when it falls to the concave step, the driving wheels 6a, 6b are stopped and then reversed so that the escape operation from the concave step is performed.

FIG. 21 is a cross-sectional view taken along line Ba-Bb described in FIG. 1, in a state where the self-propelled cleaner 500 according to the first embodiment moves on the carpet.
As shown in FIG. 18, when the main body 1 moves on the carpet J in which soft hairs are implanted, the driving wheels 6 a and 6 b and the driven wheel 10 support the weight of the main body 1 with a small contact area. Sink into the water.

On the other hand, since the right-angled part 4 has a large contact area with the carpet J, it does not sink into the carpet J, but is stable in contact with the surface of the carpet J. As described above, when the main body 1 moves on the carpet J, the right-angled portion 4 moves in the upward direction of the drive wheels 6 a and 6 b and the outer shell portion 3.
With such a configuration, dust on the carpet J can be cleaned even when the carpet J moves. Further, since the rotary brushes 12a and 12b are provided at the dust suction port, the bristle brush 15 enters the carpet J, and the dust that has entered the carpet J can be scraped and cleaned.

Hereinafter, the operation of the self-propelled cleaner according to the first embodiment will be described.
(Operation of self-propelled vacuum cleaner)
22 to 42 are diagrams illustrating the operation of the self-propelled cleaner 500 according to the first embodiment.
22 to 42, a broken line indicates a state before the operation of the main body 1. When the operator sets the cleaning operation of the main body 1, the control unit (not shown) operates the blower 34 and starts suction from the right suction port 11 a and the left suction port 11 b.
Further, the control unit (not shown) operates the rotary brush motor 50 to rotate the rotary brushes 12a and 12b. The control unit (not shown) drives the drive wheel motors 8a and 8b based on a predetermined operation algorithm to move the main body 1.
22 to 42 show the case where the wall surface L is on the right side of the wall surface K when the floor surface F is viewed from above, but the same applies to the case where the wall surface L is on the left side of the wall surface K. It is possible to operate.

  FIG. 22 shows a state in which the main body 1 moves obliquely toward the wall surface K. At this time, the main body 1 is located about 30 cm away from the wall surface K, and the right side proximity sensors 25a and 26a and the left side proximity sensors 25b and 26b do not detect proximity to the wall K. Each proximity sensor may be set to detect proximity when the distance to the wall surface K is 20 cm or less.

FIG. 23 shows a state in which the main body 1 goes straight and is close to the wall surface K up to about 10 cm. At this time, the front left side proximity sensor 25b, the rear left side proximity sensor 26b, and the front right side proximity sensor 25a detect the proximity to the wall K.
The control unit (not shown) recognizes from the signals of these three proximity sensors that the front left side proximity sensor 25b is closest. Further, the control unit (not shown) recognizes that the left side surface 24b is inclined with respect to the wall surface K from the difference in distance output between the front left side surface proximity sensor 25b and the rear left side surface proximity sensor 26b. To do.

FIG. 24 shows a state in which the main body 1 has the left side surface 24 b in contact with the wall surface K. After recognizing that the left side surface 24b is inclined with respect to the wall surface K at the time of FIG. 23, the control unit (not shown) moves the main body 1 while turning in the right direction, and moves the left side surface on the front side. The distance outputs of the proximity sensor 25b and the rear left side proximity sensor 26b are compared.
Then, the control unit (not shown) rolls the drive wheels 6a and 6b so that the distance output difference between the proximity sensors is 0 and the proximity sensors detect contact, and the left side surface 24b is moved to the wall surface K. Contact.
At this time, the second rotating brush 12b on the left side brings the bristle brush 15 into contact with the floor surface F near the wall, and scrapes off dust on the floor surface F near the wall. And dust is attracted | sucked from the left inlet 11b.

  FIG. 25 shows a state in which the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface K. The control unit (not shown) moves the main body 1 along the wall surface K in the state of FIG. 24, that is, the left side surface 24b is in contact with the wall surface K. The central portion 2 and the outer shell portion 3 are rotated so as to be parallel to the wall surface K.

At this time, the control unit (not shown) rolls the right drive wheel 6a in the negative direction (rolls in the backward direction) and rolls the left drive wheel 6b in the positive direction (rolls in the forward direction). As a result, the central part 2 is rotated clockwise.
At the same time, the angle adjustment motor 57 is rotated counterclockwise, and the outer shell 3 is rotated counterclockwise around the central portion 2. Here, the rolling direction of the driving wheels 6a and 6b is changed while the left side surface 24b is in contact with the wall surface K by making the central part 2 and the outer shell part 3 rotate at the same speed. can do.
Here, the belief rotation refers to a movement in which only the central portion 2 rotates while the main body 1 remains at substantially the same position on the floor surface F. That is, the movement of the main body 1 does not move on the floor surface F but changes its direction while staying at the same position.

FIG. 26 shows a state in which the main body 1 is moving along the wall surface K. The control unit (not shown) moves the driving wheels 6a and 6b in the state shown in FIG. 25, that is, in a state where the left side surface 24b is in contact with the wall surface K and the rolling direction of the driving wheels 6a and 6b is parallel to the wall surface K. Roll in the positive direction (roll in the forward direction).
The main body 1 moves along the wall surface K by a distance corresponding to substantially the entire length of the main body 1 while the left side surface 24b is in contact with the wall surface K. By moving in this way, the second rotating brush 12b on the left side brings the bristle brush 15 into contact with the floor surface F near the wall and presses it against the boundary between the floor surface F and the wall surface K, and the floor surface F near the wall. The dust can be scraped and collected.

FIG. 27 shows a state in which the main body 1 is moving in the direction of returning along the wall surface K. The control unit (not shown) rolls the drive wheels 6a and 6b in the negative direction in the state shown in FIG. 26, that is, in a state where the main body 1 moves along the wall surface K by a distance corresponding to substantially the entire length of the main body 1. (Rolls backward). The main body 1 moves in the direction of returning along the wall surface K by a distance corresponding to substantially half of the entire length of the main body 1 while bringing the left side surface 24b into contact with the wall surface K.
In particular, when cleaning along the wall surface, the main body 1 moves while repeating forward and backward in this way, so that the second rotating brush 12b on the left side brings the bristle brush 15 into contact with the floor surface F near the wall. Thus, the left suction port 11b can be reliably collected by scraping out dust.

28 and 29 show a state in which the main body 1 moves while repeating forward and backward movements and cleans along the wall surface K. FIG. FIG. 28 shows the state of moving forward, and FIG. 29 shows the state of moving backward.
FIG. 30 shows a state in which the main body 1 moves along the wall surface K and reaches the corner M. The control unit (not shown) operates the drive wheels 6a and 6b in the state shown in FIG. 29, that is, in a state where the left side 24b is in contact with the wall surface K and the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface K. Roll in the positive direction (roll in the forward direction).

When the main body 1 approaches the wall L, the front right side proximity sensor 25a and the rear right side proximity sensor 26a simultaneously detect the proximity to the wall L. At this time, the control unit (not shown) recognizes the angle of the right side surface 24a with respect to the wall surface L by comparing the distance outputs of the front side right side proximity sensor 25a and the rear side right side proximity sensor 26a.
The control unit (not shown) can recognize that the wall surface L is perpendicular to the wall surface K when both proximity sensors have the same distance output. When recognizing that the wall L is not perpendicular to the wall K, the control unit (not shown) outputs a signal warning that there is a possibility of cleaning leakage. Further, the operation algorithm is switched according to the angle between the wall surface K and the wall surface L, and the cleaning is continued.

When the main body 1 reaches the corner M, the control unit (not shown) stops driving the drive wheels 6a and 6b with the right side surface 24a in contact with the wall surface L. And it stays in the corner M only for the preset reference time.
At this time, the right suction port 11a and the left suction port 11b are along the wall surface on the right side surface 24a side in addition to the left side surface 24b side, and along three boundary portions formed by the wall surface K, the wall surface L, and the floor surface F. Dust-containing air is sucked and dust accumulated on the floor surface F around the corner M is collected. The time for staying at the corner M is preferably about 2 to 3 seconds.
In this way, by staying at the corner M for a preset reference time, dust at the corner M can be reliably collected.

FIGS. 31 and 32 show a state in which the periphery of the corner M is cleaned by moving backward and forward after the main body 1 reaches the corner M. FIG. The control unit (not shown) rolls the drive wheels 6a and 6b in the negative direction (rolls in the reverse direction) in the state shown in FIG. It rolls in the direction (rolls in the forward direction), and reciprocates along the wall surface K by a distance corresponding to substantially half of the entire length of the main body 1.
Thus, by reciprocating along the wall surface K, it is possible to reliably collect dust attached to the periphery of the corner M by the rotating brushes 12a and 12b.

FIG. 33 shows a state in which the rolling direction of the drive wheels 6a and 6b is 45 ° with respect to the wall surface K and the wall surface L in a state where the main body 1 has reached the corner M.
The control unit (not shown) rotates the central part 2 by 45 ° counterclockwise in the state of FIG. 32, that is, with the right side surface 24 a in contact with the wall surface L and the left side surface 24 b in contact with the wall surface K. At the same time, the outer shell 3 is rotated 45 ° clockwise.

At this time, the control unit (not shown) rolls the right driving wheel 6a in the positive direction (rolls in the forward direction), and rolls the left driving wheel 6b in the negative direction (rolls in the backward direction). As a result, the central part 2 is rotated counterclockwise.
At the same time, the angle adjusting motor 57 is rotated clockwise to rotate the outer shell 3 around the central portion 2 clockwise. Here, the rolling direction of the drive wheels 6a and 6b is changed while the right side surface 24a is in contact with the wall surface L by making the central part 2 and the outer shell part 3 have the same rotational speed. can do. That is, the rolling direction of the drive wheels 6a and 6b can be changed with the main body 1 held at the corner M.

34 and 35 show a state in which the main body 1 moves backward and forward after changing the rolling direction of the drive wheels 6a and 6b to clean the periphery of the corner M.
The control unit (not shown) moves the drive wheels 6a and 6b in the negative direction in the state shown in FIG. 33, that is, in a state where the rolling direction of the drive wheels 6a and 6b is 45 ° with respect to the wall surfaces K and L. (Rolling in the backward direction) and then rolling in the forward direction (rolling in the forward direction), and reciprocates a distance corresponding to substantially half of the entire length of the main body 1. In this way, by performing the reciprocating operation in a different direction after the reciprocating operation along the wall surface K, it is possible to reliably collect dust attached to the periphery of the corner M by the rotating brushes 12a and 12b.

  FIG. 36 shows a state in which the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface L. The controller (not shown) rotates the central portion 2 45 ° counterclockwise so that the rolling direction of the drive wheels 6a, 6b is parallel to the wall surface L with the right side surface 24a in contact with the wall surface L. At the same time, the outer shell 3 is rotated 45 ° clockwise.

At this time, the control unit (not shown) rolls the right driving wheel 6a in the positive direction (rolls in the forward direction), and rolls the left driving wheel 6b in the negative direction (rolls in the backward direction). As a result, the central part 2 is rotated counterclockwise.
At the same time, the angle adjusting motor 57 is rotated clockwise to rotate the outer shell 3 around the central portion 2 clockwise. Here, the rolling direction of the drive wheels 6a and 6b is changed while the right side surface 24a is in contact with the wall surface L by making the central part 2 and the outer shell part 3 have the same rotational speed. can do.
That is, the rolling direction of the drive wheels 6a and 6b can be changed with the main body 1 held at the corner M.

37 and 38 show a state in which the periphery of the corner M is cleaned by repeatedly moving backward and forward after changing the rolling direction of the drive wheels 6a and 6b. The control unit (not shown) rolls the drive wheels 6a, 6b in the negative direction (rolls in the reverse direction) in the state shown in FIG. 36, that is, in a state where the rolling direction of the drive wheels 6a, 6b is parallel to the wall surface L. And then rolls back in the forward direction (rolls in the forward direction) and reciprocates a distance corresponding to substantially half of the entire length of the main body 1.
As described above, the reciprocating operation in different directions is performed in a plurality of directions after the reciprocating operation along the wall surface K, so that the dust attached to the periphery of the corner M is reliably collected by the rotating brushes 12a and 12b. be able to.

FIG. 39 shows a state in which the main body 1 has moved along the wall surface L in a direction away from the corner M. The control unit (not shown) moves the drive wheels 6a and 6b in the state shown in FIG. 38, that is, in a state where the right side surface 24a is in contact with the wall surface L and the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface L. Roll.
The main body 1 moves along the wall surface L while bringing the right side surface 24a into contact with the wall surface L. At this time, since the left suction port 11b is located behind the drive wheels 6a and 6b, the drive wheels 6a and 6b move on the floor surface F that has not been cleaned.
Therefore, the control unit (not shown) temporarily stops the main body 1 after moving the main body 1 from the corner M along the wall surface L by about 50 cm, and the right suction port 11a is connected to the drive wheels 6a and 6b by the following procedure. The positional relationship between the right suction port 11a and the left suction port 11b and the drive wheels 6a and 6b is changed so as to be positioned forward.

FIG. 40 shows a state where the main body 1 moves along the wall surface L and returns to the corner M side. In the state shown in FIG. 39, the control unit (not shown) moves the main body 1 toward the corner M until the outer shell 3 sufficiently passes through the range cleaned by the left suction port 11b.
This is an operation for avoiding the generation of the floor surface F that causes cleaning leakage due to the change in the positional relationship between the right suction port 11a and the left suction port 11b and the drive wheels 6a and 6b.

FIG. 41 shows a state in which the positional relationship between the rotary brushes 12a and 12b and the drive wheels 6a and 6b is changed so that the rotary brushes 12a and 12b are positioned in front of the drive wheels 6a and 6b. The control unit (not shown) starts from the state shown in FIG. 40, that is, the outer shell 3 rotates counterclockwise around the central portion 2 from the state where the outer shell 3 rotates 45 degrees clockwise around the central portion 2. The outer shell 3 is rotated until it is rotated 45 ° around.
At the same time, the right driving wheel 6a rolls in the positive direction (rolls in the forward direction), and the left driving wheel 6b rolls in the negative direction (rolls in the backward direction). Rotate 180 ° counterclockwise. By this operation, the rotating brushes 12a and 12b can be arranged on the front side, that is, on the side away from the corner M, compared to the driving wheels 6a and 6b, at the same place as the position of the main body 1 in FIG.
Moreover, it can respond to the cleaning in the next corner that appears after further movement along the wall surface L. The rotation of the outer shell 3 and the central rotation of the central portion 2 may not be simultaneous, but simultaneous rotation is necessary for changing the positional relationship between the rotating brushes 12a and 12b and the drive wheels 6a and 6b. This is preferable because it saves time.

  FIG. 42 shows a state in which the main body 1 has moved along the wall surface L in a direction away from the corner M. The control unit (not shown) moves the drive wheels 6a and 6b in the state shown in FIG. 41, that is, in a state where the left side 24b is in contact with the wall surface L and the rolling direction of the drive wheels 6a and 6b is parallel to the wall surface L. Roll. The main body 1 moves along the wall surface L in the direction away from the corner M while bringing the left side surface 24b into contact with the wall surface L. By moving in this way, the main body 1 can scrape and collect the dust on the floor surface F near the wall.

  The self-propelled cleaner 500 according to the first embodiment operates so that the right side surface 24a and the left side surface 24b are in contact with the wall surface when cleaning the floor surface F near the wall. You may operate | move in the state which was separated from mm and was brought into close proximity. By operating in this way, the floor surface F near the wall can be cleaned without damaging the wall surface.

  Moreover, you may provide the buffer member with high sliding performance comprised with raw materials, such as a fluororesin, in each of the right side surface 24a and the left side surface 24b. By comprising in this way, it can suppress that a wall surface is damaged when the right side surface 24a and the left side surface 24b are made to contact a wall surface.

Further, the self-propelled cleaner 500 according to the first embodiment includes the right suction port 11a and the left suction port 11b, that is, a plurality of dust suction ports, in the right angle portion 4 of the outer shell portion 3. It is not limited to such a form.
For example, even if the outer shell portion 3 has one dust suction port, it is needless to say that the same effect as the self-propelled cleaner 500 according to the first embodiment can be obtained. Like the self-propelled cleaner 500 according to the first embodiment, by providing the outer shell portion 3 with side surfaces parallel to the wall surface or by providing corner portions according to the wall surface crossing angle of the corner floor surface, Since the dust suction port can be brought close to the floor surface at the wall or the floor surface at the corner, cleaning leakage can be further reduced.
In addition, since a plurality of dust inlets having different longitudinal directions are provided as in the self-propelled cleaner 500 according to the first embodiment, a plurality of locations can be cleaned at the same time, thereby further improving the cleaning efficiency. It becomes possible.

Further, the self-propelled cleaner 500 according to the first embodiment is such that the outer shell portion 3 rotates around the central portion 2 in a range of ± 45 °, but is not limited to such a form.
For example, it goes without saying that the same effect as that of the self-propelled cleaner 500 according to the first embodiment can be obtained even when the outer shell 3 is rotated 360 ° around the central portion 2. Like the self-propelled cleaner 500 according to the first embodiment, the storage battery 45 and the like can be provided behind the dust collecting device 37 by limiting the range in which the outer shell 3 rotates. The machine 500 can be miniaturized.

In addition, the self-propelled cleaner 500 according to the first embodiment includes the two drive wheels 6a and 6b on a straight line passing through the rotation center of the central portion 2, but is not limited to such a form.
For example, the same effect as that of the self-propelled cleaner 500 according to the first embodiment can be obtained even if a mechanism that rotates the central part 2 apart from the drive wheels 6a and 6b that move the central part 2 is provided. It goes without saying that it is done.
As in the self-propelled cleaner 500 according to the first embodiment, the two drive wheels 6a and 6b are provided on a straight line passing through the rotation center of the central portion 2, so that the mechanism and the central portion that move the central portion 2 are provided. 2 can also be used as a mechanism for rotating the signal, and the self-propelled cleaner 500 can be downsized.

Further, the self-propelled cleaner 500 according to the first embodiment includes the rotary brushes 12a and 12b and the dust receivers 16a and 16b at the dust suction port, but is not limited to such a form.
For example, even if there is nothing in the dust inlet, only one of the rotating brushes 12a, 12b and the dust receivers 16a, 16b, or other members, the same effects as in the first embodiment are obtained. Needless to say, it can be obtained.
As in the self-propelled cleaner 500 according to the first embodiment, the dust suction port is provided with the rotating brushes 12a and 12b and the dust receivers 16a and 16b, so that dust on the floor surface, in particular, dust on the floor surface near the wall can be surely secured. Therefore, it is possible to further reduce cleaning leakage.
Moreover, like the self-propelled cleaner 500 according to the first embodiment, by providing the dust suction port with the rotating brushes 12a and 12b, the carpet can be cleaned, and cleaning leakage can be further reduced. It becomes.

Further, the self-propelled cleaner 500 according to the first embodiment is such that the right-angle portion 4 is supported by the outer shell portion 3 so as to be movable up and down, but is not limited to such a configuration.
For example, it is needless to say that the same effect as in the first embodiment can be obtained even when the right-angle portion 4 is fixed or the bottom surface of the right-angle portion 4 is inclined so that the front is higher.
Like the self-propelled cleaner 500 according to the first embodiment, by moving the right-angled portion 4 up and down, it is possible to reliably get over the convex step. Further, like the self-propelled cleaner 500 according to the first embodiment, the carpet 4 can be cleaned by moving the right-angled portion 4 up and down, and cleaning leakage can be further reduced.

The self-propelled cleaner 500 according to the first embodiment includes the driven wheel 10 on the bottom surface of the main body 1, but the driven wheel 10 may not be included. In that case, since the bristle brush 15 of the rotating brushes 12a and 12b is in contact with the floor surface F and supports the front of the main body 1, the main body 1 is supported in parallel (horizontally) with the floor surface F.
Further, instead of the driven wheel 10, a cushion member having high slidability may be provided. In that case, when the front of the main body 1 is lifted, the cushion member comes into contact with the floor surface F, and the bottom surface of the main body 1 is prevented from being damaged.

  In the self-propelled cleaner 500 according to the first embodiment, the air blower 34 and the dust collector 37 are secured by the seal member 42 so that the air path between the air blower 34 and the dust collector 37 is secured. Although configured to be slidable in the horizontal direction, both the blower 34 and the dust collecting device 37 may be provided in the outer shell portion 3. In that case, when the outer shell part 3 rotates around the central part 2, the exhaust duct 36 of the blower 34 is configured not to interfere with the drive wheel motors 8a, 8b and the like.

  Further, the self-propelled cleaner 500 according to the first embodiment is configured such that the right angle portion 4 is configured to be vertically movable along a plurality of guides 60 provided in the outer shell portion 3. 4 may be configured to be rotatable in the vertical direction around a part of the right-angled portion 4.

  Further, the self-propelled cleaner 500 according to the first embodiment is configured to drive the first rotating brush 12a and the second rotating brush 12b by one rotating brush motor 50. Two rotating brush motors corresponding to each of the rotating brushes 12a and 12b may be provided and controlled to rotate independently.

As described above, the self-propelled cleaner 500 according to the first embodiment has the dust suction port angle changing means so that the angle in the longitudinal direction of the dust suction port with respect to the rolling direction of the drive wheels 6a and 6b is optimized. By providing the control means for controlling the dust, it is possible to reach the dust suction port in a narrow space such as a corner of the floor surrounded by the wall, and the cleaning leakage can be reduced.
In addition, self-propelled cleaner 500 according to Embodiment 1 controls the dust suction port angle changing means so that the angle in the longitudinal direction of the dust suction port with respect to the rolling direction of drive wheels 6a and 6b is optimized. By providing the control means, it is not necessary to repeat the change of the moving direction of the main body 1 and the forward and backward movement when cleaning a narrow space such as a corner of the floor surface, and the cleaning efficiency can be improved.

(Dust collector operation)
Below, the operation | movement in the case of moving to the dust collection part 372, compressing the dust collected by the dust separation part 371 of the self-propelled cleaner which concerns on Embodiment 1 is demonstrated.
43 to 49 are diagrams showing the state of dust in the dust collector 37 of the self-propelled cleaner 500 according to the first embodiment.
FIG. 43 shows a state where dust-containing air is sucked from the intake port 373. When operating the blower 34, the control unit (not shown) stops the dust removing body 374 in a state toward the dust collection unit 372 side. When the dust-containing air is sucked, the dust separator suction valve 381 rotates inside the dust separator 371 to open the air path. Air is sucked into the blower 34 and flows below the dust separation filter 40, and the dust Ds is captured by the dust separation filter 40.
The dust-containing air that has flowed into the dust separation unit 371 flows along the curved side surface of the dust separation unit 371 and receives the centrifugal force. Therefore, a part of the dust is not captured by the dust separation filter 40, and the dust The part is collected in the dust collecting part 372.

  FIG. 44 shows a state where the dust remover 374 is rotated counterclockwise from the state of FIG. After the cleaning operation is finished and the blower 34 is stopped, the control unit (not shown) rotates the dust removing body rotation motor 379 clockwise to transmit the rotational force to the rotation drive plate 376 via the gear 380. The dust removing body rotating shaft 375 and the dust removing body 374 are rotated counterclockwise. The dust Ds captured by the dust separation filter 40 receives a force in the horizontal direction from the dust removing body 374, is scraped off from the dust separation filter 40, and travels toward the dust collecting portion 372 side.

  45 to 48 show a state where the dust removing body 374 is further rotated counterclockwise from the state of FIG. 44. When the dust removing body 374 rotates, the dust Ds is pushed into the dust collecting portion 372. As shown in FIG. 46, when the dust remover 374 moves to a position where it interferes with the dust transfer plate 378, the dust remover 374 deforms (bends) and continues rotating while pushing the dust to the right side of the dust transfer plate 378.

FIG. 49 shows a state in which a large amount of dust Ds is pushed into the dust collecting portion 372. When the dust removing body 374 is rotated after further cleaning from the state of FIG. 48, the dust Ds in the dust separation unit 371 is pushed in while compressing the dust Ds in the dust collection unit 372.
Even when dust remains in the dust separation part 371 without being scraped off from the dust separation filter 40 by the rotation of the dust removing body 374, the dust removing body 374 is rotated a plurality of times to ensure scraping and compression. The

  The dust Ds collected in the dust collector 37 can be discarded by removing the dust collector 37 from the main body 1 and opening the dust collector lid 38.

  As described above, the self-propelled cleaner 500 according to the first embodiment eliminates the clogging of the dust separation filter 40 in the dust collector 37 with dust, and moves the dust to the dust collector 372. Since compression is possible, it is possible to reduce the frequency of disposal of the dust Ds in the dust collector 37.

As mentioned above, although self-propelled cleaner 500 concerning Embodiment 1 was explained, the present invention is not limited to this.
For example, the self-propelled cleaner 500 according to the first embodiment rotates the angle adjustment motor 57 to drive the bisector of the apex angle formed by two planes, that is, the right side surface 24a and the left side surface 24b. Although the relative angle in the rolling direction of the wheels 6a and 6b is changed, the bisector of the apex angle and the rolling direction may be fixed in parallel.

The angle adjustment motor 57 may be controlled to be fixed in a parallel state, and the central portion 2 and the outer shell portion 3 may be fixed or integrated so as not to rotate. In the case where the central portion 2 and the outer shell portion 3 are fixed or integrated so as not to rotate, a member for rotating the outer shell portion 3 such as the angle adjusting motor 57 or its accompanying gear around the central portion 2 is provided. It does not have to be.
Even in such a case, the control unit (not shown) operates as shown in FIG. 34 and FIG. 35, so that the dust suction port can reach a narrow space such as a corner of the floor, and cleaning is performed. Leakage can be reduced. Moreover, it is also possible to clean the wall along the wall intermittently by repeating forward and backward movements.

Embodiment 2. FIG.
The self-propelled cleaner according to the second embodiment will be described below.
In addition, about the description which overlaps with the self-propelled cleaner which concerns on Embodiment 1, it simplifies or abbreviate | omits suitably.

(Outline structure)
The schematic structure of the self-propelled cleaner according to the second embodiment will be described below.
FIG. 50 is a plan view of self-propelled cleaner 500 according to the second embodiment.
As shown in FIG. 50, the right proximity sensor 27c and the right rear proximity sensor 28c on the side surface of the arc portion 5 of the self-propelled cleaner 500 are the right proximity sensor 27a and the right rear proximity sensor 28a shown in FIG. It is arrange | positioned in the position different from this position, and is arrange | positioned in the position which does not overlap with the dust suction port on-off valve 216 mentioned later.

(Dust collector structure)
Below, the structure of the dust collector of the self-propelled cleaner according to the second embodiment will be described.
51 is a cross-sectional view of the self-propelled cleaner 500 according to Embodiment 2 taken along the line Ba-Bb described in FIG. 50. FIG. 52 is a cross-sectional view of the self-propelled cleaner 500 according to Embodiment 2 taken along the line Ca-Cb described in FIG. FIG. 53 is a perspective view of dust remover disk 382 of self-propelled cleaner 500 according to the second embodiment. FIG. 54 is a plan view showing the arrangement of the dust removing body 383 and the transfer body 384 in a state in which the dust collector cover 38 is opened in the self-propelled cleaner 500 according to the second embodiment.

  As shown in FIGS. 51 to 54, a blower 34 is provided at the center of the arc portion 5. The blower 34 includes a fan 35 composed of a plurality of rotating blades that rotate horizontally, and negative pressure is generated by the rotation of the fan 35. The air flows from the upper side in the axial direction of the fan 35 due to the negative pressure generated by the rotation of the fan 35, and is discharged from the exhaust duct 36 provided in the radial direction of the fan 35.

A detachable dust collecting device 37 is provided on the top of the blower 34. The dust collecting device 37 has a substantially rectangular parallelepiped dust collecting portion 372 communicating with the curved side surface of the cylindrical dust separating portion 371. A dust separation filter 402 that separates dust from dust-containing air sucked from the air inlet 373 and allows only air to pass is provided on the bottom surface of the dust separator 371, that is, on the blower 34 side.
The dust separation filter 402 is disposed substantially at the center of the bottom surface of the dust separation portion 371 and is configured in a truncated cone shape. The curved side surface portion of the dust separation filter 402 is constituted by a mesh of resin fibers such as nylon, and dust attached to the surface is easily removed when receiving a force from the lateral direction. The dust collector lid 38 that covers the dust separator 371 and the dust collector 372 is configured to be openable and closable with the hinge 39 as a fulcrum, and is held closed by a locking means (not shown).

  The dust collector lid 38 is provided with a dust remover disk 382 that rotates around the central axis of the cylinder of the dust separator 371. As shown in FIG. 53, the dust removing body disk 382 is provided with a pair of dust removing bodies 383 and a pair of transfer bodies 384. The dust removing body 383 and the transfer body 384 are made of a material such as hard rubber, resin, or metal, and a part of the dust removing body 383 is arranged in contact with or in close proximity to the curved side surface portion of the dust separation filter 402. The dust remover rotating shaft 375 connects the dust remover disc 382 inside the dust separator 371 and the rotation drive plate 376 provided on the upper side (outside) of the dust collector lid 38. The dust remover rotating shaft 375 is rotatably held by the dust collector lid 38 via a sliding seal member 377. Since the sliding seal member 377 has a hard rubber surface subjected to fluororesin processing, the dust separation portion 371 can be hermetically sealed while holding the dust remover rotating shaft 375 rotatably. In FIG. 51, the dust removing body disk 382 and the dust separation filter 40 are illustrated as being in contact with each other. However, in order to suppress entanglement of hair or the like, a space may be provided without contact.

  A dust separation unit 371 of the dust collector 37 is disposed substantially at the center of the central portion 2, and the dust collection unit 372 is connected to the right side of the dust separation unit 371 when viewed from the upper surface of the main body 1. The dust collection part 372 is arranged in the direction of an angle of 270 ° from the air inlet 373 with the center of the dust separation part 371 as a reference. When the dust-containing air flows into the dust separator 371 from the air inlet 373, the dust separator suction valve 381 opens, and the dust-containing air flows along the curved inner surface of the dust separator 371. Since the dust remover 383 and the transfer body 384 are arranged with a space between the bottom surface of the dust separator 371, the dust-containing air that has flowed into the dust separator 371 swirls around the dust separator filter 402. While being sucked. At this time, a part of the dust in the dust-containing air receives centrifugal force and flows into the dust collecting portion 372 side.

  The dust collection part 372 is configured to have a shallow depth in the vertical direction as compared with the dust separation part 371, and the boundary part is connected by the inclined part 385. On the inclined portion 385, inclined ribs 386, 387, and 388 having different lengths and arrangement angles are provided. The inclined rib 386 is configured to be longer than the other inclined ribs 387 and 388, and is disposed so as to extend from the bottom surface of the dust separating portion 371 to the inclined portion 385. The inclined ribs 386, 387, and 388 are arranged so that the inclined angle of the inclined rib 386 is the smallest, and the inclined angle is increased in the order of the inclined rib 387 and the inclined rib 388. As described above, the inclined ribs 386, 387, and 388 are arranged on the inclined portion 385 so that the inclination angle becomes larger toward the rotation direction of the transfer body 384, whereby the dust Ds receives the force from the transfer body 384. However, the effect of facilitating movement toward the dust collecting portion 372 along the inclined ribs 386, 387, and 388 can be obtained.

  When removing dust adhering to the dust separation filter 402, the dust removing body disk 382 is rotated counterclockwise when viewed from the upper surface of the main body 1. The dust is pushed by the dust removing body 383, scraped off from the dust separation filter 402, and falls to the bottom surface of the dust separation unit 371. The dust separation filter 402 is constituted by a fine opening mesh, and a large amount of dust containing fine fibers adheres. Therefore, when the amount of dust is large, the dust scraped off on the bottom surface of the dust separation portion 371 is collected. To the upper side in the dust separation part 371. When the dust removing body disk 382 continues to rotate, the dust scraped and collected on the bottom surface of the dust separating section 371 is pushed upward by the dust removing body 383 and the transfer body 384 and counterclockwise in the dust separating section 371. Moving.

  An extended portion 389 having a deep vertical depth is provided on the end side of the dust collecting portion 372. Since the dust collection part 372 is arrange | positioned on the driving wheel 6a, the depth of the perpendicular direction of the upper part of the driving wheel 6a is comprised shallowly, and it is comprised so that it may become deep outside the driving wheel 6a. By configuring the dust collecting portion 372 in this manner, the capacity of the dust collecting portion 372 can be increased while keeping the height of the main body 1 low. Further, by configuring a part of the dust collecting portion 372 to be shallow, the drive wheels 6a and 6b can be disposed closer to the center of the main body 1, and the components on the central portion 2 can be efficiently disposed. .

  A dust separation portion suction valve 381 is provided at a connection portion between the dust separation portion 371 and the intake port 373. The dust separation unit suction valve 381 is an arc-shaped plate and is rotatably held with one end as a rotation axis. The dust separator suction valve 381 is biased by a spring, and closes the air passage when there is no suction to the dust collector 37, and rotates inside the dust separator 371 to open the air passage when there is suction. .

  A dust remover rotation motor 379 is provided outside the dust collector 37, and rotational force is transmitted to the rotation drive plate 376 via the gear 380.

  Inside the space on the blower 34 side of the frustoconical dust separation filter 402, a backup filter 403 is provided in which a sheet filter folded in a pleat shape is formed in a ring shape along the inside of the frustoconical shape. The backup filter 403 collects fine dust that could not be separated by the dust separation filter 402. In addition, the lattice 41 prevents foreign matter from entering when the dust collector 37 and the backup filter 403 are removed.

On the bottom surface of the dust collector 37, a ring-shaped seal member 42 that ensures airtightness between the dust collector 37 and the blower 34 is provided. The seal member 42 is made of a material in which an elastic member such as rubber or elastomer resin is blended with a fluororesin having lubricity, and has a V-shaped cross section.
The opening of the dust collector 37 and the opening of the blower 34 are in contact with different surfaces forming the V-shape of the seal member 42. By being configured in this way, the dust collector 37 and the blower 34 are slidable in the horizontal direction while ensuring airtightness.

(Dust collector operation)
The operation when moving to the dust collection part 372 and the expansion part 389 while compressing the dust collected by the dust separation part 371 of the self-propelled cleaner according to the second embodiment will be described below.
55 to 62 are views showing the state of dust in the dust collector 37 of the self-propelled cleaner 500 according to the second embodiment.
55 and 56 show a state where dust-containing air is sucked from the air inlet 373. FIG. The control unit (not shown) stops the dust removing body disk 382 when operating the blower 34. 55 and 56, the dust removing body 383 is stopped in a state toward the dust collecting portion 372 side, but the stop positions of the dust removing body 383 and the transfer body 384 when the blower 34 is driven are not particularly defined.

  When the dust-containing air is sucked, the dust separator suction valve 381 rotates inside the dust separator 371 to open the air path. The dust-containing air flows along the curved surface inside the dust separator 371 and becomes a strong whirling air near the bottom surface of the dust separator 371 that is not blocked by the dust remover 383 and the transfer body 384. In the dust separator 371, the dust Ds receives a centrifugal force by turning and moves in the radial direction of the dust separator 371. When the dust Ds reaches the inclined portion 385, a part thereof flows into the dust collecting portion 372 side. At this time, part of the air also flows into the dust collecting portion 372, so that dust Ds remaining in the dust collecting portion 372 and dust Ds that repeatedly enters and leaves the dust collecting portion 372 are generated. Since the expansion part 389 is less affected by the swirling airflow of the dust separation part 371, the dust Ds reaching the expansion part 389 is difficult to return to the dust separation part 371. The dust Ds that does not fully enter the dust collecting portion 372 continues to turn in the dust separating portion 371, but eventually adheres to the dust separating filter 402.

  57 and 58 show a state in which the dust removing body 374 is rotated counterclockwise from the states of FIGS. 55 and 56. After the cleaning operation is finished and the blower 34 is stopped, the control unit (not shown) rotates the dust removing body rotation motor 379 clockwise to transmit the rotational force to the rotation drive plate 376 via the gear 380. The dust remover rotating shaft 375 and the dust remover disc 382 are rotated counterclockwise. The dust Ds captured by the dust separation filter 402 receives force from the dust removing body 374 in the circumferential direction of the dust separation unit 371, is scraped off from the dust separation filter 402 and falls to the bottom surface of the dust separation unit 371. When the dust removing body disk 382 continues to rotate, the dust Ds scraped off the bottom surface of the dust separating portion 371 is pushed upward by the lower ends of the dust removing body 383 and the transfer body 384, and the inside of the dust separating portion 371 is counterclockwise. Move around.

  59 and 60 show a state where the dust removing body disk 382 is further rotated counterclockwise from the state of FIG. When the transfer body 384 reaches the upper part of the inclined ribs 386, 387, and 388, the upper side of the dust Ds is pushed by the transfer body 384, and the moving direction is limited by the inclined ribs 386, 387, and 388 on the lower side of the dust Ds. . When the transfer body 384 continues to rotate, the crossing position of the transfer body 384 and the inclined ribs 386, 387, and 388 moves to the end side of the dust collection part 372. At this time, since the transfer body 384 is formed in a curved shape, the direction in which the dust Ds is pushed at the intersecting positions with the inclined ribs 386, 387, and 388 is directed toward the end of the dust collecting portion 372. Accordingly, the dust Ds moves on the inclined portion 385 along the inclined ribs 386, 387, and 388 toward the dust collecting portion 372 while being pushed by the transfer body 384 on the upper side.

  61 and 62 show a state where a large amount of dust Ds has been moved into the dust collecting portion 372 and pushed in. 59 and 60, after further cleaning, when the dust remover disk 382 rotates, the dust Ds in the dust separator 371 pushes in while compressing the dust Ds in the dust collector 372. . Even when the dust Ds remains in the dust separation unit 371, the dust collector 382 can be moved into the dust collection unit 372 by repeating the rotation of the dust removing body disk 382 a plurality of times.

As described above, the self-propelled cleaner 500 according to the second embodiment eliminates the clogging of the dust separation filter 402 in the dust collecting device 37 by dust, and moves the dust to the dust collecting unit 372. Since compression is possible, it is possible to reduce the frequency of disposal of the dust Ds in the dust collector 37.
Further, by reducing the depth of the dust collecting portion 372, the height of the main body 1 of the self-propelled cleaner 500 can be kept low, and by providing the expansion portion 389 outside the dust collecting portion 372, The dust collection capacity can be increased.
In the self-propelled cleaner 500 according to the second embodiment, the dust separation filter 402 is configured in a truncated cone shape, but may be configured in a cylindrical shape. By comprising in this way, a filter area can be enlarged and the pressure loss of an air path can be reduced.

Embodiment 3 FIG.
The self-propelled cleaner according to the third embodiment will be described below.
In addition, about the description which overlaps with the self-propelled cleaner which concerns on Embodiment 1 and Embodiment 2, it simplifies or abbreviate | omits suitably.

(System structure including self-propelled vacuum cleaner and charging stand)
Below, the structure of the system containing the self-propelled cleaner and the charging stand according to the third embodiment will be described.
FIG. 63 is a plan view including a partial cross section of a system including self-propelled cleaner 500 and charging stand 201 according to the third embodiment. FIG. 64 is a cross-sectional view of the system including self-propelled cleaner 500 and charging stand 201 according to Embodiment 3 along the Ca—Cb line shown in FIG. 63. FIG. 65 is a plan view including a partial cross section of a system including self-propelled cleaner 500 and charging stand 201 according to the third embodiment. FIG. 66 is a cross-sectional view of the system including self-propelled cleaner 500 and charging stand 201 according to Embodiment 3 along the Ca—Cb line shown in FIG. 65.

As shown in FIGS. 63 to 66, a pair of power-receiving-side charging terminals 200 for receiving power stored in the storage battery 45 is provided on the side surface of the arc portion 5 of the main body 1 of the self-propelled cleaner 500.
The charging base 201 is an L-shaped charging base that supplies power to the storage battery 45 of the main body 1 via the power receiving side charging terminal 200 of the main body 1. The charging stand 201 includes a pair of power supply side charging terminals 202 that are connected to the power receiving side charging terminal 200 to supply power, a power supply unit 203 that generates a direct current from the alternating current and supplies power to the power supply side charging terminal 202, and It has a charging stand control unit 204 that detects the connection between the power receiving side charging terminal 200 and the power feeding side charging terminal 202 and operates the power source unit 203.

  In addition, the charging stand 201 is provided with a blower 205 and a dust collector 206 that separates and accumulates dust from the dust-containing air sucked by the blower 205. The dust collector 206 has a larger dust collection capacity than the dust collector 37 of the self-propelled cleaner 500. The dust collector 206 may be any type of dust collector such as a paper pack filter, a cyclone dust collector, or a dust box having a filter. A suction nozzle 208 for sucking dust accumulated in the dust collector 37 of the main body 1 of the self-propelled cleaner 500 is provided at the tip of the air passage 207 communicating with the dust collector 206.

  The power supply side charging terminal 202 is installed on the terminal block 209. The terminal block 209 and the suction nozzle 208 are installed at both ends of the movable arm 210 and are provided so as to protrude from the charging table 201 with the support shaft 211 as a fulcrum. Normally, as shown in FIG. 63, the suction nozzle 208 is biased by a spring (not shown) and stored in the nozzle storage port 212. On the other hand, the terminal block 209 is configured to protrude from the terminal block storage port 213. Therefore, when the terminal block 209 is pushed into the terminal block storage port 213, the suction nozzle 208 protrudes from the charging base 201. At this time, the suction nozzle 208 moves in a state where the communication state is maintained by a freely deformable air passage 214 provided between the air passage 207.

  As shown in FIG. 64, a side opening 215 is provided on the side surface of the main body 1 of the self-propelled cleaner 500. The side opening 215 is disposed on the side surface of the extended portion 389 of the dust collector 37. A dust suction port opening / closing valve 216 is provided on the side surface of the expansion portion 389 so as to be openable and closable. The dust suction port opening / closing valve 216 rotates about the rotation shaft 217 as a fulcrum, and makes it possible to suck dust accumulated in the extended portion 389 from the outside. The rotating shaft 217 is biased by a spring (not shown) so as to close the dust suction port opening / closing valve 216. Further, a seal member (not shown) made of a rubber material is provided around the dust suction port on / off valve 216 so that the dust collector 37 is kept airtight.

  65 and 66 show a state in which the main body 1 of the self-propelled cleaner 500 is connected to the charging base 201. When the terminal block 209 is pushed by the main body 1, the terminal block 209 is pushed into the terminal block storage port 213 in a state where the power receiving side charging terminal 200 and the power feeding side charging terminal 202 are connected. Along with this, the movable arm 210 rotates about the support shaft 211 as a fulcrum, and the suction nozzle 208 protrudes from the nozzle storage port 212.

  When the suction nozzle 208 protrudes from the nozzle storage port 212, as shown in FIG. 66, the suction nozzle 208 extends from the side opening 215 of the self-propelled cleaner 500 while pushing a part of the dust suction port opening / closing valve 216. 389. At this time, the dust suction port opening / closing valve 216 rotates about the rotation shaft 217 as a fulcrum, thereby opening the side surface of the expansion portion 389. Further, the freely deformable air passage 214 maintains the communication state between the suction nozzle 208 and the air passage 207 by extending the pleats of the bellows structure.

(System operation including self-propelled vacuum cleaner and charging stand)
Below, operation | movement of the system containing the self-propelled cleaner and charging stand which concern on Embodiment 3 is demonstrated.
When a control unit (not shown) in the main body 1 of the self-propelled cleaner 500 detects that dust in the dust collecting device 37 has accumulated more than a preset reference amount during the cleaning operation, the cleaning operation is performed. In order to complete and charge the storage battery 45, the battery 45 is moved to the position of the charging stand 201. As a means for detecting the amount of dust in the dust collector 37, a means for measuring a change in load of the dust removing body rotating motor 379 by an amount of current may be provided, and the dust separating unit 371 or the dust collecting unit 372 may be provided. May be formed of a material that transmits infrared light, and a means for detecting the presence or absence of dust by a transmission infrared sensor may be provided.

  By a storage unit (not shown) for storing the position of the charging stand 201 provided in the main body 1 of the self-propelled cleaner 500 or by a receiving unit for receiving identification information of infrared signal generating means provided in the charging stand 201. When the main body 1 of the self-propelled cleaner 500 comes close to the charging stand 201, the positional relationship between the main body 1 and the charging stand 201 is recognized. When a control unit (not shown) in the main body 1 of the self-propelled cleaner 500 is connected to the charging base 201 to perform charging, the power receiving side charging terminal 200 can be connected to the power feeding side charging terminal 202. Thus, the drive wheels 6a and 6b are rotated.

  A control unit (not shown) in the main body 1 of the self-propelled cleaner 500 obtains information on the right proximity sensor 27 c, the right rear proximity sensor 28 c, and the rear proximity sensor 29 when connecting to the charging stand 201. Thus, the rotation of the drive wheels 6a and 6b is controlled so that the main body 1 is properly connected to the charging base 201.

  When the charging base control unit 204 detects that the main body 1 is connected to the charging base 201 and the power receiving side charging terminal 200 and the power feeding side charging terminal 202 are connected, before the power feeding to the power feeding side charging terminal 202 is performed, the blower 205 is driven and the dust accumulated in the expansion part 389 is collected in the dust collecting device 206. The charging stand control unit 204 drives the blower 205 for a preset reference time, stops driving, and supplies power to the power supply side charging terminal 202.

  The dust collector 206 is provided with dust amount detection means (not shown), and when the collected dust amount reaches a preset reference amount, notification means such as LED display and notification sound output (FIG. (Not shown), and power supply to the power supply side charging terminal 202 is performed in a state where the blower 205 is stopped.

  As described above, the system including the self-propelled cleaner 500 and the charging stand according to the third embodiment is configured such that when the dust accumulated in the dust collecting device 37 exceeds a preset reference amount, Since the main body 1 of the self-propelled cleaner 500 can be connected to the charging stand 201 and the accumulated dust can be moved to the dust collector 206 of the charging stand 201, the dust collector 37 of the self-propelled cleaner 500 can be moved. It becomes possible to reduce the frequency of the disposal processing of the dust Ds.

Embodiment 4 FIG.
The self-propelled cleaner according to the fourth embodiment will be described below.
In addition, about the description which overlaps with the self-propelled cleaner which concerns on Embodiment 1- Embodiment 3, it simplifies or abbreviate | omits suitably.

(Dust collector structure)
The structure of the dust collector of the self-propelled cleaner according to Embodiment 4 will be described below.
FIG. 67 is a plan view of self-propelled cleaner 500 according to Embodiment 4 with dust collector cover 33 removed.
As shown in FIG. 67, a dust remover rotation knob 390 for rotating the dust remover 374 in the dust separator 371 is provided on the upper part of the dust collector lid 38. The dust removing body rotation knob 390 has irregularities on the outer peripheral portion in order to facilitate the manual rotation.

  The main body 1 may have means for measuring the change in the load of the dust removing body rotation motor 379 based on the amount of current as means for detecting the amount of dust in the dust collector 37, and the dust separator 371 or Part of the dust collecting portion 372 may be made of a material that transmits infrared rays, and may have a means for detecting the presence or absence of dust using a transmission infrared sensor. When the amount of dust accumulated in the dust collector 37 reaches a preset reference amount, notification is performed by notification means (not shown) such as LED display and notification sound output.

  As described above, even when the amount of dust reaches a preset reference amount, the user of the self-propelled cleaner 500 rotates the dust removing body rotation knob 390 counterclockwise to thereby move the dust collector 37 Since the self-propelled cleaner 500 can continue the cleaning operation without discarding the dust, the frequency of the disposal process can be reduced.

  As mentioned above, although Embodiment 1-Embodiment 4 were demonstrated, this invention is not limited to description of each embodiment. For example, it is possible to combine all or a part of each embodiment, each modification, and the like. Moreover, in Embodiment 3, although the case where the self-propelled cleaner 500 is the self-propelled cleaner 500 which concerns on Embodiment 1 or Embodiment 2 is demonstrated, it is not restricted to such a case. For example, a self-propelled cleaner provided with another dust collecting device may be used.

  DESCRIPTION OF SYMBOLS 1 Main body, 2 Center part, 3 Outer shell part, 4 Right angle part, 5 Arc part, 6a, 6b Driving wheel, 10 Driven wheel, 11a Right suction port, 11b Left suction port, 12 Rotating brush, 12a 1st rotating brush 12b Second rotating brush, 16a, 16b Dust receiver, 37 Dust collector, 38 Dust collector lid, 39 Hinge part, 40 Dust separation filter, 45 Storage battery, 100 Rotating brush unit, 101a, 101b Rotating brush housing part, 102a, 102b Drive transmission part, 103 support part, 104 bearing fixing member, 105a, 105b support part, 106a, 106b engagement part, 107 fitting part, 108 support shaft, 109a, 109b concave fitting part, 110a, 110b rotation Brush drive shaft, 111a, 111b Power transmission shaft, 112a, 112b Bearing, 113a, 113 Bevel gear, 114a, 114b opening, 115 rotating brush motor shaft, 116 gear, 117 gear, 118 shaft, 119 gear, 120 gear, 121 gear, 122 shaft, 123 gear, 124 gear, 125 gear, 126 gear, 127 Shaft, 128 gear, 129 gear, 200 power receiving side charging terminal, 201 charging base, 202 power feeding side charging terminal, 203 power supply unit, 204 charging base control unit, 205 blower, 206 dust collector, 207 air path, 208 suction nozzle, 209 terminal block, 210 movable arm, 211 support shaft, 212 nozzle storage port, 213 terminal block storage port, 214 freely deformable air passage, 215 side opening, 216 dust suction port opening / closing valve, 217 rotation shaft, 371 dust separation unit, 372 Dust collector, 373 Air inlet, 374 Dust remover, 375 Dust remover Roller shaft, 376 Rotation drive plate, 377 Sliding seal member, 378 Dust transfer plate, 379 Dust remover rotating motor, 380 Gear, 381 Dust separator intake valve, 382 Dust remover disc, 383 Dust remover, 384 Transfer body, 385 Inclined part, 386, 387, 388 Inclined rib, 389 extended part, 390 Dust remover rotation knob, 401 Backup filter, 402 Dust separation filter, 403 Backup filter, 500 Self-propelled cleaner.

Claims (24)

A first opening formed in a part of the inner surface, separating the dust-containing air sucked and flowing in from the air inlet into dust and clean air; and a dust separator for discharging the clean air from the second opening covered with a filter; ,
A dust collecting portion that communicates with the first opening and accumulates dust inside;
A plate-shaped dust removing body in which a rotation center shaft is provided in the dust separating portion , removes dust adhering to the filter by a rotating operation, and moves the removed dust to the dust collecting portion through the first opening When,
A dust transfer plate that is provided between the air inlet and the dust collector in the region where the dust collector rotates, and that holds the dust removed by the dust collector from the filter to the dust collector;
When the dust removing body reaches the first opening from the air inlet by the rotating operation, a part of the dust removing body enters the dust collecting portion and rotates while bending when it interferes with the dust transfer plate, It is configured to return to its original shape when it no longer interferes with the dust transfer plate.
Dust-collecting apparatus according to claim and this. A first opening formed in a part of the inner surface, separating the dust-containing air sucked and flowing in from the air inlet into dust and clean air; and a dust separator for discharging the clean air from the second opening covered with a filter; ,
A dust collecting portion that communicates with the first opening and accumulates dust inside;
A plate-shaped dust removing body in which a rotation center shaft is provided in the dust separating portion, removes dust adhering to the filter by a rotating operation, and moves the removed dust to the dust collecting portion through the first opening When,
A plate-shaped transfer body provided with a rotation center shaft in the dust separation section, and for transferring the dust removed by the dust removing body from the filter to the dust collection section through the first opening by the rotation operation; Have
When the transfer body reaches the first opening from the intake port by the rotation operation, a part of the transfer body enters the dust collecting part, and returns to the dust separation part when leaving the first opening. Is the configuration,
A dust collector characterized by that. The filter has a cylindrical shape or a truncated cone shape, is coaxially provided inside the dust removing body, and a central axis of the filter is coaxial with a rotation center of the dust removing body.
The dust collector according to claim 2 . The dust separation portion is formed with at least one rib protruding toward the inside of the dust separation portion and extending toward the first opening.
The dust collector according to claim 3 . A gap for swirling dust-containing air is formed between the dust separation part and the dust remover in the axial direction of rotation of the dust remover,
The dust collector according to claim 3 or 4 , wherein A third opening that communicates with the air inlet is formed in a part of the inner surface of the dust separator,
A first valve that opens the third opening when sucking dust-containing air and closes the third opening when the dust remover is rotating;
The dust collector according to any one of claims 1 to 5 , wherein The first opening is formed at a position away from the intake port by 180 ° or more in the direction of rotation of the dust remover, with the rotation axis of the dust remover as a center.
The dust collector according to any one of claims 1 to 6 , wherein The first opening is formed at a position 270 ° away from the intake port in the direction of rotation of the dust remover, with the rotation axis of the dust remover as a center.
The dust collector according to claim 7 . The size of the dust collecting part in the axial direction of rotation of the dust removing body is smaller than the dimension of the dust separating part,
The dust collector according to any one of claims 1 to 8 , wherein the dust collector is characterized in that A rotation shaft that is fitted from the outside to the inside of the dust separation unit and transmits the power of the outside of the dust separation unit to the dust removing body;
The dust collector according to any one of claims 1 to 9 , wherein The rotating shaft is connected to a rotating plate outside the dust separator,
The dust collector according to claim 10 . The rotating plate is disk-shaped and rotates by power acting on a circumferential portion of the rotating plate.
The dust collector according to claim 11 . The dust collector according to any one of claims 1 to 12 ,
A first electric blower that is provided on the downstream side of the dust collector and allows dust-containing air to flow into the dust separator;
A vacuum cleaner characterized by comprising: A dust collector according to claim 12 ,
A first electric blower that causes dust-containing air to flow into the dust separator;
An electric rotating machine that transmits rotational force to the circumferential portion of the rotating plate;
A control unit for controlling operations of the first electric blower and the electric rotating machine;
With
The control unit rotates the electric rotating machine after the first electric blower is stopped.
A vacuum cleaner characterized by that. Dust detection means for detecting the amount of dust accumulated in the dust separation unit or the dust collection unit,
The control unit rotates the dust removing body when the amount of dust reaches a preset reference value.
The electric vacuum cleaner according to claim 14 . The dust detection means detects a load current of the electric rotating machine;
The electric vacuum cleaner according to claim 15 . The control unit, when the amount of dust reaches a preset reference value, stops the rotation of the electric rotating machine and causes the notification unit to perform a notification operation.
The electric vacuum cleaner according to claim 15 or 16 , wherein the electric vacuum cleaner is provided. The dust collector according to any one of claims 1 to 12 ,
A first electric blower that causes dust-containing air to flow into the dust separator;
The body,
A drive wheel for moving the body;
A drive wheel drive unit provided in the main body and transmitting a rotational force to the drive wheel;
Proximity sensor that is provided in the main body and detects nearby walls and obstacles;
A storage battery that is provided in the main body and supplies electric power to the mounted electrical component;
A power receiving side charging terminal provided on an outer surface of the main body, connected to a power feeding side charging terminal and receiving power supply;
A self-propelled vacuum cleaner characterized by comprising A flat portion is formed on the side surface of the main body,
A dust suction portion provided in a region along the flat portion of the bottom surface of the main body;
A rolling direction switching mechanism that changes a rolling direction of the drive wheel with respect to the flat surface portion;
A controller that drives the rolling direction switching mechanism to make the rolling direction of the drive wheel parallel to the plane portion;
The self-propelled cleaner according to claim 18 , comprising: The drive wheel is plural,
The dust collection unit is provided above at least some of the plurality of drive wheels.
The self-propelled cleaner according to claim 18 or 19 , wherein The dust collection part has an extension part that extends toward the bottom surface on the side not communicating with the dust separation part,
The drive wheel does not interfere with the dust collecting part;
Self-propelled cleaner according to any one of claims 18 to 20, characterized in that. A first opening formed in a part of the inner surface, separating the dust-containing air sucked and flowing in from the air inlet into dust and clean air; and a dust separator for discharging the clean air from the second opening covered with a filter; A dust collecting portion that communicates with the first opening and accumulates dust inside, and is provided inside the dust separation portion, and removes dust adhering to the filter by a rotating operation, and the removed dust A dust collector comprising a dust collector that is moved to the dust collector through the first opening;
A first electric blower that causes dust-containing air to flow into the dust separator;
The body,
A drive wheel for moving the body;
A drive wheel drive unit provided in the main body and transmitting a rotational force to the drive wheel;
Proximity sensor that is provided in the main body and detects nearby walls and obstacles;
A storage battery that is provided in the main body and supplies electric power to the mounted electrical component;
A power receiving side charging terminal provided on an outer surface of the main body, connected to a power feeding side charging terminal and receiving power supply;
With
The dust collection part has an extension part that extends toward the bottom surface on the side not communicating with the dust separation part,
The drive wheel does not interfere with the dust collecting part;
This is a self-propelled vacuum cleaner. A self-propelled vacuum cleaner according to any one of claims 18 to 22,
A charging stand having the power supply side charging terminal;
With
On the outer surface of the main body, a fourth opening is formed which communicates with the dust collecting portion and is closed by a second valve;
The charging stand opens the second valve when the power feeding side charging terminal and the power receiving side charging terminal are connected, and sucks the dust accumulated in the dust collecting unit,
A system including a self-propelled vacuum cleaner and a charging stand. The charging stand is provided on the downstream side of the second dust collecting device for separating and accumulating dust from the inflowing dust containing air, and flows the dust containing air into the second dust collecting device. The system including the self-propelled cleaner and the charging stand according to claim 23, further comprising: a second electric blower to be operated.

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