JP2003225184A - Cleaning device - Google Patents
Cleaning deviceInfo
- Publication number
- JP2003225184A JP2003225184A JP2002024675A JP2002024675A JP2003225184A JP 2003225184 A JP2003225184 A JP 2003225184A JP 2002024675 A JP2002024675 A JP 2002024675A JP 2002024675 A JP2002024675 A JP 2002024675A JP 2003225184 A JP2003225184 A JP 2003225184A
- Authority
- JP
- Japan
- Prior art keywords
- vacuum cleaner
- cleaner
- cleaned
- cleaning
- electric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 114
- 239000000428 dust Substances 0.000 claims description 59
- 238000007664 blowing Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000009408 flooring Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 238000005108 dry cleaning Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000004018 waxing Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、被掃除面を自立移
動して掃除する清掃装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning device for independently moving a surface to be cleaned for cleaning.
【０００２】[0002]
【従来の技術】従来、この種の清掃装置としては、電動
送風機を収容し被掃除面としての床面を自立移動である
自立走行、すなわち自走可能な電気掃除機が知られてい
る。2. Description of the Related Art Conventionally, as this type of cleaning device, there has been known an electric vacuum cleaner that accommodates an electric blower and is self-propelled, that is, a self-propelled cleaner that is a self-movable floor surface as a surface to be cleaned.
【０００３】この電気掃除機は、走行輪および従動輪が
取り付けられた本体ケースを備え、この本体ケースの外
側面には、この本体ケースの周囲の障害物などを検知す
るセンサが取り付けられている。また、この本体ケース
には、集塵部としての電動送風機が収容され、この電動
送風機の吸気側は、本体ケースに設けられた本体吸込口
と、集塵室を介して連通している。さらに、本体ケース
には、制御部としての制御回路が収容されている。この
制御回路は、走行輪を回転駆動させることでこの電気掃
除機を自走させる。そして、本体ケースには、床面の隅
を掃除する隅ブラシ、あるいは隙間に位置した床面を掃
除する隙間ブラシなどが収容されている。This vacuum cleaner has a main body case to which traveling wheels and driven wheels are attached, and a sensor for detecting obstacles around the main body case is attached to the outer surface of the main body case. . An electric blower as a dust collector is housed in the main body case, and an intake side of the electric blower communicates with a main body suction port provided in the main body case via a dust collection chamber. Further, the main body case accommodates a control circuit as a control unit. This control circuit drives the electric vacuum cleaner by rotating the traveling wheels. The main body case accommodates a corner brush for cleaning the corner of the floor surface, a gap brush for cleaning the floor surface located in the gap, or the like.
【０００４】そして、センサにて本体ケースの周囲を検
知しつつ自走し、電動送風機にて床面の塵埃を本体吸込
口から吸い込んで掃除する。さらに、床面の隅、あるい
は隙間に位置した床面などをセンサにて検知すると、隅
ブラシ、あるいは隙間ブラシなどを駆動させてこれら床
面の隅および隙間に位置した床面などを掃除する。Then, the sensor detects the surroundings of the main body case and is self-propelled, and the electric blower sucks dust on the floor surface from the main body suction port for cleaning. Further, when the sensor detects a corner of the floor surface or a floor surface located in the gap, the corner brush or the gap brush is driven to clean the corner of the floor surface and the floor surface located in the gap.
【０００５】また、上述の電気掃除機を複数、たとえば
２台用いる清掃装置も知られている。A cleaning device using a plurality of, for example, two electric vacuum cleaners is also known.
【０００６】そして、各電気掃除機は、床面の長手方
向、あるいは幅方向などに略沿ってたとえば一定の方向
に自立移動しつつ、電動送風機にて床面上の塵埃を本体
吸込口から吸い込んで掃除する。[0006] Then, each electric vacuum cleaner moves independently along a longitudinal direction or a width direction of the floor surface, for example, in a fixed direction, and sucks dust on the floor surface from the main body suction port by an electric blower. To clean.
【０００７】[0007]
【発明が解決しようとする課題】しかしながら、上述の
１台の自走可能な電気掃除機からなる清掃装置では、様
々な被掃除面を掃除するために隅ブラシ、あるいは隙間
ブラシなどを備えることにより本体ケースの大きさが制
限されるので、本体ケースが比較的小さい隙間などに進
入しにくい。However, in the above-described cleaning device including one self-propelled electric vacuum cleaner, a corner brush or a gap brush is provided to clean various surfaces to be cleaned. Since the size of the body case is limited, it is difficult for the body case to enter a relatively small gap or the like.
【０００８】一方、上述の複数の電気掃除機で構成した
清掃装置においては、各電気掃除機それぞれが略等しい
掃除動作をすることから、たとえば同じ箇所を掃除し残
すおそれがある。On the other hand, in the above-described cleaning device composed of a plurality of electric vacuum cleaners, since the respective electric vacuum cleaners perform substantially the same cleaning operation, for example, there is a risk that the same portion will be left uncleaned.
【０００９】このため、上述の清掃装置では、被掃除面
の効果的な掃除が困難であるという問題点を有してい
る。Therefore, the above-mentioned cleaning device has a problem that it is difficult to effectively clean the surface to be cleaned.
【００１０】本発明はこのような点に鑑みなされたもの
で、被掃除面を効果的に掃除できる清掃装置を提供する
ことを目的とする。The present invention has been made in view of the above circumstances, and an object thereof is to provide a cleaning device capable of effectively cleaning a surface to be cleaned.
【００１１】[0011]
【課題を解決するための手段】本発明の清掃装置は、被
掃除面を自立移動して掃除する第１の掃除機と、この第
１の掃除機と異なる掃除機能を備え被掃除面を自立移動
して被掃除面を掃除する第２の掃除機とを具備したもの
である。そして、第１の掃除機と第２の掃除機との掃除
機能が異なることにより、これら第１の掃除機および第
２の掃除機にて互いに掃除機能を分担して掃除できるの
で、被掃除面を効果的に掃除できる。SUMMARY OF THE INVENTION A cleaning device of the present invention comprises a first cleaner for independently moving and cleaning a surface to be cleaned, and a cleaning function different from that of the first cleaner so that the surface to be cleaned is self-supporting. And a second vacuum cleaner that moves to clean the surface to be cleaned. Since the first cleaner and the second cleaner have different cleaning functions, the first cleaner and the second cleaner can share the cleaning function with each other, so that the surface to be cleaned can be cleaned. Can be effectively cleaned.
【００１２】[0012]
【発明の実施の形態】以下、本発明の清掃装置の第１の
実施の形態の構成を図１ないし図６を参照して説明す
る。BEST MODE FOR CARRYING OUT THE INVENTION The configuration of a first embodiment of a cleaning device of the present invention will be described below with reference to FIGS.
【００１３】図１および図２において、１は第１の掃除
機としての第１の電気掃除機である。この第１の電気掃
除機１は、略半球状の中空な本体ケース２を備えてい
る。この本体ケース２は、略円形板状の底面部2aの外周
縁に、略半球状のカバー2bの下端縁を嵌合させて構成さ
れている。In FIGS. 1 and 2, reference numeral 1 is a first electric vacuum cleaner as a first vacuum cleaner. The first vacuum cleaner 1 includes a hollow main body case 2 having a substantially hemispherical shape. The main body case 2 is configured by fitting a lower end edge of a substantially hemispherical cover 2b to an outer peripheral edge of a bottom surface portion 2a having a substantially circular plate shape.
【００１４】また、底面部2aにおける本体ケース２の走
行方向に対する両側域には、この本体ケース２を被掃除
面としての床面上で移動、すなわち走行させる第１の走
行手段としての走行輪３が回転自在に取り付けられてい
る。これら走行輪３は、底面部2aにおける本体ケース２
の走行方向に対する両側域に開口された図示しない細長
略矩形状の嵌込孔に嵌め込まれて、これら走行輪３にお
ける一部の外周縁が本体ケース２の内部からこの本体ケ
ース２の下側へと突出している。In addition, on both sides of the bottom surface portion 2a with respect to the traveling direction of the main body case 2, traveling wheels 3 as first traveling means for moving the main body case 2 on the floor surface as a surface to be cleaned, that is, traveling. Is rotatably attached. These running wheels 3 are provided on the bottom surface 2a of the body case 2
Of the traveling wheels 3 are fitted into unillustrated elongated substantially rectangular fitting holes that are open in both sides of the body case 2 from the inside of the body case 2 to the lower side of the body case 2. Is protruding.
【００１５】さらに、これら走行輪３それぞれの内側で
ある底面部2a上には、これら走行輪３の回転駆動を制御
する図示しない第１の車輪駆動制御手段がそれぞれ取り
付けられている。この第１の車輪駆動制御手段は、たと
えば磁気クラッチや電動機などにて構成されている。ま
た、底面部2aの裏面における本体ケース２の走行方向の
前側および後側には、この底面部2aの面方向に沿って旋
回する旋回輪４がそれぞれ回転自在に取り付けられてい
る。この旋回輪４は、走行輪３間における中間の前方お
よび後方に取り付けられている。Further, first wheel drive control means (not shown) for controlling the rotational drive of the traveling wheels 3 are mounted on the bottom surface portions 2a inside the traveling wheels 3, respectively. The first wheel drive control means is composed of, for example, a magnetic clutch or an electric motor. Further, swivel wheels 4 that swivel along the surface direction of the bottom surface portion 2a are rotatably attached to the front and rear sides of the main body case 2 on the back surface of the bottom surface portion 2a. The slewing wheels 4 are attached to the front and rear of the middle between the traveling wheels 3.
【００１６】またさらに、本体ケース２の内部である底
面部2aの前側には、床面に対向して開口した細長矩形状
の本体吸込口11が設けられている。この本体吸込口11は
走行輪３の間であるとともに、本体ケース２の走行方向
に直角に交わる方向に略沿った長手方向を有している。Further, on the front side of the bottom surface portion 2a inside the main body case 2, there is provided a main body suction port 11 in the shape of an elongated rectangle which opens facing the floor surface. The main body suction port 11 is between the traveling wheels 3 and has a longitudinal direction substantially along a direction intersecting the traveling direction of the main body case 2 at a right angle.
【００１７】さらに、本体吸込口11の内側は、本体ケー
ス２の略中心に設けられた集塵室12に気密に連通して接
続されている。この集塵室12には、図示しない集塵パッ
クが取り付けられており、本体吸込口11から吸い込んだ
空気中に漂う塵埃をこの集塵パックにて集塵する。Further, the inside of the main body suction port 11 is connected to a dust collecting chamber 12 provided in the substantial center of the main body case 2 in an airtight manner. A dust collecting pack (not shown) is attached to the dust collecting chamber 12, and dust floating in the air sucked from the main body suction port 11 is collected by the dust collecting pack.
【００１８】また、この集塵室12の後側である本体ケー
ス２内には、本体吸込口11から塵埃とともに吸込風を吸
い込む集塵部としての電動送風機13が取り付けられてい
る。この電動送風機13は、集塵室12の後端面に気密に接
続されている。Further, in the main body case 2 on the rear side of the dust collecting chamber 12, an electric blower 13 is attached as a dust collecting portion for sucking suction air together with dust from the main body suction port 11. The electric blower 13 is airtightly connected to the rear end surface of the dust collection chamber 12.
【００１９】そして、本体ケース２のカバー2bの前側お
よび後側の外側面には、本体ケース２の周囲の状態を検
知する第１の検知手段としてのセンサ14が複数取り付け
られている。このセンサ14は、カバー2bの径方向に向け
て、このカバー2bの前側中央および後側中央からそれぞ
れ水平方向に略沿ったカバー2bの周方向に沿って間隔を
介して帯状に配設されている。また、これらセンサ14そ
れぞれは、たとえば赤外線を発光させて所定距離に存在
する障害物を検知する赤外線センサや、撮影される画像
にて障害物を検知する画像センサなどである。A plurality of sensors 14 as first detecting means for detecting the state of the surroundings of the body case 2 are attached to the front and rear outer surfaces of the cover 2b of the body case 2. The sensor 14 is arranged in a band shape in the radial direction of the cover 2b at intervals along the circumferential direction of the cover 2b that is substantially along the horizontal direction from the front center and the rear center of the cover 2b. There is. Each of these sensors 14 is, for example, an infrared sensor that emits infrared light to detect an obstacle existing at a predetermined distance, an image sensor that detects an obstacle in a captured image, or the like.
【００２０】またさらに、本体ケース２内における電動
送風機13の後方には、センサ14それぞれによる障害物な
どの検知に基づいて、第１の車輪駆動制御手段を介して
走行輪３の回転駆動を制御することにより、本体ケース
２を自立走行させる制御部としての制御回路15が取り付
けられている。さらに、この制御回路15は、電動送風機
13に接続されて、この電動送風機13の駆動状態を制御す
る。また、この制御回路15は、センサ14が障害物への接
触を検知した場合に、第１の車輪駆動制御手段を介して
走行輪３の回転駆動を停止させる。Further, behind the electric blower 13 in the main body case 2, the rotational drive of the traveling wheels 3 is controlled via the first wheel drive control means based on the detection of obstacles by the respective sensors 14. By doing so, the control circuit 15 as a control unit for causing the main body case 2 to travel independently is attached. Furthermore, this control circuit 15 is an electric blower.
It is connected to 13 and controls the drive state of this electric blower 13. Further, when the sensor 14 detects the contact with the obstacle, the control circuit 15 stops the rotational drive of the traveling wheels 3 via the first wheel drive control means.
【００２１】そして、本体ケース２内における電動送風
機13の後方には、制御回路15に電力を供給して、この制
御回路15による制御に従って走行輪３の回転および電動
送風機13を駆動させる第１の電源部としての蓄電池であ
る電池体、すなわち電池パック16が着脱可能に取り付け
られている。この電池パック16は、複数、たとえば１０
本の略円柱状の二次電池17を直列に接続させて構成され
た組み電池である。Then, in the rear of the electric blower 13 in the main body case 2, electric power is supplied to the control circuit 15 to rotate the traveling wheels 3 and drive the electric blower 13 under the control of the control circuit 15. A battery body that is a storage battery as a power supply unit, that is, a battery pack 16 is detachably attached. This battery pack 16 has a plurality of, for example, 10
It is an assembled battery constituted by connecting a plurality of substantially cylindrical secondary batteries 17 in series.
【００２２】一方、図３および図４において、21は、第
２の掃除機としての第２の電気掃除機である。この第２
の電気掃除機21は、第１の電気掃除機１と略等しい構成
を有している。すなわち、この第２の電気掃除機21は、
略円形板状の底面部22aの外周縁に、略半球状のカバー2
2bの下端縁を嵌合させて構成された第１の電気掃除機１
の本体ケース２と略同形状の本体ケース22を備えてい
る。On the other hand, in FIGS. 3 and 4, reference numeral 21 is a second electric vacuum cleaner as a second vacuum cleaner. This second
The electric vacuum cleaner 21 has the same structure as the first electric vacuum cleaner 1. That is, the second vacuum cleaner 21
A substantially hemispherical cover 2 is provided on the outer peripheral edge of the bottom portion 22a having a substantially circular plate shape.
A first electric vacuum cleaner 1 configured by fitting the lower end edges of 2b
A main body case 22 having substantially the same shape as the main body case 2 is provided.
【００２３】また、底面部22aには、本体ケース22を床
面上で走行させる第２の走行手段としての走行輪23が回
転自在に取り付けられている。これら走行輪23は、底面
部22aの図示しない細長略矩形状の嵌込孔に嵌め込まれ
て、これら走行輪23における一部の外周縁が本体ケース
22の内部からこの本体ケース22の下側へと突出してい
る。A traveling wheel 23 as a second traveling means for traveling the body case 22 on the floor is rotatably attached to the bottom surface portion 22a. These running wheels 23 are fitted into elongated, substantially rectangular fitting holes (not shown) of the bottom surface portion 22a, and a part of the outer peripheral edges of these running wheels 23 is the main body case.
It projects from the inside of the body 22 to the lower side of the body case 22.
【００２４】さらに、これら走行輪23それぞれの内側で
ある底面部22a上には、たとえば磁気クラッチや電動機
などにて構成され、走行輪23の回転駆動を制御する図示
しない第２の車輪駆動制御手段がそれぞれ取り付けられ
ている。また、底面部22aにおける本体ケース22の走行
方向の前側および後側には、この底面部22aの面方向に
沿って旋回する旋回輪24がそれぞれ回転自在に取り付け
られている。Further, second wheel drive control means (not shown) for controlling the rotational drive of the traveling wheels 23, which is constituted by, for example, a magnetic clutch or an electric motor, is provided on the bottom surface portion 22a inside each of the traveling wheels 23. Are attached respectively. Swiveling wheels 24 that swivel along the surface direction of the bottom surface portion 22a are rotatably attached to the front and rear sides of the bottom surface portion 22a in the traveling direction of the main body case 22.
【００２５】またさらに、底面部22aの前側には、細長
矩形状に形成され床面に対向して開口し本体ケース22の
走行方向に直交する方向に長手方向を沿わせた本体吸込
口31が設けられている。そして、この本体吸込口31に
は、回転清掃体としての略円柱形状の回転ブラシ32が回
転可能に取り付けられている。この回転ブラシ32は、本
体吸込口31の長手方向に略沿って取り付けられており、
走行輪23の軸方向に沿って軸方向を有している。また、
この回転ブラシ32は、本体吸込口31に取り付けられた状
態で一部の外周縁が本体ケース22の下側に突出し、走行
輪23および旋回輪24の下側と略等しい高さに位置してい
る。この結果、回転ブラシ32の突出した一部の外周縁が
床面に接触してこの回転ブラシ32が回転する。Further, on the front side of the bottom face portion 22a, there is a main body suction port 31 which is formed in an elongated rectangular shape and opens so as to face the floor surface and extends along the longitudinal direction in a direction orthogonal to the traveling direction of the main body case 22. It is provided. A rotary brush 32 having a substantially columnar shape as a rotary cleaning body is rotatably attached to the main body suction port 31. The rotating brush 32 is attached substantially along the longitudinal direction of the main body suction port 31,
It has an axial direction along the axial direction of the traveling wheels 23. Also,
The rotary brush 32 has a part of its outer peripheral edge protruding to the lower side of the main body case 22 in a state of being attached to the main body suction port 31, and is located at a height substantially equal to the lower sides of the running wheels 23 and the turning wheels 24. There is. As a result, the protruding outer peripheral edge of the rotary brush 32 comes into contact with the floor surface, and the rotary brush 32 rotates.
【００２６】さらに、本体吸込口31は、本体ケース22の
略中心に設けられ図示しない集塵パックが取り付けられ
た集塵室33に気密に連通して接続されている。Further, the main body suction port 31 is air-tightly connected to a dust collecting chamber 33 provided at a substantially center of the main body case 22 and provided with a dust collecting pack (not shown).
【００２７】また、この集塵室33の後側である本体ケー
ス22内には、この集塵室33の後端面に気密に接続され、
本体吸込口31から塵埃とともに吸込風を吸い込む吸込集
塵部としての電動送風機34が取り付けられている。Further, in the main body case 22 which is the rear side of the dust collecting chamber 33, the rear end face of the dust collecting chamber 33 is airtightly connected,
An electric blower 34 is attached as a suction dust collecting portion that sucks suction air together with dust from the main body suction port 31.
【００２８】そして、本体ケース22のカバー22bの前側
および後側の外側面には、本体ケース22の周囲の状態を
検知する第２の検知手段としてのセンサ35が複数取り付
けられている。このセンサ35は、センサ14と同様にカバ
ー22bに取り付けられている。また、これらセンサ35そ
れぞれは、たとえば赤外線を発光させて所定距離に存在
する障害物を検知する赤外線センサや、撮影される画像
にて障害物を検知する画像センサなどである。A plurality of sensors 35 as second detecting means for detecting the state of the periphery of the main body case 22 are attached to the front and rear outer surfaces of the cover 22b of the main body case 22. The sensor 35 is attached to the cover 22b similarly to the sensor 14. Each of these sensors 35 is, for example, an infrared sensor that emits infrared light to detect an obstacle existing at a predetermined distance, an image sensor that detects an obstacle in a captured image, or the like.
【００２９】またさらに、本体ケース22内における電動
送風機34の後方には、センサ35それぞれによる障害物な
どの検知に基づいて、第２の車輪駆動制御手段を介して
走行輪23の回転駆動を制御することにより、本体ケース
22を自立走行させる制御部としての制御回路36が取り付
けられている。さらに、この制御回路36は、電動送風機
34に接続されて、この電動送風機34の駆動状態を制御す
る。また、この制御回路36は、センサ35が障害物に所定
の距離よりも接近した場合、あるいは障害物への接触を
検知した場合に、第２の車輪駆動制御手段を介して走行
輪23の回転駆動を停止させる。そして、制御回路15およ
び制御回路36は、第１の電気掃除機１および第２の電気
掃除機21を、床面上における互いに略直交する方向に沿
って移動させる。Further, behind the electric blower 34 in the main body case 22, the rotational drive of the traveling wheels 23 is controlled via the second wheel drive control means based on the detection of obstacles by the sensors 35. By doing, the body case
A control circuit 36 is attached as a control unit for independently running the 22. Furthermore, the control circuit 36 is an electric blower.
It is connected to 34 and controls the drive state of this electric blower 34. Further, the control circuit 36 rotates the traveling wheel 23 via the second wheel drive control means when the sensor 35 is closer to the obstacle than a predetermined distance or when the contact with the obstacle is detected. Stop driving. Then, the control circuit 15 and the control circuit 36 move the first electric vacuum cleaner 1 and the second electric vacuum cleaner 21 along the directions substantially orthogonal to each other on the floor surface.
【００３０】さらに、本体ケース22内における電動送風
機34の後方には、制御回路36に電力を供給して、この制
御回路36による制御に従って走行輪23の回転および電動
送風機34を駆動させる第２の電源部としての蓄電池であ
る電池体、すなわち電池パック37が着脱可能に取り付け
られている。この電池パック37は、複数、たとえば１０
本の略円柱状の二次電池38を直列に接続させて構成され
た組み電池である。Further, behind the electric blower 34 in the main body case 22, electric power is supplied to the control circuit 36 so that the rotation of the traveling wheels 23 and the electric blower 34 are driven under the control of the control circuit 36. A battery body which is a storage battery as a power source unit, that is, a battery pack 37 is detachably attached. A plurality of battery packs 37, for example, 10
It is an assembled battery constituted by connecting a plurality of substantially cylindrical secondary batteries 38 in series.
【００３１】次に、上記第１の実施の形態による掃除方
法を説明する。Next, the cleaning method according to the first embodiment will be described.
【００３２】まず、図５に示すように、たとえば工場内
や住居内などの部屋Ｒにおける壁Ｗ １の長手方向の略中
心域近傍の被掃除面としての床面Ｆを掃除開始地点とし
てのホームポジションＨとし、第１の電気掃除機１およ
び第２の電気掃除機21をそれぞれ並べて設置する。この
とき、これら第１の電気掃除機１および第２の電気掃除
機21は、それぞれ図示しない充電台に電気的に接続され
て、電池パック16，37がそれぞれ充電されている。First, as shown in FIG. 5, for example, in a factory
W in a room R such as a room or a house 1Approximately in the longitudinal direction of
A floor surface F as a surface to be cleaned near the heart area is set as a cleaning start point.
Home position H of all the first vacuum cleaner 1 and
And the second vacuum cleaner 21 are installed side by side. this
When these first vacuum cleaner 1 and second vacuum cleaner
Each machine 21 is electrically connected to a charging stand (not shown).
The battery packs 16 and 37 are charged.
【００３３】そして、予め設定した掃除開始時刻となる
と、第１の電気掃除機１の制御回路15にて、走行輪３が
駆動される。Then, at the preset cleaning start time, the traveling wheel 3 is driven by the control circuit 15 of the first electric vacuum cleaner 1.
【００３４】ここで、走行輪３は、制御回路15による第
１の車輪駆動制御手段を介した制御により回転駆動され
て、第１の電気掃除機１を壁Ｗ１に沿って走行させる。Here, the traveling wheels 3 are rotationally driven by the control of the control circuit 15 via the first wheel drive control means, and the first electric vacuum cleaner 1 is caused to travel along the wall W 1 .
【００３５】このとき、第１の電気掃除機１は、センサ
14にてこの第１の電気掃除機１の周囲の障害物を検知す
る。At this time, the first vacuum cleaner 1 has the sensor
At 14, an obstacle around the first vacuum cleaner 1 is detected.
【００３６】そして、センサ14が部屋Ｒの角Ｃを検知す
ると、第１の電気掃除機１は、制御回路15にて走行輪３
を駆動させて走行方向を約９０°変更し、壁Ｗ２に沿っ
て走行するとともに、制御回路15にて電動送風機13に供
給する電力を制御して、本体吸込口11から吸込風ととも
に床面Ｆ上の塵埃を吸い込む。Then, when the sensor 14 detects the corner C of the room R, the first electric vacuum cleaner 1 causes the control circuit 15 to move the traveling wheels 3 to each other.
Driving the vehicle to change the traveling direction by about 90 °, traveling along the wall W 2 , and controlling the electric power supplied to the electric blower 13 by the control circuit 15 so that the suction air is blown from the main body suction port 11 together with the floor surface. Inhale the dust on F.
【００３７】さらに、第１の電気掃除機１が壁Ｗ１に対
向した壁Ｗ３の近傍まで走行したことをセンサ14にて検
知すると、制御回路15にて走行輪３を駆動させ、第１の
電気掃除機１をこの壁Ｗ３に沿って、たとえば本体ケー
ス２の直径寸法分、壁Ｗ２から遠ざかる方向に走行させ
る。Further, when the sensor 14 detects that the first vacuum cleaner 1 has traveled to the vicinity of the wall W 3 facing the wall W 1 , the control circuit 15 drives the traveling wheels 3 to drive the first electric vacuum cleaner 1. The electric vacuum cleaner 1 is moved along the wall W 3 in a direction away from the wall W 2 , for example, by the diameter dimension of the main body case 2.
【００３８】この後、この第１の電気掃除機１は、壁Ｗ
２に沿って壁Ｗ３から壁Ｗ１へ向けて走行しつつ掃除す
る。After this, the first electric vacuum cleaner 1 is provided with a wall W.
Cleaning is carried out while traveling along wall 2 from wall W 3 to wall W 1 .
【００３９】またさらに、第１の電気掃除機１が壁Ｗ１
の近傍まで走行したことをセンサ14にて検知すると、制
御回路15にて走行輪３を駆動させ、第１の電気掃除機１
をこの壁Ｗ１に沿って、たとえば本体ケース２の直径寸
法分、壁Ｗ２から遠ざかる方向に走行させる。Furthermore, the first vacuum cleaner 1 is attached to the wall W 1
When the sensor 14 detects that the vehicle has traveled to the vicinity of, the control circuit 15 drives the traveling wheels 3 to drive the first electric vacuum cleaner 1
Is run along the wall W 1 in a direction away from the wall W 2 , for example, by the diameter dimension of the main body case 2.
【００４０】そして、この第１の電気掃除機１は、再び
壁Ｗ２に沿って壁Ｗ１から壁Ｗ３に向かって走行しつつ
掃除する。この後、第１の電気掃除機１はこれらの動作
を繰り返し、部屋Ｒの長手方向に対して略Ｓ字状に床面
Ｆを掃除する。[0040] Then, the electric vacuum cleaner 1 of the first is to clean while traveling toward the wall W 3 from the wall W 1 again along the wall W 2. After that, the first electric vacuum cleaner 1 repeats these operations to clean the floor surface F in a substantially S shape with respect to the longitudinal direction of the room R.
【００４１】一方、図６に示すように、第２の電気掃除
機21は、第１の電気掃除機１と同様に壁Ｗ１に沿ってこ
の壁Ｗ１の近傍を走行する。そして、センサ35にて角Ｃ
を検知すると、第２の電気掃除機21は制御回路36にて走
行輪23を駆動させて走行方向を１８０°ターンして変更
し、この制御回路36にて電動送風機34に供給する電力を
制御して、本体吸込口31から吸込風とともに床面Ｆ上の
塵埃を吸い込む。On the other hand, as shown in FIG. 6, a second vacuum cleaner 21 along the same the wall W 1 and first electric vacuum cleaner 1 travels in the vicinity of the wall W 1. Then, at the sensor 35, the corner C
When the second electric vacuum cleaner 21 detects that the electric power is supplied to the electric blower 34, the control circuit 36 drives the traveling wheels 23 to change the traveling direction by 180 °. Then, the dust on the floor F is sucked together with the suction air from the main body suction port 31.
【００４２】また、第２の電気掃除機21は、センサ35に
てこの第２の電気掃除機21が壁Ｗ２に対向した壁Ｗ４の
近傍まで走行したことを検知すると、制御回路36にて走
行輪23を駆動させ、第２の電気掃除機21を壁Ｗ４に沿っ
て、たとえば本体ケース22の直径寸法分、壁Ｗ１から離
れる方向に走行させる。Further, when the second electric vacuum cleaner 21 detects that the second electric vacuum cleaner 21 has traveled to the vicinity of the wall W 4 facing the wall W 2 by the sensor 35, the control circuit 36 is instructed. The traveling wheels 23 are driven to drive the second vacuum cleaner 21 along the wall W 4 in a direction away from the wall W 1 , for example, by the diameter dimension of the main body case 22.
【００４３】この後、この第２の電気掃除機21は、壁Ｗ
１に沿って壁Ｗ４から壁Ｗ２へ向けて走行しつつ掃除す
る。After this, the second electric vacuum cleaner 21 is placed on the wall W.
Cleaning is performed while traveling from the wall W 4 to the wall W 2 along 1 .
【００４４】またさらに、第２の電気掃除機21は、セン
サ35にてこの第２の電気掃除機21が壁Ｗ２の近傍まで走
行したことを検知すると、制御回路36にて走行輪23を駆
動させ、第２の電気掃除機21をこの壁Ｗ２に沿って、た
とえば本体ケース22の直径寸法分、壁Ｗ１から離れる方
向に走行させる。Furthermore, when the second electric vacuum cleaner 21 detects that the second electric vacuum cleaner 21 has traveled to the vicinity of the wall W 2 by the sensor 35, the control circuit 36 controls the traveling wheels 23. The second vacuum cleaner 21 is driven to run along the wall W 2 in a direction away from the wall W 1 , for example, by the diameter dimension of the main body case 22.
【００４５】そして、この第２の電気掃除機21は、再び
壁Ｗ１に沿って壁Ｗ２から壁Ｗ４に向かって走行しつつ
掃除する。この後、第２の電気掃除機21はこれらの動作
を繰り返し、部屋Ｒの幅方向に対して略Ｓ字状に床面Ｆ
を掃除する。[0045] Then, the second electric vacuum cleaner 21 to clean while traveling toward the wall W 4 from the wall W 2 along the wall W 1 again. After that, the second vacuum cleaner 21 repeats these operations, and the floor surface F is formed into a substantially S shape in the width direction of the room R.
To clean.
【００４６】この結果、第１の電気掃除機１および第２
の電気掃除機21は、床面Ｆ上における互いに直交する方
向に走行しつつ掃除する。As a result, the first vacuum cleaner 1 and the second vacuum cleaner 1
The electric vacuum cleaner 21 cleans while traveling in the directions orthogonal to each other on the floor surface F.
【００４７】ここで、第１の電気掃除機１および第２の
電気掃除機21が所定の距離よりも近づいて衝突しそうに
なったり、進路を妨害したりする場合には、たとえば第
２の電気掃除機21が、この第２の電気掃除機21の外周面
に設けられたセンサ35により第１の電気掃除機１を検知
して制御回路36にて走行輪23を停止させることにより停
止して待機する。そして、第１の電気掃除機１が通過し
た後、再び制御回路36にて走行輪23を駆動させて第２の
電気掃除機21が走行を再開する。Here, when the first electric vacuum cleaner 1 and the second electric vacuum cleaner 21 are closer than a predetermined distance and are about to collide or obstruct the course, for example, the second electric vacuum cleaner is used. The vacuum cleaner 21 detects the first vacuum cleaner 1 by the sensor 35 provided on the outer peripheral surface of the second vacuum cleaner 21, and stops the traveling wheels 23 by the control circuit 36. stand by. Then, after the first electric vacuum cleaner 1 has passed, the traveling wheels 23 are driven again by the control circuit 36, and the second electric vacuum cleaner 21 resumes traveling.
【００４８】また、第１の電気掃除機１は、壁Ｗ４の近
傍まで掃除が終了すると、制御回路15にて電動送風機13
の駆動を停止させるとともに、走行輪３を駆動させてホ
ームポジションＨへと戻り、充電台に接続される。Further, in the first electric vacuum cleaner 1, when the cleaning up to the vicinity of the wall W 4 is completed, the electric blower 13 is controlled by the control circuit 15.
Is stopped, and the traveling wheels 3 are driven to return to the home position H and are connected to the charging stand.
【００４９】同様に、第２の電気掃除機21は、壁Ｗ３の
近傍まで掃除が終了すると、制御回路36にて電動送風機
34の駆動を停止させるとともに、走行輪23を駆動させて
ホームポジションＨへと戻り、充電台に接続される。Similarly, in the second electric vacuum cleaner 21, when cleaning up to the vicinity of the wall W 3 is completed, the electric blower is controlled by the control circuit 36.
While stopping the driving of 34, the traveling wheels 23 are driven to return to the home position H and are connected to the charging stand.
【００５０】上述したように、上記第１の実施の形態に
よれば、第１の電気掃除機１と第２の電気掃除機21と
を、それぞれ床面Ｆ上の互いに略直交する方向に沿って
走行させて掃除するなど、これら第１の電気掃除機１お
よび第２の電気掃除機21にて互いに掃除機能および掃除
箇所を分担して掃除できることにより、床面Ｆを効果的
に掃除できる。As described above, according to the first embodiment, the first vacuum cleaner 1 and the second vacuum cleaner 21 are arranged on the floor surface F along the directions substantially orthogonal to each other. The first electric vacuum cleaner 1 and the second electric vacuum cleaner 21 can share the cleaning function and the cleaning portion and can clean the floor surface F by effectively running the vehicle for cleaning.
【００５１】また、第１の電気掃除機１と第２の電気掃
除機21とを、床面Ｆ上の互いに略直交する方向に沿って
走行させることにより、これら第１の電気掃除機１およ
び第２の電気掃除機21がそれぞれ略一定の方向にのみ走
行する。この結果、これら第１の電気掃除機１および第
２の電気掃除機21を走行コースが単純化されてこれら第
１の電気掃除機１および第２の電気掃除機21を走行させ
る際に複雑な制御をしなくてよいので、簡単な制御で床
面Ｆを掃除できる。同時に、床面Ｆが、たとえば畳など
の一方向の掃除のみでは塵埃の取り残しが生じやすいも
のの場合でも、確実に掃除できる。Further, the first electric vacuum cleaner 1 and the second electric vacuum cleaner 21 are caused to run on the floor surface F in directions substantially orthogonal to each other, so that the first electric vacuum cleaner 1 and Each of the second vacuum cleaners 21 runs only in a substantially constant direction. As a result, the traveling course of the first electric vacuum cleaner 1 and the second electric vacuum cleaner 21 is simplified, and it is complicated when the first electric vacuum cleaner 1 and the second electric vacuum cleaner 21 travel. Since the control is not required, the floor surface F can be cleaned with simple control. At the same time, even if the floor surface F is one in which dust is likely to remain uncleaned only by cleaning in one direction, such as tatami mats, the floor surface F can be reliably cleaned.
【００５２】なお、上記第１の実施の形態において、第
１の電気掃除機１および第２の電気掃除機21は、たとえ
ば床面Ｆの目の方向が部屋Ｒの長手方向、あるいは幅方
向に略沿っていない場合などに、たとえば畳などの床面
Ｆの目の方向を検知しこの目の方向に沿って一方を走行
させ、他方をこの一方の走行方向に略直交させて走行さ
せてもよい。In the first embodiment, in the first vacuum cleaner 1 and the second vacuum cleaner 21, for example, the direction of the eyes of the floor surface F is the longitudinal direction of the room R or the width direction. For example, if the direction of eyes on the floor surface F of a tatami mat is detected and one of the two runs along the direction of the eyes and the other runs substantially orthogonal to the running direction of the one, for example, when they are not substantially along Good.
【００５３】さらに、第１の電気掃除機１および第２の
電気掃除機21は、床面Ｆを効率よく確実に掃除できれ
ば、それぞれ床面Ｆ上の互いに交差する方向に走行して
掃除したり、床面Ｆの長手方向、あるいは幅方向の両端
などからそれぞれ部屋Ｒの略中心域に向かって略Ｓ字状
に掃除したりしてもよい。この場合には、たとえば第１
の電気掃除機１と第２の電気掃除機21とが所定の距離よ
りも近づくなどした際に掃除を終了するなどすること
で、より簡単な制御で確実に掃除できる。Furthermore, if the first electric vacuum cleaner 1 and the second electric vacuum cleaner 21 can efficiently and reliably clean the floor surface F, they can run in the directions crossing each other on the floor surface F for cleaning. Alternatively, the floor surface F may be cleaned in a substantially S-shape from both ends in the longitudinal direction or the width direction toward the substantially central region of the room R. In this case, for example, the first
By ending the cleaning when the electric vacuum cleaner 1 and the second electric vacuum cleaner 21 come closer to each other than a predetermined distance, the cleaning can be surely performed with simpler control.
【００５４】そして、第１の電気掃除機１および第２の
電気掃除機21は、互いに異なる掃除機能を有していれ
ば、たとえば拭き取り掃除など、集塵掃除以外の掃除方
法でもよい。The first electric vacuum cleaner 1 and the second electric vacuum cleaner 21 may be cleaning methods other than dust collecting cleaning, such as wiping cleaning, as long as they have different cleaning functions.
【００５５】次に、本発明の清掃装置の第２の実施の形
態を図７ないし図９を参照して説明する。Next, a second embodiment of the cleaning device of the present invention will be described with reference to FIGS. 7 to 9.
【００５６】この図７ないし図９に示す実施の形態は、
図１ないし図６に示す実施の形態と基本的に同様の構成
を有しているが、第１の電気掃除機１は、親機としての
主掃除機であり、この第１の電気掃除機１には、図８に
示すように、信号送信手段41が取り付けられている。The embodiment shown in FIGS. 7 to 9 is
The first electric vacuum cleaner 1 is a main cleaner as a master unit, although it has basically the same configuration as the embodiment shown in FIGS. 1 to 6, and the first electric vacuum cleaner As shown in FIG. 8, the signal transmission means 41 is attached to the No. 1.
【００５７】一方、第２の電気掃除機21は、子機として
の従掃除機であり、この第２の電気掃除機21には、図７
および図８に示すように、センサ35の代わりに第１の電
気掃除機１の信号送信手段41から送信された信号を受信
する信号受信手段42が取り付けられている。On the other hand, the second electric vacuum cleaner 21 is a sub-vacuum cleaner as a child machine, and the second electric vacuum cleaner 21 has a structure shown in FIG.
Further, as shown in FIG. 8, instead of the sensor 35, the signal receiving means 42 for receiving the signal transmitted from the signal transmitting means 41 of the first vacuum cleaner 1 is attached.
【００５８】ここで、信号送信手段41および信号受信手
段42は、たとえば無線ＬＡＮ（Local Area Network）、
あるいはいわゆるワイヤレス接続、たとえばブルートゥ
ース（Bluetooth）などによる無線通信手段である。Here, the signal transmitting means 41 and the signal receiving means 42 are, for example, a wireless LAN (Local Area Network),
Alternatively, it is a so-called wireless connection, for example, a wireless communication means such as Bluetooth.
【００５９】さらに、第２の電気掃除機21の制御回路36
は、信号受信手段42にて受信した信号に基づいて走行輪
23を駆動させて、第２の電気掃除機21を第１の電気掃除
機１に追従させる。Further, the control circuit 36 of the second vacuum cleaner 21.
Is the running wheel based on the signal received by the signal receiving means 42.
The second electric vacuum cleaner 21 is caused to follow the first electric vacuum cleaner 1 by driving 23.
【００６０】そして、これら第１の電気掃除機１および
第２の電気掃除機21にて床面Ｆを掃除する。Then, the floor surface F is cleaned by the first vacuum cleaner 1 and the second vacuum cleaner 21.
【００６１】このとき、図９に示すように、第１の電気
掃除機１が部屋Ｒの形状をセンサ14にて検知しながらこ
の部屋Ｒの形状に略沿って床面Ｆを周回して走行し、本
体吸込口11から比較的大きいゴミを吸い込んで掃除す
る。At this time, as shown in FIG. 9, while the first electric vacuum cleaner 1 detects the shape of the room R by the sensor 14, the first vacuum cleaner 1 travels around the floor F substantially along the shape of the room R. Then, a relatively large amount of dust is sucked through the main body suction port 11 for cleaning.
【００６２】さらに、第１の電気掃除機１は、この第１
の電気掃除機１の走行位置を信号送信手段41にて指示信
号として第２の電気掃除機21に送信する。Furthermore, the first vacuum cleaner 1 is
The signal transmission means 41 transmits the traveling position of the electric vacuum cleaner 1 to the second electric vacuum cleaner 21 as an instruction signal.
【００６３】ここで、第２の電気掃除機21は、第１の電
気掃除機１の信号送信手段41にて送信された指示信号を
信号受信手段42にて受信することにより第１の電気掃除
機１の位置を認識する。そして、第２の電気掃除機21
は、制御回路36にて走行輪23を駆動させて第１の電気掃
除機１に追従し、回転ブラシ32にて床面Ｆ上の比較的小
さい塵埃を掻き出しつつ床面Ｆを掃除する。Here, the second electric vacuum cleaner 21 receives the instruction signal transmitted by the signal transmitting means 41 of the first electric vacuum cleaner 1 by the signal receiving means 42 so that the first electric vacuum cleaner 21 receives the instruction signal. Recognize the position of machine 1. And the second vacuum cleaner 21
The control circuit 36 drives the traveling wheels 23 to follow the first vacuum cleaner 1, and the rotating brush 32 cleans the floor F while scraping out relatively small dust on the floor F.
【００６４】さらに、床面Ｆの外周を一周分周回する
と、たとえば第１の電気掃除機１の本体ケース２の直径
寸法分内側を周回する。この後、第１の電気掃除機１お
よび第２の電気掃除機21がこれらの動作を繰り返し、部
屋Ｒの略中心域まで掃除する。Further, when the outer circumference of the floor surface F is circulated once, the inner circumference is circulated by the diameter of the main body case 2 of the first vacuum cleaner 1, for example. After that, the first vacuum cleaner 1 and the second vacuum cleaner 21 repeat these operations to clean the room R to a substantially central region.
【００６５】そして、床面Ｆの全域の掃除が終了する
と、第１の電気掃除機１および第２の電気掃除機21は、
それぞれ制御回路15，36にてそれぞれ電動送風機13，34
を停止させた後、ホームポジションＨへ帰還して充電台
に接続される。When the cleaning of the entire area of the floor surface F is completed, the first vacuum cleaner 1 and the second vacuum cleaner 21
Electric blowers 13 and 34 by control circuits 15 and 36, respectively
After stopping, it returns to the home position H and is connected to the charging stand.
【００６６】上述したように、上記第２の実施の形態に
よれば、第２の電気掃除機21を第１の電気掃除機１に追
従させることにより、第１の電気掃除機１にて回転ブラ
シを取り付けずに本体吸込口31よりも大きく開口させた
本体吸込口11から比較的大きい塵埃を吸い込んだ後、第
２の電気掃除機21にて回転ブラシ32で掻き出した比較的
小さい塵埃を吸い込む。この結果、掃除する塵埃の大き
さを第１の電気掃除機１および第２の電気掃除機21にて
分担して床面Ｆを効果的に掃除できるとともに、たとえ
ば比較的大きい塵埃が回転ブラシ32に巻きついて掃除性
能が低下することなどを防止できる。As described above, according to the second embodiment, the second electric vacuum cleaner 21 is caused to follow the first electric vacuum cleaner 1 so that the first electric vacuum cleaner 1 rotates. After a relatively large amount of dust is sucked from the main body suction port 11 which is opened larger than the main body suction port 31 without attaching a brush, a relatively small amount of dust scraped by the rotary brush 32 by the second electric vacuum cleaner 21 is sucked in. . As a result, the size of the dust to be cleaned is shared by the first vacuum cleaner 1 and the second vacuum cleaner 21, and the floor surface F can be effectively cleaned. It is possible to prevent the cleaning performance from being deteriorated by being wrapped around.
【００６７】また、第２の電気掃除機21を第１の電気掃
除機１に追従させることにより、第２の電気掃除機21に
センサなどを設けることなく、第１の電気掃除機１およ
び第２の電気掃除機21にて床面Ｆ全域を周回させて掃除
できるため、これら第１の電気掃除機１および第２の電
気掃除機21をより簡単に制御できる。Further, by causing the second vacuum cleaner 21 to follow the first vacuum cleaner 1, the first vacuum cleaner 1 and the first vacuum cleaner 1 can be provided without providing a sensor or the like on the second vacuum cleaner 21. Since the second electric vacuum cleaner 21 can be rotated around the entire floor surface F for cleaning, the first electric vacuum cleaner 1 and the second electric vacuum cleaner 21 can be controlled more easily.
【００６８】さらに、第１の電気掃除機１および第２の
電気掃除機21にて掃除することにより、吸込容量をより
増加できるため、より効率よく掃除できる。Furthermore, by cleaning with the first vacuum cleaner 1 and the second vacuum cleaner 21, the suction capacity can be further increased, so that the cleaning can be performed more efficiently.
【００６９】なお、上記第２の実施の形態において、第
２の電気掃除機21の走行速度を第１の電気掃除機１の走
行速度よりも遅くしてもよい。この場合には、第２の電
気掃除機21にて比較的小さい塵埃をより確実に吸い込ん
で掃除できる。In the second embodiment, the traveling speed of the second vacuum cleaner 21 may be slower than the traveling speed of the first vacuum cleaner 1. In this case, the second electric vacuum cleaner 21 can more reliably suck in and clean relatively small dust.
【００７０】次に、本発明の清掃装置の第３の実施の形
態を図１０ないし図１２を参照して説明する。Next, a third embodiment of the cleaning device of the present invention will be described with reference to FIGS.
【００７１】この図１０ないし図１２に示す実施の形態
は、図７ないし図９に示す実施の形態と基本的に同様の
構成を有しているが、第２の電気掃除機21には、図１１
に示すように、底面部22aの前側に、仕上げ掃除部とし
ての乾拭き用である略細長矩形状の乾拭きシート43が取
り付けられている。この乾拭きシート43は、下面が走行
輪23および旋回輪24の下側と略同じ高さに位置し、この
下面が床面Ｆに接触する。The embodiment shown in FIGS. 10 to 12 has basically the same structure as the embodiment shown in FIGS. 7 to 9, but the second electric vacuum cleaner 21 has Figure 11
As shown in, a dry cleaning sheet 43 having a substantially elongated rectangular shape is attached to the front side of the bottom surface part 22a for dry cleaning as a finish cleaning section. The lower surface of the dry-wiping sheet 43 is located at substantially the same height as the lower sides of the traveling wheels 23 and the turning wheels 24, and the lower surface contacts the floor surface F.
【００７２】また、第１の電気掃除機１には、図１０に
示すように、走行方向後側の底面部2aに、床面検知手段
としての床面センサ44が取り付けられている。この床面
センサ44は、下側が走行輪３の下側と略等しい高さに位
置し、第１の電気掃除機１を床面Ｆに載置した状態でこ
の床面Ｆと接触している。この床面センサ44は、床面Ｆ
の状態、たとえば床面Ｆがフローリング、畳、あるいは
絨毯などであることを検知する。Further, as shown in FIG. 10, the first vacuum cleaner 1 is provided with a floor surface sensor 44 as a floor surface detecting means on the bottom surface portion 2a on the rear side in the traveling direction. The floor surface sensor 44 has a lower side located at substantially the same height as the lower side of the traveling wheels 3, and is in contact with the floor surface F in a state where the first vacuum cleaner 1 is placed on the floor surface F. . This floor surface sensor 44 has a floor surface F
The state, for example, the floor surface F is a floor, a tatami mat, or a carpet is detected.
【００７３】そして、これら第１の電気掃除機１および
第２の電気掃除機21にて床面Ｆを掃除する。Then, the floor surface F is cleaned by the first vacuum cleaner 1 and the second vacuum cleaner 21.
【００７４】このとき、第２の実施の形態の掃除方法と
同様に、第１の電気掃除機１が部屋Ｒの形状をセンサに
て検知しながらこの部屋Ｒの形状に略沿って床面Ｆを周
回して掃除する。At this time, as in the cleaning method of the second embodiment, the first electric vacuum cleaner 1 detects the shape of the room R by the sensor and detects the floor surface F substantially along the shape of the room R. Go around and clean.
【００７５】ここで、第１の電気掃除機１は、床面セン
サ44にて床面Ｆの状態を検知している。そして、この床
面Ｆが、たとえばフローリング、あるいは畳などである
と検知した場合には、第１の電気掃除機１は、図１２に
示すように、信号送信手段41にて、第２の電気掃除機21
に指示信号を送信する。Here, in the first electric vacuum cleaner 1, the floor surface sensor 44 detects the state of the floor surface F. Then, when it is detected that the floor surface F is, for example, a flooring, a tatami mat, or the like, the first electric vacuum cleaner 1 causes the signal transmitting means 41 to perform the second electric cleaning, as shown in FIG. Vacuum cleaner 21
Send an instruction signal to.
【００７６】この第１の電気掃除機１から送信された指
示信号を第２の電気掃除機21が信号受信手段42にて受信
すると、この第２の電気掃除機21は、制御回路36にて走
行輪23を駆動させて第１の電気掃除機１に追従し、乾拭
きシート43にて床面Ｆを乾拭きして仕上げ掃除する。When the second electric vacuum cleaner 21 receives the instruction signal transmitted from the first electric vacuum cleaner 1 at the signal receiving means 42, the second electric vacuum cleaner 21 causes the control circuit 36 to operate. The running wheels 23 are driven to follow the first electric vacuum cleaner 1, and the floor surface F is dry-wipe with the dry-wiping sheet 43 for finish cleaning.
【００７７】一方、第１の電気掃除機１にて、床面Ｆが
たとえば絨毯であると検知した場合には、この第１の電
気掃除機１は、信号送信手段41にて第２の電気掃除機21
に指示信号を送信する。この場合には、第２の電気掃除
機21は、床面Ｆを掃除しない。On the other hand, when the first electric vacuum cleaner 1 detects that the floor surface F is, for example, a carpet, the first electric vacuum cleaner 1 uses the signal transmitting means 41 to generate the second electric vacuum cleaner. Vacuum cleaner 21
Send an instruction signal to. In this case, the second electric vacuum cleaner 21 does not clean the floor surface F.
【００７８】さらに、床面Ｆの外周を一周分周回する
と、たとえば第１の電気掃除機１の本体ケース２の直径
寸法分内側を周回する。この後、第１の電気掃除機１お
よび第２の電気掃除機21がこれらの動作を繰り返し、部
屋Ｒの略中心域まで掃除し、床面Ｆの全域の掃除が終了
すると、第１の電気掃除機１および第２の電気掃除機21
は、それぞれ制御回路15，36にて電動送風機13，34を停
止させた後ホームポジションＨへ帰還して充電台に接続
される。Further, when the outer circumference of the floor surface F is rotated by one round, the inside of the main body case 2 of the first vacuum cleaner 1 is rounded by the diameter dimension. After that, the first electric vacuum cleaner 1 and the second electric vacuum cleaner 21 repeat these operations to clean the room R to a substantially central region, and when cleaning of the entire floor surface F is completed, the first electric vacuum cleaner 1 Vacuum cleaner 1 and second vacuum cleaner 21
Are stopped by the control circuits 15 and 36, respectively, and then returned to the home position H and connected to the charging stand.
【００７９】上述したように、上記第３の実施の形態に
よれば、第２の電気掃除機21を第１の電気掃除機１に追
従させて掃除するなど、第２の実施の形態と同様に掃除
することにより、第２の実施の形態と同様の作用効果を
奏することができる。As described above, according to the third embodiment, the second electric vacuum cleaner 21 is made to follow the first electric vacuum cleaner 1 for cleaning, and the same as in the second embodiment. By cleaning it, the same effects as those of the second embodiment can be obtained.
【００８０】また、第２の電気掃除機21にて仕上げ掃除
をすることにより、特にフローリング、あるいは畳など
の床面Ｆをよりきめ細かく掃除できる。Further, by performing the finishing cleaning with the second electric vacuum cleaner 21, the floor surface F such as the flooring or tatami can be cleaned more finely.
【００８１】なお、上記第３の実施の形態において、乾
拭きシート43は、床面Ｆの性質に応じて、たとえばワッ
クスがけ用、水拭き用などの仕上げ掃除手段にしてもよ
い。In the third embodiment described above, the dry wiping sheet 43 may be used as a finishing cleaning means for waxing, wiping, etc., depending on the nature of the floor surface F.
【００８２】また、第２の電気掃除機21は、少し走行し
ては後退するなどしながら第１の電気掃除機１に追従す
るように制御回路36にて走行輪23を制御してもよい。こ
の場合には、床面Ｆ上を繰り返し乾拭きシート43にて掃
除できるので、仕上げ掃除をより確実にできる。The second electric vacuum cleaner 21 may control the traveling wheels 23 by the control circuit 36 so as to follow the first electric vacuum cleaner 1 while moving a little and moving backward. . In this case, since the floor surface F can be repeatedly cleaned with the dry wiping sheet 43, the final cleaning can be more surely performed.
【００８３】さらに、第２の電気掃除機21に、第１の電
気掃除機１と同様に電動送風機、吸込口、回転ブラシ、
および集塵室を設けるとともに、乾拭きシート43を床面
に対して上下動自在に設けてもよい。そして、第１の電
気掃除機１の床面センサ44にて床面Ｆが絨毯であると検
知した場合には、信号を信号送信手段41にて送信し、こ
の送信された信号を第２の電気掃除機21の信号受信手段
42にて受信する。この後、第２の電気掃除機21が、乾拭
きシート43を上昇させるとともに第１の電気掃除機１に
追従しながら電動送風機にて床面の塵埃を吸い込んで掃
除させる。この結果、床面Ｆが絨毯、フローリング、あ
るいは畳でも、これら第１の電気掃除機１および第２の
電気掃除機21にて効果的に掃除できる。Further, as in the first vacuum cleaner 1, the second vacuum cleaner 21 is provided with an electric blower, a suction port, a rotary brush,
In addition to providing the dust collecting chamber, the dry wiping sheet 43 may be provided so as to be movable up and down with respect to the floor surface. Then, when the floor surface sensor 44 of the first vacuum cleaner 1 detects that the floor surface F is a carpet, a signal is transmitted by the signal transmission means 41, and the transmitted signal is transmitted to the second signal. Electric vacuum cleaner 21 signal receiving means
Receive at 42. After that, the second electric vacuum cleaner 21 raises the dry-wiping sheet 43 and follows the first electric vacuum cleaner 1, and sucks dust on the floor surface with an electric blower to clean it. As a result, even if the floor surface F is a carpet, flooring, or tatami mat, it can be effectively cleaned by the first vacuum cleaner 1 and the second vacuum cleaner 21.
【００８４】そして、上記第２の実施の形態および第３
の実施の形態において、第２の電気掃除機21は、第１の
電気掃除機１の制御回路15、あるいはこの制御回路15と
制御回路36とで第１の電気掃除機１に追従させてもよ
い。The second embodiment and the third embodiment
In the embodiment, the second vacuum cleaner 21 may follow the first vacuum cleaner 1 by the control circuit 15 of the first vacuum cleaner 1 or the control circuit 15 and the control circuit 36. Good.
【００８５】次に、本発明の清掃装置の第４の実施の形
態を図１３ないし図１５を参照して説明する。Next, a fourth embodiment of the cleaning device of the present invention will be described with reference to FIGS. 13 to 15.
【００８６】この図１３ないし図１５に示す実施の形態
は、図７ないし図９に示す実施の形態と基本的に同様の
構成を有しているが、図１３に示すように、第２の電気
掃除機21の本体ケース22は、高さ寸法および直径寸法
が、たとえば第１の電気掃除機１の本体ケース２の高さ
寸法および直径寸法の略半分となっている。この結果、
第２の電気掃除機21は、この第１の電気掃除機１よりも
薄型かつ小型となっている。The embodiment shown in FIGS. 13 to 15 has basically the same structure as the embodiment shown in FIGS. 7 to 9, but as shown in FIG. The height and diameter of the main body case 22 of the electric vacuum cleaner 21 are, for example, approximately half the height and diameter of the main body case 2 of the first electric vacuum cleaner 1. As a result,
The second vacuum cleaner 21 is thinner and smaller than the first vacuum cleaner 1.
【００８７】また、この本体ケース22は、図１４に示す
ように、走行方向の前側が平面状に形成され、平面視で
略Ｄ字状になっている。さらに、本体吸込口31は、旋回
輪24の前方であるこの本体ケース22の前側下面に略沿っ
て、この本体ケース22の前側下面全域にわたって設けら
れている。Further, as shown in FIG. 14, the main body case 22 has a front surface in the traveling direction formed in a flat shape, and has a substantially D shape in a plan view. Further, the main body suction port 31 is provided over the entire front lower surface of the main body case 22 substantially along the front lower surface of the main body case 22 in front of the turning wheel 24.
【００８８】さらに、図１５において、45は隅掃除制御
部としての制御回路である。この制御回路45は、センサ
35にて床面Ｆの隅である角Ｃを検知させ、第２の電気掃
除機21にこの角Ｃを掃除させる。Further, in FIG. 15, reference numeral 45 is a control circuit as a corner cleaning control section. This control circuit 45 is a sensor
At 35, the corner C which is the corner of the floor F is detected, and the second electric vacuum cleaner 21 is made to clean this corner C.
【００８９】一方、第１の電気掃除機１の制御回路15
は、センサ14にて床面Ｆの角Ｃを検知させ、この角Ｃ以
外の床面Ｆを第１の電気掃除機１に掃除させる。On the other hand, the control circuit 15 of the first vacuum cleaner 1
Causes the sensor 14 to detect the corner C of the floor surface F and causes the first vacuum cleaner 1 to clean the floor surface F other than the corner C.
【００９０】そして、これら第１の電気掃除機１および
第２の電気掃除機21にて床面Ｆを掃除する。Then, the floor surface F is cleaned by the first vacuum cleaner 1 and the second vacuum cleaner 21.
【００９１】ここで、第１の電気掃除機１は、角Ｃ以外
の床面Ｆを掃除する。Here, the first vacuum cleaner 1 cleans the floor surface F other than the corner C.
【００９２】一方、第２の電気掃除機21は、センサ35に
て床面Ｆの角Ｃを検知しつつ走行し、このセンサ35にて
角Ｃを検知すると、本体ケース22の走行方向の前側をた
とえば壁Ｗ２に向けつつこの壁Ｗ２近傍へと走行する。On the other hand, the second electric vacuum cleaner 21 travels while detecting the angle C of the floor surface F with the sensor 35. When the angle C is detected with this sensor 35, the front side of the main body case 22 in the traveling direction. Traveling toward the wall W 2 , for example, toward the wall W 2 .
【００９３】すると、本体ケース22の本体吸込口31が角
Ｃへと接近し、この角Ｃの塵埃を電動送風機34にてこの
本体吸込口31から吸い込んでこの角Ｃを掃除する。Then, the main body suction port 31 of the main body case 22 approaches the corner C, and the dust of the corner C is sucked from the main body suction port 31 by the electric blower 34 to clean the corner C.
【００９４】上述したように、上記第４の実施の形態に
よれば、第１の電気掃除機１と第２の電気掃除機21と
で、それぞれ角Ｃ以外の床面Ｆおよび角Ｃをそれぞれ掃
除するとともに、第２の電気掃除機21の本体ケース22を
平面視略Ｄ字状にして小型化する。この結果、掃除機能
および床面Ｆの掃除場所を第１の電気掃除機１および第
２の電気掃除機21で分担し、比較的掃除しにくく塵埃の
溜まりやすい床面Ｆの角Ｃを、第２の電気掃除機21にて
掃除できるため、床面Ｆをより確実かつ効果的に掃除で
きる。As described above, according to the fourth embodiment, the floor surface F and the corner C other than the corner C are respectively separated by the first vacuum cleaner 1 and the second vacuum cleaner 21. While cleaning, the main body case 22 of the second electric vacuum cleaner 21 is made substantially D-shaped in plan view to reduce the size. As a result, the cleaning function and the cleaning place of the floor surface F are shared by the first vacuum cleaner 1 and the second vacuum cleaner 21, and the corner C of the floor surface F, which is relatively difficult to clean and is likely to collect dust, is Since it can be cleaned with the second electric vacuum cleaner 21, the floor surface F can be cleaned more reliably and effectively.
【００９５】さらに、第１の電気掃除機１に、たとえば
角Ｃを掃除するためのブラシなどの隅掃除手段を設ける
必要がないため、この第１の電気掃除機１をより小型に
できるとともに、この第１の電気掃除機１の制御をより
簡単にできる。Further, since it is not necessary to provide the first electric vacuum cleaner 1 with a corner cleaning means such as a brush for cleaning the corner C, the first electric vacuum cleaner 1 can be made smaller and The control of this first vacuum cleaner 1 can be made simpler.
【００９６】なお、上記第４の実施の形態において、本
体吸込口31は、本体ケース22の前側における幅方向の略
中心域から、この本体ケース22の外周に略沿って、幅方
向の一端および側面の一部にわたって平面視略Ｌ字状に
設けてもよい。In the fourth embodiment, the main body suction port 31 has one end in the width direction, which extends from the substantially central region in the width direction on the front side of the main body case 22 substantially along the outer periphery of the main body case 22. It may be provided in a substantially L shape in plan view over a part of the side surface.
【００９７】また、第１の電気掃除機１にて床面Ｆの角
Ｃを検知した後、この第１の電気掃除機１が信号送信手
段41にて指示信号を第２の電気掃除機21に送信すること
により、制御回路45にてこの第２の電気掃除機21を角Ｃ
に走行させて第２の電気掃除機21に角Ｃを掃除させる制
御にしてもよい。After the first electric vacuum cleaner 1 detects the corner C of the floor surface F, the first electric vacuum cleaner 1 sends the instruction signal to the second electric vacuum cleaner 21 by the signal transmitting means 41. To the corner C of the second vacuum cleaner 21 in the control circuit 45 by transmitting
The second electric vacuum cleaner 21 may be controlled to drive the second electric vacuum cleaner 21 to clean the corner C.
【００９８】次に、本発明の清掃装置の第５の実施の形
態を図１６ないし図１８を参照して説明する。Next, a fifth embodiment of the cleaning device of the present invention will be described with reference to FIGS.
【００９９】この図１６ないし図１８に示す実施の形態
は、図１０ないし図１２に示す実施の形態と同様の構成
を有しているが、第２の電気掃除機21は、本体ケース22
が図１７に示すように平面視で円形状に形成されてい
る。また、本体吸込口31は、この本体ケース22の前面に
略沿って、この本体ケース22の前面にわたって略凸弧状
に形成されている。さらに、この第２の電気掃除機21
は、電池パック37の二次電池38の容量を低下させてお
り、短時間の掃除のみをする。The embodiment shown in FIGS. 16 to 18 has the same structure as the embodiment shown in FIGS. 10 to 12, but the second electric vacuum cleaner 21 has a main body case 22.
Is formed in a circular shape in a plan view as shown in FIG. Further, the main body suction port 31 is formed in a substantially convex arc shape substantially along the front surface of the main body case 22 and over the front surface of the main body case 22. In addition, this second vacuum cleaner 21
Reduces the capacity of the secondary battery 38 of the battery pack 37 and cleans only for a short time.
【０１００】そして、第１の電気掃除機１は、図１６に
示すように、本体ケース２の外側面における一側方に高
さ検知手段としての高さセンサ46が取り付けられてい
る。この高さセンサ46は、第２の電気掃除機21の本体ケ
ース22の上端の位置と略等しい高さ位置に取り付けられ
ている。また、この高さセンサ46は、センサ35と同様
に、たとえば赤外線を発光させて所定距離に存在する障
害物を検知する赤外線センサや、撮影される画像にて障
害物を検知する画像センサなどである。As shown in FIG. 16, the first electric vacuum cleaner 1 is provided with a height sensor 46 as a height detecting means on one side of the outer surface of the main body case 2. The height sensor 46 is attached at a height position substantially equal to the upper end position of the main body case 22 of the second electric vacuum cleaner 21. Further, the height sensor 46 is, like the sensor 35, an infrared sensor that emits infrared rays to detect an obstacle existing at a predetermined distance, an image sensor that detects an obstacle in a captured image, or the like. is there.
【０１０１】さらに、図１８において、47は隙間掃除制
御部としての制御回路である。この制御回路47は、第１
の電気掃除機１の高さセンサ46にて検知した隙間へと第
２の電気掃除機21を移動させてこの隙間に位置した床面
Ｆをこの第２の電気掃除機21に掃除させる。Further, in FIG. 18, reference numeral 47 is a control circuit as a gap cleaning control section. This control circuit 47 has a first
The second electric vacuum cleaner 21 is moved to the gap detected by the height sensor 46 of the electric vacuum cleaner 1, and the floor surface F located in this gap is cleaned by the second electric vacuum cleaner 21.
【０１０２】そして、これら第１の電気掃除機１および
第２の電気掃除機21にて床面Ｆを掃除する。Then, the floor surface F is cleaned by the first vacuum cleaner 1 and the second vacuum cleaner 21.
【０１０３】このとき、第１の電気掃除機１は、センサ
14および高さセンサ46にてこの第１の電気掃除機１の周
囲を検知しながら走行し、床面Ｆを掃除する。At this time, the first vacuum cleaner 1 uses the sensor
The floor 14 is cleaned while traveling while detecting the surroundings of the first electric vacuum cleaner 1 with the height sensor 46 and the height sensor 46.
【０１０４】そして、第１の電気掃除機１は、センサ14
にて壁を検知し、かつ高さセンサ46にて壁を検知しない
場合には、この壁を第２の電気掃除機21の高さ寸法より
も大きい高さ寸法を有した隙間と判断する。さらに、第
１の電気掃除機１は、この隙間に沿って走行してこの隙
間の幅寸法を測定する。すなわち、第１の電気掃除機１
は、この走行距離が第２の電気掃除機21の本体ケース22
の直径寸法よりも大きい場合に、この隙間を第２の電気
掃除機21が進入できる隙間と判断する。The first vacuum cleaner 1 has the sensor 14
If the wall is detected by and the height sensor 46 does not detect the wall, it is determined that this wall is a gap having a height dimension larger than the height dimension of the second vacuum cleaner 21. Further, the first vacuum cleaner 1 travels along this gap and measures the width dimension of this gap. That is, the first vacuum cleaner 1
This traveling distance is the main body case 22 of the second vacuum cleaner 21.
When it is larger than the diameter dimension of the second vacuum cleaner, it is determined that this clearance is a clearance into which the second vacuum cleaner 21 can enter.
【０１０５】この後、第１の電気掃除機１は、図１８に
示すように、信号送信手段41にて第２の電気掃除機21に
指示信号を送信する。After that, the first electric vacuum cleaner 1 transmits the instruction signal to the second electric vacuum cleaner 21 by the signal transmitting means 41, as shown in FIG.
【０１０６】そして、第２の電気掃除機21は、信号受信
手段42にて第１の電気掃除機１から送信された指示信号
を受信すると、制御回路47にて走行輪23を駆動させて、
第１の電気掃除機１にて検知した隙間へと第２の電気掃
除機21を走行させた後、この隙間へと進入してこの隙間
を掃除する。Then, when the second electric vacuum cleaner 21 receives the instruction signal transmitted from the first electric vacuum cleaner 1 by the signal receiving means 42, the control circuit 47 drives the traveling wheels 23,
After running the second vacuum cleaner 21 into the gap detected by the first vacuum cleaner 1, the second vacuum cleaner 21 enters the gap and cleans the gap.
【０１０７】上述したように、上記第５の実施の形態に
よれば、第１の電気掃除機１と第２の電気掃除機21と
で、それぞれ隙間以外の床面Ｆおよびこの隙間に位置し
た床面Ｆをそれぞれ掃除するとともに、第２の電気掃除
機21を小型化する。この結果、掃除機能および床面Ｆの
掃除場所を第１の電気掃除機１および第２の電気掃除機
21にて分担し、比較的掃除しにくく塵埃の溜まりやすい
床面Ｆの隙間を第２の電気掃除機21にて掃除できるた
め、床面Ｆをより確実かつ効果的に掃除できる。As described above, according to the fifth embodiment, the first vacuum cleaner 1 and the second vacuum cleaner 21 are located on the floor surface F other than the clearance and on the clearance. The floor surface F is cleaned, and the size of the second electric vacuum cleaner 21 is reduced. As a result, the cleaning function and the cleaning place of the floor surface F are set to the first vacuum cleaner 1 and the second vacuum cleaner.
Since the second electric vacuum cleaner 21 can clean the gap of the floor surface F, which is shared by 21 and is relatively hard to clean and dust is easily collected, the floor surface F can be cleaned more reliably and effectively.
【０１０８】また、たとえば第１の電気掃除機１および
第２の電気掃除機21のいずれか一方にセンサを多数設け
たりこれらセンサの検知に応じて走行を制御したりする
必要がないため、制御をより簡単にできる。Further, for example, it is not necessary to provide a large number of sensors on either one of the first electric vacuum cleaner 1 and the second electric vacuum cleaner 21 or to control the traveling according to the detection of these sensors. Can be made easier.
【０１０９】さらに、第２の電気掃除機21の本体ケース
22は、平面視で略円形状であることにより、隙間に進入
する際、およびこの隙間から出る際にこの隙間の内側面
に本体ケース22が引っ掛かりにくいため、隙間をより円
滑に掃除できる。Further, the main body case of the second electric vacuum cleaner 21.
Since 22 has a substantially circular shape in a plan view, the main body case 22 is unlikely to be caught on the inner surface of the gap when entering and leaving the gap, so that the gap can be cleaned more smoothly.
【０１１０】なお、上記第５の実施の形態において、第
２の電気掃除機21は隙間を掃除しやすければ、たとえば
本体ケース22の幅寸法を小さくするなど他の形状にして
もよい。In the fifth embodiment, the second electric vacuum cleaner 21 may have another shape, for example, the width of the main body case 22 may be reduced if the gap can be easily cleaned.
【０１１１】また、第１の電気掃除機１は、図１９に示
す構成で隙間を検知してもよい。すなわち、本体ケース
２の高さセンサ46を取り付けた側面に隙間幅検知手段と
しての幅センサ48を取り付ける。この幅センサ48は、高
さセンサ46と略等しい高さ位置に取り付けられるととも
に、高さセンサ46とこの幅センサ48との間の寸法は、第
２の電気掃除機21の本体ケース22の直径寸法と略等し
い。また、この幅センサ48は、高さセンサ46と同様に、
たとえば赤外線を発光させて所定距離に存在する障害物
を検知する赤外線センサや、撮影される画像にて障害物
を検知する画像センサなどである。Further, the first vacuum cleaner 1 may detect the gap with the configuration shown in FIG. That is, the width sensor 48 as a gap width detecting means is attached to the side surface of the body case 2 to which the height sensor 46 is attached. The width sensor 48 is attached at a height position substantially equal to the height sensor 46, and the dimension between the height sensor 46 and the width sensor 48 is the diameter of the main body case 22 of the second vacuum cleaner 21. It is almost equal to the size. Further, the width sensor 48, like the height sensor 46,
For example, an infrared sensor that emits infrared light to detect an obstacle existing at a predetermined distance, an image sensor that detects an obstacle in a captured image, or the like.
【０１１２】そして、この第１の電気掃除機１のセンサ
14、高さセンサ46および幅センサ48にて、隙間の高さお
よび幅を検知する。すなわち、センサ14のみにて壁を検
知した場合には、この壁を第２の電気掃除機21が進入で
きる隙間と判断する。この後、第１の電気掃除機１が信
号送信手段41にて指示信号を送信すると、制御回路47に
て第２の電気掃除機21をこの隙間へと走行させ、この隙
間を第２の電気掃除機21にて掃除させる。この場合に
は、より確実かつ容易に隙間を検知できるので、より簡
単な制御にてより確実に隙間を掃除できる。The sensor of the first vacuum cleaner 1
14. The height sensor 46 and the width sensor 48 detect the height and width of the gap. That is, when only the sensor 14 detects a wall, it is determined that this wall is a gap into which the second vacuum cleaner 21 can enter. After that, when the first electric vacuum cleaner 1 transmits the instruction signal by the signal transmitting means 41, the control circuit 47 causes the second electric vacuum cleaner 21 to travel to this gap, and this gap is passed to the second electric vacuum cleaner. Clean with a vacuum cleaner 21. In this case, the gap can be detected more reliably and easily, so that the gap can be cleaned more reliably by simpler control.
【０１１３】さらに、第１の電気掃除機１は、図２０お
よび図２１に示す構成で隙間を検知してもよい。すなわ
ち、本体ケース２の側面における前側のセンサ14と後側
のセンサ14との間の寸法を、第２の電気掃除機21の直径
寸法と略等しい寸法にする。そして、高さセンサ46にて
隙間を検知すると、制御回路15にて走行輪３を駆動させ
て第１の電気掃除機１を約９０°回転させ、この第１の
電気掃除機１の走行方向前側を隙間に対向する方向に向
ける。さらに、センサ14にて隙間の幅を検知し、この幅
が第２の電気掃除機21の本体ケース22の直径寸法よりも
大きいと判断すると、第１の電気掃除機１が信号送信手
段41にて指示信号を送信する。この後、信号受信手段42
がこの信号送信手段41から送信された指示信号を受信
し、制御回路47にて第２の電気掃除機21をこの隙間へと
走行させ、この隙間を第２の電気掃除機21にて掃除させ
る。この場合には、第１の電気掃除機１に新たにセンサ
などを取り付ける必要がないため、より簡単な制御でよ
り確実に隙間を掃除できる。Further, the first vacuum cleaner 1 may detect the gap with the configuration shown in FIGS. 20 and 21. That is, the dimension between the front sensor 14 and the rear sensor 14 on the side surface of the main body case 2 is made substantially equal to the diameter dimension of the second vacuum cleaner 21. When the height sensor 46 detects the gap, the control circuit 15 drives the traveling wheels 3 to rotate the first vacuum cleaner 1 by about 90 °, and the traveling direction of the first vacuum cleaner 1 is determined. Turn the front side to face the gap. Further, when the width of the gap is detected by the sensor 14 and it is determined that this width is larger than the diameter dimension of the main body case 22 of the second vacuum cleaner 21, the first vacuum cleaner 1 causes the signal transmitting means 41 to operate. To send an instruction signal. After this, the signal receiving means 42
Receives the instruction signal transmitted from the signal transmitting means 41, the control circuit 47 causes the second electric vacuum cleaner 21 to travel to this gap, and the second electric vacuum cleaner 21 cleans this gap. . In this case, since it is not necessary to newly install a sensor or the like on the first electric vacuum cleaner 1, the gap can be more surely cleaned by simpler control.
【０１１４】そして、上記第２の実施の形態ないし第５
の実施の形態において、信号送信手段41および信号受信
手段42は、たとえば音、光、あるいは超音波などでもよ
い。この場合には、第１の電気掃除機１が隙間の地点で
回転などすることによりこれら音、光、あるいは超音波
などを第２の電気掃除機21に送信すると、第２の電気掃
除機21がたとえば音声センサ、あるいは画像センサなど
の信号受信手段42にて第１の電気掃除機１を識別する。
そして、制御回路47が第２の電気掃除機21を第１の電気
掃除機１の位置へ向かって走行させる。Then, the second to fifth embodiments
In the embodiment, the signal transmitting means 41 and the signal receiving means 42 may be, for example, sound, light, or ultrasonic waves. In this case, when the first electric vacuum cleaner 1 is rotated at a gap or the like to transmit these sounds, light, or ultrasonic waves to the second electric vacuum cleaner 21, the second electric vacuum cleaner 21 Identifies the first vacuum cleaner 1 by the signal receiving means 42 such as a voice sensor or an image sensor.
Then, the control circuit 47 causes the second vacuum cleaner 21 to travel toward the position of the first vacuum cleaner 1.
【０１１５】また、第１の電気掃除機１および第２の電
気掃除機21は、充電台を介して間接的に通信してもよ
い。The first vacuum cleaner 1 and the second vacuum cleaner 21 may communicate indirectly via the charging stand.
【０１１６】またさらに、第１の電気掃除機１の走行軌
跡の情報を制御回路15に取り込み、この取り込んだ走行
軌跡の情報を信号送信手段41にて送信することにより、
制御回路47が第１の電気掃除機１の位置を推定して、こ
の第１の電気掃除機１の位置まで第２の電気掃除機21を
走行させる制御でもよい。Furthermore, the information of the traveling locus of the first vacuum cleaner 1 is taken into the control circuit 15, and the taken-in traveling locus information is transmitted by the signal transmitting means 41,
The control circuit 47 may estimate the position of the first vacuum cleaner 1 and cause the second vacuum cleaner 21 to travel to the position of the first vacuum cleaner 1.
【０１１７】さらに、第１の電気掃除機１および第２の
電気掃除機21は、たとえば磁気、音、光、あるいは超音
波などを認識する図示しないセンサなどにて互いに認識
しあう。Further, the first vacuum cleaner 1 and the second vacuum cleaner 21 recognize each other by a sensor (not shown) for recognizing magnetism, sound, light, ultrasonic waves, or the like.
【０１１８】次に、本発明の清掃装置の第６の実施の形
態を図２２および図２３を参照して説明する。Next, a sixth embodiment of the cleaning device of the present invention will be described with reference to FIGS. 22 and 23.
【０１１９】この図２２および図２３に示す実施の形態
は、図１ないし図６に示す実施の形態と基本的に同様の
構成を有しているが、第２の電気掃除機21の本体ケース
22内の上方には、水平方向に略沿って吹き飛ばし部とし
ての電動送風機51が取り付けられている。この電動送風
機51は、本体ケース22の走行方向に対してたとえば４５
°傾斜した方向に略沿って取り付けられている。また、
この電動送風機51は、吸気側が本体ケース22の側面に設
けられた吸気口52と連通し、排気側が本体ケース22の側
面からこの電動送風機51の取り付け方向に略沿って突出
した排気口53と連通している。The embodiment shown in FIGS. 22 and 23 has basically the same structure as the embodiment shown in FIGS. 1 to 6, but the main body case of the second electric vacuum cleaner 21.
An electric blower 51 as a blow-off portion is attached above the inside of the member 22 substantially horizontally. This electric blower 51 is, for example, 45 in the traveling direction of the main body case 22.
° It is installed almost along the inclined direction. Also,
The electric blower 51 has an intake side communicating with an intake port 52 provided on a side surface of the main body case 22, and an exhaust side communicating with an exhaust port 53 protruding from the side surface of the main body case 22 substantially along a mounting direction of the electric blower 51. is doing.
【０１２０】一方、制御回路15は、センサ14にて第２の
電気掃除機21を検知して、この第２の電気掃除機21の電
動送風機51で吹き飛ばした塵埃を第１の電気掃除機１に
掃除させる。On the other hand, the control circuit 15 detects the second electric vacuum cleaner 21 by the sensor 14 and removes dust blown by the electric blower 51 of the second electric vacuum cleaner 21 from the first electric vacuum cleaner 1 Let them clean.
【０１２１】そして、これら第１の電気掃除機１および
第２の電気掃除機21にて床面Ｆを掃除する。Then, the floor surface F is cleaned by the first vacuum cleaner 1 and the second vacuum cleaner 21.
【０１２２】第２の電気掃除機21は、センサ35にて壁を
検知しつつこの壁に沿って移動する。The second vacuum cleaner 21 moves along the wall while the sensor 35 detects the wall.
【０１２３】さらに、たとえばこの壁に沿って設けられ
た被掃除面としての図示しない幅木の上部に、電動送風
機51からの排気風を吹き付け、この幅木の上部の塵埃を
吹き飛ばして床面Ｆ上に落とす。Further, for example, exhaust air from the electric blower 51 is blown to the upper part of the skirting board (not shown) provided along the wall as a surface to be cleaned, and the dust on the upper side of the skirting board is blown to blow the floor surface Drop it on.
【０１２４】そして、制御回路15が、第２の電気掃除機
21の電動送風機51にて吹き飛ばした塵埃を、第１の電気
掃除機１にて吸い込んで掃除させる。Then, the control circuit 15 uses the second electric vacuum cleaner.
The dust blown off by the electric blower 51 of 21 is sucked in by the first electric vacuum cleaner 1 to be cleaned.
【０１２５】上述したように、上記第６の実施の形態に
よれば、第２の電気掃除機21の電動送風機51にてたとえ
ば塵埃の溜まりやすい幅木の上部などの塵埃を吹き飛ば
し、この吹き飛ばした塵埃を第１の電気掃除機１にて掃
除する。この結果、掃除機能および被掃除面の掃除場所
を第１の電気掃除機１および第２の電気掃除機21で分担
し、比較的掃除しにくく塵埃のたまりやすい幅木の上な
どまで掃除できるため、より効果的に掃除できる。As described above, according to the sixth embodiment, the electric blower 51 of the second electric vacuum cleaner 21 blows off dust such as the upper portion of the skirting board where dust is likely to collect, and blows it off. Dust is cleaned with the first vacuum cleaner 1. As a result, the cleaning function and the cleaning place of the surface to be cleaned are shared by the first vacuum cleaner 1 and the second vacuum cleaner 21, and it is possible to clean even the top of the skirting board, which is relatively difficult to clean and where dust is likely to accumulate. , Can be cleaned more effectively.
【０１２６】なお、上記第６の実施の形態において、第
２の電気掃除機21は、電動送風機51の吸気側を本体吸込
口31と連通させて、この本体吸込口31から塵埃を吸い込
んで掃除しつつ電動送風機51からの排気風にて幅木の上
部などの塵埃を吹き飛ばしてもよい。In the sixth embodiment, the second electric vacuum cleaner 21 makes the suction side of the electric blower 51 communicate with the main body suction port 31 and sucks dust from the main body suction port 31 for cleaning. At the same time, the exhaust air from the electric blower 51 may blow off dust such as the upper part of the skirting board.
【０１２７】また、第２の電気掃除機21は、たとえばセ
ンサ35にてこの第２の電気掃除機21が進入できない隙間
などを検知した場合に、走行を所定の時間停止して、こ
の隙間に電動送風機51からの排気風を吹き付ける制御を
してもよい。Further, when the second electric vacuum cleaner 21 detects, for example, a gap in which the second electric vacuum cleaner 21 cannot enter, the second electric vacuum cleaner 21 stops traveling for a predetermined period of time and moves to this gap. The control of blowing the exhaust air from the electric blower 51 may be performed.
【０１２８】さらに、第１の電気掃除機１は、第２の電
気掃除機21の制御回路36、あるいは制御回路15と制御回
路36とで、第２の電気掃除機21の電動送風機51が吹き飛
ばした塵埃を吸い込んで掃除させてもよい。Further, in the first vacuum cleaner 1, the control circuit 36 of the second vacuum cleaner 21, or the control circuit 15 and the control circuit 36, blows away the electric blower 51 of the second vacuum cleaner 21. You may inhale the dust and clean it.
【０１２９】そして、上記第１の実施の形態、および第
３の実施の形態ないし第６の実施の形態において、第１
の電気掃除機１は、本体吸込口11に回転清掃体としての
回転ブラシを取り付けてもよい。この場合には、第１の
電気掃除機１にて床面Ｆ上の比較的小さい塵埃を掻き出
して掃除できるため、床面Ｆをより確実かつきめ細かく
掃除できる。Then, in the first embodiment and the third to sixth embodiments, the first
The electric vacuum cleaner 1 may have a rotary brush as a rotary cleaning body attached to the main body suction port 11. In this case, since the first electric vacuum cleaner 1 can scrape out and clean relatively small dust on the floor surface F, the floor surface F can be cleaned more reliably and finely.
【０１３０】[0130]
【発明の効果】本発明によれば、第１の掃除機と第２の
掃除機との掃除機能が異なることにより、これら第１の
掃除機および第２の掃除機にて互いに掃除機能を分担し
て掃除できるので、被掃除面を効果的に掃除できる。According to the present invention, since the cleaning functions of the first cleaner and the second cleaner are different from each other, the cleaning functions are shared by the first cleaner and the second cleaner. You can effectively clean the surface to be cleaned.
【図１】本発明の清掃装置の第１の実施の形態における
第１の掃除機を示す側面断面図である。FIG. 1 is a side sectional view showing a first cleaner in a first embodiment of a cleaning device of the present invention.
【図２】同上第１の掃除機を示す側面図である。FIG. 2 is a side view showing the same first vacuum cleaner.
【図３】同上第２の掃除機を示す側面断面図である。FIG. 3 is a side sectional view showing a second vacuum cleaner of the above.
【図４】同上第２の掃除機を示す側面図である。FIG. 4 is a side view showing the second vacuum cleaner of the above.
【図５】同上第１の掃除機の掃除動作を示す説明図であ
る。FIG. 5 is an explanatory view showing a cleaning operation of the above first vacuum cleaner.
【図６】同上第２の掃除機の掃除動作を示す説明図であ
る。FIG. 6 is an explanatory view showing a cleaning operation of the second vacuum cleaner of the above.
【図７】本発明の清掃装置の第２の実施の形態における
第２の掃除機を示す側面図である。FIG. 7 is a side view showing a second cleaner in the second embodiment of the cleaning device of the present invention.
【図８】同上清掃装置を示すブロック図である。FIG. 8 is a block diagram showing the same cleaning device.
【図９】同上清掃装置の掃除動作を示す説明図である。FIG. 9 is an explanatory view showing a cleaning operation of the above cleaning device.
【図１０】本発明の清掃装置の第３の実施の形態におけ
る第１の掃除機を示す側面図である。FIG. 10 is a side view showing a first cleaner in the third embodiment of the cleaning device of the present invention.
【図１１】同上第２の掃除機を示す底面図である。FIG. 11 is a bottom view showing the second vacuum cleaner of the above.
【図１２】同上清掃装置を示すブロック図である。FIG. 12 is a block diagram showing the same cleaning device.
【図１３】本発明の清掃装置の第４の実施の形態におけ
る第２の掃除機を示す側面図である。FIG. 13 is a side view showing a second cleaner in the fourth embodiment of the cleaning device of the present invention.
【図１４】同上第２の掃除機を示す底面図である。FIG. 14 is a bottom view showing the same second vacuum cleaner.
【図１５】同上清掃装置を示すブロック図である。FIG. 15 is a block diagram showing the same cleaning device.
【図１６】本発明の清掃装置の第５の実施の形態におけ
る第１の掃除機を示す側面図である。FIG. 16 is a side view showing a first cleaner in the fifth embodiment of the cleaning device of the present invention.
【図１７】同上第２の掃除機を示す底面図である。FIG. 17 is a bottom view showing the second vacuum cleaner of the above.
【図１８】同上清掃装置を示すブロック図である。FIG. 18 is a block diagram showing the same cleaning device.
【図１９】同上第１の掃除機の他の例を示す側面図であ
る。FIG. 19 is a side view showing another example of the above first vacuum cleaner.
【図２０】同上第１の掃除機のさらに他の例を示す正面
図である。FIG. 20 is a front view showing still another example of the first vacuum cleaner of the above.
【図２１】同上第１の掃除機のさらに他の例を示す側面
図である。FIG. 21 is a side view showing still another example of the first vacuum cleaner of the above.
【図２２】本発明の清掃装置の第６の実施の形態におけ
る第２の掃除機を示す側面図である。FIG. 22 is a side view showing a second cleaner in the sixth embodiment of the cleaning device of the present invention.
【図２３】同上第２の掃除機を示す底面図である。FIG. 23 is a bottom view showing the same second vacuum cleaner.
１ 第１の掃除機としての第１の電気掃除機 13 集塵部としての電動送風機 15，36 制御部としての制御回路 21 第２の掃除機としての第２の電気掃除機 32 回転清掃体としての回転ブラシ 34 吸込集塵部としての電動送風機 43 仕上げ掃除部としての乾拭きシート 45 隅掃除制御部としての制御回路 47 隙間掃除制御部としての制御回路 51 吹き飛ばし部としての電動送風機 1 first vacuum cleaner as the first vacuum cleaner 13 Electric blower as dust collector 15, 36 Control circuit as control unit 21 Second Vacuum Cleaner as Second Vacuum Cleaner 32 Rotating brush as a rotating cleaning body 34 Electric blower as suction dust collector 43 Dry wipe sheet as finishing cleaning section 45 Control circuit as corner cleaning controller 47 Control circuit as a clearance cleaning control unit 51 Electric blower as blow-off part
Claims (7)
掃除機と、 この第１の掃除機と異なる掃除機能を備え被掃除面を自
立移動して被掃除面を掃除する第２の掃除機とを具備し
たことを特徴とした清掃装置。1. A first vacuum cleaner for independently moving a surface to be cleaned for cleaning, and a second vacuum cleaner having a cleaning function different from that of the first cleaner for independently moving the surface to be cleaned to clean the surface to be cleaned. A cleaning device comprising:
くともいずれか一方は、これら第１の掃除機および第２
の掃除機を被掃除面上における互いに略直交する方向に
沿って移動させる制御部を備えたことを特徴とした請求
項１記載の清掃装置。2. At least one of the first vacuum cleaner and the second vacuum cleaner has at least one of the first vacuum cleaner and the second vacuum cleaner.
2. The cleaning device according to claim 1, further comprising a control unit that moves the vacuum cleaner of FIG. 1 along directions substantially orthogonal to each other on the surface to be cleaned.
込んで集塵する集塵部を備え、 第２の掃除機は、被掃除面に接触して回転しこの被掃除
面から塵埃を掻き出す回転清掃体、およびこの回転清掃
体にて掻き出した塵埃を吸い込んで集塵する吸込集塵部
を備え、 前記第１の掃除機および第２の掃除機の少なくともいず
れか一方は、この第２の掃除機を前記第１の掃除機に追
従させる制御部を備えたことを特徴とした請求項１記載
の清掃装置。3. The first cleaner includes a dust collecting portion that sucks and collects dust on a surface to be cleaned, and the second cleaner contacts the surface to be cleaned and rotates to rotate from the surface to be cleaned. A rotary cleaning body that scrapes out dust and a suction dust collecting portion that sucks in and collects the dust scraped out by the rotary cleaning body, wherein at least one of the first cleaner and the second cleaner is The cleaning device according to claim 1, further comprising a control unit that causes a second cleaner to follow the first cleaner.
込んで集塵する集塵部を備え、 第２の掃除機は、被掃除面を仕上げ掃除する仕上げ掃除
部を備え、 前記第１の掃除機および第２の掃除機の少なくともいず
れか一方は、この第２の掃除機を前記第１の掃除機に追
従させる制御部を備えたことを特徴とした請求項１記載
の清掃装置。4. The first cleaner includes a dust collector that sucks and collects dust on the surface to be cleaned, and the second cleaner includes a finish cleaner that finishes and cleans the surface to be cleaned. The cleaning according to claim 1, wherein at least one of the first cleaner and the second cleaner includes a control unit that causes the second cleaner to follow the first cleaner. apparatus.
掃除面の隅を掃除させる隅掃除制御部を備え、 第１の掃除機は、この第１の掃除機に前記第２の掃除機
で掃除した被掃除面の隅以外の被掃除面を掃除させる制
御部を備えたことを特徴とした請求項１記載の清掃装
置。5. The second cleaner includes a corner cleaning control unit that causes the second cleaner to clean a corner of a surface to be cleaned, and the first cleaner includes the first cleaner having the first cleaning unit. The cleaning device according to claim 1, further comprising a control unit that cleans a surface to be cleaned other than a corner of the surface to be cleaned that has been cleaned by the second vacuum cleaner.
間に位置した被掃除面を掃除させる隙間掃除制御部を備
え、 第１の掃除機は、この第１の掃除機に前記第２の掃除機
で掃除した被掃除面以外の被掃除面を掃除させる制御部
を備えたことを特徴とした請求項１記載の清掃装置。6. The second cleaner includes a gap cleaning control unit for causing the second cleaner to clean a surface to be cleaned located in the gap, and the first cleaner is the same as the first cleaner. The cleaning device according to claim 1, further comprising a control unit that cleans a surface to be cleaned other than the surface to be cleaned cleaned by the second cleaner.
る集塵部を備え、 第２の掃除機は、被掃除面の塵埃を吹き飛ばす吹き飛ば
し部を備え、 前記第１の掃除機および第２の掃除機の少なくともいず
れか一方は、この第２の掃除機の吹き飛ばし部にて吹き
飛ばした塵埃を前記第１の掃除機の集塵部で掃除させる
制御部を備えたことを特徴とした請求項１記載の清掃装
置。7. The first cleaner includes a dust collecting unit that sucks and cleans dust, and the second cleaner includes a blowing unit that blows off dust on the surface to be cleaned. At least one of the second cleaning device and the second cleaning device includes a control unit that causes the dust collecting unit of the first cleaning device to clean the dust blown off by the blowing unit of the second cleaning device. The cleaning device according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002024675A JP2003225184A (en) | 2002-01-31 | 2002-01-31 | Cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002024675A JP2003225184A (en) | 2002-01-31 | 2002-01-31 | Cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2003225184A true JP2003225184A (en) | 2003-08-12 |
Family
ID=27747051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2002024675A Abandoned JP2003225184A (en) | 2002-01-31 | 2002-01-31 | Cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2003225184A (en) |
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