US20050183229A1

Movatterモバイル変換

Info

Publication number: US20050183229A1
Application number: US11/042,874
Authority: US
Inventors: Naoya Uehigashi
Original assignee: Funai Electric Co Ltd
Current assignee: Funai Electric Co Ltd
Priority date: 2004-01-30
Filing date: 2005-01-25
Publication date: 2005-08-25
Also published as: JP2005211493A

Abstract

A side wall51provided with a coupling hole50coupled to the dust transporting pipe6of a dust chamber5is configured in a sloped shape so as to have a predetermined angle θ with respect to the bottom surface of the dust chamber. A photo detector14having a light receiving surface along the surface51is disposed near the coupling hole50of the side wall51. A photo diode15for irradiating light toward the photo detector14is disposed on the upper surface of the dust chamber5. When dust is filled within the dust chamber5, since dust is accumulated on the photo detector14, the photo detector14does not outputs a light detection signal.

Description

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a self-propelling cleaner which performs cleaning while automatically propelling in a cleaning range.

2. Description of the Related Art

A self-propelling cleaner includes a propelling unit for propelling a main body thereof and a cleaning unit for performing cleaning and performs cleaning while automatically propelling in a cleaning range set in advance.

FIG. 8 is a diagram showing the schematic configuration of a conventional self-propelling cleaner.

As shown inFIG. 8, the conventional self-propelling cleaner is provided in amain body1 withdriving wheels2, driven wheels8, and further provided with anozzle4 having abrush40 which contacts with the floor surface and rolls up dust on the floor surface, adust chamber5 for accommodating dust thus rolled up by thenozzle4, and adust transporting pipe6 for introducing dust from thenozzle4 to thedust chamber5. The self-propelling cleaner includes apropelling control unit11 for controlling a drivingmotor16 for driving thedriving wheels2 to propel themain body1 along a predetermined route within a cleaning region set in advance, acleaning control unit12 for performing the control relating to the cleaning such as the operation control of thebrush40, and acontrol unit10 for controlling the entire operation of the cleaner.

Such a conventional self-propelling cleaner is provided with adust detection unit13 for detecting an amount of dust within thedust chamber5. Thedust detection unit13 detects an amount of dust within thedust chamber5 by using a pressure sensor, an air flow sensor, a reflection type sensor etc. When thedust chamber5 is filled with dust, the propelling operation and the cleaning operation are stopped and a dust full state is notified to a user by giving a sound or light alarm etc. Conventional self-propelling cleaners as configured as above are disclosed in: JP-A-2003-061882; JP-A-3-173521; JP-A-6-022889; and JP-A-2002-306387.

SUMMARY OF THE INVENTION

However, according to the aforesaid conventional dust detection unit, it is not easy to accurately detect an amount of dust within the dust chamber. For example, in the case of using the pressure sensor or the air flow sensor, different pressures or different air flow rates are observed depending on the states of the floor surface being cleaned even when an amount of dust within the dust chamber is the same. Thus, the detected amount of dust is required to be corrected in accordance with the state of the floor surface being cleaned in order to accurately detect the amount of dust within the dust chamber. Alternatively, in the case of using the reflection type sensor, it is determined that there is no dust within the dust chamber when light emitted from a light emitting portion into the dust chamber is not received by a light receiving portion, whilst it is determined that the dust chamber is filled with dust when the light receiving portion receives the light. However, since an amount of reflection light changes depending on the kind of dust accumulated within the dust chamber and so an amount of light received by the light receiving portion also changes, a dust full state cannot be determined easily.

When it is determined that dust is in a full state, the propelling operation and the cleaning operation are stopped and an alarm is issued by using light or sound, as described above. However, when the operation is stopped, it is difficult to determine whether the operation is stopped due to a failure or due to the termination of the cleaning operation. Further, in the case of the light alarm, since a small-sized light emitting element such as an LED is used as the light emitting portion, it is difficult for a user to recognize the alarm. Furthermore, in the case of the sound alarm, such an alarm cannot be used at the time of cleaning an area where a silent state is required to be kept.

Accordingly, one of objects of the invention is to provide a self-propelling cleaner which can surely detect a dust full state within a dust chamber irrespective of kinds of dust and surely notify dust full information to a user.

According to a first aspect of the invention, there is provided a self-propelling cleaner including: a main body; a cleaning unit that accommodates dust taken from a cleaning nozzle through a dust transporting pipe within a dust chamber; a propelling unit that propels and turnarounds the main body; a propelling control unit that controls the propelling unit to move the main body within a predetermined region; and a dust amount detection unit that detects an amount of dust accommodated within the dust chamber, the dust amount detection unit including a light detector that detects light introduced within the dust chamber to detect the amount of dust, wherein one side wall of the dust chamber having a coupling hole coupled to the dust transporting pipe is formed in a sloped shape, wherein the light detector is disposed at a position near the coupling hole of the side wall, wherein a plurality of the light detector are disposed at different positions in a vertical direction of the side wall, wherein the propelling control unit controls the propelling unit to perform a propelling and circling movement different from a movement at a normal cleaning operation when the dust amount detection unit detects that dust is filled within the dust chamber.

According to a second aspect of the invention, there is provided a self-propelling cleaner including: a main body; a cleaning unit that accommodates dust taken from a cleaning nozzle through a dust transporting pipe within a dust chamber; a propelling unit that propels and turnarounds the main body; a propelling control unit that controls the propelling unit to move the main body within a predetermined region; and a dust amount detection unit that detects an amount of dust accommodated within the dust chamber, the dust amount detection unit including a light detector that detects light introduced within the dust chamber to detect the amount of dust, wherein one side wall of the dust chamber having a coupling hole coupled to the dust transporting pipe is formed in a sloped shape, and wherein the light detector is disposed at a position near the coupling hole of the side wall.

BRIEF DESCRIPTION OF THE DRAWINGS

The above objects and advantages of the present invention will become more apparent by describing preferred exemplary embodiments thereof in detail with reference to the accompanying drawings, wherein:

FIGS. 1A and 1B are block diagrams showing a schematic configuration of the self-propelling cleaner according to a first embodiment and an enlarged sectional diagram showing adust chamber5;

FIGS. 2A and 2B are enlarged sectional diagrams showing different dust accumulating states within thedust chamber5 shown inFIGS. 1A and 1B;

FIG. 3 is a flow chart showing the operation at the time of the propelling and cleaning operation of the self-propelling cleaner according to the first embodiment;

FIG. 4 is a plan view showing a range and a route in and along which the self-propelling cleaner propels;

FIGS. 5A and 5B are side views showing schematic configurations near the dust chamber of the self-propelling cleaner according to a second embodiment;

FIGS. 6A-6C are side views showing schematic configurations near the dust chamber of the self-propelling cleaner according to a third embodiment;

FIGS. 7A-7C are side views showing schematic configurations near the dust chamber of the self-propelling cleaner according to a fourth embodiment;

FIG. 8 is a block diagram showing the schematic configuration of a conventional self-propelling cleaner.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring now to the accompanying drawings, a description will be given in detail of preferred embodiments of the invention.

A self-propelling cleaner according to the first embodiment of the invention will be explained with reference to drawings. In the embodiment, the explanation will be made as to a self-propelling cleaner of a strike-up type which strikes dust up by a brush within a nozzle and accommodates the dust thus struck-up within a dust chamber.

FIG. 1A is a block diagram showing the schematic configuration of the self-propelling cleaner according to this embodiment, andFIG. 1B is an enlarged sectional diagram showing adust chamber5.

The self-propelling cleaner is configured by a propelling control unit and a propelling unit for propelling amain body1 along a route within a cleaning region set in advance, and a cleaning unit for removing dust on the floor surface within the cleaning region and accommodating the dust therein.

Drivingwheels2 and drivingmotors16 coupled to the drivingwheels2 to rote thedriving wheels2 are provided at the left and right portions of the lower portion at the rear side of themain body1, respectively. A drivenwheel3 is provided at the lower portion of the front side of themain body1. Thedriving wheels2, thedriving motors16 and the drivenwheel3 correspond to “the propelling unit” according to the invention. A drivingmotor16 is coupled to apropelling control unit11.

Themain body1 is provided, at the lower portion of the front side thereof, with anozzle4 for removing dust on the floor surface, a box-shaped dust chamber5 for accommodating dust therein, and adust transporting pipe6 for coupling thenozzle4 to thedust chamber5 to conduct dust into thedust chamber5. Abrush40 is disposed within thenozzle4. Themain body1 is provided with acleaning control unit12 for controlling the cleaning operation. Thenozzle4, thebrush40, thedust chamber5, thedust transporting pipe6 and thecleaning control unit12 correspond to “a cleaning unit” according to the invention.

As shown inFIG. 1B, acoupling hole50 coupled to thedust transporting pipe6 is formed at a portion near the upper end of theside wall51 of thedust chamber5. Theside wall51 is configured in a sloped shape with respect to the bottom surface thereof, that is, configured in a manner that an angle θ between the bottom surface and the inner surface of theside wall51 forms an obtuse angle larger than 90 degrees. The remaining side walls of the dust chamber are configured so as to be orthogonal to the bottom surface. When the dust chamber is configured in this manner, even when dust reached within thedust chamber5 from thecoupling hole50 is placed on the surface of theside wall51, the dust slips down the slope in the bottom surface direction and so accumulated sequentially from the bottom surface side. Aphoto detector14 having a light receiving surface in parallel to theside wall51 is provided neat thecoupling hole50 of theside wall51. Aphoto diode15 for irradiating light toward thephoto detector14 is provided near thecoupling hole50 on the upper surface of thedust chamber5.

Thephoto diode15 and thephoto detector14 are coupled to acontrol unit10 for controlling the entirety of the cleaner including the propellingcontrol unit11 and thecleaning control unit12. When thephoto detector14 cannot receive light emitted from thephoto diode15, it is detected that thedust chamber5 is filled with dust. Thephoto diode15 and thephoto detector14 correspond to “a dust amount detection unit” according to the invention.

Next, the explanation will be made as to the normal cleaning operation of such a self-propelling cleaner.

When a user inputs a cleaning start instruction or a cleaning start time set in advance is detected, thecleaning control unit12 rotates thebrush40 to strike up dust on the floor surface thereby to introduce the dust within thenozzle4. The dust introduced within thenozzle4 is accommodated into thedust chamber5 through thedust transporting pipe6.

The propellingcontrol unit11 controls the drivingmotors16 to rotate thedriving wheels2 thereby to start the propelling operation from a cleaning start position. In this case, a not-shown memory stores the propelling route of themain body1 in advance. For example, in an example shown inFIG. 4, the main body propels along the long side of a rectangular cleaning region (an approach route), then makes a right-angle turn in the direction along the short side of the cleaning region when the main body reaches the boundary of the cleaning region and propels by a predetermined distance along the short side. Next, the main body makes a right-angle turn in the direction along the long side and propels along the long side in the direction opposite to the approach route. Then, the main body makes a right-angle turn in the direction along the short side and propels by the predetermined distance. Hereinafter, the aforesaid procedures are repeated. In general, this route is called a zigzag propelling route. The propellingcontrol unit11 controls the drivingmotors16 so that the main body propels along this route, whereby the drivingmotors16 rotate in the predetermined directions in accordance with the control of the propelling control unit. Not-shown plurality of sensors are attached to themain body1. These sensors detect the circumstance in the periphery of themain body1. The detection results of the sensors are inputted into the propellingcontrol unit11. Then, the propellingcontrol unit11 drives the drivingmotors16 in accordance with the detection results thereby to prevent the main body from colliding with an obstacle and a wall at the periphery thereof.

Light is emitted continuously or at a predetermined period from thephoto diode15 toward thephoto detector14 while the main body propels and cleans in the aforesaid manner. When thephoto detector14 receives the light, the photo detector generates a detection signal to output it to thecontrol unit10. Then, thecontrol unit10 recognizes in response to the detection signal that thedust chamber5 is not filled with dust and so controls thecleaning control unit12 and the propellingcontrol unit11 so as to continue the cleaning operation while continuing the propelling operation.

When the cleaning of the region set in advance is completed, thecleaning control unit12 stops the rotation of thebrush40 thereby to stop the cleaning operation. On the other hand, the propellingcontrol unit11 stops the propelling operation at this time or continuously drives the drivingmotors16 to move the main body to a predetermined standby position (for example, a charging position or the cleaning start position).

Next, the explanation will be made with reference toFIGS. 2A to4 as to the operation when thedust chamber5 is filled with dust during the cleaning operation.

FIGS. 2A and 2B are enlarged sectional diagrams of thedust chamber5, whereinFIG. 2A shows a case where an amount of dust accumulated is small, andFIG. 2B shows a case where the dust chamber is filled with dust.

FIG. 3 is a flowchart at the time of the propelling and cleaning operation.FIG. 4 is a plan view showing a region, a route and a locus where the self-propelling cleaner propels.

As described above, when the cleaning operation and the propelling operation are started (S1 to S2), thephoto diode15 emits light in accordance with the voltage applied from thecontrol unit10. In this case, as shown inFIG. 2A, when an mount ofdust100 within thedust chamber5 is small, dust placed on the surface of theside wall51 moves to the bottom surface side as described above. Thus, since there is no dust on thephoto detector14, the photo detector receives light emitted from thephoto diode15. When thephoto detector14 receives light, the photo detector outputs the detection signal to thecontrol unit10. Thecontrol unit10 recognizes the detection signal thereby to detect that thedust chamber5 is not filled with dust100 (S3) and outputs an instruction for continuing the cleaning operation and the propelling operation to the propellingcontrol unit11 and thecleaning control unit12. On the other hand, as shown inFIG. 2(b), when thedust chamber5 is filled withdust100, since dust also exists on thephoto detector14, thephoto detector14 cannot receive light emitted from thephoto diode15. Thus, thephoto detector14 does not generate the detection signal nor apply it to thecontrol unit10. Since thecontrol unit10 cannot detect the detection signal, thecontrol unit10 detects that thedust chamber5 is filled with dust100 (S3). When thecontrol unit10 detects the dust full state, the control unit outputs an instruction for stopping the cleaning due to the dust full state to the propellingcontrol unit11 and thecleaning control unit12. In accordance with this instruction, thecleaning control unit12 stops the operation of thebrush40 to stop the cleaning operation and also the propellingcontrol unit11 stops the operation of the driving motors16 (S4). Next, after thecontrol unit10 confirms that the cleaning operation has stopped, the control unit outputs to the propellingcontrol unit11 an instruction for starting a special movement at the time of the dust full state. In accordance with this instruction, the propellingcontrol unit11 controls the left and right drivingmotors16 so as to perform a special movement stored in advance, that is, to circle for a predetermined number of times with a predetermined radius at the position where the dust full state is detected, for example, as shown inFIG. 4. Thus, in accordance with this instruction, theright driving motor16 rotates at the speed higher than that of theleft driving motor16, whereby themain body1 continuously circles counterclockwise. Since such an operation does not appear in the normal cleaning operation, a user can know that thedust chamber5 is filled with dust when the user sees this circling operation. Thus, the user takes thedust chamber5 out of themain body1, then throws out thedust100 within thedust chamber5 and attaches the dust chamber within themain body1 again. At this time, since the dust on thephoto detector14 is removed, thephoto detector14 generates and outputs the detection signal to thecontrol unit10. Thecontrol unit10 determines that the dust within thedust chamber5 is removed (not in the dust full state) in accordance with the detection signal and so outputs control instructions for performing the normal cleaning operation again to the propellingcontrol unit11 and thecleaning control unit12. In accordance with these instructions, thecleaning control unit12 starts thebrush40 to rotate again and the propellingcontrol unit11 controls the drivingmotors16 so as to propel the main body along the route of the non-cleaned region.

Since the embodiment is configured in the aforesaid manner, dust is placed on the photo detector provided on the side wall of the dust chamber only when dust is filled within the dust chamber thereby to interrupt the light reception, so that the dust full state can be detected surely. Further, since transmission light is employed for the detection, amount of light to be detected does not change depending on the kinds of dust, so that the dust full state can be detected surely irrespective of the kinds of dust. Furthermore, since the light receiving surface of the photo detector is inclined upward, the photo detector can receive light from the upper direction of the dust chamber and also light from the side surface opposing to the side surface where the photo detector is provided. Thus, the attachment position of the photo detector can be selected from the wide area. In particular, since the photo diode can be attached to the upper surface side where the photo diode can be attached relatively with ease, the self-propelling cleaner having the aforesaid effects can be realized with the simple configuration. Furthermore, since the light receiving surface of the photo detector is inclined upward, the dust full state can be detected surely even when a window for introducing external light into the dust chamber is provided at the upper surface of the dust chamber in place of the photo diode. Thus, the self-propelling cleaner having the aforesaid effects can be realized with the further simple configuration.

Further, since the embodiment is configured in the aforesaid manner, a user can easily and surely recognize that the dust chamber is filled with dust by seeing the movement of the main body. Further, since the dust full state is notified by the movement of the main body, the dust full state can be notified in a wider range as compared with the case of notifying the dust full state by a small-sized light emitting element such as an LED. Furthermore, since the dust full state is notified only by the movement of the main body, even when the cleaner is used in an environment requiring silence (for example, a room where a baby exists), the dust full state can be notified surely without disturbing the silent environment. In this manner, when the aforesaid configuration of the embodiment is employed, even when a user exists at a position relatively away from the cleaner, the dust full state of the dust chamber can be notified surely to the user without influencing on the utilizing environment.

Next, the self-propelling cleaner according to the second embodiment will be explained with reference toFIGS. 5A and 5B. In this embodiment, the explanation will be made as to a self-propelling cleaner of a vacuum type which is provided with an evacuation fan at the dust chamber.

FIGS. 5A and 5B are side views showing the schematic configurations near the dust chamber of the self-propelling cleaner according to this embodiment, whereinFIG. 5A shows a state where an amount of dust accumulated within adust chamber5 is small, andFIG. 5B shows a state where thedust chamber5 is filled with dust.

The self-propelling cleaner shown inFIGS. 5A and 5B includes anevacuation fan21 on aside wall52 opposing to aside wall51 having acoupling hole50 coupled to adust transporting pipe6 within thedust chamber5. Theevacuation fan21 is driven by afanmotor22. Thefan motor22 is controlled in its operation by acleaning control unit12. The remaining configuration of this embodiment is same as the self-propelling cleaner shown inFIG. 1.

Since this embodiment is configured in the aforesaid manner, dust is accumulated within thedust chamber5 as shown inFIGS. 5A and 5B, that is, dust is gradually accumulated on the bottom surface closer to theside wall52 side provided with theevacuation fan21. Even in such an accumulation state of the dust, since the operation of thephoto detector14 is same as that of the first embodiment, this embodiment can obtain the same effects as those of the first embodiment. Further, since dust on a floor is forcedly sucked by using theevacuation fan21, the cleaning is performed further cleanly as compared with the first embodiment.

Next, the self-propelling cleaner according to the third embodiment will be explained with reference toFIGS. 6A-6C.

FIGS. 6A-6C are side views showing the schematic configurations near the dust chamber of the self-propelling cleaner according to this embodiment, whereinFIG. 6A shows a state where an amount of dust accumulated within adust chamber5 is small,FIG. 6B shows a state where an amount of dust accumulated within thedust chamber5 is close to full, andFIG. 6C shows a state where thedust chamber5 is filled with dust.

The self-propelling cleaner shown inFIGS. 6A-6C is configured in a manner that

photo detectors

14a,14bare attached to different vertical positions on theside wall51 of thedust chamber5, and

photo diodes

15a,15bfor irradiating lights toward the

photo detectors

14a,14bare provided on the upper surface of thedust chamber5, respectively. The remaining configuration of this embodiment is same as the self-propelling cleaner shown inFIG. 1. Thephoto detector14ais provided near thecoupling hole50 of theside wall51 like thephoto detector14 inFIG. 1. Thephoto detector14bis disposed in adjacent to thephoto detector14aat a position below thephoto detector14aby a predetermined distance.

Since this embodiment is configured in this manner, in a state where an accumulated amount of dust is small, both the

photo detectors

14a,14bcan receive light and so acontrol unit10 can detect that an amount of dust accumulated within thedust chamber5 is small. Next, when dust is accumulated gradually, firstly thephoto detector14abecomes unable to receive light from the photo diode and thecontrol unit10 detects this fact. In this case, since thephoto detector14bis disposed in adjacent to thephoto detector14aat the position below thephoto detector14aby the predetermined distance, thephoto detector14ashortly becomes also unable to receive light from the photo diode. That is, this fact means that an amount of dust is closing to the full state. When thecontrol unit10 detects this state, the control unit issues to a user information representing that dust will be full soon. As the information issuing method, although it is possible to use light or sound, for example, a movement different from the aforesaid special movement at the time of the dust full state may be performed temporarily. Then, the cleaning operation is continued, and when the dust chamber is filled with dust, thediode14aalso becomes unable to receive light from the photo diode. Thus, the aforesaid operation of notifying the dust full state is performed.

According to the aforesaid configuration, a user can know in advance that the dust chamber will be soon filled with dust. That is, in this manner, a user can obtain information relating to the dust full state twice. Accordingly, a user can recognize the dust full state within the dust chamber further surely. Further, since a user can also throw out dust within the dust chamber in response to the information issued before the dust full state, the user can throw out dust before the dust within the dust chamber becomes full and the cleaning operation is stopped. Thus, it is possible to prevent the waste of cleaning time during the stoppage due to the dust full state. Further, since the special movement differs between the dust full state and the state just before the dust full state, a user can recognize whether the current state is the dust full state or the state just before the dust full state by seeing the movement of the cleaner.

Incidentally, although this embodiment employs two photo detectors, three or more photo detectors may be disposed on the side wall at different vertical positions, in accordance with the required specification.

Further, although the aforesaid embodiment is configured to provide one photo diode for one photo detector, this embodiment may be configured to provide one photo diode for plural photo detectors. In such a configuration, the number of the photo diodes to be disposed can be reduced.

Next, the self-propelling cleaner according to the fourth embodiment will be explained with reference toFIGS. 7A-7C.

FIGS. 7A-7C are side views showing the schematic configurations near the dust chamber of the self-propelling cleaner according to this embodiment, whereinFIG. 7A shows a state where dust is scarcely accumulated within adust chamber5,FIG. 7B shows a state where dust is accumulated on one side within the dust chamber, andFIG. 7C shows a state where thedust chamber5 is filled with dust.

The self-propelling cleaner shown inFIGS. 7A-7C is configured in a manner that each of aside wall51 provided with thecoupling hole50 of thedust chamber5 and aside wall52 opposing thereto is formed in a sloped shape. Theside wall51 is provided with aphoto detector14anear thecoupling hole50 and theside wall52 is provided with aphoto detector14cat the same height as thephoto detector14a.

Photo diodes

15a,15cfor respectively emitting lights toward the

photo detectors

14a,14care disposed on the upper surface of thedust chamber5.

Since this embodiment is configured in the aforesaid manner, in the state where dust does not exist at all within thedust chamber5 as shown inFIG. 7A, each of the

photo detectors

14a,14ccan receive light, so that acontrol unit10 can detect that dust is scarcely accumulated within thedust chamber5. Next, when dust is accumulated on theside wall51 side within the dust chamber, thephoto detector14acannot receive light but thephoto detector14ccan receive light. Thus, a detection signal only from thephoto detector14cis outputted to thecontrol unit10. Thecontrol unit10 receives this detection signal thereby to detect that dust is accumulated on the one side within thedust chamber5 and then issues information relating to the one-side accumulation state of dust within thedust chamber5. When a user receives this information, the user temporarily stops the self-propelling cleaner, then performs an operation such as shaking of the main body thereby to eliminate the one-side accumulation state of dust and restarts the cleaning operation. In this case, the one-side accumulation state of dust may be eliminated by automatically moving the main body like the aforesaid special movement at the time of the dust full state. Then, in the state where the one-side accumulation state of dust is eliminated, the cleaning operation is performed again. When dust is accumulated on the

photo detectors

14a,14cas shown inFIG. 7C, each of the

photo detectors

14a,14cbecomes unable to receive light and so the detection signal is not outputted from the photo detectors. Thus, thecontrol unit10 discriminates that dust is filled within thedust chamber5 and so the aforesaid control at the time of the dust full state is performed.

According to such a configuration, the one-side accumulation state of dust within the dust chamber can be confirmed without opening the main body. Further, as the needs arises, a user can throw dust out or eliminate the one-side accumulation state of dust and then start the cleaning operation again. Further, the self-propelling cleaner can be configured which can prevent the erroneous detection of the dust full state due to the one-side accumulation state of dust within the dust chamber and can surely detect the dust full state.

Incidentally, in this embodiment, although the photo detector is disposed on each of the opposing side walls, a plurality of the photo detectors may be disposed on each of the opposing side walls like the third embodiment.

Further, although each of the third and fourth embodiments is configured based on the configuration of the self-propelling cleaner of a strike-up type shown in the first embodiment, the self-propelling cleaner of a vacuum type as shown in the second embodiment may be applied to the configuration shown in each of the third and fourth embodiments.

As described above with reference to the embodiments, according to one aspect of the invention, there is provided a self-propelling cleaner including: a main body; a cleaning unit that accommodates dust taken from a cleaning nozzle through a dust transporting pipe within a dust chamber; a propelling unit that propels and turnarounds the main body; a propelling control unit that controls the propelling unit to move the main body within a predetermined region; and a dust amount detection unit that detects an amount of dust accommodated within the dust chamber, the dust amount detection unit including a light detector that detects light introduced within the dust chamber to detect the amount of dust, wherein one side wall of the dust chamber having a coupling hole coupled to the dust transporting pipe is formed in a sloped shape, and wherein the light detector is disposed at a position near the coupling hole of the side wall.

According to this configuration, dust introduced into the dust chamber sequentially flows on the bottom surface side along the slope-shaped side wall and then accumulated. Thus, when the dust chamber is not filled with dust, dust is not accumulated on the light detector, so that the light detector can receive light within the dust chamber and so it is detected that the dust chamber is not filled with dust. On the other hand, when the dust chamber is filled with dust, dust is accumulated on the light detector, so that the light detector cannot receive light and so it is detected that the dust chamber is filled with dust.

Further, the self-propelling cleaner according to the invention is characterized in that the light detector detects light introduced within the dust chamber from an external-light introducing window provided at the main body.

According to this configuration, when the dust chamber is not filled with dust, light introduced from the external-light introducing window reaches the light detector and then received thereby. On the other hand, when the dust chamber is filled with dust, light introduced from the external-light introducing window does not reach the light detector and so not received thereby, so that the aforesaid dust full state is detected.

Further, the self-propelling cleaner according to the invention is characterized in that a plurality of the light detector are disposed at different vertical positions of the slope-shaped side wall.

According to this configuration, since a plurality of the light detector are provided at the different vertical positions of the side wall by utilizing a fact that dust is gradually accumulated from the bottom surface of the dust chamber, dust detection results representing plural states respectively according to different amounts of dust within the dust chamber can be outputted.

Further, the self-propelling cleaner according to the invention is characterized in that another side wall of the dust chamber opposing to the one side wall having the coupling hole is formed in a sloped shape, and the dust amount detection unit is also provided at the another side wall.

According to this configuration, since the dust amount detection unit is provided at each of the opposed side walls, the one-side accumulation state of dust within the dust chamber can be detected. That is, in the case where the light detector is provided at both the opposed side walls at the same height, when a light receiving element on the side wall of the coupling hole side does not detect light but a light receiving element on the side wall of the opposite side detects light, it can be recognized that accumulated dust is higher on the side of the side wall of the coupling hole side than the side of the side wall of the opposite side and so dust is accumulated on one side.

Further, the self-propelling cleaner according to the invention is characterized in that the propelling control unit controls the propelling unit to perform a propelling and circling movement different from a movement at a normal cleaning operation when the dust amount detection unit detects that dust is filled within the dust chamber.

According to this configuration, when dust is filled within the dust chamber, the main body changes its movement from that at the normal operation and the dust full state of the dust chamber is notified to a user.

According to the self-propelling cleaner as thus configured, since the side wall is formed in a sloped shape, the light detector cannot be shielded from light until dust is accumulated to the height where the light detector is provided. Further, the invention is configured in a manner that the dust amount detection unit is constituted by using a light transmission type sensor including this light detector. Thus, the dust full state within the dust chamber can be surely detected irrespective of kinds of dust.

Further, according to the self-propelling cleaner, external light is introduced as a light irradiated to the light detector, whereby the dust amount detection unit, which can surely detect the dust full state in the aforesaid manner without requiring light emitting unit, can be configured with a simple configuration.

Furthermore, according to the self-propelling cleaner, since a user can recognize an amount of dust within the dust chamber at plural levels, the user can surely recognize information such that dust will be filled soon within the dust chamber as well as the dust full information.

Furthermore, according to the self-propelling cleaner, the dust amount detection unit is provided at each of the opposed side walls. Thus, when the detection results of these dust amount detection unit are compared, the dust full state and the dust accumulation state such as the one-side accumulation state of dust within the dust chamber can be detected further accurately.

Furthermore, according to the self-propelling cleaner, since the main body moves in a manner different from the usual movement in accordance with the dust full state detected by the dust amount detection unit, the dust full state can be surely notified to a user who exists at a position relatively away from the cleaner. Further, the dust full state can be surely notified without being restricted by a peripheral circumstance such as an environment required to be silent.

Although the present invention has been shown and described with reference to a specific preferred embodiment, various changes and modifications will be apparent to those skilled in the art from the teachings herein. Such changes and modifications as are obvious are deemed to come within the spirit, scope and contemplation of the invention as defined in the appended claims.

Claims

1. A self-propelling cleaner comprising:

a main body;

a cleaning unit that accommodates dust taken from a cleaning nozzle through a dust transporting pipe within a dust chamber;

a propelling unit that propels and turnarounds the main body;

a propelling control unit that controls the propelling unit to move the main body within a predetermined region; and

a dust amount detection unit that detects an amount of dust accommodated within the dust chamber, the dust amount detection unit including a light detector that detects light introduced within the dust chamber to detect the amount of dust,

wherein one side wall of the dust chamber having a coupling hole coupled to the dust transporting pipe is formed in a sloped shape,

wherein the light detector is disposed at a position near the coupling hole of the side wall,

wherein a plurality of the light detector are disposed at different positions in a vertical direction of the side wall,

wherein the propelling control unit controls the propelling unit to perform a propelling and circling movement different from a movement at a normal cleaning operation when the dust amount detection unit detects that dust is filled within the dust chamber.

2. A self-propelling cleaner comprising:

a main body;

a propelling unit that propels and turnarounds the main body;

wherein one side wall of the dust chamber having a coupling hole coupled to the dust transporting pipe is formed in a sloped shape, and

wherein the light detector is disposed at a position near the coupling hole of the side wall.

3. The self-propelling cleaner according toclaim 2, wherein the dust amount detection unit includes a light emitting unit that emits light within the dust chamber towards the light detector.

4. The self-propelling cleaner according toclaim 2, wherein the dust amount detection unit includes an external-light introducing window that is provided at the main body and introduces light into the dust chamber towards the light detector.

5. The self-propelling cleaner according toclaim 2, wherein a plurality of the light detector are disposed at different positions in a vertical direction of the side wall.

6. The self-propelling cleaner according toclaim 2, wherein another side wall of the dust chamber opposing to the one side wall having the coupling hole is formed in a sloped shape, and

wherein the dust amount detection unit is provided at both of the one side wall and the another side wall.

7. The self-propelling cleaner according toclaim 2, wherein the propelling control unit controls the propelling unit to perform a propelling and circling movement different from a movement at a normal cleaning operation when the dust amount detection unit detects that dust is filled within the dust chamber.