JP2013215571A - Self-propelled floor cleaning robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled floor cleaning robot which avoids the complication of a machine body structure in order to reduce noise in driving.SOLUTION: A body 1 includes an upper cover 11 and a bottom cover 12. A bumper 13 and a guard mall 14 are arranged at the front edge of the body between the covers. A main brush in a brush assembly is operatively linked to side brushes by driving the same drive configuration member by a transmission component. A plurality of main brush bristles in curved arrayal are axially flocked in the circumferential edge of a shaft of the main brush. End part elements are arranged in both sides of the bristles by set-in grooves and set-in components, and projecting set-in components are arranged on the outside of the end part elements. A control unit is constituted by a circuit board with an arcuate area of a string of an appropriate length. The front end of the circuit board corresponds to a rear part of the bumper 13. Thus, the control unit allows a signal transmitted to an outside via the bumper 13 and a signal reflected and returned from an outside to be transmitted to and returned from sensor elements via the bumper 13.

Description

  The present invention relates to a self-propelled floor cleaning robot, and more particularly to a floor cleaning apparatus having a function of moving and cleaning independently without requiring human operation or control.

  In general, the conventional self-propelled floor cleaning robot does not normally require human operation, and has the ability to move and clean independently. For example, US Pat. No. 6,688,3201, “Autonomous floor-cleaning robot” discloses mainly as follows. “A robot that voluntarily cleans the floor, wherein the self-propelled floor cleaning robot includes a main body structure including a base, a power system that provides energy to the robot that voluntarily cleans the floor, and the voluntarily A driving system that drives a robot that cleans the floor to perform the cleaning work, a control module that controls the robot that voluntarily cleans the floor by operating and generates the cleaning operation, and a pivot assembly A self-adjusting cleaning head fixed to the base and the deck; a main brush which is fixedly coupled to the deck and driven by the driving system to clean fine particles during a cleaning time; and the brush unit A deck adjustment subassembly fixedly coupled to the drive system for the drive system A vacuum dust collection system that is fixed to at least a part of the base and is operated to inhale fine particulate matter to perform floor cleaning work. Supports the action of the sub-assembly on the vacuum dust collection system, or the different extent of the main brush sub-assembly external range allows the side brush to direct particulate matter around the exterior of the body structure to the vacuum dust collection system, and is operable on the body. A dust box that is connected in a detachable manner, communicates with the vacuum dust collection system or the main brush unit, and is operated to allow fines to be inhaled by the vacuum dust collection system or collected by the main brush And encountered a danger during the robot floor cleaning time And a control system, the control system is transmitted to the drive system, the movement of the robot is controlled by the signal generated by the sensor system, the sensor system is a step search device The control system emits a step signal when it encounters a step, and the control system responds to the step signal to control the movement of the robot when the step is found, and keeps the robot moving continuously to avoid falling off the step. A robot that voluntarily cleans the floor. "

  The prior art discloses the basic structure and function of a cleaning device that performs self-cleaning. However, its structure is quite complex and noisy. The reason is that the driving system (a motive subsystem) of a brush assembly comprising a main brush and a side brush adopts a drive structure in which the main brush and the side brush are independent of the cleaning robot. In addition, the entire main brush employs a complex self-adjusting cleaning head subsystem and a deck adjusting subassembly design, and a sensor system A complicated structure based on the airframe design that is installed as a sensor assembly (wall-sensing assembly) that senses obstacles and that has a bumper attached externally increases driving noise.

  Therefore, an object of the present invention is to provide a self-propelled floor cleaning robot that avoids complication of the airframe structure in order to reduce noise during driving.

  In order to solve the above problems, an object of the present invention is to provide a self-propelled floor cleaning robot that has an independent collision prevention structure and does not require a sensor.

  In order to solve the above-described problems, another object of the present invention is to provide a self-propelled floor cleaning robot that drives a main brush and a side brush in an interlocking manner.

  In order to solve the above-described problems, still another object of the present invention is to provide a self-propelled floor cleaning robot having a brush assembly structure with a simple structure.

  In order to solve the above-described problems, still another object of the present invention is to provide a self-propelled floor cleaning robot in which a sensor element and a control unit are coupled and are not connected to a collision prevention structure.

  In order to solve the above-mentioned problems, still another object of the present invention is to provide a self-propelled floor cleaning robot that does not require sensor work of an external guard molding by providing a window in the work area of the sensor element. There is.

  In order to achieve the above object, a self-propelled floor cleaning robot of the present invention includes a main body having a brush assembly, a power unit, a control unit, driving wheels, and a dust collecting structure. The power supply of the power unit and the control unit automatically control to execute the function of supporting the main body by the driving wheels that receive driving, and the path through which the main body moves by the brush assembly. Sweep and move and collect by inhalation through dust collection structure. The main body includes a top cover and a bottom cover, and has a bumper made of a translucent material in an arc shape at a front edge of the main body between the top cover and the base. At the front edge of the main body between the upper cover and the base, an arc-shaped guard molding made of a flexible material is provided between the bumper and the upper cover.

  In order to achieve the above object, a self-propelled floor cleaning robot of the present invention includes a main body having a brush assembly, a power unit, a control unit, driving wheels, and a dust collecting structure. The power supply and control unit of the power unit automatically controls to perform a function of supporting the main body by a drive wheel capable of being driven and to be self-propelled, and elapses when the main body is moved by the brush assembly. Sweep away the dust on the route, inhale and collect by dust collecting structure. The brush assembly includes a main brush and a first side brush located on a side of the main brush. In the main brush, the same driving component is driven by the transmission component to form an interlocking type with the first side brush.

  In order to achieve the above object, a self-propelled floor cleaning robot of the present invention includes a main body having a brush assembly, a power unit, a control unit, driving wheels, and a dust collecting structure. The power supply and control unit of the power unit automatically controls to perform a function of supporting the main body by a drive wheel capable of being driven and to be self-propelled, and elapses when the main body is moved by the brush assembly. Sweep away the dust on the route, inhale and collect by dust collecting structure. The brush assembly includes a main brush. That is, the main brush bristle portion is planted by a curved array along a plurality of axial directions on the periphery of the shaft. By having first and second fitting grooves in the radial direction at both ends of the shaft, the first and second fitting parts on the first and second end elements are fitted therein. The first and second protrusion fitting parts are installed outside the first and second end elements.

  In order to achieve the above object, a self-propelled floor cleaning robot of the present invention includes a main body having a brush assembly, a power unit, a control unit, driving wheels, and a dust collecting structure. The power supply and control unit of the power unit automatically controls to perform a function of supporting the main body by a drive wheel capable of being driven and to be self-propelled, and elapses when the main body is moved by the brush assembly. Sweep away the dust on the route, inhale and collect by dust collecting structure. The control unit is a control system composed of related electronic elements on a circuit board or CPU, etc., and the circuit circuit board is composed of an arc-shaped area of a chord having an appropriate length by cutting a circular section. The structure of this shape is suitably formed in the entire structure, has a simple arrangement without waste, and has an arrangement in which space is fully utilized.

  In order to achieve the above object, a self-propelled floor cleaning robot of the present invention includes a main body having a brush assembly, a power unit, a control unit, driving wheels, and a dust collecting structure. The power supply and control unit of the power unit automatically controls to perform a function of supporting the main body by a drive wheel capable of being driven and to be self-propelled, and elapses when the main body is moved by the brush assembly. Sweep away the dust on the route, inhale and collect by dust collecting structure. The main body includes an upper cover and a base. The front edge of the main body between the upper cover and the base has a bumper made of a translucent material in an arc shape. The control unit is composed of related electronic elements or CPUs on the circuit board, and is further provided with sensor elements. The front end of the circuit board corresponds to the rear of the bumper, causes the control unit to transmit the signal of the sensor element launcher to the outside via the bumper, and the signal reflected from the outside returns to the sensor element via the bumper. Return to the receiving device.

  In the design of the embodiment of the present invention, the sensor element does not need to be sensed by an external swinging bumper, so that the entire body structure is separated from the collision prevention structure and the sensing function, and is easy to manufacture and assemble. The noise is low. Furthermore, by adopting a drive structure in which a brush assembly composed of a main brush and a side brush is interlocked, the number of motors and the complexity of the structure are reduced. The overall cost is reduced, the structure of the entire brush assembly is simplified, and the design of the body space is simple.

It is the figure which showed the structure arrangement | positioning in embodiment of this invention. It is a three-dimensional external view in the embodiment of the present invention. It is a three-dimensional exploded view of the main body in the embodiment of the present invention. It is a three-dimensional exploded view (1) of the brush assembly located under the base of the embodiment of the present invention. It is a three-dimensional exploded view (2) of the brush assembly located under the base of the embodiment of the present invention. It is a three-dimensional exploded view of the storage space of the bottom cover and the base in the embodiment of the present invention. It is an expanded sectional view of the bottom part cover and storage space in the embodiment of the present invention. It is the figure which showed the structure inside the base in embodiment of this invention. It is the figure which showed the drive structure which links the main brush and the side brush in embodiment of this invention. It is a three-dimensional exploded view of the brush assembly in the embodiment of the present invention. It is the three-dimensional exploded view which showed the installation relationship of the sensor element and bumper in embodiment of this invention.

  This will be described with reference to FIG. A self-propelled floor cleaning robot according to an embodiment of the present invention includes a main assembly 21, a main brush 21, a first side brush, a second side brush 22, and a brush assembly 2, a power unit A, a control unit B, and a drive. Ring C and dust collection structure D are installed. The main body 1 is supported by the drive wheels C that can be driven by the power supply of the power unit A and the automatic control of the control unit B. The dust on the route is swept away and moved to the dust collection structure D for collection.

  This will be described with reference to FIG. The main body 1 in the embodiment of the present invention includes an upper cover 11 and a base 12. A bumper 13 made of a light-transmitting material is installed on the front edge of the main body 1 between the upper cover 11 and the base 12, and the bumper 13 is installed on the front edge of the main body 1 between the upper cover 11 and the base 12. An arc-shaped guard molding 14 made of a flexible material is interposed between the upper cover 11 and the upper cover 11.

  This will be described with reference to FIG. The guard molding 14 is exposed to the outside at the time of installation, and is projected from the collision side 141 outside the upper cover 11. A fitting portion 142 is installed inside the collision side 141. On the fitting portion 142, a plurality of elongated gap-like catching holes 143 with an appropriate distance are installed. The upper cover 11 is provided with a plurality of fitting edges 111 corresponding to the catch holes 143 toward the bottom, and is fitted into the catch holes 143 of the guard molding 14 during assembly so that the guard molding 14 is firmly attached. And fixed between the upper cover 11 and the bumper 13. An upper side 121 having an appropriate height is formed on the periphery of the base 12, and the upper side 121 is notched at the front edge in the forward direction when the self-propelled floor cleaning robot performs the cleaning operation. A window 122 constituted by a mouth is formed, and side sides 123 having an inner diameter smaller than the upper side 121 are formed on both sides of the window 122. When the bumper 13 is assembled, it is in contact with the side 123 so that it surrounds the outside of the window 122, and the fixed joint 124 on the fixing portion 131 and the base 12 inside the two ends of the bumper 13. Is protruded to fix the fixing element.

  This will be described with reference to FIGS. The brush assembly 2 is installed on the bottom surface 125 of the base 12. It includes a main brush 21 located in the storage space 126 of the bottom surface 125 of the base 12, and a first side brush and second side brushes 22, 23 located on both sides of the main brush 21. A first pivot part 31 and a second pivot part 32 are installed on both sides of the storage space 126, respectively, and a plurality of plugs installed at appropriate intervals on one side of the storage space 126 opening. A tank 127 is installed, and the other side of the insertion tank 127 corresponds to two fitting tanks 128 installed at an appropriate interval.

  This will be described with reference to FIGS. The bottom of the storage space 126 is a bottom edge 129 that is recessed in an arc shape, and a hole 161 is provided on one side of the storage space 126 to receive, collect, and collect dust. At the opening of the storage space 126, a bottom cover 15 of a plurality of gap spaces 152 separated by a plurality of ribs 151 is provided. On one side edge of the bottom cover 15, fitting parts 153 corresponding to the insertion tanks 127 of the plurality of storage spaces 126 are installed in a row. On the other side corresponding to the fitting part 153, a hook-shaped catching part 154 having elasticity corresponding to the fitting tank 128 of the opening of the storage space 126 is installed at an appropriate distance.

  This will be described with reference to FIG. It shows the inside of the base 12, and as is clear from the figure, the bottom edge 129 of the storage space 126 is raised in the inside of the base 12, and one side is the hole in FIG. An introduction part 16 located outside 161 is fixedly installed. It is provided with a path 162 that leads to the dust collection structure D in FIG.

  This will be described with reference to FIG. The main brush 21 in the storage space 126 is driven by a drive component 3 constituted by the same motor and driven by a transmission component 33 constituted by a belt, whereby the first side brush and the second side brush 22, 23 are linked. Is done. In the interlocking method, mainly, the drive component 3 moves the transmission component 33 to rotate the first pivotal portion 31 in conjunction with it. One end of the first pivotal portion 31 is installed at one end of the main brush 21 to cause the rotating main shaft of the main brush 21 to move in a direction that rotates perpendicular to the direction of cleaning. By moving the first gear 35 above the first hub 221 of the first side brush 22 in which the first worm gear 34 is installed and engaged with the first worm gear 34, the other end of the first pivot 31 is moved. The first brush bristle portion 222 installed on the first hub 221 is caused to rotate perpendicular to the axis of the rotation main shaft, the cleaning floor, the main brush 21 rotation main shaft, and the like. The second pivotal portion 32 installed at the other end of the main brush 21 is installed on and interlocked with the second worm gear 36 so as to mesh with the second worm gear 36 and above the second hub 231 of the second side brush 23. By moving the second gear 37, the second brush bristle portion 232 installed on the second hub 231 is caused to rotate perpendicular to the rotation main shaft, the cleaning floor, and the main brush 21 rotation main shaft.

  This will be described with reference to FIG. The assembly components such as the drive component 3, the transmission component 33, the first pivotal portion 31, the first worm gear 34, and the first gear 35 need to be protected from dust, and thus are covered with the first cover 41. . The upper parts of the second pivotal portion 32, the second worm gear 36, the second gear 37 and the like are also covered with the second cover 42. In order to make the main brush 21 easy to manufacture, a main brush bristle portion 212 having a curved array is planted along the axial direction on the periphery of the shaft 211. On both sides of the shaft 211, a first fitting groove 213 and a second fitting groove 213 and 214 are installed in the radial direction, and the first fitting part on the first end element and the second end elements 215 and 216, the second fitting part, The fitting parts 217 and 218 are fitted therein, and the first end element, the second end elements 215 and 216, the first projection fitting parts, and the second projection fitting parts 219 and 220, respectively. It is fitted to the pivot part 31 and the second pivot part 32. Among these, on the second end element 216, a lifting component 24 is further installed, and the main brush 21 is tilted first by grasping the part by hand, so that the first end element 215 has a first portion. The projection fitting part 219 is fitted into the first pivot part 31, and the second projection fitting part 220 of the second end element 216 is fitted into the second pivot part 32 to complete the installation of the main brush 21. .

  This will be described with reference to FIG. The control unit B in the embodiment of the present invention mainly includes related electronic elements or CPUs on the circuit board 5 (related electronic elements and circuits are not related to the inventive features of the present invention, The circuit board 5 is composed of an arc-shaped area of a chord having an appropriate length by cutting a circular section. Appropriately, the entire structure is simple to form, has no waste, and has an arrangement in which space is fully utilized. Further, the sensor element 6 for preventing the collision is arranged on the arc edge 51 at the front end of the circuit board 5 at an appropriate interval, so that the sensor element composed of the launching device 61 and the receiving device 62 is configured. 6 are respectively installed in the first and second sections 71 and 72 by the frame 7, respectively. A partition component 73 is installed between the first and second sections 71 and 72. Above this, an upper frame edge 74 is installed, and the whole is fixed below the front arc edge 51 of the circuit board 5 by the upper frame edge 74. Below the first and second sections 71 and 72, the launching device 61 and the receiving device 62 are installed in a shape like a watermark. The front end arc edge 51 of the circuit board 5 corresponds to the rear side of the bumper 13 made of a translucent material that draws the arc by design, so that the signal of the launch device 61 of the sensor element 6 can be transmitted from the bumper 13 to the outside. , And the signal reflected and returned to the outside is transmitted to the receiving device 62 via the bumper 13 and returned. Since signal transmission of the sensor element 6 passes through the bumper 13, the window 122 formed by the chipped portion formed by the upper side 121 in FIG. 3 serves as a signal transmission work section of the sensor element 6. 6 is configured such that the width of the arrangement of the arc edge 51 falls within the range of the width of the window 122.

  In the design of the embodiment of the present invention, the sensor element does not need to be sensed by an external swinging bumper, so that the entire body structure is separated from the collision prevention structure and the sensing function, and is easy to manufacture and assemble. The noise is low. Furthermore, by adopting a drive structure in which a brush assembly composed of a main brush and a side brush is interlocked, the number of motors and the complexity of the structure are reduced. The overall cost is reduced, the structure of the entire brush assembly is simplified, and the design of the body space is simple.

As described above, the embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to these embodiments, and there are design changes and the like without departing from the gist of the present invention. However, it is included in the present invention.

A Power unit B Control unit C Driving wheel D Dust collection structure 1 Main body 11 Upper cover 111 Insertion side 12 Base 121 Upper side 122 Window 123 Side 124 Fixed joint 125 Bottom surface 126 Storage space 127 Insertion tank 128 Insertion tank 129 Bottom edge 13 Bumper 131 Fixed part 14 Guard molding 141 Collision side 142 Engagement part 143 Engagement part 15 Bottom cover 151 Rib 152 Gap space 153 Engagement part 154 Engagement part 16 Introduction part 161 Hole 162 Path 2 Brush assembly 21 Main brush 211 Shaft 212 Main brush bristle part 213 First One fitting groove 214 Second fitting groove 215 First end element 216 Second end element 217 First fitting part 218 Second fitting part 219 First projection fitting part 220 Second projection is Insertion part 22 First side brush 221 First hub 222 First brush bristle part 23 Second side brush 231 Second hub 232 Second brush bristle part 24 Lifting part 3 Drive component 31 First pivot part 32 Second pivot Contact 33 Transmission component 34 First worm gear 35 First gear 36 Second worm gear 37 Second gear 41 First cover 42 Second cover 5 Circuit board 51 Arc edge 6 Sensor element 61 Launcher 62 Receiver 7 Frame 71 First section 72 Second section 73 Partition part 74 Upper frame edge

Claims (23)

A main body having a brush assembly, a power unit, a control unit, a drive wheel and a dust collecting structure, and the power unit of the power unit and the control unit are automatically controlled so that the main body is supported by the drive wheel receiving the drive. The self-propelled function is executed, the brush assembly sweeps and moves the dust that passes when the main body moves, it is sucked and collected by the dust collection structure,
The main body includes a top cover and a bottom cover. A front edge of the main body between the top cover and the base has a bumper made of a light-transmitting material in an arc shape. A self-propelled floor cleaning robot having an arc-shaped guard molding made of a flexible material between the bumper and the upper cover at an edge.   The guard molding is exposed to the outside at the time of installation, and is installed so as to protrude from a collision side outside the upper cover. A fitting portion is installed on the inside of the collision side, and a plurality of appropriate portions are provided on the fitting portion. A long and narrow gap-like catching hole is installed, and the upper cover is fitted with a plurality of inset sides corresponding to the catching hole, which are fitted into the catching holes of the guard molding at the time of assembly. The self-propelled floor cleaning robot according to claim 1, wherein the guard molding is firmly fixed between the upper cover and the bumper.   On the periphery of the base, an upper side having an appropriate height is formed, and on the front edge portion in the forward direction when the upper side performs a cleaning operation, a window constituted by a cutout is formed. The sides of the window are respectively formed with sides whose inner diameter is smaller than the upper side, and when the bumper is assembled, both sides abut against the side so as to surround the outside of the window, and the two ends of the bumper The self-propelled floor cleaning robot according to claim 1, wherein a fixed joint protrudes from the inner fixed portion and the base to fix the fixed element.   The said brush assembly includes the main brush located in the storage space of the bottom face of a base, and the 1st side brush and the 2nd side brush which are located in the both sides of the said main brush. Self-propelled floor cleaning robot.   The self-propelled floor cleaning robot according to claim 4, wherein a first pivot part and a second pivot part are installed on both sides of the storage space.   A plurality of insertion tanks installed at appropriate intervals are installed on one side of the storage space opening, and the other side of the insertion tank is installed in two fitting tanks installed at appropriate intervals. Correspondingly, the opening portion of the storage space has a bottom cover of a plurality of gap spaces separated by a plurality of ribs, and one side edge of the bottom cover is a fitting part corresponding to the insertion tank of the plurality of storage spaces Are installed in a row, and on the other side corresponding to the fitting part, a hook-type hooking part having elasticity corresponding to the fitting tank of the storage space opening is installed at an appropriate distance. Item 5. The self-propelled floor cleaning robot according to Item 4.   The self-propelled according to claim 4, wherein the bottom of the storage space has an arc-shaped bottom edge and a hole in which dust is sucked and collected is formed on one side of the storage space. Floor cleaning robot.   The bottom edge of the storage space has a raised state inside the base, and an introduction part located outside the hole is fixedly installed on one side, which is a passage that leads to the dust collecting structure. The self-propelled floor cleaning robot according to claim 7. A main body having a brush assembly, a power unit, a control unit, a drive wheel and a dust collecting structure, and the power unit of the power unit and the control unit are automatically controlled so that the main body is supported by the drive wheel receiving the drive. The self-propelled function is executed, the brush assembly sweeps and moves the dust that passes when the main body moves, it is sucked and collected by the dust collection structure,
The brush assembly includes a main brush and a first side brush located on a side of the main brush, and the main brush is driven by a transmission component to form an interlocking type together with the first side brush. Features a self-propelled floor cleaning robot.   The self-propelled floor cleaning robot according to claim 9, wherein the side brush in the brush assembly further includes a second side brush located on the other side of the main brush.   The brush assembly moves the transmission component by a driving component to rotate the first pivot part in an interlocked manner, and one end of the first pivot part is installed at one end of the main brush. The rotation main shaft is formed to move in the direction perpendicular to the direction of cleaning, and the other end of the first pivot is interlocked with the first worm gear. By rotating the first gear above the first hub of one side brush, the first brush bristle part installed on the first hub rotates its rotation axis, cleaning floor, main brush rotation main axis, etc. The self-propelled floor cleaning robot according to claim 9.   At the other end of the main brush, a second pivot part is installed, which is installed on and interlocked with the second worm gear so that it is engaged with the second worm gear and above the second hub of the second side brush. By moving the second gear, the second brush bristle portion installed on the second hub generates a rotation perpendicular to the rotation main shaft, the cleaning floor, the main brush rotation main shaft and the like. Item 11. The self-propelled floor cleaning robot according to Item 10.   The self-propelled floor cleaning robot according to claim 11, wherein the drive component, the transmission belt, the first pivot, the first worm gear, the first gear, and the like are covered with a first cover. .   The self-propelled floor cleaning robot according to claim 12, wherein components such as the second pivotal portion, the second worm gear, and the second gear are covered with a second cover. A main body having a brush assembly, a power unit, a control unit, a drive wheel and a dust collecting structure, and the power unit of the power unit and the control unit are automatically controlled so that the main body is supported by the drive wheel receiving the drive. The self-propelled function is executed, the brush assembly sweeps and moves the dust that passes when the main body moves, it is sucked and collected by the dust collection structure,
The brush assembly includes a main brush, and a main brush bristle portion is planted in a curved arrangement along a plurality of axial directions around a shaft periphery, and first and second radial fitting grooves are provided at both ends of the shaft. By having the first and second fitting elements on the first and second end elements are fitted therein, the first and second protrusion fitting parts are installed outside the first and second end elements. A self-propelled floor cleaning robot.   The self-propelled floor cleaning robot according to claim 15, wherein a lifting component is further installed on the second end element. A main body having a brush assembly, a power unit, a control unit, a drive wheel and a dust collecting structure, and the power unit of the power unit and the control unit are automatically controlled so that the main body is supported by the drive wheel receiving the drive. The self-propelled function is executed, the brush assembly sweeps and moves the dust that passes when the main body moves, it is sucked and collected by the dust collection structure,
The control unit is a control system composed of related electronic elements on a circuit board or CPU, etc., and the circuit circuit board is composed of an arc-shaped area of a chord having an appropriate length by cutting a circular section. The self-propelled floor cleaning robot is characterized in that the structure of this shape is suitably formed in the entire structure, has no waste, and has an arrangement where the space is fully utilized.   18. The self-propelled according to claim 17, wherein the control unit is provided with a sensor element for preventing a collision, which is disposed on a front end arc edge of the circuit board at an appropriate interval. Floor cleaning robot.   The self-propelled floor cleaning robot according to claim 18, wherein the sensor element is composed of a launching device and a receiving device, and is divided and installed in a first section and a second section by a frame.   A partition part is installed between the two of the first and second sections, and an upper frame edge is installed above the partition part, so that the whole is fixed below the front edge arc edge of the circuit board by the upper frame edge. The self-propelled floor cleaning robot according to claim 19.   The self-propelled floor cleaning robot according to claim 19, wherein the lower portion of the first and second sections has a shape like an openwork. A main body having a brush assembly, a power unit, a control unit, a drive wheel and a dust collecting structure, and the power unit of the power unit and the control unit are automatically controlled so that the main body is supported by the drive wheel receiving the drive. The self-propelled function is executed, the brush assembly sweeps and moves the dust that passes when the main body moves, it is sucked and collected by the dust collection structure,
The main body includes an upper cover and a base, and the front edge of the main body between the upper cover and the base has an arcuate bumper made of a light-transmitting material, and the control unit is related to the circuit board. In addition, the sensor element is installed, and the front end of the circuit board corresponds to the rear of the bumper, and the control unit emits the signal of the sensor element launcher to the outside via the bumper. The self-propelled floor-cleaning robot is characterized in that a signal transmitted back to the outside and reflected back from the outside returns to the receiving device of the sensor element through the bumper.   On the periphery of the base, an upper side having an appropriate height is formed, and the upper side is formed with a window formed by a cutout in a front edge portion in a forward direction during cleaning, 23. The self-propelled according to claim 22, wherein the transmission of the signal of the sensor element is performed through the window, and the width of the arrangement of each sensor element on the circuit board is within the range of the width of the window. Floor cleaning robot.

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