Patent Publication Number: US-2023136162-A1

Title: Robotic dust collector

Description:
FIELD 
     The present invention relates to a robotic dust collector. 
     BACKGROUND 
     In the technical field pertaining to robotic dust collectors, robotic dust collectors such as one disclosed in Patent Literature 1 are known. The robotic dust collector includes a suction inlet facing a cleaning target surface. The robotic dust collector collects dirt and dust while autonomously traveling on a cleaning target surface. 
     CITATION LIST 
     Patent Literature 
     Patent Literature 1: Korean Registered Patent No. 10-1352287 
     SUMMARY 
     Technical Problem 
     The robotic dust collector has a blade part that guides dirt and dust into the suction inlet. The robotic dust collector cleans cleaning target surfaces with different surface conditions, such as floor or carpet surfaces. Depending on the surface condition of the cleaning target surface, the blade part may come into contact with the cleaning target surface while the robotic dust collector autonomously travels. When the blade part moves in contact with the cleaning target surface, the blade part may vibrate. Noise may occur from the robotic dust collector due to the vibration of the blade part. 
     The present disclosure has an object to prevent abnormal noise from occurring. 
     Solution to Problem 
     According the present disclosure, there is provided a robotic dust collector that includes a suction member having a suction inlet and travels on a cleaning target surface. The robotic dust collector includes a guide member, a support part, and a biasing member. The guide member is disposed at the suction inlet and has a blade part facing the cleaning target surface. The support part supports the guide member in such a manner that allows the guide member to pivot about a pivot axis so as to allow the blade part to move in an up-down direction. The biasing member is configured to exert biasing force on at least a part of the blade part. 
     Advantageous Effects of Invention 
     According to the present disclosure, abnormal noise is prevented from occurring. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a perspective view of a robotic dust collector according to an embodiment. 
         FIG.  2    is a top view of the robotic dust collector according to the embodiment. 
         FIG.  3    is a bottom view of the robotic dust collector according to the embodiment. 
         FIG.  4    is a side view of the robotic dust collector according to the embodiment. 
         FIG.  5    is a sectional view of the robotic dust collector according to the embodiment. 
         FIG.  6    is a block diagram of the robotic dust collector according to the embodiment. 
         FIG.  7    is a perspective front view of a bottom plate and a guide member according to the embodiment. 
         FIG.  8    is a perspective rear view of the bottom plate and the guide member according to the embodiment. 
         FIG.  9    is a perspective bottom view of the bottom plate and the guide member according to the embodiment. 
         FIG.  10    is a side view of the bottom plate and the guide member according to the embodiment. 
         FIG.  11    is an exploded perspective front view of the bottom plate and the guide member according to the embodiment. 
         FIG.  12    is an exploded perspective rear view of the bottom plate and the guide member according to the embodiment. 
         FIG.  13    is a sectional view of the bottom plate and the guide member according to the embodiment. 
         FIG.  14    is a sectional view of the bottom plate and the guide member according to the embodiment. 
         FIG.  15    is a sectional view of the bottom plate and the guide member according to the embodiment. 
         FIG.  16    is a side view of a blade part according to the embodiment. 
         FIG.  17    illustrates operation of a biasing member according to the embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     An embodiment of the present disclosure is described below with reference to the drawings. However, the present disclosure is not limited to the embodiment. The components of the embodiment described below can be combined as appropriate. In addition, some of the components may not be used. 
     In the embodiment, positional relations among components are described using the terms “left”, “right”, “front”, “rear”, “up”, and “down”. These terms refer to relative positions or directions with respect to the center of a robotic dust collector  1 . 
     Robotic Dust Collector 
       FIG.  1    is a perspective view of the robotic dust collector  1  according to the embodiment.  FIG.  2    is a top view of the robotic dust collector  1  according to the embodiment.  FIG.  3    is a bottom view of the robotic dust collector  1  according to the embodiment.  FIG.  4    is a side sectional view of the robotic dust collector  1  according to the present embodiment.  FIG.  5    is a sectional view of the robotic dust collector  1  according to the present embodiment.  FIG.  6    is a block diagram of the robotic dust collector  1  according to the embodiment. 
     The robotic dust collector  1  collects dirt and dust while autonomously traveling on a cleaning target surface FL. As illustrated in  FIGS.  1  to  6   , the robotic dust collector  1  includes a body  2 , a bumper  3 , battery mounting parts  4 , a fan unit  5 , a dust box  6 , casters  7 , a roller  8 , a traveling device  12 , a main brush  13 , a main brush motor  14 , a guide member  30 , side brushes  15 , side brush motors  16 , a handle  17 , obstacle sensors  19 , an interface device  20 , and a controller  100 . 
     The body  2  has a top face  2 A, a bottom face  2 B facing the cleaning target surface FL, and a side face  2 C that connects the edge of the top face  2 A and the edge of the bottom face  2 B. In a plane parallel to the top face  2 A, the external shape of the body  2  is substantially circular. 
     The body  2  includes a housing  11  having an internal space. The housing  11  includes: an upper housing  11 A; a lower housing  11 B disposed below the upper housing  11 A and connected to the upper housing  11 A; a cover plate  11 C detachably mounted on the upper housing  11 A; and a bottom plate  11 D attached to the lower housing  11 B. The top face  2 A is disposed on the upper housing  11 A and the cover plate  11 C. The bottom face  2 B is disposed on the lower housing  11 B and the bottom plate  11 D. 
     The body  2  has a suction inlet  18  in the bottom face  2 B. The suction inlet  18  is provided in the bottom plate  11 D. The suction inlet  18  sucks dirt and dust on the cleaning target surface FL. The bottom plate  11 D is a suction member having the suction inlet  18 . The suction inlet  18  faces the cleaning target surface FL. The suction inlet  18  is provided in a front portion of the bottom face  2 B. The suction inlet  18  has a rectangular shape elongated in a left-right direction. In the left-right direction, the center of the suction inlet  18  coincides with the center of the body  2 . The center of the suction inlet  18  does not necessarily coincides with the center of the body  2 . 
     The bumper  3  can move while facing at least a part of the side face  2 C. The bumper  3  is movably supported by the body  2 . The bumper  3  faces a front portion of the side face  2 C. Upon colliding with an object present around the robotic dust collector  1 , the bumper  3  moves relative to the body  2 , thereby absorbing an impact that acts on the body  2 . 
     The battery mounting parts  4  support batteries BT. The batteries BT are mounted on the battery mounting parts  4 . The battery mounting parts  4  are provided on at least parts of the outer surface of the body  2 . Recesses are provided in a rear portion of the upper housing  11 A. The battery mounting parts  4  are provided inside the respective recesses in the upper housing  11 A. Two such battery mounting parts  4  in total are provided. 
     The batteries BT mounted on the battery mounting parts  4  supply electric power to an electric or electronic device mounted on the robotic dust collector  1 . The battery BT is a general-purpose battery that can be used as a power source for various electric devices. The battery BT can be used as a power source for power tools. The battery BT can be used as a power source for an electric device other than power tools. The battery BT can be used as a power source for a dust collector other than the robotic dust collector  1  according to the embodiment. Examples of the battery BT include a lithium-ion battery. The battery BT is a rechargeable battery that can be recharged. The battery mounting part  4  has a structure that is equivalent to the structure of a battery mounting part of a power tool. 
     A user of the robotic dust collector  1  can perform, in a space outside of the housing  11 , work of mounting the batteries BT on the battery mounting parts  4  and removing the batteries BT from the battery mounting parts  4 . The battery mounting part  4  includes a guide member that guides the battery BT to be mounted thereon, and body-side terminals that are connected to battery-side terminals provided to the battery BT. The user can mount the battery BT on the battery mounting part  4  by inserting the battery BT from above into the battery mounting part  4 . The battery BT is inserted into the battery mounting part  4  by being guided by the guide member. With the battery BT mounted on the battery mounting part  4 , the battery-side terminals of the battery BT are electrically connected to the respective body-side terminals of the battery mounting part  4 . The user of the robotic dust collector  1  can remove the battery BT from the battery mounting part  4  by moving the battery BT upward. 
     The fan unit  5  is accommodated in the body  2 . The fan unit  5  generates, at the suction inlet  18 , suction power for sucking dirt and dust. The fan unit  5  is disposed in an internal space of the housing  11 . The fan unit  5  is disposed between the two battery mounting parts  4  in a rear portion of the body  2 . The fan unit  5  is connected to the suction inlet  18  via the dust box  6 . The fan unit  5  generates, via the dust box  6 , suction power for sucking dirt and dust at the suction inlet  18 . 
     As illustrated in  FIG.  5   , the fan unit  5  includes: a casing  5 A disposed in the internal space of the housing  11 ; a suction fan  5 B provided inside the casing  5 A; and a suction motor  5 C that generates motive power to rotate the suction fan  5 B. The casing  5 A includes: an air inlet  5 D connected to the dust box  6 ; and an air outlet  5 E. 
     The suction motor  5 C is driven by electric power supplied from the batteries BT. When the suction fan  5 B rotates with the suction motor  5 C driven, airflow is generated from the air inlet  5 D toward the air outlet  5 E. The air inlet  5 D is connected to the suction inlet  18  via the dust box  6 . When the suction fan  5 B rotates, airflow is generated from the suction inlet  18  toward the air outlet  5 E. As a result, the suction power is generated at the suction inlet  18 . 
     The dust box  6  is accommodated in the body  2 . The dust box  6  stores therein dirt and dust sucked through the suction inlet  18 . The dust box  6  is disposed in the internal space of the housing  11 . The dust box  6  is disposed between the suction inlet  18  and the fan unit  5 . The dust box  6  collects and stores therein dirt and dust sucked through the suction inlet  18 . 
     As illustrated in  FIG.  5   , the dust box  6  includes: a body member  6 A; a tray member  6 B disposed in an upper end of the body member  6 A; and an upper plate member  6 C disposed in an upper end of the tray member  6 B. An opening is provided in the upper end of the body member  6 A. The tray member  6 B is disposed so as to close the opening in the upper end of the body member  6 A. An opening is provided in the upper end of the tray member  6 B. The upper plate member  6 C is disposed so as to close the opening in the upper end of the tray member  6 B. 
     The dust box  6  internally includes a storage space S. Dirt and dust from the suction inlet  18  are stored in the storage space S inside the dust box  6 . The storage space S includes: a lower storage space S 1  defined as a space between the body member  6 A and the tray member  6 B; and an upper storage space S 2  defined as a space between the tray member  6 B and the upper plate member  6 C. 
     The dust box  6  includes: a lower collection port  6 D connected to the lower storage space S 1  and configured to collect dirt and dust from the suction inlet  18 ; an upper collection port  6 E connected to the upper storage space S 2  and configured to collect dirt and dust from the suction inlet  18 ; and an air outlet  6 F connected to the upper storage space S 2  and configured to discharge air from the upper storage space S 2 . 
     The lower collection port  6 D is provided in a front portion of the body member  6 A. The upper collection port  6 E is provided above the lower collection port  6 D. The upper collection port  6 E is provided in a front portion of the tray member  6 B. The air outlet  6 F is disposed more rearward than the lower collection port  6 D and the upper collection port  6 E. The air outlet  6 F is provided in a rear portion of the tray member  6 B. The lower storage space S 1  is connected to the suction inlet  18  via the lower collection port  6 D. The upper storage space S 2  is connected to the suction inlet  18  via the upper collection port  6 E. The air outlet  6 F is connected to the air inlet  5 D of the fan unit  5 . The fan unit  5  is connected to the suction inlet  18  via the air outlet  6 F and the upper storage space S 2 . A filter  6 G that traps dirt and dust is disposed between the air outlet  6 F and the upper storage space S 2 . 
     The cover plate  11 C is detachably mounted on the upper housing  11 A. The cover plate  11 C is disposed so as to close an opening provided in the upper housing  11 A. The user of the robotic dust collector  1  can take out the dust box  6  from the internal space of the housing  11  via the opening in the upper housing  11 A. The user of the robotic dust collector  1  can place the dust box  6  into the internal space of the housing  11  via the opening in the upper housing  11 A. 
     The casters  7  and the roller  8  individually support the body  2  in such a manner that the body  2  can move. The casters  7  and the roller  8  are individually rotatably supported by the body  2 . Two such casters  7  in total are provided in a rear portion of the bottom face  2 B. One of the casters  7  is provided in a left portion of the body  2 . The other caster  7  is provided in a right portion of the body  2 . One such roller  8  in total is provided in the front portion of the bottom face  2 B. 
     The traveling device  12  travels on the cleaning target surface FL in such a manner that the body  2 , including the bottom plate  11 D, moves in at least one of the frontward and rearward directions. The traveling of the traveling device  12  moves the body  2  in at least one of the frontward and rearward directions. The traveling device  12  includes wheels  9  and wheel motors  10 . 
     The wheels  9  support the body  2  in such a manner that the body  2  can move. The wheels  9  rotate about a rotation axis AX. The rotation axis AX extends in the left-right direction. At least a part of each of the wheels  9  projects downward from the bottom face  2 B. With the wheels  9  placed on the cleaning target surface FL, the bottom face  2 B of the body  2  faces the cleaning target surface FL with a gap therebetween. Two such wheels  9  in total are provided. One of the wheels  9  is provided in the left portion of the body  2 . The other wheel  9  is provided in the right portion of the body  2 . 
     The wheel motors  10  generate motive power to rotate the wheels  9 . The wheel motors  10  are driven by electric power supplied from the batteries BT. The wheel motors  10  are disposed in the internal space of the housing  11 . Two such wheel motors  10  in total are provided. One of the wheel motors  10  generates motive power to rotate the wheel  9  provided in the left portion of the body  2 . The other wheel motor  10  generates motive power to rotate the wheel  9  provided in the right portion of the body  2 . When the wheels  9  rotate, the robotic dust collector  1  autonomously travels. 
     The wheel motors  10  are capable of changing the rotating direction of the wheels  9 . When the wheels  9  rotate in a first direction, the robotic dust collector  1  moves frontward. When the wheels  9  rotate in a direction opposite to the first direction, the robotic dust collector  1  moves backward. The two wheel motors  10  are capable of being driven with different amounts of driving force. The robotic dust collector  1  turns when the two wheel motors  10  are driven by different amounts of driving force. 
     The main brush  13  is disposed in the suction inlet  18 . The main brush  13  faces the cleaning target surface FL. The main brush  13  is elongated in the left-right direction. The main brush  13  rotates about a rotation axis MX. The rotation axis MX extends in the left-right direction. The main brush  13  includes: a rod member  13 R extending in the left-right direction; and a plurality of brushes  13 B connected to the outer surface of the rod member  13 R. A left end and a right end of the rod member  13 R are individually rotatably supported by the body  2 . The rod member  13 R is supported by the body  2  in such a manner that at least parts of the brushes  13 B project below the bottom face  2 B. With the wheels  9  placed on the cleaning target surface FL, at least a part of the main brush  13  makes contact with the cleaning target surface FL. 
     The main brush motor  14  generates motive power to rotate the main brush  13 . The main brush motor  14  is driven by electric power supplied from the batteries BT. The main brush motor  14  is disposed in the internal space of the housing  11 . When the main brush motor  14  is driven, the main brush  13  rotates. When the main brush  13  rotates, dirt and dust present on the cleaning target surface FL are gathered up and sucked in through the suction inlet  18 . 
     The guide member  30  guides dirt and dust present on the cleaning target surface FL toward the suction inlet  18 . At least a part of the guide member  30  is disposed in the suction inlet  18 . At least a part of the guide member  30  is disposed more rearward than the rotation axis MX of the main brush  13 . At least a part of the guide member  30  faces the cleaning target surface FL. The guide member  30  traps at least a part of dirt and dust gathered up by the main brush  13 . The guide member  30  prevents dirt and dust gathered up by the main brush  13  from moving rearward from the suction inlet  18 . At least a part of dirt and dust gathered up by the main brush  13  is trapped by the guide member  30  and sucked in through the suction inlet  18 . 
     The side brushes  15  are disposed in the front portion of the bottom face  2 B. The side brushes  15  face the cleaning target surface FL. At least a part of the side brush  15  is disposed more frontward than the body  2 . Two such side brushes  15  in total are provided. One of the side brushes  15  is provided to the left of the suction inlet  18 . The other side brush  15  is provided to the right of the suction inlet  18 . The side brush  15  includes a disk member  15 D and a plurality of brushes  15 B radially connected to the disk member  15 D. The disk member  15 D is rotatably supported by the body  2 . The disk member  15 D is supported by the body  2  in such a manner that at least a part of the brushes  15 B projects outside of the side face  2 C. With the wheels  9  placed on the cleaning target surface FL, at least a part of the side brush  15  makes contact with the cleaning target surface FL. 
     The side brush motors  16  generate motive power to rotate the side brushes  15 . The side brush motors  16  are driven by electric power supplied from the batteries BT. The side brush motors  16  are disposed in the internal space of the housing  11 . When the side brush motors  16  are driven, the side brushes  15  rotate. When the side brushes  15  rotate, dirt and dust present on the cleaning target surface FL in an area surrounding the body  2  move to the suction inlet  18 . 
     The handle  17  is provided in a front portion of the upper housing  11 A. One end and the other end of the handle  17  are turnably coupled to the upper housing  11 A. The user of the robotic dust collector  1  can lift the robotic dust collector  1  by gripping the handle  17 . The user of the robotic dust collector  1  can carry the robotic dust collector  1 . 
     The interface device  20  is disposed in a rear portion of the cover plate  11 C. The interface device  20  includes a plurality of operation parts and a plurality of indicators that are to be operated by the user of the robotic dust collector  1 . A power button  20 A is exemplified as one of the operation parts of the interface device  20 . Remaining power indicators  20 B for the batteries BT are exemplified as the indicators of the interface device  20 . 
     The obstacle sensor  19  detects, in a non-contact manner, an object present in at least a part of an area surrounding the robotic dust collector  1 . The obstacle sensor  19  includes an ultrasonic sensor that detects objects by emitting ultrasonic waves. A plurality of such obstacle sensors  19  in total are provided at intervals on the side face  2 C of the body  2 . Based on detection data from the obstacle sensors  19 , the controller  100  controls the wheel motors  10  to change the traveling direction of the traveling device  12  or stop traveling thereof so that the body  2  or the bumper  3  can avoid making contact with the object. The controller  100  may change the traveling direction of the traveling device  12  or stop traveling thereof after the body  2  or the bumper  3  makes contact with the object. 
     Bottom Plate and Guide Member 
       FIG.  7    is a perspective front view of the bottom plate  11 D and the guide member  30  according to the embodiment.  FIG.  8    is a perspective rear view of the bottom plate  11 D and the guide member  30  according to the embodiment.  FIG.  9    is a perspective bottom view of the bottom plate  11 D and the guide member  30  according to the embodiment.  FIG.  10    is a side view of the bottom plate  11 D and the guide member  30  according to the embodiment. 
     The robotic dust collector  1  includes: the bottom plate  11 D having the suction inlet  18 ; the guide member  30  that guides dirt and dust present on the cleaning target surface FL toward the suction inlet  18 ; support parts  40  that support the guide member  30  in such a manner that allows the guide member  30  to pivot about a pivot axis CX; and rollers  50  rotatably supported by the guide member  30  about a rotation axis RX. 
     The pivot axis CX of the guide member  30  extends in the left-right direction. In the embodiment, both ends of the guide member  30  in the left-right direction are supported by the support parts  40 . The rotation axis RX of the rollers  50  extends in the left-right direction. 
     The bottom plate  11 D is a suction member having the suction inlet  18 . The suction inlet  18  includes an opening formed in a central portion of the bottom plate  11 D. 
     At least a part of the guide member  30  is disposed in the suction inlet  18 . The guide member  30  has: a blade part  31  disposed at the suction inlet  18  and facing the cleaning target surface FL; arm parts  32  extending frontward from the blade part  31 ; and joint parts  33  that are connected to respective front ends of the arm parts  32 . 
     The blade part  31  has a plate-like shape elongated in the left-right direction. In a front-rear direction, the blade part  31  is disposed more rearward than the center of the suction inlet  18 . In the embodiment, at least a part of the blade part  31  is disposed at a rear end of the suction inlet  18 . The blade part  31  has a body part  311 , a flexible part  312  supported by the body part  311 , and rib parts  313  connected to at least parts of the flexible part  312 . 
     The body part  311  is made of synthetic resin such as polycarbonate. The body part  311  is a plate-like member at an upper part of the blade part  31 . 
     The flexible part  312  is flexible. The flexible part  312  is elastically deformable. The flexible part  312  is made of rubber. The flexible part  312  may be made of synthetic resin such as polyvinyl chloride (PVC). The flexible part  312  is a plate-like member at a lower part of the blade part  31 . 
     The rib parts  313  are made of synthetic resin such as polycarbonate. A plurality of such rib parts  313  are disposed at intervals in the left-right direction. In the embodiment, gaps are formed in parts of the flexible part  312 . A plurality of such gaps are formed side by side in the left-right direction. The rib parts  313  are disposed in the gaps in the flexible part  312 . The rib parts  313  are connected to the flexible part  312 . 
     The rib parts  313  are connected to a lower end of the body part  311 . In the embodiment, the rib parts  313  are integral with the body part  311 . The rib parts  313  project downward from the lower end of the body part  311 . The rib parts  313  may be separate bodies from the body part  311 . 
     The blade part  31  has an upper end  31 A, a lower end  31 B, a left end  31 L, and a right end  31 R. The upper end  31 A includes an upper end of the body part  311 . The lower end  31 B includes a lower end  312 B of the flexible part  312  and lower ends  313 B of the rib parts  313 . The left end  31 L includes a left end of the body part  311  and a left end of the flexible part  312 . The right end  31 R includes a right end of the body part  311  and a right end of the flexible part  312 . 
     The lower end  31 B of the blade part  31  faces the cleaning target surface FL. The robotic dust collector  1  travels autonomously with the lower end  31 B of the blade part  31  facing the cleaning target surface FL. The robotic dust collector  1  travels frontward with the lower end  31 B of the blade part  31  facing the cleaning target surface FL. That is, the bottom plate  11 D and the guide member  30  move frontward during cleaning operation on the cleaning target surface FL. A surface of the blade part  31  slopes downward toward the front. That is, the surface of the blade part  31  slopes downward toward the traveling direction of the robotic dust collector  1 . 
     In the embodiment, the lower ends  313 B of the rib parts  313  are disposed more downward than the lower end  312 B of the flexible part  312 . That is, the lower ends  313 B of the rib parts  313  project more downward than the lower end  312 B of the flexible part  312 . 
     The arm parts  32  are made of synthetic resin such as polycarbonate. In the embodiment, the arm parts  32  are integral with the body part  311 . The arm parts  32  may be separate bodies from the body part  311 . The arm parts  32  include: a left arm part  32 L extending frontward from the left end  31 L of the blade part  31 ; and a right arm part  32 R extending frontward from the right end  31 R of the blade part  31 . The left arm part  32 L is disposed at a left end of the suction inlet  18 . The right arm part  32 R is disposed at a right end of the suction inlet  18 . 
     The joint parts  33  are disposed more frontward than the blade part  31 . In the embodiment, the joint parts  33  are disposed more frontward than the suction inlet  18 . The joint parts  33  are each substantially cylindrical. The joint part  33  is elongated in left-right direction. The joint part  33  is made of synthetic resin such as polycarbonate. In the embodiment, the joint parts  33  are integral with the respective arm parts  32 . The joint parts  33  may be separate bodies from the arm parts  32 . The joint parts  33  include: a left joint part  33 L connected to a front end of the left arm part  32 L; and a right joint part  33 R connected to a front end of the right arm part  32 R. The left joint part  33 L extends rightward from the front end of the left arm part  32 L. The right joint part  33 R extends leftward from the front end of the right arm part  32 R. 
     The support parts  40  support the guide member  30  in such a manner that allows the guide member  30  to pivot about the pivot axis CX so as to allow the blade part  31  to move in an up-down direction. In the embodiment, the support parts  40  are provided to the bottom plate  11 D. The support parts  40  are disposed more frontward than the rear end of the suction inlet  18 . In the embodiment, the support parts  40  are disposed more frontward than the suction inlet  18 . 
     In the embodiment, the support parts  40  support the joint parts  33  in such a manner that allows the joint parts  33  to pivot. The joint parts  33  include the pivot axis CX of the guide member  30 . The joint parts  33  are supported by the support parts  40  in such a manner as to be pivotable about the pivot axis CX. The pivot axis CX of the guide member  30  is disposed more frontward than the blade part  31 . In the embodiment, the pivot axis CX of the guide member  30  is disposed more frontward than the suction inlet  18 . 
     The support parts  40  include recesses configured to accommodate at least parts of the respective joint parts  33 . The support parts  40  include: a left support part  40 L that supports the left joint part  33 L; and a right support part  40 R that supports the right joint part  33 R. The left support part  40 L is disposed frontward of a left portion of a front end of the suction inlet  18 . The right support part  40 R is disposed frontward of a right portion of the front end of the suction inlet  18 . 
     The rollers  50  are rotatably supported by the respective arm parts  32 . The rollers  50  include: a left roller  50 L rotatably supported by the left arm part  32 L; and a right roller  50 R rotatably supported by the right arm part  32 R. The left roller  50 L is disposed more leftward than the left arm part  32 L. The right roller  50 R is disposed more rightward of the right arm part  32 R. The left arm part  32 L has a shaft part  32 LS supporting the left roller  50 L in such a manner that allows the left roller  50 L to rotate. The shaft part  32 LS projects leftward from a left face of the left arm part  32 L. The right arm part  32 R has a shaft part  32 RS supporting the right roller  50 R in such a manner that allows the right roller  50 R to rotate. The shaft part  32 RS projects rightward from a right face of the right arm part  32 R. 
     As illustrated in  FIG.  10   , the lower ends  50 B of the rollers  50  are disposed more downward than the lower ends  32 B of the arm parts  32 . That is, with the bottom face  2 B placed parallel to a horizontal plane, the lower ends  50 B of the rollers  50  project more downward than the lower ends  32 B of the arm parts  32 . For example, when the casters  7 , the roller  8 , and the wheels  9  are all in contact with the cleaning target surface FL that is horizontal and flat, the distance between the lower end  50 B of each of the rollers  50  and the cleaning target surface FL is shorter than the distance between the lower end  32 B of each of the arm parts  32  and the cleaning target surface FL. 
     In the up-down direction, the positions of the lower ends  313 B of the rib parts  313  are substantially the same as the position of the lower end  32 B of the arm part  32 . That is, with the bottom face  2 B placed parallel to a horizontal plane, the lower ends  313 B of the rib parts  313  are substantially as high as the lower end  32 B of the arm part  32 . For example, when the casters  7 , the roller  8 , and the wheels  9  are all in contact with the cleaning target surface FL that is horizontal and flat, the distance between the lower end  313 B of each of the rib parts  313  and the cleaning target surface FL is equal to the distance between the lower end  32 B of the arm part  32  and the cleaning target surface FL. 
     The lower ends  50 B of the rollers  50  are disposed more downward than the lower ends  313 B of the rib parts  313  and the lower ends  32 B of the arm parts  32 . That is, with the bottom face  2 B placed parallel to a horizontal plane, the lower ends  50 B of the rollers  50  project more downward than the lower ends  313 B of the rib parts  313  and the lower ends  32 B of the arm parts  32 . 
     The lower ends  313 B of the rib parts  313  and the lower ends  32 B of the arm parts  32  are disposed more downward than the lower end  312 B of the flexible part  312 . That is, with the bottom face  2 B placed parallel to a horizontal plane, the lower ends  313 B of the rib parts  313  and the lower ends  32 B of the arm parts  32  project more downward than the lower end  312 B of the flexible part  312 . 
     That is, with the bottom face  2 B placed parallel to a horizontal plane, the lower end  31 B of the blade part  31  is disposed more upward than the lower ends  50 B of the rollers  50 . For example, when the casters  7 , the roller  8 , and the wheels  9  are all in contact with the cleaning target surface FL that is horizontal and flat, the lower ends  50 B of the rollers  50  make contact with the cleaning target surface FL while the lower end  31 B of the blade part  31  does not make contact with the cleaning target surface FL. When the blade part  31  moves in contact with the cleaning target surface FL while the robotic dust collector  1  autonomously travels, the blade part  31  may vibrate. When the blade part  31  vibrates, noise may occur from the robotic dust collector  1 . In the embodiment, the blade part  31  does not make contact with the cleaning target surface FL, whereby noise is prevented from occurring from the robotic dust collector  1 . 
       FIG.  11    is an exploded perspective front view of the bottom plate  11 D and the guide member  30  according to the embodiment.  FIG.  12    is an exploded perspective rear view of the bottom plate  11 D and the guide member  30  according to the embodiment.  FIGS.  13  to  15    are sectional views of the bottom plate and the guide member according to the embodiment.  FIG.  13    corresponds to a section taken along the A-A line of  FIG.  8   .  FIG.  14    corresponds to a section taken along the B-B line of  FIG.  8   .  FIG.  15    corresponds to a section taken along the C-C line of  FIG.  8   . 
     The robotic dust collector  1  includes: a fixing member  60  disposed rearward of the blade part  31  and fixed to the bottom plate  11 D; a biasing member  70  configured to exert biasing force on at least a part of the blade part  31 ; and elastic members  80  configured to bias the blade part  31  downward. 
     The fixing member  60  has a plate-like shape elongated in the left-right direction. The fixing member  60  is made of synthetic resin such as polycarbonate. The fixing member  60  is detachable from the bottom plate  11 D. The fixing member  60  is disposed upward of a rear portion of the bottom plate  11 D. 
     The fixing member  60  is fixed to the rear portion of the bottom plate  11 D with two screws  90 . The fixing member  60  has openings  61  in which respective shaft parts of the screws  90  are disposed. The bottom plate  11 D has screw holes  91  that are coupled to the screws  90 . A threaded groove that engages with the thread of the screw  90  is formed on the inner surface of each of the screw holes  91 . 
     The biasing member  70  exerts biasing force on the surface of the blade part  31  so as to prevent deformation of the blade part  31  caused by making contact with the cleaning target surface FL. As described above, the lower end  31 B of the blade part  31  is disposed more upward than the lower ends  50 B of the rollers  50 . When the cleaning target surface FL is a flat surface (even surface) such as a floor, the blade part  31  does not make contact with the cleaning target surface FL. In contrast, depending on the surface condition of the cleaning target surface FL, the blade part  31  may make contact with the cleaning target surface FL while the robotic dust collector  1  autonomously travels. For example, when the cleaning target surface FL is an irregular surface (uneven surface) such as a carpet surface, the blade part  31  may make contact with the cleaning target surface FL. When the blade part  31  moves in contact with the cleaning target surface FL while the robotic dust collector  1  autonomously travels, the blade part  31  may be deformed. When the blade part  31  is deformed, abnormal noise may occur from the robotic dust collector  1 . In the embodiment, the biasing member  70  exerts biasing force on the surface of the blade part  31  so as to prevent the blade part  31  from being deformed while the robotic dust collector  1  travels with the lower end  31 B of the blade part  31  and the cleaning target surface FL in contact with each other. 
     The biasing member  70  is disposed rearward of the blade part  31 . The biasing member  70  exerts biasing force on the rear surface of the blade part  31 . The biasing member  70  exerts biasing force on the blade part  31  toward the front. 
     The biasing member  70  is provided on the fixing member  60 . In the embodiment, the biasing member  70  is integral with the fixing member  60 . The biasing member  70  is made of synthetic resin such as polycarbonate. 
     In the left-right direction, the biasing member  70  is disposed at a central portion of the fixing member  60 . The biasing member  70  includes: a first extending part  71  extending in the up-down direction; a second extending part  72  disposed more frontward than the first extending part  71  and configured to make contact with the rear surface of the blade part  31 ; and a bent part  73  connecting the lower end of the first extending part  71  and the lower end of the second extending part  72 . An upper end of the first extending part  71  is connected to the fixing member  60 . The upper end of the first extending part  71  is apart from an upper end of the second extending part  72 . The biasing member  70  can be elastically deformed in such a manner as to bring the upper end of the first extending part  71  and the upper end of the second extending part  72  close to and apart from each other. 
     The both ends of the blade part  31  in the left-right direction are supported by the support parts  40  via the arm parts  32  and the joint parts  33 . The biasing member  70  exerts biasing force on the central portion of the blade part  31  in the left-right direction. 
     The elastic members  80  generate elastic force that biases the lower end  31 B of the blade part  31  downward. The lower end  31 B of the blade part  31  is biased toward the cleaning target surface FL by the elastic force of the elastic members  80 . 
     The elastic members  80  are coil springs. In the embodiment, two such elastic members  80  are disposed side by side in the left-right direction. 
     The elastic members  80  are disposed between the fixing member  60  and the blade part  31 . In the embodiment, the blade part  31  has projections  314  projecting rearward from the rear surface of the blade part  31 . Recesses  315  are formed on respective top faces of the projections  314 . Lower ends of the elastic members  80  are supported by the respective recesses  315 . The projections  314  of the blade part  31  support the lower ends of the elastic members  80 . The fixing member  60  has recesses  62  in which respective upper ends of the elastic members  80  are disposed. The fixing member  60  supports the upper ends of the elastic members  80 . 
     The elastic members  80 , in a compressed state, are positioned between the fixing member  60  and the projections  314  of the blade part  31 . The elastic members  80  exert downward elastic force on the projections  314 . With the downward elastic force exerted on the projections  314 , the lower end  31 B of the blade part  31  is biased toward the cleaning target surface FL. 
       FIG.  16    is a side view of the blade part  31  according to the embodiment. As illustrated in  FIG.  16   , a lower face  32 S of each of the arm parts  32  between the lower end  32 B of the corresponding arm part  32  and the corresponding joint part  33  is curved downward. In a plane orthogonal to the rotation axis RX, the lower face  32 S is arc-like. 
     Operation 
     Next, operation of the robotic dust collector  1  are described. With the wheels  9  making contact with the cleaning target surface FL, the main brush  13  and the side brushes  15  make contact with the cleaning target surface FL. Electric power output from the batteries BT is supplied to the wheel motors  10 , the suction motor  5 C, the main brush motor  14 , and the side brush motors  16 . 
     When the wheels  9  rotate by having electric power supplied to the wheel motors  10  from the batteries BT with the wheels  9  making contact with the cleaning target surface FL, the robotic dust collector  1  autonomously travels on the cleaning target surface FL. 
     When the suction fan  5 B rotates with electric power supplied to the suction motor  5 C from the batteries BT, airflow from the air inlet  5 D toward the air outlet  5 E is generated. The air inlet  5 D is connected to the suction inlet  18  via the upper storage space S 2  of the dust box  6 . Thus, when the suction fan  5 B rotates, airflow from the suction inlet  18  toward the air outlet  5 E via the upper storage space S 2  is generated. As a result, suction power for sucking dirt and dust is generated at the suction inlet  18 . 
     When the main brush  13  rotates with electric power supplied to the main brush motor  14  from the batteries BT, dirt and dust on the cleaning target surface FL is gathered up by the main brush  13 . The suction inlet  18  sucks up at least a part of dirt and dust gathered up by the main brush  13 . 
     When the side brushes  15  rotate with electric power supplied to the side brush motors  16  from the batteries BT, the side brushes  15  cause dirt and dust present on the cleaning target surface FL in an area surrounding the body  2  to move to the suction inlet  18 . The suction inlet  18  sucks at least a part of dirt and dust caused by the side brushes  15  to move to the suction inlet  18  and gathered up by the main brush  13 . 
     Relatively small or relatively light particles of dirt and dust present on the cleaning target surface FL are sent into the upper storage space S 2  via the upper collection port  6 E after being sucked through the suction inlet  18 . The dirt and dust are stored in the upper storage space S 2 . The filter  6 G is provided between the upper storage space S 2  and the air outlet  6 F. Thus, dirt and dust sent into the upper storage space S 2  via the upper collection port  6 E are trapped by the filter  6 G and stay in the upper storage space S 2 . Air sucked through the suction inlet  18  is sent to the fan unit  5  via the air outlet  6 F after passing the filter  6 G. Air sent to the fan unit  5  is discharged from the air outlet  5 E. 
     Relatively large or relatively heavy particles of dirt and dust present on the cleaning target surface FL are gathered up by the main brush  13  and then sent into the lower storage space S 1  via the lower collection port  6 D. The dirt and dust are stored in the lower storage space S 1 . 
     As illustrated in  FIGS.  13  and  14   , in cleaning operation on the cleaning target surface FL, the traveling device  12  moves the body  2 , including the bottom plate  11 D, frontward. In cleaning operation on the cleaning target surface FL, the bottom plate  11 D and the guide member  30  are moved frontward by the traveling device  12 . The body  2  moves frontward with the lower end  31 B of the guide member  30  facing the cleaning target surface FL. The main brush  13  rotates frontward about the rotation axis MX as indicated by the arrow RT. 
     The guide member  30  is supported by the support parts  40  in such a manner that the surface of the blade part  31  slopes downward toward the front. That is, the guide member  30  is supported by the support parts  40  in such a manner that the surface of the blade part  31  slopes downward toward the traveling direction of the robotic dust collector  1 . 
     The guide member  30  pivots about the pivot axis CX in such a manner that allows the blade part  31  to move in the up-down direction. The blade part  31  moves in the up-down direction by pivoting partially around the pivot axis CX. The blade part  31  is movable in the up-down direction. Therefore, the blade part  31  can move in the up-down direction in accordance with the shape of the cleaning target surface FL, for example, even when the cleaning target surface FL is an irregular surface (uneven surface). The blade part  31  is biased toward the cleaning target surface FL by the elastic force generated by the elastic members  80 . Therefore, in the cleaning operation, the lower end  31 B of the blade part  31  can continue to face the cleaning target surface FL. 
     The rollers  50  are rotatably supported by the arm parts  32  of the guide member  30 . When the guide member  30  pivots about the pivot axis CX, the rollers  50  pivots partially around the pivot axis CX. The rollers  50  can move in the up-down direction together with the blade part  31  by pivoting partially around the pivot axis CX. 
     Operation of Biasing Member 
       FIG.  17    illustrates operation of the biasing member  70  according to the embodiment. As described above, in cleaning operation on the cleaning target surface FL, the robotic dust collector  1  travels frontward with the lower end  31 B of the blade part  31  facing the cleaning target surface FL. When the cleaning target surface FL is an irregular surface (uneven surface) such as a carpet surface, the blade part  31  may move frontward while the lower end  31 B thereof being in contact with the cleaning target surface FL. 
     As illustrated in Comparative Example in  FIG.  17   , when the blade part  31  moves frontward with both ends of the blade part  31  supported by the support parts  40  and with the lower end  31 B of the blade part  31  being in contact with the cleaning target surface FL, the surface of the blade part  31  may vibrate by repeatedly deforming in the front-rear direction. Self-excited vibration (chatter vibration) is an example of the vibration of the blade part  31 . Noise may occur from the robotic dust collector  1  due to the vibration of the blade part  31 . 
     As illustrated in Example in  FIG.  17   , in the embodiment, the blade part  31  moves while receiving biasing force from the biasing member  70  with both ends of the blade part  31  supported by the support parts  40 . The biasing member  70  exerts biasing force on a surface of the blade part  31 . With biasing force exerted on the surface of the blade part  31 , the surface of the blade part  31  is prevented from deforming in the front-rear directions By having the blade part  31  prevented from deforming in the front-rear direction, the blade part  31  is prevented from vibrating. As a result, abnormal noise is prevented from occurring from the robotic dust collector  1 . 
     Effects 
     As described above, according to the embodiment, when the robotic dust collector  1  travels with the blade part  31  facing the cleaning target surface FL, biasing force is applied to at least a part of the blade part  31  by the biasing member  70 . Thus, the blade part  31  is prevented from vibrating even when the blade part  31  makes contact with the cleaning target surface FL. Therefore, abnormal noise is prevented from occurring from the robotic dust collector  1 . 
     When the robotic dust collector  1  travels with the lower end  31 B of the blade part  31  facing the cleaning target surface FL, the biasing member  70  exerts biasing force on a surface of the blade part  31  above the lower end  31 B. The biasing member  70  exerts biasing force on the surface of the blade part  31  toward the front, that is, in the traveling direction of the robotic dust collector  1 . This effectively prevents the surface of the blade part  31  from deforming in the front-rear direction when the blade part  31  makes contact with the cleaning target surface FL. 
     The elastic members  80  that bias the blade part  31  downward are provided. The lower end  31 B of the blade part  31  is biased toward the cleaning target surface FL by the elastic force generated by the elastic members  80 . Therefore, in the cleaning operation, the lower end  31 B of the blade part  31  can continue to face the cleaning target surface FL. Therefore, the blade part  31  can properly collect dirt and dust from the cleaning target surface FL. 
     In the embodiment, both ends of the blade part  31  in the left-right direction are supported by the support parts  40 . The deformation of a surface of the blade part  31  is likely to be greater in the central portion of the blade part  31  than both ends of the blade part  31  in the left-right direction. The biasing member  70  exerts biasing force on the central portion of the blade part  31 . This effectively prevents the surface of the blade part  31  from deforming. 
     The support parts  40  are provided in the bottom plate  11 D. This allows the structure of the robotic dust collector  1  to be less complex and smaller than otherwise. 
     When the robotic dust collector  1  travels frontward with the lower end  31 B of the blade part  31  facing the cleaning target surface FL, the blade part  31  is disposed more rearward than the center of the suction inlet  18 . This allows the blade part  31  to properly collect dirt and dust from the cleaning target surface FL. 
     The surface of the blade part  31  slopes downward toward the front, that is, in the traveling direction of the robotic dust collector  1 . This allows the blade part  31  to properly collect dirt and dust from the cleaning target surface FL. 
     The biasing member  70  is disposed rearward of the blade part  31  and exerts biasing force on the rear surface of the blade part  31  toward the front. This provides appropriate biasing force to the blade part  31  in such a manner as to prevent the blade part  31  from vibrating. The biasing member  70  is disposed rearward of the blade part  31  and is not disposed at the suction inlet  18 . As a result, it is possible to avoid the suction inlet  18  from having a smaller size. 
     The fixing member  60  that is fixed to the bottom plate  11 D with the screws  90  is provided rearward of the blade part  31 . The fixing member  60  is detachable from the bottom plate  11 D. The biasing member  70  is provided on the fixing member  60 . Because the fixing member  60  is detachable from the bottom plate  11 D, the biasing member  70  is disposed rearward of the blade part  31  while having favorable assemblability. The fixing member  60  is detachable, whereby the biasing member  70  is easily replaced. 
     The pivot axis CX of the guide member  30  is disposed more forward than the blade part  31 . In the embodiment, the pivot axis CX of the guide member  30  is disposed more forward than the suction inlet  18 . This allows the guide member  30  to pivot smoothly while the robotic dust collector  1  travels. 
     The biasing member  70  includes: a first extending part  71  extending in the up-down direction; a second extending part  72  disposed more frontward than the first extending part  71  and configured to make contact with the rear surface of the blade part  31 ; and a bent part  73  connecting the lower end of the first extending part  71  and the lower end of the second extending part  72 . The upper end of the first extending part  71  is apart from an upper end of the second extending part  72 . The biasing member  70  elastically deforms in such a manner as to bring the upper end of the first extending part  71  and the upper end of the second extending part  72  close to and apart from each other. Therefore, even when the blade part  31  moves upward due to the pivoting of the guide member  30 , the biasing member  70  can exert appropriate biasing force on the blade part  31 . 
     The support parts  40  is disposed more frontward than the suction inlet  18 . The guide member  30  has: arm parts  32  extending frontward from the blade part  31 ; and joint parts  33  connected to the arm parts  32  and supported by the support parts  40 . The arm parts  32  connect the blade part  31  to the joint parts  33  without closing the suction inlet  18 . 
     The lower face  32 S of the arm part  32  between the lower end  32 B of the arm part  32  and the corresponding joint part  33  is curved downward. This prevents resistance force acting on the arm part  32  from becoming excessively large when the lower face  32 S makes contact with the cleaning target surface FL. Furthermore, when there are steps on the cleaning target surface FL, the arm part  32  is prevented from being caught on the steps. Thus, the robotic dust collector  1  can travel smoothly. 
     In the embodiment, the blade part  31  includes the flexible part  312  and the rib parts  313  connected to at least parts of the flexible part  312 . The lower ends  313 B of the rib parts  313  and the lower ends  32 B of the arm parts  32  are disposed more downward than the lower end  312 B of the flexible part  312 . This allows the robotic dust collector  1  to smoothly travel. For example, if the lower end  312 B of the flexible part  312  is disposed more downward than the lower ends  313 B of the rib parts  313  and the lower ends  32 B of the arm parts  32 , the lower end  312 B of the flexible part  312  may make contact with the cleaning target surface FL. If the robotic dust collector  1  travels with the lower end  312 B of the flexible part  312  in contact with the cleaning target surface FL, the flexible part  312  may flex excessively and resistance force acting on the flexible part  312  may increase. If the flexible part  312  flexes excessively, the robotic dust collector  1  may have difficulty traveling smoothly. In the embodiment, the rib parts  313  and the arm parts  32  are made of synthetic resin and there is substantially no possibility of the rib parts  313  and the arm parts  32  flexing. The lower ends  313 B of the rib parts  313  and the lower ends  32 B of the arm parts  32  are disposed more downward than the lower end  312 B of the flexible part  312 , whereby the flexible part  312  does not flex excessively. The guide member  30  can move smoothly even when the lower ends  313 B of the rib parts  313  or the lower ends  32 B of the arm parts  32  make contact with the cleaning target surface FL. Thus, the robotic dust collector  1  can travel smoothly. 
     The rollers  50  that are rotatably supported by the arm parts  32  are provided. The lower ends  50 B of the rollers  50  are disposed more downward than the lower ends  313 B of the rib parts  313  and the lower ends  32 B of the arm parts  32 . The roller  50  can rotate about the rotation axis RX while being in contact with the cleaning target surface FL. This allows the robotic dust collector  1  to travel smoothly with the rollers  50  facing the cleaning target surface FL. The lower ends  50 B of the rollers  50  are disposed more downward than the lower end  31 B of the blade part  31  (lower ends  313 B of the rib parts  313 ). This makes it less likely that the blade part  31  makes contact with the cleaning target surface FL when the cleaning target surface FL is a flat surface (even surface). This prevents the blade part  31  from vibrating by making contact with the cleaning target surface FL while the robotic dust collector  1  autonomously travels. Therefore, noise is prevented from occurring from the robotic dust collector  1 . Similarly, the lower ends  50 B of the rollers  50  are disposed more downward than the lower ends  32 B of the arm parts  32 . This prevents the arm parts  32  from vibrating by making contact with the cleaning target surface FL while the robotic dust collector  1  autonomously travels. Therefore, noise is prevented from occurring from the robotic dust collector  1 . 
     Other Embodiments 
     In the embodiment described above, the support parts  40  are provided on the bottom plate  11 D. The support parts  40  may be provided, for example, on the lower housing  11 B. 
     In the embodiment described above, the biasing member  70  is integral with the fixing member  60  and made of synthetic resin. The biasing member  70  may be a separate body from the fixing member  60 , or may be made of metal. The biasing member  70  may be, for example, a plate spring. 
     In the embodiment described above, the suction inlet  18  is provided in the bottom plate  11 D. The bottom plate  11 D may be eliminated. The suction inlet  18  may be disposed in the lower housing  11 B. That is, the suction member may be the lower housing  11 B. 
     In the embodiment described above, the robotic dust collector  1  moves frontward. The frontward direction with respect to the robotic dust collector  1  is a direction in which bumper  3  is located relative to the center of the robotic dust collector  1 , and the rearward direction with respect to the robotic dust collector  1  is a direction in which the battery mounting parts  4  are located relative to the center of the robotic dust collector  1 . The robotic dust collector  1  may travel in the rearward direction. When the robotic dust collector  1  travels in the rearward direction, the blade part  31  may be disposed frontward of the center of the suction inlet  18 . The surface of the blade part  31  may slope downward toward the rear. The biasing member  70  may be disposed forward of the blade part  31  and exert biasing force on the blade part  31  toward the rear. The pivot axis CX of the guide member  30  may be disposed more rearward than the blade part  31  or more rearward than the suction inlet  18 . 
     REFERENCE SIGNS LIST 
       1  ROBOTIC DUST COLLECTOR 
       2  BODY 
       2 A TOP FACE 
       2 B BOTTOM FACE 
       2 C SIDE FACE 
       3  BUMPER 
       4  BATTERY MOUNTING PART 
       5  FAN UNIT 
       5 A CASING 
       5 B SUCTION FAN 
       5 C SUCTION MOTOR 
       5 D AIR INLET 
       5 E AIR OUTLET 
       6  DUST BOX 
       6 A BODY MEMBER 
       6 B TRAY MEMBER 
       6 C UPPER PLATE MEMBER 
       6 D LOWER COLLECTION PORT 
       6 E UPPER COLLECTION PORT 
       6 F AIR OUTLET 
       6 G FILTER 
       7  CASTER 
       8  ROLLER 
       9  WHEEL 
       10  WHEEL MOTOR 
       11  HOUSING 
       11 A UPPER HOUSING 
       11 B LOWER HOUSING 
       11 C COVER PLATE 
       11 D BOTTOM PLATE (SUCTION MEMBER) 
       12  TRAVELING DEVICE 
       13  MAIN BRUSH 
       13 B BRUSH 
       13 R ROD MEMBER 
       14  MAIN BRUSH MOTOR 
       15  SIDE BRUSH 
       15 B BRUSH 
       15 D DISK MEMBER 
       16  SIDE BRUSH MOTOR 
       17  HANDLE 
       18  SUCTION INLET 
       19  OBSTACLE SENSOR 
       20  INTERFACE DEVICE 
       20 A POWER BUTTON 
       20 B REMAINING POWER INDICATOR 
       30  GUIDE MEMBER 
       31  BLADE PART 
       31 A UPPER END 
       31 B LOWER END 
       31 L LEFT END 
       31 R RIGHT END 
       32  ARM PART 
       32 B LOWER END 
       32 L LEFT ARM PART 
       32 LS SHAFT PART 
       32 R RIGHT ARM PART 
       32 RS SHAFT PART 
       32 S LOWER FACE 
       33  JOINT PART 
       33 L LEFT JOINT PART 
       33 R RIGHT JOINT PART 
       311  BODY PART 
       312  FLEXIBLE PART 
       312 B LOWER END 
       313  RIB PART 
       313 B LOWER END 
       314  PROJECTION 
       315  RECESS 
       40  SUPPORT PART 
       40 L LEFT SUPPORT PART 
       40 R RIGHT SUPPORT PART 
       50  ROLLER 
       50 B LOWER END 
       50 L LEFT ROLLER 
       50 R RIGHT ROLLER 
       60  FIXING MEMBER 
       61  OPENING 
       62  RECESS 
       70  BIASING MEMBER 
       71  FIRST EXTENDING PART 
       72  SECOND EXTENDING PART 
       73  BENT PART 
       80  ELASTIC MEMBER 
       90  SCREW 
       91  SCREW HOLE 
       100  CONTROLLER 
     AX ROTATION AXIS 
     BT BATTERY 
     CX PIVOT AXIS 
     FL CLEANING TARGET SURFACE 
     MX ROTATION AXIS 
     RX ROTATION AXIS 
     S STORAGE SPACE 
     S 1  LOWER STORAGE SPACE 
     S 2  UPPER STORAGE SPACE