Patent Publication Number: US-2020275815-A1

Title: Self-propelled vacuum cleaner

Description:
TECHNICAL FIELD 
     The present invention relates to an autonomous vacuum cleaner. 
     BACKGROUND ART 
     An autonomous vacuum cleaner including a travel means, a dust collection assembly that collects dust removed from the floor surface, and a battery that supplies electric power to the travel means and the like is conventionally known (refer to, for example, Patent Literature 1). The battery of the autonomous vacuum cleaner is configured to be installed separately on the floor surface and charged from a charging base connected to a power source. The autonomous vacuum cleaner controls a drive wheel of the travel means, depending on a return signal from the charging base, to return to the charging base. A charging terminal of the autonomous vacuum cleaner and a feeder terminal of the charging base are electrically connected to detect the completion of the return to the charging base and stop the drive of the travel means and the dust collection assembly. 
     CITATION LIST 
     Patent Literature 
     PATENT LITERATURE 1: JP-A-2014-188062 
     SUMMARY OF THE INVENTION 
     Problems to be Solved by the Invention 
     However, in such a known autonomous vacuum cleaner as is described in Patent Literature 1, the autonomous vacuum cleaner and the charging base are planarly connected in a standby state where the autonomous vacuum cleaner has returned and is on standby. Hence, an area of the floor surface results in being occupied by a combined projected area of the autonomous vacuum cleaner and the charging base, which leads a problem that the footprint in the standby state is large. 
     An object of the present invention is to provide an autonomous vacuum cleaner that can reduce the footprint in a standby state. 
     Solutions to the Problems 
     An autonomous vacuum cleaner according to the present invention is an autonomous vacuum cleaner capable of cleaning while travelling along a floor surface, including: a vacuum cleaner body including a cleaning means configured to suck up dirt and the like on the floor surface; and a storage device for storing the vacuum cleaner body during non-cleaning time. The storage device includes: a latch configured to latch a part of one end side of the vacuum cleaner body; and a lift means configured to raise and lower the latch, and the autonomous vacuum cleaner is configured to be capable of storing the vacuum cleaner body in a standing state where the vacuum cleaner body is hoisted and the one end side is oriented upward, by causing the lift means to raise the latch latching the part of the vacuum cleaner body. 
     According to such a present invention, the storage device causes the lift means to raise the latch, and stores the vacuum cleaner body in the standing state where the vacuum cleaner body latched by the latch is hoisted and the one end side is oriented upward. Accordingly, it is possible to reduce a projected area of the stored vacuum cleaner body on the floor surface and reduce the combined footprint of the vacuum cleaner body in a standby state and the storage device. 
     In the present invention, the storage device preferably includes a charging means for charging the vacuum cleaner body, and the latch functions as a feeder terminal to feed power from the charging means to the vacuum cleaner body. 
     According to such a configuration, the latch for hoisting the vacuum cleaner body functions as the feeder terminal. Accordingly, the storage device can easily feed power to the hoisted vacuum cleaner body without preparing an additional feeder terminal. 
     In the present invention, it is preferred that the charging means includes a power feeder capable of feeding power in contact with the latch, and the power feeder is configured including: a first terminal capable of coming into contact with the latch at a latch position before hoisting the vacuum cleaner body; and a second terminal capable of coming into contact with the latch at a storage position after hoisting the vacuum cleaner body. 
     According to such a configuration, the charging means has the power feeder that can feed power in contact with the latch. The power feeder has the first and second terminals. Accordingly, each terminal comes into contact with the latch at both of the latch position before the hoist and the storage position after the hoist to apply power thereto. Consequently, it is possible to feed power to the vacuum cleaner body via the latch. Moreover, the necessity to directly connect a feeder wire to the moving latch is eliminated. Accordingly, the wire does not become entangled, or there is no need to secure space where the wire moves. 
     In the present invention, it is preferred that the storage device includes a detection means configured to detect whether or not the vacuum cleaner body is at a predetermined hoistable position, and on the basis of the detection by the detection means, the lift means keeps the latch down at a retracted position until the vacuum cleaner body comes to the predetermined position, and raises the latch to the latch position upon the vacuum cleaner body coming to the predetermined position. 
     According to such a configuration, the lift means keeps the latch down at the retracted position until the vacuum cleaner body comes to the predetermined position. Accordingly, the storage device can prevent the latch from protruding and catching a person&#39;s leg and clothing and prevent the part of the vacuum cleaner body and the latch from coming into sliding contact with each other to reduce the wear-out of the latch. Moreover, the detection means detects that the vacuum cleaner body has come to the predetermined position, and then the lift means raises the latch to the latch position. Accordingly, the storage device can securely latch the part of the vacuum cleaner body with the latch, and can stably hoist the vacuum cleaner body. 
     In the present invention, the lift means preferably raises and lowers the latch along a backward and upward inclined direction with respect to the vacuum cleaner body. 
     According to such a configuration, the lift means raises and lowers the latch along the inclined direction. Accordingly, it is possible to hoist the one end side of the vacuum cleaner body obliquely upward and stably and smoothly hoist the vacuum cleaner body as compared to a case of vertically hoisting the vacuum cleaner body. 
     In the present invention, the storage device preferably includes a slope configured to guide the one end side of the vacuum cleaner body obliquely upward before the vacuum cleaner body comes to the predetermined hoistable position. 
     According to such a configuration, the one end side of the vacuum cleaner body is guided obliquely upward by the slope of the storage device. Accordingly, it is possible to hoist the vacuum cleaner body with the latch after inclining the vacuum cleaner body and more smoothly hoist the vacuum cleaner body. Moreover, a portion higher than the floor surface is formed by the slope. Accordingly, the portion can be used as a retraction space for the latch. 
     In the present invention, it is preferred that the latch includes an extension piece extending toward the vacuum cleaner body, a latch recess recessed in an arc shape is formed in a top surface of the extension piece, and the part of the vacuum cleaner body is provided with a latched member formed into a columnar shape with a smaller diameter than that of the latch recess, the latched member being configured to be latched in the latch recess. 
     According to such a configuration, the latch recess recessed in an arc shape is formed in the top surface of the extension piece of the latch. The part of the vacuum cleaner body is provided with the latched member formed into a columnar shape with a smaller diameter than that of the latch recess. Accordingly, it is possible to securely latch the latched member in the latch recess. Moreover, as the one end side of the vacuum cleaner body is hoisted, the angle formed by the vacuum cleaner body and the storage device changes. However, the columnar latched member can rotate in the arc-shaped latch recess. Accordingly, it is possible to reduce resistance while maintaining a stable latched state and smoothly hoist the vacuum cleaner body. 
     In the present invention, preferably, at least one of the vacuum cleaner body and the storage device is provided with a guide means configured to roll or slide and guide the other end side of the vacuum cleaner body midway through the hoist. 
     According to such a configuration, the vacuum cleaner body or storage device is provided with the guide means. The guide means rolls or slides and guides the other end side of the vacuum cleaner body. Accordingly, it is possible to reduce sliding contact resistance between the other end side of the vacuum cleaner body where the angle changes as the vacuum cleaner body moves up or down, and the floor surface or storage device, and more smoothly raise and lower the vacuum cleaner body. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a front view of an autonomous vacuum cleaner according to one embodiment of the present invention. 
         FIG. 2  is a side view of a vacuum cleaner body and a cross-sectional view of a storage device in the autonomous vacuum cleaner. 
         FIG. 3  is a side view illustrating a hoisted state of the vacuum cleaner body in the autonomous vacuum cleaner. 
         FIG. 4  is a side view illustrating a stored state of the vacuum cleaner body in the autonomous vacuum cleaner. 
         FIG. 5  is a functional block diagram illustrating the schematic configuration of the autonomous vacuum cleaner. 
         FIG. 6  is a perspective view of the vacuum cleaner body as viewed from above. 
         FIG. 7  is a perspective view of the vacuum cleaner body as viewed from below. 
         FIG. 8  is a perspective view of a protruding state of a surrounding cleaning means in the vacuum cleaner body as viewed from above. 
         FIG. 9  is a perspective view of the protruding state of the surrounding cleaning means in the vacuum cleaner body as viewed from below. 
         FIG. 10  is a front view illustrating the protruding state of the surrounding cleaning means in the vacuum cleaner body. 
         FIG. 11  is a right-side view illustrating the protruding state of the surrounding cleaning means in the vacuum cleaner body. 
         FIG. 12  is a back view illustrating the protruding state of the surrounding cleaning means in the vacuum cleaner body. 
         FIG. 13  is a perspective view illustrating the storage device of the autonomous vacuum cleaner. 
         FIG. 14  is a front view illustrating the storage device. 
         FIG. 15  is a cross-sectional view illustrating the storage device. 
         FIGS. 16(A) to 16(D)  are cross-sectional views illustrating the operation of the storage device. 
         FIGS. 17(A) and 17(B)  are cross-sectional views illustrating a part of the enlarged storage device. 
         FIG. 18  is a cross-sectional view illustrating a detection means of the storage device. 
         FIGS. 19(A) and 19(B)  are cross-sectional views illustrating a lift means of the storage device. 
         FIG. 20  is a cross-sectional view illustrating the enlarged lift means of the storage device. 
         FIG. 21  is a cross-sectional view illustrating the enlarged lift means of the storage device. 
         FIGS. 22(A) and 22(B)  are a side view and a cross-sectional view, which illustrate the operation of the storage device. 
         FIGS. 23(A) and 23(B)  are a side view and a cross-sectional view, which illustrate the operation of the storage device, and are continued from  FIGS. 22(A) and 22(B) . 
         FIGS. 24(A) and 24(B)  are a side view and a cross-sectional view, which illustrate the operation of the storage device, and are continued from  FIGS. 23(A) and 23(B) . 
         FIGS. 25(A) and 25(B)  are a side view and a cross-sectional view, which illustrate the operation of the storage device, and are continued from  FIGS. 24(A) and 24(B) . 
         FIGS. 26(A) to 26(C)  are cross-sectional views illustrating an enlarged charging means of the storage device. 
     
    
    
     DESCRIPTION OF THE EMBODIMENTS 
     One embodiment of the present invention is described hereinafter on the basis of  FIGS. 1 to 26 (A) to  26 (C). 
       FIG. 1  is a front view of an autonomous vacuum cleaner according to one embodiment of the present invention.  FIG. 2  is a side view of a vacuum cleaner body and a cross-sectional view of a storage device in the autonomous vacuum cleaner. 
     An autonomous vacuum cleaner  1  includes a vacuum cleaner body  2  being a cleaning robot that cleans a floor surface F while travelling along the floor surface F, and a charging station  6  as a storage device for storing the vacuum cleaner body  2  during non-cleaning time. 
     As described below, the vacuum cleaner body  2  includes a travel driver  12  having a pair of left and right wheels  121  for travelling autonomously, a lift  13  that is provided, configured to be capable of lifting up from a top surface  101  of a body  10 , a vacuum assembly  14  for sucking up dust and dirt on the floor surface F, and a body operator  15  (refer to  FIG. 5 ) for operating the vacuum cleaner body  2 . The charging station  6  is installed in a predetermined location in a room in such a manner as to be immovable, and is connected to a power source such as a receptacle. 
       FIG. 3  is a side view illustrating a hoisted state of the vacuum cleaner body in the autonomous vacuum cleaner.  FIG. 4  is a side view illustrating a stored state of the vacuum cleaner body in the autonomous vacuum cleaner. 
     As illustrated in  FIGS. 3 and 4 , the charging station  6  is configured in such a manner as to be capable of storing the vacuum cleaner body  2  in a standing state where a rear side thereof being one end side is oriented upward by hoisting the vacuum cleaner body  2 . The charging station  6  is configured including hooks  64  as latches that latch latched members  16  (described below) provided to the rear side of the vacuum cleaner body  2 , and a lift driver  51  (described below) as a lift means that raises and lowers the hooks  64 . 
       FIG. 5  is a functional block diagram illustrating the schematic configuration of the autonomous vacuum cleaner. 
     As illustrated in  FIG. 5 , the vacuum cleaner body  2  includes a surrounding cleaning means  3  for cleaning around the vacuum cleaner body  2 , a sensor system  4  for detecting an obstacle around the vacuum cleaner body  2 , and a controller  5  as a control means that controls and drives the vacuum cleaner body  2 , the surrounding cleaning means  3 , and the sensor system  4 . 
     The surrounding cleaning means  3  are provided in a pair on left and right sides of a front part of the vacuum cleaner body  2 . The surrounding cleaning means  3  includes a pivotable arm  21  that protrudes sideway from the vacuum cleaner body  2 , a motor  22  that drives the arm  21  to pivot, a load sensor  23  that detects load acting on the motor  22  from the outside, and an angle sensor  24  that detects the pivot angle of the arm  21 . 
     The sensor system  4  includes a front sensor  31  provided on the front part of the vacuum cleaner body  2 , a surroundings sensor  32  provided in the lift  13 , and a rear sensor  33  provided on a rear part of the vacuum cleaner body  2 . 
     The controller  5  includes a travel controller  41  that controls the travel driver  12 , a vacuum controller  42  that controls the vacuum assembly  14 , a detection computer  43  that processes detection signals from the front sensor  31 , the surroundings sensor  32 , and the rear sensor  33  of the sensor system  4 , and the load sensor  23  and the angle sensor  24  of the surrounding cleaning means  3 , and an arm controller  44  that controls and drives the motor  22  of the surrounding cleaning means  3  and causes the arm  21  to pivot. 
     The charging station  6  includes the lift driver  51  as the lift means that raises and lowers the hooks  64 , a charger  52  as a charging means for feeding and charging a battery of the vacuum cleaner body  2 , a position detector  53  as a detection means that detects the position of the vacuum cleaner body  2  that has returned to the charging station  6 , and a charge controller  54  that controls power feed by the charger  52 . 
     Next, the structure of the vacuum cleaner body  2  is described on the basis of  FIGS. 6 to 12 . 
       FIG. 6  is a perspective view of the vacuum cleaner body as viewed from above.  FIG. 7  is a perspective view of the vacuum cleaner body as viewed from below.  FIG. 8  is a perspective view of a protruding state of the surrounding cleaning means in the vacuum cleaner body as viewed from above.  FIG. 9  is a perspective view of the protruding state of the surrounding cleaning means in the vacuum cleaner as viewed from below.  FIGS. 10 to 12  are a front view, a right-side view, and a back view, which illustrate the protruding state of the surrounding cleaning means in the vacuum cleaner body. 
     The vacuum cleaner body  2  includes the body  10  having the top surface  101 , a front surface  102 , left and right side surfaces  103 , and a rear surface  104 , a chassis  11  forming an undersurface  105 , the travel driver  12  having the pair of left and right wheels  121  for travelling autonomously, the lift  13  that is provided, configured to be capable of lifting up from the top surface  101  of the body  10 , the vacuum assembly  14  that is provided on the undersurface  105  of the body  10  to suck up dust and dirt on the floor surface F, and the body operator  15  (refer to  FIG. 5 ) for operating the vacuum cleaner body  2 . The body operator  15  is, for example, a touch sensor switch (not illustrated) provided on the top surface  101  of the vacuum cleaner body  2 , and operates the vacuum cleaner body  2  with a touch operation by a user and stops the vacuum cleaner body  2  with a touch operation during operation. 
     The arm  21  of the surrounding cleaning means  3  is configured including a first arm  21 A rotatably supported on one end side thereof by the vacuum cleaner body  2 , and a second arm  21 B rotatably supported on the other end side of the first arm  21 A. The first arm  21 A as a whole is formed into a hollow shape, and is rotatably supported on the one end side by the chassis  11 . The second arm  21 B as a whole is formed into an extra-long cup shape that opens downward. A middle portion of the second arm  21 B is rotatably supported on the other end side of the first arm  21 A. The second arm  21 B includes a sub-vacuum inlet  25  that opens downward to suck up dirt and the like on the floor surface F. The sub-vacuum inlet  25  communicates with a duct and a dust collection chamber of the vacuum assembly  14  through internal spaces of the second arm  21 B and the first arm  21 A. Moreover, as described below, an undersurface of the second arm  21 B is provided with a rotating ball  26  as a guide means that rolls and guides the front side (the other end side) of the vacuum cleaner body  2  that is being hoisted by the charging station  6 . 
     The sensor system  4  is configured including the front sensor  31  provided on the front surface  102  of the body  10 , the surroundings sensor  32  as a surrounding detection means provided in the lift  13 , and the rear sensor  33  provided on the rear surface  104  of the body  10 . The front sensor  31  includes an ultrasonic sensor, an infrared sensor, or the like, and detects an obstacle ahead of the vacuum cleaner body  2 . The surroundings sensor  32  is a laser scanner (LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging)) that is driven and rotated inside the lift  13  and measures distance by applying laser light such as infrared laser light, and calculates the distance to an obstacle and the shape of the obstacle. The surroundings sensor  32  is not limited to the one provided in the lift  13  and is simply required to be provided at any position in the body  10 . The rear sensor  33  is for detecting its distance and position with respect to the charging station  6 , and communicates with infrared light or the like with infrared emitters  53 C (refer to  FIG. 13 ) of the position detector  53  of the charging station  6 . 
     The travel driver  12  includes the pair of left and right wheels  121 , and a motor (not illustrated) that drives and rotates the pair of wheels  121  independently. Moreover, an auxiliary wheel  122  is provided to a rear part of the chassis  11 . The vacuum assembly  14  is connected to a roller brush  141 , and the duct, a suction fan, the dust collection chamber, and an exhaust port, which are not illustrated. The vacuum assembly  14  is configured in such a manner as to collect the sucked dust and the like through a filter of the dust collection chamber and exhaust the sucked air from the exhaust port. The duct of the vacuum assembly  14  communicates with the internal space of the arm  21  of the surrounding cleaning means  3 . 
     Next, the structure of the charging station  6  is described with reference to  FIGS. 13 to 18 . 
       FIG. 13  is a perspective view illustrating the storage device of the autonomous vacuum cleaner.  FIG. 14  is a front view illustrating the storage device.  FIG. 15  is a cross-sectional view illustrating the storage device, and is a cross-sectional view taken at a position indicated by line A-A in  FIG. 14 .  FIGS. 16(A) to 16(D)  are cross-sectional views illustrating the operation of the storage device.  FIGS. 17(A) and 17(B)  are cross-sectional views illustrating a part of the enlarged storage device, and a partial enlarged view of  FIG. 2 .  FIG. 18  is a cross-sectional view illustrating a detection means of the storage device. 
     As illustrated in  FIGS. 13 to 15 , the charging station  6  as the storage device includes a base  61  mounted on the floor surface F, a pair of left and right columns  62  rising from left and right parts of the base  61 , an arch-shaped top  63  coupling upper ends of the columns  62 , and a pair of the hooks  64  as the latches. The base  61  has a wedge-shaped base front portion  61 A inclined upward from the front side to the rear side (from the bottom left side to the top right side in  FIG. 13 ), and a box-shaped base rear portion  61 B rising at the back of the base front portion  61 A. The base  61  as a whole is formed into a hollow shape. The column  62  rises continuously from the base rear portion  61 B. The column  62  has a column front portion  62 A, a column inner side portion  62 B, a column outer side portion  62 C, and a column rear portion  62 D. The column  62  as a whole is formed into a hollow shape. The lift driver  51 , the charger  52 , the position detector  53 , and the charge controller (control board)  54  are provided inside such a base  61  and column  62 . 
     A slope  61 C that guides the auxiliary wheel  122  of the vacuum cleaner body  2  is provided in the middle of a top surface of the base front portion  61 A. The slope  61 C has an ascent from the front side to the rear side. It is configured in such a manner that the auxiliary wheel  122  of the vacuum cleaner body  2  that has approached the charging station  6 , moving back, runs up onto the slope  61 C; accordingly, as illustrated in  FIG. 2 , the rear side (the one end side) of the vacuum cleaner body  2  is guided obliquely upward. A rear end of the slope  61 C is provided with a substantially horizontal flat portion (refer to  FIG. 18 ). The auxiliary wheel  122  runs up onto the flat portion to make it difficult for the vacuum cleaner body  2  to slip down to the front side. Moreover, each of left and right ends on the top surface of the base front portion  61 A is provided with a second slope  61 D. As illustrated in  FIG. 4 , it is configured in such a manner that the second slope  61 D guides the rotating ball  26  provided on the front side (the other end side) of the vacuum cleaner body  2 . 
     A front surface of the base rear portion  61 B is provided with a plurality of the infrared emitters  53 C configuring the position detector  53 . The infrared light emitted by the infrared emitters  53 C is received by the rear sensor  33  of the vacuum cleaner body  2 . Accordingly, the vacuum cleaner body  2  detects its sideward position and distance with respect to the charging station  6  while moving back to the charging station  6 . The vacuum cleaner body  2  moves back while appropriately adjusting the travel driver  12  on the basis of the detection of the rear sensor  33 , and approaches a predetermined hoistable position (a docking position illustrated in  FIG. 2 ) on the charging station  6 . Moreover, a slit  62 E that guides the hook  64  upward and downward is formed from the base rear portion  61 B to the column inner side portion  62 B of the column  62 . The column front portion  62 A and the slit  62 E of the column  62  are provided, inclined upward to the rear. Consequently, as illustrated in  FIGS. 2 to 4 , it is configured in such a manner that the rear side of the vacuum cleaner body  2  is hoisted obliquely upward. 
     As illustrated in  FIGS. 16(A) to 16(D) , the hook  64  is provided in such a manner as to be driven by the lift driver  51  and be movable up and down from the base  61  all the way along the column  62 . In other words, the hook  64  is configured in such a manner as to be movable up and down between a retracted position illustrated in  FIG. 16(A)  and a storage position illustrated in  FIG. 16(D)  through a latch position illustrated in  FIG. 16(B)  and a hoist midway position illustrated in  FIG. 16(C) . 
     As illustrated in  FIGS. 17(A) and 17(B) , the hook  64  includes a hook base  64 A that is coupled to the lift driver  51 , and an extension piece  64 B extending substantially horizontally from the hook base  64 A to the front, that is, the vacuum cleaner body  2 . A latch recess  64 C recessed in an arc shape is formed in a top surface of a distal end of the extension piece  64 B. On the other hand, as illustrated in  FIGS. 7, 9, and 17 (A) and  17 (B), the rear side (the one end side) of the undersurface of the vacuum cleaner body  2  is provided with a pair of the latched members  16  that is latched by the hooks  64 . The latched member  16  is formed into a columnar shape with a smaller diameter than that of the latch recess  64 C, and is configured in such a manner as to be movable back and forth a very short distance inside the latch recess  64 C and be capable of being rotatably latched in the latch recess  64 C. Moreover, the latched member  16  is electrically connected to the battery (not illustrated) of the vacuum cleaner body  2 , and functions as a charging terminal of the vacuum cleaner body  2  as described below. 
     As illustrated in  FIG. 18 , the position detector  53  includes, in addition to the infrared emitters  53 C, a Hall effect sensor board  53 A provided inside the base front portion  61 A, and a Hall effect sensor  53 B provided on the Hall effect sensor board  53 A. On the other hand, the rear side (the one end side) on the undersurface of the vacuum cleaner body  2  is provided with a magnet  17 . When the vacuum cleaner body  2  moved back and the auxiliary wheel  122  run over the slope  61 C and onto the flat portion, it indicates that the vacuum cleaner body  2  has returned to the docking position where the vacuum cleaner body  2  can be hoisted with the hooks  64 . At this point in time, the Hall effect sensor  53 B detects the magnet  17 , and the position detector  53  detects that the vacuum cleaner body  2  has returned to the docking position. 
     It is configured in such a manner that until the position detector  53  detects that the vacuum cleaner body  2  returns to the docking position, the lift driver  51  keeps the hooks  64  down at the retracted position to prevent the hooks  64  and the latched members  16  from coming into contact with each other while the vacuum cleaner body  2  moves back as illustrated in  FIG. 17(A) . On the other hand, when the position detector  53  detects that the vacuum cleaner body  2  has returned to the docking position, the lift driver  51  raises the hooks  64  to the latch position to latch the latched members  16  in the latch recesses  64 C, as illustrated in  FIG. 17(B) . Moreover, it is configured in such a manner that the hook  64  functions as a feeder terminal that feeds power from the charger  52  to the vacuum cleaner body  2 , the latched member  16  is electrically connected to the unillustrated battery inside the vacuum cleaner body  2 , and the power fed by the hook  64  is supplied to the battery via the latched member  16 . 
     Next, the lift driver (lift means)  51  of the charging station  6  is described with reference to  FIGS. 19(A) and 19(B)  to  21 . 
       FIGS. 19(A) and 19(B)  are cross-sectional views illustrating the lift means of the storage device, respectively, and are cross-sectional views taken at positions indicated by line B-B and line C-C in  FIG. 14 .  FIG. 20  is a cross-sectional view illustrating the enlarged lift means of the storage device.  FIG. 21  is a cross-sectional view illustrating the enlarged lift means of the storage device. 
     As illustrated in  FIGS. 19(A) and 19(B)  to  21 , the lift driver  51  includes a motor  71 , a drive shaft  72 , a pair of left and right ball screw shafts  73 , ball screws  74  fixed respectively to the left and right hooks  64 , and linear guides  75  that guide the ball screw  74  upward and downward. 
     The drive shaft  72  is provided extending to the left and right. A worm gear  72 A is fixed at either end portion of the drive shaft  72 . As illustrated in  FIG. 19 , a pinion gear  71 A is fixed to an output shaft of the motor  71 . A driven gear  72 B is fixed in the middle on one side (the left side in  FIG. 20 ) of the drive shaft  72 . A gear train including a first gear  76 A and a second gear  76 B is provided between the pinion gear  71 A of the motor  71  and the driven gear  72 B. The output of the motor  71  is transmitted to the drive shaft  72  via the gears  71 A,  76 A,  76 B, and  72 B to rotate the drive shaft  72 . 
     The ball screw shaft  73  is provided extending up and down from the base  61  all the way along the column  62 . An upper and a lower end of the ball screw shaft  73  are pivotally supported. A worm wheel  73 A is fixed at the lower end of the ball screw shaft  73 . The worm wheel  73 A meshes with the worm gear  72 A of the drive shaft  72 . When the drive shaft  72  rotates, the rotation is converted into rotation of the ball screw shaft  73 . The ball screw  74  meshes with the ball screw shaft  73 . When the ball screw shaft  73  rotates, the ball screw  74  and the hook  64  move up and down. The linear guide  75  includes a rail  75 A that is fixed, extending up and down from the base  61  all the way along the column  62 , and a movable member  75 B that is fixed to the ball screw  74  and is guided by the rail  75 A. The linear guide  75  guides the ball screw  74  and the hook  64  in such a manner as to be linearly movable. 
     Next, the charger (charging means)  52  of the charging station  6  is described with reference to  FIGS. 22(A) and 22(B) to 26(A) to 26(C) . 
       FIGS. 22(A) and 22(B) to 25(A) and 25(B)  are side views and cross-sectional views, which illustrate the operation of the storage device. Each figure (B) is a cross-sectional view taken at a position indicated by line A-A in each figure (A).  FIGS. 26(A) to 26(C)  are cross-sectional views illustrating the enlarged charging means of the storage device.  FIG. 26(A)  is a cross-sectional view of an enlargement of a part of  FIG. 22(B) .  FIG. 26(B)  is a cross-sectional view of an enlargement of a part of  FIG. 23(B) .  FIG. 26(C)  is a cross-sectional view of an enlargement of a part of  FIG. 25(B) . 
     The charger  52  includes a power supply  52 A (refer to  FIGS. 17(A) and 17(B)  to  21 ) connected to a power source through a receptacle. As illustrated in  FIGS. 22(A) and 22(B) to 25(A) and 25(B) , the power supply  52 A is electrically connected to a first terminal  52 B provided from a lower part inside each of the left and right columns  62  all the way to the inside of the base rear portion  61 B, and a second terminal  52 C provided to an upper part inside each of the left and right columns  62 . The first terminal  52 B is fixed at an upper end thereof to a terminal fixture  52 D on an inner surface of the column outer side portion  62 C, and cantilevered downward. The second terminal  52 C is fixed at a lower end thereof to the terminal fixture  52 E on the inner surface of the column outer side portion  62 C, and is cantilevered upward. As illustrated in  FIGS. 26(A) and 26(B) , the first terminal  52 B includes a first contact  52 F protruding inward in the left-and-right direction. As illustrated in  FIG. 26(C) , the second terminal  52 C is formed including a second contact  52 G protruding inward in the left-and-right direction. On the other hand, an electrically conductive portion  64 D that protrudes outward in the left-and-right direction and can come into contact with the first contact  52 F and the second contact  52 G is formed on the hook  64 . 
     As illustrated in  FIG. 26(A) , the first electrically conductive portion  52 F of the first terminal  52 B is not in contact with the electrically conductive portion  64 D when the hook  64  is at the retracted position and, as illustrated in  FIG. 26(B) , is in contact with the electrically conductive portion  64 D when the hook  64  is at the latch position. As illustrated in  FIG. 26(C) , the second contact  52 G of the second terminal  52 C is in contact with the electrically conductive portion  64 D when the hook  64  is at the storage position. On the other hand, it is configured in such a manner that as illustrated in  FIGS. 24(A) and 24(B) , when the hook  64  is at the hoist midway position, the electrically conductive portion  64 D is in contact with neither the first electrically conductive portion  52 F nor the second contact  52 G. 
     As described above, the charger  52  brings the hook  64  at the latch position into conduction via the first terminal  52 B, and brings the hook  64  at the storage position into conduction via the second terminal  52 C. The latched member  16  of the vacuum cleaner body  2  is latched by the hook  64 . Accordingly, it is configured in such a manner that the charge controller  54  supplies the power from the charger  52  to the battery inside the vacuum cleaner body  2  via the hooks  64  and the latched members  16  to charge the battery. 
     Next, the operation of the autonomous vacuum cleaner  1  is described. When the vacuum cleaner body  2  that has cleaned the floor surface F returns to the vicinity of the charging station  6 , the vacuum cleaner body  2  turns the rear side (the rear surface  104  side) to the charging station  6 , causes the rear sensor  33  to receive infrared light from the infrared emitters  53 C of the charging station  6 , and moves back while detecting its distance and position with respect to the charging station  6 . Furthermore, the auxiliary wheel  122  runs up onto the slope  61 C of the base front portion  61 A, and the vacuum cleaner body  2  is guided obliquely upward and moves back to the docking position illustrated in  FIGS. 2, 17 (A) and  17 (B), and  18 . As illustrated in  FIG. 18 , when the Hall effect sensor  53 B of the position detector  53  detects the magnet  17  and accordingly detects that the vacuum cleaner body  2  has moved back to the docking position, the vacuum cleaner body  2  stops the drive of the travel driver  12 . 
     When the vacuum cleaner body  2  has moved back to the docking position, the lift driver  51  of the charging station  6  raises the hooks  64  from the retracted position illustrated in  FIG. 17(A)  to the latch position illustrated in  FIG. 17(B) , and latches the latched members  16  in the latch recesses  64 C. In this manner, the hooks  64  latch the latched members  16  at the latch position. Accordingly, as illustrated in  FIG. 26(B) , the charger  52  and the battery of the vacuum cleaner body  2  are brought into conduction via the first terminals  52 B, the hooks  64 , and the latched members  16 . The charge controller  54  causes the charger  52  to feed power to charge the battery. In this manner, if the battery is charged at the docking position and then cleaning is resumed, the lift driver  51  lowers the hooks  64  to the retracted position, and then the vacuum cleaner body  2  drives the travel driver  12 , travels forward, and leaves the charging station  6 . 
     When the vacuum cleaner body  2  is stored in the charging station  6 , the lift driver  51  raises the hooks  64  that have latched the latched members  16 . In this manner, the hooks  64  move up; accordingly, as illustrated in  FIG. 3 , the rear side of the vacuum cleaner body  2  is hoisted obliquely upward. At the time of the hoist, the rotating balls  26  provided on the front side of the vacuum cleaner body  2  roll along the floor surface F. Furthermore, the rotating balls  26  run up onto the second slopes  61 D of the base front portion  61 A and roll along the second slopes  61 D. Accordingly, the vacuum cleaner body  2  is configured in such a manner as to be smoothly guided. When the lift driver  51  further raises the hooks  64  and the hooks  64  reach the storage position, the vacuum cleaner body  2  is stored in the charging station  6  in the standing state where the rear side is oriented upward as illustrated in  FIG. 4 . 
     As illustrated in  FIG. 26(C) , in the state where the vacuum cleaner body  2  is stored in this manner, the charger  52  and the battery of the vacuum cleaner body  2  are brought into conduction via the second terminals  52 C, the hooks  64 , and the latched members  16 , and the charge controller  54  causes the charger  52  to feed power; accordingly, the battery is charged. If cleaning is resumed, after the lift driver  51  lowers the hooks  64  to the retracted position, the vacuum cleaner body  2  drives the travel driver  12 , travels forward, and then leaves the charging station  6 . 
     According to such an embodiment, the following operations/effects can be exerted: 
     (1) The charging station  6  stores the vacuum cleaner body  2  in the standing state by hoisting the rear side of the vacuum cleaner body  2 . Accordingly, it is possible to reduce the projected area of the stored vacuum cleaner body  2  on the floor surface F and reduce the combined footprint of the vacuum cleaner body  2  in the stored state and the charging station  6 . 
     (2) The hook  64  for hoisting the vacuum cleaner body  2  functions as the feeder terminal. Accordingly, the charging station  6  can easily feed power to the battery of the hoisted vacuum cleaner body  2  without preparing an additional feeder terminal, and charge the battery. 
     (3) The charger  52  includes the first terminals  52 B and the second terminals  52 C, which can feed power in contact with the hooks  64 . The hook  64  is electrically connected to the first terminal  52 B at the latch position before the hoist, and is electrically connected to the second terminal  52 C at the storage position after the hoist. Accordingly, it is possible to charge the battery of the vacuum cleaner body  2  via the hooks  64  at both of the docking position and the storage position without connecting wiring directly to the moving hooks  64 . 
     (4) The lift driver  51  keeps the hooks  64  down at the retracted position until the vacuum cleaner body  2  comes to the docking position. Accordingly, the charging station  6  can prevent a part of the vacuum cleaner body  2  and the hooks  64  from coming into sliding contact with each other and reduce the wear-out of the hooks  64 , and can prevent the hooks  64  from catching a person&#39;s leg and clothing by eliminating the protrusion of the hooks  64  from the base  61  while the vacuum cleaner body  2  is away from the charging station  6 . 
     (5) The position detector  53  detects that the vacuum cleaner body  2  has come to the docking position, and then the lift driver  51  raises the hooks  64  to the latch position. Accordingly, the charging station  6  can cause the hooks  64  to securely latch the latched members  16  of the vacuum cleaner body  2  and can hoist the vacuum cleaner body  2  stably. 
     (6) The lift driver  51  raises and lowers the hooks  64  along the backward inclined direction. Accordingly, it is possible to hoist the rear side of the vacuum cleaner body  2  obliquely upward and hoist the vacuum cleaner body  2  more stably and smoothly than in a case of vertically hoisting the vacuum cleaner body  2 . 
     (7) The auxiliary wheel  122  of the vacuum cleaner body  2  that is moving back is guided obliquely upward by the slope  61 C. Accordingly, it is possible to cause the hooks  64  to hoist the vacuum cleaner body  2  after inclining the vacuum cleaner body  2  with the rear side up and more smoothly hoist the vacuum cleaner body  2 . 
     (8) The latch recess  64 C recessed in an arc shape is formed in the top surface of the extension piece  64 B of the hook  64 . The vacuum cleaner body  2  is provided with the columnar latched member  16  with a smaller diameter than that of the latch recess  64 C. Accordingly, it is possible to securely latch the latched member  16  in the latch recess  64 C. 
     (9) As the rear side of the vacuum cleaner body  2  is hoisted, the angle formed by the vacuum cleaner body  2  and the charging station  6  changes. However, the columnar latched member  16  can rotate in the arc-shaped latch recess  64 C. Accordingly, it is possible to reduce resistance while maintaining the stable latched state and smoothly hoist the vacuum cleaner body  2 . 
     (10) The front side of the vacuum cleaner body  2  is provided with the rotating balls  26 . The rotating balls  26  roll along the floor surface F and the second slopes  61 D of the charging station  6 . Accordingly, it is possible to reduce sliding contact resistance between the front side of the vacuum cleaner body  2  where the angle changes as it moves up and down, and the floor surface F or the charging station  6  and more smoothly raise and lower the vacuum cleaner body  2 . 
     Modifications of Embodiment 
     The present invention is not limited to the embodiment, and includes modifications, improvements, and the like within the scope that can achieve the object of the present invention. 
     For example, in the autonomous vacuum cleaner  1  of the embodiment, the vacuum cleaner body  2  is provided with the surrounding cleaning means  3 . However, the surrounding cleaning means  3  may be omitted. Moreover, the arm  21  of the surrounding cleaning means  3  is provided with the rotating ball  26 . The guide means is configured in such a manner that the rotating ball  26  rolls along the floor surface F and the second slope  61 D of the charging station  6 . However, the rotating ball  26  may be provided to a lower part of the front part of the body  10  of the vacuum cleaner body  2 . Moreover, the guide means is not limited to the one that rolls and guides the rotating ball  26 , and a sliding surface with low frictional resistance may be provided to the front part of the vacuum cleaner body  2  and the sliding surface may be configured to be slid and guided along the floor surface F and the second slope  61 D. Furthermore, the guide means is not limited to the one provided to the vacuum cleaner body and may be configured by a rolling portion or a sliding portion, which is provided to the storage device (for example, the second slope  61 D). 
     In the embodiment, the hook  64  functions as the feeder terminal, and it is configured in such a manner as to feed power to the battery of the vacuum cleaner body  2  via the hook  64  and the latched member  16 . However, a feeder terminal may be provided separately from the hook  64 . In this case, in the storage device, the feeder terminal may be configured to move up and down in synchronization with the latch, or one or more feeder terminals may be provided at a predetermined height or heights without moving up and down. Furthermore, the feeding structure that feeds power to the battery of the vacuum cleaner body  2  is not limited to the one of the contact type where terminals come into contact with each other, and may be, for example, a non-contact feeding structure of an electromagnetic induction type. 
     In the embodiment, the charger  52  includes the first terminal  52 B and the second terminal  52 C, and is configured to charge the battery of the vacuum cleaner body  2  at the latch position before the hoist and at the storage position after the hoist. However, the rechargeable positions are not limited to the two positions: the latch position and the storage position, and may be any of the latch position and the storage position, or three or more rechargeable positions in addition to the two positions: the latch position and the storage position may be provided. Moreover, the charger (charging means)  52  is not limited to the one where the first terminal  52 B and the second terminal  52 C are provided separately, and may be configured by an integral terminal member where these terminals are continuous. 
     In the embodiment, the Hall effect sensor  53 B of the position detector (detection means)  53  of the charging station  6  detects the magnet  17  of the vacuum cleaner body  2 . Accordingly, it is detected that the vacuum cleaner body  2  is at the hoistable docking position. The hooks  64  start moving up on the basis of the detection. However, the configuration of the detection means is not limited, and, for example, a contact sensor may be used. Moreover, the configuration is not limited to the one where the hooks (latches)  64  stay down at the retracted position until the vacuum cleaner body  2  comes to the docking position, and may be a configuration where the latched members of the vacuum cleaner body move down to the latch position to be latched onto the latches. 
     In the embodiment, the hook (latch)  64  includes the latch recess  64 C, and the latched member  16  is formed into a columnar shape. However, the structures of the latch and the latched member are not limited to those of the embodiment, and any latch structure can be employed. It may be, for example, one where the latch is formed into a columnar shape, a recess recessed upward is formed in an undersurface of the latched member, and the latch is latched in the recess. 
     In the embodiment, the lift driver (lift means)  51  of the charging station  6  is configured including the motor  71 , the drive shaft  72 , the pair of left and right ball screw shafts  73 , the ball screws  74 , and the linear guides  75 . However, the configuration of the lift means is not especially limited. The lift means may be, for example, one configured including a wire, a belt, or the like for raising and lowering the latch, or one where a direct-acting motor raises and lowers the latch. 
     INDUSTRIAL APPLICABILITY 
     As described above, the present invention can be suitably used for an autonomous vacuum cleaner that can reduce the footprint in a standby state. 
     LIST OF REFERENCE NUMERALS 
     
         
           1  Autonomous vacuum cleaner 
           2  Vacuum cleaner body 
           6  Charging station (storage device) 
           26  Rotating ball (guide means) 
           14  Vacuum assembly (cleaning means) 
           16  Latched member 
           51  Lift driver (lift means) 
           52  Charger (charging means) 
           52 B First terminal 
           52 C Second terminal 
           53  Position detector (detection means) 
           61 C Slope 
           64  Hook (latch) 
           64 B Extension piece 
           64 C Latch recess 
           121  Wheel 
         F Floor surface