JP2014014455A - Cleaning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cleaning device that can efficiently clean a building structure.SOLUTION: A cleaning device includes a movement unit that can move on a surface of a building structure having at least one of a floor part, a wall part and a ceiling part, and a cleaning unit that is provided in the movement unit, is disposed so as to face the surface in a state where the movement unit is moving, and cleans the surface.

Description

  The present invention relates to a cleaning device.

  There is known a self-propelled cleaning device having a traveling means for traveling on a floor surface. (For example, refer to Patent Document 1).

JP 2007-244722 A

  However, although the above-described cleaning device can clean the floor portion, it is difficult to clean the wall portion and the ceiling portion. Therefore, when cleaning the wall or ceiling of the building, it is necessary to perform it manually, which is inefficient.

  In view of the circumstances as described above, an object of the present invention is to provide a cleaning device capable of efficiently cleaning a building.

  In view of the above circumstances,

  According to the first aspect of the present invention, in a state in which the moving unit is provided in the moving unit, and the moving unit is movable on the surface of the building having at least one of the floor, the wall, and the ceiling. A cleaning device is provided that includes a cleaning unit that is disposed to face the surface and cleans the surface.

  ADVANTAGE OF THE INVENTION According to the aspect of this invention, the cleaning apparatus which can wash | clean a building efficiently can be provided.

Sectional drawing which shows the structure of the cleaning apparatus which concerns on embodiment of this invention. The top view which shows the structure of the cleaning apparatus which concerns on this embodiment. The figure which shows the one part structure of the cleaning apparatus which concerns on this embodiment. The figure which shows the structure of the cleaning apparatus which concerns on the modification of this embodiment. The flowchart which shows the flow of operation | movement of the cleaning apparatus which concerns on the modification of this embodiment. The figure which shows the structure of the cleaning apparatus which concerns on the modification of this embodiment. The figure which shows the structure of the cleaning apparatus which concerns on the modification of this embodiment.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a cross-sectional view illustrating a configuration of a cleaning device 100 according to the present embodiment. FIG. 2 is a plan view showing the configuration of the cleaning device 100.
As illustrated in FIG. 1 or FIG. 2, the cleaning device 100 is a device that cleans a chamber R having a floor F, a wall W, and a ceiling C, and includes a moving unit 10 and a cleaning unit 20. The cleaning device 100 is provided with a battery (not shown), and power is supplied from the battery to each unit. The battery can be charged using a charging device (not shown).

  The moving part 10 is provided so as to be movable on at least one surface of the wall part W and the ceiling part C. The moving unit 10 is provided around the cleaning unit 20 and supports the cleaning unit 20 on the surface Wa of the wall W and the surface Ca of the ceiling C, and a driving unit that drives the plurality of support units 11. Twelve. For example, four support portions 11 are provided around the cleaning portion 20. Although FIG. 1 shows a mode in which the cleaning unit 20 is supported on the surface Wa of the wall W by the moving unit 10, the present invention is not limited to this, and the cleaning unit 20 is supported on the surface Ca of the ceiling C. It is also possible to take other forms.

  Each support part 11 has the 1st member 11a connected with the cleaning part 20 via the connection part 13, and the 2nd member 11b connected via the joint part 14 with respect to the said 1st member 11a. At the tip of the second member 11b, an adsorbing portion 15 that can adsorb to the surface Wa of the wall portion W and the surface Ca of the ceiling portion C is provided. When the suction part 15 is attracted to the surface Wa or the surface Ca, the movement part 10 and the cleaning part 20 can be supported against the gravity acting on the movement part 10 and the cleaning part 20.

  The drive unit 12 can move the first member 11a in the three-dimensional rotation direction centering on the coupling portion 13 with respect to each support unit 11, and the first member 11a in the three-dimensional rotation direction centering on the joint portion 14. The two members 11b can be moved. Further, the drive unit 12 can switch the suction state (suction and suction release) of the suction unit 15.

  The drive unit 12 moves the first member 11 a and the second member 11 b while switching between adsorption and desorption of the adsorption unit 15, so that the support unit 11 can move the adsorption position of the adsorption unit 15. By the movement of the suction position of the suction part 15, the support part 11 can be moved along the surface Wa and the surface Ca, and the cleaning part 20 supported by the support part 11 can be moved.

  The cleaning unit 20 cleans the surface Wa of the wall W and the surface Ca of the ceiling C. The cleaning unit 20 includes, for example, a main body 21 formed in a hollow cylindrical shape, a plurality of processing units 22 provided on the main body 21 so as to face the surface Wa or the surface Ca, and the plurality of processing units 22. And a cleaning space sealing part (liquid movement suppressing part) 23 provided along the peripheral edge of the main body part 21.

  The main body portion 21 is provided with a control unit CONT that controls each part of the cleaning device 100 in an integrated manner. The plurality of processing units 22 perform different types of processing on the surface Wa and the surface Ca, respectively.

FIG. 3 is a diagram schematically illustrating the configuration of the cleaning unit 20. FIG. 3 shows a configuration when the cleaning unit 20 is viewed from the surface Wa or the surface Ca side.
As shown in FIG. 3, in this embodiment, as the plurality of processing units 22, for example, a wiping unit 24 that wipes the surface Wa and the surface Ca, a cleaning liquid supply unit 25 that supplies a cleaning liquid to the surface Wa and the surface Ca, and a surface Wa And a rinsing liquid supply section 26 for supplying a rinsing liquid to the surface Ca, a suction section 27 for sucking the surface Wa and the surface Ca, a gas ejection section 28 for ejecting a gas toward the surface Wa and the surface Ca, the surface Wa and the surface Ca. An image information acquisition unit 29 that acquires the state as image information is provided. The control unit CONT also functions as a switching unit that switches and performs processing by each unit of the plurality of processing units 22.

  The wiping unit 24 can be configured to have a brush as shown in FIG. 3, for example, but is not limited to this configuration. For example, cloth (such as a dust cloth) or paper may be used as the wiping unit 24. In this case, the wiping unit 24 may be configured using a dry cloth or paper, or may be configured using a damp cloth or paper. By using a dry cloth or paper as the wiping unit 24, the surface Wa or the surface Ca can be wiped dry. In addition, the wiping unit 24 may be configured to include a plurality of types of brushes, cloths, papers, and the like. Further, the wiping unit 24 may have a replacement mechanism that automatically replaces cloth or paper.

  The cleaning liquid supply unit 25 supplies a liquid such as a detergent or water (including cold water, hot water, hot water, water vapor, etc.) as the cleaning liquid. The cleaning liquid supply unit 25 may be configured to supply the cleaning liquid directly to the surface Wa or the surface Ca, or may be configured to supply the cleaning liquid to the wiping unit 24. By supplying the cleaning liquid to the wiping unit 24, it is possible to wipe the surface Wa or the surface Ca while supplying the cleaning liquid to the surface Wa or the surface Ca. The cleaning liquid supply unit 25 may be configured to supply a liquid cleaning liquid, or may be configured to supply a mist or foam cleaning liquid.

  The rinse liquid supply unit 26 supplies, for example, water (including cold water, hot water, hot water, water vapor, and the like) as the rinse liquid. In the case where water is supplied as the cleaning liquid, the rinsing liquid supply unit 26 may be omitted.

  The suction unit 27 is connected to a pump (not shown) and can suck a liquid such as a cleaning liquid or a rinse liquid used in the cleaning unit 20. The suction unit 27 can suck the atmosphere of the space between the main body unit 21 and the surface Wa or the surface Ca. The gas ejection part 28 is connected to a compressor (not shown) or the like. Examples of the gas ejected from the gas ejection unit 28 include air and inert gas. As the image information acquisition unit 29, for example, a camera or the like can be used.

  The cleaning space sealing portion 23 is formed in an annular shape using an elastic member such as rubber. The cleaning space sealing part 23 is used in close contact with the surface Wa or the surface Ca in a state where the cleaning part 20 is supported by the surface Wa of the wall part W or the surface Ca of the ceiling part C by the support part 11 (FIG. 1). reference).

  The cleaning space sealing part 23 can seal the space K surrounded by the cleaning space sealing part 23, the main body part 21, and the surface Wa or the surface Ca by being in close contact with the surface Wa or the surface Ca. By sealing the space K with the cleaning space sealing unit 23, it is possible to prevent liquids such as cleaning liquid and rinse liquid used in the plurality of processing units 22 from dripping outside the cleaning unit 20. .

Next, operation | movement of the cleaning apparatus 100 comprised as mentioned above is demonstrated.
First, the adsorbing portion 15 of the cleaning device 100 is in a state of being adsorbed on the surface Wa of the wall portion W or the surface Ca of the ceiling portion C. In this state, the control unit CONT uses the moving unit 10 to move the cleaning device 100 to the cleaning target region of the surface Wa or the surface Ca, and causes the cleaning space sealing unit 23 to be in close contact with the surface Wa or the surface Ca. Is sealed.

  Thereafter, the control unit CONT causes the sealed space K to be cleaned using the plurality of processing units 22. For example, the control unit CONT first wipes the surface Wa or the surface Ca by the wiping unit 24 while supplying detergent or the like as the cleaning liquid from the cleaning liquid supply unit 25. In this state, since the space K is sealed by the cleaning space sealing part 23, the cleaning liquid does not leak out.

  By this operation, the surface Wa or the surface Ca is cleaned by the cleaning liquid and the wiping unit 24. After the cleaning by the cleaning liquid and the wiping unit 24 is performed for a predetermined period, the control unit CONT uses the suction unit 27 to suck the cleaning liquid and the surface Wa or the foreign matter attached to the surface.

  After the suction operation by the suction unit 27 is performed, the control unit CONT supplies the rinse liquid from the rinse liquid supply unit 26. By this operation, the surface Wa or the surface Ca is washed away by the rinse liquid, and the remaining cleaning liquid or foreign matters attached to the surface Wa or the surface Ca are removed. Even in this case, since the space K is sealed by the cleaning space sealing portion 23, the rinse liquid does not leak out. After the surface Wa or the surface Ca is washed by the rinse liquid, the control unit CONT uses the suction unit 27 to suck the rinse liquid.

  After the suction of the rinsing liquid, the control unit CONT causes the suction unit 27 to suck the space K while jetting air from the gas jetting unit 28, for example. By this operation, the rinse liquid remaining on the surface Wa or the surface Ca is blown off by the gas from the gas ejection part 28 and sucked by the suction part 27, so that the surface Wa or the surface Ca is dried.

  Thereafter, the control unit CONT uses the moving unit 10 to appropriately move the cleaning unit 20 and sequentially performs the above-described cleaning operation to clean the surface Wa of the wall W or the surface Ca of the ceiling C. In such an operation, the control unit CONT uses, for example, the image information acquisition unit 29 to acquire the image information of the surface Wa or the surface Ca, moves the moving unit 10 based on the acquired image information, It is possible to select which processing unit 22 to use from among the processing units 22.

  For example, when the surface Wa or the surface Ca remains dirty after the drying operation, the control unit CONT may perform the cleaning liquid supply operation again. Further, the type of the wiping part 24 can be switched according to the material and hardness of the surface Wa or the surface Ca by image information. For example, when the surface Wa or the surface Ca is formed of a material having a relatively high hardness such as a tile, the surface Wa or the surface Ca is wiped off using a brush. For example, when the surface Wa or the surface Ca is formed of a material having a relatively low hardness such as wallpaper. Use cloth or paper to wipe it off.

  Further, for example, when the surface Wa or the surface Ca is a rough surface, or when the surface Ca is very dirty, it is possible to increase the time for immersing in the cleaning liquid, increase the time for wiping, or increase the speed. In addition, when there is a protrusion, the moving direction or moving path by the moving unit 10 can be changed.

  As described above, the cleaning device 100 according to the present embodiment can move the surface Wa of the wall portion W or the surface Ca of the ceiling portion C among the chamber portion R having the floor portion F, the wall portion W, and the ceiling portion C. Since it is provided with the moving part 10 and the cleaning part 20 which is provided in the said moving part 10 and is arrange | positioned so as to oppose the surface in the state which the said moving part 10 moves, the surface Wa or surface Ca is cleaned, the surface of wall part W Wa or the surface Ca of the ceiling C can be automatically cleaned. Thereby, it becomes possible to wash | clean the chamber part R efficiently.

The technical scope of the present invention is not limited to the above-described embodiment, and appropriate modifications can be made without departing from the spirit of the present invention.
For example, in the above embodiment, the cleaning space sealing portion 23 has been described as an example of a configuration surrounding one space. However, the present invention is not limited to this, and the cleaning space sealing portion 23 surrounds a plurality of spaces. The structure formed in this way may be used.

  For example, as shown in FIG. 4, the cleaning space sealing portion 23 divides the first sealing portion 23 a surrounding the peripheral portion of the main body portion 21 and the space surrounded by the first sealing portion 23 a. It can be set as the structure which has the stop part 23b. A first space K1 and a second space K2 are formed by the first sealing portion 23a and the second sealing portion 23b. Note that three or more spaces can be formed according to the way of partitioning the space surrounded by the first sealing portion 23a.

  In the configuration shown in FIG. 4, a cleaning liquid supply unit 25 is connected to the first space K1, and a rinsing liquid supply unit 26 is connected to the second space K2. In addition, a brush member 124 is provided in the first space K1, and a sponge member 224 is provided in the second space K2. Further, the suction part 27 and the gas ejection part 28 are connected to each of the first space K1 and the second space K2.

  When the cleaning unit 20 configured as described above is used, the cleaning operation in the first space K1 and the cleaning operation in the second space K2 can be performed in parallel. FIG. 5 is a flowchart showing a flow of operation of the cleaning unit 20.

  As shown in FIG. 5, the control unit CONT moves the cleaning unit 20 (ST01), stops it at a predetermined position, and seals the first space K1 and the second space K2 (ST02).

  Thereafter, in the first space K1, the control unit CONT supplies the cleaning liquid from the cleaning liquid supply unit 25 (ST13) and moves the brush member 124 linearly or rotationally to move the surface of the wall or ceiling. (ST14). Thereafter, the control part CONT uses the suction part 27 to collect the cleaning liquid and the foreign matter (ST15). Note that after the cleaning liquid and the foreign matter are collected, a drying operation may be performed using the gas ejection unit 28.

  On the other hand, in the second space K2, the control unit CONT supplies the rinsing liquid from the rinsing liquid supply unit 26 at substantially the same timing as the cleaning liquid is supplied from the cleaning liquid supply unit 25 (ST23), and the sponge member 224 is moved. The surface of the wall portion or the ceiling portion is wiped off by linear movement or rotational movement (ST24). Thereafter, the control unit CONT uses the suction unit 27 to collect the cleaning liquid, the remaining foreign matter, and the rinse liquid (ST25). After the recovery, the control unit CONT performs a drying operation using the gas ejection unit 28 (ST26).

  Thereafter, the control unit CONT moves the cleaning unit 20 using the moving unit 10 (ST07). At this time, the second space K2 is arranged so as to overlap the region of the surface of the wall or ceiling that has been cleaned with the cleaning liquid in the above operation. Thereby, the rinsing operation can be performed efficiently.

  For example, in the said embodiment, although the structure in which the dimension of the several support part 11 was formed substantially equal was mentioned as an example, it was not restricted to this. For example, as shown in FIG. 6, you may form so that the dimension of the some support part 11 may differ. Thereby, in the case where the wall portion W has a configuration in which a plurality of tiles 50 are laid, such as in a bathroom, for example, the suction portion 15 is formed asymmetrically in the vertical direction and the horizontal direction in the figure. The suction part 15 can be arranged so as to be separated from the joints 51 and 52. In this case, none of the suction portions 15 are arranged at the same distance from the central portion of the main body portion 21.

  In this case, if the polar coordinates with the center position of the main body as the origin are (r, θ), r of the four suction portions 15 are all different, and θ of the four suction portions 15 is + n (π / 4). The suction part 15 is moved so as to have a value different from the above.

  Moreover, in the said embodiment, although the cleaning space sealing part 23 mentioned and demonstrated as an example the structure which prevents a liquid leak by closely_contact | adhering to the surface Wa or the surface Ca, it is not restricted to this.

  For example, as illustrated in FIG. 7, the cleaning device 100 includes a liquid movement detection unit 30 that detects the movement of the liquid Q from the cleaning target region of the cleaning unit 20 to the periphery of the cleaning target region on the surface Wa or the surface Ca. It is good also as a structure provided. The liquid movement detection unit 30 includes a liquid receiving unit 31 that receives the liquid Q that has moved around the area to be cleaned, and a measurement unit 32 that measures the amount of the liquid Q received by the liquid receiving unit 31. With this configuration, liquid leakage can be reliably detected.

  As a structure of the measurement part 32, the structure which measures the weight of the liquid Q is mentioned, for example. Other configurations include, for example, a configuration in which a dye is added to the liquid Q in advance, and the image information of the liquid Q is acquired to detect the volume of the liquid Q based on the image information. Moreover, the structure which judges the presence or absence of detergent by measuring the friction coefficient between the surface Wa or the surface Ca, and measuring a slip condition is mentioned.

  The measurement unit 32 may be provided integrally with the cleaning unit 20, or may be provided separately from the cleaning unit 20. When the cleaning unit 20 and the measurement unit 32 are separated, the measurement result can be transmitted to the control unit CONT using a communication mechanism (not shown).

  Further, when the liquid movement detection unit 30 detects the leakage of the liquid Q, for example, the supply amount and viscosity of the cleaning liquid supplied from the cleaning liquid supply unit 25 are adjusted, and the wiping speed and direction of the wiping unit 24 are adjusted. The leakage of the liquid Q can be suppressed by adjusting the time until the start of wiping after immersion. When adjusting the viscosity of the cleaning liquid, for example, the type of detergent, the amount of solvent (such as water) to be added to the detergent, the size of the foam, and the distance when spraying with foam may be adjusted.

  In the above embodiment, the cleaning device 100 is provided with a battery (not shown), and the configuration in which power is supplied from the battery to each unit has been described as an example. However, the present invention is not limited to this. For example, the structure which connects the cleaning apparatus 100 to a power supply using wiring not shown may be sufficient.

  In the configuration using a battery as in the above embodiment, for example, a threshold for the remaining battery level is set in two stages in order to prevent the battery from running out. Specifically, when the remaining battery level is equal to or lower than the first threshold value, the control unit CONT moves the cleaning device 100 from the wall portion W or the ceiling portion C to the floor portion F. Thereafter, the control unit CONT causes the cleaning device 100 to self-run to a charging device (not shown) and automatically connects to the charging device to perform charging.

  In addition, when the remaining battery level is equal to or lower than the second threshold value which is lower than the first threshold value and the cleaning device 100 has not arrived at the floor, the control unit CONT uses the suction unit 15 to move the wall portion W or Adsorbed to the ceiling C and fixed in a state. Thereafter, the control unit CONT outputs a warning sound using a speaker (not shown) to notify the user.

  Moreover, the structure which stores the parachute not shown in the main-body part 21 may be sufficient. In this case, when the remaining battery level is equal to or lower than the second threshold value, the control unit CONT releases the stored parachute and cancels the suction state by the suction unit 15. By this operation, the cleaning device 100 can be prevented from suddenly falling on the floor.

  Moreover, when performing cleaning operation using said cleaning apparatus 100, in order to focus or selectively clean the place where dirt is conspicuous, for example, the height of a human eye line from floor F (about 1.5 m to 2 m) ) In particular may be provided as a cleaning area. In this case, it is possible to shorten the cleaning time as compared with the case of cleaning the entire surface of the wall portion W, and it is possible to focus on the area that is easily contaminated.

  Further, regarding the specification of the cleaning area as described above, which area is to be cleaned may be stored in advance in the cleaning apparatus 100, or may be directly input by the user.

  In the above embodiment, since foreign matters such as dust attached to the wall portion W and the ceiling portion C fall along the direction of gravity, for example, as the moving direction of the cleaning device 100, from the upper side to the lower side along the direction of gravity. It is preferable to move. Of course, the aspect which moves the cleaning apparatus 100 irrespective of a gravity direction may be sufficient.

  Moreover, in the said embodiment, although the room part R which has the floor part F, the wall part W, and the ceiling part C was mentioned as an example as a cleaning object of the cleaning apparatus 100, it is not restricted to this, For example, If it is the surface of the building which has any of a floor part, a wall part, and a ceiling part, it is good also as a cleaning object of the cleaning apparatus 100. FIG.

  F ... Floor part W ... Wall part C ... Ceiling part R ... Chamber part Wa ... Surface Ca ... Surface CONT ... Control part Q ... Liquid 10 ... Moving part 11 ... Supporting part 12 ... Drive part 15 ... Adsorption part 20 ... Cleaning part 21 DESCRIPTION OF SYMBOLS ... Main part 22 ... Processing part 23 ... Cleaning space sealing part 24 ... Wiping part 25 ... Cleaning liquid supply part 26 ... Rinse liquid supply part 27 ... Suction part 28 ... Gas ejection part 29 ... Image information acquisition part 30 ... Liquid movement detection part 31 ... Liquid receiving part 32 ... Measuring part 100 ... Cleaning device

Claims (16)

A moving part capable of moving on the surface of a building having at least one of a floor part, a wall part and a ceiling part;
A cleaning device, comprising: a cleaning unit that is provided in the moving unit and is disposed so as to face the surface in a state in which the moving unit moves and cleans the surface. The cleaning device according to claim 1, wherein the cleaning unit includes a plurality of processing units that perform different types of processing on the surface. The cleaning device according to claim 2, wherein the cleaning unit includes a switching unit that switches the processing unit that performs the processing on the surface. The cleaning device according to claim 2, wherein the plurality of processing units include a wiping unit that wipes the surface. The cleaning device according to any one of claims 2 to 4, wherein the plurality of processing units include a cleaning liquid supply unit that supplies a cleaning liquid to the surface. The cleaning device according to any one of claims 2 to 5, wherein the plurality of processing units include a rinsing liquid supply unit that supplies a rinsing liquid to the surface. The cleaning device according to any one of claims 2 to 6, wherein the plurality of processing units include a suction unit that sucks the surface. The cleaning device according to any one of claims 2 to 7, wherein the plurality of processing units include a gas ejection unit that ejects gas toward the surface. The cleaning apparatus according to any one of claims 1 to 8, further comprising an image information acquisition unit that acquires image information of a cleaning target region of the cleaning unit on the surface. The cleaning apparatus according to claim 9, further comprising a control unit that controls the operation of the cleaning unit using the image information acquired by the image information acquisition unit. The cleaning according to any one of claims 1 to 10, further comprising a liquid movement detection unit that detects a movement of liquid from a cleaning target region of the cleaning unit to a periphery of the cleaning target region of the surface. apparatus. The liquid movement detector is
A liquid receiver that receives the liquid that has moved around the area to be cleaned;
The cleaning device according to claim 11, further comprising: a measuring unit that measures an amount of the liquid received by the liquid receiving unit. The cleaning according to any one of claims 1 to 12, further comprising a liquid movement suppression unit that suppresses movement of liquid from a cleaning target region of the cleaning unit to the periphery of the cleaning target region of the surface. apparatus. The cleaning device according to claim 13, wherein the liquid movement suppression unit includes a liquid suction unit that sucks the liquid. The moving unit is
A plurality of support portions provided around the cleaning portion and supporting the cleaning portion on the surface;
The cleaning device according to any one of claims 1 to 14, further comprising: a drive unit that drives the plurality of support units. The cleaning device according to claim 15, wherein the plurality of support portions include suction portions that are detachably attached to the surface.

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