JP2015070922A - Cleaning robot and cleaning robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cleaning robot for improving cleaning ability by miniaturizing a body including drive wheels so as to be freely enter even a small space by things and furniture placed in a cleaning area, and also to provide a cleaning robot system capable of reliably performing specific processing such as charging by freely entering a specific processing position even with a small space when performing self-propelling to the specific processing position such as a charging station.SOLUTION: A cleaning robot 1 performs cleaning while performing self-propelling by allowing a mop cleaning member 3 attached to a body part 2 to be kept in a direction (in a nearly T shape with respect to the body part 2) to cross with a travel direction. When an obstacle is detected inside a cleaning area, the direction of the mop cleaning member 3 is changed into a direction (change by 90 degrees) where the self-propelling is not disturbed.

Description

  The present invention relates to a cleaning robot capable of cleaning while automatically traveling, and a cleaning robot system having the cleaning robot.

  In recent years, a cleaning robot that automatically cleans a living room or the like has been used. For example, as disclosed in Patent Document 1, a conventional cleaning robot has a suction cleaning function of sucking dust into a main body in addition to a self-running function of driving wheels by a drive motor to self-run. . For example, as disclosed in Patent Document 2, a cleaning robot having an automatic charging function for automatically moving to a charging station and charging when charging becomes insufficient has also been proposed.

JP 2007-34866 A JP 2013-13539 A

  Conventional cleaning robots are configured to store dust collected by suction cleaning while running on its own, so if the volume of collected dust in the main unit is small, it takes time and effort to frequently discard the collected material. did. Increasing the collection volume of dust increases the size of the main body, making it difficult to enter a narrow space between furniture (for example, home appliances and indoor equipment) and furniture placed on the floor, and areas that cannot be cleaned. There was an increasing problem. In particular, when an automatic charging function for automatically moving to a charging station and charging is provided, when moving toward the charging station, equipment, furniture, or the like becomes an obstacle to the charging station. There was also a risk that the situation could not be reached.

  In view of the above problems, an object of the present invention is to provide a cleaning robot that improves the cleaning ability by downsizing the main body including the drive wheels and freely entering a narrow gap between furniture and furniture placed in the cleaning area. Is to provide. Another object of the present invention is to provide a cleaning robot capable of reliably entering a specific processing position such as charging by freely entering the specific processing position even when the narrow gap is present when the vehicle self-travels to a specific processing position such as a charging station. Is to provide a system.

  According to a first aspect of the present invention, there is provided a drive wheel and a main body portion provided with a drive motor for driving the drive wheel, and a control means provided in the main body portion, and the drive motor is driven and controlled by the control means. In a cleaning robot that can automatically travel, a longitudinal wiping member that is attached to the main body so that the direction with respect to the traveling direction can be freely changed, and the longitudinal wiping member interferes with the longitudinal wiping member during traveling. Detecting means for detecting an obstacle to be detected, and the control means detects the obstacle by automatic traveling execution means for automatically traveling while holding the longitudinal wiping member in a direction intersecting the traveling direction. And a changing means for changing the direction of the longitudinal wiping member to a direction in which automatic traveling is not hindered.

  The 2nd form of this invention is a cleaning robot which switches the direction of the longitudinal direction of the said longitudinal wiping member to the said traveling direction side by the said change means.

  According to a third aspect of the present invention, the longitudinal wiping member is attached to the main body so as to be rotatable at the lower part of the main body according to the change, and the longitudinal wiping member is rotated at the lower part. It is a cleaning robot with a space that does not interfere.

  According to a fourth aspect of the present invention, there is provided a cleaning robot in which the main body portion has a protruding shape portion protruding in the traveling direction, and the detection means is provided at least on a side portion of the protruding shape portion.

  According to a fifth aspect of the present invention, the automatic wiping execution means changes the orientation of the longitudinal wiping member to a cleaning execution state in which both end portions of the longitudinal wiping member protrude outward from both side portions of the main body portion. It is a cleaning robot that holds and automatically travels, and changes the orientation of the longitudinal wiping member to a failure avoidance state in which the both end portions do not protrude outward from the both side portions by the changing means.

  According to a sixth aspect of the present invention, the longitudinal wiping member includes a base and a wiping body planted on the base, and is attached to the base so as to be detachable, and stands on the mounting material. A rotating shaft provided, and a rotating means for rotating the rotating shaft in a state where the rotating shaft is attached to the main body so as to be rotatable. It is a cleaning robot that drives the rotating means to change the direction of the longitudinal wiping member.

  The seventh aspect of the present invention includes at least a rechargeable battery that supplies drive power to the drive motor, and external power supply detection means that detects the position of an external power supply device, and the control means charges the rechargeable battery. In the case of performing, the position of the external power supply device is detected, the charge travel execution means for traveling to the position, the vehicle travels to the position of the external power supply device, and the rechargeable battery is connected to the power output terminal of the external power supply device. A cleaning robot that includes a charging control unit that is connected to a power input terminal to charge the rechargeable battery, and that allows the changing unit to change the orientation of the longitudinal wiping member when traveling to the position of the external power supply device. It is.

  The eighth aspect of the present invention includes dust collector detection means for detecting the position of a dust collector provided with a suction port for sucking dust, and the control means is for cleaning the longitudinal wiping member. Detecting the position of the dust collector, wiping member cleaning execution means that travels to the position, travels to the position of the dust collector, and causes the longitudinal wiping member to approach or enter the suction port. And a regeneration control means for regenerating the longitudinal wiping member by sucking dust adhering to the longitudinal wiping member from the suction port, and when changing to the position of the dust collector, the changing means This is a cleaning robot that can change the direction of the longitudinal wiping member.

  A ninth aspect of the present invention includes the cleaning robot according to any one of the first to sixth aspects, and an external power supply device that can output power position information and can supply power to the cleaning robot. The cleaning robot is provided with at least a rechargeable battery that supplies driving power to the drive motor and a power supply position information receiving unit that receives the power supply position information, and the control unit is configured to charge the rechargeable battery. Charging travel execution means that travels to the position of the external power supply device based on the power supply position information, travels to the position of the external power supply device, and to the power output terminal of the external power supply device to the power input terminal of the rechargeable battery A cleaning robot system including charging control means for connecting and charging the rechargeable battery, wherein the changing means can change the direction of the longitudinal wiping member when traveling to the position of the external power supply device A.

  A tenth aspect of the present invention includes a cleaning robot according to any one of the first to sixth aspects, and a dust collector that can output dust collection position information and includes a suction port that sucks dust. The cleaning robot is provided with dust collection position information receiving means for receiving the dust collection position information, and the control means, when cleaning the longitudinal wiping member, is based on the dust collection position information. Recycled travel execution means that travels to the position of the dust device, travels to the position of the dust collector, makes the longitudinal wiping member approach or enter the suction port, and removes dust adhering to the longitudinal wiping member. And a regeneration control means for regenerating the longitudinal wiping member by sucking from the suction port, and when changing to the position of the external power supply device, the changing means can change the orientation of the longitudinal wiping member. It is a cleaning robot system.

  According to the first aspect of the present invention, the longitudinal shape attached to the main body portion while automatically traveling while holding the longitudinal wiping member in a direction crossing the traveling direction by the automatic traveling execution means. It can be cleaned by the wiping member, and when the obstacle is detected by the changing means, the direction of the longitudinal wiping member can be changed to a direction in which automatic traveling is not hindered. Therefore, in this embodiment, it is not necessary to provide a storage unit for storing the cleaned dust and a suction mechanism for sucking the dust into the storage unit. Therefore, the main body unit includes the drive wheel, the drive mechanism for the drive wheel, and the The control means can be miniaturized to a size that can be accommodated at least. In addition, the cleaning robot according to the present embodiment changes the direction of the longitudinal wiping member to a direction in which automatic traveling is not hindered by the changing means even if the obstacle is present in the cleaning area during automatic traveling. By avoiding interference with objects (contact, collision, hooking, etc. that hinders traveling), it is possible to freely enter a narrow gap between objects and furniture, thereby reducing cleaning loss and improving the cleaning ability.

  Pile, sponge, non-woven paper, towel, etc. can be used as the wiping material for the longitudinal wiping member. As the longitudinal wiping member, a mop shape that can be inserted into and removed from a shaft member such as a tongue-like plate material or a rod-like member, or detachable by a fastener body composed of a loop portion and a hook portion, and a wiping material are grasped A clip-like gripping body or the like can be used. In particular, the present invention is suitable for a rental cleaning robot, and can be rented as a dust control product by periodically collecting the wiping material of the mop portion. For example, when using a mop shape having an outer thread of a pile for the longitudinal wiping member, if the orientation of the longitudinal wiping member is changed, the outer thread may protrude from the main body at the time of the change. Since the yarn itself has flexibility, it can pass along the obstacle without any trouble.

The automatic traveling function of the cleaning robot according to the present invention is, for example, a function of detecting a traveling distance, a traveling direction, and / or a boundary of the cleaning area, and automatically traveling in the entire area by changing the direction in the vicinity of the boundary. For this automatic traveling function, for example, the traveling control technology of a cleaning robot already disclosed by the present applicant in Japanese Patent Application Laid-Open No. 2011-56123 or Japanese Patent Application Laid-Open No. 2013-41506 can be used.
The cleaning robot according to the present embodiment causes the longitudinal wiping member to adsorb dust on the surface to be cleaned while traveling forward or backward by rotation driving of the driving wheel, or scrapes the dust with the longitudinal wiping member. Therefore, even if the longitudinal wiping member is located on the front side or the rear side with respect to the drive wheel, automatic traveling for the cleaning is possible.

The detection means may be constituted by an obstacle detection sensor for detecting an obstacle such as an instrument scattered in the cleaning area.
In order for the cleaning robot according to the present invention to travel through the cleaning area to every corner, a front obstacle detection sensor for detecting area boundaries such as walls and doors can be provided in the main body.
The detection means and the front obstacle detection sensor can be separately provided, for example, on the side part and the front part of the main body part. Further, a front obstacle detection sensor may also be used as the detection means.
As the obstacle detection sensor or the front obstacle detection sensor, a non-contact sensor such as an infrared sensor, an ultrasonic sensor, or an optical sensor, or a contact sensor including a contact can be used.

  According to the second aspect of the present invention, the changing means switches the longitudinal direction of the longitudinal wiping member to the traveling direction side, so even if the obstacle is present in the cleaning area during automatic traveling, it is ensured. In addition, the direction of the longitudinal wiping member can be changed to a direction in which automatic traveling is not hindered, and it is possible to improve the cleaning capability by automatically traveling within the cleaning area.

According to the third aspect of the present invention, the longitudinal wiping member is attached to the main body so as to be rotatable at the lower part of the main body according to the change, and the longitudinal wiping member is rotated to the lower part. Since a space that does not hinder the movement is provided, automatic travel can be smoothly performed by changing the direction of the longitudinal wiping member so that it can be accommodated in the space when the obstacle is detected, and the cleaning ability is improved. Can be achieved.
As a change mode in which the orientation of the longitudinal wiping member is changed so as to be accommodated in the void, not only the entire longitudinal wiping member is hidden in the main body portion, but also on the opposite side to the traveling direction, automatic traveling is performed. Since no hindrance occurs, a part of the longitudinal wiping member can be exposed and stored on the opposite side. In particular, when using, for example, a mop-shaped body having a flexible pile outer thread as the longitudinal wiping member, the outer thread is deformable along the obstacle, and the outer thread is You may make it fit in the state protruded from the side.

  As the shape of the main body portion in the present invention, not only a disc shape or a rectangular shape can be used, but also from the viewpoint of ensuring a large space area, the main body portion has a shape whose overall length is greater than a lateral width, for example, a shape in plan view. Can be rectangular, oval, teardrop, tadpole, and handle-shaped.

  According to the fourth aspect of the present invention, the main body portion has a protruding shape portion protruding in the traveling direction, and the detection means is provided at least on a side portion of the protruding shape portion. It is possible to reliably detect narrow gaps such as furniture and furniture that become objects, and change the direction of the longitudinal wiping member to a direction that does not hinder automatic traveling, reducing cleaning loss and improving cleaning ability Can be planned.

  According to the fifth aspect of the present invention, the automatic wiping execution means causes the longitudinal wiping member to be in a cleaning execution state in which both ends of the longitudinal wiping member are projected outward from both side portions of the main body. Since the vehicle travels automatically while maintaining the orientation, the width region exceeding the width of the main body can be efficiently cleaned by the longitudinal wiping member with the automatic travel. In addition, in this embodiment, the changing means changes the direction of the longitudinal wiping member so that the both end portions do not protrude outward from the both side portions, so that the direction of the longitudinal wiping member automatically travels. Can be changed to an unobstructed orientation, and the cleaning ability can be improved by reducing the cleaning loss.

  According to a sixth aspect of the present invention, the longitudinal wiping member includes a base and a wiping body planted on the base, and is attached to the base in a detachable manner, and the mounting material. And a rotating means for rotating the rotating shaft member in a state where the rotating shaft member is rotatably attached to the main body. Since the direction of the longitudinal wiping member is changed by driving the turning means, the direction of the longitudinal wiping member can be smoothly and automatically changed by driving and controlling the turning means while automatically running. This can reduce cleaning loss and improve the cleaning ability. In particular, since the cleaning robot according to the present invention does not require cleaning of the main body, it can be used only for replacement of a wiping body such as a mop, so the longitudinal wiping member can be, for example, the base of the canvas. By using a mop shape with an outer thread such as a pile attached to it, a rental cleaning robot with excellent cleaning ability can be rented as a dust control product that allows the wiping material of the mop part to be collected periodically. Can be realized.

  A seventh aspect of the present invention is an invention relating to a cleaning robot having at least a charge control function of a drive power source of the drive motor as one of specific process functions for performing a specific process other than the cleaning function. That is, according to the seventh aspect of the present invention, the battery pack includes at least a rechargeable battery that supplies drive power to the drive motor, and external power supply detection means that detects a position of an external power supply device. When charging the battery, the position of the external power supply device is detected, the charge travel execution means for traveling to the position, and the position of the external power supply device travels to the power output terminal of the external power supply device. Charging control means for charging the rechargeable battery connected to the power input terminal of the rechargeable battery, and the direction of the longitudinal wiping member can be changed by the changing means when traveling to the position of the external power supply device Therefore, the charging travel execution means detects and moves the position of the external power supply device, and connects the power supply output terminal of the external power supply device to the power input terminal of the rechargeable battery at the position. Charge Ukoto can. Therefore, in this embodiment, even in the process of detecting the position of the external power supply device and traveling to the position, it detects a narrow gap such as an obstacle or furniture that becomes the obstacle, and the longitudinal wiping member The direction can be changed to a direction that does not impede the travel movement, so unnecessary detours can be avoided, charging can be performed quickly through the best path with the least possible travel loss, and unpredictable due to inability to charge. It is possible to realize a cleaning robot that can maintain a smooth cleaning process without causing such a situation.

  Whether or not the rechargeable battery needs to be charged is determined by, for example, measuring a set time arbitrarily or fixedly set by a timer included in the control means and determining based on time-up of the set time, or executing cleaning The number of executions can be determined based on the set number of times being reached, or the charge amount of the rechargeable battery can be detected to determine whether or not charging is necessary. Furthermore, it is possible to charge each time cleaning in the cleaning area is completed once.

  The 8th form of this invention is an invention regarding the cleaning robot provided with the reproduction | regeneration processing function which can clean (regenerate) the said longitudinal wiping member as one of the specific process functions. In other words, according to the eighth aspect of the present invention, the dust collector detecting means for detecting the position of the dust collector having the suction port for sucking dust is provided, and the control means cleans the longitudinal wiping member. , The wiping member cleaning execution means that detects the position of the dust collecting device and travels to the position, travels to the position of the dust collecting device, and approaches the longitudinal wiping member to the suction port. Or a regeneration control means for causing the dust to adhere to the longitudinal wiping member and sucking the dust from the suction port to regenerate the longitudinal wiping member, and when traveling to the position of the dust collector, Since the direction of the longitudinal wiping member can be changed by the changing means, the position of the dust collecting device is detected and moved by the regeneration control means, and the longitudinal wiping member approaches or enters the suction port. Dust adhering to the longitudinal wiping member Sucked from serial suction port can be reproduced of the elongated wiping member. Therefore, in the present embodiment, even in the process of detecting the position of the dust collector and traveling to the position, the narrow gaps of the obstacles such as furniture and furniture are detected, and the longitudinal wiping member The direction can be changed to a direction that does not impede the traveling movement, so unnecessary detours can be avoided, and playback can be performed promptly through the best route with the least possible travel loss. It is possible to realize a cleaning robot that can maintain a smooth cleaning process without causing such a situation.

  The determination as to whether or not the regeneration is necessary is performed by, for example, measuring a set time arbitrarily or fixedly set by a timer included in the control unit and determining based on time-up of the set time, or performing the cleaning execution Can be determined based on reaching the set number of times, or by detecting the amount of dust attached to the longitudinal wiping member and determining whether or not regeneration is necessary.

The rotational driving of the drive wheel is suitable for automatic traveling on a floor surface with high flatness (for example, a flooring floor surface, a floor tile floor surface, a concrete floor surface, etc.). For example, when a carpet or mat rug is placed on the flooring, the automatic running may be hindered depending on the thickness of the rug or the degree of surface irregularities. Therefore, the cleaning robot according to the present invention is provided with a lower detection sensor (for example, an infrared sensor, a color sensor, etc.) that can detect the floor surface condition below the main body in addition to the above-described specific processing function of charging or regeneration. Thus, it is possible to identify a boundary between the rug and the flooring floor surface, and to provide a lower obstacle avoidance function for performing an avoidance operation on the flooring floor side so as not to enter the rug when approaching the boundary.
In addition, when there is a stepped portion (for example, a doorway) on the floor surface, there is a possibility that automatic driving may be hindered. Therefore, the cleaning robot according to the present invention has a lower part of the main body as one of the specific processing functions. A step detection sensor (for example, an infrared sensor, an optical sensor, etc.) that can detect the level difference of the step is provided to identify the boundary between the stepped portion and the flooring floor surface, and does not enter the stepped portion when approaching the boundary. As described above, a step obstacle avoiding function for avoiding the flooring floor can be provided.

A ninth aspect of the present invention is an invention relating to a cleaning robot system that enables a cleaning robot and an external power supply device to communicate with each other.
According to a ninth aspect of the present invention, the cleaning robot according to any one of the first to sixth aspects, an external power supply device that can output power position information and can supply power to the cleaning robot; The cleaning robot includes at least a rechargeable battery that supplies driving power to the drive motor and power position information receiving means that receives the power position information, and the control means charges the rechargeable battery. A charging travel execution means that travels to the position of the external power supply device based on the power supply position information, and travels to the position of the external power supply device, and the power supply of the rechargeable battery to the power output terminal of the external power supply device Charging control means for charging the rechargeable battery by connecting to an input terminal, and when traveling to the position of the external power supply device, the changing means can change the orientation of the longitudinal wiping member. . Accordingly, in the present embodiment, even in the process of traveling to the external power supply device based on the power supply position information, the narrow gaps of the obstacles such as furniture and furniture are detected, and the direction of the longitudinal wiping member is determined. Can be changed to a direction that does not hinder the traveling movement, so unnecessary detours can be avoided, charging can be performed quickly through the best route with the least amount of traveling loss, and unexpected A cleaning robot system capable of maintaining a smooth cleaning process by the cleaning robot without causing a situation can be realized.

  Charging necessity determination means for determining whether or not the rechargeable battery needs to be charged can be provided in the cleaning robot or the external power supply device. When the determination is performed in the cleaning robot, for example, a set time that is arbitrarily or fixedly set by a timer included in the control means is measured, and the necessity for charging is determined based on time-up of the set time. Or the necessity of charging can be determined based on the number of executions of cleaning reaching the set number of times, or the amount of charge of the rechargeable battery can be detected to determine whether or not charging is necessary. Furthermore, it is possible to charge each time cleaning in the cleaning area is completed once. In the case where the external power supply device is provided with the charging necessity determination means, for example, the timer built in the external power supply device is timed from the last charge or based on whether or not a predetermined time has passed, or a predetermined set time The external power supply device can be provided with a charging instruction function that determines whether or not charging is necessary based on whether or not the battery has arrived and gives a charging instruction to the cleaning robot based on the progress or the like.

The 10th form of this invention is invention regarding the cleaning robot system which enables a cleaning robot and a dust collector to communicate.
According to the 10th form of this invention, the cleaning robot which concerns on the said any one of the 1st-6th form, and the dust collector provided with the suction port which can output dust collection position information and attracts | sucks dust The cleaning robot is provided with dust collection position information receiving means for receiving the dust collection position information, and the control means is based on the dust collection position information when cleaning the longitudinal wiping member. Rerun travel execution means that travels to the position of the dust collector, travels to the position of the dust collector, causes the longitudinal wiping member to approach or enter the suction port, and adheres to the longitudinal wiping member And a regeneration control means for regenerating the longitudinal wiping member by sucking the dust from the suction port, and changing the orientation of the longitudinal wiping member by the changing means when traveling to the position of the external power supply device Can be possible. Therefore, in this embodiment, even in the process of traveling to the dust collector based on the dust collection position information, a narrow gap such as an obstacle or furniture that becomes an obstacle is detected, and the longitudinal wiping member The direction can be changed to a direction that does not impede the traveling movement, so unnecessary detours can be avoided, and playback can be performed promptly through the best route with the least possible travel loss. Thus, it is possible to realize a cleaning robot system capable of maintaining a smooth cleaning process by the cleaning robot without causing the above situation.

Regeneration necessity determination means for determining whether or not the longitudinal wiping member needs to be regenerated can be provided in the cleaning robot or the dust collector. When the determination is performed in the cleaning robot, for example, a set time arbitrarily or fixedly set by a timer included in the control means is counted, and the necessity for regeneration is determined based on the time up of the set time. Or the necessity of regeneration is determined based on the number of cleaning executions reaching the set number of times, or the amount of dust adhering to the longitudinal wiping member is detected and the necessity of regeneration is determined. be able to.
In the case where the dust collection device is provided with the regeneration necessity determination means, for example, based on whether or not a predetermined time has passed since the previous regeneration was performed by a timer built in the dust collector, or a predetermined setting The dust collector can be provided with a regeneration instruction function that determines whether or not regeneration is necessary based on the arrival of time or the like, and gives a regeneration instruction to the cleaning robot as a result.

It is an appearance lineblock diagram showing the cleaning robot system composition containing cleaning robot 1 which is one embodiment of the present invention. 1 is an external view of a cleaning robot 1. FIG. 2 is a horizontal sectional structure diagram of the cleaning robot 1. FIG. 1 is a longitudinal sectional structural view of a cleaning robot 1. 2 is a control block diagram of a cleaning robot system including a cleaning robot 1. FIG. Partial longitudinal sectional view (6A) of the rotation shaft 35 used for the mop rotation mechanism of the cleaning robot 1, side view (6B) of the longitudinal shaft piece 36 used for the mop cleaning member 3 of the cleaning robot 1, and the longitudinal shaft piece 36 These are a top view (6C) and a top view (6D) of the mop 37 of the mop cleaning member 3. It is a longitudinal cross-sectional view of the dust collector 4 contained in the said cleaning robot system. 4 is a flowchart showing main control processing by the control unit 100 of the cleaning robot 1. 5 is a flowchart illustrating a cleaning process performed by a control unit 100. 4 is a flowchart illustrating a forward obstacle avoidance process performed by a control unit 100. It is a flowchart which shows the mop failure avoidance process by the control part. 5 is a flowchart showing a downward obstacle avoidance process by the control unit 100. 3 is a flowchart illustrating a charging process by a control unit 100. 4 is a flowchart showing a part of mop reproduction processing by a control unit 100. It is a flowchart which shows a part of said mop reproduction | regeneration process. It is a figure for demonstrating the reverse turning by the control part. It is a figure for demonstrating the predetermined angle change by the control part. It is a figure for demonstrating the mop rotation operation | movement by the control part. It is a figure for demonstrating the forward running operation | movement by the control part. FIG. 3 is a layout diagram of a room where a cleaning process is performed by the cleaning robot 1. It is a figure which shows the mop attachment structure of another Example. It is a figure which shows the mop attachment structure of another Example.

A cleaning robot 1 according to an embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 shows a cleaning robot system configuration including a cleaning robot 1.
The cleaning robot 1 has a main body 2 and a mop cleaning member 3. The cleaning robot 1 includes a charging position moving function and a regeneration (cleaning) position moving function of the mop cleaning member 3 in addition to the cleaning function by the mop cleaning member 3. When executing the cleaning function, the cleaning robot 1 can move forward with the main body portion 2 at the head and the mop cleaning member 3 in contact with the floor surface. This embodiment is a configuration example of a cleaning robot system including a cleaning robot 1, a dust collecting device 4 that can regenerate the mop cleaning member 3, and a charging device 5 that can charge the cleaning robot 1.

  FIG. 2 shows the appearance of the cleaning robot 1. 3 and 4 show a horizontal sectional structure and a longitudinal sectional structure of the cleaning robot 1, respectively. 4 corresponds to the longitudinal sectional structure in the AA direction in FIG. 3, and FIG. 3 corresponds to the lateral sectional structure in the BB direction in FIG. FIG. 5 shows a control block diagram of a cleaning robot system including the cleaning robot 1.

  The main body 2 includes a front bottom plate 8 and a rear bottom plate 32 on which various members are mounted, a longitudinal cover member 7 that covers the rear bottom plate 32, and a substantially bowl-shaped cover member 6 that covers the entire front bottom plate 8 and one end of the longitudinal cover member 7. Have. The substantially bowl-shaped cover member 6 has a substantially bowl shape with one end side opened like a spout. The longitudinal cover member 7 has a substantially boat-like shape with one end side opened. The substantially bowl-shaped cover member 6 and the longitudinal cover member 7 are made of a member molded by a reinforced plastic material. The substantially bowl-shaped cover member 6 and the longitudinal cover member 7 may be formed by thin sheet metal processing. Instead of configuring the substantially bowl-shaped cover member 6 and the longitudinal cover member 7 as separate members, a single cover member formed by integrally forming these cover members can be used.

  The front bottom plate 8 has a substantially circular shape as a whole, and a substantially semicircular cutout portion 24 is formed on the round front portion side from the center portion. The notch 24 is provided with a step portion 9 located below the entire bottom plate.

The rear bottom plate 32 has a substantially rectangular shape. The front end portion of the rear bottom plate 32 is screwed via a rear portion of the front bottom plate 8 and the connecting plate 19, and the rear bottom plate 32 is fixed to the front bottom plate 8, and forms a flat pattern shape as the whole fixed state.
Without separating and connecting the front bottom plate 8 and the rear bottom plate 32, these bottom plates can be integrally formed and a single bottom plate can be used. The front bottom plate 8 and the rear bottom plate 32 are made of a member molded by a reinforced plastic material. The front bottom plate 8 and the rear bottom plate 32 may be formed by thin sheet metal processing.

  Engaging protrusions 25 are provided on the outer peripheral portions of the front bottom plate 8 and the rear bottom plate 32 so that the substantially saddle-shaped cover member 6 and the longitudinal cover member 7 can be mounted. In the front bottom plate 8, one engagement protrusion 25 is formed at the foremost end, and a total of four engagement protrusions 25 are formed on both sides. Five engagement holes that can be fitted into the respective engagement protrusions 25 of the front bottom plate 8 are formed in the rear side end surface of the substantially bowl-shaped cover member 6. By engaging the engagement projections 25 of the front bottom plate 8 corresponding to the engagement holes of the substantially bowl-shaped cover member 6, the substantially bowl-shaped cover member 6 is engaged so as to cover the mounting member of the front bottom plate 8. .

  In the rear bottom plate 32, one engagement protrusion 25 is formed at the rearmost end, and a total of four engagement protrusions 25 are formed on both sides. Five engagement holes that can be fitted into the respective engagement protrusions 25 of the rear bottom plate 32 are formed in the rear side end face of the longitudinal cover member 7. By engaging the engagement protrusions 25 of the rear bottom plate 32 corresponding to the engagement holes of the longitudinal cover member 7, the longitudinal cover member 7 is engaged so as to cover the mounting member of the rear bottom plate 32. The substantially hook-shaped cover member 6 is engaged with the longitudinal cover member 7 engaged with the rear bottom plate 32, and the substantially hook-shaped cover member 6 is engaged with the front bottom plate 8, thereby The front end part of the longitudinal cover member 7 is also covered on the open part side of the cover member 6. For mounting the substantially bowl-shaped cover member 6 and the longitudinal cover member 7, an engaging means such as a screw can be used in addition to the engaging means using the engaging protrusion and the hole.

  The cleaning robot 1 has three types of obstacle detection functions for detecting obstacles that hinder travel. One is a forward obstacle detection function that detects an obstacle in a straight traveling direction or an obliquely forward direction that hinders forward traveling itself. Second, when there is a small gap between the objects in the cleaning area and between the objects and the wall, the mop cleaning member 3 detects an obstacle that may interfere with the objects or the wall (contact, hook, etc.) and may not be able to run. This is a mop failure detection function. The third function is a downward obstacle detection function that detects a failure that may cause the vehicle to run or fall over due to a stepped portion or a carpet such as a carpet, carpet, or mat.

  A through hole H1 for the front obstacle detection sensor D1 is formed at the center of the arcuate head portion of the substantially bowl-shaped cover member 6. Below the through hole H1, in the vicinity of the left and right sides, the electrode portions T1 and T2 of the charging input terminal are exposed. A pair of through-hole portions H2 for the side failure detection sensors D2 and D3 are formed in the side portion diagonally forward of the top portion. A pair of through-hole portions H3 for side failure detection sensors D4 and D5 are formed in the lateral side portion of the top portion. The front obstacle detection sensor D1 and the side obstacle detection sensors D2 to D5 are constituted by infrared sensors. It is possible to detect a front obstacle such as a wall surface or a pillar material by receiving light by the infrared sensor. The front failure detection sensor D1 and the side failure detection sensors D2, D3 are used for the forward failure detection function, and the side failure detection sensors D4, D5 are used for the mop failure detection function.

  The front failure detection sensor D1 and the side failure detection sensors D2 to D5 are fixedly attached to the inside of the substantially bowl-shaped cover member 6 corresponding to each through hole so as to be able to project and receive infrared rays. The fixing is performed by screwing. The fixing can be performed by soldering or bonding. Each through hole is hollow by drilling. A transparent member for protection may be embedded in each through hole.

  Three lower obstacle detection sensors 26 to 28 are fixedly attached to the front end portion of the front bottom plate 8. The fixing is performed by screwing. The fixing can be performed by soldering or bonding. The lower obstacle detection sensor 26 is attached to the center position of the front end. The lower obstacle detection sensors 27 and 28 are attached outside the cutout portion 24 and inside the lower obstacle detection sensor 26, respectively. A through hole 34 is formed at the mounting position of each downward obstacle detection sensor. In this embodiment, the flooring floor is set as the running surface of the cleaning robot 1. The downward obstacle detection sensors 26 to 28 are constituted by infrared sensors. The lower obstacle detection sensors 26 to 28 can project and receive infrared rays through the through holes 34 at the respective mounting positions. When the cleaning robot 1 approaches a step on the floor, the amount of reflected light received by the lower obstacle detection sensors 26 to 28 is reduced, and the presence of the step can be detected. The cleaning robot 1 has a step obstacle avoidance function that identifies a boundary between the stepped portion and the flooring floor surface, and performs an avoidance operation on the flooring floor surface side so as not to enter the stepped portion when approaching the boundary. .

  Further, when the cleaning robot 1 approaches a carpet such as carpets, mats, and carpets on the floor surface, the amount of reflected light received by the lower obstacle detection sensors 26 to 28 decreases, and the presence of the carpet is detected. Can be detected. The cleaning robot 1 also has a rug obstacle avoidance function that identifies a boundary between the rug and the flooring floor surface, and performs an avoidance operation on the flooring floor surface side so as not to enter the rug when approaching the boundary.

  A color sensor D6 for a charging position moving function and a reproduction position moving function is fixedly attached to the front end center position of the front end portion of the front bottom plate 8. The fixing is performed by screwing. The fixing can be performed by soldering or bonding. A through hole 33 is formed at the mounting position of the color sensor D6. The color sensor D6 can receive reflected light through the through hole 33.

  The color sensor D6 is composed of an RGB color sensor for color-determining a traveling floor (flooring floor) area and other areas. The RGB color sensor can detect a visible light region in a wavelength range (380 to 780 nm) separately for each color signal of red (R), green (G), and blue (B) and output a color identification signal. it can.

  The stepped portion 9 is provided with a pair of wheels (drive wheels) W1 and W2 and small DC motor drive motors M1 and M2 for independently driving the wheels. The drive motors M <b> 1 and M <b> 2 are fixed on the stepped portion 9 with the longitudinal center line of the main body 2 as the axis of symmetry. The fixing is performed by screwing. The wheels W1 and W2 are disposed at the outer end portions of the motor shafts 20 and 21 so as to be exposed from the cutout portions 24. The drive motors M1 and M2 have built-in odometers m1 and m2 that measure the travel distance from the rotational speeds of the motor shafts 20 and 21 and output a travel distance signal, respectively. The odometers m1 and m2 can be arranged close to the motor shafts 20 and 21 without incorporating a motor. The cleaning robot 1 can independently drive the drive motors M1 and M2, and can drive the motors straightly, change direction, and turn by simultaneously driving the motors, adding a difference in rotational speed, and stopping the driving. Each wheel 2 is configured by fitting a donut-shaped tire rubber material 23 on a disc 22 fixed to the outer end of each motor shaft 20, 21.

  On the rear bottom plate 32, a control case body 10 including a control circuit board, a battery case body 14 containing the rechargeable batteries 12 and 13, and a mop rotating mechanism for changing the direction of the mop cleaning member 3 are mounted. The control case body 10 and the battery case body 14 are fixed to each other by screws. A power switch 111 composed of a slide switch is mounted at the center of the rear bottom plate 32. The slide operation portion of the power switch 111 is provided in an opening 111a formed at the mounting position, and the power can be turned on and off by the user's finger operation.

The mop rotation mechanism is disposed on the rear side of the rear bottom plate 32 and includes a rotation motor 15 and a rotation bearing member 16. The rotation motor 15 is constituted by a small DC motor, and is fixed to the rear bottom plate 32 with screws. A drive gear 17 is attached to the rotation shaft 30 of the rotation motor 15.
(6A) of FIG. 6 shows the rotating shaft 35 of the mop rotating mechanism.
A rotation shaft 35 is inserted into the rotation bearing member 16. A screw portion (not shown) is formed at the head of the rotation shaft 35, and the rotation gear 18 is fixed by screwing through the screw portion. The rotation gear 18 is arranged in mesh with the drive gear 17, and the rotation gear 18 engaged with the drive gear 17 is rotated by the rotation of the rotation motor 15, and rotates around the central axis of the rotation bearing member 16. The moving shaft 35 can be rotated. A shallow fitting groove 35d is formed in an intermediate portion of the rotation shaft 35, and the projection on the inner side of the rotation bearing member 16 is fitted into the fitting groove 35d, whereby the drive gear 17 and the rotation gear 18 are meshed. Acts as a drop-off prevention function to maintain the state. A positioning sensor 107 for detecting the rotation angle of the rotation shaft 35 is attached to the upper side of the rotation bearing member 16 below the rotation gear 18. The positioning sensor 107 is a resistance type positioning sensor that outputs a rotation angle signal by changing a resistance value according to the rotation amount of the rotation shaft 35. The rotation amount of the rotation shaft 35 can be detected by the rotation angle signal of the positioning sensor 107, and the drive control of the rotation motor 15 is performed based on the detection of the rotation angle signal. Instead of detecting the rotation angle of the positioning sensor 107, the rotation amount of the rotation shaft 35 may be controlled by the pulse drive of the rotation motor 15.

(6B) and (6C) of FIG. 6 show a connecting component member used for connecting the mop cleaning member 3 and the lower end of the rotating shaft 35. FIG. 6D shows the mop 37 of the mop cleaning member 3.
The mop cleaning member 3 includes a mop 37 and a longitudinal shaft piece 36 for attaching the mop 37. The mop 37 is planted over the base cloth 37a, a bag portion 38 that covers the upper surface of the base cloth 37a with a part of the upper surface thereof open, and the lower surface of the base cloth 37a and substantially the entire outer periphery of the bag portion 38. A pile outer thread 39 is provided.

  The longitudinal shaft piece 36 has an elongated shape that can be accommodated in the bag portion 38 and is formed of a synthetic resin. At the center of the longitudinal shaft piece 36, a pedestal portion 36c for connecting to the lower end of the rotation shaft 35 and a protruding piece 36a standing on the top of the pedestal portion 36c are integrally molded. A through hole 36b for screwing is formed on the base side of the protruding piece 36a. The penetration direction of the through hole 36 b is orthogonal to the longitudinal direction of the longitudinal shaft piece 36.

A groove 35b into which the protruding piece 36a can be inserted is formed at the lower end of the rotating shaft 35 so as to open downward. At the lower end of the rotation shaft 35, a through hole 35c for screwing is formed corresponding to the through hole 36b. As shown in FIG. 3, by inserting the protruding piece 36a into the groove portion 35b and inserting the screw 35a into the through hole 35c and the through hole 36b and screwing it, the longitudinal shaft piece 36 becomes the lower end of the rotating shaft 35. It is fixed to. In a fixed state in which the longitudinal shaft piece 36 is secured to the lower end of the rotating shaft 35, the mop 37 is attached to the longitudinal shaft piece 36 through the bag portion 38 to attach the mop cleaning member 3 to the main body portion 2. Can be installed.
In this embodiment, when the rotation gear 18 meshed with the drive gear 17 is rotated by the rotation of the rotation motor 15 and the rotation shaft 35 is rotated around the central axis of the rotation bearing member 16, Between the lower portion of 32, the stepped portion 9 and the floor surface F, a void 11 is formed that does not hinder the rotational movement of the pile outer thread 39 of the mop 37.

  As shown in FIG. 1, the charging device 5 has a device case body 50 provided with a concave portion 51 into which the forehead of the main body 2 can be inserted. Electrode portions T3 and T4 that are in contact with the electrode portions T1 and T2 of the main body portion 2 and enable supply of a charging current are exposed at the back of the front surface of the recess 51.

FIG. 7 shows the internal configuration of the dust collector 4.
The dust collector 4 is a dual-purpose dust collector having a hose dust collecting function by a suction hose 41 similar to a vacuum cleaner and a wiping body dust collecting function for sucking dust adhering to a wiping body such as a mop from an air inlet 42. FIG. 7 shows a state when the dust collector 4 operates the wiping body dust collecting function.

  The dust collector 4 has a vertically long main body case 40, and a handle 44 that can be gripped by a hand 4 h is attached to the upper portion of the main body case 40. At the lower end of the main body case 40, an air inlet 42 for sucking the attached dust from the wiping body is opened. In the main body case 40, a suction motor unit 48, a filter unit 47 that removes dust from air sucked from the suction hose 41, and an exhaust filter unit 48 b that exhausts purified air discharged from the suction motor unit 48 are provided. . A cord housing portion 46 for housing the power cord 4b is provided at the lower portion of the main body case 40.

  The air inlet 42 has a horizontally long shape that is opened over a substantially horizontal width of the main body case 41. A scraping plate 43 made of rubber or elastic resin is suspended from the opening. The air inlet 42 communicates with a substantially L-shaped suction pipe 45. The discharge port of the suction pipe 45 is located at the back of the main body case 40, and the suction port 41a of the suction hose 41 can be inserted.

  The dust collecting operation of the dust collecting device 4 when the regeneration processing of the mop cleaning member 3 is performed by the dust collecting device 4 will be described below. The broken-line arrows in FIG. 7 indicate the flow direction of the suction air during the dust collection operation. First, when the power switch 4 a of the dust collector 4 is turned on and the suction motor unit 48 is driven to rotate, air is sucked from the air inlet 42. When the mop 37 of the mop cleaning member 3 is brought close to the vicinity of the air inlet 42 and rubbed against the scraping plate 12, dust attached to the mop 37 falls. The fallen dust is mixed in the air and becomes dust mixed air. Dust mixed air is sucked into the inside of the case in the direction of the broken line arrow from the air inlet 42 and sucked upward by the suction pipe 45. Further, the dust mixed air passes through the suction hose 41, dust is separated and collected by the filter in the filter unit 47, and the purified air flows out from the outlet of the filter unit 47 and is sucked into the suction motor unit 48. It will be. The air purified by the suction motor unit 48 is further purified through the exhaust filter unit 48b, and the purified air is discharged from the back of the main body case 40 into the atmosphere. At the time of regeneration, the cleaning robot 1 enters the mop 37 of the mop cleaning member 3 into the air inlet 42, stops for a predetermined time, then moves backward, and gradually shifts in the width direction of the air inlet 42 while shifting and moving, Repeat approach and retreat. The dust adhering to the mop 37 can be collected by the dust collector 4 by repeating the approach / retreat of the cleaning robot 1.

  When the dust collector 4 is used as a hose dust collecting function, the suction port 41a of the suction hose 41 is removed from the discharge port of the suction pipe 45, and a nozzle body such as a T-shape is attached to the suction port 41a. To do. In the attached state of the nozzle body, the power cord 4b is pulled out, and the handle 44 is grasped by the hand 4h to move the entire apparatus, and the nozzle body is used as a nozzle type dust collector for cleaning by sucking outside air from the nozzle body. Can do.

  The dust collector 4 is provided with a power supply system corresponding to when the nozzle type dust collector mode is used and when the regeneration mode of the cleaning robot 1 is used. A power system switching device 110 is connected between the power cord 4b and the outlet cord 4c connected to the commercial power source. The switching device 110 is provided with a setting switch 110a for setting either the nozzle type dust collector mode or the regeneration mode. The switching device 110 enters the nozzle type dust collector mode when the setting switch 110a is turned off, and enters the regeneration mode when it is turned on. The switching device 110 receives a switching circuit means (not shown) that allows the commercial power supply and the power cord 4b to be always conductive in the nozzle type dust collector mode, and the wireless instruction signal Rd from the cleaning robot 1 in the regeneration mode. A power ON / OFF switching device 134 for turning on / off the conduction state between the commercial power source and the power cord 4b is provided. In the nozzle type dust collector mode, the dust collector 4 can be manually operated by turning on the power switch 4a of the main body case 40. In the regeneration mode, the power switch 4a is turned on, and the dust collector 4 is automatically activated or deactivated in response to reception of the radio instruction signal Rd (conduction on signal or conduction off signal) from the cleaning robot 1. To be done.

  In this embodiment, in order to automatically regenerate the mop cleaning member 3 using the automatic traveling function of the cleaning robot 1, a switching device 110 for switching the power supply system of the dust collector 4 via wireless communication is externally attached. Although the power of the dust collector 4 is turned ON / OFF by using it, the switching function may be incorporated in the dust collector 4. In addition to the switching function by wireless communication, the switching can be performed by transmitting and receiving an ultrasonic signal or an optical signal as the switching signal between the cleaning robot 1 and the dust collector 4.

  The dust collector 4 and the charging device 5 are installed at predetermined positions in the cleaning area so that the cleaning robot 1 can easily determine the respective installation positions and move quickly. As shown in FIG. 1, the installation positions of the dust collector 4 and the charging device 5 are respectively specified by position identifying color tapes 49 and 52 attached to the floor surface. The color tape 49 has a length approximately equal to the width of the air inlet 32 of the dust collector 4 and is attached to the floor near the air inlet 32 and in parallel with the air inlet 32. The color tape 52 has a length approximately equal to the lateral width of the recess 51 of the charging device 5, and is attached to the floor near the recess 51 and in parallel with the width direction of the recess 51. In this embodiment, the installation positions of the dust collector 4 and the charging device 5 are set near the wall of the cleaning area. The color identification material is not limited to the color tape, and a colored resin thin plate can be fixed or adhered to the floor surface, or can be a part of the casing member of the dust collector 4 and the charging device 5.

  Each of the color tapes 49 and 52 has a unique tape color, and the tape color is set to a color different from the flooring color, for example, red, blue, and green. By replacing the color tapes 49 and 52, the installation positions of the dust collecting device 4 and the charging device 5 can be changed to arbitrary positions in the cleaning area.

  In an execution mode in which the cleaning robot 1 executes a regeneration position movement function for regeneration of the mop cleaning member 3 (hereinafter referred to as a regeneration mode), automatic traveling is performed in which the cleaning robot 1 is moved in parallel along the wall. By the automatic running in the regeneration mode, the color tape 49 affixed to the wall can be quickly detected by the color sensor D6 and can be quickly moved to the installation position of the dust collector 4 to perform the regeneration process.

  In an execution mode in which the cleaning robot 1 executes a charging position moving function for charging (hereinafter, charging mode), cleaning is performed along a section defining material that defines a section area of the cleaning area, for example, along a wall of a living room. Automatic running is performed to move the robot 1 in parallel. By the automatic running in the charging mode, the color tape 52 attached to the wall can be quickly detected by the color sensor D6, and can be quickly moved to the installation position of the charging device 5 to perform the charging process.

  The color tapes 49 and 52 and the color sensor D6 identify the flooring color and the tape color to detect the installation positions of the dust collector 4 and the charging device 5. In addition to the detection mode, the dust collector 4 And an output function for outputting a position signal indicating the installation position, for example, an optical signal, an ultrasonic signal, an infrared signal, or a radio wave signal, to the charging device 5, and receiving the position signal to the cleaning robot 1 Means or dust collection (apparatus) position information receiving means may be provided to perform the detection. An induction signal may be given to the cleaning robot 1 from the dust collecting device 4 and / or the charging device 5 so that the cleaning robot 1 is guided to each installation position by attracting control on the dust collecting device side or the charging device side.

The control configuration of the cleaning robot system including the cleaning robot 1 will be described below with reference to FIG.
The control unit 100 of the cleaning robot 1 includes a microcomputer having a CPU 101 and a microcomputer having a ROM 102 and a RAM 103. The control unit 100 can receive sensor output signals from the front obstacle detection sensor D1, the side obstacle detection sensors D2 to D5, the lower obstacle detection sensors 26 to 28, the positioning sensor 107, and the color sensor D6.

  From the control unit 100, each wheel motor is driven to each of a left wheel motor control device 104 that controls supply of current for driving the left wheel motor M1 and a right wheel motor control device 105 that controls supply of current for driving the right wheel motor M2. Control signals can be output. The travel distance signals of the travel distance meters m 1 and m 2 of the left wheel motor M 1 and the right wheel motor M 2 can be input to the control unit 100. A rotation motor drive control signal can be output from the control unit 100 to the rotation motor control device 106 that controls the supply of current for driving the rotation motor 15. A radio signal generator 112 is connected to the output side of the control unit 100. The wireless signal generator 112 sends an ON / OFF switching signal to the dust collecting ON / OFF switching device 134 that switches ON / OFF of the dust collecting device 4 according to the ON / OFF instruction signal of the dust collecting device 4 from the control unit 100. Rd is output, and a charging start signal Rv is output to the charging device 5 in response to a charging instruction signal from the control unit 100. Communication control by the wireless signal generator 112 is performed based on the IEEE short-range wireless communication standard.

  The control unit 130 of the dust collector 4 includes a dust collection control unit 131 configured by a microprocessor (not shown) including a CPU, a ROM, and a RAM. A dust collection motor 133 is connected to the output side of the dust collection control unit 131 via a dust collection motor drive control unit 132. The dust collection motor drive control unit 132 controls the supply of the drive current for the dust collection motor 133 in accordance with the dust collection motor ON / OFF instruction signal from the dust collection control unit 131. An ON / OFF signal from the dust collection ON / OFF switching device 134 can be input to the dust collection control unit 131.

  The control unit 120 of the charging device 5 includes a charging control unit 121, an AC / DC converter 123, and a charging circuit 122. The AC / DC converter 123 converts the AC input voltage from the commercial power supply 124 into a DC voltage and supplies it to the charging circuit 122. The charging circuit 122 receives a DC output voltage from the AC / DC converter 123 and supplies a charging current to the rechargeable batteries (secondary batteries) 12 and 13. The charging control unit 121 includes a receiving circuit that receives a charging start signal Rv from the control unit 100 of the cleaning robot 1, receives the charging start signal Rv, and supplies a charging voltage for a secondary battery included in the charging circuit 122. A charging instruction signal for turning on the path is output to the charging circuit 122. The charge control unit 121 includes a timer device (not shown) that receives the charge start signal Rv and turns on. The timer device measures the supply time of the charging voltage by the charging circuit 122, and when the time is up, a charging stop signal is output from the charging control unit 121 to the charging circuit 12 to the charging circuit 122, and the charging voltage for the secondary battery is The supply path is turned off. As the rechargeable batteries 12 and 13, a lithium ion secondary battery, a nickel hydride secondary battery, or the like can be used. In this embodiment, when a lithium ion secondary battery is used, the cleaning robot 1 can be charged for the operating time (about 1.5 hours) by rapid charging for several minutes.

  A power supply circuit 108 is accommodated in the control box. Based on the DC voltage supplied from the secondary batteries 12 and 13, the power supply circuit 108 generates various voltages used for each member of the control unit 100, various sensors, various control devices, and various motors, Supply to each member. 3 to 5, the signal code lines between the members and the power code lines from the power circuit 108 are omitted. A power switch 111 is connected to the voltage output system of the power circuit 108. The voltage output system is opened or closed according to ON / OFF of the power switch 111.

Various operation modes of the cleaning robot 1 will be described below.
FIG. 8 shows main control processing by the control unit 100.
When the power switch 111 is turned on, an initialization process (step S1) for initializing data in the RAM 103 is executed. As one of the main control processes by the control unit 100, there is a charging process (step S2) that moves to the installation position of the charging device 5 (hereinafter referred to as a charging position) during charging and charges the secondary batteries 12 and 13. Executed. Further, when the mop cleaning member 3 is regenerated, a regeneration process (step S3) is performed in which the mop 37 of the mop cleaning member 3 is moved to an installation position (hereinafter referred to as a regeneration position) of the dust collecting device 4 to perform cleaning regeneration. . During normal times when neither charging nor regeneration is performed, a cleaning process (step S4) is performed in which the floor is cleaned by the mop cleaning member 3 by automatically running in the cleaning area.

FIG. 9 shows an outline of the cleaning process by the control unit 100.
First, it is determined whether or not a cleaning operation is possible (step S10). The cleaning process after step S11 can be executed when the condition for the cleaning process is satisfied, not when the charging is performed or when the regeneration is performed. The control unit 100 is provided with an external connection terminal (not shown). For example, the control unit 100 can be connected to a data setting terminal via the external connection terminal using a USB cable. With the terminal such as a personal computer, it is possible to arbitrarily set a cleaning process necessary condition (cleaning condition) for the control unit 100. The cleaning condition is, for example, the cleaning execution time, the number of cleaning executions per day, and the like.

  The system components such as the cleaning robot 1 are arranged on the wall as an initial position when not operating. If the cleaning condition is satisfied, the cleaning robot 1 starts moving forward along an adjacent track from a predetermined start position (standby position) near the wall and moving along an adjacent wall (step S11). When a wall is detected by such forward travel, the travel is stopped (steps S12 and S13), and the travel trajectory is changed. The travel trajectory change is executed by the cleaning robot 1 turning 180 degrees and changing the travel direction to about 30 degrees obliquely, and forward travel is resumed after the trajectory change (steps S14 and S15). The trajectory change and forward traveling are repeated until the entire cleaning area is traveled (steps S16 and S17).

  In the ROM 101, a travel distance and a total travel time corresponding to the size of the cleaning area are set in advance by a value that is increased by 10%. Whether or not the entire cleaning area has been traveled is determined by whether or not the travel distance or total travel time according to the setting has been reached. The mileage data from the odometer m1 or m2 is stored in the RAM 103, and it is determined that the entire area has been cleaned when the value of any mileage data reaches the mileage value according to the setting first. Alternatively, when the automatic travel for the cleaning process is started, the travel distance data from the odometer m1 or m2 is stored in the RAM 103 by the timer function built in the CPU 101, and the time required for the cleaning process is timed. When the required time reaches the total travel time value according to the setting, it is determined that the entire area has been cleaned. The odometer may be provided only on one side of the wheels W1 and W2, and may be provided only on the side of the wheel W2 that is not used as the center of rotation, such as inversion, in order to reflect a substantial travel distance. Good.

  When the vehicle travels through the entire cleaning area, the vehicle travels along the wall and returns to the start position (steps S18 and S19) in the same manner as when cleaning is started. Confirmation of the start position is performed based on the detection of the installation position of the dust collector 4 or the charging device 5 during return travel. That is, after detecting any of the installation positions, the robot moves in a direction away from the dust collector 4 or the charging device 5 to detect a nearby wall, and changes to a posture capable of traveling along the wall by the wall detection. The travel is stopped and the system waits until the next cleaning condition occurs (step S20).

FIG. 10 shows forward obstacle avoidance processing by the control unit 100.
During forward travel, the forward obstacle detection sensor D1 stops the forward drive when an obstacle of a wall or an instrument is detected forward in the travel direction, and after the cleaning robot 1 turns in reverse to change the travel direction, the forward travel is performed. The process is continued (steps S30 to S35).

FIG. 16 shows an example of the reverse turning.
When the wall 200 is detected by the front obstacle detection sensor D1, the right wheel W2 is driven forward while the left wheel W1 is stopped, and rotated 180 degrees about the ground contact point P1 of the left wheel W1 to turn the reverse C1. Done. The detection identification distance r2 by the front obstacle detection sensor D1 is set so that the turning area 201 with the rotation radius r1 of the reverse C1 does not collide with the wall 200. That is, the detection identification distance r2 is set so that the total value of the distance in the straight line direction from the contact point P1 to the forward obstacle detection sensor D1 and the detection identification distance r2 is larger than the turning radius r1. In the reverse turning (step S33), after the reverse C1, the vehicle moves to the right diagonally forward C2 and changes direction again in the straight traveling direction C3, and the forward traveling (step S34) is continued.

  When there is no forward obstacle shown in FIG. 16, it is determined whether or not there is an oblique obstacle (step S35). The presence / absence of an obstacle in the diagonally forward direction is detected by side obstacle detection sensors D2, D3. When the obstacle is detected obliquely forward by the side obstacle detection sensor, the forward drive is stopped, and after the backward drive is performed, the cleaning robot 1 changes the traveling direction by changing the predetermined angle (45 degrees), and then travels forward. Is continued (steps S36 to S39).

FIG. 17 shows an example of the predetermined angle change.
When the obstacles 202 and 203 are detected by the side obstacle detection sensors D2 and / or D3, the cleaning robot 1 stops driving and then reversely rotates the left wheel W1 and the right wheel W2 to be driven backward in the rearward direction C4. (Steps S36 and S37). Next, the direction is changed in the diagonally left direction C5 by changing the drive speeds of the left wheel W1 and the right wheel W2 (step S38). Thereafter, the vehicle travels again in the straight traveling direction C6 (step S39). When a forward or lateral obstacle is detected again by the forward travel after the direction change, the reverse turning or the direction change is executed.

  When the distance L3 between the obstacles 202 and 203 is shorter than the lateral width L2 of the main body 2, it is difficult for the cleaning robot 1 to pass, so that the detection identification distances L4 and L5 of the side obstacle detection sensors D2 and D3 are The obstacle positioned below the lateral width L2 is set so as to be detected obliquely from the front.

FIG. 11 shows mop failure avoidance processing by the control unit 100.
During the forward travel, the side obstacle detection sensors D4 and D5 make it difficult for the mop cleaning member 3 to pass through. Is driven to rotate the mop cleaning member 3 90 degrees, and the forward travel is resumed (steps S50 to S54). After resuming the forward travel, the forward drive is stopped when the vehicle travels a predetermined distance (10 cm) from when the obstacle detection by the side obstacle detection sensors D4, D5 is lost (steps S55, S56). Next, it is determined whether or not the mop cleaning member 3 is rotated by driving the rotation motor 15 (step S57).

  When there is no hindrance to the rotation of the mop cleaning member 3, the rotation motor 15 is driven to rotate the mop cleaning member 3 by 90 degrees, and the mop 37 is substantially T-shaped in a cleaning state with respect to the main body 2. (Steps S58 and S59). Even if the obstacle related to the detection is passed, when the mop 37 is brought into contact with another obstacle or the like and the rotation operation to return to the original state is impossible, the rotation operation impossible state is predetermined. Due to the continued time (10 seconds), the forward drive is again performed for 10 seconds, and then the drive is stopped (steps S60 and S61). Even after re-driving, it is determined whether or not the mop cleaning member 3 can be rotated (step S57). The above process is repeated until the mop 37 is returned to the substantially T-shaped cleaning state with respect to the main body 2 (steps S57 to S61).

FIG. 18 shows an example of the rotation operation of the mop cleaning member 3.
When the obstacles 206 and 207 are detected by the side failure detection sensors D4 and / or D5, after the cleaning robot 1 is stopped driving, the rotation motor 15 is driven and the rotation shaft 35 is rotated 90 degrees. The mop 37 rotates in the counterclockwise direction C7 and faces in the direction from the substantially T-shaped state toward the longitudinal direction of the main body 2. Next, the cleaning robot 1 is driven forward and passes between the obstacles 206 and 207. After the obstacles 206 and 207 are advanced to a position where they are not detected and stopped, the rotation motor 15 is driven, the rotation shaft 35 is rotated 90 degrees, and the mop 37 is rotated counterclockwise C7. Return to the direction of the approximate T-shape.

  The detection identification distances L7 and L8 of the side obstacle detection sensors D4 and D5 are set so that the rear mop 37 does not interfere with the obstacles 206 and 207 even though the main body 2 can pass. That is, each of the detection identification distances L7 and L8 is less than a distance L6 from the attachment position of the lateral fault detection sensors D4 and D5 having the maximum lateral width of the main body 2 to the outermost end of the substantially T-shaped mop 37. Is set.

FIG. 18 shows a case where the detection identification distances L7 and L8 of the side failure detection sensors D4 and D5 are less than the distance L6. In this case, the obstacles 206 and 207 are detected, and the forward avoidance operation by rotating the mop 37 by 90 degrees is executed.
FIG. 19 shows a case where the detection identification distances L7 and L8 of the side failure detection sensors D4 and D5 are equal to or longer than the distance L6. In this case, since the obstacles 204 and 205 having such a distance relationship are not detected (step S51), the forward avoiding operation by the 90-degree rotation of the mop 37 is not performed, and the mop 37 is moved to approximately T. The vehicle travels forward while keeping the character shape.

FIG. 12 shows the downward obstacle avoidance process by the control unit 100. The downward obstacle detection sensors 26 to 28 detect a floor obstacle such as a rug on the floor surface or a step obstacle such as a step near the entrance during forward traveling. In this case, the forward drive is stopped and the traveling direction is changed by a predetermined angle (45 degrees), and then the forward traveling toward the flooring floor is resumed (steps S70 to S74). The predetermined angle changing operation at this time is executed in the same manner as the predetermined angle changing operation (see step S38) in the forward obstacle process.

  The forward obstacle avoidance process (see FIG. 10), the side obstacle avoidance process (see FIG. 11), and the downward obstacle avoidance process (see FIG. 12) are not limited to the cleaning process, but the process of moving the regeneration position to the charging position. This is possible even during the travel process.

FIG. 13 shows the charging process by the control unit 100.
First, it is determined whether or not a charging requirement condition is satisfied (step S80). When the charging time set in advance in the control unit 100 is reached, the requirement for charging is satisfied, and the charging process in step S81 and subsequent steps is executed. By setting the charging time to be different from the cleaning time, it is not necessary to perform the charging process during cleaning. As shown in FIG. 5, the condition for charging is that the voltage detection circuit 109 for detecting the remaining charge voltage is provided in the power supply circuit 108, and the detection voltage level of the voltage detection circuit 109 has dropped below a predetermined value. Whether or not the cleaning robot 1 can make a self-determination, and the charging process can be executed at any time by self-determination.

  When the charging requirement is satisfied, the charging movement timer built in the CPU 101 that starts the movement from the starting position to the charging position and measures the charging movement time is turned on (step S81). Next, the cleaning robot 1 detects the wall and performs forward travel that moves along the wall (step S82). When the charging position mark 52 is detected by the color sensor D6 before the charging movement timer expires, a charging instruction signal Rv is transmitted from the control unit 100 to the charging control unit 121. Further, by detecting the charging position mark 52, connection forward drive is performed to connect the electrode portions T1 and T2 on the cleaning robot 1 side and the electrode portions T3 and T4 on the charging device 5 side (step). S83, S84). The connected forward drive is executed by repeatedly performing forward and backward movements and a forward change of the minute angle. The charge control unit 121 receives the charge instruction signal Rv from the control unit 100 and enters a chargeable state. When the electrode parts are conductively connected, driving is stopped, and charging is supplied to the secondary batteries 13 and 14, thereby confirming conduction (steps S85 and S86). Next, the charging timer built in the CPU 101 is turned on, and charging time is monitored (step S87). As the charging time elapses, the charging timer is turned off, and the cleaning robot 1 performs a movement process for returning to the start position (steps S88 to S90). If the charging position mark 52 is not detected by the color sensor D6 before the charging movement timer expires, the operation of the control unit 100 is stopped and error processing is executed (steps S90 and S91).

14 and 15 show the reproduction processing by the control unit 100. FIG.
It is determined whether or not the conditions for reproduction are satisfied (step S100). For example, when the reproduction time set in advance in the control unit 100 is reached, the charging requirement condition is satisfied, and the reproduction processing in step S101 and subsequent steps is executed. For example, it is possible to detect the dirt on the mop 37, determine the situation of the dirt, determine the necessity of cleaning, and enable the regeneration process at any time even during cleaning.

  When the reproduction requirement is satisfied, the reproduction movement timer built in the CPU 101 that starts the movement to the reproduction position and measures the reproduction movement time is turned on (step S101). Next, the cleaning robot 1 detects the wall and moves forward along the wall (step S102). When the reproduction position mark 49 is detected by the color sensor D6 before the reproduction movement timer expires, the reproduction instruction signal Rd is transmitted from the control unit 100 to the dust collection ON / OFF switching device 134. Furthermore, a reproduction operation is performed by detecting the reproduction position mark 49 (steps S103 and S104). If the reproduction position mark 49 is not detected by the color sensor D6 before the reproduction movement timer expires, the operation of the control unit 100 is stopped and error processing is executed (steps S110 and S111).

  The dust collection control unit 131 receives the regeneration instruction signal Rd from the control unit 100 and enters the dust collection motor drive state. The regenerating operation is executed by reversing and turning in front of the air inlet 42, moving forward and backward toward the air inlet 42, and changing the forward direction of the minute angle repeatedly every predetermined time (steps S104 and S106). That is, the cleaning robot 1 enters the mop 37 of the mop cleaning member 3 into the air inlet 42, stops for a predetermined time, then moves backward, shifts in the width direction of the air inlet 42 little by little, and moves forward. -The retreat can be repeated and the dust adhering to the mop 37 can be collected by the dust collector 4. Next, the playback timer built in the CPU 101 is turned on, and the playback time is monitored (step S105). As the regeneration time (3 minutes) elapses, the regeneration timer is turned off, and the cleaning robot 1 performs a movement process for returning to the start position (steps S107 to S109).

FIG. 20 shows an example of a room where the cleaning process is performed by the cleaning robot 1.
The living room cleaning area 154 is a flooring area surrounded by the wall 150, the pillar portion 151, the open / close sash door 152, and the entrance 155. An opening / closing door 153 is provided at the entrance 155. A closet 157, bedding 156, a table 159, and objects 162 and 163 are arranged in the living room. At the entrance 155, a mat 158 of an entrance mat is laid. In FIG. 20, legs of the bedding 156 and the like are indicated by “+”.

In the cleaning area 154, the cleaning robot 1 according to the present embodiment is disposed at the start position. The dust collecting device 4 and the charging device 5 are arranged near the wall, and color position marks 49 and 52 are stuck on the floor at each installation position.
In the cleaning area 154, a portion where the entrance 155 and the rug 158 are present is avoided by the downward obstacle detection function, and thus is excluded from the cleanable area 160 of the cleaning robot 1 indicated by shading. Further, the gap 161 between the closet 157 and the column part 151 is narrower than the main body part 2, and thus is excluded from the cleanable area 160.

  The cleaning robot 1 starts a cleaning operation along the wall 150, and floor cleaning is performed by the mop 37 of the mop cleaning member 3 while reciprocating between the walls by the cleaning traveling function. Even if there are the fixtures 162 and 163 in the cleaning area 154, when the gap between the fixtures is equal to or larger than the width of the main body 2, as shown by 1a in the drawing, the mop 37 is moved in the traveling direction by the side avoidance processing It is possible to travel forward without turning around by turning to the side and going straight.

  In the cleaning robot 1 according to the above configuration, the mop cleaning member 3 attached to the main body 2 is held in a direction crossing the traveling direction (substantially T-shaped with respect to the main body 2) and automatically travels by a cleaning process. However, the cleaning is possible, and when an obstacle is detected in the cleaning area, the direction of the mop cleaning member 3 can be changed to a direction (90-degree change) that does not prevent automatic travel. In the present embodiment, since there is no need to provide a storage unit for storing cleaned dust and a suction mechanism for sucking dust into the storage unit, the size of the main body unit 2 is determined by the right and left wheels, the wheel drive mechanism, and the control unit 100. Can be miniaturized to a size that can be accommodated at least. Compared with a conventional disk-type cleaning robot that collects dust, the width of the main body 2 of the cleaning robot 1 can be reduced to 20 cm or less, whereas the width of the conventional disk requires 30 to 40 cm. In addition, the main body 2 can be reduced in weight by the downsizing, and since the conventional dust collection suction motor is not mounted on the main body 2, the power consumption of the rechargeable batteries 12 and 13 can be reduced, and the power saving of the cleaning robot 1 can be reduced. Can be realized.

  In addition, the cleaning robot 1 changes the direction of the mop 37 even if there is an obstacle in the cleaning area during automatic traveling, so that the automatic traveling is not hindered. ), And can freely enter narrow gaps in furniture and furniture to reduce cleaning loss and improve cleaning ability.

  In the present embodiment, in the cleaning state, the mop cleaning member 3 is not limited to being set in a direction orthogonal to the traveling direction (forward direction) of the cleaning robot 1 but may be inclined obliquely. For example, by tilting the mop cleaning member 3 at 60 degrees with respect to the traveling direction and performing traveling during cleaning, the amount of protrusion of the end of the mop cleaning member 3 from the main body 2 is reduced, and the floor surface The degree of interference with other obstacles can be reduced. Even when a mop failure is avoided, the direction of the mop cleaning member 3 may be changed obliquely with respect to the traveling direction as long as it does not protrude beyond the main body 2. For example, by rotating the mop cleaning member 3 by 70 degrees when avoiding the mop obstruction and passing through the gap between obstacles, the mop cleaning member 3 travels with a wider contact area during the passage than when rotating by 90 degrees. Dust on the floor surface in the gap can be adsorbed and cleaned by the mop 37.

  In the present embodiment, in the cleaning state, the main body 2 side is directed in the forward direction, but the mop cleaning member 3 may be directed in the forward direction with the main body 2 being rearward. In this case, the front failure detection sensor D1, the side failure detection sensors D2 to D5, the lower failure detection sensors 26 to 28, and the color sensor D6 may be attached to the rear bottom plate 32 and / or the longitudinal cover member 7. it can.

  In this embodiment, the mop 37 of the mop cleaning member 3 is detachably attached to the longitudinal shaft piece 36, but various attachment means are used for the attachment form of the mop 37. Can do. As in the present embodiment, the attachment means is preferably one that makes it easy to remove and attach the mop 37. For example, the wiping body gripping means using a clip-shaped gripping member, and the wiping body (mop 37) using a fastener body Means can be used.

The attachment form of the mop 37, which is another embodiment, will be described below with reference to FIG.
(21A) of FIG. 21 shows a cross-sectional structure of the attachment member in the other embodiment.
The mounting plate 60 is made of a flat plate made of metal or flexible resin, and has a protruding piece having a through hole formed on one end side. The mounting plate 60 is fixed to the rotating shaft 35 by inserting the protruding piece into the groove 35b and screwing it. A shaft holder 61 shown in FIG. 21 (21 B) is fixed to the lower side of the mounting plate 60 with screws 66. The rotating shaft 35 and the mounting plate 60 may be made into a single part by integral molding.

  The shaft material holder 61 is composed of a metallic holder piece obtained by bending a single rectangular piece so that the vertical cross section has a substantially “9” shape. The shaft material holder 61 is not limited to being made of metal, and can be integrally formed of a flexible resin. The head portion of the shaft material holder 61 has a cavity 62 into which a mop holding shaft material is inserted, and both end portions 63 and 64 of the holder piece are overlapped. At both ends, through-holes 65 for inserting screws 66 are formed. The shaft material holder 61 is fixed to the mounting plate 60 by inserting a screw 66 into the through hole 65 in a state matching the position of the through horizontal hole of the mounting plate 60 and screwing it. In this fixed state, the shaft material holder 61 is located substantially directly below the rotation shaft 35.

  As shown in FIG. 21 (21 </ b> A), the mop holding shaft is formed by a metal twisted wire 67 inserted into a resin tube 68. The shaft material is inserted into the cavity 62, and an elastic resin cushioning material 69 is inserted at the outer periphery of the shaft material central portion. By tightening both end portions 63 and 64 of the holder piece with screws 66, the shaft member central portion can be pressed and fixedly supported via the cushioning material 69. (21C) of FIG. 21 shows a state in which the shaft member for mop holding is fixedly supported on the shaft material holder 61. The shaft member is fixed in a direction perpendicular to the extending direction of the end portion of the mounting plate 60.

  In a state where the mop holding shaft material is fixedly supported, the mop 70 in which a large number of piles are planted on the outer periphery of the bag-like base fabric is put on the shaft material and used for cleaning of the cleaning robot 1. Since the twisted wire 67 is covered with the resin tube 68, the mop fabric does not need to be damaged when the mop 70 is inserted and removed. The torsion wire 67 may be made freely deformable and bent from a horizontal state into a U shape so that the mop 70 can be inserted and removed. Alternatively, the torsion wire 67 may be weakly elastic so that it can be easily deformed and easily passed even if an end of the shaft member touches an obstacle on the floor surface.

  In the above-described embodiment, the mop 70 can be easily inserted and removed with respect to the shaft member. Since the removed mop 70 can be collected and regenerated, it can be provided as one of the rental products.

FIG. 22 shows a mop attachment member in another embodiment.
(22A) and (22B) of FIG. 22 show the mop body 86 attached to the fastener body attaching piece 80 and the fastener body attaching piece 80 via the fastener body 84, respectively.
The fastener body mounting piece 80 includes a longitudinal plate 81 and a protrusion erected on the longitudinal plate 81 in the same manner as the connecting structural member connected to the rotating shaft 35 shown in FIGS. 6B and 6C. A shaped piece 82 is provided. The longitudinal plate 81 and the protruding piece 82 are integrally formed by a resin molding process. A through hole 83 is formed in the projecting piece 82 in a direction perpendicular to the longitudinal direction of the longitudinal plate 81. The fastener body attaching piece 80 is screwed to the rotating shaft 35 by inserting the elongated plate 81 into the groove portion 35b of the rotating shaft 35 and inserting screws into the through hole 35c and the through hole 83.

A fastener body 84 is bonded and fixed to the back side of the longitudinal plate 81. The fastener body 84 has a base on which a large number of loop portions 85 are formed on one surface side. The other surface of the substrate is adhered to the back surface of the longitudinal plate 81 with an adhesive.
The mop body 86 has a long base fabric 87 in which a large number of pile outer threads 88 are planted, and a fastener portion 89 of approximately the same size as the fastener body 84 is attached to the center portion of the base fabric 87 by sewing. Has been. On the surface of the fastener portion 89, a large number of collar portions that are intertwined with and engaged with the loop portion 85 of the fastener body 84 are formed.

  The longitudinal wiping member by the mop body 86 can be configured by engaging the flange portion of the fastener portion 89 with the loop portion 85 of the fastener body 84 on the back side of the longitudinal plate 81. The engagement is due to the loop portion 85 and the collar portion, and the longitudinal wiping member can be freely attached and detached, so that the removed mop body 86 can be recovered and regenerated and provided as one of the rental products. Can do.

  It should be noted that the present invention is not limited to the above-described embodiment, and various modifications, design changes and the like within the scope not departing from the technical idea of the present invention are included in the technical scope. Nor.

  According to the present invention, a cleaning robot and a cleaning robot system including the cleaning robot that can reduce the size of the main body, avoid interference with obstacles in the cleaning area, reduce cleaning loss, and improve cleaning ability. Can be realized.

1 Cleaning robot,
2 body part,
3 mop cleaning members,
4 Dust collector,
4a power switch,
4b power cord,
4c Outlet cord,
5 Charging device,
6 substantially bowl-shaped cover member,
7 Long cover member,
8 Front bottom plate,
9 steps,
10 Control case body,
11 Empty space,
12 Rechargeable battery,
13 Rechargeable battery,
14 battery case body,
15 rotating motor,
16 Rotating bearing member,
17 drive gear,
18 rotating gear,
19 connecting plate 20 motor shaft,
21 motor shaft,
22 discs,
23 Tire rubber material,
24 Notch,
25 engaging protrusions,
26 downward obstacle detection sensor,
27 downward obstacle detection sensor,
28 downward obstacle detection sensor,
30 rotation axis,
32 rear bottom plate,
33 through hole,
34 Through hole,
35 pivot axis,
35a screw,
35b groove,
35c through-hole 35,
35d fitting groove,
36 longitudinal shaft piece,
36a protruding piece,
36b through hole,
36c pedestal,
37 mops,
37a base fabric,
38 bags,
39 Pile outer thread,
40 body case,
41 suction hose,
41a suction port,
42 Inlet,
43 scraping board,
44 Handle,
45 Suction pipe,
46 Cord storage section,
47 Filter section,
48 Suction motor section,
48b Exhaust filter part,
49 Color tape,
50 device case body,
51 recess,
52 color tape,
60 mounting plate,
61 Shaft material holder,
62 cavity,
63 end,
64 ends,
65 through holes,
66 screws,
67 twisted wire,
68 resin tubes,
69 cushioning material,
70 mops,
80 Fastener body mounting piece,
81 longitudinal plate,
82 protruding pieces,
83 Through hole,
84 Fastener body,
85 loop part,
86 mop body,
87 Longitudinal base fabric,
88 Pile outer thread,
89 Fastener part,
100 control unit,
101 CPU,
102 ROM,
103 RAM,
104 Left wheel motor control device,
105 right wheel motor control device,
106 rotation motor control device,
107 Positioning sensor,
108 power supply circuit,
109 voltage detection circuit,
110 switching device,
110a setting switch,
111 power switch,
111a opening,
112 wireless signal generator,
120 control unit,
121 charge control unit,
122 charging circuit,
123 AC / DC converter,
124 commercial power supply,
130 control unit,
131 Dust collection control unit,
132 Dust collection motor drive control unit,
133 Dust collection motor,
134 Power ON / OFF switching device,
150 walls,
151 Pillar,
152 Opening and closing sash door,
153 doors,
154 Cleaning area,
155 Doorway,
156 bedding,
157 closet,
158 rug,
159 tables,
160 Cleanable area,
161 gap,
162,
163,
200 walls,
201 swivel area,
202 Obstacle,
203 Obstacle,
204 Obstacle,
205 obstacles,
206 Obstacle,
207 Obstacle,
F floor,
D1 Forward obstacle detection sensor,
D2 Side failure detection sensor,
D3 Side failure detection sensor,
D4 Side failure detection sensor,
D5 Side failure detection sensor,
D6 color sensor,
H1 through hole,
H2 through hole,
H3 through hole,
T1 electrode part,
T2 electrode part,
T3 electrode part,
T4 electrode W1 wheel,
W2 wheels,
M1 drive motor,
M2 drive motor,
m1 odometer,
m2 Odometer.

Claims (10)

In a cleaning robot comprising a driving wheel and a main body portion having a driving motor for driving the driving wheel, and a control means provided in the main body portion, the driving motor being driven and controlled by the control means to enable automatic travel. A longitudinal wiping member attached to the main body so that its orientation with respect to the traveling direction can be freely changed, and detecting means for detecting an obstacle that interferes with the longitudinal wiping member during traveling and interferes with the traveling And the control means holds the longitudinal wiping member in a direction crossing the traveling direction and automatically travels automatically, and the longitudinal wiping member when the obstacle is detected. And a changing means for changing the direction of the vehicle to a direction in which automatic traveling is not hindered. The cleaning robot according to claim 1, wherein the changing unit switches the longitudinal direction of the longitudinal wiping member to the traveling direction side. The longitudinal wiping member is attached to the main body so as to be rotatable at a lower portion of the main body according to the change, and a space that does not hinder the rotation of the longitudinal wiping member is provided at the lower portion. The cleaning robot according to 1 or 2. The cleaning robot according to claim 1, wherein the main body portion has a protruding shape portion protruding in the traveling direction, and the detection means is provided at least on a side portion of the protruding shape portion. The automatic travel execution means automatically travels while maintaining the orientation of the longitudinal wiping member in a cleaning execution state in which both ends of the longitudinal wiping member protrude outward from both side portions of the main body, and the change The cleaning robot according to any one of claims 1 to 4, wherein the direction of the longitudinal wiping member is changed by a means so as to avoid an obstacle in which the both end portions do not protrude outward from the both side portions. The longitudinal wiping member includes a base, and a wiping body planted on the base, a mounting member that is detachably attached to the base, a rotating shaft that stands on the mounting member, and Rotating means for rotating the rotating shaft member in a state in which the rotating shaft member is rotatably attached to the main body, and the changing means drives the rotating means to the longitudinal direction. The cleaning robot according to claim 1, wherein the direction of the wiping member is changed. At least a rechargeable battery for supplying drive power to the drive motor, and an external power supply detecting means for detecting the position of the external power supply device, wherein the control means is configured to charge the rechargeable battery when the rechargeable battery is charged. A charging travel execution means for detecting the position and traveling to the position; traveling to the position of the external power supply device; connecting the power output terminal of the external power supply device to the power input terminal of the rechargeable battery; The charging control means for charging the battery, and the direction of the longitudinal wiping member can be changed by the changing means when traveling to the position of the external power supply device. Cleaning robot. Dust collector detection means for detecting the position of a dust collector having a suction port for sucking dust is provided, and the control means detects the position of the dust collector when cleaning the longitudinal wiping member. Then, the wiping member cleaning execution means that travels to the position and the position of the dust collector travels, the longitudinal wiping member approaches or enters the suction port, and adheres to the longitudinal wiping member. And a regeneration control means for regenerating the longitudinal wiping member by sucking dust from the suction port, and the direction of the longitudinal wiping member can be changed by the changing means when traveling to the position of the dust collector The cleaning robot according to any one of claims 1 to 7. The cleaning robot according to claim 1, and an external power supply device capable of outputting power position information and supplying power to the cleaning robot, and supplying at least the drive motor with drive power The cleaning robot is provided with a rechargeable battery and a power supply position information receiving means for receiving the power supply position information, and the control means is configured to charge the external power supply based on the power supply position information when charging the rechargeable battery. Charging travel execution means that travels to the position of the device, travels to the position of the external power supply, and connects the power output terminal of the external power supply to the power input terminal of the rechargeable battery to charge the rechargeable battery A cleaning robot system comprising: a charging control means, wherein the changing means can change the orientation of the longitudinal wiping member when traveling to the position of the external power supply device. A cleaning robot according to any one of claims 1 to 6, and a dust collector that can output dust collection position information and has a suction port for sucking dust, and receives the dust collection position information. A dust collection position information receiving means is provided in the cleaning robot, and the control means executes a regenerative travel that travels to the position of the dust collector based on the dust collection position information when cleaning the longitudinal wiping member. And traveling to the position of the dust collector, the longitudinal wiping member approaches or enters the suction port, and dust adhering to the longitudinal wiping member is sucked from the suction port to form the longitudinal shape. A cleaning robot system comprising: a regeneration control means for regenerating the wiping member; and the direction of the longitudinal wiping member can be changed by the changing means when traveling to the position of the external power supply device.

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