WO2012086604A1

WO2012086604A1 - Cleaning device

Info

Publication number: WO2012086604A1
Application number: PCT/JP2011/079412
Authority: WO
Inventors: 公祐竹内; 史紀牧野
Original assignee: 住友重機械工業株式会社
Priority date: 2010-12-24
Filing date: 2011-12-19
Publication date: 2012-06-28
Also published as: JPWO2012086604A1

Abstract

A cleaning device (EQ) is provided with: rotating brushes (B1, B2, B3); a frame (FR) for rotatably supporting the rotating brushes (B1, B2, B3); an auxiliary leg (FT); an auxiliary mechanism (SLM) for climbing up and down stairs, joined to the frame (FR) and supporting the auxiliary leg (FT) so that the auxiliary leg (FT) can be brought close to and separated from the frame (FR); and a control device (CD) for operating the auxiliary mechanism (SLM) for climbing up and down stairs, thereby causing the cleaning device (EQ) to walk using the rotating brushes (B1, B2, B3) and the auxiliary leg (FT).

Description

Cleaning device

The present invention relates to a cleaning device having a brush rotatably connected to a frame, and more particularly to a cleaning device capable of cleaning a place with a step or a groove.

Conventionally, an omnidirectional moving floor polishing robot having two rotating brushes attached to a robot body via a gimbal mechanism is known (for example, see Non-Patent Document 1).

This floor polishing robot uses an electric motor to control the rotation direction of the two rotating brushes and the inclination angle of the respective rotation shafts with respect to the floor surface, and to change these two directions according to the rotation direction and the inclination angle. By using the rotational friction force between the two rotating brushes and the floor surface, it is possible to move in a desired direction while polishing the floor surface.

However, the floor polishing robot of Non-Patent Document 1 has a problem that it can clean only a flat surface without a step or a groove.

In view of the above problems, an object of the present invention is to provide a cleaning device capable of cleaning a place with a step or a groove.

In order to achieve the above object, a cleaning device according to an embodiment of the present invention includes a brush, a frame that rotatably supports the brush, an auxiliary foot, and the frame, and the auxiliary foot is attached to the frame. A mechanism for supporting the auxiliary foot so as to be close to or away from the frame, and a control device for operating the mechanism to cause the cleaning device to walk with the brush and the auxiliary foot. To do.

By the above-mentioned means, the present invention can provide a cleaning device that can clean a place with a step or a groove.

It is the schematic of the cleaning apparatus which concerns on the Example of this invention. It is the figure which looked at the cleaning apparatus of FIG. 1 from a different angle. It is a perspective view of the drive part couple | bonded with a rotating brush. It is a side view of the drive part of FIG. FIG. 4 is a top view of the drive unit in FIG. 3. FIG. 6 is a sectional view taken along line VI-VI in FIG. 5. It is a functional block diagram of the cleaning apparatus of FIG. It is a figure which shows the example of a movement of the cleaning apparatus by a movement control part. It is the schematic of the cleaning apparatus provided with the auxiliary | assistant mechanism for stair climbing which concerns on the Example of this invention. It is explanatory drawing of a support polygon. It is a perspective view of the auxiliary mechanism for raising and lowering stairs. It is a side view of the auxiliary mechanism for raising / lowering stairs of FIG. FIG. 12 is a top view of the stair-climbing auxiliary mechanism in FIG. 11. It is a perspective view of a rotating brush grounding auxiliary mechanism. It is a figure for demonstrating the stair-lifting method of the cleaning apparatus of FIG. It is a figure for demonstrating the stair-lifting method of the cleaning apparatus of FIG. It is the schematic of the cleaning apparatus provided with the active balancer mechanism which concerns on the Example of this invention. It is a figure for demonstrating the stair raising / lowering method of the cleaning apparatus of FIG. It is a figure for demonstrating the stair raising / lowering method of the cleaning apparatus of FIG. It is the schematic of the cleaning apparatus provided with the auxiliary | assistant mechanism for stair climbing which concerns on the Example of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic view of a cleaning device according to an embodiment of the present invention, FIG. 1 (A) shows a top view, and FIG. 1 (B) is seen from the direction of arrow 1B in FIG. 1 (A). A side view is shown.

2 is a view of the cleaning device of FIG. 1 as seen from a different angle, FIG. 2 (A) shows a top view, and FIG. 2 (B) shows from the direction of arrow 2B in FIG. 2 (A). FIG. 2C is a view corresponding to FIG. 2B and shows a state in which one of the rotating brushes is inclined with respect to the floor surface.

The cleaning device EQ is a device that can move in any direction with these three rotating brushes while polishing the floor with three rotating brushes (polishers), and mainly includes three rotating brushes B1, B2, B3, It has two drive units D1, D2, D3, a frame FR, and a control device CD.

The cleaning device EQ may be manually operated by an operator using an operation unit attached to a cord extending from the frame FR, or remotely operated by an operator via wireless communication. However, in this embodiment, it is assumed that the robot is a robot-type cleaning device that cleans the floor surface while moving autonomously based on a cleaning map (described later) stored in the control device CD or the like.

The rotary brushes B1, B2, and B3 are circular in top view, and rotate around the rotation axes η1, η2, and η3 that can be inclined with respect to the frame FR, and the inclination axes ξ1 that are orthogonal to the rotation axes η1, η2, and η3. , Ξ2, and ξ3.

In the present embodiment, the rotating brushes B1, B2, and B3 are made of, for example, natural fiber, chemical fiber, sponge, rubber, or the like. The top view of the rotating brush portions B1, B2, and B3 may be other shapes such as a rectangle, an ellipse, and a polygon.

FIG. 2C shows a state in which the rotary brush B2 is inclined by an angle θ around the tilt axis ξ2, and a state in which a high friction region HF2 is generated between the floor surface and a part of the rotary brush B2. Show. Note that, even when the rotating brush B2 is tilted, at least most of the bottom surface of the rotating brush is in contact with the floor surface, and at least most of the bottom surface of the rotating brush polishes the floor. It shall be possible.

The driving units D1, D2, and D3 are members for individually rotating or tilting the rotating brushes B1, B2, and B3. For example, the rotating motor, the tilting motor, the rotating shaft, the tilting shaft, and the rotational force of the rotating motor are used. A gear mechanism that transmits to the rotating shaft and a gear mechanism that transmits the rotational force of the tilting motor to the tilting shaft (details will be described later).

The frame FR is a member that couples the three rotary brushes B1, B2, and B3 via the three drive units D1, D2, and D3 while maintaining the relative positions between the three rotary brushes B1, B2, and B3. For example, each of the three frame arms has a three-pronged shape composed of three frame arms having the same length extending outward (radially) at an angle of 120 degrees from the center. The driving units D1, D2, and D3 are coupled to the end portions of the two.

The angle between each of the three frame arms may be an angle other than 120 degrees (that is, each may be a different angle), and the length of each of the three frame arms is Each may be different.

In the present embodiment, the tilt axes ξ1, ξ2, and ξ3 extend in a direction orthogonal to the extending direction of each of the three frame arms, but may extend in a direction other than the orthogonal direction. In addition, it is desirable that the angle between two adjacent tilt axes among the tilt axes ξ1, ξ2, and ξ3 is 60 degrees.

Further, the frame FR does not necessarily have a three-pronged shape, and may have an arbitrary shape such as a plate shape or a frame shape.

The control device CD is a member for controlling the movement of the cleaning device EQ, for example, a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), etc. In order to advance the cleaning device EQ in the direction according to the operator's instruction, or to advance the cleaning device EQ in the direction automatically derived based on various information, the three rotating brushes B1, B2, B3 The rotation and inclination of each are controlled (details will be described later).

Next, details of the drive units D1, D2, and D3 will be described with reference to FIGS. 3 shows a perspective view of the drive unit D1 coupled to the rotary brush B1, FIG. 4 shows a side view of the drive unit D1, FIG. 5 shows a top view of the drive unit D1, and FIG. FIG. 5 is a sectional view taken along line VI-VI in FIG. Further, the drive units D2 and D3 have the same configuration as that of the drive unit D1, and illustration thereof is omitted.

As shown in FIGS. 3 to 6, the drive unit D1 includes a rotation motor RM1 that rotationally drives a drive gear G12 that meshes with a driven gear G11 fixed to a rotation shaft SFT11 extending in the direction of the rotation axis η1, and an inclined shaft. and an inclination motor TM1 that rotationally drives a drive gear G14 meshed with a driven gear G13 fixed to an inclination shaft SFT12 extending in the ξ1 direction.

As shown in FIG. 6, the inclined shaft SFT12 is composed of two coaxial shaft members SFT12-1 and SFT12-2 divided by the rotating shaft SFT11, and is arranged between the inclined shaft ξ1 and the rotating brush B1. Although the distance is shortened, it may be composed of one shaft member.

In addition, the drive unit D1 uses a tilt mechanism composed of the tilt motor TM1, the tilt shaft SFT12, the driven gear G13, and the drive gear G14, and other actuators such as an electric cylinder, a pneumatic cylinder, a hydraulic cylinder, and a linear motor. You may make it comprise with the mechanism which was.

Further, the drive unit D1 may drive the rotary shaft SFT11 and the inclined shaft SFT12 via another transmission mechanism such as a belt pulley mechanism or a wire pulley mechanism without using a gear mechanism. An actuator may be directly connected to the shaft SFT12 for driving.

Next, details of the control device CD will be described with reference to FIG. FIG. 7 is a functional block diagram of the cleaning device EQ, and the control device CD is connected to each of the drive units D1, D2, and D3 in a wired or wireless manner.

The control device CD includes a position detection device PS, an attitude detection device AS, and a storage device SD. The program corresponding to the movement control unit MC is read from the ROM and expanded on the RAM, and the position detection device PS and the attitude detection device AS. Based on the detection value output from each and the information stored in the storage device SD, the CPU is caused to execute processing corresponding to the movement control unit MC.

The position detection device PS is a device for detecting the position of the cleaning device EQ. For example, the position (latitude, longitude, altitude) of the cleaning device EQ based on a GPS signal received by a GPS (Global Positioning System) receiver. Is detected.

Further, the position detection device PS may be an RF tag reader for reading position information stored in the RF tag from an RF tag embedded in a floor surface to be cleaned or a wall surface around the floor surface. It may be a laser sensor that detects the distance up to.

The posture detection device AS is a device for detecting the posture of the cleaning device EQ, and detects the posture of the cleaning device EQ based on the detection value of a triaxial angular velocity (gyro) sensor, for example.

The storage device SD is a device for storing various types of information. For example, the storage device SD is a non-volatile storage medium such as a hard disk or a flash memory, and the cleaning map SD1 stores the shape and size of the floor surface to be cleaned. Remember.

The cleaning map SD1 is preferably information stored in advance in the storage device SD in accordance with the floor surface to be cleaned. However, the cleaning device EQ automatically uses a laser sensor or the like before starting cleaning or during cleaning. May be generated.

The driving unit D1 includes a rotation motor RM1, a rotation detector RS1, an inclination motor TM1, and an inclination detector TS1. The same applies to the drive units D2 and D3.

The rotation detector RS1 is a device for detecting the rotation state (rotation direction, rotation angle, rotation speed, etc.) of the rotation brush B1 by the rotation motor RM1, and is an encoder, for example, and its detection value. Is repeatedly output to the control device CD at a predetermined sampling period as rotation state information.

The inclination detector TS1 is a device for detecting the state of inclination of the rotating brush B1 by the inclination motor TM1 (inclination direction, inclination angle, inclination speed, etc.), for example, an encoder, and its detection value. Are repeatedly output to the control device CD at a predetermined sampling period as the tilt state information.

The movement control unit MC of the control device CD is a functional element for autonomously operating the cleaning device EQ, and includes the detection values of the position detection device PS and the posture detection device AS and the cleaning map SD1 read from the storage device SD. Based on this, the target rotation state and the target inclination state of each of the rotating brushes B1, B2, and B3 are determined, and a control signal including information on the determined target rotation state and the target inclination state is supplied to each of the driving units D1, D2, and D3. Output.

In addition, the movement control unit MC receives the rotation state information and the inclination state information of the rotating brushes B1, B2, and B3 output from the driving units D1, D2, and D3, respectively, at a predetermined sampling period, and rotates the rotating brush B1, Each of the rotating brushes B1, B2, and B3 is independently feedback controlled so that each of B2 and B3 is in the target rotation state and the target inclination state.

FIG. 8 is a diagram illustrating an example of movement of the cleaning device EQ by the movement control unit MC. FIG. 8A illustrates a state when the cleaning device EQ is moved upward in the drawing, and FIG. These show the state at the time of moving the cleaning apparatus EQ to the left of a figure.

Each of the rotating brushes B1, B2, B3 has a common diameter, and is disposed at an equal distance in a direction separated from the center of the cleaning device EQ by an angle of 120 degrees, and each of the inclined axes ξ1, ξ2, ξ3. Form an equilateral triangle in a top view.

As shown in FIG. 8A, when the cleaning device EQ is moved in the same direction as the rotation brush B1 is seen from the center of the cleaning device EQ, the movement control unit MC is configured to rotate the rotation brushes B1, B2, While the target rotation states (rotation speed and rotation direction) of B3 are the same, the target inclination angle of the rotary brush B1 is set to 0 degree (the angle at which the bottom surface of the rotary brush B1 is horizontal to the floor surface), and the rotary brush The target inclination angle of B2 is a predetermined positive value, and the target inclination angle of the rotating brush B3 is a predetermined negative value having the same absolute value as the predetermined positive value. Note that the inclination angle is a positive value when the bottom surface of each of the rotating brushes B1, B2, and B3 is increased on the inner side (center side) of the cleaning device EQ, and the inclination angle is increased when the respective bottom surface is increased on the outer side of the cleaning device EQ. Negative value.

In this case, the movement control unit MC outputs a control signal to the drive unit D1, and rotates the rotary brush B1 counterclockwise around the rotation axis η1 at a predetermined rotation speed while rotating the rotary brush B1 to the tilt axis. Do not tilt around ξ1. As a result, the rotary brush B1 tries to continue cleaning the floor surface while remaining in place without generating a propulsive force in any direction.

On the other hand, the movement control unit MC outputs a control signal to the drive unit D2, and rotates the rotating brush B2 around the rotation axis η2 at a predetermined rotational speed in a counterclockwise direction, while rotating the rotating brush B2 to the tilt axis ξ2. Is inclined so that its bottom surface is raised inside the cleaning device EQ. As a result, the rotary brush B2 forms a high friction region HF2 (see FIG. 2C) between a part of the outer side of the rotary brush B2 and the floor surface, and the rotation direction (counterclockwise) is at the high friction region HF2. Propulsive force F2 along the direction of the tilt axis ξ2 (towards the upper left in the figure) is generated by locally generating a friction reaction force in the opposite direction (clockwise) to the rotation direction.

Similarly, the movement control unit MC outputs a control signal to the drive unit D3, and rotates the rotating brush B3 around the rotation axis η3 at a predetermined rotation speed in a counterclockwise direction, while rotating the rotating brush B3 with the tilt axis. The bottom surface of ξ3 is inclined so as to be higher outside the cleaning device EQ. As a result, the rotary brush B3 forms a high friction region HF3 between a part of the inner side of the rotary brush B3 and the floor surface, and the rotation direction (counterclockwise) is opposite (clockwise) at the high friction region HF3. Is generated locally to generate a propulsive force F3 along the direction of the tilt axis ξ3 (pointing to the upper right in the figure).

As a result, the cleaning device EQ has a rotating brush as viewed from the center of the cleaning device EQ by a propulsive resultant force TF that is a resultant force of the propulsive force F2 generated by the rotating brush B2 and the propelling force F3 generated by the rotating brush B3. It will move in the same direction as B1 exists.

Further, as shown in FIG. 8B, when the cleaning device EQ is moved in a direction perpendicular to the direction in which the rotary brush B1 exists when viewed from the center of the cleaning device EQ, the movement control unit MC is driven by the drive unit D1. A control signal is output to the rotating brush B1 while rotating the rotating brush B1 counterclockwise around the rotation axis η1 at a predetermined rotation speed, and the bottom surface of the rotating brush B1 around the inclined axis ξ1 is outside the cleaning device EQ. Try to tilt it so that it gets higher. As a result, the rotary brush B1 forms a high friction region HF1 between a part of the inside of the rotary brush B1 and the floor surface, and the rotation direction (counterclockwise) is opposite (clockwise) in the high friction region HF1. Is generated locally to generate a propulsive force F1 along the direction of the tilt axis ξ1 (toward the left in the figure).

Similarly, the movement control unit MC outputs a control signal to the driving unit D2, and rotates the rotating brush B2 around the rotation axis η2 counterclockwise at a predetermined rotation speed while rotating the rotating brush B2 with the tilt axis. The bottom surface of ξ2 is inclined so as to be higher inside the cleaning device EQ. As a result, the rotary brush B2 forms a high friction region HF2 between a part of the outer side of the rotary brush B2 and the floor surface, and the rotation direction (counterclockwise) is opposite (clockwise) at the high friction region HF2. Is generated locally to generate a propulsive force F2 along the direction of the tilt axis ξ2 (pointing to the upper left in the figure). At this time, the inclination angle of the rotary brush B2 is set to about half of the inclination angle of the rotary brush B1, and the propulsive force F2 is set to about half of the propulsive force F1.

Similarly, the movement control unit MC outputs a control signal to the drive unit D3, and rotates the rotating brush B3 around the rotation axis η3 at a predetermined rotation speed in a counterclockwise direction, while rotating the rotating brush B3 with the tilt axis. The bottom surface of ξ3 is inclined so as to be higher inside the cleaning device EQ. As a result, the rotating brush B3 forms a high friction region HF3 between a part of the outer side of the rotating brush B3 and the floor surface, and the rotation direction (counterclockwise) is opposite (clockwise) at the high friction region HF3. Is generated locally to generate a propulsive force F3 along the direction of the tilt axis ξ3 (pointing to the lower left of the figure). At this time, the inclination angle of the rotary brush B3 is set to about half of the inclination angle of the rotary brush B1, and the propulsive force F3 is set to about half of the propulsive force F1.

As a result, the cleaning device EQ has a thrust resultant force TF that is a resultant force of the thrust F1 generated by the rotating brush B1, the thrust F2 generated by the rotating brush B2, and the thrust F3 generated by the rotating brush B3. As a result, when viewed from the center of the cleaning device EQ, the movement is in a direction (left direction) perpendicular to the direction in which the rotary brush B1 exists.

With the above configuration, the cleaning device EQ can improve the installation stability compared to the configuration including two rotary brushes by the configuration in which the positions of the three rotary brushes B1, B2, and B3 form a triangle, A fall can be prevented when receiving external force.

Moreover, since the cleaning apparatus EQ improves the installation stability by the configuration in which the positions of the three rotary brushes B1, B2, and B3 form a triangle, the manufacturing tolerance and the assembly tolerance thereof are compared with the configuration having four rotary brushes. Can be relaxed. This is because high-precision component processing and high-precision assembly are required to ensure that all four rotating brushes are securely installed on the floor without floating from the floor. However, the present invention does not exclude a configuration including four or more rotating brushes.

In addition, the cleaning device EQ performs cleaning while appropriately setting the diameters and relative positions of the three rotating brushes B1, B2, and B3 so that the three rotating brushes B1, B2, and B3 are not in contact with each other. The device EQ can be arranged so that there is no gap when viewed from the side when viewed from the direction of movement of the apparatus EQ, and it is possible to prevent the occurrence of unpolished portions between the polished areas regardless of the direction of movement. be able to.

Further, the cleaning device EQ can be moved in any direction by including one rotation motor and one inclination motor in each of the drive units D1, D2, and D3 (by providing a total of six drive shafts). Therefore, it has two rotating brushes using a gimbal mechanism (mechanism with one rotary motor and two tilt motors in each drive unit) (compared with a total of six drive shafts) compared to a conventional cleaning device However, the number of drive shafts is not increased.

Next, with reference to FIGS. 9 to 16, a description will be given of the cleaning device EQ1 including the stair-lifting auxiliary mechanism SLM according to the embodiment of the present invention.

FIG. 9 is a schematic view of the cleaning device EQ1, FIG. 9A shows a top view thereof, and FIG. 9B shows a side view seen from the direction of the arrow 9B in FIG. 9A.

The cleaning device EQ1 is different from the above-described cleaning device EQ in that it includes a stair climbing auxiliary mechanism SLM, a rotating brush grounding auxiliary mechanism GSM, and a support polygon enlarging mechanism SMM, but is common in other points. Therefore, the difference will be described in detail while omitting the description of the common points.

The stair climbing auxiliary mechanism SLM is an auxiliary mechanism for allowing the cleaning device EQ1 to clean each step surface of the staircase while moving up and down the staircase. For example, the auxiliary foot FT, the two link members LK1, LK2, and , Three turning drive units RD1, RD2, and RD3.

The stair-climbing auxiliary mechanism SLM is coupled to the frame FR, and supports the auxiliary foot FT so that the auxiliary foot FT can be moved closer to or away from the frame FR.

In the present embodiment, the stair climbing auxiliary mechanism SLM is controlled by the control device CD. The control device CD causes the cleaning device EQ1 to walk with the three rotary brushes B1, B2, B3 and the auxiliary foot FT while operating the stair-climbing auxiliary mechanism SLM to raise and lower the stairs.

The auxiliary foot FT is a member that forms a support polygon while being in contact with the floor surface. For example, the auxiliary foot FT has a horseshoe shape, and the two brushes B2 can be received between the two claws (extension portions). The distance between the claws (extending portions) is configured to be larger than the diameter of the rotating brush B2, and the movable range in the direction of the rotating brush B2 is increased. The auxiliary foot FT does not necessarily have a shape that can receive the rotary brush B2, but in that case, the movable range in the direction of the rotary brush B2 is further narrowed.

Further, the “support polygon” is a convex polygon formed by a side in which a ground contact point group between the cleaning device EQ1 and the floor surface is formed in a convex shape, and includes a curve.

FIG. 10 is an explanatory diagram of a support polygon. FIG. 10A shows a support polygon (shaded hatching area) formed by the auxiliary feet FT (broken line area), and FIG. FIG. 10 shows a support polygon formed by the foot FT and one additional ground contact point AP1 (a point extending from the cleaning device EQ1 where another member other than the auxiliary foot FT contacts the floor). (C) shows a support polygon formed by the auxiliary foot FT and two additional contact points AP2 and AP3.

As described above, when an additional grounding point is added outside the supporting polygon, the supporting polygon formed by the auxiliary foot FT extends to the supporting polygon including the additional grounding point. The area will be enlarged. If the additional grounding point is not on the plane on which the supporting polygon formed by the auxiliary foot FT is located, the supporting polygon including the additional grounding point will be referred to as the additional grounding point. It corresponds to a support polygon formed by a point projected on a plane (a point connecting a straight line connecting the center of gravity of the cleaning device EQ1 and its additional grounding point and the plane) and the auxiliary foot FT.

Further, the auxiliary foot FT may have another shape such as a U-shape, a C-shape, an H-shape, an E-shape, etc. as a shape that can receive the rotating brush in the support polygon. .

The turning drive unit RD1 is a drive unit for turning the auxiliary foot FT with respect to the link member LK1, and includes, for example, an electric motor and a gear.

Similarly, the turning drive unit RD2 is a drive unit for turning the link member LK1 with respect to the link member LK2, and the turning drive unit RD3 is a drive unit for turning the link member LK2 with respect to the frame FR. is there.

Thus, the stair climbing auxiliary mechanism SLM forms a three-degree-of-freedom drive mechanism by the three turning drive units RD1, RD2, and RD3.

The stair-climbing auxiliary mechanism SLM may be configured by a mechanism using other actuators such as an electric cylinder, a pneumatic cylinder, a hydraulic cylinder, and a linear motor.

Further, the stair-climbing auxiliary mechanism SLM turns the auxiliary foot FT, the link member LK1, or the link member LK2 via another transmission mechanism such as a belt pulley mechanism or a wire pulley mechanism without using a gear mechanism. Alternatively, the actuator may be directly connected to the auxiliary foot FT, the link member LK1, or the link member LK2 to be turned.

11 to 13 are diagrams for explaining details of an example of the stair-climbing auxiliary mechanism SLM. FIG. 11 is a perspective view of the stair-climbing auxiliary mechanism SLM, and FIG. A side view of the mechanism SLM is shown, and FIG. 13 is a top view of the stair-climbing auxiliary mechanism SLM.

As shown in FIGS. 11 to 13, the turning drive unit RD1 (see FIG. 12) of the stair-climbing auxiliary mechanism SLM is driven by the driven gear G15 fixed to the auxiliary foot FT and the driven gear G15. The gear G16 and the turning motor AM1 fixed to the link member LK1 that rotationally drives the drive gear G16.

Further, the turning drive unit RD2 includes a driven gear G17 fixed to the link member LK1, a drive gear G18 meshed with the driven gear G17, and a turning motor AM2 fixed to the link member LK2 that rotationally drives the drive gear G18. It consists of.

Further, the turning drive unit RD3 is fixed to a frame FR that rotates and drives a driven gear G19 fixed to the link member LK2, a drive gear (not shown) engaged with the driven gear G19, and the drive gear. And a turning motor (not shown).

The rotating brush grounding auxiliary mechanism GSM (see FIG. 9A) is a mechanism for making the bottom surface of the rotating brush parallel to the floor surface when the frame FR of the cleaning device EQ1 is inclined with respect to the floor surface. For example, when the cleaning device EQ1 travels in the direction of the arrow AR1 (when moving on a non-planar surface such as a staircase, a step, or rough terrain), the rotating brush whose rotational axis is not orthogonal to the traveling direction (the rotating brush in FIG. 9) B1 and B3) are passive rotating shafts.

FIG. 14 is a perspective view showing an example of the rotating brush grounding assist mechanism GSM. In FIG. 14, the rotating brush grounding assisting mechanism GSM is a rotating brush grounding assisting mechanism for the rotating brush B1, and the driving for the rotating brush B1. This is a passive rotating shaft that rotates around the longitudinal axis ζ1 of the frame arm connected to the portion D1, and has a rotating portion RP and a non-rotating portion NRP.

The rotating part RP of the rotating brush grounding auxiliary mechanism GSM is such that the frame FR is lifted by the stair climbing auxiliary mechanism SLM and the rotating brush B1 floats in the air, and then the frame FR is lowered and the rotating brush B1 contacts the floor again. In doing so, the reaction force received from the floor surface passively rotates with respect to the non-rotating portion NRP so that the bottom surface of the rotating brush B1 is parallel to the floor surface (step surface of the staircase).

The rotating brush grounding auxiliary mechanism GSM has a fixing mechanism (not shown) that fixes the rotating part RP to the non-rotating part NRP using electromagnetic force or the like, and the bottom surface of the rotating brush B1 is parallel to the floor surface. Be able to maintain the state

Further, the rotating brush grounding auxiliary mechanism GSM may be a mechanism that actively rotates the rotating part RP with respect to the non-rotating part NRP by an electric actuator or the like.

The support polygon enlarging mechanism SMM (see FIG. 9A) is a mechanism for preventing the cleaning device EQ1 from toppling over when the rotating brush floating in the air is grounded. For example, an L-shape extending from the frame FR is used. And a grounding roller GR that is rotatably attached to the tip of the stay member ST.

As shown in FIG. 9B, the grounding roller GR is positioned so that it slightly floats from the floor surface when the rotating brush B2 is in contact with the floor surface in an upright posture, and an arrow It is attached so as to be rotatable in the direction indicated by AR2 (details will be described later).

Next, a method for raising and lowering the stairs of the cleaning device EQ1 will be described with reference to FIG.

The movement of the stair climbing auxiliary mechanism SLM when the cleaning device EQ1 moves up and down the stairs is represented by the six states of FIGS. 15A to 15F. When the cleaning device EQ1 moves up the stairs, FIG. It is assumed that the process proceeds in time series in the order of (A) to FIG. 15 (F). It is assumed that the movement of the stair climbing auxiliary mechanism SLM proceeds in chronological order in the reverse order to that when the cleaning apparatus EQ1 descends the stairs.

Further, each of FIGS. 15A to 15F is configured by a combination of a top view (upper view) and a side view (lower view) of the cleaning device EQ1 that moves up and down the stairs.

In FIG. 15, the rotating brushes B1 and B3 having the tilt axes ξ1 and ξ3 (see FIG. 9A) that are non-perpendicular to the traveling direction are once floated in the air and then grounded again. The longitudinal axis ζ1, ζ3 of the frame arm that connects the drive parts D1, D3 for the rotating brushes B1, B3 so that the bottom surface thereof is horizontal with respect to the floor surface by the rotating brush grounding auxiliary mechanism GSM (FIG. 9 ( Swing passively or actively around A).

In FIG. 15A, the cleaning device EQ1 is in a state where the rotary brushes B1 and B3 and the auxiliary foot FT are grounded at the first step of the staircase and the rotary brush B2 is grounded at the second step of the staircase.

In FIG. 15 (B), the cleaning device EQ1 is configured so that the rotary brushes B1 and B3 are grounded at the first step of the staircase, and the rotary brush B2 is grounded at the second step of the staircase, and the turning drive unit RD2 , RD3 is driven to turn so that the auxiliary foot FT floats in the air.

In this state, the cleaning device EQ1 can clean the first step of the stairs with the rotating brushes B1 and B3 and the second step of the stairs with the rotating brush B2 by moving in the width direction of the stairs.

In FIG. 15 (C), the cleaning device EQ1 further turns in a state where the rotary brushes B1 and B3 are grounded at the first step of the staircase and the rotary brush B2 is grounded at the second step of the staircase. The parts RD1, RD2, and RD3 are driven to turn so that the auxiliary foot FT is grounded at the second step of the stairs.

In FIG. 15D, the cleaning device EQ1 drives the turning drive parts RD1, RD2, and RD3 to turn while the auxiliary foot FT is in contact with the second step of the staircase, and the main body part (for raising and lowering the staircase). The portion other than the auxiliary mechanism SLM is raised by the height of one step in the posture shown in FIG. 15C (vertically moved upward (upward in the drawing)).

In FIG. 15 (E), the cleaning device EQ1 keeps the auxiliary foot FT in contact with the second stage of the staircase and drives the turning drive parts RD1, RD2, and RD3 to turn and move the main body in the direction of travel (see FIG. 15E). In the middle right direction, the tilting motor TM2 is rotated and the rotating brush B2 is tilted inward so that the grounding roller GR is grounded at the third stage of the staircase.

In this case, the cleaning device EQ1 has an acceleration within a predetermined range so that the ZMP (Zero （Moment Point) is maintained within the support polygon (see FIG. 10A) formed by the auxiliary foot FT. To move the main body horizontally.

“ZMP” is a point where the resultant force of gravity and inertial force intersects the floor surface. For example, the greater the acceleration in the traveling direction, the more in the reverse direction to the traveling direction (hereinafter referred to as “traveling reverse direction”). Since the inertial force increases, the greater the acceleration, the more the ZMP position moves in the opposite direction of travel compared to when the acceleration is small.

Therefore, as the acceleration of the main body portion is smaller, the ZMP of the cleaning device EQ1 is at a stage where the horizontal movement distance of the main body portion is smaller, and the boundary of the supporting polygon on the traveling direction side (see the boundary line BL in FIG. 10A). .), The cleaning device EQ1 starts toppling.

From this relationship, the cleaning apparatus EQ1 can delay the deviation of the ZMP from the support polygon by the auxiliary foot FT by setting the acceleration of the main body to a value within a predetermined range (acceleration of the main body). The ZMP can remain in the support polygon until the horizontal movement distance of the main body is greater than when the is small.

Thereafter, the cleaning device EQ1 decelerates the main body that moves horizontally in the traveling direction at a predetermined rate in order to ground the rotating brush B2 at the third stage of the staircase.

When the main body is decelerated, an inertial force directed in the traveling direction is generated, the ZMP greatly deviates from the support polygon by the auxiliary foot FT toward the traveling direction, and the cleaning device EQ1 starts toppling.

The support polygon enlarging mechanism SMM is a mechanism for enlarging the support polygon formed by the auxiliary feet FT. Preferably, the acceleration of a value within a predetermined range is set before the rotating brush B2 is grounded to the third step of the staircase. While the main body is moved horizontally in the traveling direction, the grounding roller GR is grounded at the third stage of the staircase, and the supporting polygon by the auxiliary foot FT is made by the grounding point of the grounding roller GR (see FIG. 10A). .) Is expanded to the support polygon (see FIG. 10B) including the grounding point of the grounding roller GR, and the ZMP of the cleaning device EQ1 that decelerates at a predetermined rate is included in the support polygon after the expansion. To prevent the cleaning device EQ1 from overturning.

Further, the support polygon enlarging mechanism SMM causes the rotating brush B2 to come into contact with the third stage of the staircase before the rotating brush B2 (having a relatively high friction coefficient) contacts the ground (with a relatively low friction coefficient). The frictional reaction force when B2 touches the third step of the staircase is suppressed, and the auxiliary foot located at the second step of the staircase is prevented from shifting backward (leftward in the figure) due to the frictional reaction force. Smooth grounding to the third stage of B2 stairs.

In FIG. 15 (F), the cleaning device EQ1 is in a state where the rotating brushes B1 and B3 and the auxiliary foot FT are grounded at the second step of the staircase and the rotating brush B2 is grounded at the third step of the staircase. Except that the grounding position is one step higher, the state is the same as the state of FIG.

In this way, the cleaning device EQ1 can ascend the stairs so as to repeat the six states of FIG. 15 (A) to FIG. 15 (F).

Next, another method for raising and lowering the stairs of the cleaning apparatus EQ1 will be described with reference to FIG.

16 is different from the movement of the stair climbing auxiliary mechanism SLM in FIG. 15 in the use of the auxiliary foot FT.

The movement of the stair-climbing auxiliary mechanism SLM in FIG. 16 is represented by the six states of FIG. 16A to FIG. 16F as in FIG. 15, and when the cleaning device EQ1 ascends the stairs, FIG. It is assumed that the processing proceeds in time series in the order of (A) to FIG. 16 (F). It is assumed that the movement of the stair climbing auxiliary mechanism SLM proceeds in chronological order in the reverse order to that when the cleaning apparatus EQ1 descends the stairs.

Further, each of FIGS. 16A to 16F is configured by a combination of a top view (upper view) and a side view (lower view) of the cleaning device EQ1 that moves up and down the stairs.

Further, in FIG. 16, the rotating brushes B1 and B3 having the tilt axes ξ1 and ξ3 (see FIG. 9A) that are non-perpendicular to the traveling direction are once floated in the air and then grounded again. The longitudinal axis ζ1, ζ3 of the frame arm that connects the drive parts D1, D3 for the rotating brushes B1, B3 so that the bottom surface thereof is horizontal with respect to the floor surface by the rotating brush grounding auxiliary mechanism GSM (FIG. 9 ( Swing passively or actively around A).

In FIG. 16 (A), the cleaning device EQ1 grounds the rotating brushes B1, B3 and the auxiliary foot FT at the first step of the staircase, and the rotating brush B2 at the second step of the staircase, as in the state of FIG. 15 (A). Is grounded.

In FIG. 16 (B), the cleaning device EQ1 rotates the turning drive units RD2 and RD3 while keeping the auxiliary foot FT in contact with the first step of the staircase, so that the main body (the stair climbing auxiliary mechanism SLM) is driven. 16) is raised by the height of one step of the stairs while keeping the posture shown in FIG. 16A (moving vertically upward (upward in the figure)).

In FIG. 16 (C), the cleaning device EQ1 drives the turning drive parts RD1, RD2, and RD3 to turn in a traveling direction (FIG. The ground roller GR is grounded at the third step of the stairs.

16D, the cleaning device EQ1 is in a state where the rotary brushes B1 and B3 are grounded at the second stage of the staircase and the rotary brush B2 is grounded at the third stage of the staircase.

In FIG. 16 (E), the cleaning device EQ1 is configured so that the rotary brushes B1 and B3 are grounded at the second stage of the staircase, and the rotary brush B2 is grounded at the third stage of the staircase. RD2 and RD3 are swiveled to make the auxiliary foot FT float in the air.

In FIG. 16 (F), the cleaning device EQ1 further turns in a state where the rotary brushes B1 and B3 are grounded at the second stage of the staircase and the rotary brush B2 is grounded at the third stage of the staircase. The driving units RD1, RD2, and RD3 are driven to turn, and the second leg of the staircase can be grounded while the auxiliary foot FT is suspended in the air.

In this state, the cleaning device EQ1 can clean the second step of the staircase by the rotating brushes B1 and B3 and the third step of the staircase by the rotating brush B2 by moving in the width direction of the staircase.

Further, in this state, the cleaning device EQ1 can be brought into the same state as the state of FIG. 16A except that the ground contact position is raised by one step by grounding the auxiliary foot FT at the second step of the staircase. .

In this way, the cleaning device EQ1 can ascend the stairs so as to repeat the six states of FIG. 16 (A) to FIG. 16 (F).

With the above-described configuration, the cleaning device EQ1 can clean each step surface of the stairs in addition to cleaning a flat surface without a step by the stair climbing auxiliary mechanism SLM.

In addition, the cleaning device EQ1 is configured so that the bottom surfaces of the rotating brushes B1, B2, and B3 are parallel to the step surfaces of the staircase even when the main body portion is inclined with respect to the horizontal plane when the staircase is moved up and down by the rotating brush grounding auxiliary mechanism GSM. The rotating brushes B1, B2, and B3 can be grounded in an upright posture on each step surface of the staircase.

Further, the cleaning device EQ1 can keep the ZMP in the support polygon even when the stairs are raised and lowered by the support polygon expanding mechanism SMM, and can prevent the fall when the stairs are raised and lowered.

In the above-described embodiment, the cleaning device EQ1 drives the turning drive units RD1, RD2, and RD3 to rotate, vertically moves the main body, and then horizontally moves the main body. However, the cleaning device EQ1 may execute the vertical movement and the horizontal movement of the main body at the same time. That is, the cleaning device EQ1 may move the main body portion obliquely upward so as to move away from the auxiliary foot FT. The same is true when the cleaning device EQ1 goes down the stairs.

Next, a cleaning device EQ2 including an active balancer mechanism AB according to an embodiment of the present invention will be described with reference to FIG.

FIG. 17 is a schematic diagram of the cleaning device EQ2, FIG. 17 (A) shows a top view thereof, and FIG. 17 (B) shows a side view seen from the direction of the arrow 16B in FIG. 17 (A).

The cleaning device EQ2 is different from the above-described cleaning device EQ1 in that it includes an active balancer mechanism AB and omits the support polygon enlarging mechanism SMM, but is common in other points. Therefore, the difference will be described in detail while omitting the description of the common points.

The active balancer mechanism AB is a mechanism for adjusting the position of the center of gravity GC of the cleaning device EQ2. For example, the weight WT is moved along the balancer rail BR by a ball screw mechanism or the like (not shown) using an electric motor. (See arrow AR3.) By moving, the position of the center of gravity GC of the cleaning device EQ2 is moved to a desired position.

The above-described cleaning device EQ1 delays the ZMP from deviating from the support polygon formed by the auxiliary foot FT by horizontally moving the main body portion in the traveling direction at an acceleration within a predetermined range. Although the cleaning device EQ2 uses the active balancer mechanism AB, the floor of the center of gravity GC is formed in the support polygon formed by the auxiliary foot FT regardless of the horizontal movement speed of the main body in the traveling direction. The surface projection point is kept to prevent falling.

Next, a method for raising and lowering the stairs of the cleaning device EQ2 will be described with reference to FIG.

The movement of the stair lift assist mechanism SLM when the cleaning device EQ2 moves up and down the stairs is represented by the six states of FIGS. 18A to 18F. When the cleaning device EQ2 moves up the stairs, FIG. It is assumed that the processing proceeds in time series in the order of (A) to FIG. 18 (F). It is assumed that the movement of the stair climbing auxiliary mechanism SLM proceeds in chronological order in the reverse order to that when the cleaning device EQ2 descends the stairs.

Each of FIGS. 18A to 18F includes a combination of a top view (upper view) and a side view (lower view) of the cleaning device EQ2 that moves up and down the stairs, as in FIGS. Shall be.

In FIG. 18, the rotating brushes B1 and B3 having the tilt axes ξ1 and ξ3 (see FIG. 9A) that are non-perpendicular to the traveling direction are floated once in the air and then grounded again. The longitudinal axis ζ1, ζ3 of the frame arm that connects the drive parts D1, D3 for the rotating brushes B1, B3 so that the bottom surface thereof is horizontal with respect to the floor surface by the rotating brush grounding auxiliary mechanism GSM (FIG. 9 ( Swing passively or actively around A).

18A, the cleaning device EQ2 is in a state where the rotary brushes B1 and B3 and the auxiliary foot FT are grounded at the first step of the staircase and the rotary brush B2 is grounded at the second step of the staircase.

In FIG. 18B, the cleaning device EQ2 is configured so that the rotary brushes B1 and B3 are grounded at the first stage of the staircase, and the rotary brush B2 is grounded at the second stage of the staircase. , RD3 is driven to turn so that the auxiliary foot FT floats in the air.

In this state, the cleaning device EQ2 can clean the first step of the staircase by the rotating brushes B1 and B3 and the second step of the staircase by the rotating brush B2 by moving in the width direction of the staircase.

In FIG. 18C, the cleaning device EQ2 is further driven to turn while the rotary brushes B1 and B3 are grounded at the first step of the staircase and the rotary brush B2 is grounded at the second step of the staircase. The parts RD1, RD2, and RD3 are driven to turn so that the auxiliary foot FT is grounded at the second step of the stairs.

At this time, the cleaning device EQ2 uses the active balancer mechanism AB to move the weight WT along the balancer rail BR in the traveling direction (right direction in the figure) and move the position of the center of gravity GC in the traveling direction. This is because the position of the center of gravity GC is within the support polygon formed by the auxiliary foot FT in a top view.

In FIG. 18D, the cleaning device EQ2 drives the turning drive units RD1, RD2, and RD3 while keeping the auxiliary foot FT in contact with the second step of the staircase, thereby turning the main body (for raising and lowering the staircase). The portion other than the auxiliary mechanism SLM is raised by the height of one step in the posture shown in FIG. 18C (vertically moved upward (upward in the drawing)).

In FIG. 18 (E), the cleaning device EQ2 keeps the auxiliary foot FT in contact with the second step of the staircase and drives the turning drive portions RD1, RD2, and RD3 to turn the main body portion in the traveling direction. Move.

At this time, the cleaning device EQ2 uses the active balancer mechanism AB to move the weight, which has been moved in the traveling direction, in the traveling reverse direction according to the degree of progress of the horizontal movement, and the position of the center of gravity GC is the auxiliary foot in top view. Stay within the FT support polygon.

In FIG. 18 (F), the cleaning device EQ2 is in a state where the rotary brushes B1 and B3 and the auxiliary foot FT are grounded at the second step of the staircase, and the rotary brush B2 is grounded at the third step of the staircase. Except that the grounding position is one step higher, the state is the same as the state of FIG.

In this way, the cleaning device EQ2 can ascend the stairs so as to repeat the six states of FIG. 18 (A) to FIG. 18 (F).

Next, another method for raising and lowering the stairs of the cleaning device EQ2 will be described with reference to FIG.

The stair climbing method in FIG. 19 is mainly in that rotating brushes B1 and B3 are arranged in front of the traveling direction (upper stage side of the staircase), and rotating brush B2 is arranged rearward in the traveling direction (lower stage side of the staircase). This is different from the stair climbing method in FIG.

The movement of the stair-climbing auxiliary mechanism SLM in FIG. 19 is represented by the six states of FIGS. 19A to 19F as in FIG. 18, and when the cleaning device EQ2 moves up the stairs, FIG. It is assumed that the process proceeds in time series in the order of (A) to FIG. 19 (F). Note that the movement of the stair-climbing auxiliary mechanism SLM proceeds in chronological order in the reverse order to that when the cleaning device EQ2 goes down the stairs, when going up the stairs.

Further, each of FIGS. 19A to 19F is configured by a combination of a top view (upper view) and a side view (lower view) of the cleaning device EQ2 that moves up and down the stairs.

In FIG. 19, the rotating brushes B1 and B3 having the tilt axes ξ1 and ξ3 (see FIG. 9A) that are non-perpendicular to the traveling direction are once floated in the air and then grounded again. The longitudinal axis ζ1, ζ3 of the frame arm that connects the drive parts D1, D3 for the rotating brushes B1, B3 so that the bottom surface thereof is horizontal with respect to the floor surface by the rotating brush grounding auxiliary mechanism GSM (FIG. 9 ( Swing passively or actively around A).

In FIG. 19A, the cleaning device EQ2 is in a state where the rotary brush B2 and the auxiliary foot FT are grounded at the first stage of the stairs and the rotary brushes B1 and B3 are grounded at the second stage of the stairs.

In FIG. 19 (B), the cleaning device EQ2 is configured so that the rotary brush B2 is grounded at the first step of the staircase, and the rotary brushes B1 and B3 are grounded at the second step of the staircase. , RD2 and RD3 are driven to turn so that the auxiliary foot FT floats in the air.

In this state, the cleaning device EQ2 can clean the first step of the stairs with the rotating brush B2 and the second step of the stairs with the rotating brushes B1 and B3 by moving in the width direction of the stairs.

In FIG. 19C, the cleaning device EQ2 is further driven to turn while the rotary brush B2 is grounded at the first step of the staircase and the rotary brushes B1 and B3 are grounded at the second step of the staircase. The parts RD1, RD2, and RD3 are driven to turn so that the auxiliary foot FT is grounded at the second step of the stairs.

In FIG. 19D, the cleaning device EQ2 rotates the turning drive units RD1, RD2, and RD3 while keeping the auxiliary foot FT in contact with the second step of the staircase, and the main body portion (for raising and lowering the staircase). The portion other than the auxiliary mechanism SLM) is raised by the height of one step in the posture shown in FIG. 19C (vertically moved upward (upward in the drawing)).

In FIG. 19 (E), the cleaning device EQ2 keeps the auxiliary foot FT in contact with the second step of the staircase and drives the turning drive portions RD1, RD2, and RD3 to turn the main body portion in the traveling direction. Move.

In FIG. 19F, the cleaning device EQ2 is in a state where the rotating brush B2 and the auxiliary foot FT are grounded at the second stage of the staircase, and the rotating brushes B1 and B3 are grounded at the third stage of the staircase. Except that the grounding position is one step higher, the state is the same as the state of FIG.

In this way, the cleaning device EQ2 can ascend the stairs so as to repeat the six states of FIG. 19 (A) to FIG. 19 (F).

With the above configuration, the cleaning device EQ2 can keep the floor projection point of the center of gravity GC within the support polygon by the auxiliary foot FT even when the stairs are raised and lowered by the active balancer mechanism AB. Falling can be prevented.

In the above-described embodiment, the cleaning device EQ2 drives the turning drive units RD1, RD2, and RD3 to turn, vertically moves the main body, and then horizontally moves the main body. However, the cleaning device EQ2 may execute the vertical movement and the horizontal movement of the main body at the same time. That is, the cleaning device EQ2 may move the main body portion obliquely upward so as to move away from the auxiliary foot FT. The same is true when the cleaning device EQ2 goes down the stairs.

Next, a cleaning device EQ3 according to an embodiment of the present invention will be described with reference to FIG.

20 is a schematic view of the cleaning device EQ3, FIG. 20 (A) shows a top view thereof, FIG. 20 (B) shows a side view seen from the direction of the arrow 20B in FIG. 20 (A), FIG. 20C shows a side view seen from the direction of the arrow 20C in FIG.

The cleaning device EQ3 is different from the cleaning device EQ1 in that it includes one rotating brush B4 instead of the three rotating brushes B1, B2, and B3, but is common in other points. Therefore, the difference will be described in detail while omitting the description of the common points.

In the cleaning device EQ3, the ring-shaped frame FR3 is coupled around the drive unit D4 of the rotating brush B4, and supports the rotating brush B4 so as not to tilt. The frame FR3 is supported by a support body constituted by two drive wheels RL-1 and RL-3 and two driven wheels RL-2 and RL-4 via four support body attachment portions SP. Supported on the floor.

Specifically, four support wheels are arranged in order at equal intervals (90-degree intervals) on the circumference of a circle around the rotation axis of the rotation brush B4 around the rotation brush B4. -1, driven wheel RL-2, driving wheel RL-3, and driven wheel RL-4.

The driving wheels RL-1 and RL-3 are arranged symmetrically with the rotating shaft of the rotating brush B4 interposed therebetween, and are driven to rotate independently by individual rotating motors (not shown).

The driven wheels RL-2 and RL-4 are casters arranged symmetrically with the rotation shaft of the rotating brush B4 interposed therebetween, and change the direction according to the moving direction or the rotating direction of the frame FR3 (cleaning device EQ3). It assists the movement of the frame FR3 (cleaning device EQ3) by the drive wheels RL-1 and RL-3, the super turning around the rotation axis, and the like.

Thus, the support constitutes a differential two-wheel mechanism that doubles as an anti-rotation mechanism and a movement mechanism, and enables non-holonomic omnidirectional movement.

The movement control unit MC of the control device CD receives the rotation state information output from each of the rotating brush B4 and the driving wheels RL-1 and RL-3, which are control targets, at a predetermined sampling period, and each of the control targets is a target. Each of the controlled objects is independently feedback controlled so as to be in a rotating state.

Further, the cleaning device EQ3 further includes a brush tilting mechanism, and the propulsive force by the rotating brush B4 can be used as a propulsive force that assists the propulsive force by the drive wheels RL-1 and RL-3.

With the above configuration, the cleaning device EQ3 can also clean each step surface of the stairs in addition to cleaning the flat surface without steps by the stair climbing auxiliary mechanism SLM, similarly to the cleaning device EQ1.

In addition, the cleaning device EQ3, like the cleaning device EQ1, can hold the ZMP within the support polygon even when the stairs are raised and lowered by the support polygon enlarging mechanism SMM, and prevent the fall when the stairs are raised and lowered. Can do.

Further, the cleaning device EQ3 may include an active balancer mechanism AB instead of the support polygon enlarging mechanism SMM. In that case, the cleaning device EQ3, like the cleaning device EQ2, can keep the floor projection point of the center of gravity GC within the support polygon by the auxiliary foot FT by the active balancer mechanism AB even when the stairs are raised or lowered. It is possible to prevent a fall when the stairs are raised or lowered.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

For example, in the above-described embodiment, the tilt axes ξ1, ξ2, and ξ3 form a regular triangle when viewed from the top, but if all of the tilt axes ξ1, ξ2, and ξ3 are not parallel when viewed from the top, the regular triangle Other triangles may be formed.

In the above-described embodiments, the rotating brushes B1, B2, and B3 have a common diameter and rotate in a common direction at a common rotational speed, but may have different diameters and are different from each other. It may be one that rotates at a rotational speed, or one that rotates in either a clockwise or counterclockwise direction.

In this case, the movement controller MC determines the respective diameters, relative positions (for example, distances from the center of the cleaning device EQ), rotation speed, rotation direction, and the like of the rotation brushes B1, B2, and B3 and the tilt axes ξ1, ξ2, and ξ3. Information on the correspondence relationship between the propulsive forces acting in the respective directions of, or an arithmetic expression for deriving the propulsive force is stored in advance, and based on the information or the arithmetic expression, a desired propulsive resultant force ( A target rotation state and a target inclination state for realizing (movement in a desired direction) are derived.

In the above-described embodiment, the cleaning device EQ is described as autonomously determining the moving direction. However, an operation unit (for example, a cross cursor is provided) connected to a cord or the like extending from the cleaning device EQ. Controller may be determined manually by the operator, or the operator may determine the direction of movement by remote operation via a remote controller. .

In the above-described embodiment, the cleaning device EQ can rotate and tilt each of the three rotating brushes B1, B2, and B3, but two of the three rotating brushes B1, B2, and B3 can be rotated. It is good also as a structure which can be rotated and can be tilted and can only rotate the remaining one.

Further, in the above-described embodiment, the stair climbing auxiliary mechanism SLM is mounted on the cleaning devices EQ1, EQ2 including the three rotating brushes B1, B2, B3, but includes two or four or more rotating brushes. 15 may be attached to the cleaning device. In this case, the auxiliary foot leading type stair ascending / descending method as shown in FIG. 15 (the auxiliary foot FT on the upper step side of the two step surfaces where the rotating brush of the cleaning device contacts the ground) The method of floating the main body of the cleaning device while grounding the device may be employed, and an auxiliary foot following type stair ascending / descending method as shown in FIG. 16 (of the two step surfaces where the rotating brush of the cleaning device contacts the ground) A method of floating the main body of the cleaning device while grounding the auxiliary foot FT on the lower side may be employed. The same applies to the cleaning device EQ3 provided with a single rotating brush B4.

Further, in the above-described embodiment, the stair climbing auxiliary mechanism SLM is described as assisting the stair lift of the cleaning devices EQ1, EQ2, EQ3, but the cleaning devices EQ1, EQ2, EQ3 straddle a groove or a step. You may make it assist.

In the above-described embodiment, the cleaning device EQ1 only includes the grounding roller GR for the rotating brush B2, but may include the grounding roller for the rotating brushes B1 and B3. This is to make the grounding of the rotating brushes B1 and B3 smoother.

Further, in the above-described embodiment, the stair lifting / lowering auxiliary mechanism SLM operates so that the cleaning devices EQ1 and EQ2 can move up and down the stairs one step at a time, but the cleaning devices EQ1 and EQ2 operate so as to move up and down the stairs by two steps. You may do.

In the above-described embodiment, the stair lift assist mechanism SLM operates so that the cleaning devices EQ1, EQ2, EQ3 can move up and down a staircase having three or more step surfaces, but a staircase having only one step surface. Similarly, a staircase having two step surfaces can be raised and lowered.

Further, in the above-described embodiment, the stair-climbing auxiliary mechanism SLM causes one of the three rotating brushes B1, B2, and B3 to be grounded to one of the two step surfaces, and the remaining two to be used. Operates so that the stairs can be raised and lowered while being grounded to the other of the two step surfaces, but the stairs can be raised and lowered step by step while all three rotating brushes B1, B2, and B3 are grounded to the same step surface. It may operate.

Further, this application claims priority based on Japanese Patent Application No. 2010-288898 filed on Dec. 24, 2010, the entire contents of which are incorporated herein by reference.

AB ... Active balancer mechanism AM1, AM2 ... Turning motor AS ... Attitude detection device B1, B2, B3, B4 ... Rotating brush BR ... Balancer rail CD ... Control device D1, D2, D3, D4 ... Drive unit EQ, EQ1, EQ2, EQ3 ... Cleaning devices F1, F2, F3 ... Propulsion FR, FR3 ... Frame G11, G13, G15, G17, G19 ... Follower Gear G12, G14, G16, G18 ... Drive gear GR ... Grounding roller GSM ... Rotating brush grounding assist mechanism LK1, LK2 ... Link member MC ... Movement control part NRP ... Non-rotating part PS: Position detection device RD1, RD2, RD3 ... Turning drive unit RL-1, RL-3 ... Drive wheels RL-2, RL-4 -Follower wheel RM1, RM2, RM3 ... Rotating motor RP ... Rotating part RS1, RS2, RS3 ... Rotation detector SD ... Storage device SD1 ... Cleaning map SFT11 ... Rotating shaft SFT12, SFT12-1, SFT12-2 ... Inclined shaft SLM ... Auxiliary mechanism for stair climbing SMM ... Support polygon enlargement mechanism SP ... Support attachment part ST ... Stay member TF ... Propulsion resultant force TM1, TM2, TM3 ... tilt motor TS1, TS2, TS3 ... tilt detector WT ... weight η1, η2, η3 ... rotation axis ξ1, ξ2, ξ3 ... tilt axis ζ1, ζ3 ..Long axis

Claims

Brush and
A frame that rotatably supports the brush;
An auxiliary foot,
A mechanism coupled to the frame and supporting the auxiliary foot so that the auxiliary foot can be moved closer to or away from the frame;
A control device for operating the mechanism to cause the cleaning device to walk with the brush and the auxiliary foot;
A cleaning device comprising:
A cleaning device having a frame, one or more brushes connected to the frame, and auxiliary feet connected to the frame,
From a first state in which at least one of the one or more brushes contacts the first surface and the auxiliary foot floats, a second state in which the auxiliary foot contacts the second surface, the one or more brushes Through the third state where all floats and the fourth state where the at least one of the one or more brushes contacts the third surface and the auxiliary foot contacts the second surface, the one or more A mechanism for shifting the state of the cleaning device to a fifth state in which at least one of the brushes contacts the third surface and the auxiliary foot floats;
The cleaning apparatus according to claim 1.
The second surface is flush with the first surface or the third surface.
The cleaning apparatus according to claim 2.
Each of the plurality of brushes is rotatable and tiltable with respect to the frame;
Of the plurality of brushes, a brush having a tilt axis that is not perpendicular to the moving direction during non-planar movement swings around a swing axis that is perpendicular to the tilt axis and not parallel to the rotation axis with respect to the frame. Is possible,
The cleaning device according to any one of claims 1 to 3, wherein
The auxiliary foot includes two extending portions, and receives at least a part of the outer shape of one of the one or more brushes between the two extending portions.
The cleaning device according to any one of claims 1 to 4, wherein
The mechanism is a three-degree-of-freedom drive mechanism.
The cleaning device according to any one of claims 1 to 5, wherein
The three-degree-of-freedom drive mechanism has three swivel drive units.
The cleaning apparatus according to claim 6.
The three-degree-of-freedom drive mechanism includes a first turning drive unit for turning the auxiliary foot with respect to the first link member, and a second turning drive unit for turning the first link member with respect to the second link member. And a third turning drive unit for turning the second link member with respect to the frame,
The cleaning apparatus according to claim 6.
An active balancer mechanism is provided that displaces the center of gravity of the cleaning device and maintains the center of gravity within the support polygon of the auxiliary foot when viewed from above.
The cleaning device according to any one of claims 1 to 8, wherein
A cleaning device having a frame, one or more brushes connected to the frame, and auxiliary feet connected to the frame,
From a first state in which at least one of the one or more brushes contacts the first surface and the auxiliary foot floats, a second state in which the auxiliary foot contacts the first surface, the one or more brushes Through the third state in which all floats and the fourth state in which the at least one of the one or more brushes contacts the second surface and the auxiliary foot contacts the first surface, the one or more A mechanism for shifting the state of the cleaning device to a fifth state in which at least one of the brushes contacts the second surface and the auxiliary foot floats;
The cleaning apparatus characterized by the above-mentioned.