JP3135587B2 - Wall cleaning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning device near a wall.

[0002]

2. Description of the Related Art Conventional apparatuses for cleaning a floor surface are disclosed in Japanese Patent Application Laid-Open Nos. 63-36312, 63-241611 and 2-81210. These devices run on the floor while avoiding obstacles, and perform cleaning by rotating a cleaning brush or the like.

[0003]

However, in the conventional cleaning device, the cleaning brush is fixed inside the main body cover.
Cleaning could not be performed by projecting sideways. For this reason, it was impossible to clean the floor near the wall, and had to rely on manual labor. As a result, cleaning time and cost are increased.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a wall-side cleaning device that can automatically perform wall-side cleaning without manual operation.

[0005]

SUMMARY OF THE INVENTION A wall cleaning device according to the present invention is a device for rotating a pair of driving wheels by a first motor and a second motor, respectively, to run by itself, and cleaning the wall using a cleaning brush. A driver for driving the first and second motors, a control unit for controlling the operation of the drivers, a forward sensor for measuring a first distance to a first obstacle ahead,
An obliquely forward sensor that measures a second distance to a second obliquely ahead obstacle and a wall detection sensor that measures a third distance to the left and right walls, wherein the first distance is the first distance When the distance is shorter than the predetermined value, the operation of the driver is controlled in a direction to avoid the first obstacle. When the first distance is longer than the first predetermined value, the second distance is measured. If the distance is shorter than the second predetermined value, the operation of the driver is controlled in a direction to avoid the second obstacle, and if the second distance is longer than the second predetermined value, the third distance is measured. The operation of the driver is controlled so that the distance of No. 3 is equal to the third predetermined value.

Here, the apparatus further comprises a fixed frame for rotatably fixing the cleaning brush and moving the cleaning brush in a direction approaching the wall, and a wall detection switch provided at the left and right ends of the fixed frame for detecting the wall. When the wall detection switch is activated, the fixed frame may be moved in a direction away from the wall.

[0007]

[0008]

A first distance to a first obstacle in front is measured by a forward sensor, and if the first distance is shorter than a first predetermined value, the first obstacle is moved in a direction to avoid the first obstacle. The driver is controlled by the control unit. When the first distance is longer than the first predetermined value, the second distance from the second obstacle obliquely forward is set.
Is measured by the oblique forward sensor, and when the second distance is shorter than the second predetermined value, the driver is controlled in a direction to avoid an obstacle. When the second distance is longer than the second predetermined value, the third distance between the left and right walls is measured by the wall detection sensor. The driver is controlled so that the third distance is equal to the third predetermined value. By controlling the driver in this manner, the first and second motors are driven, and the pair of drive wheels rotate. Thus, even when the wall or the like has irregularities, it is possible to travel near the wall while avoiding a collision.

When the fixed frame and the wall detecting switch are further provided, when the wall detecting switch detects the wall, the fixed frame for rotatably fixing the cleaning brush moves in a direction away from the wall.

[0010]

[0011]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a schematic configuration of a wall cleaning apparatus according to a first embodiment. The outer periphery of the main body 1 is covered with a cover 1a, and each component is stored inside the cover 1a. This device shall move along the wall 17 in the direction of arrow A.

Three cleaning brushes 2 a to 2 c are provided, and are fixed by a brush fixing frame 4. The cleaning brushes 2 a to 2 c are rotated by the brush rotation motor 3 to clean the floor surface. Also this cleaning brush 2
a to 2c can be slid in the left-right direction (vertical direction in the figure) of the main body 1 by the overhang electric cylinder 5. Usually, it is located at the center of the main body 1 as shown by a solid line. When cleaning either the right or left wall 17, the cleaning brush 2 aa to 2 cc indicated by a dotted line is moved to a position close to the wall 17.

A pair of driving wheels 6 and 7 are provided on the left and right sides of the main body 1, respectively.
Is provided. The other wheels are omitted here. The right drive wheel 6 is rotated by a right drive motor 11, and the operation of the right drive motor 11 is controlled by a driver 13. Similarly, the left driving wheel 7 is rotated by a left driving motor 12, and the operation of the left driving motor 12 is controlled by a driver 14.
Is controlled by The drivers 13 and 14 operate based on a command from the control unit 29.

A plurality of sensors for measuring a distance are connected to the control unit 29. Each sensor emits, for example, ultrasonic waves or infrared rays, and measures the distance from the time until it is reflected by an obstacle existing in the emitting direction,
A pair is provided on the left and right in front of the body 1. The front sensors 10a and 10b measure the distance between the main body cover 1 and an obstacle in front. The oblique front sensors 9a and 9b measure the distance between the main body cover 1 and the oblique front obstacle. Further, the wall detection sensors 8a and 8b measure the distance between the main body cover 1 and the left and right walls, respectively. Each of the sensors 8a to 10a,
The results measured by 8b to 10b are given to the control unit 29. The control unit 29, based on each measured distance,
The left and right drivers 13 are arranged so that the main body keeps a constant distance from the left wall 17 while avoiding obstacles in front or obliquely.
And 14 are controlled.

FIG. 2 shows the internal configuration of the control unit 29. The front sensor 10a, the oblique front sensor 9a, and the wall detection sensor 8a provided on the right side of the main body 1 are connected to the interface 22a. The front sensor 10b, provided on the left side of the main body 1, is connected to the interface 22b. The oblique forward sensor 9b and the wall detection sensor 8b are connected. A signal indicating the distance output from each of the sensors 8a to 10a and 8b to 10b is transmitted to the interface 22a or 22b.
After being converted to a predetermined level by b, it is given to the main controller 24. The main controller 24
A control signal for controlling the left and right drivers 13 and 14 is output based on a distance to an obstacle in front of or obliquely ahead or to a wall. This control signal is applied to each of the drivers 13 and 14 after passing through a sub-controller 25 for driving the motor. The driver 13 is provided with the result of the detection of the rotation speed of the right drive motor 11 by the speed encoder 26. Thereby, the driver 1
3 is a control signal given from the sub-controller 25,
The operation of the right drive motor 11 is controlled based on the rotation speed detected by the speed encoder 26. Similarly, the driver 14 controls the rotation speed of the left drive motor 12 based on the control signal given from the sub-controller 25 and the rotation speed detected by the speed encoder 27. Further, the outputs of the speed encoders 26 and 27 are also provided to a counter 28. The counter 28
Based on the rotational speeds of the right drive motor 11 and the left drive motor 12 detected by the respective speed encoders 26 and 27, the distance traveled per predetermined time is obtained and notified to the main controller 24.

Next, the control unit 29 controls each of the sensors 8a-10
The procedure for controlling the right drive motor 11 and the left drive motor 12 based on the measurement results from a, 8b to 10b will be described with reference to the flowchart in FIG. The distance to an obstacle existing in front of the main body 1 is detected by the front sensors 10a and 10b, and input to the main controller 24 via the interfaces 22a and 22b in the control unit 29 (step 101). Main controller 2
According to 4, it is determined whether or not the distance to the obstacle is shorter than a certain value (step 102). As shown in FIG. 4, when the distance from the front obstacle 17 a is short, the right drive motor 11 and the left drive motor are driven so as to avoid the collision between the main body 1 and the wall 17 and to move in the direction of arrow B. The rotation speed of the motor 12 is controlled (step 103).

If the distance to the obstacle is equal to or greater than a predetermined value, the distance to the obstacle in the obliquely forward direction is detected by the obliquely forward sensors 9a and 9b, and the control unit 29 controls the main controller via the interfaces 22a and 22b. 24 (step 104). Main controller 2
At 4, it is determined whether the distance from the obliquely forward obstacle is shorter than a predetermined value (step 105). As shown in FIG. 5, when the distance to the obstacle 17b in the diagonally forward direction is short,
The rotation speeds of the right drive motor 11 and the left drive motor 12 are controlled so as to avoid collision and move in the direction of arrow C (step 106).

If the distance from the obstacle is greater than a certain value,
The distances 11 between the left and right side surfaces of the main body 1 and the wall 17 are detected by the wall detection sensors 8a and 8b, respectively.
(Step 10)
7). The main controller 24 determines whether or not the distance l1 to the wall 17 adjacent to one of the left and right sides is shorter than a predetermined value l2 (step 108). The rotation speeds of the right drive motor 11 and the left drive motor 12 are controlled in the direction away from the target (step 109).

When the distance l1 from the wall 17 is larger than the fixed value l2 (step 110), the rotation speeds of the right drive motor 11 and the left drive motor 12 are controlled in the direction approaching the wall so that the wall can be cleaned. (Step 111), and if the distance l1 is equal to the fixed value l2, the current course is maintained.

As described above, according to the present embodiment, the vehicle can travel on its own while maintaining a constant distance from the wall while avoiding collision with an obstacle in front or obliquely ahead. For this reason, FIG.
Alternatively, even when the wall 17 has irregularities as shown in FIG. 5, it is possible to clean the side of the wall without manual operation while avoiding collision. Further, as described above, in this embodiment, the brush fixing frame 4 is slid toward the wall by the overhanging electric cylinder 5, and the brush 2
a to 2c can move. Thereby, the case where the brushes 2aa to 2cc move toward the wall 17 as shown in FIG. 7 is more hatched than the case where the brushes 2a to 2c are located at the center of the main body as shown in FIG. The applied cleanable area 31 approaches the wall 17.

Next, a second embodiment of the present invention will be described. In this embodiment, as shown in FIG. 8, a wall detection switch 21 is further added to the end of the brush fixing frame 4. The control unit 30 has a configuration as shown in FIG. The difference from the first embodiment shown in FIG. 2 is that a wall detection switch 21 is added and this output terminal is connected to a main controller 24 via an interface.

The wall detecting switch 21 has a distance l from the wall 17.
It turns on when 3 becomes shorter than the fixed distance 14, and outputs an approach detection signal to the interface 23 of the control unit 30. The output approach detection signal is amplified by the interface 23 and then output to the main controller 24.
The same components as those in the first embodiment shown in FIG. 2 are denoted by the same reference numerals, and description thereof is omitted.

The control procedure in the second embodiment will be described with reference to the flowchart of FIG. The procedure up to step 111 is the same as that of the first embodiment shown in FIG. That is, the front sensor 10a and the oblique front sensor 9
The right drive motor 11 and the left drive motor 12 are controlled using the detection result from a so as to avoid collision with an obstacle existing forward or obliquely forward.

Then, the main controller 24 determines whether or not the wall detection switch 21 has been turned on (step 112). The distance l3 from the wall 17 is a fixed distance l
4, and when it is determined that the wall detection switch 21 has been turned on, the brush fixing frame 4 is slid to the position shown in FIG. As a result, the brushes 2a to 2c are housed inside the cover 1a, and interference with the wall 17 is avoided (step 11).
3). When the wall detection switch 21 is not turned on, the cleaning brushes 2aa to 2cc run close to the wall 17 as shown in FIG.

As described above, in the second embodiment, the brush fixing frame 4 is provided with the wall detection switch 21 so that the cleaning brush 2
a to 2c can be run in a state of being as close to the wall 17 as possible while avoiding interference with the wall 17. This makes it possible to clean up to the wall.

FIG. 11 shows an example in which the components are arranged inside the cover 41 of the cleaning device near the wall. A pair of drive wheels 42 are provided on the left and right, each drive wheel 42 is connected to a drive motor 43, and the drive motor 43 and a speed encoder 44 are connected. A distance measuring sensor 45 for outputting ultrasonic waves is arranged on the front surface of the cover 41. A driver 49 for driving the drive motor 43, a power supply panel (including a relay panel and an operation panel) 48 for supplying power to each component, a control unit 29
The control boxes 47, 50 and 51 accommodating are arranged. Further, a switch interface panel 52 provided with switches for an operator to operate is provided above the cover 41. The brush overhanging device 46 contains cleaning elements such as the cleaning brushes 2a to 2c, the brush fixing frame 4, and the overhang electric cylinder 5.

The brush overhanging device 46 can be configured, for example, as shown in FIG. Inside the cover 1a, cleaning brushes 2a to 2c, a brush rotation motor 3, a brush fixing frame 4, an overhang electric cylinder 5, a wall detection switch 2
1, a slider 61 is housed. When the overhang electric cylinder 5 extends the cylinder downward in the drawing, the slider 61 fixed to the connection portion between the brush fixing frame 61 and the frame 62 on the main body side slides, and the brush fixing frame 4 moves downward. Then, the cleaning brush 2a protrudes outside the cover 1a.

The above embodiments are merely examples, and do not limit the present invention. For example, a sensor for measuring the distance from the wall is required so that the vehicle can travel by the wall, but other sensors may not necessarily be provided.

[0029]

As described above, according to the cleaning device near the wall of the present invention, the distance to the first obstacle in front, the distance to the second obstacle diagonally forward, and the distance to the left and right walls. Measure
When each of them is shorter than the predetermined value, the driver is controlled so as to avoid them, and the drive wheels rotate, so that it is possible to avoid collision with an obstacle and to run smoothly while keeping the distance to the wall constant. Further, when the fixed frame and the wall detection switch are further provided, when the wall detection switch detects the wall, the fixed frame is moved in a direction away from the wall, so that the cleaning brush moves as close to the wall as possible. In addition, even when an obstacle is recognized in front of or obliquely forward and an avoidance operation is performed, the traveling can be performed without bringing the cleaning brush into contact with the obstacle.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view showing a configuration of a wall-side cleaning device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing the configuration of the cleaning device near the wall.

FIG. 3 is a flowchart showing an operation procedure of the cleaning device near the wall.

FIG. 4 is an explanatory view showing the operation of the cleaning device near the wall to avoid collision with a forward obstacle.

FIG. 5 is an explanatory view showing an operation of the cleaning device near the wall to avoid a collision with an obliquely forward obstacle.

FIG. 6 is a plan view showing a cleanable area when the cleaning brush of the cleaning device near the wall is located at the center of the main body.

FIG. 7 is a plan view showing a cleanable area when the cleaning brush of the cleaning device near the wall is extended from the main body to the outside.

FIG. 8 is a cross-sectional view illustrating a configuration of a wall-side cleaning device according to a second embodiment of the present invention.

FIG. 9 is a block diagram showing a configuration of the cleaning device near the wall.

FIG. 10 is a flowchart showing an operation procedure of the cleaning device near the wall.

FIG. 11 is a perspective view showing an example of the arrangement of components of the cleaning device near the wall according to the present invention.

FIG. 12 is a plan view showing a structural example of a brush extension device of the cleaning device near the wall.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main body 2a Brush 4 Brush fixed frame 5 Overhang electric cylinder 6 Drive wheel 8a Wall detection sensor 9a Oblique forward sensor 10a Front sensor 11 Right drive motor 12 Left drive motor 13 Driver 21 Wall detection switch 22a Interface 24 Main controller 25 Sub controller 26 Speed Encoder 28 Counter 29 Control unit

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-55-97608 (JP, A) JP-A-1-293408 (JP, A) JP-A-62-292124 (JP, A) 34104 (JP, U) Special Table Hei 5-500098 (JP, A) (58) Fields surveyed (Int. Cl. ⁷ , DB name) G05D 1/02

Claims (2)

(57) [Claims] 1. A wall cleaning device for rotating a pair of driving wheels by a first motor and a second motor, respectively, and cleaning the wall using a cleaning brush, wherein the first motor and the second motor are driven. A driver for controlling the operation of the driver, a front sensor for measuring a first distance to a first obstacle in front, and a second distance to a second obstacle obliquely forward. An oblique forward sensor for measuring, and a wall detecting sensor for measuring a distance between the right and left walls and a third wall, wherein the first obstacle is avoided when the first distance is shorter than a first predetermined value. Controlling the operation of the driver in a direction in which the second distance is measured when the first distance is longer than the first predetermined value, and measuring the second distance when the second distance is shorter than the second predetermined value. The second
Controlling the operation of the driver in a direction to avoid the obstacle, and if the second distance is longer than a second predetermined value, the third
And measuring the distance of the driver and controlling the operation of the driver so that the third distance is equal to a third predetermined value. 2. A fixed frame for rotatably fixing the cleaning brush and moving the cleaning brush in a direction approaching a wall, and a wall detection switch provided at left and right ends of the fixed frame for detecting a wall. The cleaning apparatus according to claim 1, wherein the fixed frame is moved in a direction away from the wall when the wall detection switch is operated.