TWI742346B - Self-discipline walking sweeper - Google Patents

Abstract

[Question] To provide a self-disciplined walking sweeper that can improve the usability in pet breeding environments. [Solution] A self-disciplined walking sweeper, with a sweeper body, the sweeper body has: a brush, a dust box, a blower that generates air flow to the dust box, and a rechargeable battery, and it runs automatically; among them, as The automatic cleaning mode can be selected to execute: the normal mode; and the pet mode that is executed when the cleaner body is judged to be in the pet breeding environment; the pet mode is executed, during a part of the execution time of the automatic cleaning, once Above or intermittently, specific control is performed.

Description

Self-discipline walking sweeper

The present invention relates to a self-discipline walking type sweeper.

It is assumed that the "pet breeding environment" where pets are raised in the home is cleaned. Compared with the "non-breeding pet environment" where pets have not been raised yet, a self-discipline walking type sweeper that performs special control is widely known. It also differs depending on the type of pet being bred, but one of the differences between the two environments is, for example, that dust is likely to accumulate early in the pet breeding environment.

Patent Document 1 discloses that the cycle of starting automatic cleaning (the time from the end of the previous automatic cleaning to the start of the next automatic cleaning) is changed according to the presence or absence of small animals such as pets (claim 1). In addition, it is described that when a notification of the presence of a small animal is obtained, the rotation speed of the suction motor 3 is set to be higher than usual, and the automatic cleaning in the cleaning area is started (0031). [Prior Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Application Publication No. 2007-29489

[The problem to be solved by the invention]

During the execution of the automatic cleaning, with the noise of the cleaning or with the movement of the self-disciplined walking type cleaner, the user is likely to feel strong inconvenience. For this reason, as in Patent Document 1, the cleaning cycle must be changed, and the user's living habits will be closely related to the automatic cleaning cycle of the cleaning machine. However, in the case of a large amount of dust accumulation, if a large amount of dust is collected in one automatic cleaning, for example, dust will adhere to the brush during the automatic cleaning and the cleaning performance will be reduced, or the dust box will be filled and the dust box will be cleaned. It is difficult or impossible to continue.

Moreover, as in Patent Document 1, if the input is increased to increase the rotation speed of the constant suction motor, the power consumption speed of the rechargeable battery may increase and the cleaning efficiency may decrease. [Means to solve the problem]

In view of the foregoing, the first present invention is a self-disciplined walking sweeper, which has a sweeper body which has: a brush, a dust box, a blower that generates an air flow to the dust box, and a charger Battery, and automatic walking; among them, as the automatic cleaning mode, you can choose to execute: the normal mode; and the pet mode that is executed when the body of the sweeper is judged to be in the pet breeding environment; during the execution of the pet mode, For a part of the execution time of the aforementioned automatic cleaning, specific control is executed more than once or intermittently. Furthermore, in view of the above-mentioned circumstances, the second invention is a self-disciplined sweeping machine that includes a sweeper body having: a brush, a dust box, a blower that generates an air flow to the dust box, And rechargeable batteries, and walk automatically; among them, during a part of the execution time of automatic cleaning, the maintenance is performed more than once or intermittently and autonomously.

The embodiments of the present invention will be described in detail while referring to the drawings as appropriate. The present embodiment is not limited to the following content, and can be appropriately changed and implemented within the scope of the gist of the present invention. Moreover, in the direction of travel of the self-disciplined sweeper C (see FIG. 1), the side where the side brush 40 (see FIG. 1) is set is the front, and the vertical upward is the upper side, and the driving wheel 61 (see FIG. 3) ) The opposite directions are left and right. That is, as shown in Fig. 1 and the like, front and back, up and down, and left and right are defined.

[First Embodiment] [Self-discipline walking sweeper C] Fig. 1 is a perspective view showing the autonomous walking type sweeper according to the first embodiment. As shown in Fig. 1, the autonomous walking cleaner C is an electrical appliance that automatically cleans while moving autonomously in a specific cleaning area (for example, indoors). The self-propelled sweeper C includes the upper wall, which is the upper housing 91, the bottom wall (and part of the side walls), which is the lower housing 51 (see FIG. 2), and the buffer 92 provided at the front to form the main body 50 (sweeping The outer contour (jun body) of the body).

The upper case 91 is provided with a cover 93 for letting in and out a dust box K (see FIG. 4) described later.

Furthermore, the upper case 91 is provided with an operation button 97. The operation button 97 is a button that outputs an operation signal corresponding to the user's operation to the control device 95 (see FIG. 2). For example, there are a power button, a sweep start/end button, and a sweep mode selection button for changing the sweep mode.

Fig. 2 is a perspective view of a state where the upper case 91 is removed from the front left. As shown in FIG. 2, the lower case 51 is a housing in which the traveling motor 57, the rotating brush motor 21 (motor), the blower 81, the control device (control unit) 95, etc. are placed, and its outer shape is a thin disc.

The blower 81 has the function of driving the air in the dust box K (see FIG. 4) to the outside to generate negative pressure, and sucking dust from the floor through the suction port 17 (see FIG. 5) described later.

Figure 3 is a view of the self-disciplined walking sweeper viewed from the bottom up. As shown in FIG. 3, the lower housing 51 is formed with a drive mechanism housing portion 54 including a drive wheel 61, a traveling motor 57 (see FIG. 2), and a deceleration mechanism to house the drive mechanism; a side brush mounting portion 82; and a fixed suction portion 10 The hole 52; the exhaust port 53; and the battery accommodating portion 55 (see Fig. 4) for accommodating the rechargeable battery B (see Fig. 4).

The drive mechanism accommodating portions 54 are formed on the left and right sides of the central portion of the lower case 51 having a disc shape in a plan view. The exhaust ports 53 are formed in the vicinity of the center of the lower case 51 that is circular in plan view, and are formed in plural at positions enclosed by the drive mechanism housing portion 54.

The battery accommodating portion 55 is formed on the front side than the center of the lower case 51. In addition, on the left and right of the battery accommodating portion 55, side brush mounting portions 82 to which the side brushes 40 are mounted are formed.

The side brush 40 is a brush that guides dust from places where the rotating brush 5 is difficult to construct, such as corners of a room, to the suction part 10 (suction opening 17), and a part of it is exposed from the main body 50 in a plan view. In addition, the side brush 40 has three bundles of bristles extending radially at 120° intervals in a plan view, and is arranged on the left and right in front of the suction portion 10.

The side brush 40 on the right side is fixed to the side brush holder 41 at its root. The flocking of the side brush 40 is inclined so that the closer it is toward the end, the closer it is to the floor (see FIG. 4), and the vicinity of the end touches the floor.

On the rear side than the center of the lower case 51, that is, on the rear side of the exhaust port 53 and the drive mechanism housing portion 54, a hole portion 52 for fixing the suction portion 10 is formed. The suction part 10 fixed to the hole part 52 forms a suction port 17 (refer to FIG. 5) and accommodates the scraping brush 1 and the rotating brush 5 member.

The driving wheel 61 is a wheel used for the main body 50 to advance, retreat, and revolve in such a way that the driving wheel 61 itself rotates. In addition, the drive wheels 61 are arranged on the left and right sides of the central portion of the lower case 51.

The supporting mechanism accommodated in the driving mechanism accommodating portion 54 is a mechanism that supports the driving mechanism in the main body 50 (refer to FIG. 1). The supporting mechanism includes an arm 71 that supports the driving mechanism.

The front cover 56 is a roughly rectangular plate-shaped member that plugs the opening formed in the battery accommodating portion 55 (see FIG. 4) of the lower case 51 from the lower surface of the lower case 51. Furthermore, the front cover 56 is provided with a circular auxiliary wheel attachment portion 84 in which the auxiliary wheel 83 is attached near the center side of the lower case 51.

The auxiliary wheel 83 is an auxiliary wheel for keeping the main body 50 (refer to FIG. 1) at a certain height and allowing the autonomous walking type sweeper C to move smoothly. In addition, the auxiliary wheel 83 is pivotally supported so as to be driven to rotate by the frictional force generated between the floors following the movement of the main body 50. In addition, the auxiliary wheel 83 is configured to freely rotate 360° in the horizontal direction. In addition, the auxiliary wheel 83 is provided at the center of the front side of the main body 50 in the left-right direction, and is attached to the auxiliary wheel attachment portion 84 described above.

Fig. 4 is a cross-sectional view of the branch cut along the line A-A in Fig. 1. As shown in Fig. 4, the dust box K is a container for collecting dust sucked from the floor through the suction port 17 (suction part 10). In addition, the dust box K includes a dust box body for storing collected dust, a cover that can take out the collected dust, and a foldable handle. The dust box body is a shape composed of a barrel-shaped curved surface corresponding to the shape of the upper part of the suction portion 10 (refer to FIG. 3) on the following surface. The shaped inflow port K1 has a slightly rectangular parallelepiped shape as a whole. The cover is opposite to the suction port of the blower and is equipped with a dust collecting filter F.

The buffer 92 is set to be able to move in the front and rear directions in response to the pressing force acting from the outside. The shock absorber 92 is urged outward by a pair of left and right shock absorber springs (not shown). The end of the buffer spring is bent into a J shape, and the bend is connected to the inner wall surface of the buffer 92.

When the resistance force from the obstacle acts on the shock absorber spring through the shock absorber 92, the shock absorber spring collapses and deforms inwardly in a plan view, urges the shock absorber 92 in an outward direction and allows the shock absorber 92 to retreat. If the shock absorber 92 is separated from the obstacle without the aforementioned resistance force, the shock absorber 92 returns to the original position by the applied force of the shock absorber spring. In addition, the retreat of the buffer 92 (that is, the contact with the obstacle) is detected by the distance measuring sensors 96A and 96B (optical couplers) described later (refer to FIG. 2), and the detection result is input to Control device 95 (see Fig. 2).

The battery accommodating portion 55 accommodates the rechargeable battery B, and is constituted by a space with an opening surrounding the wall in the downward direction. In addition, the battery accommodating portion 55 is located on the front side of the blower 81.

Fig. 5 is a view of the suction unit 10 according to the present embodiment in a state where the rotating brush 5 and the scraping brush 1 are removed from the bottom up. As shown in FIG. 5, the suction part 10 is installed in the hole 52 of the lower case 51 (refer to FIG. 3). Moreover, the suction part 10 forms a flow path connected to the dust box K (see FIG. 4) through which air can circulate. The dust box K is connected in sequence toward the downstream side: the dust filter F (refer to Figure 4), the blower 81 (refer to Figure 4) and the exhaust port 53 (refer to Figure 3).

Moreover, the suction part 10 is formed with a suction port 17 connected to the dust box K (refer to FIG. 4), and is a member for accommodating the rotating brush 5 (refer to FIG. 4) and the scraping brush 1 (refer to FIG. 4). A member for fixing the rotating brush motor 21 (refer to FIG. 6).

Moreover, at the front part of the suction part 10, the rotating brush housing part 15 which accommodates the rotating brush 5 (refer FIG. 4) is formed. In addition, at the rear of the suction portion 10, a scraping brush accommodating portion 11 for accommodating the scraping brush 1 (see FIG. 4) is formed. The rotating brush 5 is arranged in the rotating brush accommodating part 15 (refer to FIG. 3). The scraping brush 1 is arranged in the scraping brush accommodating portion 11. That is, from the front of the autonomous walking cleaner C, the rotating brush 5 and the scraping brush 1 are arranged in this order. The rotating brush 5 and the scraping brush 1 are attached to the suction part 10 and can be removed.

Fig. 6 is a perspective view of the suction unit 10 viewed from the front left. As shown in FIG. 6, the suction part 10 is provided with a rotating brush motor 21 that rotates the rotating brush 5 (see FIG. 4 ), and a power transmission mechanism 22 that transmits the power of the rotating brush motor 21 to the rotating brush 5.

The rotating brush motor 21 is attached to one end side of the suction part 10 in the left-right direction, that is, the opposite side (right end side) of the suction port 17 in the left-right direction. In addition, the rotating brush motor 21 is arranged such that the rotating shaft is parallel to the rotating shaft 5b of the rotating brush 5 (see FIG. 7). The rotating shaft (not shown) of the rotating brush motor 21 extends toward one end in the left-right direction, and one end of the suction portion 10 is connected to the rotating shaft 5b of the rotating brush 5 through the power transmission mechanism 22.

Furthermore, on the right side of the rotating brush accommodating portion 15, there is provided a bearing 18 (see FIG. 5) that pivotally supports one of the rotating shafts 5b (see FIG. 7) of the rotating brush 5. The bearing 18 corresponds to the outer shape of the fitting portion 6 (see FIG. 7) provided at one end of the rotating brush 5, and is provided with a fitting recess (not shown) into which the fitting portion 6 is to be fitted.

Furthermore, on the left side of the rotating brush accommodating portion 15, there are formed: a bearing 7 provided with a rotating shaft 5b (see FIG. 7) on the other side of the rotating brush 5 and a locking portion 19 (see FIG. 5) to be locked by it, and , The rotating shaft 5b of the rotating brush 5 is non-contacted into a rotatable recess 19a (refer to FIG. 5).

As shown in FIG. 6, the scraping brush accommodating portion 11 is a concave portion extending in the left-right direction and having an arc-shaped curved surface in cross section. In addition, the curved surface of the scraping brush receiving portion 11 is set close to the scraping brush 1 (flocking), thereby ensuring high airtightness of the suction portion 10 and increasing the flow rate of air sucked by the rotating brush receiving portion 15 to ensure Dynamic pressure. For this reason, it is possible to improve the performance of sucking the garbage of the autonomous walking type sweeper C.

FIG. 7 is a perspective view of the rotating brush 5. As shown in FIG. 7, the rotating brush (brush) 5 is arranged so as to be parallel to the axis (left-right direction) passing through the center of rotation of the drive wheel 61 (see FIG. 3). Moreover, the rotating brush 5 is provided so that it may continue from the one end side of the longitudinal direction (left-right direction) of the rotating brush housing part 15 (FIG. 5, see FIG. 6) to the other end side. Furthermore, the rotating brush 5 has a rotating shaft 5b, and is supported by the suction part 10 so as to be rotatable.

The rotating brush 5 is driven by a rotating brush motor 21 (refer to FIG. 6) in both forward and reverse directions. When the main body 50 advances, the rotating brush 5 rotates in the same direction as the direction in which the drive wheel 61 rotates. During the normal operation, the rotation is in the forward direction, and during the automatic brush cleaning described later, the rotation is in the opposite direction to that during the normal operation.

The rotating brush 5 is provided with the tuft 5c which protrudes in the normal direction from the outer peripheral surface of the shaft part 5a. In addition, the rotating brush 5 is formed with one planted hair 5c extending in a direction that is slightly orthogonal to the line on the surface of the shaft portion 5a.

In addition, the tufted hairs 5c of the rotating brush 5 are provided with tufts of different lengths, tufts of different hardnesses, and other types of tufts, and are arranged such that each tufted tuft is arranged in a spiral row with respect to the rotating shaft 5b (see the figure).

In addition, in the present embodiment, the case where two types of flocks are arranged has been described as an example, but it is not limited to this, and it may be one type or three or more types. Furthermore, it is also possible to add a configuration in which a blade member made of an elastic material such as rubber is arranged in a spiral shape between the tufts arranged in a spiral shape, and it can be changed as appropriate.

Fig. 8 is a perspective view showing the scraping brush. Furthermore, the structure of the scraping brush 1 is just one example, and it is not limited to this embodiment. As shown in FIG. 8, the scraping brush (lint brush) 1 is arranged so as to be parallel to the axis (left-right direction) passing through the center of rotation of the drive wheel 61 (see FIG. 3). Moreover, the scraping brush 1 is provided so that it may continue from one end side of the longitudinal direction (left-right direction) of the scraping brush housing part 11 (FIG. 5, refer FIG. 6) to the other end side. Furthermore, the scraping brush 1 has a cylindrical shape with a rotating shaft 4, and is supported by the suction part 10 so as to be rotatable. In addition, the scraping brush 1 is formed to be shorter in the axial direction (left-right direction) than the rotating brush 5.

The scraping brush 1 is equipped with hair transplantation 2 on substantially the entire surface of the shaft portion. Specifically, the scraping brush 1 has a rib 3a protruding in the radial direction along the rotation axis direction, and has the tuft 2 on the entire surface except for the rib 3a. The rib 3a is formed linearly from one end to the other end in the axial direction of the scraping brush 1. In addition, the scraping brush 1 is formed on the outer peripheral surface of the shaft portion, and one planted hair 2 has a constant range of angle (for example, 0 to 45°) with respect to the wire on the surface of the shaft portion.

The planting hair 2 of the scraping brush 1 is used to improve the scraping force, the longer the better, the harder the better. The flocking of the scraping brush 1 is softer in terms of reducing power consumption. If the flock 2 of the scraping brush 1 is long, the flock can reach the deep part of the pile blanket, etc., and the dust can be scraped from the deep part. If the flocking 2 of the scraping brush 1 is hard, it can resist the resistance of the wool of the pile carpet, etc., to scrape the dust from the deep. If the flocking 2 of the scraping brush 1 is soft, the contact resistance of the bristles of the pile and the like is reduced, and the scraping brush 1 is easy to rotate, and the power consumption of the walking motor or the rotating brush motor 21 (see FIG. 6) can be reduced.

The position of the flocking 2 of the scraping brush 1 should be about 0.5mm above the floor when it is used to sweep the floor (between the boards). Moreover, when the flocking position of the scraping brush 1 is tied to the sweeping carpet, it is better to overlap with the wool of the carpet.

Fig. 9 is a side cross-sectional view of the suction part of the autonomous walking cleaner. As shown in Fig. 9, on the inner wall surface of the scraping brush accommodating portion 11, a locking portion 11a of the locking rib 3a is formed. The locking portion 11 a is formed at the front end of the scraping brush accommodating portion 11.

When the scraping brush 1 is rotated in the counterclockwise rotation direction as shown in the figure, the constituent rib 3a abuts against the locking portion 11a, and the rotation operation of the scraping brush 1 is regulated and regulated. In addition, when the scraping brush 1 is rotated in the clockwise rotation direction as shown in the figure, the internal mechanism of the scraping brush 1 not shown in the figure is constituted to regulate and restrict the rotation operation of the scraping brush 1. That is, the scraping brush 1 is not configured to rotate 360 degrees, and it rotates in two directions within a range of about 120 degrees in the scraping brush accommodating portion 11.

Moreover, the scraping brush 1 starts to follow-up rotation through friction with the cleaning surface as the main body 50 (rotating brush 5 rotates in the direction of the arrow) during normal operation. The rotation of the rib 3a is regulated by the regulations. Because of this, it will not continue to follow the rotation, but will become a type of stopped rotation. That is, the main body 50 moves the scraping brush 1 whose rotation is stopped while sliding.

10 is a schematic configuration diagram showing the control device 95 of the autonomous walking type sweeper and the equipment connected to the control device 95. As shown in FIG. 10, the buffer sensor (obstacle detection means) is an optical coupler that detects the backing (that is, contact with the obstacle) of the buffer 92 (refer to FIG. 1). For example, when an obstacle touches the buffer 92, the light receiving time of the sensor light (reflected light) becomes shorter. The detection signal corresponding to the change in the light receiving time is output to the control device 95.

The distance sensor (obstacle detection means) 96A is an infrared sensor that detects the distance to the obstacle. In this embodiment, a distance measuring sensor is provided at a total of 5 of the front 3 and the side 2 (refer to FIG. 2 and FIG. 3).

In addition, the distance measuring sensor 96A has a light-emitting part (not shown) that emits infrared light, and a light-receiving part (not shown) that receives the reflected light of the infrared light reflected by an obstacle. Based on the intensity of the reflected light detected by the light receiving unit, the distance to the obstacle is calculated. Furthermore, in the buffer 92 at least in the vicinity of the distance measuring sensor, resin or glass that transmits infrared rays is formed.

In addition, as the distance measuring sensor 96A, other types of sensors (for example, an ultrasonic sensor, a visible light sensor) may be used.

The floor distance sensor (obstacle detection means) 96B is an infrared sensor that measures the distance to the floor, and is installed on the lower surface of the lower case 51 at four locations, front, rear, left, and right (see FIG. 3). The floor distance measuring sensor 96B detects large steps such as stairs, thereby preventing the autonomous walking sweeper C (from the stairs) from falling. For example, when a level difference of about 30 mm is detected in the front by the floor distance sensor 96B, the control device 95 controls the traveling motor 57 (see FIG. 2) to retreat the main body 50 and change the traveling direction.

The pulse output of the encoder for the traveling motor shown in FIG. 10 is used to detect the rotation speed and the rotation angle of the traveling motor 57. Furthermore, the control device 95 calculates the moving speed of the main body 50 (self-propelled sweeper C) based on the rotation speed, the rotation angle, the gear ratio of the reduction mechanism, and the diameter of the driving wheel 61 detected from the encoder for the traveling motor, Moving distance.

The traveling motor current measuring device is a measuring device that measures the current flowing through the armature winding of the traveling motor 57. Similarly, the current measuring device for the blower measures the current value of the blower 81, and the current measuring device for the rotating brush motor measures the current value of the rotating brush motor 21. The two current measuring devices for side brush motors measure the current value of the side brush motor 42. Each current measuring device outputs the measured current value to the control device 95.

The operation button 97 is a button that outputs an operation signal corresponding to the user's operation to the control device 95 (refer to FIG. 2).

The display panel driving device is a device that cooperates with instructions from the control device 95 to apply voltage to the electrodes of the display panel. The display panel (not shown) has a plurality of LEDs (Light Emitting Diode: not shown) and a 7-segment display (not shown), and displays the operating state of the autonomous walking cleaner C and the like.

The rechargeable battery B is, for example, a secondary battery that can be recharged and reused, and is housed in the battery accommodating part 55 (see FIG. 4). The electric power from the rechargeable battery B is supplied to the distance measuring sensors 96A, 96B (see FIG. 2), the motors, the driving devices, and the control device 95.

The walking motor driving device (left) (right) is an inverter that drives the walking motors on the left and right, or a pulse waveform generator caused by PWM control, and operates in accordance with instructions from the control device 95. The same applies to the blower drive device, the drive device for the rotating brush motor, and the motor drive device for the side brush (left) (right). These driving devices are provided in the control device 95 in the main body 50 (see FIG. 2).

The control device 95 is, for example, a microcomputer (Microcomputer: not shown), reads a program stored in a ROM (Read Only Memory) and expands it to a RAM (Random Access Memory), and a CPU (Central Processing Unit) executes various processes. Furthermore, the control device 95 cooperates with the signals input from the operation button 97 and the aforementioned distance measuring sensors 96A, 96B to perform calculation processing and output command signals to the aforementioned driving devices.

Fig. 11 is an explanatory diagram of the cleaning operation of the autonomous walking type sweeper according to the first embodiment. In the autonomous walking cleaner C, the blower 81, the rotating brush motor 21, and the side brush 40 are driven during normal operation. In this case, the rotating brush 5 rotates in the W1 direction (counterclockwise rotation direction). That is, the rotating brush 5 rotates from the front to the rear from the side that touches the floor. Dust such as the floor is scraped in by the side brush 40, passes between the left and right driving wheels 61, and is scraped in by the rotating brush 5. The dust scraped in by the rotating brush 5 is sucked through the suction port 17 (suction part 10) and taken into the dust box K. The air removed from the dust in the dust collecting filter F passes through the exhaust port 53 (refer to FIG. 3) and is discharged to the outside of the main body 50.

In this case, the scraping brush 1 is made to rotate corresponding to the rotating brush 5 according to the rotation of the rotating brush 5 from the contact to the rotating brush 5, that is, given to the rotating brush 5 in the opposite direction (W10 direction) Rotational force. Here, when the main body 50 moves forward in a state where the scraping brush 1 is in contact with the cleaning surface (floor), the scraping brush 1 is given to offset the rotational force given by the rotating brush 5 due to friction with the cleaning surface. The rotation force in the W20 direction.

The tufted hairs 2 of the scraping brush 1 are in a reverse direction with respect to the cleaning surface of the main body 50 when advancing, and are in a forward direction with respect to the rotation of the rotating brush 5. For this reason, when the main body 50 is advancing, the scraping brush 1 is driven by the rotation force from the cleaning surface compared with the rotation force from the rotating brush 5, and the driven rotation is in the W20 direction. However, due to the application of the rotating force from the rotating brush 5 in the direction W10, resistance to the floor of the scraping brush 1 is generated. For this reason, the scraping brush 1 can recover dust scraped from the floor.

Furthermore, the rib 3a of the scraping brush 1 that starts to rotate in the W20 direction of FIG. 11 rotates from the tail end to the front end of the scraping brush housing portion 11, contacts the locking portion 11a, and regulates the rotation operation. The scraping brush 1, after the rotation stops, slides and scrapes on the cleaning surface (floor, carpet) for cleaning.

At this time, the one-by-one flocking 2 of the scraping brush 1 extends from the surface of the scraping brush 1 toward the front side (the traveling direction) of the main body 50 in a reverse direction. After this, one of the scraping brushes 1 and the flocking 2 are continuously scraped from the cleaning surface (for example, carpet) using only the part in contact with the cleaning surface in the width direction of the scraping brush 1 while sliding while moving forward. .

On the other hand, when the main body 50 hits a wall, when avoiding obstacles or the like, the main body 50 moves backward with the scraping brush 1 in contact with the cleaning surface. In this way, as the main body 50 moves backward, the scraping brush 1 utilizes friction with the cleaning surface to follow the direction of W10 from the front of the main body 50 through the scraping brush accommodating portion 11 and start to rotate.

The scraping brush 1 that continues to rotate in the direction of W10 in FIG. 11 is immediately at the position of the rib 3a to the end of the scraping brush accommodating portion 11, and the driven rotation is stopped by the internal standard control means not shown in the figure. . At this time, the part of the scraping brush 1 that scrapes out dust when advancing comes into contact with the rotating brush 5, and the dust adhering to the scraping brush 1 is collected.

The flocking of the scraping brush 1 is in a forward direction with respect to the cleaning surface (for example, a carpet) when it is retracted. Because of the rotation in the W10 direction caused by applying the rotating brush 5 to the scraping brush 1, only the part in contact with the cleaning surface in the width direction is used, and the dust is continuously picked up from the cleaning surface and scraped. That is, the scraping brush 1 can scrape dust when the main body 50 is moving forward or backward.

In this way, the rib 3a is reciprocatingly rotated at a position opposite to the scraping brush accommodating portion 11, so that the portion of the rib 3a without the bristle 2 of the scraping brush 1 will not touch the cleaning surface and will not damage the cleaning. noodle.

When the main body 50 advances, (until the rib 3a is restricted to rotate by the specification), the dust scraped out by the scraping brush 1 passes through the scraping brush accommodating portion 11 along with the flocking of the scraping brush 1 from the suction port 17 Is attracted to the dust box K.

When the main body 50 retreats, the dust scraped off by the scraping brush 1 is collected via the rotating brush 5 that comes into contact with the scraping brush 1. Furthermore, because the direction of the flocking of the scraping brush 1 is opposite to the rotation direction of the rotating brush 5, the flocking of the rotating brush 5 can easily and surely remove (sweep) dust from the flocking of the scraping brush 1.

[Environment cleaned by self-disciplined walking cleaner] By the way, in pet breeding environments such as dogs or cats with more hair, hard solid objects such as long hair or feathers can be found more often. For cleaning these things, rotating brushes are more suitable. However, long strips of solid objects are easily entangled with rotating brushes and other brushes. Assuming that the frequency of maintenance is increased, it is better to perform one or more maintenance in one automatic cleaning by any method depending on the situation. Moreover, pet hair has a low volume density. It is assumed that the time to fill the dust box K is shortened. Depending on the situation, the substantially empty capacity of the dust box K can be increased by any method in one automatic cleaning. It is better to perform major repairs once or multiple times.

Such pet's hair is easy to be entangled with the rotating brush 5, and has a low volume density. For this reason, the number of times (the number of maintenance) that the pet's hair should be entangled with the rotating brush 5 increases. Moreover, the pet's hair has a low volume density, and the dust box K is immediately filled with the pet's hair, and the number of repairs (the number of repairs) of the dust box K increases. Here, the term “maintenance” refers to the use of the self-propelled sweeper C, and the user performs the desired treatment. For example, it can remove the dust attached to the self-propelled sweeper C (for example, to remove the dust entangled in the brush). Recovery of the amount of collected dust (for example, compression or disposal of dust in the dust box K), etc.

Here, in the first embodiment, the means for reducing the number of maintenance of the rotating brush 5 or the dust box K will be described with reference to FIG. 12. Fig. 12 is a flowchart of the autonomous walking type sweeper according to the first embodiment.

In the pet mode of this embodiment, a specific control (action or arithmetic processing) is executed during a part of the execution time of the pet mode. If it is part of the execution time of one time, the specific control may be executed only once, or it may be executed intermittently multiple times. With this, it is possible to suppress power consumption and perform maintenance during automatic cleaning.

As shown in Fig. 12, in step S10, the control device 95 determines whether the autonomous walking cleaner C is in the pet mode. Furthermore, whether the autonomous walking type sweeper C is in the pet mode can be determined by whether the user operates the operation button 97 to set the pet mode. When the control device 95 determines that the pet mode is turned on (S10, "Yes"), it proceeds to step S20, and when it determines that the pet mode is not turned on (S10, "No"), it proceeds to step S80 .

Furthermore, in the first embodiment, the configuration in which the pet mode and the normal mode can be switched is described, but it may also be a configuration in which the operation is performed in the preset pet mode. In the pet mode like this embodiment, the control to increase the input to the blower 81 or the rotary brush 5 is executed during a part of the execution time of the pet mode. , There is an increase. However, it is also assumed that the execution of the pet mode is unnecessary for the family, so you can switch the execution or non-execution, that is, in a way that the pet mode and the normal mode can be switched, the cleaning action can be suppressed according to the user's wishes The total power consumption. In this embodiment, the mode executes the same mode from the beginning to the end of a certain autonomous drive (automatic cleaning); however, the mode can also be changed on the way according to the instruction of the user.

In step S20, the control device 95 measures the elapse of time by the timer unit capable of timekeeping processing, and determines whether a specific time has elapsed from the start of cleaning. When it is determined that the specific time has not elapsed (S20, "No"), the process of step S20 is repeated, and when it is determined that the specific time has elapsed (S20, "Yes"), the process proceeds to step S30. The specific time can be set appropriately, for example, set to 10 minutes. Furthermore, the specific time may be appropriately changed according to the retention state of the pet's hair (hair loss) of the dust box K or the entanglement state of the pet's hair of the rotating brush 5. Moreover, the specific time can also be switched by the setting of the autonomous walking type sweeper C. Moreover, the specific time is also in one cleaning, and it does not always have to be a constant value, and it can be regular or irregular. In this embodiment, instead of or in addition to the trigger for acquiring any sensing value or performing any other action, the elapse of time caused by the timing unit can be used as a trigger to perform maintenance control suitable for the pet breeding environment. Furthermore, the above-mentioned Patent Document 1 focuses on the period from the end of a certain automatic cleaning to the start of the next automatic cleaning. However, there is no disclosure about the period of control during one automatic cleaning. of.

In step S30, the control device 95 stops the driving wheels 61 and stops the movement of the autonomous walking type sweeper C (control main body 50).

In step S40, the control device 95 executes automatic brush cleaning as one example of autonomous maintenance control. This automatic brush cleaning is a process of removing pet hairs etc. entangled in the rotating brush 5. That is, under the sweeping of the rotating brush 5, the control device 95 controls the rotating brush motor 21 to reversely rotate the rotating brush 5 (rotation in the W2 direction of FIG. 11). In this case, since the scraping brush 1 is in a reverse state with respect to the rotating operation of the rotating brush 5, the dust (pet's hair) attached to the rotating brush 5 is scraped by the scraping brush 1. Furthermore, in the manner of counter-rotating the rotating brush 5, the scraping brush 1 is also driven to rotate in the W20 direction, and the rib 3a of the scraping brush 1 abuts against the street locking portion 11a, and the rotation operation of the scraping brush 1 is regulated and regulated. If the rotating operation of the scraping brush 1 is regulated by the regulations, the dust adhering to the rotating brush 5 is scraped by the scraping brush 1. At this time, the dust is accumulated in the area shown in the area P in FIG. 11.

Furthermore, in step S40, the control device 95 increases the rotation speed of the rotating brush motor 21 during automatic brush cleaning. With this, the efficiency of the scraping brush 1 to scrape the dust attached to the rotating brush 5 is improved, and the cleaning performance of the rotating brush 5 is improved.

In step S50, the control device 95 executes garbage pressing processing (garbage volume compression processing, dust compression processing) as an example of autonomous maintenance processing. That is, in the garbage pressing process, the rotation speed of the motor of the blower 81 is increased more than in the normal operation (normal mode). Through this, the dust scraped by the scraping brush 1 passes through the suction port 17 and the dust collecting box K, and is collected in the dust collecting filter F. In addition, it is more strongly attracted than dust collected during normal operation, so the amount of dust compression is increased compared to during normal operation (the volume of dust can be effectively reduced). Thereby, the dust box K can be delayed from being filled with dust, and the number of maintenance can be reduced.

In step S60, the control device 95 determines whether the cleaning is completed. The end of the cleaning is determined by whether the pre-set cleaning route (map of the room) has been all moved, or whether the remaining amount of the rechargeable battery is lower than the threshold. When the control device 95 determines that the cleaning is not completed (S60, "No"), it proceeds to step S70, and when it determines that the cleaning is completed (S60, "Yes"), it returns to the charging stand (S60, "Yes"). Or base station), end the cleaning mode (automatic cleaning).

In step S70, the control device 95 resets the timer. By resetting the timer, after a specific time has elapsed (S20, "Yes"), the processing of steps S30 to S50 is repeated. Steps S30 to S50 may be all executed, or only a part may be executed.

On the other hand, in step S10, when the pet mode is not turned on and normal operation is performed (step S80), the control device 95 rotates the rotary brush 5 while collecting dust in the dust box K.

Next, in step S90, the control device 95 determines whether the cleaning has ended. If it has not been completed, it returns to step S80. If it is determined that it has ended, it returns to the charging stand to end the cleaning mode. During normal operation, the operations of steps S40 and S50 may not be performed at all, or may be performed at a lower frequency than the frequency in the pet mode.

In this way, in the first embodiment, during a part of the execution time of the pet mode, the pet mode of automatic brush cleaning is executed by reversely rotating the rotary brush 5 more than once or intermittently (step S40 in FIG. 12). In a pet breeding environment such as dogs or cats, the number of maintenance of the rotating brush 5 caused by pet hair (dust) can be reduced.

In addition, during a part of the execution time of the pet mode, the rotation speed (motor rotation speed, operation speed) of the blower 81 is increased once or intermittently to execute the garbage pressing process (step S50 in FIG. 12). Reduce the number of maintenance of the dust box K (the number of waste dust).

In this way, in the first embodiment, the so-called reverse rotation of the rotating brush 5 or the maintenance control of the garbage pressing control is performed autonomously during the cleaning execution, and it is possible to prevent the collection of a large amount of dust during a single cleaning from being unnecessary. The occurrence of the state of affairs that does not interrupt the cleaning. That is, it is possible to increase the time during which the autonomous driving can be continued without maintenance, and it is possible to reduce the maintenance frequency of the autonomous walking sweeper C (it can be controlled in the direction of reducing the obstacles of the autonomous walking sweeper C).

In addition, in the pet mode of this embodiment, the control for the purpose of reducing the frequency of maintenance required by the user or increasing the dust recovery rate is part of the mode execution time, such as 1 time, 2 times or more, or every specific time. It is executed many times intermittently at intervals of time. With this, compared with the case where such control is always performed, the power consumption can be reduced. The execution of such control, if it is not to be carried out constantly, can be carried out on a regular or irregular basis.

The pet breeding environment can be judged, for example, by whether the camera (imaging unit) of the autonomous walking cleaner C recognizes the pet, or by accepting input from the user.

Furthermore, in the first embodiment, in the operation of automatic brush cleaning and garbage pressing, the rotation speed of the rotating brush 5 is increased compared with that during normal operation, thereby, the dust collection performance can be improved more than that during normal operation. . Furthermore, if the rotation speed of the rotating brush 5 is increased, the operating sound becomes louder than during normal operation. As a result, a louder noise than the operating sound during normal operation is generated, and the user can be given the impression of reliable cleaning.

In addition, a sensor (floor type detection means) for detecting the type of floor or the dust (garbage) of the floor is provided. When the floor is a carpet or garbage detection, the rotary brush 5 can be raised more than during normal operation. spinning speed. Through this, the dust collection performance can be improved more than during normal operation.

In addition, the name of the normal operation in the present embodiment is an example, and may refer to a mode other than the pet mode. Also, it may be an autonomous electric sweeper that can only execute the pet mode. In this case, it is possible to perform autonomous maintenance processing more than once or intermittently during a part of the execution time of the cleaning mode.

[Second Embodiment] Fig. 13 is a flowchart related to the second embodiment of the autonomous walking type sweeper. The second embodiment constitutes the autonomous walking cleaner C of the first embodiment, and includes an imaging unit (monocular camera, binocular camera, etc.) as a recognition unit. The imaging unit, not shown, is attached to the front surface (front surface) of the lower case shown in FIG. 2. By installing such an imaging unit, it is possible to detect the type of floor or the number of garbage (dust). Hereinafter, only the processing that is different from the first embodiment will be described.

As shown in Fig. 13, in step S21, the control device 95 uses the camera to determine the number of dust (pet's hair, obstacles) on the floor (pet's hair, etc.) after the start of cleaning. Count. Specifically, the image mode of the dust is stored in the ROM in advance and compared with the image captured by the imaging unit, so that it can be determined whether the captured object is dust.

Next, in step S22, the control device 95 determines whether the number of garbage (dust) (a specific value related to obstacles) exceeds a specific number (specific value). When the control device 95 determines that the number of detected garbage does not exceed the specific number (S22, "No"), it returns to step S21, and when it determines that the number of detected garbage exceeds the specific number (S22, "Yes"), proceed to step S30.

In this way, in the autonomous walking type sweeper of the second embodiment, the same effect as that of the first embodiment can be obtained. In addition, the sensor (imaging unit) for detecting garbage (dust) is used to perform automatic brush cleaning (step S40) and garbage stamping (step S50) according to the number of detected garbage, thereby preventing unnecessary waste By performing automatic brush cleaning or garbage stamping, the maintenance of the rotating brush 5 or the maintenance of the dust box K can be carried out efficiently.

In addition, in the second embodiment, a case where dust is detected by the imaging unit is taken as an example for description. However, a sensor for detecting the passage of dust may be provided in the suction port 17. It can perform automatic brush cleaning and garbage stamping according to the number of passes through the sensor.

In addition, the case of a camera that can recognize the type or number of garbage as an example has been described. However, it may also be a light sensor (numerical recognition unit) that can recognize the number of garbage.

[Third Embodiment] Fig. 14 is a flowchart of the autonomous walking type sweeper according to the third embodiment. Furthermore, also in the third embodiment, only processing that is different from the first embodiment will be described. As shown in FIG. 14, when the control device 95 determines that the specific time has not passed (S20, "No"), it proceeds to step S25.

In step S25, the control device 95 determines whether to start corner sweeping. The so-called corner sweeping means sweeping the area (corner of the room) close to two walls extending in different directions. For example, when the distance sensor 96A on the control side continues to detect obstacles While traveling along one wall, the distance sensor 96A at the front can detect an obstacle. In the case of an imaging unit such as a camera, the corner can also be found by the image recognition. If the position of the self-disciplined sweeper C is in such a corner, it performs in-situ turning (turning on the spot), etc., and performs a left-to-right swooping motion near the corner, which can effectively collect dust in the corner.

Furthermore, when starting corner sweeping, the side brushes 40 and 40 scrape in the dust, and the rotating brush 5 and the scraping brush 1 collect the dust in the dust box K. When the control device 95 determines that the corner sweep is started (S25, "Yes"), it proceeds to step S26, and when it determines that the corner sweep is not in progress, returns to step S20.

In step S26, the control device 95 reversely rotates the rotating brush 5 before the main body 50 moves. In addition, the control device 95 increases the rotation speed of the rotating brush 5 more than during normal operation. In this case, as illustrated in FIG. 11, by the rotating operation of the rotating brush 5, the dust adhering to the rotating brush 5 is scraped by the scraping brush 1, and the dust is accumulated in the area indicated by the area P (see FIG. 11). When the dust is accumulated in the area P, the suction of the blower 81 collects the dust from the suction port 17 into the dust box K. In the in-situ turning, because the traveling speed of the autonomous walking type sweeper C drops or stops, there is less interference with the rotating brush 5 caused by the floor. For this reason, in the above-mentioned general automatic maintenance control, it is particularly effective to interrupt the execution of the automatic maintenance control of the rotating brush 5.

In addition, the cleaning of the rotating brush 5 in step S26 is performed in a separate process for the aforementioned automatic brush cleaning and garbage stamping. That is, before the specific time has elapsed (S20, "No"), even if the process of step S26 has been executed, without resetting the timer, when the specific time has elapsed (every specific time), a series of processes are executed (steps S30 to S30~ S50). With this, the automatic brush cleaning of step S40 and the garbage pressing process of step S50 are performed periodically (at a fixed frequency), and it is possible to prevent the number of maintenance of the dust box K from being insufficiently performed.

On the other hand, even if the pet mode is not turned on (step S10, "No") and the normal operation is shifted, in the corner cleaning (step S81, "Yes"), the cleaning of the rotary brush 5 is executed (see step S82). ). That is, the control device 95 determines in step S81 whether it is corner sweeping. When the control device 95 determines that the corner is being swept away (S81, "Yes"), the control device 95 proceeds to step S82 to rotate the rotary brush 5 in the reverse direction. Then, when the control device 95 determines that the corner is not being cleaned (S81, "No"), it proceeds to step S90. It is also possible to stop the driving wheel before the reverse rotation in the corner sweep.

[Fourth Embodiment] In the pet breeding environment, various objects related to pets may fall on the floor, such as solid or liquid objects such as excrement or pet bait. Moreover, it is assumed to be a relatively large amount of garbage compared to a pet-free environment. For cleaning liquid or very soft objects like excrement, the rotating brush 5 (including side brushes and other brushes.) is not suitable. If such objects are cleaned, the cleaning area will be stained or cleaned. Machine failure or increased frequency of maintenance. Japanese Patent Publication No. 2018-515191 related to this embodiment is to identify the type of permanent dust, and the power consumption required for the calculation process is relatively large.

Fig. 15 is a flowchart of the autonomous walking type sweeper according to the fourth embodiment. As shown in FIG. 15, in step S101, the control device 95 determines whether an obstacle is detected. Furthermore, the obstacles are constituted by a camera unit (monocular camera, binocular camera, etc.) as a detection unit. Because the camera has a wide angle of view, it is easy to detect objects falling on the floor. The control device 95, when an obstacle is detected (S101, "Yes"), proceeds to the processing of step S102, and when no obstacle is detected (S101, "No"), it repeats the processing of step S101 .

At least in step S102 of the control performed in the pet mode, the control device 95 determines whether the detected obstacle will cause an obstacle under the assumption that the obstacle is cleared. For example, when the obstacles are pet feces or urine excrement, pet vomiting and diarrhea, liquid or viscous bait, etc., cleaning these will cause a malfunction of the sweeper body or stain the rotating brush 5 Or the reason for the floor. Moreover, when the obstacles are dust, dry pet bait, etc., even if they are cleaned, the probability of failure of the sweeper body is low.

When the control device 95 determines that an obstacle will occur (S102, "Yes"), it proceeds to the process of step S103 and executes control for avoiding the obstacle. In addition, when the control device 95 determines that the obstacle does not occur (S102, "No"), it proceeds to the process of step S104 to continue cleaning.

Furthermore, in the case of avoiding an obstacle, the drive wheel 61 is controlled to rotate the main body 50, etc., so as to detour so as not to contact the obstacle. Furthermore, when an obstacle such as excrement is detected, a notification means such as a lamp provided in the main body of the sweeper may be used to notify the user. In addition, when an obstacle such as excrement is detected, it may be notified to the user's terminal (smart phone) or the like.

In this manner, in the fourth embodiment, the operation of the main body 50 (sweeper main body) is switched according to the type of obstacle detected by the imaging unit. With this, when the cleaning is continued, it is possible to suppress or prevent the occurrence of obstacles that cause the main body 50 to malfunction.

In addition, the calculation processing of the recognition of the type of dust by the imaging unit during the execution of the pet mode (that is, the change of the previous path diameter due to the type of dust, etc.) is performed more frequently than in normal operation. In particular, the amount of calculation required for the type identification is relatively large, and it is better to reduce power consumption if it is not performed during normal operation. Moreover, since the imaging unit can photograph relatively far away, it is better to perform intermittently during a part of the automatic cleaning time of one time.

Although not shown in the figure, the autonomous walking type sweeper C in each of the aforementioned embodiments returns via a command from the control device 95 when the cleaning has been completed or when the power of the rechargeable battery B decreases. Go to the charging station to charge. The autonomous walking cleaner C returning to the charging stand is a method in which the rotating brush 5 is rotated in the W2 direction with the rotation of the driving wheel 61 stopped (see Fig. 11). The dust of the rotating brush 5 is scraped by the brush 1 Was scraped. Then, the dust scraped by the scraping brush 1 is collected in the dust box K by driving the blower 81 at a normal rotation speed.

Furthermore, the so-called 1 degree time of automatic cleaning in the normal mode or pet mode can be the autonomous walking type cleaner C from the start of the autonomous cleaning by the timer function or the command from the user until it stops. Those who have completed the self-disciplined cleaning, in particular, from the start of the self-disciplined cleaning to the completion of the cleaning without stopping abnormally. In the present embodiment, if the cleaning is completed without stopping abnormally, the autonomous walking type cleaner C system returns to the charging stand autonomously.

Above, the embodiment of the self-disciplined walking type sweeper of the present invention has been disclosed and explained in detail. In addition, the content of the present invention is not limited by the foregoing embodiments, and it is of course possible to appropriately change, change, etc. within a range that does not deviate from the spirit thereof. In addition, as long as the main body 50 (sweeper main body) is controlled to reduce obstacles generated in the pet breeding environment, it is not limited to the aforementioned embodiment. For example, when there is a pet on the cleaning route, the main body 50 (sweeper body) can be controlled to use sound or light to make the pet leave the cleaning route.

Furthermore, it is described that in step S30 of the first embodiment to the third embodiment, the automatic brush cleaning and garbage stamping are performed in the state where the driving wheel 61 is stopped. However, the automatic brushing may be performed without stopping the driving wheel 61. Sweeping and rubbish stamping. After this, the cleaning time can be shortened.

1: Scrape brush 2: Flocking 3a: rib 5: Rotating brush (brush) 10: Inhalation part 17: Suction 19: Locking part 21: Rotating brush motor (motor) 40: side brush 50: body (sweeper body) 51: lower shell 61: Drive wheel (drive part) 81: Blower 91: upper shell 92: Buffer 95: control device (control part) 96A: Ranging sensor 96B: Ranging sensor for floor C: Self-discipline walking sweeper K: Dust box F: Dust collection filter B: Rechargeable battery

[Fig. 1] is a perspective view showing the autonomous walking type sweeper according to the first embodiment. [Fig. 2] Fig. 2 is a perspective view showing a state in which the upper case of the autonomous walking type sweeper according to the first embodiment has been removed. [Fig. 3] A view of the autonomous walking type sweeper according to the first embodiment viewed from the bottom up. [Fig. 4] is a side cross-sectional view cut along the line A-A in Fig. 1. [Fig. [Fig. 5] is a view of the suction part of the autonomous walking type sweeper according to the first embodiment viewed from the bottom surface upward, and is a view of a state in which the rotating brush and the scraping brush are removed. [Fig. 6] Fig. 6 is a perspective view of the suction unit of the autonomous walking type sweeper according to the first embodiment viewed from the front left. [Fig. 7] Fig. 7 is a perspective view of the rotating brush of the autonomous walking type sweeper according to the first embodiment. [Fig. 8] Fig. 8 is a perspective view of the scraping brush of the autonomous walking type sweeper according to the first embodiment. [Fig. 9] Fig. 9 is a side cross-sectional view of the suction unit of the autonomous walking type sweeper according to the first embodiment. Fig. 10 is a configuration diagram showing the control device of the autonomous walking type sweeper according to the first embodiment and the equipment connected to the control device. Fig. 11 is an explanatory diagram related to the cleaning operation of the autonomous walking type sweeper according to the first embodiment. [Fig. 12] is a flowchart related to the first embodiment of the autonomous walking type sweeper. [Fig. 13] is a flowchart related to the second embodiment of the autonomous walking type sweeper. [Fig. 14] is a flowchart related to the third embodiment of the autonomous walking type sweeper. [Fig. 15] is a flowchart related to the fourth embodiment of the autonomous walking type sweeper.

Claims (5)

A self-disciplined sweeping machine is provided with a sweeper body which has: a brush, a dust box, a blower that generates an air flow to the dust box, a motor that drives the brush, and rotates the brush in the normal state. When the operation is in the reverse direction, the scraping brush and the rechargeable battery attached to the brush can be recovered, and it can travel automatically; among them, as the mode for performing automatic cleaning, you can choose to execute: normal mode; and after judging the aforementioned cleaning The pet mode that the machine body executes in the pet breeding environment; during the execution of the aforementioned pet mode, during a part of the execution time of the aforementioned automatic cleaning, specific controls are executed more than once or intermittently and autonomously; the aforementioned specific controls Including: removing dust attached to the brush or recovering the amount of dust that can be recovered in the dust box by rotating the brush in the reverse direction; the main body of the sweeper is equipped with an identification unit for identifying dust; the specific control includes: Part of the execution time of the aforementioned automatic cleaning is performed more than once or intermittently to identify the type of dust calculation process; the aforementioned calculation process includes: judging whether it is pet excrement or vomit or is liquid or viscous Step of bait. The autonomous walking type sweeper of claim 1, wherein the aforementioned specific control is performed more frequently than the aforementioned normal mode. The autonomous walking type sweeper according to claim 1 or 2, wherein the aforementioned specific control is executed at least every time interval measured by the timer unit. For example, the autonomous walking sweeper of claim 1 or 2, which is provided with: a numerical value identification unit that identifies a value related to the dust collected in the dust box; and each related to the dust identified by the numerical value identification unit When the specific value is increased by more than a specific value, the aforementioned brush is rotated in the reverse direction. A self-disciplined walking sweeper is provided with a sweeper body. The sweeper body has: a brush, a dust box, a blower that generates an air flow to the dust box, and a rechargeable battery, and walks automatically; Part of the execution time, more than once or intermittently, at least at each time interval measured by the timer unit, autonomously perform maintenance; the aforementioned sweeper body has an identification unit for identifying dust; during the execution time of the aforementioned automatic cleaning Part of the calculation process is performed more than once or intermittently to identify the type of dust; the foregoing calculation process includes the step of determining whether it is pet excrement or vomit, or liquid or viscous bait.

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