CN110946516B

CN110946516B - Autonomous travel type cleaning device

Info

Publication number: CN110946516B
Application number: CN201910853705.0A
Authority: CN
Inventors: 沟口敦士; 杉田幸治
Original assignee: Omron Corp
Current assignee: Omron Corp
Priority date: 2018-09-27
Filing date: 2019-09-10
Publication date: 2021-10-01
Anticipated expiration: 2039-09-10
Also published as: CN110946516A; JP7215043B2; JP2020048982A

Abstract

The invention provides an autonomous driving type cleaning device capable of improving cleaning efficiency. The floor cleaning device (10) is provided with an air suction nozzle (18) which is provided with a rotary brush (26) for cleaning the floor and sucks the suction object collected by the rotary brush (26), an expansion nozzle (19) which is provided with an expansion brush (19A) for cleaning the floor and sucks the suction object collected by the expansion brush (19A), and a collection box (16) which is provided with an air suction port (168) and collects the suction object sucked by the air suction nozzle (18) and the expansion nozzle (19) from the air suction port (168), wherein the expansion nozzle (19) is arranged to be capable of protruding towards the side relative to the advancing direction of the floor cleaning device (10).

Description

Autonomous travel type cleaning device

Technical Field

The present invention relates to an autonomous traveling type cleaning device capable of autonomous traveling, and more particularly to an autonomous traveling type cleaning device having a collection box for collecting an attracted material such as sucked dust.

Background

An autonomous cleaning device called a sweeping robot is known in the related art. The cleaning device autonomously travels on a surface to be cleaned such as a floor surface, sucks air from a suction port of an air suction nozzle facing the surface to be cleaned, and sucks dust on the surface to be cleaned, thereby cleaning the surface to be cleaned. The sucked dust (suction material) is collected in a dust collecting box attached to the cleaning device.

In recent years, due to lack of labor and increase in labor cost, cleaning workers who clean a wide space such as squares and shopping malls at stations, airports and the like have been insufficient. Therefore, an industrial autonomous-traveling type cleaning apparatus designed to be autonomously traveling and having high cleaning ability and high safety has been gradually introduced (refer to patent document 1). Such an autonomous cleaning device has an anti-collision function that can safely move without colliding with a pedestrian, an obstacle, a wall, or the like.

Documents of the prior art

Patent document

Patent document 1

Japanese patent laid-open publication No. 2018-112917

Disclosure of Invention

Problems to be solved by the invention

However, the conventional industrial autonomous traveling type cleaning device can clean a narrow passage, and on the other hand, since the device travels at a constant distance from a wall surface in consideration of safety, an uncleaned area is easily generated. Further, when the cleaning range is large, the travel time and the travel distance become long, and there is a risk of battery depletion.

The invention aims to provide an autonomous driving type cleaning device capable of improving cleaning efficiency.

Technical scheme for solving problems

The invention provides an autonomous traveling type cleaning device which autonomously travels on a surface to be cleaned and cleans the surface to be cleaned. The autonomous cleaning device includes: a drive transmission unit that transmits a transmission force in a traveling direction of the autonomous cleaning apparatus to the surface to be cleaned while maintaining a traveling posture of the apparatus main body; an air suction nozzle having a first rotary brush for cleaning the surface to be cleaned, and sucking the first suction agent collected by the first rotary brush; an expansion nozzle having a second rotating brush for cleaning the surface to be cleaned and sucking a second suction object collected by the second rotating brush; and a collection box having an air inlet through which the first attraction agent and the second attraction object sucked by the air suction nozzle and the expansion nozzle are collected, wherein the expansion nozzle is provided so as to be capable of protruding laterally with respect to the traveling direction.

According to this configuration, for example, when traveling in a tunnel having a wide tunnel width or a tunnel near a wall, the expansion nozzle protrudes to the side of the autonomous traveling type cleaning device, and when the tunnel width is narrow, the expansion nozzle is housed in the autonomous traveling type cleaning device. This allows the length of the nozzle for sucking garbage or the like to be adjusted according to the width of the passage, thereby improving the cleaning efficiency.

In the autonomous traveling type cleaning apparatus according to the present invention, the expansion nozzle is provided so as to be capable of changing a posture between a first posture in which the expansion nozzle is held at a position not protruding laterally from the autonomous traveling type cleaning apparatus and a second posture in which the expansion nozzle is held at a position protruding laterally from the autonomous traveling type cleaning apparatus.

In the autonomous traveling type cleaning apparatus according to the present invention, when the autonomous traveling type cleaning apparatus travels to a predetermined place on a traveling route, the expansion nozzle changes from the first posture to the second posture.

Thus, for example, when traveling on a passage with a narrow preset passage width or a passage near a wall, the expansion nozzle protrudes from the side of the autonomous traveling type cleaning device.

The autonomous cleaning device of the present invention further includes: a holding member that applies a force to the expanded nozzle to hold the expanded nozzle in the second posture, the holding member rotating the expanded nozzle against the force from the second posture in a direction in which the force is applied when the external force is applied to the expanded nozzle, the holding member restoring the expanded nozzle to the second posture by the force when the external force is not applied to the expanded nozzle.

According to this configuration, if the expansion nozzle contacts the obstacle while protruding laterally during travel of the autonomous travel type cleaning device, the expansion nozzle rotates rearward. This can prevent the expansion nozzle from being damaged.

In the autonomous cleaning device according to the present invention, the holding member is formed of a tension coil spring, one end of the tension coil spring is fixed to the expansion nozzle, and the tension coil spring applies a tensile force to the expansion nozzle so as to maintain the expansion nozzle in the second posture.

Thereby, even when the expansion nozzle rotates, the second posture can be returned to and maintained.

In the autonomous cleaning apparatus of the present invention, the suction port includes a first suction port provided in a bottom surface of the collection box and a second suction port provided in a side surface of the collection box, and the collection box collects the first primer sucked by the suction nozzle from the first suction port and stops collecting the first primer using the expansion nozzle when the expansion nozzle is in the first posture, and collects the first primer sucked by the suction nozzle from the first suction port and collects the second suction object sucked by the expansion nozzle from the second suction port when the expansion nozzle is in the second posture.

According to this configuration, when the expansion nozzle is in the first posture, the dust or the like is sucked by the suction nozzle, and when the expansion nozzle is in the second posture, the dust or the like is sucked by the suction nozzle and the expansion nozzle. This can improve the cleaning efficiency.

In the autonomous cleaning apparatus according to the present invention, the expansion nozzle is configured to be capable of blocking the air flow path from the expansion nozzle to the collection box when the expansion nozzle is in the first posture, and to be capable of communicating the air flow path from the expansion nozzle to the collection box when the expansion nozzle is in the second posture.

Thus, when the expansion nozzle is in the first posture, the suction from the expansion nozzle is blocked, and therefore, the suction force of the suction nozzle can be prevented from being reduced.

Effects of the invention

According to the present invention, the cleaning efficiency can be improved.

Drawings

Fig. 1 is a perspective view showing an external appearance of a front side of a floor surface cleaning device according to an embodiment of the present invention.

Fig. 2 is a schematic view showing the structure of the floor cleaning device.

Fig. 3 is a perspective view showing an external appearance of the rear side of the floor cleaning device, and shows a state in which the expansion nozzle is arranged in the storage posture.

Fig. 4 is a perspective view showing the appearance of the rear side of the floor surface cleaning device, and shows a state in which the expansion nozzle is arranged in a side cleaning posture.

Fig. 5 is a perspective view showing an internal structure of the floor cleaning device.

Fig. 6 is an enlarged view of a main portion VI in fig. 5.

Fig. 7 is a perspective view showing a structure of a support frame provided in the floor cleaning device.

Fig. 8 is a side view of the rear part of the floor surface cleaning apparatus, (a) is a view showing a state where the collecting box is attached to the floor surface cleaning apparatus, and (B) is a view showing a state where the collecting box is detached from the floor surface cleaning apparatus.

Fig. 9 is a schematic view showing a cross section taken along the section line XII-XII in fig. 2.

Fig. 10 is a diagram showing an opening and closing mechanism of a flap provided in the floor surface cleaning device.

Fig. 11 is a perspective view showing a structure of a collection box provided in the floor surface cleaning apparatus.

Fig. 12 is a diagram showing a state in which the posture of the expansion nozzle of the floor surface cleaning device changes, (a) is a diagram showing the floor surface cleaning device as viewed from the rear, and (B) is a diagram showing the floor surface cleaning device as viewed from above.

Fig. 13 is a schematic view of the rotating mechanism of the expansion nozzle as viewed from above.

Fig. 14 is a schematic view of the rotating mechanism of the expansion nozzle viewed from the rear.

Description of the reference numerals

10: ground cleaning device

11: device body

12: driving part

13: motor with a stator having a stator core

14: battery with a battery cell

15: air suction unit

16: collection box

16A: bottom surface

16B: side surface

16C: side surface

18: air suction nozzle

19: expansion nozzle

19A: expanding brush

19B: spiral spring

19C: motor with a stator having a stator core

26: rotary brush

30: motor with a stator having a stator core

31: expansion nozzle holder

32: expansion nozzle holder

40: control unit

161: side air suction port

163: turning plate

164: solenoid coil

167: discharge port

168: air suction inlet

172: cartridge accommodating part

411: position acquisition unit

412: running control unit

413: expansion nozzle control part

Detailed Description

Embodiments of the present invention will be described below with reference to the drawings. The following embodiments are merely examples embodying the present invention, and do not limit the technical scope of the present invention. In the following description, the vertical direction D1, the front-rear direction D2, and the horizontal direction or width direction D3 shown in the drawings are used.

[ floor cleaning device 10]

Fig. 1 is a perspective view showing the front side appearance of a floor surface cleaning device 10 according to an embodiment of the present invention. The floor surface cleaning device 10 (an example of the autonomous traveling type cleaning device of the present invention) is an autonomous traveling type cleaning device that autonomously travels forward (traveling direction) on a floor surface 23 (surface to be cleaned) in a square such as an airport, a station, or a shopping mall and automatically cleans the floor surface 23, and is a device that generates suction force of air suction by a blower or the like, sucks in air by the suction force, sucks in garbage or the like such as dust on the floor surface, separates the garbage or the like by a filter, and collects the garbage or the like in a collection box 16 (see fig. 2). The floor surface cleaning device 10 travels on the floor surface 23 and automatically cleans the floor surface 23 based on various cleaning information input in advance, such as a travel route, a cleaning area, a cleaning time zone, and a return position for returning the charging.

The floor surface cleaning device 10 is merely an example of the autonomous traveling type cleaning device of the present invention, and the present invention can be applied to a cleaning device that autonomously travels on a road surface such as an outdoor pedestrian path or a traffic lane and cleans the road surface.

Fig. 2 is a schematic view showing the structure of floor cleaning device 10. As shown in fig. 1 and 2, the floor surface cleaning device 10 includes a device body 11 and functional units provided in the device body 11. Specifically, the apparatus main body 11 is provided with a traveling unit 12 (an example of a drive transmission unit of the present invention), a motor 13, a battery 14, an air suction unit 15, a collection box 16 (an example of a collection box of the present invention), a support frame 17, an air suction nozzle 18 (an example of an air suction nozzle of the present invention), an expansion nozzle 19 (an example of an expansion nozzle of the present invention), an operation unit 20, a display panel 21, a rack moving mechanism 50, a control unit 40, and the like.

As shown in fig. 1, the apparatus body 11 has an outer cover 11A constituting the exterior thereof. As shown in fig. 2, the lower part of the apparatus main body 11 has a bottom plate 11B. The chassis 11B is disposed substantially parallel to the ground 23. A support frame for supporting the above-described functional units is appropriately provided inside the apparatus main body 11.

As shown in fig. 2, the traveling unit 12 is provided at a lower portion of the apparatus main body 11. The traveling unit 12 is attached to the chassis 11B, maintains the traveling posture of the apparatus main body 11, and transmits a transmission force in the traveling direction to the ground 23. The traveling unit 12 has a pair of wheels 121 for traveling and four casters 122.

The wheel 121 is positioned at the center in the front-rear direction of the chassis 11B, and is rotatably supported by both end portions in the width direction D3, respectively. The four casters 122 are for maintaining the traveling posture of the apparatus main body 11, and are rotatably supported by both end portions of the front end of the chassis 11B and both end portions of the rear end of the chassis 11B. In a state where the floor surface cleaning apparatus 10 is placed on the floor surface 23, the outer peripheral surfaces of the wheels 121 and the caster wheels 122 are supported by the floor surface 23. Thereby, the apparatus main body 11 is maintained in the traveling posture shown in fig. 1 and 2.

An output shaft of the motor 13 is connected to a rotation shaft of the wheel 121 via a transmission mechanism such as a reduction gear. Thus, the motor 13 is driven, and the rotational driving force thereof is output from the output shaft, and the rotational driving force of the motor 13 is transmitted to the wheels 121. In the present embodiment, the motor 13 is provided for each of the pair of wheels 121. Therefore, the rotation speed of each wheel 121 is controlled by individually drive-controlling each motor 13. For example, if the rotation speeds of the wheels 121 are controlled to be constant, the floor surface cleaning device 10 moves straight ahead, and if the rotation speeds of the wheels 121 are controlled to be different, the floor surface cleaning device 10 turns toward the wheels 121 having the slower rotation speeds.

Inside the apparatus main body 11, an intake unit 15 is provided above a battery 14 described later. The air intake unit 15 generates a suction force for sucking air from an air intake nozzle 18 described later, and includes a plurality of air intake fans 151 (blowers), an air intake manifold 152, and an air discharge manifold 153. The intake manifold 152 has three intake ports 154 arranged in the width direction D3, and the flexible hoses 24 for intake air are connected to the respective intake ports 154. One side of the exhaust pipe (not shown) is connected to an exhaust manifold 153. The other side of the exhaust pipe is connected to the chassis 11B, and the exhaust port thereof is disposed in a space between the chassis 11B and the floor 23. When the suction fan 151 is driven, air is sucked from the suction port at the tip of each flexible hose 24, and the air is discharged to the outside from the exhaust port via the flexible hose 24, the suction manifold 152, the suction fan 151, the exhaust manifold 153, and the exhaust pipe.

The battery 14 is disposed in the center portion of the apparatus main body 11. Battery 14 supplies electric power for driving motor 13 and suction fan 151. The battery 14 supplies electric power for driving each of a motor 62 (see fig. 9) for rotationally driving a rotary brush 26 (described later), a motor 30 (see fig. 13) for rotationally driving an expansion nozzle 19 (described later), and a motor 19C (see fig. 14) for rotationally driving an expansion brush 19A (described later). The battery 14 supplies electric power for driving a motor 56 (see fig. 9) for moving up and down the rack moving mechanism 50 described later.

As shown in fig. 2, the collecting box 16 is provided on the back surface of the apparatus main body 11. The collecting box 16 is covered with a cover 161 in a state of being attached to the apparatus main body 11. A support frame 17 for detachably supporting the collection cassette 16 is provided on the back surface side of the apparatus main body 11, and the collection cassette 16 is detachably attached to the support frame 17. Further, the cover 161 is attached to the support frame 17.

Three air inlets 174 are provided in the support bracket 17. The air inlet 174 penetrates the side surface of the front side of the supporting frame 17 to reach the outlet of the collecting box 16. An end of the flexible hose 24 is connected to each of the air inlets 174. An intake nozzle 18 is provided at a lower portion of the support frame 17, and an expansion nozzle 19 is provided at a side portion of the support frame 17. Each

nozzle

18, 19 communicates with the collection box 16. Thus, when the air suction unit 15 is driven, the air sucked from each of the air suction nozzle 18 and the expansion nozzle 19 flows into the flexible hose 24 through the collecting box 16. The details of the collecting box 16, the supporting frame 17, and the suction nozzle 18 will be described later.

Fig. 3 and 4 are perspective views showing the appearance of the rear side of floor surface cleaning device 10. As shown in fig. 3 and 4, the expansion nozzle 19 is provided on the left side of the support frame 17. A storage section 176 described later is provided on the left side of the support frame 17, and the storage section 176 can store the expansion nozzle 19. The expansion nozzle 19 is supported by the support frame 17. Specifically, the expansion nozzle 19 is supported by the support frame 17 so as to be capable of changing its posture between a storage posture (a posture shown in fig. 1 and 3) (an example of a first posture of the present invention) in which the expansion nozzle 19 is stored in the storage section 176 and a side cleaning posture (an example of a second posture of the present invention) in which the expansion nozzle 19 is laid down to the left (side) from the storage section 176 and the floor 23 on the left side of the apparatus main body 11 is cleanable. In the present embodiment, the expansion nozzle 19 is supported so as to be rotatable between the storage posture and the side cleaning posture with the vicinity of the lower end of the support bracket 17 as a rotation center. Fig. 3 shows a state in which the expansion nozzle 19 is arranged in the accommodating posture, and fig. 4 shows a state in which the expansion nozzle 19 is arranged in the side cleaning posture. The details of the expansion nozzle 19 will be described later.

The operation unit 20 is provided on the upper portion of the back surface of the apparatus main body 11. The operation portion 20 is attached to the outer cover 11A. The operation unit 20 is a device operated by an operator, and is, for example, a terminal device having a touch panel that can be operated by touch. Various kinds of cleaning information (information such as a travel route, a cleaning area, a cleaning time zone, and a return position) for the floor surface cleaning device 10 can be input from the operation unit 20. The inputted cleaning information is forwarded to the control unit 40 for the control unit 40 to perform travel control.

The display panel 21 is provided on the front surface of the apparatus main body 11. The display panel 21 is, for example, a liquid crystal panel. Various kinds of notification information during cleaning are displayed on the display panel 21 through the control unit 40. The notification information is, for example, information indicating that cleaning is being performed, guidance information relating to the floor surface being cleaned, and the like.

As shown in fig. 2, the rack moving mechanism 50 is provided inside the apparatus main body 11 and on the back surface side of the apparatus main body 11. The carriage moving mechanism 50 supports the support carriage 17 so as to be movable in the up-down direction D1, and transmits the driving force in the up-down direction D1 to the support carriage 17 to move the support carriage 17 in the up-down direction D1. In the present embodiment, when a maintenance instruction is input from the operation unit 20, the control unit 40 controls the motor 56 to raise the holder 17 disposed at the cleaning position, which is the initial position, and dispose the holder at the maintenance position. And, the support bracket 17 is held at the maintenance position. When a maintenance end signal is input, the control unit 40 controls the motor 56 to lower the support frame 17 to be disposed at the cleaning position. When the remaining battery power is lower than the threshold value, the floor cleaning device 10 returns to the return position, and the control unit 40 controls the motor 56 to move the stand 17 up to the charging position. When the stand 17 is placed at the charging position, the floor cleaning device 10 is connected to a charger (not shown) to start the charging process of the battery 14.

The control unit 40 is provided at an upper portion of the apparatus main body 11. The control unit 40 controls the travel of the floor cleaning device 10, the driving of the suction fan 151 of the suction unit 15, the driving of the rotary brush 26 and the expansion brush 19A, the driving of the expansion nozzle 19, the lifting and lowering of the support frame 17 by the frame moving mechanism 50, the display of the screen on the display panel 21, and the like. The control unit 40 includes, for example, a control device such as a CPU, ROM, and RAM, a storage medium such as an HDD and flash memory, or a storage device. The CPU is a processor that executes various kinds of arithmetic processing. The ROM is a nonvolatile memory in which control programs such as a BIOS and an OS for causing the CPU to execute various processes are stored in advance. The RAM is a volatile or nonvolatile memory that stores various information, and is used as a temporary memory (work area) for various processes executed by the CPU. The control unit 40 controls the travel of the floor cleaning device 10, the driving of the suction fan 151, the driving of the rotary brush 26 and the expansion brush 19A, the driving of the expansion nozzle 19, the raising and lowering of the supporting frame 17, and the like by executing various control programs stored in advance in the ROM or the storage device by the CPU.

[ supporting frame 17]

Fig. 5 and 6 are perspective views showing floor surface cleaning apparatus 10 with outer cover 11A removed. As shown in fig. 5 and 6, a support frame 17 is provided on the rear surface side of the floor surface cleaning device 10. A plate-shaped vertical frame 11C extending upward from the rear end of the chassis 11B is provided inside the apparatus main body 11. The vertical frame 11C is provided with a support frame 17. In the present embodiment, as will be described later, the support frame 17 is supported by the vertical frame 11C of the apparatus main body 11 so as to be movable in the vertical direction D1.

Fig. 7 is a perspective view showing the structure of the support frame 17. As shown in fig. 7, the support bracket 17 includes a base portion 171 extending in the vertical direction D1, and a cartridge accommodating portion 172 fixed to the base portion 171.

The base portion 171 is formed by bending a metal plate, and is composed of a base plate 171A attached to the vertical frame 11C, and

side plates

171B, 171C projecting rearward from both ends of the base plate 171A in the width direction D3. At the upper end of the base plate 171A, three suction ports 174 (refer to fig. 2) for connecting the end portions of the flexible hoses 24 are provided. The air inlet 174 is formed in a cylindrical shape protruding forward from the base plate 171A.

Three communication holes 175 are formed in the upper end portion of the rear surface of the base plate 171A. The communication hole 175 is formed at a position corresponding to the suction port 174. In a state where the collection cartridge 16 is mounted in the cartridge accommodating section 172, the discharge port 167 (refer to fig. 9) provided at the side surface of the collection cartridge 16 is connected to the communication hole 175. Thereby, the flexible hose 24 is connected to the collecting cassette 16 so as to be capable of sucking from the collecting cassette 16.

An air filter 169 (see fig. 9) is provided in the interior of the collecting box 16, and the air filter 169 collects and removes dust and other debris from the air discharged from the discharge port 167 to make the air clean. As the air filter 169, for example, a chemical filter, a HEPA filter, an ULPA filter, or the like can be used.

The cartridge accommodating section 172 detachably supports the collection cartridge 16. The cartridge accommodating portion 172 is fixed to a surface of the base portion 171 on the rear side thereof, and is disposed at the center of the base portion 171 in the width direction D3. The cartridge accommodating section 172 is formed by bending a metal plate, and is composed of an attachment plate 172A fixed to the base section 171, and

side plates

172B, 172C projecting rearward from both ends of the attachment plate 172A in the width direction D3. Since the cartridge accommodating portion 172 is shorter than the base portion 171 in the width direction D3, the cartridge accommodating portion 172 can be accommodated in a space surrounded by the side plate 171B and the side plate 171C of the base portion 171, as shown in fig. 7.

As shown in fig. 7, the cartridge accommodating section 172 is open on the rear side and also open on the upper side. Therefore, as shown in fig. 8, the collection box 16 can be pulled obliquely upward rearward with respect to the box accommodating portion 172 in a state where a door, not shown, provided in the cover 161 is opened, and the collection box 16 can be easily removed from the box accommodating portion 172. Fig. 8 is a side view of the rear portion of the floor surface cleaning device 10, fig. 8(a) shows a state in which the collection box 16 is attached to the box housing section 172, and fig. 8(B) shows a state in which the collection box 16 is detached from the box housing section 172.

As shown in fig. 7, a rectangular opening 177 elongated in the width direction D3 is formed in the bottom surface 172D of the cartridge accommodating section 172. The opening 177 communicates with an intake nozzle 18 described later. In a state where the collection box 16 is mounted in the box housing section 172, the suction port 168 (see fig. 8(B) and 11) (an example of a first suction port of the present invention) provided on the bottom surface 16A of the collection box 16 is aligned with the opening 177. Thus, the intake nozzle 18 and the collection box 16 communicate with each other, and dust (an example of the first primer of the present invention) sucked up together with air from the intake nozzle 18 can be collected in the collection box 16 through the intake port 168. When the collecting box 16 is detached from the box accommodating portion 172, the rotary brush 26 can be seen from vertically above and exposed to the outside.

Further, an opening 178 (see fig. 7) communicating with the expansion nozzle 19 is formed in a lower portion of the left side plate 172B of the cartridge accommodating section 172. In a state where the collecting box 16 is mounted in the box accommodating portion 172, a side air inlet 161 (see fig. 11) (an example of a second air inlet of the present invention) provided in a side surface 16C on the side surface side of the collecting box 16 is aligned with the opening 178. Accordingly, the expansion nozzle 19 communicates with the collection box 16, and dust (an example of the second attracted object of the present invention) sucked up together with air from the expansion nozzle 19 can be collected in the collection box 16 through the side air inlet 161.

[ Collection Box 16]

The collecting box 16 collects dust and other debris (suction material) sucked from a suction port 181 (see fig. 8) of the suction nozzle 18 (described later), and has a hollow box shape. As shown in fig. 6 and 11, the collecting box 16 is formed in a rectangular shape that is thin in the front-rear direction D2. As shown in fig. 8, a sheet-like flap 163 for opening and closing the air inlet 168 is provided in the collection box 16. The flap 163 is made of synthetic resin such as PET resin having elasticity.

The front end of the flap 163 is fixed to the bottom surface 16A of the collection box 16, and extends obliquely upward from the fixed end toward the rear. The extending end of the flap 163 abuts against the side surface 16B on the rear side of the collection box 16. The extending end of the flap 163 is a free end, and can swing around the fixed end of the flap 163.

Since the flap 163 is provided, the flap 163 is elastically pressed toward the side surface 16B without performing suction. Therefore, the extended end of the flap 163 abuts on the side surface 16B, and the suction port 168 is covered by the flap 163. Therefore, the garbage and the like collected in the collection box 16 do not leak to the outside through the air inlet 168. Further, even when the collecting box 16 is removed from the box accommodating portion 172, the air inlet 168 is covered by the flap 163, so that dust and the like do not leak from the air inlet 168 to the outside.

On the other hand, when the suction fan 151 is driven to suck air, negative pressure is generated inside the collecting box 16, and air flows into the inside through the air inlet 168. By the inflow of air at this time, the flap 163 bends forward against the urging force toward the side surface 16B. Accordingly, the air inlet 168 is not covered by the flap 163 any more, and air is smoothly sucked from the air inlet 168 to the inside. When the driving of the suction fan 151 is stopped, the flap 163 returns to the initial state to cover the suction port 168 again.

As another embodiment, the flap 163 may be driven and controlled by the control unit 40. For example, as shown in fig. 10, a solenoid 164 is provided on the lower side of the flap 163. The solenoid 164 is provided to protrude upward from an opening 177 of the cartridge accommodating portion 172, and is rotatably supported by the support bracket 17. When the collection cassette 16 is attached to the cassette housing part 172, the upper end of the solenoid 164 comes into contact with the lower surface of the flap 163. The control unit 40 drives the suction fan 151 and applies a predetermined driving force (current) to the solenoid 164. The solenoid 164 rotates thereby to push the flap 163 upward and open the air inlet 168. When the control unit 40 stops driving the suction fan 151 and the solenoid 164, the solenoid 164 returns to the initial position, and the flap 163 covers the suction port 168 again.

[ suction nozzle 18]

As shown in fig. 8, the intake nozzle 18 is a portion that sucks up air together with dust and other debris from the floor surface 23 when the intake fan 151 is operated. The intake nozzle 18 has an intake port 181 at a position spaced upward from the floor surface 23 by a predetermined gap Δ T. That is, the suction port 181 is disposed at a position spaced upward from the floor surface 23 by the gap Δ T. The suction nozzle 18 is provided at the lower end of the support frame 17. In the present embodiment, the air intake nozzle 18 is formed integrally with the cartridge housing section 172 of the support frame 17.

The intake nozzle 18 is long in the width direction D3, and is formed by a quadrangular cylindrical outer peripheral wall 182 protruding downward from the outer periphery of the bottom surface 172D of the cartridge accommodating section 172. That is, the bottom surface 172D (see fig. 7) vertically partitions the intake nozzle 18 and the cartridge accommodating portion 172. In other words, the collection box 16 and the box accommodating portion 172 supporting the collection box 16 are provided vertically above the suction nozzle 18. The lower side of the outer peripheral wall 182 is open, and the suction port 181 is formed.

An elastic sheet-like seal member 185 extending toward the floor surface 23 is provided at the rear edge of the suction port 181 of the suction nozzle 18. The sealing member 185 is a rectangle elongated in the width direction D3, and is joined to the entire area of the suction port 181 in the width direction D3. The seal member 185 closes the gap Δ T between the edge portion on the rear side of the suction port 181 and the floor surface 23.

A pair of rotating brushes 26(26A, 26B) (first rotating brushes of the present invention) is rotatably provided on the air intake nozzle 18. The rotating brushes 26 are arranged in the front-rear direction D2. The rotary shaft 261 (see fig. 9) of each rotary brush 26 is rotatably supported through the side plates 184 (see fig. 9) at both ends of the air suction nozzle 18 in the width direction D3. In the present embodiment, an example in which the pair of rotating brushes 26 is provided in the air intake nozzle 18 is described, but the number of rotating brushes 26 is not limited to a pair (two), and may be one, or three or more.

As shown in fig. 9, a motor 62 for supplying a driving force to the rotating brush 26 is provided on the supporting frame 17. Fig. 9 is a schematic view showing a cross section taken along the section line XII-XII in fig. 2. The motor 62 is disposed in the housing portion 179 provided between the side plate 172C and the side plate 171C. The rotational driving force of the motor 62 is transmitted to the rotary shaft 261 via a transmission mechanism 64 composed of a plurality of gears. When the floor surface cleaning device 10 is driven by the control unit 40 during traveling, the rotary brush 26 rotates, and thus dust and the like on the floor surface 23 can be collected satisfactorily.

The rotating roller 60 is rotatably supported by the rotating shaft 261 of the rotating brush 26A positioned on the front side among the pair of rotating brushes 26. The rotating rollers 60 are respectively installed at both ends of the rotating shaft 261. More specifically, as shown in fig. 9, the rotary rollers 60 are attached to both ends of a rotary shaft 261 that protrudes outward in the width direction D3 from a side plate 184 of the intake nozzle 18.

The rotary roller 60 is provided on the support frame 17 so that the outer peripheral surface thereof is positioned between the peripheral edge of the suction port 181 and the floor 23. That is, as shown in fig. 9, when the floor surface cleaning device 10 is in the traveling posture shown in fig. 1, the rotating roller 60 protrudes downward from the edge of the suction port 181, but does not contact the floor surface 23.

As described above, the collection box 16 is detachably attached to the support frame 17. Specifically, the collection cassette 16 is mounted on the bottom surface 172D (see fig. 7) of the cassette housing section 172. Therefore, the suction port 168 (refer to fig. 11) provided in the bottom surface 16A of the collection box 16 is directly connected to the opening 177 formed in the bottom surface 172D of the box accommodating portion 172. The air suction nozzle 18 is disposed vertically below the opening 177, and the rotating brush 26 is provided on the air suction nozzle 18. Therefore, the collecting box 16 is disposed vertically above the rotary brush 26 through the opening 177. Accordingly, the dust and the like swept and collected by the rotating brush 26 are sucked up vertically upward from the air suction nozzle 18 together with the air, and are directly collected in the collection box 16 through the opening 177 and the air suction port 168. In this way, the suction port 168 of the collection box 16 is provided at a position opposed to the rotary brush 26.

As described above, in the present embodiment, the air inlet 168 of the collection box 16 is provided vertically above (directly above) the rotary brush 26 so as to face the rotary brush 26. According to this configuration, when the collecting box 16 is removed from the box accommodating portion 172, the rotary brush 26 is exposed to the outside through the opening 177 as shown in fig. 7. Therefore, the user can easily see the rotary brush 26 from above, and can grasp the current state of the rotary brush 26. Accordingly, for example, when a trouble such as dust adhering to the rotary brush 26 occurs, the user can detach the collecting box 16 from the box accommodating portion 172, and the maintenance of the rotary brush 26 is facilitated. In this way, since the user can easily access the rotary brush 26, maintainability of the rotary brush 26 can be improved.

In the present embodiment, the intake port 168 of the collection box 16 directly communicates with the intake nozzle 18. According to this configuration, the dust and the like sucked up together with the air from the air suction nozzle 18 is directly collected in the collection box 16 without passing through a pipe or the like. Therefore, the path of the dust or the like moving from the suction nozzle 18 to the collection box 16 is not clogged. In addition, since the moving distance of the garbage and the like can be shortened, the suction efficiency can be improved.

In another embodiment, the air inlet 168 may be provided on a side surface on the front side or the rear side of the collecting box 16, and may be provided at a position facing the rotary brush 26 on the side (lateral direction) of the rotary brush 26. According to this configuration, when the magazine 16 is removed from the magazine accommodating portion 172, the user can observe the rotary brush 26 from the side, and can maintain the rotary brush 26.

[ expansion nozzle 19]

When the floor cleaning device 10 travels on a place (passageway) preset on the travel route, the expansion nozzle 19 changes the attitude from the accommodating attitude to the side cleaning attitude. For example, when the vehicle travels through a passage having a large passage width or a passage near a wall, the expansion nozzle 19 changes from the accommodating posture to the side cleaning posture. The control unit 40 acquires the current position of the floor cleaning device 10, and outputs a first control signal (drive signal) for changing the expansion nozzle 19 from the storage posture to the side cleaning posture to the motor 30 (see fig. 7, 13, and 14) if the current position matches a preset location. The motor 30 rotationally drives the expansion nozzle 19 by a driving force based on the first control signal to change the lateral cleaning posture. Further, when the current position of the floor surface cleaning device 10 is away from the preset place, the control unit 40 outputs a second control signal (drive signal) to the motor 30 to change the expansion nozzle 19 from the side cleaning posture to the storage posture. The motor 30 rotationally drives the expansion nozzle 19 by a driving force based on the second control signal to change to the accommodation posture.

The control unit 40 may control the posture of the expansion nozzle 19 based on a detection result of a sensor (not shown) provided in the floor cleaning device 10. For example, the control unit 40 outputs the first control signal when the sensor detects a wide passage width exceeding a predetermined passage width or when a wall is detected. In addition, the control unit 40 outputs the second control signal when the sensor detects a narrow channel width that is equal to or smaller than a predetermined channel width, or when an obstacle is detected.

Fig. 12(a) is a schematic view showing a state in which the expansion nozzle 19 is changed from the storage posture to the side cleaning posture. The expansion nozzle 19 rotates in the direction of the floor surface 23 about the rotation axis C1 based on the first control signal, and changes to the side cleaning posture. According to the floor surface cleaning apparatus 10 having the expansion nozzle 19, when the expansion nozzle 19 is in the storage posture, a narrow passage can be cleaned, and when the expansion nozzle 19 is in the side cleaning posture, a wider range can be cleaned by the rotating brush 26 (the first rotating brush of the present invention) and the expansion brush 19A (the second rotating brush of the present invention).

The expansion nozzle 19 is further supported to be rotatable rearward with respect to the traveling direction from the side cleaning posture. For example, as shown in fig. 12(B), when the divergent nozzle 19 is in the side cleaning posture while the floor surface cleaning device 10 is traveling and the divergent nozzle 19 is in contact with an obstacle or the like, the divergent nozzle 19 rotates rearward about the rotation axis C2. This can prevent the expansion nozzle 19 from being damaged. When the floor cleaning device 10 passes through an obstacle, the expansion nozzle 19 is rotated forward around the rotation axis C2 to return to the initial position.

Fig. 13 and 14 are schematic views showing a specific configuration of the expansion nozzle 19. The expansion nozzle 19 is rotatably connected to the

expansion nozzle holders

31, 32. As shown in fig. 13, one end of the expansion nozzle holder 31 is fixed to an opening 178 (see fig. 7) of the cartridge housing section 172, and the other end is inserted with one end of the expansion nozzle holder 32. The divergent nozzle holder 32 is rotatably connected to the divergent nozzle holder 31 about a rotation axis C1 (see fig. 13 and 14). As shown in fig. 14, the other end of the expansion nozzle holder 32 is inserted into the expansion nozzle 19. The expansion nozzle 19 is rotatably connected to the expansion nozzle holder 32 about a rotation axis C2 (see fig. 13). A conveyor belt 30A that transmits the rotational driving force of the motor 30 is connected to the expansion nozzle holder 32.

The control unit 40 includes various processing units such as a position acquisition unit 411, a travel control unit 412, and an expansion nozzle control unit 413. The control unit 40 functions as the various processing units by executing various processes according to various control programs by the CPU. In addition, a part or all of the processing units included in the control unit 40 may be constituted by circuits.

The position acquisition unit 411 acquires the current position of the floor cleaning device 10. As described above, the travel control unit 412 controls the travel of the floor cleaning device 10, the driving of the air suction fan 151, the raising and lowering of the stand 17, and the like. For example, the travel control unit 412 controls the travel of the floor cleaning device 10 according to a preset travel route based on the current position acquired by the position acquisition unit 411.

The expansion nozzle control unit 413 outputs the first control signal and the second control signal based on the current position acquired by the position acquisition unit 411. When the first control signal or the second control signal is input from the extended nozzle control unit 413 to the motor 30, the motor 30 is driven to rotate the extended nozzle holder 32 about the rotation axis C1 via the conveyor 30A. Thereby, the expansion nozzle 19 switches the storage posture or the side cleaning posture.

The expansion nozzle holder 32 is provided with an opening 32A (see fig. 13), and when the expansion nozzle 19 is changed from the storage posture to the side cleaning posture, the opening 32A communicates with the internal space of the expansion nozzle holder 31. Thereby, the internal spaces of the

expansion nozzle holders

31, 32 communicate with each other, and the expansion nozzle 19 communicates with the collection box 16. That is, when the expansion nozzle 19 is in the side cleaning posture, an air flow path is formed from the expansion nozzle 19 to the collection box 16. Accordingly, the dust sucked up together with the air from the expansion nozzle 19 can be collected in the collection box 16 through the side air inlet 161 (see fig. 11).

When the expansion nozzle holder 32 is rotated to bring the expansion nozzle 19 into the storage posture, the position of the opening 32A is displaced from the position of the internal space of the expansion nozzle holder 31, and the air flow path from the expansion nozzle 19 to the collection box 16 is blocked. Accordingly, when the expansion nozzle 19 is in the accommodating posture, the collection box 16 collects the dust and the like sucked by the suction nozzle 18 from the suction port 168, and when the expansion nozzle 19 is in the side cleaning posture, the dust and the like sucked by the suction nozzle 18 are collected from the suction port 168 and the dust and the like sucked by the expansion nozzle 19 are collected from the side surface suction port 161.

In this way, the floor surface cleaning apparatus 10 collects the dust and the like sucked by the suction nozzle 18 and the dust and the like sucked by the expansion nozzle 19 into the collection box 16 through different paths. In the case where the expanded nozzle 19 is in the side cleaning posture, the floor cleaning device 10 may stop driving the air intake nozzle 18, drive only the expanded nozzle 19, and collect only the garbage and the like sucked by the expanded nozzle 19.

As shown in fig. 14, the expansion nozzle 19 is provided with a coil spring 19B (an example of a holding member of the present invention). One end of the coil spring 19B is fixed to the expansion nozzle holder 32, and the other end is fixed to a main body (outer frame) of the expansion nozzle 19. The coil spring 19B holds the expansion nozzle 19 such that the expansion nozzle 19 is disposed in a direction perpendicular to the traveling direction of the floor surface cleaning device 10, that is, on an extension line of the rotating brush 26. For example, the coil spring 19B is formed of a tension coil spring, and is provided in a state where the expansion nozzle 19 is held at a position (holding position) shown in fig. 13 by a tensile force. According to this configuration, when an external force is applied to the expansion nozzle 19 by an obstacle or the like during the travel of the floor cleaning device 10, the expansion nozzle 19 rotates rearward about the rotation axis C2 against the tensile force of the coil spring 19B. When the expansion nozzle 19 is separated from the obstacle, the expansion nozzle 19 is rotated about the rotation axis C2 by the tensile force of the coil spring 19B and is returned to the holding position. In the present embodiment, the coil spring 19B is illustrated as an example of the elastic member, but for example, a rubber cord having elasticity and made of rubber or the like may be applied instead of the coil spring 19B.

As shown in fig. 14, the motor 19C is provided in the expansion nozzle 19, and a control signal (drive signal) can be input to the motor 19C from the travel control unit 412 of the control unit 40. The motor 19C drives the expansion brush 19A to rotate by a driving force based on the control signal.

According to the above configuration, when the expansion nozzle 19 collides with an obstacle, the expansion nozzle 19 can be rotated in the direction of alleviating the collision force, and therefore, the expansion nozzle 19 and the obstacle can be prevented from being damaged. Further, since the expansion nozzle 19 is also rotatable in the traveling direction, even when the rear side of the expansion nozzle 19 collides with an obstacle, the same rotational operation can be performed to prevent damage.

The expansion nozzles 19 may be provided on the right side of the support frame 17, or may be provided on both the left and right sides of the support frame 17. In the case where the expansion nozzles 19 are provided on both the left and right sides, the control unit 40 (expansion nozzle control section 413) may control the two expansion nozzles 19, respectively. In addition, the expansion nozzle 19 may be provided so as to be capable of switching the accommodating posture and the side cleaning posture manually.

Claims

1. An autonomous traveling type cleaning device for autonomously traveling and cleaning a surface to be cleaned,

the autonomous cleaning device includes:

a drive transmission unit that transmits a transmission force in a traveling direction of the autonomous cleaning apparatus to the surface to be cleaned while maintaining a traveling posture of the apparatus main body;

an air suction nozzle having a first rotary brush for cleaning the surface to be cleaned, and sucking the first suction agent collected by the first rotary brush;

an expansion nozzle having a second rotating brush for cleaning the surface to be cleaned and sucking a second suction object collected by the second rotating brush;

a collection box having an air inlet for collecting the first attraction agent and the second attraction object sucked by the air suction nozzle and the expansion nozzle from the air inlet; and

an expansion nozzle holder communicating with the collection box and the expansion nozzle,

the expansion nozzle is provided so as to be capable of projecting laterally with respect to the traveling direction,

an opening is arranged on the expansion nozzle frame,

the expansion nozzle is provided so as to be changeable in posture between a first posture in which the expansion nozzle is held at a position not protruding laterally from the autonomous traveling type cleaning device and a second posture in which the expansion nozzle is held at a position protruding laterally from the autonomous traveling type cleaning device,

when the expansion nozzle is in the first posture, the position of the opening is deviated from the position of the internal space of the expansion nozzle holder to block the air flow path from the expansion nozzle to the collecting box,

when the expansion nozzle is in the second posture, the air flow path from the expansion nozzle to the collection box is communicated by communicating the position of the opening with the internal space of the expansion nozzle holder.

2. The autonomous traveling type sweeping device according to claim 1,

the expansion nozzle changes from the first posture to the second posture when the autonomous traveling type cleaning apparatus travels to a preset place on a traveling route.

3. The autonomous traveling type sweeping device according to claim 1,

further comprising a holding member that applies a force to the expansion nozzle to hold the expansion nozzle in the second posture,

with the holding member, when the expansion nozzle is applied with an external force, the expansion nozzle is rotated from the second posture against the force in a direction in which the external force is applied, and when the expansion nozzle is not applied with the external force, the expansion nozzle is restored to the second posture by the force.

4. The autonomous traveling type sweeping device according to claim 2,

5. The autonomous traveling type sweeping device according to claim 3,

the holding member is constituted by a tension coil spring,

one end of the extension coil spring is fixed to the expansion nozzle,

the extension coil spring applies a tensile force to the extension nozzle so as to maintain the extension nozzle in the second posture.

6. The autonomous traveling type sweeping device according to claim 4,

the holding member is constituted by a tension coil spring,

one end of the extension coil spring is fixed to the expansion nozzle,

7. The autonomous traveling type sweeping device according to any one of claims 1 to 6,

the suction port comprises a first suction port arranged on the bottom surface of the collecting box and a second suction port arranged on the side surface of the collecting box,

the collecting box collects the first suction primer sucked by the suction nozzle from the first suction port and stops collecting the first suction primer using the expansion nozzle when the expansion nozzle is in the first posture,

in a state where the expansion nozzle is in the second posture, the first attraction agent sucked by the air suction nozzle is collected from the first air suction port, and the second attraction agent sucked by the expansion nozzle is collected from the second air suction port.