JP2006158814A - Self-traveling cleaning system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-traveling cleaning system having a function of periodically and automatically cleaning a cleaning tool by using a fixed terminal where a self-traveling cleaner returns and is recharged, as a place to clean the cleaning tool provided to the self-traveling cleaner. <P>SOLUTION: The self-traveling cleaner automatically returns to the fixed terminal which is arranged at a prescribed place, enters from an inlet 17, and positioned on a stage 19. In the self-traveling cleaner on the fixed terminal, the secondary battery of the cleaner is charged by a charger 23, and the cleaning tool provided at the cleaner is automatically cleaned in a cleaning tub 21. Water (cleaning water) is supplied from a water storage tub 26 and a cleaning liquid such as a cleanser, etc., is supplied from a cleaning liquid tub 27. The cleaning water contains bactericidal metallic ion water and the cleaning liquid contains an abrasive or an abrasion material. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a self-propelled cleaning system including a self-propelled cleaner that cleans a floor surface while being self-propelled and a fixed terminal that has a function of cleaning a cleaning tool provided in the self-propelled cleaner.

Cleaning of the floor surface using a self-propelled cleaner is generally performed through a process consisting of dust and dust sweeping with a brush, suction using a filter, or dust collection with a cyclone mechanism. In addition, like the cleaning robot disclosed in Patent Document 1, a small and simple autonomous traveling cleaning robot is proposed in which a dust collection sheet is urged by a spring on the lower surface of the main body and the floor is cleaned by the dust collection sheet. Has been. In this cleaning robot, a mop plate is swingably supported with respect to an axis provided on a lower frame of a vehicle body. This mop plate is elastically pressed against the floor surface by a spring and has a warped surface at the front and rear ends in the direction of travel, so that the cleaning robot can ride around the floor surface freely over the stepped portion. it can. When the cleaning robot runs on the floor, dust is adsorbed on the lower surface of the paper mop, and the floor can be automatically cleaned.
Japanese Patent Laid-Open No. 11-178765 (paragraphs [0016] to [0022], FIGS. 1 and 7)

  As a tool that easily removes dust that is widely used for general households, a product with a dust suction sheet attached to a bag has been developed. It is increasing.

  On the other hand, in the conventional self-propelled cleaner, products having cleaning mechanisms such as dust and dust sweeping with a brush, suction using a filter, dust collection with a cyclone mechanism, and floor wiping cleaning have been proposed. However, in a self-propelled vacuum cleaner, it is difficult to replace it easily like a general dust adsorbing sheet, and the cleaning tool may remain in a state where dirt is adsorbed, and the cleaning performance after adsorbing dirt decreases. There was a problem to do. Also, manually cleaning the cleaning tools is laborious and expensive, and tends to be avoided.

  Therefore, paying attention to the fact that the self-propelled cleaner runs on a rechargeable battery and performs cleaning work, and it needs to be recharged when the amount of charge decreases, it is a place where the cleaning tool is cleaned at the station where recharging is performed There is a problem to be solved in terms of use.

  The present invention has been made to solve the above-described problems. With regard to the self-propelled cleaner, the self-propelled cleaner returns and automatically cleans the cleaning tool at a fixed terminal having a function of charging the main body. It is to provide a self-propelled cleaning system with functions.

  The self-propelled cleaning system according to the present invention includes a self-propelled cleaner having a cleaning tool for cleaning the floor and a fixed terminal to which the self-propelled cleaner automatically returns. It comprises charging means for charging the traveling vacuum cleaner and a cleaning section for cleaning the cleaning section.

  According to this self-propelled cleaning system, the self-propelled cleaner automatically returns to a fixed terminal arranged at a predetermined location. In the fixed terminal, the returned self-propelled cleaner body is automatically charged by the charging unit and cleaned by the cleaning unit. That is, the cleaning tool can be washed while charging the charging unit. Although the interval between charging and the next charging depends on the function of the battery and the amount of cleaning, it can be considered as a period when the cleaning tool should sufficiently absorb dirt and be cleaned as a result of cleaning. Further, the cleaning of the cleaning tool is not necessarily performed every time charging is performed after returning to the fixed terminal, and the cleaning tool may be cleaned every specific count by counting the number of times of charging.

  In this self-propelled cleaning system, the self-propelled cleaner includes a drive wheel that moves a main body equipped with a cleaning tool, a drive motor that drives the drive wheel, and a charge that can be charged from a fixed terminal. The battery may include a secondary battery that supplies power, and a control unit that controls the drive motor to provide a necessary rotation angle to the drive wheels. According to this self-propelled cleaning system, the self-propelled cleaner is self-propelled by the drive motor that is supplied with power from the secondary battery driving the drive wheels. At this time, the control unit controls the drive motor to give a necessary rotation angle to the drive wheels to determine a route to travel, and a cleaning tool provided in the main body cleans the traveling floor according to the determined route. When the remaining charge of the secondary battery decreases, the self-propelled cleaner determines a route for the control unit to return to the fixed terminal, and the secondary battery is charged when returning to the fixed terminal.

  In this self-propelled cleaning system, the cleaning unit of the fixed terminal includes a cleaning tank that cleans the cleaning tool of the self-propelled cleaner, a first storage unit that stores cleaning water for the cleaning tool, and the first storage. First supply means for supplying / injecting the cleaning water stored in the means to the cleaning tank, second storage means for storing the cleaning liquid, and second supplying / injecting the cleaning liquid stored in the second storage means to the cleaning tank. Supply means. The cleaning water stored in the first storage means is supplied to the cleaning tank by the first supply means. Further, the cleaning liquid stored in the second storage means is supplied / injected into the cleaning tank by the second supply means, and the cleaning tool is cleaned in the cleaning tank.

  In the self-propelled cleaning system in which the cleaning water and the cleaning liquid are supplied to the cleaning tank, the cleaning water can be coated with the sterilizing metal ion water by using the sterilizing metal ion water as the cleaning water. In addition, when the cleaning liquid is a solvent containing an abrasive or an abrasive material, the abrasive or solvent adheres to the cleaning tool, so when the self-propelled cleaner body travels on the floor, Polishing or coating can be performed.

  In the above self-propelled cleaning system, the cleaning tank may have a structure having an uneven portion for cleaning the cleaning tool. If the cleaning of the cleaning tool is completed in a state where the cleaning liquid or excessive moisture is attached, the floor surface may become unnecessarily wet when the cleaning process is started. Therefore, for example, the bottom surface of the cleaning tank in the fixed terminal has an uneven shape, supplying cleaning water and cleaning liquid to the concave portion, and applying physical pressure to the cleaning tool at the convex portion, thereby cleaning and excess moisture. It can be moved to the recess and removed.

  In the above-mentioned self-propelled cleaning system having a rugged portion as a cleaning tank, the cleaning tool of the self-propelled cleaner is a rotary cleaning tool having a rotating shaft and having an end surface as a cleaning surface. The concavo-convex portion may have a structure in which the rotation axis of the rotation axis of the aligned cleaning tool matches the center position and extends radially from the center. The cleaning tool is, for example, a cleaning cloth attached to a rotating shaft, and the material of the cloth can be changed according to the material of the floor surface. By making such a structure, when the cleaning tool is rotated in the cleaning tank in the fixed terminal, the concave and convex portions of the cleaning tank can always contact at a right angle to the rotating cleaning tool, Efficient cleaning of the cleaning tool can be performed. In addition, a cleaning tool motor can be provided as means for rotationally driving the cleaning tool, in which case the rotation speed of the cleaning tool motor can be switched, and cleaning is performed when cleaning the floor and after returning to the fixed terminal. It is possible to set the rotation speed of the cleaning tool motor to an appropriate speed when cleaning the tool.

  In the self-propelled cleaning system, a communication hole for guiding insoluble dust generated when cleaning the cleaning tool to a predetermined portion can be formed at the bottom of the cleaning tank. Insoluble dust generated when the cleaning tool is washed is guided through a communication hole formed in the bottom of the washing tank and can be discharged from the washing tank.

  In the self-propelled cleaning system in which the communication hole is formed at the bottom of the cleaning tank, the cleaning tank can further be formed with a cavity for inducing insoluble dust at the bottom. Insoluble dust discharged from the washing tank by being guided through the communication hole is guided to the cavity.

  In the above-mentioned self-propelled cleaning system, the fixed terminal can simultaneously charge the self-propelled cleaner returned to the vehicle by charging means and wash the cleaning tool by the cleaning unit. It can be shortened and efficient operation of the self-propelled cleaner can be achieved.

  According to the self-propelled cleaning system of the present invention, the cleaning tool provided in the self-propelled cleaner is periodically cleaned by selecting a time when charging is required, and the cleaning tool is automatically cleaned while charging the main body. Therefore, it is possible to reduce the time and effort of cleaning the cleaning tool, and it is possible to efficiently operate the self-propelled cleaner.

  Hereinafter, with reference to FIGS. 1-4, embodiment of the self-propelled cleaning system by this invention is described. 1 is a schematic side sectional view of a self-propelled cleaner used in an embodiment of the present self-propelled cleaning system, FIG. 2 is a bottom view of the self-propelled cleaner shown in FIG. 1, and FIG. FIG. 4 is a top view showing a structure of a fixed terminal used in combination with the self-propelled cleaner shown in FIG. 1, and FIG. 4 is a perspective view of a cleaning tank provided in the fixed terminal shown in FIG.

  A self-propelled cleaner 1 shown in FIG. 1 includes a cleaning tool motor 2 that rotationally drives a cleaning tool, which will be described later, a driving motor 3 for driving the self-propelled cleaner 1, and a steering wheel actuator 4 as a base chassis. 10, and a rechargeable battery 5 as a secondary battery and a control board 7 are housed inside the housing. The current output from the rechargeable battery 5 is sent to the control board 7 through the harness 6. The current is further input to the cleaning tool motor 2 and the drive motor 3 and the steering wheel actuator 4 via the harness 8.

  As shown in FIG. 2, drive wheels 9 for running the self-propelled cleaner 1 are provided in a pair of left and right at the rear of the main body, and are driven by a drive motor 3 attached to the base chassis 10. The power of the drive motor 3 is transmitted to the drive wheels 9 via the gear box 11.

  The self-propelled cleaner 1 is rotatably provided with a pair of cleaning tools 12 and 12 having a disk brush shape in front of the main body. The cleaning tool 12 is axially supported so that a rotation shaft disposed at the center of the cleaning tool 12 can rotate around a vertical axis passing through the base chassis 10, and the power of the cleaning tool motor 2 is supplied via the gear box 13 to the cleaning tool 12. Is transmitted to the rotation shaft of the cleaning tool, and is rotated about the vertical axis by the cleaning tool motor 2. The cleaning tool 12 is provided in a pair of left and right as shown in FIG. Further, the gear box 13 can switch the rotation speed to be output to a low speed or a high speed by a command from the control board 7. The cleaning tool 12 is rotated at a high speed when the floor surface is cleaned, and is rotated at a low speed when the cleaning tool 12 is cleaned, as will be described later.

  The direction control of the main body of the self-propelled cleaner 1 is performed by the steering wheel 14. The steering wheel actuator 4 is actuated by a signal from the control board 7 that is output based on a signal from the sensor 15, and drives the steering wheel 14.

  The cleaning tools 12 and 12 provided in the self-propelled cleaner 1 are configured by attaching a cloth material such as a nonwoven fabric to a plastic or metal columnar member. A cloth portion facing the end face of each cleaning tool 12 is a cleaning surface. This cloth material can be used repeatedly by washing in a washing tank in the fixed terminal as will be described later.

  As shown in FIG. 3, the fixed terminal 16 is a stage for fixing the self-propelled cleaner 1 when cleaning the entrance 17, the slope 18, and the cleaning tool 12 for the self-propelled cleaner 1 to return. Nineteen. The self-propelled cleaner 1 determines the center of the entrance 17 and the stage 19 by the sensor 15 and returns automatically. The fact that the self-propelled cleaner 1 returns to the fixed terminal 16 and returns to the predetermined position is detected by the sensor 15, and the control board 7 receiving the detection signal transmits a signal for reducing the rotational speed to the gear box 13.

  The stage 19 in the fixed terminal 16 includes recesses 20 and 20 for accommodating the drive wheels 9 and 9 of the self-propelled cleaner 1. When cleaning the cleaning tools 12 and 12 provided in the self-propelled cleaner 1 in the cleaning tank 21 depending on the position and posture of the self-propelled cleaner 1 when the drive wheels 9 and 9 are fitted in the recesses 20 and 20. Positioning with respect to the cleaning tank 21 can be performed. Therefore, at the position where the drive wheel 9 of the self-propelled cleaner 1 that has entered the fixed terminal 16 is fitted in the recess 20 in the fixed terminal 16, the cleaning tools 12, 12 are disposed in the cleaning tank 21 in the fixed terminal 16. Occupies positions corresponding to the convex portions 22 and 22.

  The fixed terminal 16 includes a power supply terminal 24 for charging the rechargeable battery 5 provided in the charger 23 and the self-propelled cleaner 1. When the self-propelled cleaner 1 returns to the fixed terminal 16, the charging terminal 25 (shown in FIG. 1) on the main body side of the self-propelled cleaner 1 is connected to the power supply terminal 24 of the fixed terminal. Charging of the rechargeable battery 5 of the traveling vacuum cleaner 1 is started. The charger 23 in the fixed terminal 16 is connected to an external power source (not shown).

  The fixed terminal 16 includes a water storage tank 26 as a first storage means for storing water, a cleaning liquid tank 27 as a second storage means for storing a cleaning liquid, and an inlet 28 to the cleaning tank 21. The cleaning water and the cleaning liquid stored in the water storage tank 26 and the cleaning liquid tank 27 are conveyed to the cleaning tank 21 through the pipe 29, and the valve 30 or the valve 31 is opened and closed as necessary to adjust the amount of the cleaning water or the cleaning liquid. The pipe 29 and the valves 30 and 31 constitute first and second supply means for supplying / injecting cleaning water or cleaning liquid. Further, a tank 32 for storing the liquid after cleaning is provided on the opposite side of the cleaning tank 21, and the liquid in the cleaning tank 21 is stored in the tank 32 using the pump 33.

  The convex portions 22 and 22 of the cleaning tank 21 have shapes that coincide with the rotation axis of the rotation axis of the cleaning tools 12 and 12 provided in the self-propelled cleaner positioned at the fixed terminal and extend radially from the center thereof. ing. Accordingly, when the cleaning tool motor 2 is driven in a state where the cleaning tools 12 and 12 are in contact with the convex portions 22 and 22, respectively, the cloth material of the cleaning tools 12 and 12 is shortly spaced by the convex portions 22 and 22. Thus, the dirty cleaning tools 12 and 12 can be automatically cleaned.

  In the lower part of the cleaning tank 21, a plurality of slit-shaped communication holes 34 that connect the cavity 35 and the cleaning tank 21 and the cavity 35 are formed. Insoluble dust generated in the cleaning process is guided to the lower cavity 35 through the communication hole 34. Thereby, the fall of the cleaning performance of the cleaning tool resulting from insoluble dust staying in the cleaning tank 21 can be prevented.

  Water can be supplied to the cavity 35 formed in the cleaning tank 21 separately from the cleaning liquid supplied to the cleaning tank 21, and the dust guided to the cavity 35 can be forced out. In this case, the pressure of the water supplied to the cavity 35 is desirably higher than the pressure of the cleaning water supplied to the cleaning tank 21.

Ag ⁺ ion water, which is a typical bactericidal metal ion water, can be injected into the cleaning tank 21. When Ag ⁺ ion water is injected, Ag ⁺ ions adhere to the cloths of the cleaning tools 12 and 12, and an excellent sterilizing effect can be expected during cleaning. In addition, bactericidal metal ion water can also be put into the water storage tank 26 in advance.

If the floor is cleaned by the self-propelled cleaner 1 using the cleaning tool 12 coated with Ag ⁺ ions, the floor surface can be sterilized and deodorized. Ag ⁺ ionized water is known to have sterilizing and deodorizing effects, and the effects are known to last. For example, it has been put into practical use in washing machines and has been recognized as effective.

  A solvent containing an abrasive or an abrasive material can also be injected into the cleaning tank 21. In this case, for example, when the floor surface of the flooring is cleaned by the cleaning tool 12 to which the solvent is attached, the floor surface can be polished. Conventionally, a polisher has been used for polishing the flooring, but according to the self-propelled cleaner of the present embodiment, the flooring can be polished by changing the cleaning liquid. Note that the solvent can also be charged in advance in the cleaning liquid tank 27.

  According to the cleaning system of the present embodiment, a series of cleaning operations such as floor cleaning, floor polishing, and coating are continuously performed while the cleaning tool itself is repeatedly cleaned by the self-propelled cleaner 1 and the fixed terminal 16. Can do. As a result, it is possible to omit maintenance work that has been performed manually such as brush replacement and cleaning.

  In addition, the said embodiment disclosed this time is an illustration in all the points, Comprising: It does not become a basis of limited interpretation. Therefore, the technical scope of the present invention is not interpreted only by the above-described embodiment, but is defined based on the description of the claims. Moreover, all the changes within the meaning and range equivalent to a claim are included.

It is a side section schematic diagram of a self-propelled cleaner used in one embodiment of a self-propelled cleaning system by this invention. It is a bottom view of the self-propelled cleaner shown in FIG. It is a top view which shows the structure of the fixed terminal used in combination with the self-propelled cleaner shown in FIG. It is a perspective view of the washing tank provided in the fixed terminal shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Self-propelled cleaner 2 Cleaning tool motor 3 Driving motor 4 Steering wheel actuator 5 Rechargeable battery 6 Harness 7 Control board 8 Harness 9, 9 Driving wheel 10 Base chassis 11 Gear box 12, 12 Cleaning tool 13 Gear box 14 Steering wheel 15 Sensor 16 Fixed terminal 17 Entrance 18 Slope 19 Stage 20, 20 Concave portion 21 Washing tank 22, 22 Convex part 23 Charger 24 Feeding terminal 25 Charging terminal 26 Reservoir (first storage means)
27 Cleaning liquid tank (second storage means) 28 Inlet 29 Pipe 30 Valve 31 Valve 32 Tank 33 Pump 34 Communication hole 35 Cavity

Claims (10)

  A self-propelled cleaner having a cleaning tool for cleaning the floor and a fixed terminal to which the self-propelled cleaner automatically returns, and the fixed terminal charges the self-propelled cleaner. A self-propelled cleaning system comprising a charging means and a cleaning section for cleaning the cleaning section.   The self-propelled cleaner can receive a charge from a driving wheel that moves a main body including the cleaning tool, a driving motor that drives the driving wheel, and the fixed terminal, and supplies power to the driving motor. The self-propelled cleaning system according to claim 1, further comprising: a secondary battery that controls the driving motor, and a control unit that controls the driving motor to give a necessary rotation angle to the driving wheel.   The cleaning portion of the fixed terminal is stored in a cleaning tank that cleans the cleaning tool of the self-propelled cleaner, a first storage unit that stores cleaning water for the cleaning tool, and the first storage unit. First supply means for supplying / injecting the washed water to the cleaning tank, second storage means for storing the cleaning liquid, and second supply means for supplying / injecting the cleaning liquid stored in the second storage means to the cleaning tank The self-propelled cleaning system according to claim 1, further comprising:   The self-propelled cleaning system according to claim 3, wherein the washing water is bactericidal metal ion water.   The self-propelled cleaning system according to claim 3 or 4, wherein the cleaning liquid is a solvent containing an abrasive or an abrasive material.   The self-propelled cleaning system according to any one of claims 3 to 5, wherein the cleaning tank has an uneven portion for cleaning the cleaning tool.   The cleaning tool of the self-propelled cleaner is a rotary cleaning tool having a rotation shaft and an end surface being a cleaning surface, and the uneven portion of the cleaning tank is the rotation shaft of the aligned cleaning tool. The self-propelled cleaning system according to claim 6, wherein the center of rotation coincides with the position of the center and extends radially from the center.   8. The cleaning tank according to any one of claims 3 to 7, wherein a communication hole for guiding insoluble dust generated when the cleaning tool is cleaned to a predetermined location is formed at a bottom of the cleaning tank. Self-propelled cleaning system as described in   The self-propelled cleaning system according to claim 8, wherein a cavity for guiding the insoluble dust is formed at a bottom of the cleaning tank.   In the said fixed terminal, charging by the said charging means and washing | cleaning of the said cleaning tool by the said washing | cleaning part are simultaneously performed with respect to the said self-propelled cleaner which returned. Self-propelled cleaning system as described in the paragraph.

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