JP2012029701A - Bathwater sterilizing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bathwater sterilizing device that can sterilize bathwater automatically.SOLUTION: The bathwater sterilizing device 1 includes a float 11, an ultraviolet lamp unit 13, a forward distance measuring sensor unit 15, a first side distance measuring sensor unit 17, a second distance measuring sensor unit 19, a forward propulsion force generating pump unit 21, a propulsion direction adjusting pump unit 23, protective frames 25, a power source device 27 (not shown in the figure), a control circuit 29 (not shown in the figure), and an ultraviolet lamp lighting apparatus 31 (not shown in the figure). Thus, bathwater stored in a bathtub is automatically sterilized.

Description

  The present invention relates to a bathtub water sterilizer for sterilizing water stored in a bathtub, and more particularly to an apparatus for automatically sterilizing at least one of bathtub water or a bathtub.

  A conventional bathtub water sterilizer 100 will be described with reference to FIG. The bathtub water sterilizer 100 sterilizes bathtub water stored in the bathtub. In the bathtub water sterilizer 100, a lamp unit 103, a power supply device 104 that generates power to be supplied to the ultraviolet lamp 109 of the lamp unit 103, and a waterproof structure that supplies power generated by the power supply device 104 to the ultraviolet lamp 109. A cable 105 and a cable winder 106 that winds the cable 105 so as to be able to be fed out are incorporated in the handcart 107.

  The lamp unit 103 includes one ultraviolet lamp 109 in the frame body 108 and three float parts 110 having buoyancy, so that the whole frame body 108 can float on the surface of the bathtub water by the buoyancy of the float part 110. It is configured. And in this floating state, the bathtub water is sterilized by irradiating the bathtub water with the ultraviolet rays from the ultraviolet lamp 109.

  The bathtub water sterilizer 100 irradiates ultraviolet rays generated by the ultraviolet lamp 109 directly on the bathtub water in a state where the lamp unit 103 including the float unit 110 floats on the water surface of the bathtub water. There is no need to newly provide a circulation path in the bathtub as in the case of the type sterilizer.

  Further, since the bathtub water is sterilized by directly irradiating the bathtub water with ultraviolet rays, it is possible to sterilize every corner of the bathtub inner surface such as a non-circulating portion of the bathtub water, the inner wall of the bathtub, and the bottom of the bathtub. In particular, it is possible to sterilize harmful bacteria such as Legionella hidden behind the slime on the inner surface of the bathtub that could not be sterilized by the conventional circulation type sterilizer, so that the hygiene condition of the bathtub can be remarkably improved. It becomes like this.

  Furthermore, since it is possible to sterilize every corner of the inner surface of the bathtub and keep the bathtub hygienic in this way, it is necessary to remove all hot water from the bathtub and clean it between the regular cleaning work and the next cleaning work. As a result, it is possible to lengthen the period of time and greatly contribute to labor saving related to the cleaning work of the bathtub.

JP2007-89850

  However, the above bath water sterilizer 100 has the following points to be improved. The bathtub water sterilizer 100 needs to be improved because it is necessary to sterilize the bathtub water while a person pulls in the bathtub, and the sterilization work is very troublesome.

  Then, an object of this invention is to provide the bathtub water sterilizer which can sterilize at least one of bathtub water or a bathtub automatically.

  Hereinafter, means for solving the problems and effects of the present invention will be described.

  The bathtub water sterilization apparatus according to the present invention is a bathtub water sterilization apparatus for sterilizing at least one of bathtub water stored in a bathtub or the bathtub, and is provided on the bottom side of the buoyancy generation means for generating buoyancy. Ultraviolet lamp means having a waterproof structure ultraviolet lamp means, a propulsion force generating means for generating a propulsive force in the direction of travel, and a traveling direction adjusting force generating for generating a traveling direction adjusting force for adjusting the traveling direction Means, travel direction distance measuring means that measures the travel direction distance that is the distance to the obstacle present in the travel direction, cross direction distance that measures the cross direction distance that is the distance to the obstacle present in the cross direction with respect to the travel direction A traveling direction adjusting unit that adjusts the propulsive force and the traveling direction adjusting force using the measuring unit, the traveling direction distance, and the crossing direction distance.

  Thereby, at least one of the bathtub water stored in the bathtub or the bathtub can be automatically sterilized.

  In the bathtub water sterilizer according to the present invention, the traveling direction adjusting means is arranged at a position on the traveling direction side of the bathtub water sterilizer.

  Thereby, the advancing direction of a bathtub water sterilizer can be adjusted easily.

The bathtub water sterilizer according to the present invention is characterized in that the crosswise distance is measured at a plurality of positions.
Thereby, the bathtub water sterilizer can be maintained at a predetermined angle with respect to the wall of the bathtub.

  In the bathtub water sterilizer according to the present invention, the intersecting direction distance measuring means measures the intersecting direction distance at positions of a front end side and a rear end side of the bathtub water sterilizer.

  Thereby, the bathtub water sterilizer can be more accurately maintained at a predetermined angle with respect to the wall of the bathtub.

  In the bathtub water sterilizer according to the present invention, the cross direction distance measuring means measures at least one of the cross direction distances on the right side or the left side with respect to the traveling direction.

  Thereby, the distance to the wall of a bathtub can be measured easily.

  In the bathtub water sterilizing apparatus according to the present invention, the ultraviolet lamp means includes the ultraviolet lamp that irradiates ultraviolet rays on at least one of a bottom part or a side part of the bathtub to be sterilized.

  Thereby, at least one of the bottom part or side part of a bathtub can also be sterilized.

  In the bathtub water sterilizing apparatus according to the present invention, the traveling direction adjusting means adjusts the propulsive force and the traveling direction adjusting force so that the crossing direction distance to the side portion of the bathtub to be sterilized becomes a predetermined distance. It is characterized by doing.

  Thereby, the side part of a bathtub can be sterilized.

  The bathtub water sterilizer according to the present invention is characterized in that the ultraviolet lamp means is disposed at a predetermined distance from the lower surface of the buoyancy generating means.

Thereby, the bottom part of a bathtub can be sterilized.

  Examples of the bathtub water sterilizer according to the present invention will be described below.

The structure of the 1st bathtub water sterilizer 1 The structure of the bathtub water sterilizer 1 which concerns on this invention is demonstrated using FIGS. 1 is a side view of the bathtub water sterilizer 1, FIG. 2 is a top view thereof, FIG. 3 is a cross-sectional view taken along line PP in FIG. 1, FIG. 4 is a front view thereof, and FIG. As shown in FIG. 1, the bath water sterilizer 1 includes a float 11, an ultraviolet lamp unit 13, a front distance measurement sensor unit 15, a first side distance measurement sensor unit 17, a second distance measurement sensor unit 19, and a front. Propulsion generating pump unit 21, propulsion direction adjusting pump unit 23, protective frame 25, power supply device 27 (not shown), control circuit 29 (not shown), and ultraviolet lamp lighting device 31 (not shown) are provided. is doing.

  The float 11 generates buoyancy that can float the bathtub water sterilizer 1 on the water surface when the bathtub water sterilizer 1 is floated on the bathtub. As shown in FIG. 2, the float 11 has an elliptical shape when viewed from above. Moreover, the float 11 has the recessed part d11 in the center part. The power supply device 27 is disposed in the recess d11. Moreover, the float 11 has the recessed part d13 in the propulsion direction with respect to the recessed part d11. A control circuit 29 is disposed in the recess 13. Furthermore, the float 11 has the recessed part d15 in the direction opposite to the advancing direction with respect to the recessed part d11. An ultraviolet lamp lighting device 31 is disposed in the recess d15. The float 11 has a hollow shape formed of plastic such as vinyl chloride.

  As shown in FIG. 3, the ultraviolet lamp unit 13 includes an ultraviolet lamp unit 13a and an ultraviolet lamp unit 13b. The ultraviolet lamp unit 13a and the ultraviolet lamp unit 13b have the same configuration except that the arrangement position with respect to the float 11 is different. Therefore, only the ultraviolet lamp unit 13a will be described in detail.

  The ultraviolet lamp unit 13a includes an ultraviolet lamp 131a, a waterproof protective film 133a, and an ultraviolet lamp fixing member 135a. The ultraviolet lamp 131a generates ultraviolet light having a wavelength of 254 nm. The waterproof protective film 135a surrounds the ultraviolet lamp 131a and prevents water from entering.

  The ultraviolet lamp fixing member 135 a fixes the ultraviolet lamp 131 a to the float 11. The ultraviolet lamp fixing member 135a has a tubular structure. As shown in FIG. 4, the ultraviolet lamp fixing member 135a is directed downward in the water surface (hereinafter referred to as the water surface downward direction) when the float 11 is floated on the water surface from the lower part of the float 11. It protrudes. The ultraviolet lamp fixing member 135a accommodates an electric cable or the like connected to the ultraviolet lamp 131a. As shown in FIG. 3, the ultraviolet lamp fixing member 135 a is connected to the float 11 at a position shifted leftward from the center line in the longitudinal direction of the float 11 toward the front (arrow a1 direction). This is because in order to fix the ultraviolet lamp 131a and the ultraviolet lamp 131b to the float 11, it is necessary to consider the balance of the bathtub water sterilizer 1 when floating on the water surface.

  As shown in FIG. 3, the first distance measurement sensor unit 15 includes a front distance measurement sensor 151, a side distance measurement sensor 153, and a first distance measurement sensor fixing member 155. The front distance measuring sensor 151 is disposed in front of the float 11 and below the water surface with respect to the float 11. The front distance measurement sensor 151 measures the distance to the obstacle existing in front of the bathtub water sterilizer 1. The front distance measurement sensor 151 is an ultrasonic sensor.

  The first lateral distance measurement sensor 153 is disposed in front of the float 11 and below the water surface with respect to the float 11. The 1st side distance measurement sensor 153 measures the distance to the obstruction which exists in front of the bathtub water sterilizer 1 and the right side toward the advancing direction. As described above, the first lateral distance measuring sensor 153 measures the distance to the obstacle on the right side in the traveling direction because the bathtub water sterilizer 1 rotates the bathtub counterclockwise while sterilizing the bathtub water. Because it does. The first lateral distance measurement sensor 153 is an ultrasonic sensor.

  The first distance measurement sensor fixing member 155 includes a front distance measurement sensor fixing member 155a, a first side distance measurement sensor 155b, and a first distance measurement sensor fixing pipe 155c. As shown in FIG. 4, the first distance measurement sensor fixing member 155 is fixed to a forward thrust generation pump fixing member 213 (described later), and thus the front distance measurement sensor 151 and the first lateral distance measurement sensor 155. Is fixed to the float 11. The front distance measurement sensor fixing member 155a and the first side distance measurement sensor 155b have a flat plate shape. The front distance measurement sensor fixing member 155a is disposed so as to protrude downward from the lower portion of the front thrust generation pump fixing member 213. The first lateral distance measurement sensor 155b is disposed so as to protrude upward from the lower portion of the forward thrust generation pump fixing member 213. The first distance measurement sensor fixing member 155c houses therein an electric cable or the like connected to the front distance measurement sensor 151 and the first side distance measurement sensor 153.

  As shown in FIG. 5, the second distance measurement sensor unit 19 includes a second side distance measurement sensor 191 and a second distance measurement sensor fixing member 193. The second lateral distance measurement sensor 191 is disposed behind the float 11 and below the water surface with respect to the float 11. The 2nd side distance measurement sensor 191 measures the distance to the obstruction which exists in the right side toward the back of the bathtub water sterilizer 1 and the advancing direction. The second lateral distance measurement sensor 191 is an ultrasonic sensor.

  The second distance measurement sensor fixing member 193 has a flat plate structure, is attached to the forward thrust generation pump 211, and fixes the second side distance measurement sensor 191 to the float 11. An electric cable or the like connected to the second lateral distance measuring sensor 191 is housed inside the ultraviolet lamp fixing member 135b.

  As shown in FIG. 3, the forward thrust generation pump unit 21 includes a forward thrust generation pump 211 and a forward thrust generation pump fixing member 213. The forward thrust generation pump 211 generates a thrust that moves the bathtub water sterilizer 1 forward. The forward thrust generating pump 21 is disposed behind the float 11 and on the center line in the longitudinal direction of the float 11. The forward thrust generation pump 211 propels the bathtub water sterilizer 1 forward by exhausting the water flow backward.

  The forward thrust generating pump fixing member 213 has a flat plate structure, and has a hole through which the ultraviolet lamp fixing member 135b passes. The forward thrust generating pump fixing member 213 is fixed to the ultraviolet lamp fixing member 135b penetrating the hole. In the forward thrust generation pump fixing member 213, the second distance measurement sensor fixing member 193 is fixedly placed on a flat plate. Thereby, the forward thrust generating pump fixing member 213 fixes the forward thrust generating pump 211 to the float 11.

  As shown in FIG. 3, the propulsion direction adjusting pump unit 23 includes a right turning force adjusting pump 231, a left turning force adjusting pump 233, and a left and right turning force adjusting pump fixing member 235. The right turning force adjusting pump 231 generates a propulsive force that turns the bathtub water sterilizer 1 to the right with respect to the traveling direction. The left turning force adjusting pump 233 generates a propulsive force that turns the bathtub water sterilizer 1 leftward. The right turning force adjusting pump 231 is disposed in front of the float 11 and at a position shifted to the left from the center line in the longitudinal direction toward the front. The left turning force adjusting pump 233 is disposed in front of the float 11 and at a position shifted to the right from the center line in the longitudinal direction toward the front.

  As shown in FIG. 4, the right turning force adjusting pump 231 turns the bathtub water sterilizer 1 to the right by discharging the water flow to the left (arrow a41 direction). The left turning force adjusting pump 233 turns the bathtub water sterilizer 1 leftward by exhausting the water flow to the right (arrow a43 direction).

  The left / right turning force adjusting pump fixing member 235 is formed of a flat plate and has a hole through which the first distance measurement sensor fixing member 155 passes. In the left and right turning force adjusting pump fixing member 235, the right turning force adjusting pump 231 and the left turning force adjusting pump 233 are fixedly mounted on a flat plate. Further, the left / right turning force adjusting pump fixing member 235 is fixed to the first distance measurement sensor fixing member 155 penetrating the hole. Thereby, the left and right turning force adjusting pump fixing member 235 fixes the right turning force adjusting pump 231 and the left turning force adjusting pump 233 to the float 11.

  The protective frame 25 protects the ultraviolet lamp unit 13, the first distance measurement sensor unit 15, the second distance measurement sensor unit 19, and the like disposed below the float 11 from obstacles. As shown in FIG. 3, the protective frame 25 includes a protective pipe 25a, a front protective frame 25b, and a rear protective frame 25c.

  The protection pipe 25a has a U-shape, and a plurality of the protection pipes 25a are arranged so as to include the ultraviolet lamps 13a and 13b from the bottom of the float 11 toward the lower surface of the water surface. The front protection frame 25 b is provided at the front end of the float 11 and protects the first distance measurement sensor unit 15 and the propulsion direction adjustment pump unit 23. The front protection frame 25b is connected and fixed to a protection pipe 25a disposed in front of the float 11. The rear protection frame 25 c is provided at the rear end of the float 11 and protects the second distance measurement sensor unit 15 and the propulsion force generation pump unit 21. The rear protective frame 25c is connected and fixed to a protective pipe 25a disposed behind the float 11. The front protection frame 25b and the rear protection frame 25c are configured by thin linear members.

  As illustrated in FIG. 2, the power supply device 27 is disposed in the recess d <b> 11 of the float 11. The power supply device 27 includes power necessary to turn on the ultraviolet lamp 131a and the ultraviolet lamp 131b, a front distance measurement sensor 151, a first side distance measurement sensor 153, a second side distance measurement sensor 191, and a front side. Electric power necessary to operate the propulsive force generating pump 211, the right turning force adjusting pump 231 and the left turning force adjusting pump 233 is supplied.

The control circuit 29 is disposed in the recess d11 (see FIG. 2 and the like) of the float 11. Values are obtained from the forward distance measurement sensor 151, the first lateral distance measurement sensor 153, and the second lateral distance measurement sensor 191, and the forward thrust generation pump 211, the right turning force adjustment pump 231 and the left turning force adjustment are acquired. The operation of the pump 233 is controlled. The hardware configuration and operation of the control circuit 29 will be described later.

Second control circuit 29
1. Hardware configuration

The hardware configuration of the control circuit 29 will be described with reference to FIG. The control circuit 29 includes a CPU 291, a memory 293, and an input / output interface circuit 295. CPU291 performs the process based on other applications, such as a movement control program which controls the movement of the bathtub sterilizer currently recorded on the memory 293. FIG. The memory 293 stores a movement control program. Also, a work area for the CPU 291 is provided. The input / output interface circuit 295 acquires sensor values from the front distance measurement sensor 151, the first side distance measurement sensor 153, and the second side distance measurement sensor 191, and adjusts the propulsive force generation pump 211 and the right turning force. A control signal for controlling the outputs of the pump 231 and the left turning force adjusting pump 233 is provided.
2. Operation of control circuit 29

  Before describing the operation of the control circuit 29, the operation trajectory of the bathtub water sterilizer 1 when sterilizing the rectangular bathtub B will be described with reference to FIG. FIG. 7 shows a plan view of the bathtub B. The bathtub water sterilizer 1 sterilizes the wall surface, bottom part, and bathtub water that are the sides of the bathtub B while turning counterclockwise with the lower left position of the bathtub B as a start position. In the following, the value of the front distance measurement sensor 151 of the bathtub water sterilizer 1 is X1, the value of the first side distance measurement sensor 153 is X2, and the value of the second side distance measurement sensor 191 is X3. Moreover, the basic unit of the lateral distance with the bathtub B which the bathtub water sterilizer 1 maintains is set to Xs, and similarly, the front basic unit is set to Xf. Moreover, let R be the radius of rotation when the bathtub water sterilizer 1 turns to the left. Therefore, Xf = nXs + R. Here, n is a parameter. In addition, the bathtub water sterilizer 1 shall be installed so that the ultraviolet lamps 131a and 131b may be parallel to the predetermined wall of the bathtub before operation.

  The operation of the CPU 291 of the control circuit 29 at this time will be described using the flowcharts shown in FIGS. When the operation switch of the bathtub water sterilizer 1 is turned on, the CPU 291 turns on the ultraviolet lamp 131a and the ultraviolet lamp 131b (S801). In addition, the CPU 291 operates the forward thrust generation pump 211 (S803). The CPU 291 acquires values from the front distance measurement sensor 151, the first side distance measurement sensor 153, and the second side distance measurement sensor 171 as X1, X2, and X3, respectively (S805).

  The CPU 291 determines whether X1 is equal to a preset value Xf (S807). Here, the value Xf represents the position at which the bathtub water sterilizer 1 starts turning left as the front distance to the bathtub wall. In Xf, Xs + R is set as an initial value. Therefore, when X1 is equal to the preset value Xf, it indicates that the bathtub water sterilizer 1 has reached a predetermined position with respect to the wall of the bathtub.

  When determining that X1 is equal to Xf, the CPU 291 adds 1 to the value of the counter n (S809). The counter n is set to 0 as an initial value. The CPU 291 newly sets Xf using the counter n (S811). Here, “Xf = Xf + R” in the case of n = 0, 1, 2, “Xf = 2Xf + R” in the case of n = 3, 4, 5, 6, “Xf = 3Xf + R in the case of n = 7, 8, 9, 10” “...”.

  The CPU 291 determines whether or not the value X2 of the first lateral distance measurement sensor 153 is smaller than the set Xf (S813). When the value X2 of the first lateral distance measurement sensor 153 is smaller than the set Xf, the bathtub water sterilizer 1 has already finished the predetermined sterilization and has almost reached the vicinity of the center of the bathtub (FIG. 7, bathtub) (See the end position of the water sterilizer 1).

  The CPU 291 operates the left turning force adjustment pump 233 (S815). Thereby, the bathtub water sterilizer 1 turns to the left. The CPU 291 operates the left turning force adjusting pump 233 until a predetermined time has elapsed (S817). The predetermined time here is the time required for the bathtub water sterilizer 1 to rotate the traveling direction by 90 degrees when the forward thrust generating pump 211 and the left turning force adjusting pump 233 are operated with predetermined outputs. Measured and set in advance.

  Moving to FIG. 9, the CPU 291 determines whether X2 and X3 are equal to a preset value Xs (S901). Here, the value Xs represents the lateral distance between the bathtub water sterilizer 1 and the bathtub wall. Therefore, when X2 and X3 are equal to the preset value Xs, it indicates that the bathtub water sterilizer 1 is located in parallel at a predetermined distance with respect to the wall of the bathtub.

  When the CPU 291 determines that X2 is greater than Xs (S903), it activates the right turning force adjusting pump 231 (S905). On the other hand, when the CPU 291 determines that X2 is smaller than Xs (S907), the CPU 291 operates the left turning force adjusting pump 233 (S911).

When CPU 291 determines that X2 and X3 are equal to preset value Xs in step S901, CPU 291 determines that bathtub water sterilizer 1 is in parallel with the wall surface of the bathtub, and the processing after step S805 (FIG. 8).

[Other Embodiments]
(1) Float 11

In the first embodiment, the float 11 has an elliptical shape. However, the float 11 is not limited to the illustrated example as long as it can generate buoyancy that floats the bathtub water sterilizer 1 on the water surface.
(2) UV lamp unit 13

In the first embodiment, the ultraviolet lamp unit 13 has the ultraviolet lamps 131a and 131b arranged at predetermined positions from the water surface via the ultraviolet lamp fixing members 135a and 135b. If it is, it is not limited to the example. For example, the ultraviolet lamps 131a and 131b may be disposed at a position closest to the bottom of the float 11. Moreover, what is necessary is just to arrange | position the ultraviolet lamps 131a and 131b suitably according to the depth of a bathtub.
(3) First lateral distance measurement sensor 153

In the above-described first embodiment, the first lateral distance measurement sensor 153 measures the distance to the obstacle on the right side with respect to the traveling direction of the bathtub water sterilizer 1, but in addition to the distance on the right side, You may make it measure the distance of the left side. The same applies to the second lateral distance measuring sensor 191.
(4) Forward thrust generating pump 211

In the above-described first embodiment, the forward propulsion force generation pump 211 is located at the rear, but is not limited to the illustrated example as long as the bathtub water sterilizer 1 can be propelled forward.
(5) Right turning force adjustment pump 231 and left turning force adjustment pump 233

In the above-described first embodiment, the right turning force adjustment pump 231 and the left turning force adjustment pump 233 are disposed in front, but are not limited to the examples as long as the traveling direction of the bathtub water sterilizer 1 can be adjusted. . Further, only one of the right turning force adjustment pump 231 and the left turning force adjustment pump 233 may be arranged.
(6) Operation of control circuit 29

In the first embodiment described above, the operation of the control circuit 29 is realized by the flowcharts shown in FIGS. 8 and 9, but is not limited to the example as long as each pump can be controlled. For example, the operation of the control circuit 29 may be changed depending on the shape of the bathtub.
(7) Various sensors

In the first embodiment, the position of the bathtub water sterilizer 1 relative to the bathtub is measured by the front distance measurement sensor 151, the first side distance measurement sensor 153, and the second side distance measurement sensor 191. However, if the position of the bathtub water sterilizer 1 can be specified, it is not limited to the example. For example, a position measuring device may be installed on the ceiling of a room where a bathtub is installed, and the current position may be transmitted to the bathtub water sterilizer 1 wirelessly.

It is a side view of bathtub water sterilizer 1 concerning the present invention. It is a top view of bathtub water sterilizer 1. FIG. It is the figure which showed the PP cross section in FIG. 11 of the bathtub water sterilizer 1. FIG. It is a front view of bathtub water sterilizer 1. FIG. It is a rear view of the bathtub water sterilizer 1. FIG. 2 is a diagram illustrating a hardware configuration of a control circuit 29. FIG. It is a figure which shows an example of the sterilization operation | movement of the bathtub water sterilizer. 3 is a flowchart showing the operation of a control circuit 29. 3 is a flowchart showing the operation of a control circuit 29. It is a figure which shows the conventional bathtub water sterilizer.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Bath water sterilizer 11 ... Float 13 ... Ultraviolet lamp unit 15 ... 1st distance measurement sensor unit 19 ... 2nd distance measurement Sensor unit 21... Forward propulsive force generating pump unit 23... Propulsion direction adjusting pump unit 25... Protective frame 27. ... UV lamp lighting

Claims (8)

A bathtub water sterilizer for sterilizing at least one of bathtub water stored in the bathtub or the bathtub, and buoyancy generating means for generating buoyancy;
Ultraviolet lamp means provided on the bottom side of the buoyancy generating means, the ultraviolet lamp means having a waterproof ultraviolet lamp,
Propulsion generating means for generating propulsive force in the direction of travel,
A traveling direction adjusting force generating means for generating a traveling direction adjusting force for adjusting the traveling direction;
A traveling direction distance measuring means for measuring a traveling direction distance which is a distance to an obstacle existing in the traveling direction;
A cross direction distance measuring means for measuring a cross direction distance which is a distance to an obstacle existing in the cross direction with respect to the traveling direction;
Travel direction adjusting means for adjusting the propulsive force and the travel direction adjusting force using the travel direction distance and the cross direction distance,
Bath water sterilizer with In the bathtub water sterilizer according to claim 1,
The traveling direction adjusting means is
Being disposed at a position on the traveling direction side of the bathtub water sterilizer,
Bath water sterilizer characterized by. In either of the bathtub water sterilizers according to claim 1 or claim 2,
The intersecting direction distance measuring means is
Measuring the cross direction distance at a plurality of positions;
Bath water sterilizer characterized by. In the bathtub water sterilizer according to claim 3,
The intersecting direction distance measuring means is
Measuring the cross direction distance at the position of the front end side and the rear end side of the bathtub water sterilizer,
Bath water sterilizer characterized by. In any of the bathtub water sterilizers which concern on Claims 1-4,
The intersecting direction distance measuring means is
Measuring the crossing direction distance on at least one of the right side and the left side with respect to the traveling direction;
Bath water sterilizer characterized by. In any of the bathtub water sterilizers which concern on Claims 1-5,
The ultraviolet lamp means includes
Having the ultraviolet lamp for irradiating ultraviolet rays to at least one of the bottom or side of the bathtub to be sterilized,
Bath water sterilizer characterized by. In any of the bathtub water sterilizers which concern on Claims 1-6,
The traveling direction adjusting means is
Adjusting the propulsive force and the traveling direction adjusting force so that the crosswise direction distance to the side of the bathtub to be sterilized is a predetermined distance;
Bath water sterilizer characterized by. In any of the bathtub water sterilizers which concern on Claims 1-7,
The ultraviolet lamp means includes
Being disposed at a predetermined distance from the lower surface of the buoyancy generating means;
Bath water sterilizer characterized by.