JP2015163151A - self-propelled cleaning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled cleaning device having further high fault tolerance and versatility.SOLUTION: A self-propelled cleaning device 100 includes a liquid storage part 20, and a power storage part 30 for supplying power for driving drive wheels 12. The liquid storage part 20 and the power storage part 30 are juxtaposed in the front and back in the traveling direction, and at least parts thereof are positioned on a same plane. Further, both of the liquid storage part 20 and the power storage part 30 are symmetrically formed and disposed with respect to a vertical surface including a vehicle center line CL.

Description

  The present invention relates to a self-propelled cleaning device.

  In recent years, self-propelled cleaning apparatuses equipped with a water tank and a fuel cell are known. For example, the self-propelled cleaning device described in Patent Document 1 includes a drive motor for driving wheels, a fuel cell for supplying power to the drive motor, a control device for controlling these, and the like. Yes.

JP 2001-275908 A

  In the self-propelled cleaning device of Patent Document 1, since the control device that controls the drive motor is disposed below the water tank, there is a risk of short-circuiting the electric / electronic circuit when a water leak occurs in the water tank. There is. Further, since the water tank is installed at a relatively high position, the height of the apparatus is increased, and there is a possibility that the place where the apparatus can enter is restricted.

  In view of the above points, it is desired to provide a self-propelled cleaning device having higher fault tolerance and versatility.

  A self-propelled cleaning device according to an embodiment of the present invention includes a liquid storage unit and a power storage unit that supplies power for driving at least driving wheels, and the liquid storage unit and the power storage unit are in a traveling direction. Arranged to be lined up front and back.

  By the above-mentioned means, a self-propelled cleaning device having higher fault tolerance and versatility can be provided.

It is a side view of the self-propelled cleaning device by one embodiment of the present invention. It is the figure which looked at the virtual plane shown with the dashed-dotted line of FIG. 1 from the + Z side. It is a top view of a liquid storage part.

  Initially, the whole structure of the self-propelled cleaning apparatus 100 by one Embodiment of this invention is demonstrated. FIG. 1 is a side view of the self-propelled cleaning device 100. FIG. 2 is a view of the virtual plane indicated by the alternate long and short dash line DL in FIG. 1 as viewed from the + Z side.

  The self-propelled cleaning device 100 is a device that cleans a flat traveling surface while traveling autonomously. In the present embodiment, the self-propelled cleaning device 100 is a self-propelled cleaning device having a sewage suction function (hereinafter referred to as “sewage suction type cleaning device”), and another self-propelled cleaning device having a cleaning function. Follow the device (hereinafter referred to as “cleaning type cleaning device”). The cleaning function is a function for cleaning the traveling surface, and includes, for example, a polishing function for spraying water on the traveling surface and rubbing the traveling surface with a rotating brush to clean the traveling surface. The sewage suction function is a function of sucking sewage left on the running surface after cleaning. And cleaning of a running surface is performed by 1 set of 2 sets, a washing type cleaning device and a sewage suction type cleaning device.

  Note that the self-propelled cleaning device 100 may be a cleaning-type cleaning device that travels in front of the sewage suction type cleaning device. Self-propelled cleaning device 100 may be an integrated cleaning device having a cleaning function and a sewage suction function.

  Self-propelled cleaning device 100 mainly includes a traveling unit 10, a liquid storage unit 20, a power storage unit 30, a cleaning unit 40, a drive unit 50, and a control unit 60. Then, as shown by arrow AR1, self-propelled cleaning device 100 proceeds with the + X direction as the forward direction of travel.

  The traveling unit 10 is a functional element related to traveling of the self-propelled cleaning device 100, and mainly includes a frame 11, driving wheels 12, and driven wheels 13.

  The frame 11 is a structure that supports the drive wheel 12 and the driven wheel 13 in a rotatable manner, and supports the liquid storage unit 20, the power storage unit 30, the cleaning unit 40, the drive unit 50, and the control unit 60 in a fixed manner. is there.

  The drive wheel 12 is a wheel that generates a propulsive force. In the present embodiment, the pair of left and right wheels 12 </ b> L and 12 </ b> R are driven by the drive unit 50. Self-propelled cleaning device 100 realizes a steering function by making the rotational speed of wheel 12L differ from the rotational speed of wheel 12R.

  The driven wheel 13 is a wheel that rotates according to the propulsive force generated by the drive wheel 12. In the present embodiment, the driven wheel 13 is a single wheel that is fixedly disposed so that its rotational axis is parallel to the Y-axis direction. 2 represents the driven wheel 13 fixedly disposed along the vehicle center line indicated by the alternate long and short dash line CL on the −Z side of the frame 11 with a dotted line. With this configuration, the driven wheel 13 can stabilize the traveling direction of the self-propelled cleaning device 100 as compared with the case where a caster whose arrangement of the rotating shaft is changed. However, the driven wheel 13 may be a wheel having a steering function such as a caster that can change the direction around an axis parallel to the Z axis.

  The liquid storage unit 20 is a functional element that stores a liquid. In this embodiment which is a sewage suction type cleaning device, the liquid storage unit 20 is a sewage tank that stores sewage. In the case of a cleaning type cleaning apparatus, the liquid storage unit 20 is a fresh water tank that stores fresh water for watering.

  The power storage unit 30 is a functional element that stores and supplies at least electric power for driving the drive wheels 12. In this embodiment, a battery (secondary battery) is employed. The battery includes, for example, a lead storage battery, a nickel / cadmium storage battery, a nickel / hydrogen rechargeable battery, and the like. The power storage unit 30 may be another power supply source such as a fuel cell.

  The cleaning unit 40 is a functional element that executes a cleaning operation. In this embodiment, the cleaning part 40 mounted in the self-propelled cleaning apparatus 100 as a sewage suction type cleaning apparatus mainly includes a squeegee 41 and a blower 42.

  The squeegee 41 is a device for removing moisture from a flat running surface. The blower 42 is a device for generating a negative pressure inside the squeegee 41. In the present embodiment, the self-propelled cleaning device 100 generates a negative pressure inside the squeegee 41 by the blower 42 that operates by receiving power supplied from the power storage unit 30. The blower 42 is connected to the liquid storage unit 20 as a sewage tank, and is further connected to the squeegee 41 via the liquid storage unit 20 and a hose (not shown). The blower 42 may be directly connected to the liquid storage unit 20 or may be connected to the liquid storage unit 20 via a hose (not shown). The self-propelled cleaning device 100 sucks up the sewage remaining on the running surface through the opening of the squeegee 41 and stores the sucked sewage in the liquid storage unit 20 as a sewage tank. In FIG. 2, a squeegee 41 extending in the Y-axis direction on the −Z side of the frame 11 is represented by a dotted line. In FIG. 2, the length of the squeegee 41 in the Y-axis direction is smaller than the length of the power storage unit 30 in the Y-axis direction, but may be longer than the length of the power storage unit 30 in the Y-axis direction.

  In the case of the cleaning-type cleaning device, the cleaning unit 40 includes a rotating brush mechanism and a watering unit (not shown) that operate by receiving power supplied from the power storage unit 30. The rotating brush mechanism is a mechanism that rotates the pressing brush against the running surface. Further, the water sprinkling unit is a functional element that sprays liquid on the traveling surface, and drips the liquid on the traveling surface by utilizing the weight of the liquid stored in the liquid storage unit 20, for example. In addition, the watering part may supply a liquid to a running surface using a watering pump, a watering nozzle, a watering sprinkler, etc.

  The drive unit 50 is a functional element that rotationally drives the drive wheels 12. In the present embodiment, each of the pair of left and right drive units 50L and 50R includes an electric motor and a speed reduction mechanism that operate by receiving power supplied from the power storage unit 30. The speed reduction mechanism includes, for example, a belt / pulley mechanism, a chain / sprocket mechanism, a gear mechanism, and the like. The drive unit 50L transmits the driving force of the electric motor to the drive wheels 12L via the drive shaft 12AL. Similarly, the drive unit 50R transmits the driving force of the electric motor to the drive wheels 12R via the drive shaft 12AR.

  The control unit 60 is a functional element that controls the self-propelled cleaning device 100. In the present embodiment, the control unit 60 mainly performs communication control, travel control, and cleaning control. The communication control controls wireless communication between the cleaning type cleaning device or other external device and the self-propelled cleaning device 100 which is a sewage suction type cleaning device. The traveling control controls traveling of the self-propelled cleaning device 100. Further, the cleaning control controls the cleaning work by the cleaning unit 40.

  In the present embodiment, various electric circuits constituting the control unit 60 are distributed and arranged in each of the first electric circuit case 61 and the second electric circuit case 62. This is to reduce the height of the self-propelled cleaning device 100 by reducing the height of each electric circuit case as much as possible. The first electric circuit case 61 is disposed on the power storage unit 30, and the second electric circuit case 62 is disposed on the driving unit 50. However, the control part 60 may be arrange | positioned collectively in a single electric circuit case, and may be distributed and arrange | positioned in three or more electric circuit cases.

  Next, the arrangement of each part mounted on the frame 11 will be described. As shown in FIG. 2, the drive unit 50, the power storage unit 30, and the liquid storage unit 20 are arranged on the frame in order from the front in the traveling direction. With this arrangement, it is possible to prevent the drive unit 50 from being positioned near the drive wheel 12 and increase the size of a power transmission member such as a belt constituting the speed reduction mechanism. Further, the liquid storage unit 20 is arranged such that the lowest part thereof is not higher than the power storage unit 30. In the present embodiment, the liquid storage unit 20 and the power storage unit 30 are arranged so that at least a part of each is located on the same plane. Specifically, as shown in FIG. 1, the −Z side surface (bottom surface) which is the lowest part of the liquid storage unit 20 and the −Z side surface (bottom surface) which is the lowest part of the power storage unit 30 are both. It arrange | positions so that it may be located on the same plane containing the surface (surface) at the side of + Z of the flame | frame 11. In the present embodiment, the −Z side surface (bottom surface), which is the lowest part of the drive unit 50, is also disposed on the same plane including the + Z side surface (front surface) of the frame 11. . With this arrangement, it is possible to minimize the adverse effect on the electrical system even if liquid leakage from the liquid storage unit 20 occurs. Specifically, the occurrence of an electrical short circuit due to liquid leakage can be prevented.

  Further, except for the blower 42 disposed on the liquid storage unit 20, the electrical system including the power storage unit 30, the drive unit 50, and the control unit 60 includes the liquid storage unit 20 across a virtual plane indicated by a two-dot chain line BL. Aggregated on the opposite side (+ X side). Further, the liquid storage unit 20 is positioned at the end (rear end) on the −X side of the frame 11. That is, the electrical system exists only on the + X side and the + Z side of the liquid storage unit 20. For this reason, even if liquid leakage from the liquid storage unit 20 occurs, adverse effects on the electrical system can be minimized. Specifically, the occurrence of an electrical short circuit due to liquid leakage can be prevented. In addition, a partition may be formed in the position of the virtual plane shown with the dashed-two dotted line BL, and a groove | channel, a grid hole, a step part, an inclined part, etc. may be formed in the position corresponding to the virtual plane on the flame | frame 11. The stepped portion or the inclined portion is configured such that the electric system is disposed at a position higher than the liquid storage portion 20. This is to prevent the leaked liquid from reaching the electrical system through the frame 11.

  The structure mounted on the frame 11 is mainly divided into three parts: a part where the drive unit 50 is arranged, a part where the power storage unit 30 is arranged, and a part where the liquid storage unit 20 is arranged. It is done. And each of three parts is comprised so that the distance (height) of a Z-axis direction may become substantially equal. In the present embodiment, the total height of the drive unit 50 and the second electric circuit case, the total height of the power storage unit 30 and the first electric circuit case, and the total height of the liquid storage unit 20 and the blower 42 are substantially equal. Composed. This is because the self-propelled cleaning device 100 is flattened and its maximum height is lowered. In addition, this structure divides | segments the component which can be divided | segmented like the control part 60 as needed, optimizes the height of each component, and optimizes the stack | stacking of a component. Is realized. Further, each of the three portions is configured so that the distance (width) in the Y-axis direction is substantially equal. This is to make the width of the self-propelled cleaning device 100 as narrow as possible. Further, each of the three parts is arranged so as to be aligned in the X-axis direction. This is to stabilize the weight balance of the self-propelled cleaning device 100. Specifically, this is because the center of mass CM of the self-propelled cleaning device 100 is brought close to or positioned on the vertical plane including the vehicle center line CL.

  In addition, the arrangement of each part mounted on the frame 11 is determined in consideration of the stability during traveling of the self-propelled cleaning device 100. In the present embodiment, each part mounted on the frame 11 has a triangular center of gravity formed by the respective grounding points of the two driving wheels 12L and 12R and the one driven wheel 13 with the liquid container 20 empty. A vertical line passing through the CG is arranged so as to pass through the center of mass CM of the self-propelled cleaning device 100. The reason for the condition that “the liquid container 20 is empty” is that the center of mass CM of the self-propelled cleaning device 100 is higher than the “state where the liquid container 20 is not empty”. This is because the cleaning device 100 becomes unstable. Further, as the sewage is accumulated in the liquid storage unit 20, the position of the mass center CM of the self-propelled cleaning device 100 moves to the -Z side, and the stability of the self-propelled cleaning device 100 increases. However, the present invention is not limited to this configuration. For example, in each part mounted on the frame 11, the vertical line passing through the center of gravity CG of the triangle passes through the center of mass CM of the self-propelled cleaning device 100 in a state where the liquid container 20 is filled with liquid to a predetermined level. May be arranged as follows. This is because the stability when the liquid container 20 is filled with the liquid to a predetermined level is more important.

  The liquid storage unit 20 is formed and arranged so as to be symmetric with respect to a vertical plane including the vehicle center line CL. Similarly, power storage unit 30 is formed and arranged so as to be symmetric with respect to a vertical plane including vehicle center line CL. This is to make the masses on both sides of the vehicle center line CL as equal as possible. In the present embodiment, for the above-described reason, both the liquid storage unit 20 and the power storage unit 30 have a substantially rectangular parallelepiped outer shape. However, the liquid storage unit 20 and the power storage unit 30 may have an outer shape other than a rectangular parallelepiped. In the present embodiment, both the liquid storage unit 20 and the power storage unit 30 are arranged such that the length in the Y-axis direction is longer than the length in the X-axis direction. This is because the vehicle length can be reduced. However, the liquid storage unit 20 and the power storage unit 30 may be formed and arranged so that the length in the Y-axis direction is shorter than the length in the X-axis direction in order to achieve a desired vehicle width. This is because the vehicle width can be reduced.

  FIG. 3 shows a liquid container 20 </ b> X that is another configuration example of the liquid container 20. FIG. 3 is a top view of the liquid container 20X. The liquid storage unit 20X is different from the liquid storage unit 20 having a substantially rectangular parallelepiped shape in that a recess 21 is formed at two corners on the −X side. These two recesses 21 are formed, for example, in order to secure a space for a vertical frame extending vertically from the frame 11 in the + Z direction. Further, even when the liquid storage portion 20X has the recess 21, the liquid storage portion 20X is formed and arranged so as to be symmetric with respect to the vertical plane including the vehicle center line CL, as with the liquid storage portion 20. This is to make the masses on both sides of the vehicle center line CL as equal as possible.

  As described above, the self-propelled cleaning device 100 mounts them so that the liquid storage unit 20 and the power storage unit 30 are arranged in the front-rear direction. Therefore, it is possible to prevent a situation in which the liquid leaking from the liquid storage unit 20 causes the power storage unit 30 to be short-circuited. Further, the height of the structure mounted on the frame 11 is made uniform so that flattening is realized. As a result, higher fault tolerance and versatility can be realized.

  In addition, the self-propelled cleaning device 100 is configured such that the liquid storage unit 20 is disposed behind the power storage unit 30 in the traveling direction. Specifically, the liquid container 20 is positioned at the rear end of the frame 11. Therefore, the liquid storage unit 20 is easily isolated from the electrical system. As a result, higher fault tolerance can be realized.

  Further, both the liquid storage unit 20 and the power storage unit 30 are formed and arranged so as to be symmetric with respect to a vertical plane including the vehicle center line CL. Therefore, the masses on both sides of the vehicle center line CL can be made as equal as possible. As a result, the traveling stability of the self-propelled cleaning device 100 can be enhanced.

  In the self-propelled cleaning device 100, the vertical line passing through the center of gravity of the triangle formed by the contact points of the drive wheels 12L and 12R and the driven wheel 13 with the liquid container 20 empty is self-propelled cleaning. The power storage unit 30 and the like are mounted so as to pass through the mass center CM of the device 100. As a result, traveling stability can be further improved.

  The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the self-propelled cleaning device 100 employs three-point support using two drive wheels 12L and 12R and one driven wheel 13. The three-point support is advantageous in that one or a plurality of wheels can be prevented from being lifted from the traveling surface as in the case of a multi-point support of four points or more. However, the present invention is not limited to three-point support. The self-propelled cleaning device 100 may employ multipoint support of four or more points using two drive wheels 12L and 12R and two or more driven wheels. In the case of four-point support, the two driven wheels may be a pair of left and right driven wheels disposed on both sides of the vehicle center line CL, and may be a pair of front and rear disposed before and after the two drive wheels 12L and 12R. It may be a driven wheel. This is because the arrangement of each part mounted on the frame 11, the shape of the frame 11, the acceleration characteristics of the self-propelled cleaning device 100, and the like can be determined flexibly.

  In the above-described embodiment, the drive wheels 12 </ b> L and 12 </ b> R are disposed ahead of the driven wheel 13 in the traveling direction. However, the present invention is not limited to this configuration. The drive wheels 12L and 12R may be arranged behind the driven wheel 13 in the traveling direction. For example, the self-propelled cleaning device 100 may set the −X direction to the front in the traveling direction.

  DESCRIPTION OF SYMBOLS 10 ... Traveling part 11 ... Frame 12, 12L, 12R ... Drive wheel 12A, 12AL, 12AR ... Drive shaft 13 ... Driven wheel 20, 20X ... Liquid storage part 30 ... Power storage unit 40 ... cleaning unit 41 ... squeegee 42 ... blower 50, 50L, 50R ... drive unit 60 ... control unit 61 ... first electric circuit case 62 ... second electric Circuit case 100 ... Self-propelled cleaning device CG ... Triangular center of gravity CM ... Center of mass

Claims (4)

A liquid container;
A power storage unit that supplies at least electric power for driving the drive wheels,
The liquid storage unit and the power storage unit are arranged so as to be lined up in front and back in the traveling direction, and at least a part of each is positioned on the same plane.
Self-propelled cleaning device. The liquid storage unit is disposed behind the power storage unit in the traveling direction.
The self-propelled cleaning device according to claim 1. Having two drive wheels and one driven wheel,
With the liquid container empty, a vertical line passing through the center of gravity of the triangle formed by the respective ground contact points of the two drive wheels and the one driven wheel passes through the center of mass of the self-propelled cleaning device.
The self-propelled cleaning device according to claim 1 or 2. The liquid storage unit and the power storage unit are both formed and arranged so as to be symmetric with respect to a vertical plane including a vehicle center line.
The self-propelled cleaning device according to any one of claims 1 to 3.

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