JP2016059677A - Wiping body restoration carpet, dust collector, and dust collection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide: a wiping body restoration carpet capable of easily removing adhering substances tangling with a wiping body of a cleaning tool to restore the wiping body; a dust collector that includes the wiping body restoring carpet; and a method for dust collection by which dust collection and restoration of the wiping body by the wiping body restoration carpet can be performed.SOLUTION: The dust collection is performed in such a manner that dust in a cleaning area 9 is collected by a mop cleaning tool 2 to be carried to a suction port 4 and the dust is sucked by a dust collector 1. At a time, for example, when the dust collection is completed, a mop 7 to which hair, fallen hair of a pet, and the like adheres is moved back and forth so as to be rubbed against an inclined woven fabric 3a that is disposed in front of the suction port 4 of the dust collector 1, thereby enabling dust collection in which the adhering substances adhered to the mop 7 is scraped off by inclined piles 3b, and at the same time, the scraped off adhering substance can be moved to the suction port 4 to be collected by the dust collector 1.SELECTED DRAWING: Figure 1

Description

  The present invention includes a wiping body regeneration rug used to regenerate the wiping body by removing adhering matter attached to the wiping body of the cleaning tool during cleaning, and the wiping body regeneration rug. The present invention relates to a dust collector and a dust collection method using the wiping body regenerating rug.

  For cleaning the floor surface or the like, there are a method of collecting dust and dust in one place with a mop cleaning tool and scissors, and throwing them into a trash box using a dust collector, or a method of using a vacuum cleaner. If you use an electric vacuum cleaner, you can save the trouble of collecting dust, but it is necessary to move the suction hose and nozzle together with the main body of the vacuum cleaner. Widely used. In particular, wrinkles wear out when worn, but mop cleaning tools can be cleaned and reused even if they become dirty, and are also popular as rental mop products.

  As the mop cleaning tool, for example, as shown in Patent Document 1, a wiping body formed of a pile is used. A brush-like wiping body is used for the nozzle (or head) of the vacuum cleaner.

JP 2011-161162 A

  When the floor surface is cleaned using a mop cleaning tool or a vacuum cleaner, hair, pet hair, lint, etc. that have fallen on the floor surface are entangled and adhered to the pile or brush-like wiping body. However, once entangled matter such as hair and lint is entangled, it is difficult to shake off, and it is necessary to perform a troublesome operation of removing the tangled hair from the wiping body.

  The objective of this invention is providing the rug for wiping body reproduction | regeneration which can remove and recycle | regenerate the attachment matter entangled with the wiping body of a cleaning tool simply. Another object of the present invention is to provide a dust collector including the wiping body regenerating rug. Still another object of the present invention is to provide a dust collection method capable of regenerating a wiping body using the wiping body regeneration rug together with a dust collection operation.

  The present invention has been made to solve the above-mentioned problems, and the first aspect of the present invention is a wiping for regenerating the wiping body by removing deposits entangled with the wiping body for cleaning. A rug for body regeneration, comprising a flat substrate, an inclined fabric in which a large number of contacts are planted in an inclined manner, and fixing means for fixing the inclined fabric to the upper surface of the flat substrate; When the wiping body is moved so as to rub against the inclined fabric in a state where the flat base material is placed at a predetermined installation position, the adhered matter is scraped off by contact with the touch element. The wiping body regenerating rug is characterized in that the wiping body is regenerated.

  According to a second aspect of the present invention, the fixing means includes a thermocompression bonding means for thermocompression bonding the inclined fabric to the flat substrate, a sewing means for sewing the inclined fabric to the flat substrate, and the inclined The inclined fabric is fixed to the flat substrate by either an adhering means for adhering the fabric to the flat substrate or an engaging means for engaging the inclined fabric to the flat substrate with a locking fastener. It is a rug for wiping body regeneration.

  According to a third aspect of the present invention, there is provided a wiping body regeneration rug, wherein the tentacle is any one of a brush-like tentacle, a brush-like tentacle, and a pile-like tentacle.

  According to a fourth aspect of the present invention, the wiping body is a wiping body regeneration rug, wherein the wiping body is any one of a pile mop, a sponge body, a brush body, a wiping cloth, and a wiping paper.

  According to a fifth aspect of the present invention, there is provided a wiping body regenerating rug according to the first to fourth aspects, a dust collector having an air inlet, and a cleaning tool having the wiping body. A dust collecting device that collects and transports the wiping body to the inclined fabric and scrapes the deposits with the tentacles. On the other hand, the dust collecting apparatus is characterized in that the adhered matter scraped off is moved to the intake port to collect dust.

  A sixth aspect of the present invention is a dust collecting apparatus in which the wiping body regenerating rug is disposed so that the tilt direction of the tentacle is at least opposite to the suction port.

  A seventh aspect of the present invention is a dust collector in which the inclined fabric has a convex planar shape, and the wiping body regeneration rug is disposed with the convex portion facing the suction port.

  According to an eighth aspect of the present invention, the cleaning tool has an automatic travel function for automatically traveling in the cleaning area and a detection function for detecting a dust collection position by the dust collector, and automatically travels in the cleaning area. A cleaning robot that collects dust by the wiping body and moves to the dust collection position to enable dust collection, and moves the cleaning robot on the inclined fabric by the occurrence of a predetermined regeneration trigger, It is a dust collector that regenerates the wiping body by scraping off the adhering matter adhering to the wiping body by a toucher and moving it to the dust collecting position to collect the dust.

  According to a ninth aspect of the present invention, there is provided a wiping body regenerating rug according to the first to fourth aspects, a dust collector having an air inlet, and a cleaning tool having the wiping body. A dust collection method for collecting dust in an area, transporting the dust to the suction port and sucking it by the dust collector, and collecting the dust by moving the wiping body so as to rub against the inclined fabric. It is a dust collection method characterized in that the wiping body is regenerated by scraping it off by a child and collecting the dust at the intake port.

  According to the first aspect of the present invention, the wiping body regeneration rug having the inclined fabric fixed to the upper surface of the flat substrate is installed at a predetermined installation position with the flat substrate on the lower side. Thus, when the wiping body is moved so as to rub against the inclined fabric, the adhering matter is scraped off by contact with the touch element, and the wiping body can be easily regenerated.

  For the flat substrate, for example, a rubber plate, a plastic material such as polyethylene resin or polypropylene resin, a plywood material, craft paper, a carpet, or a carpet cloth material can be used.

  The inclined fabric is composed of, for example, a woven fabric in which brush-like, brush-like, or pile-like inclined contacts are woven, a net material woven in a net shape, or a nonwoven fabric in which the inclined contacts are exposed on the front side. be able to. For example, natural fibers such as cotton, regenerated fibers such as rayon, and synthetic fibers such as nylon can be used as the material of the fabric.

According to the second aspect of the present invention, thermocompression bonding means for heat-pressing the inclined fabric to the flat substrate, sewing means for sewing the inclined fabric to the flat substrate, and the inclined fabric for the inclined fabric By adhering the inclined fabric to the flat substrate by either an adhering means for adhering to the flat substrate, or an engaging means for engaging the inclined fabric to the flat substrate with a locking fastener, When the wiping body is rubbed against the inclined fabric, the inclined fabric can be kept stationary on the flat base material, and the deposits can be scraped off reliably and smoothly.

  According to the third aspect of the present invention, any one of a brush-like toucher, a brush-like toucher, and a pile-like toucher is used as the toucher, and the adhered substance is contacted with the wiping body. The scraping process can be performed reliably and smoothly, and the wiping body can be easily regenerated. In particular, an inclined fabric using a pile-like touch element can be constituted by, for example, an inclined pile material used for removing dust attached to clothing.

  According to the 4th form of this invention, it applies to the various cleaning tools provided with the wiping body which is either a pile mop, a sponge body, a brush body, a wiping cloth, and wiping paper, and reproduction | regeneration of this wiping body is simple. Can be done.

  According to the fifth aspect of the present invention, in addition to the dust collecting function of collecting dust by the cleaning tool and carrying it to the suction port and sucking it by the dust collector, the wiping body is placed on the inclined fabric. Attached to the wiping body by moving so as to be rubbed and scraped off by contact with the tentacles and collected on the dust collector. It is possible to provide a dust collecting device that can easily and smoothly regenerate the wiping body by performing a dust collecting work on the adhered material in the same manner as dust collection without performing troublesome manual work. it can.

  The dust collector is not limited to a manual dust collector that manually performs suction on / off, and for example, an automatic dust collector that automatically performs suction on / off upon the approach of the cleaning tool or the wiping body can be used.

  The inclined fabric according to the present invention can have a shape comparable to that of a flat substrate, a slightly similar shape, or a shape that occupies a part of the flat substrate surface. In the latter case, the wiping body is provided at the time of regeneration processing by providing a placement area for placing the dust collector on the surface of the flat substrate, and placing the dust collector on the placement area apart from the inclined fabric. The adhering matter adhering to the surface is scraped off by the inclined fabric, and the wiping body is further slid on the flat substrate surface so that the adhering matter can be surely collected by the dust collector. In particular, by providing a mounting area for the dust collector on the flat base material to which the inclined fabric is fixed, the cleaning area is uneven, for example, sliding the wiping body in a tatami mat or a carpet, A smooth wiping body regeneration process can be performed by exhibiting a mat effect that facilitates movement.

  According to the sixth aspect of the present invention, by disposing the wiping body regenerating rug so that the inclination direction of the tentacle is at least opposite to the suction port, during the regeneration process of the wiping body, Since the adhering matter adhering to the wiping body can be pushed into the suction port as it is while scraping off the adhering matter with the tentacle, the dust collecting operation of the adhering matter can be performed smoothly.

  According to a seventh aspect of the present invention, the inclined fabric has a convex planar shape, and the wiping body regeneration rug is disposed with the convex portion facing the suction port, whereby the wiping is performed. In the case of body regeneration processing, when the adhering matter adhering to the wiping body is scraped off by the toucher and pushed into the suction port, the frictional resistance that the wiping body receives from the inclined pile gradually decreases as it approaches the suction port. This makes it possible to smoothly carry out the dust collection work of the deposits.

As the planar shape of the inclined fabric, a triangle, a trapezoid or the like can be used. Moreover, the shape of the said flat base material can be made into the same shape as the said inclination cloth, or a larger similar shape.

  According to an eighth aspect of the present invention, in addition to the automatic dust collection function for collecting dust while moving the cleaning robot automatically in the cleaning area and moving it to the dust collection position, By moving the wiping body on an inclined fabric, the wiping body has a wiping body regenerating function of collecting and regenerating the dust adhered to the wiping body by scraping with the toucher, and is generated by an automatic dust collecting operation. It is possible to provide a robot-type dust collector that can smoothly collect and recycle deposits in the same manner as automatic dust collection, without removing the deposits such as hair from the wiping body, and without performing the troublesome manual work. .

  In the eighth embodiment, the suction on / off of the dust collector can be remotely controlled by the cleaning robot.

  If the inclined fabric is separated from the air inlet and a sliding region is provided between the inclined fabric and the air inlet, the wiping body is slid into the sliding region, and the inclined fabric is scraped. Since the deposited matter that has been dropped can be swept out and moved to the intake port to collect dust, the deposited matter can be reliably collected in the dust collector.

  According to the ninth aspect of the present invention, dust can be collected by collecting dust with the cleaning tool and transported to the suction port and sucked by the dust collector to collect the dust. By moving the wiping body, it is possible to perform a wiping body regenerating operation of scraping and collecting dust attached to the wiping body by the contactor and removing the adhering material such as hair generated by the cleaning work from the wiping body. The regeneration process of the wiping body can be smoothly performed without troublesome manual work.

FIG. 1 is a configuration diagram of a dust collector according to an embodiment of the present invention. FIG. 2 is a longitudinal sectional view of the dust collector 1 used in the embodiment. FIG. 3 is a longitudinal sectional view (3A) of the mop reproduction mat 3 used in the above embodiment, and a diagram (3B) for explaining a method of manufacturing an inclined pile material used for the constituent members (inclined woven fabric 3a) of the mop reproduction mat 3 FIG. 3 is a partially enlarged longitudinal sectional view (3C) of the mop reproduction mat 3. FIG. 4 is a plan view (4A) of the mop reproduction mat 3 and a plan view (4B) of an inclined fabric according to another embodiment. . FIG. 5 is an external configuration diagram showing a configuration of a cleaning robot type dust collecting apparatus including a cleaning robot 31 according to another embodiment of the present invention. FIG. 6 is an external view of the cleaning robot 31. FIG. 7 is a longitudinal sectional view of the cleaning robot 31. FIG. 8 is a control block diagram of the cleaning robot type dust collector including the cleaning robot 31. FIG. 9 is a flowchart showing main control processing by the control unit 100 of the cleaning robot 31. FIG. 10 is a flowchart showing the cleaning process by the control unit 100. FIG. 11 is a flowchart showing a part of mop reproduction processing by the control unit 100. FIG. 12 is a flowchart showing a part of the mop reproduction process.

  Hereinafter, embodiments of a dust collector according to the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 shows a configuration of a dust collector according to an embodiment of the present invention.

  The dust collector according to the present embodiment removes deposits such as a dust collector 1, a mop cleaning tool 2 having a mop 7 as a wiping body, and hair, body hair and lint attached to the mop 7 by mop cleaning. And a mop reproduction mat 3. This embodiment shows the cleaning example which installs the dust collector 1 in the cleaning area | region 9 by which the tatami was spread, and cleans the dust on a tatami with the mop cleaning tool 2. FIG.

  FIG. 2 shows the internal configuration of the dust collector 1.

  The dust collector 1 is a dual-purpose dust collector having a hose dust collecting function by a suction hose 10 similar to that of an electric vacuum cleaner, and a wiping body dust dust collecting function for sucking dust (dust) collected by the mop cleaner 2 from the air inlet 4. . FIG. 2 shows a state where the dust collector 1 is operated with the wiping body dust collecting function.

  The dust collector 1 has a vertically long main body case 40, and a handle 11 that can be held by a hand 47 is attached to the upper portion of the main body case 40. At the lower end of the main body case 40, an air inlet 4 for sucking dust collected by the mop cleaner 2 is opened. In the dust collector 1, the attached matter such as hair, body hair and lint attached to the mop 7 is removed through the air inlet 4 so that dust can be collected and collected.

  In the main body case 40, a suction motor unit 42, a filter unit 44 that removes dust from the air sucked from the suction hose 10, and an exhaust filter unit 43 that exhausts the purified air discharged from the suction motor unit 42 are provided. . A cord storage portion 46 for storing the power cord 13 is provided at the lower portion of the main body case 40.

  The air inlet 4 has a horizontally long shape that is opened over substantially the lateral width of the main body case 40. A scraping plate 48 made of rubber or elastic resin is suspended from the upper side of the opening. The intake port 4 communicates with a substantially L-shaped suction pipe 45. The discharge port of the suction pipe 45 is located in the back part of the main body case 40, and the suction port part 41 of the suction hose 10 can be inserted.

  The broken line arrows in FIG. 2 indicate the flow direction of the suction air during the dust collection operation. When the power switch 12 of the dust collector 1 is turned on and the suction motor unit 42 is driven to rotate, air is sucked from the intake port 4. When dust collected by the mop cleaner 2 is carried to the vicinity of the intake port 4, it is sucked into the dust collector from the intake port 4. At this time, if the mop 7 is brought close to the vicinity of the air inlet 4 and rubbed against the scraping plate 48, dust attached to the tip side of the mop 7 can be dropped. The dust sucked into the dust collector is mixed in the air to become dust mixed air. The dust mixed air is sucked into the case inside in the direction of the broken line arrow from the intake port 4 and sucked upward by the suction pipe 45.

  Further, the dust mixed air passes through the suction hose 10, dust is separated and collected by the filter in the filter unit 44, and the purified air flows out from the outlet of the filter unit 44 and is sucked into the suction motor unit 42. It will be. The air purified by the suction motor unit 42 is further purified through the exhaust filter unit 43, and the purified air is released from the back of the main body case 40 into the atmosphere.

When the dust collector 1 is used as a hose dust collecting function, the suction port 41 of the suction hose 10 is removed from the discharge port of the suction pipe 45, and a T-shaped nozzle body (not shown) is provided in the suction port 41, for example. Insert. As a nozzle type dust collector that cleans the nozzle by sucking outside air from the nozzle body by pulling out the power cord 13 and holding the handle 11 with the hand 47 to move the entire apparatus in the inserted state of the nozzle body Can be used. A caster wheel may be attached to the lower part of the dust collector 1 to facilitate movement during nozzle cleaning.

  The dust collector 1 is a manual dust collector that performs suction on / off by manual operation of the power switch 12, but is not limited thereto, for example, automatic that automatically performs suction on / off by detecting the approach of the mop 7 or the mop cleaner 2. A dust collector can be used. For the approach detection, for example, a communication detection system can be used in which a set of ID tags and detection sensors are provided in the dust collector 1 and the mop 7 to perform the approach detection.

  The mop cleaning tool 2 has a pile mop 7 detachably attached to a shaft body 8 attached to the lower end of the longitudinal handle 6. Mop 7 is a dust control product that is collected and recycled after use. In this embodiment, the dust collector 1, the mop cleaning tool 2, and the mop regeneration mat 3 are products that can be rented as a set.

  Instead of the mop cleaning tool 2, a cleaning tool or a single wiping body in which the wiping body is composed of a sponge body, a brush body, a wiping cloth or wiping paper can be used. It is preferable to use a wiping body having a shape that can be replaced when soiled, in the same manner as the pile mop, so that the longitudinal handle 6 is not disposable.

  FIG. 3 (3A) is a longitudinal sectional view of the mop reproduction mat 3. FIG. FIG. 3 (3 C) is a partially enlarged cross-sectional longitudinal sectional view of the mop reproduction mat 3. 4 is a plan view of the mop reproduction mat 3. FIG.

  As shown in (3A), the mop reproduction mat 3 has a laying mat shape in which an inclined woven fabric 3a is fixed to the lower side of the rectangular rubber plate 5 of the flat substrate. In addition to the inclined woven fabric 3a, the rubber plate 5 is provided with a dust collector 1 installation area having a width L1. The inclined woven fabric 3a has a substantially convex hexagonal shape. The width L3 of the upper side portion of the inclined woven fabric 3a is substantially the same as the lateral length of the intake port 4. In the dust collector 1 installation area, it is preferable to install the dust collector 1 with the width L2 separating so that the inlet 4 faces the upper side of the inclined woven fabric 3a and the mop 7 can slide. By providing this separation region, it is possible to make it easier to push the adhering substances such as hair that have been slid off from the mop 7 with the inclined woven fabric 3 a by sliding the mop 7 into the air inlet 4. On the back surface of the rubber plate 5, many uneven portions (not shown) for preventing slipping are formed so that the rubber plate 5 itself is not displaced even if the mop 7 is moved on the front side.

  In addition to the rubber material, for example, a plastic sheet material such as vinyl resin, polyethylene resin or polypropylene resin, plywood material, kraft paper, carpet or carpet cloth material can be used for the flat substrate.

  As shown in (4A), the inclined woven fabric 3a is composed of an inclined pile material in which a large number of inclined piles 3b are planted on a base cloth having a deformed hexagonal shape similar to that of a baseball home base. In the present embodiment, a rubber plate is used as the flat substrate, and the inclined woven fabric 3a is fixed to the rubber plate 5 by a thermocompression bonding unit that heat-presses the inclined woven fabric 3a to the flat substrate. That is, the inclined woven fabric 3a is fixed integrally with the rubber plate 5 by applying pressure and heating while the inclined woven fabric 3a is placed on the vulcanized rubber substrate which is the raw material of the rubber plate 5. The inclined woven fabric 3a is fixed and shaped almost on the entire surface of the rubber plate except for the edge of the rubber plate 5.

  As an adhering means for adhering the inclined fabric to the flat base material, the adhering matter is scraped off so that the adhering matter adhering to the mop 7 can be surely and smoothly scraped by rubbing the mop 7 against the inclined woven fabric 3a. If it can hold | maintain so that the inclination woven fabric 3a may not move at the time of work | work, fixing means other than a thermocompression-bonding means can be used.

  For example, a sewing means for sewing the inclined woven fabric 3a to a flat base material such as a cloth material, and an adhesive means for bonding the inclined woven fabric 3a to the flat base material can be used. Also, a locking fastener consisting of a pair of hooks and fasteners is used, and the hooks and fasteners are sewn or bonded to the inclined woven fabric 3a and the flat substrate, respectively, and the inclined woven fabric 3a is attached by the locking fastener. An engaging means for engaging with the flat substrate can be used.

  The inclined woven fabric 3a is composed of an inclined pile material in which a large number of nylon inclined piles 3b are planted on a nylon base fabric B knitted with nylon yarn.

  (3B) of FIG. 3 is a figure for demonstrating an example of the manufacturing method of the inclination pile material for inclination woven fabric 3a. In this inclined pile material manufacturing example, the nylon base fabric B is made into two layers, and the two layers are sewn in a slanted and zigzag manner with nylon thread, and then the slanted nylon between the two layers as shown by the broken line C. The yarn D is divided to form the inclined pile 3b of the inclined contact. The inclined pile manufactured in this way can be applied to a handy cleaning tool for removing dust attached to clothes, for example.

  The inclined pile 3b is formed by sewing a nylon thread in an inclined shape between two layers of the base fabric. However, the invention is not limited to the formation of the inclined pile. For example, the nylon yarn is sewn vertically between the two layers of the base fabric. Then, after the vertical nylon thread between the two layers is divided to form a vertical contact, the inclined pile can be formed by thermally deforming the vertical contact in an inclined manner by ironing.

  In the present embodiment, an inclined woven fabric 3a made of an inclined pile material is used as the inclined fabric according to the present invention. Examples of the inclined fabric include a net material formed by weaving brush-like, brush-like, or pile-like inclined contacts on the mesh surface, or a nonwoven fabric having the inclined contacts exposed on the front side. be able to.

  For the material of the inclined woven fabric 3a (inclined fabric), for example, natural fibers such as cotton and recycled fibers such as rayon can be used in addition to synthetic fibers such as nylon.

  In the case of the inclined pile 3b, as shown in (3C) of FIG. 3, it is an inclined contact having a curved and bent shape. However, the inclined pile is not limited to this, and the inclined shape is inclined linearly without bending. An inclined fabric provided with a touch element can be used.

  In the inclined pile 3b, the nylon thread is divided into a straight tip-shaped inclined contact, but not limited thereto, for example, an inclined fabric provided with a hook-shaped or hook-shaped inclined contact, or An inclined fabric provided with an inclined contact having a ball-shaped tip portion larger than the yarn diameter can be used.

  In order to enhance the effect of scraping hair or the like, the inclined woven fabric 3a is formed so that the inclined direction of the inclined pile 3b is aligned in a predetermined direction, that is, the directions of the inclined tentacles are substantially matched. ing. As shown by the arrow A in (4A), the inclination direction of the inclined pile 3b is aligned in the direction from the upper side to the lower side of the inclined woven fabric 3a as a whole. As a mode of placing the dust collector 1 on the mop regeneration mat 3, each of the inclined piles 3b of the inclined woven fabric 3a is installed in a direction inclined in the direction opposite to the direction with respect to the intake port 4 (arrow E in (3C)). Is preferred.

The inclined woven fabric 3a can be a rectangular or elliptical planar shape, but in the present embodiment, the inclined woven fabric 3a has a deformed hexagonal planar shape that is arranged in a convex shape toward the suction port 4. When the attached deposit is scraped off by the inclined pile 3b and pushed into the suction port 4, the frictional resistance that the mop 7 receives from the inclined pile 3b gradually approaches the suction port 4 so that the dust collecting operation of the attached matter is smoothly performed. It can be carried out.

  In particular, since the width L3 of the upper side portion of the inclined woven fabric 3a is set to be approximately the same as the lateral width of the suction port 4, the inclined pile 3b is scraped only by sliding the mop 7 straight from the vicinity of the upper side portion. The deposits of the dropped mop 7 can be efficiently collected from the suction port 4 set at a position facing the upper side.

  As the planar shape of the inclined fabric arranged in a convex shape, an inclined woven fabric 3c having a triangular planar shape can be used as shown in FIG. 4 (4B). Also in this shape example, the directions of the inclined piles 3d of the inclined woven fabric 3c are aligned in the direction from the apex side to the lower side of the inclined woven fabric 3c as a whole as indicated by the arrow F in (4B). By fixing the inclined woven fabric 3c on the rubber plate 5 with the apex of the inclined woven fabric 3c facing the dust collector 1 installation region, the mop 7 receives from the inclined pile 3d as approaching the suction port 4 as in this embodiment. The dust resistance can be smoothly collected by gradually reducing the frictional resistance.

  In the dust collector configured as described above, the dust in the cleaning area 9 can be collected by the mop cleaning tool 2, carried to the suction port 4, and sucked by the dust collector 1 to perform the dust collecting work. Further, when the dust collection work is finished, the mop 7 to which hair or the like is attached is moved back and forth so as to rub against the inclined woven cloth 3a disposed in front of the suction port 4 of the dust collector 1. 7, the scraped deposits can be moved to the intake port 4 and collected by the dust collector 1 while scraping off the deposits attached to 7.

  According to the present embodiment, in addition to the dust collecting function for general cleaning, the mop 7 moves on the inclined pile 3b, so that the extraneous matter such as hair entangled with the mop 7 can be scraped off and collected. Since it has a dust collection function, it removes deposits such as hair from the mop 7 from the mop 7 and smoothly collects the deposits and regenerates the mop 7 in the same way as the dust collection without the troublesome manual work. It is possible to realize a dust collector that can be used in a simple manner.

  FIG. 5 shows a robot type dust collector according to another embodiment of the present invention.

  In FIG. 5, the same code | symbol is attached | subjected about the structural member similar to embodiment of FIG. In addition to the dust collector 1 and the mop regeneration mat 3, the dust collector according to another embodiment includes an automatic traveling function that automatically travels in a cleaning area as a cleaning tool, and a detection function that detects a dust collection position by the dust collector 1. And a cleaning robot 31 that collects dust by a wiping body (mop cleaning member 33) and moves to the dust collection position while automatically running in the cleaning area.

  The cleaning robot 31 has a main body 32 and a mop cleaning member 33. The cleaning robot 31 has a charging position moving function and a regeneration (cleaning) position moving function of the mop cleaning member 33 in addition to the cleaning function by the mop cleaning member 33. When the cleaning function is executed, the cleaning robot 31 can move forward with the main body portion 32 at the head and the mop cleaning member 33 in contact with the floor surface. This embodiment is a configuration example of a cleaning robot system including a cleaning robot 31, a dust collector 1 capable of regenerating the mop cleaning member 33, and a charging device 50 that can charge the cleaning robot 31.

  FIG. 6 shows the appearance of the cleaning robot 31. FIG. 7 shows a longitudinal sectional structural view of the cleaning robot 31. FIG. 8 is a control block diagram of a cleaning robot type dust collector including the cleaning robot 31.

The main body 32 of the cleaning robot 31 includes a front bottom plate 64 and a rear bottom plate 65 on which various members are mounted, and a longitudinal substantially egg-shaped cover member 66 that covers these bottom plates. The cover member 66 has a boat shape with a space inside. The cover member 66 is formed by a member molded by a reinforced plastic material or thin sheet metal processing. The external shape of the main body 32 is not limited to a substantially oval shape, and a disk shape, a rectangle, or the like can be used.

  The front bottom plate 64 has a substantially circular shape as a whole, and a substantially semicircular cutout portion 67 is formed on the round front portion side from the center portion. The notch 67 is formed with a stepped portion 68 positioned below the entire bottom plate.

  The rear bottom plate 65 has a substantially rectangular shape, and its front end is screwed via a rear portion of the front bottom plate 64 and a connecting plate 69. The rear bottom plate 65 is connected and fixed to the front bottom plate 64, and the fixed state as a whole. Forms a planar scabbard. Without separating and connecting the front bottom plate 64 and the rear bottom plate 65, these bottom plates can be integrally formed and a single bottom plate can be used. The front bottom plate 64 and the rear bottom plate 65 are formed by a member molded by a reinforced plastic material or by thin sheet metal processing.

  Engaging protrusions 61 are provided on the outer peripheral portions of the front bottom plate 64 and the rear bottom plate 65 so that the cover member 66 can be attached. In the front bottom plate 64, one engagement protrusion 61 is formed at the foremost end, and a total of four engagement protrusions 61 are formed on both sides. On the back side end surface of the cover member 66, five engagement holes that can be fitted into the respective engagement protrusions 61 of the front bottom plate 64 are formed. The cover member 66 is engaged so as to cover the mounting member of the front bottom plate 64 by fitting the engagement protrusions 61 of the front bottom plate 64 corresponding to the engagement holes of the cover member 66 respectively.

  In the rear bottom plate 65, one engagement protrusion 61 is formed at the rearmost end, and a total of four engagement protrusions 61 are formed on both sides. On the back side end surface of the cover member 66, five engagement holes that can be fitted into the respective engagement protrusions 61 of the rear bottom plate 65 are formed. By engaging the engagement protrusions 61 of the rear bottom plate 65 corresponding to the engagement holes of the cover member 66, the cover member 66 is engaged so as to cover the mounting member of the rear bottom plate 65. For attaching the cover member 66, an engaging means such as a screw can be used in addition to the engaging means using the engaging protrusion and the hole.

  The cleaning robot 31 has three types of obstacle detection functions for detecting obstacles that hinder travel. One is a forward obstacle detection function that detects an obstacle in a straight traveling direction or an obliquely forward direction that hinders forward traveling itself. Second, when there is a small gap between the objects in the cleaning area and between the objects and the wall, the mop cleaning member 33 detects an obstacle that may interfere with the objects or the wall (contact, hook, etc.) and may not be able to run. This is a mop failure detection function. The third function is a downward obstacle detection function that detects a failure that may cause the vehicle to run or fall over due to a stepped portion or a carpet such as a carpet, carpet, or mat.

  A through hole H1 for the front obstacle detection sensor D1 is formed in the center of the arcuate head portion of the cover member 66. Below the through hole H1, in the vicinity of the left and right sides, the electrode portions T1 and T2 of the charging input terminal are exposed. A pair of through-hole portions H2 for the side failure detection sensors D2 and D3 are formed in the side portion diagonally forward of the top portion. A pair of through-hole portions H3 for side failure detection sensors D4 and D5 are formed in the lateral side portion of the top portion. The front obstacle detection sensor D1 and the side obstacle detection sensors D2 to D5 are constituted by infrared sensors. It is possible to detect a front obstacle such as a wall surface or a pillar material by receiving light by the infrared sensor. The front failure detection sensor D1 and the side failure detection sensors D2, D3 are used for the forward failure detection function, and the side failure detection sensors D4, D5 are used for the mop failure detection function.

The front obstacle detection sensor D1 and the side obstacle detection sensors D2 to D5 are fixedly attached to the inner side of the cover member 66 corresponding to the respective through holes so as to be able to project and receive infrared rays. The fixing is performed by screwing. The fixing can be performed by soldering or bonding. Each through hole is hollow by drilling. A transparent member for protection may be embedded in each through hole.

  Three lower obstacle detection sensors 70 to 72 are fixedly attached to the front end portion of the front bottom plate 64. The fixing is performed by screwing. The fixing can be performed by soldering or bonding. The lower obstacle detection sensor 70 is attached to the center position of the front end. The lower obstacle detection sensors 70 and 71 are attached outside the notch 67 and inside the lower obstacle detection sensor 70, respectively. A through hole 73 is formed at the attachment position of each downward obstacle detection sensor. The lower obstacle detection sensors 70 to 72 are constituted by infrared sensors, and each lower obstacle detection sensor can emit and receive infrared rays through the through-hole portions 73 at the respective attachment positions. When the cleaning robot 31 approaches a step in the cleaning region, the amount of reflected light received by the lower obstacle detection sensors 70 to 72 is reduced, and the presence of the step can be detected. The cleaning robot 31 has a step obstacle avoidance function that identifies a boundary between the stepped portion and the floor plane F, and performs an avoidance operation toward the floor plane F so as not to enter the stepped portion when approaching the boundary. .

  Further, when the cleaning robot 31 approaches a carpet such as carpets, mats, and carpets laid in the cleaning area, the amount of reflected light received by the lower obstacle detection sensors 70 to 72 decreases, and the presence of the carpet is present. Can be detected. The cleaning robot 31 also has a rug obstacle avoidance function that identifies a boundary between the rug and the floor plane F and performs an avoidance operation toward the floor plane F so as not to enter the rug when approaching the boundary.

  A color sensor D6 for the charging position moving function and the reproduction position moving function is fixedly attached to the front end center position of the front end portion of the front bottom plate 64. The fixing is performed by screwing. The fixing can be performed by soldering or bonding. A through hole 74 is formed at the mounting position of the color sensor D6. The color sensor D6 can receive reflected light through the through hole 74.

  The color sensor D6 is composed of an RGB color sensor for color identification of the traveling floor area and other areas. The RGB color sensor can detect a visible light region in a wavelength range (380 to 780 nm) separately for each color signal of red (R), green (G), and blue (B) and output a color identification signal. it can.

  The stepped portion 68 is provided with a pair of wheels (drive wheels) W1 and W2 and small DC motor drive motors M1 and M2 for independently driving the wheels. The drive motors M1 and M2 are fixed on the stepped portion 68 with the center line in the longitudinal direction of the robot body portion as the axis of symmetry. The fixing is performed by screwing. The wheels W1 and W2 attached to the outer end portions of the motor shafts are disposed so as to be exposed from the notches 67. The drive motors M1 and M2 each have built-in odometers m1 and m2 that measure the mileage from the rotation speed of each motor shaft and output a mileage signal. The odometers m1 and m2 can be arranged close to each motor shaft without incorporating a motor. The cleaning robot 31 can independently drive the drive motors M1 and M2 and perform drive operations such as straight driving, direction change, and turning by simultaneously driving the motors, adding a rotational speed difference, and stopping the driving. Each wheel is configured by fitting a donut-shaped tire rubber material (not shown) on a disc (not shown) fixed to the outer end of the motor shaft.

On the rear bottom plate 65, a control case body 75 including a control circuit board, a battery case body 76 containing the rechargeable batteries 62 and 63, and a mop rotating mechanism for changing the direction of the mop cleaning member 33 are mounted. The control case body 75 and the battery case body 76 are each fixed by screws. A power switch 111 composed of a slide switch is mounted at the center of the rear bottom plate 65. The slide operation portion of the power switch 111 is provided in an opening 111a formed at the mounting position, and the power can be turned on and off by the user's finger operation.

  The mop rotation mechanism is disposed on the rear side of the rear bottom plate 65 and includes a rotation motor 77 and a rotation bearing member 78. The rotation motor 77 is constituted by a small DC motor, and is fixed to the rear bottom plate 65 with screws. A drive gear 80 is attached to the rotation shaft 79 of the rotation motor 77.

  A rotation shaft 81 is inserted into the rotation bearing member 78 through a through hole 84 formed in the rear bottom plate 65. A screw portion (not shown) is formed on the head of the rotation shaft 81, and the rotation gear 82 is fixed by screwing through the screw portion. The rotation gear 82 is arranged in mesh with the drive gear 80, and the rotation gear 82 meshed with the drive gear 80 is rotated by the rotation of the rotation motor 77 and rotates around the central axis of the rotation bearing member 78. The moving shaft 81 can be rotated. A shallow fitting groove (not shown) is formed in an intermediate portion of the rotation shaft 81, and the inner protrusion of the rotation bearing member 81 is fitted into the fitting groove, so that the drive gear 80 and the rotation shaft rotate. It acts as a drop-off prevention function so as to maintain the meshing state of the gear 82. A positioning sensor 107 for detecting the rotation angle of the rotation shaft 81 is attached to the upper side of the rotation bearing member 78 below the rotation gear 18. The positioning sensor 107 is a resistance-type positioning sensor that outputs a rotation angle signal by changing the resistance value according to the rotation amount of the rotation shaft 81. The rotation amount of the rotation shaft 81 can be detected by the rotation angle signal of the positioning sensor 107, and the drive control of the rotation motor 77 is performed based on the detection of the rotation angle signal. Instead of detecting the rotation angle of the positioning sensor 107, the rotation amount of the rotation shaft 81 may be controlled by the pulse drive of the rotation motor 77.

  As shown in FIG. 6, the mop cleaning member 33 includes a mop 35 and a longitudinal shaft piece 34 for attaching the mop 35. The mop 35 has a pile outer thread planted so as to cover the entire outer periphery of the base fabric 35a, and a bag portion 35b to be inserted into the longitudinal shaft piece 34 is formed therein.

  At the center of the longitudinal shaft piece 34, a pedestal portion for connecting to the lower end of the rotating shaft 81 and a protruding piece 35c standing on the upper portion of the pedestal portion are integrally molded. A through hole for screwing is formed on the base side of the projecting piece 35 c, and the through direction of the through hole is orthogonal to the longitudinal direction of the longitudinal shaft piece 34.

  At the lower end of the rotation shaft 81, a groove portion into which the protruding piece 35c can be inserted is formed in an open shape downward. At the lower end of the rotating shaft 81, a through hole for screwing is formed corresponding to the through hole of the protruding piece 35c. By inserting the protruding piece 35c into the groove and inserting screws 83 into the through holes of the rotating shaft 81 and the protruding piece 35c and screwing, the longitudinal shaft piece 34 is attached to the lower end of the rotating shaft 81. It is fixed. In a fixed state in which the longitudinal shaft piece 34 is secured to the lower end of the rotation shaft 81, the mop cleaning member 33 can be attached to the robot body by attaching the mop 35 to the longitudinal shaft piece 34.

  When the rotation gear 82 meshed with the drive gear 80 is rotated by the rotation of the rotation motor 77 and the rotation shaft 81 is rotated around the central axis of the rotation bearing member 78, the lower portion of the rear bottom plate 65, A space that does not hinder the rotational movement of the mop 35 is formed between the stepped portion 68 and the floor surface F.

  As shown in FIG. 5, the charging device 50 has a device case body 51 provided with a recess 52 into which the front head of the cleaning robot 31 can be inserted on the front side. Electrode portions T3 and T4 that are in contact with the electrode portions T1 and T2 of the cleaning robot 31 so as to be able to supply a charging current are exposed at the back of the recess 52.

In the present embodiment, the dust collector 1 is provided with a power supply system corresponding to when the nozzle type dust collection mode is used and when the cleaning robot 31 is using the robot mode. A power system switching device 110 is connected between the power cord 13 and the outlet power cord 14 connected to a commercial power source. The switching device 110 is provided with a setting switch 110a for setting either the nozzle type dust collector mode or the regeneration mode. The switching device 110 enters the nozzle type dust collector mode when the setting switch 110a is turned off, and enters the regeneration mode when it is turned on. The switching device 110 receives a switching circuit means (not shown) that allows the commercial power supply and the power cord 14 to always be in conduction in the nozzle type dust collector mode, and the wireless instruction signal Rd from the cleaning robot 31 in the robot mode. And a power ON / OFF switching device 134 for turning on / off the conduction state between the commercial power source and the power cord 14. In the nozzle type dust collection mode, the dust collector 1 can be manually operated by turning on the power switch 12 of the main body case 40. In the robot mode, the power switch 12 is turned on, and the dust collector 1 is automatically activated or deactivated in response to reception of the radio instruction signal Rd (conduction on signal or conduction off signal) from the cleaning robot 31. Is called.

  In the present embodiment, in order to automatically clean and automatically regenerate the mop cleaning member 33 using the automatic traveling function of the cleaning robot 31, an external switching device 110 that switches the power system of the dust collector 1 via wireless communication is provided. However, the switching function may be built in the dust collector 1. In addition to the switching function by wireless communication, the switching can be performed by transmitting and receiving an ultrasonic signal or an optical signal as the switching signal between the cleaning robot 31 and the dust collector 1.

  The dust collector 1 and the charging device 50 are installed at predetermined positions in the cleaning area so that the cleaning robot 31 can easily determine each installation position and move quickly. The dust collector 1 is placed in the dust collector placement area of the mop regeneration mat 3 as in the above embodiment. As shown in FIG. 5, the installation position of the dust collector 1 can be specified by a color tape 37 for position identification attached on the rubber plate 5. The color tape 37 has a length approximately equal to the width of the air inlet 4 of the dust collector 1, and is disposed in the vicinity of the air inlet 4 and in parallel with the air inlet 4.

  As shown in FIG. 5, the installation position of the charging device 50 can be specified by a color tape 53 for position identification. The color tape 53 has a length approximately equal to the lateral width of the recess 52 of the charging device 50 and is attached to the floor near the recess 52 and in parallel with the width direction of the recess 52. The dust collector 1 and the charging device 50 are preferably set near the wall of the cleaning area so as not to hinder the effective arrangement of other interior equipment. The charging device 50 may also be installed on the rubber plate 5 where the running is smooth. In this case, the color tape 53 can be attached to a predetermined location on the rubber plate 5.

  The inclined woven fabric 3a is fixed on the rubber plate 5 as in the above embodiment. The inclined woven fabric 3 a is disposed behind the color tape 37, that is, at a position away from the air inlet 4. In order to specify the position of the inclined woven fabric 3a, the position identifying color tape 36 is stuck on the rubber plate 5 at a position in the vicinity of the end of the inclined woven fabric 3a opposite to the intake port 4. The color identification material is not limited to the color tape, and a colored resin thin plate may be fixed or adhered to the cleaning floor, or may be a part of the components of the dust collector 1, the charging device 50, and the mop regeneration mat 3. The color tapes 36, 37, and 53 have a unique tape color, and the tape color is set to a color different from the color of the floor, for example, red, blue, or green. By changing the color tape, the installation positions of the dust collector 1, the charging device 50, and the inclined woven fabric 3a can be changed to arbitrary positions within the cleaning area.

  In an execution mode in which the cleaning robot 31 executes a regeneration position moving function for regeneration of the mop cleaning member 33 (hereinafter referred to as a regeneration mode), the cleaning robot 31 is automatically driven and the color tapes 36 and 37 are moved by the color sensor D6. It can detect rapidly and can move to the installation position of the inclined woven fabric 3a and the dust collector 1, and can perform a reproduction | regeneration process.

  In an execution mode in which the cleaning robot 31 executes a charging position moving function for charging (hereinafter, charging mode), cleaning is performed along a section defining material that defines a section area of the cleaning area, for example, along a wall of a living room. Automatic running is performed to move the robot 31 in parallel. By the automatic running in the charging mode, the color tape 53 attached to the wall can be quickly detected by the color sensor D6 and can be quickly moved to the installation position of the charging device 50 to perform the charging process. The color tapes 36 and 37 are referred to as a second reproduction position mark and a first reproduction position mark, respectively, in the description of the reproduction process of the mop reproduction mat 3.

  The color tape and color sensor D6 identify the floor color and the tape color to detect each installation position of the dust collector 1, etc. In addition to the detection mode, the dust collector 1, the charging device 50, the mop regeneration mat 3 or the inclination Power supply position information receiving means for adding an output function for outputting a position signal indicating the installation position, for example, an optical signal, an ultrasonic signal, an infrared signal, or a radio wave signal, to the woven cloth 3a and receiving the position signal to the cleaning robot 31 Alternatively, the detection can be performed by providing a dust collection (apparatus) position information receiving means. An induction signal is given to the cleaning robot 31 from the dust collector 1, the charging device 50, the mop regeneration mat 3 or the inclined woven fabric 3 a, and each installation is performed by attraction control from the dust collector 1, the charging device 50, the mop regeneration mat 3 or the inclined woven fabric 3 a. The cleaning robot 31 may be guided to the position.

  A control configuration of the cleaning robot system including the cleaning robot 31 will be described below with reference to FIG.

  The control unit 100 of the cleaning robot 1 includes a microcomputer having a CPU 101 and a microcomputer having a ROM 102 and a RAM 103. The control unit 100 can receive sensor output signals from the front obstacle detection sensor D1, the side obstacle detection sensors D2 to D5, the lower obstacle detection sensors 70 to 72, the positioning sensor 107, and the color sensor D6.

  From the control unit 100, each wheel motor is driven to each of a left wheel motor control device 104 that controls supply of current for driving the left wheel motor M1 and a right wheel motor control device 105 that controls supply of current for driving the right wheel motor M2. Control signals can be output. The travel distance signals of the travel distance meters m 1 and m 2 of the left wheel motor M 1 and the right wheel motor M 2 can be input to the control unit 100. A rotation motor drive control signal can be output from the control unit 100 to the rotation motor control device 106 that controls the supply of current for driving the rotation motor 15. A radio signal generator 112 is connected to the output side of the control unit 100. The wireless signal generator 112 outputs an ON / OFF switching signal Rd to the dust collector ON / OFF switching device 134 that switches ON / OFF of the dust collector 1 in response to the ON / OFF instruction signal of the dust collector 1 from the control unit 100. In addition, the charging start signal Rv is output to the charging device 5 in response to the charging instruction signal from the control unit 100. Communication control by the wireless signal generator 112 is performed based on the IEEE short-range wireless communication standard.

  The control unit 130 of the dust collector 1 includes a dust collection control unit 131 configured by a microprocessor (not shown) including a CPU, a ROM, and a RAM. A dust collection motor 133 is connected to the output side of the dust collection control unit 131 via a dust collection motor drive control unit 132. The dust collection motor drive control unit 132 controls the supply of the drive current for the dust collection motor 133 in accordance with the dust collection motor ON / OFF instruction signal from the dust collection control unit 131. An ON / OFF signal from the dust collection ON / OFF switching device 134 can be input to the dust collection control unit 131.

The control unit 120 of the charging device 50 includes a charging control unit 121, an AC / DC converter 123, and a charging circuit 122. The AC / DC converter 123 converts the AC input voltage from the commercial power supply 124 into a DC voltage and supplies it to the charging circuit 122. The charging circuit 122 receives a DC output voltage from the AC / DC converter 123 and supplies a charging current to the rechargeable batteries (secondary batteries) 62 and 63. The charging control unit 121 includes a receiving circuit that receives a charging start signal Rv from the control unit 100 of the cleaning robot 31, receives the charging start signal Rv, and supplies a charging voltage for a secondary battery included in the charging circuit 122. A charging instruction signal for turning on the path is output to the charging circuit 122. The charge control unit 121 includes a timer device (not shown) that receives the charge start signal Rv and turns on. The timer device measures the supply time of the charging voltage by the charging circuit 122, and when the time is up, a charging stop signal is output from the charging control unit 121 to the charging circuit 12 to the charging circuit 122, and the charging voltage for the secondary battery is The supply path is turned off. As the rechargeable batteries 62 and 63, a lithium ion secondary battery, a nickel hydrogen secondary battery, or the like can be used. In this embodiment, when a lithium ion secondary battery is used, the cleaning robot 1 can be charged for the operating time (about 1.5 hours) by rapid charging for several minutes.

  A power supply circuit 108 is accommodated in the control box. Based on the DC voltage supplied from the secondary batteries 62 and 63, the power supply circuit 108 generates various voltages used for each member of the control unit 100, various sensors, various control devices, and various motors, Supply to each member. In FIG. 8, the signal code lines between the members and the power code lines from the power circuit 108 are omitted. A power switch 111 is connected to the voltage output system of the power circuit 108. The voltage output system is opened or closed according to ON / OFF of the power switch 111.

  Various operation modes of the cleaning robot 31 will be described below.

  FIG. 9 shows main control processing by the control unit 100 of the cleaning robot 31.

  When the power switch 111 is turned on, an initialization process (step S1) for initializing data in the RAM 103 is executed. As one of the main control processes by the control unit 100, there is a charging process (step S2) for moving to the installation position of the charging device 5 (hereinafter referred to as a charging position) during charging and charging the secondary batteries 61 and 62. Executed. Further, a regeneration process (step S3) is performed in which the mop cleaning member 33 is moved to the regeneration position during regeneration to perform cleaning regeneration of the mop 35 of the mop cleaning member 33. During normal times when neither charging nor regeneration is performed, a cleaning process (step S4) is performed in which the floor is cleaned by the mop cleaning member 33 by automatically running in the cleaning area.

  FIG. 10 shows an outline of the cleaning process by the control unit 100.

  First, it is determined whether or not a cleaning operation is possible (step S10). The cleaning process after step S11 can be executed when the condition for the cleaning process is satisfied, not when the charging is performed or when the regeneration is performed. The control unit 100 is provided with an external connection terminal (not shown). For example, the control unit 100 can be connected to a data setting terminal via the external connection terminal using a USB cable. With the terminal such as a personal computer, it is possible to arbitrarily set a cleaning process necessary condition (cleaning condition) for the control unit 100. The cleaning condition is, for example, the cleaning execution time, the number of cleaning executions per day, and the like.

  Components such as the cleaning robot 31 are arranged at the wall as an initial position when not operating. If the cleaning condition is satisfied, the cleaning robot 31 starts moving forward along the nearby track from the predetermined start position (standby position) near the wall, and moves forward along the initial trajectory (step S11). When a wall is detected by such forward travel, the travel is stopped (steps S12 and S13), and the travel trajectory is changed. The travel trajectory change is executed by the cleaning robot 31 turning 180 degrees and changing the travel direction to about 30 degrees obliquely, and forward travel is resumed after the trajectory change (steps S14 and S15). The trajectory change and forward traveling are repeated until the entire cleaning area is traveled (steps S16 and S17).

  When a front obstacle is detected while the cleaning robot 31 is traveling, a front obstacle avoidance process is executed. That is, during forward travel, the forward obstacle detection sensor D1 detects a wall or an obstacle on the front in the travel direction, stops the forward drive, and the cleaning robot 31 reverses and turns to change the travel direction. Driving continues. When the side obstacle detection sensors D2 and D3 detect an obstacle in the diagonally forward direction, the forward drive is stopped, and after the backward drive, the cleaning robot 31 changes the traveling direction by changing a predetermined angle (45 degrees). Thereafter, the forward running is continued.

  When a mop obstacle is detected while the cleaning robot 31 is traveling, a mop obstacle avoiding process is executed. That is, it becomes difficult to pass the mop cleaning member 33 by the side obstacle detection sensors D4 and D5 during forward traveling. After driving the motor 77 to rotate the mop cleaning member 33 by 90 degrees, the forward travel is resumed. After the forward travel is resumed, the forward drive is stopped when the vehicle travels a predetermined distance (10 cm) from the time when the obstacle detection by the side obstacle detection sensors D4 and D5 is lost, and then the rotation motor 77 is driven. It is determined whether or not the mop cleaning member 33 is rotated. When there is no hindrance to the rotation of the mop cleaning member 33, the rotation motor 77 is driven to rotate the mop cleaning member 33 by 90 degrees, and the mop 35 is substantially T-shaped in a cleaning state with respect to the main body portion 32. Returned to In the present invention, in addition to the cleaning robot 31, for example, a wiping body (mop) that is shorter than the width of the main body portion 32 is detachably attached to the main body portion 32 to have a rotation mechanism for the mop cleaning member 33. You can use a cleaning robot that doesn't.

  In the ROM 101, a travel distance and a total travel time corresponding to the size of the cleaning area are set in advance by a value that is increased by 10%. Whether or not the entire cleaning area has been traveled is determined by whether or not the travel distance or total travel time according to the setting has been reached. The mileage data from the odometer m1 or m2 is stored in the RAM 103, and it is determined that the entire area has been cleaned when the value of any mileage data reaches the mileage value according to the setting first. Alternatively, when the automatic travel for the cleaning process is started, the travel distance data from the odometer m1 or m2 is stored in the RAM 103 by the timer function built in the CPU 101, and the time required for the cleaning process is timed. When the required time reaches the total travel time value according to the setting, it is determined that the entire area has been cleaned. The odometer may be provided only on one side of the wheels W1 and W2, and may be provided only on the side of the wheel W2 that is not used as the center of rotation, such as inversion, in order to reflect a substantial travel distance. Good.

  When the vehicle travels through the entire cleaning area, the vehicle travels along the wall and returns to the start position (steps S18 and S19) in the same manner as when cleaning is started. Confirmation of the start position is performed based on the detection of the installation position of the dust collector 1 or the charging device 50 during return travel. That is, after detecting any one of the installation positions, it moves in a direction away from the dust collector 1 or the charging device 50 to detect a nearby wall, changes to a posture capable of traveling along the wall by wall detection, and travels forward. Stop and wait until the next cleaning condition occurs (step S20).

  11 and 12 show the mop reproduction process by the control unit 100. FIG.

  First, it is determined whether or not the conditions for mop regeneration are satisfied (step S100). For example, when the playback time set in advance in the control unit 100 is reached, the playback requirement condition is satisfied, and the playback processing in step S101 and subsequent steps is executed. For example, it is possible to detect the dirt on the mop 37, determine the situation of the dirt, determine the necessity of cleaning, and enable the regeneration process at any time even during cleaning.

When the condition for the mop playback requirement is satisfied, the playback movement timer built in the CPU 101 for starting the movement to the playback position and counting the playback movement time is turned on (step S101). Next,
The cleaning robot 31 detects the wall and moves forward along the wall (step S102). When the first regeneration position mark 36 is detected by the color sensor D6 before the regeneration movement timer expires, the regeneration instruction signal Rd is transmitted from the control unit 100 to the dust collection ON / OFF switching device 134. Further, a reproduction operation is performed by detecting the first reproduction position mark 36 (steps S103 and S104). If the first reproduction position mark 36 is not detected by the color sensor D6 before the reproduction movement timer expires, the operation of the control unit 100 is stopped and error processing is executed (steps S110 and S111).

  The dust collection control unit 131 receives the regeneration instruction signal Rd from the control unit 100 and enters the dust collection motor drive state. In this case, the first regeneration operation is performed by reversing and turning in front of the inclined woven fabric 3a and repeatedly moving forward and backward toward the inclined woven fabric 3a every predetermined time until the first regeneration processing timer expires. (Steps S104 and S106). That is, the cleaning robot 31 enters the mop 35 of the mop cleaning member 33 onto the inclined pile portion, and repeats forward and backward movements, whereby the attached matter (tangled to the mop 35 by the removing action of the inclined pile 3b) ( Hair, body hair, pet hair loss, etc.) can be scraped off.

  The first regeneration processing timer is turned off when the time is up (first regeneration time: 2 minutes), and the cleaning robot 31 is driven forward to the inlet 4 side (steps S107 and S108). Next, when the second regeneration position mark 37 in front of the intake port 4 is detected by the color sensor D6, the second regeneration timer built in the CPU 101 is turned on, and the next regeneration time is monitored (steps S109 and S110). .

  The second regeneration operation is executed by slowly moving the cleaning robot 31 toward the air inlet 4 (step S111). That is, the cleaning robot 31 causes the mop 35 of the mop cleaning member 33 to enter the air inlet 4, stops for a predetermined time, then moves backward, and shifts in the width direction of the air inlet 4 little by little. By this moving operation, the mop 35 is repeatedly moved forward and backward while being rubbed against the scraper plate 43 of the intake port 4, and the adhered matter of the mop 35 is also dropped by friction with the scraper plate 43, and is scraped by the first regeneration operation. The dropped deposit can be collected by the dust collector 1. Next, as the second regeneration time (3 minutes) elapses, the second regeneration timer built in the CPU 101 is turned off, and the cleaning robot 31 performs a movement process for returning to the start position (steps S112 to S114).

  According to the embodiment of FIG. 5, the mop 35 of the cleaning robot 31 is tilted in addition to the automatic dust collecting function that collects dust while moving the cleaning robot 31 automatically in the cleaning area and moves it to the dust collection position. Because it has a dust collection function that can collect dust by scraping the deposits attached to the mop 35 by the inclined pile by regenerating and moving on the woven cloth 3a, the deposits such as hair generated by the automatic dust collection work are removed. It is possible to realize a robot-type dust collecting apparatus that can automate and smoothly perform dust collection work of a deposit and mop regeneration processing in the same manner as automatic dust collection without performing troublesome manual work that is removed from the mop.

  It should be noted that the present invention is not limited to the above-described embodiment, and various modifications, design changes and the like within the scope not departing from the technical idea of the present invention are included in the technical scope. Nor.

  The wiping body regeneration rug, the dust collecting apparatus, and the dust collecting method according to the present invention can be used in many industries such as a dust control industry such as a mop and a cleaning robot.

DESCRIPTION OF SYMBOLS 1 Dust collector 2 Mop cleaning tool 3 Mop reproduction mat 3a Inclined fabric 3b Inclined pile 3c Inclined fabric 3d Inclined pile 4 Intake port 5 Rubber plate 6 Handle 7 Mop 8 Shaft body 9 Cleaning area 10 Suction hose 11 Handle 12 Power switch 13 Power cord 14 Power cord 31 Cleaning robot 32 Body portion 33 Mop cleaning member 34 Shaft piece 35 Mop 35a Base cloth 35b Bag portion 35c Projection piece 36 Color tape 37 Color tape 40 Body case 41 Suction port portion 42 Suction motor portion 43 Exhaust filter portion 44 Filter Part 45 Suction pipe 46 Cord storage part 47 Hand 48 Scraping plate 50 Charging device 51 Device case body 52 Recess 53 Color tape 61 Engaging protrusion 62 Rechargeable battery 63 Rechargeable battery 64 Front bottom plate 65 Rear bottom plate 66 Cover member 67 Notch 68 Stepped part 69 stations Plate 70 Lower failure detection sensor 71 Lower failure detection sensor 72 Lower failure detection sensor 73 Through hole portion 74 Through hole portion 75 Control case body 76 Battery case body 77 Rotating motor 78 Rotating bearing member 79 Rotating shaft 80 Drive gear 81 Rotating Shaft 82 Rotating gear 83 Screw 84 Through hole 100 Control unit 101 CPU
102 ROM
103 RAM
106 rotating motor control device 107 positioning sensor 108 power supply circuit 110 switching device 110a setting switch 111 power switch 111a opening 112 radio signal generator 120 control unit 121 charge control unit 122 charge circuit 123 AC / DC converter 130 control unit 131 dust collection Control unit 132 Dust collection motor drive control unit 133 Dust collection motor 134 Power ON / OFF switching device M1 drive motor M2 drive motor W1 wheel W2 wheel

Claims (9)

A rug for regenerating a wiping body for regenerating the wiping body by removing the entangled matter on the wiping body for cleaning,
A flat substrate;
An inclined fabric in which a large number of tentacles are planted in an inclined shape;
Fixing means for fixing the inclined fabric to the upper surface of the flat substrate,
When the wiping body is moved so as to rub against the inclined fabric in a state where the flat base material is placed at a predetermined installation position, the adhered matter is scraped off by contact with the touch element. The wiping body regenerating rug is characterized in that the wiping body is regenerated. The fixing means includes a thermocompression bonding means for thermocompression bonding the inclined fabric to the flat substrate, a sewing means for sewing the inclined fabric to the flat substrate, and the inclined fabric bonded to the flat substrate. 2. The wiping body regeneration according to claim 1, wherein the inclined fabric is fixed to the flat substrate by any one of an adhering unit that engages the inclined fabric and the flat substrate by a locking fastener. Rug. The rug for regenerating a wiping body according to claim 1 or 2, wherein the tentacle is any one of a brush-like tentacle, a brush-like tentacle, and a pile-like tentacle. The wiping body regeneration rug according to claim 1, 2 or 3, wherein the wiping body is one of a pile mop, a sponge body, a brush body, a wiping cloth, and wiping paper. A rug for regenerating a wiping body according to any one of claims 1 to 4,
A dust collector having an inlet,
A cleaning tool having the wiping body,
A dust collecting device that collects dust by the cleaning tool and transports the dust to the suction port and sucks the dust by the dust collector;
The dust collector is characterized by moving the wiping body so as to rub against the inclined fabric and scraping the deposit with the tentacles, and moving the scraped deposit to the intake port to collect dust. apparatus. The dust collecting apparatus according to claim 5, wherein the wiping body regenerating rug is disposed so that the inclination direction of the tentacle is at least opposite to the suction port. The dust collector according to claim 5 or 6, wherein the inclined fabric has a convex planar shape, and the wiping body regeneration rug is arranged with the convex portion facing the suction port. The cleaning tool is
An automatic running function for automatically running in the cleaning area;
A detection function for detecting a dust collection position by the dust collector;
It is a cleaning robot that collects dust by the wiping body while automatically running in the cleaning area and moves to the dust collection position to enable dust collection,
The cleaning robot is moved on the inclined fabric by the occurrence of a predetermined regeneration opportunity, and the adhered matter adhered to the wiping body is scraped off by the toucher and moved to the dust collecting position to collect the dust. The dust collector according to claim 5, 6 or 7, wherein the body is regenerated. A rug for regenerating a wiping body according to any one of claims 1 to 4,
A dust collector having an inlet,
A cleaning tool having the wiping body,
A dust collection method for collecting dust in a cleaning area by the cleaning tool, collecting the dust in the suction port and sucking the dust by the dust collector;
A dust collecting method, wherein the wiping body is moved so as to rub against the inclined fabric, and the adhering matter is scraped off by the tentacles to collect dust at the intake port, thereby regenerating the wiping body.

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