JP2020130756A - Autonomous vacuum cleaner - Google Patents

Abstract

To propose an autonomous vacuum cleaner that can move about in a cleaning place, perform cleaning, and sterilize the cleaning place.SOLUTION: An autonomous vacuum cleaner 1 comprises: a main body 5; a secondary battery 6 provided in the main body 5; a movement part 11 for moving the main body 5; a storage tank 16 provided in the main body 5, and for storing water; an electrolyzed water generation part 17 for generating electrolyzed water by electrolyzing the water stored in the storage tank 16 while the movement part 11 moves the main body 5; and a supply part 18 for supplying the generated electrolyzed water to the outside of the main body 5.SELECTED DRAWING: Figure 2

Description

An embodiment of the present invention relates to an autonomous vacuum cleaner.

A cleaning robot is known in which a cleaning liquid is applied to a cleaning surface from a spray nozzle and the cleaning surface is wiped or polished using a pad held so as to be in contact with the cleaning surface.

JP-A-2018-86423

However, there is still room for consideration in the sterilizing effect of the cleaning place in the wiping or polishing cleaning using the cleaning liquid.

Therefore, the present invention proposes an autonomous vacuum cleaner capable of moving around a cleaning place to perform cleaning and sterilizing the cleaning place.

In order to solve the above problems, the autonomous vacuum cleaner according to the embodiment of the present invention is provided with a main body, a battery provided in the main body, a moving unit for moving the main body, and water stored in the main body. The electrolyzed water generating unit that electrolyzes the water stored in the storage tank to generate the electrolyzed water while the moving unit is moving the main body, and the electrolyzed water generated. Is provided with a supply unit for supplying the outside of the main body.

The perspective view of the autonomous vacuum cleaner which concerns on embodiment of this invention. The right side view of the autonomous vacuum cleaner which concerns on embodiment of this invention. Bottom view of the autonomous vacuum cleaner according to the embodiment of the present invention. The plan view of the storage tank of the 1st example of the autonomous vacuum cleaner which concerns on embodiment of this invention. The side view of the storage tank of the 1st example of the autonomous vacuum cleaner which concerns on embodiment of this invention. The plan view of the storage tank of the 2nd example of the autonomous vacuum cleaner which concerns on embodiment of this invention. The side view of the storage tank of the 2nd example of the autonomous vacuum cleaner which concerns on embodiment of this invention. The block diagram of the autonomous vacuum cleaner which concerns on embodiment of this invention. The figure which shows an example of the relationship between the amount of water of a storage tank, and the voltage applied to an electrode in the autonomous vacuum cleaner which concerns on embodiment of this invention.

An embodiment of the autonomous vacuum cleaner according to the present invention will be described with reference to FIGS. 1 to 9. In the plurality of drawings, the same or corresponding configurations are designated by the same reference numerals.

FIG. 1 is a perspective view of an autonomous vacuum cleaner according to an embodiment of the present invention.

As shown in FIG. 1, the autonomous vacuum cleaner 1, the so-called robot cleaner, according to the present embodiment consumes the electric power of the secondary battery 6 mounted on the main body 5 and moves autonomously. The autonomous vacuum cleaner 1 moves around the floor surface (hereinafter referred to as “cleaned surface f”) of the cleaning place (hereinafter referred to as “cleaned area A”) to comprehensively cover the cleaned area A. Move and clean. After the cleaning operation, the autonomous vacuum cleaner 1 autonomously returns to the station 8 and waits for the next cleaning operation.

The station 8 can be installed on the surface to be cleaned f of the area A to be cleaned. The station 8 is electrically connected by guiding the autonomous vacuum cleaner 1 to a predetermined position. The station 8 has a so-called charging stand function. The station 8 includes a power cord 9 that guides power from a commercial AC power source to the secondary battery 6 while being connected to the autonomous vacuum cleaner 1. The power cord 9 is an electric circuit that transmits power to the secondary battery 6.

The autonomous vacuum cleaner 1 that has returned to the station 8 charges the secondary battery 6 while waiting for the next cleaning operation, for example. In this case, the autonomous vacuum cleaner 1 can save the trouble of charging by the user and can cope with the sudden cleaning operation requested by the user.

FIG. 2 is a right side view of the autonomous vacuum cleaner according to the embodiment of the present invention.

FIG. 3 is a bottom view of the autonomous vacuum cleaner according to the embodiment of the present invention.

The solid arrow F in FIGS. 2 and 3 indicates the forward direction of the autonomous vacuum cleaner 1.

In addition to FIG. 1, as shown in FIGS. 2 and 3, the autonomous vacuum cleaner 1 according to the present embodiment includes a main body 5, a moving portion 11 for moving the main body 5, and cleaning under the main body 5. A cleaning unit 12 for cleaning the surface f, a detection unit 13 for detecting an object to be detected around the main body 5, a control unit 15 for controlling the operation of the autonomous vacuum cleaner 1, and each part of the autonomous vacuum cleaner 1. It includes a secondary battery 6 that supplies electric power to the battery.

Further, the autonomous vacuum cleaner 1 is provided with a storage tank 16 provided in the main body 5 for storing water, and an electrolyzed water generating unit 17 that electrolyzes the water stored in the storage tank 16 to generate electrolyzed water. A supply unit 18 for supplying the electrolyzed water to the outside of the main body 5 is provided.

The main body 5 includes, for example, a main body case 21 made of synthetic resin and bumpers 22 provided on the side surfaces of the main body case 21. The main body case 21 is the outer shell of the main body 5. The bumper 22 is provided on the side surface of the main body case 21.

The main body 5 has a flat cylindrical shape, in other words, a disk shape. The main body 5, which is substantially circular in a plan view, can suppress the turning radius at the time of turning smaller than other shapes. In a plan view, the main body 5 may be shaped like a square, or may be a curve of constant width having a constant width, for example, a Reuleaux Triangle.

The main body case 21 and the storage tank 16 cooperate with each other to define the outline of the main body 5 in a plan view. In the present embodiment, the main body case 21 and the storage tank 16 have an arc-shaped outline cut by a string in a plan view. The arc-shaped outline of the main body case 21 and the arc-shaped outline of the storage tank 16 are combined at each string to draw a circular outline of the main body 5. Similarly, even if the main body 5 has a shape other than a circle, the outer line of the main body case 21 and the outer line of the storage tank 16 are combined to draw the outer line of the main body 5. It is preferable that the storage tank 16 is housed inside the locus drawn by the outer line of the main body case 21 when the main body 5 is made to make a spin turn, a neutral turn, or a counter-rotation turn.

The height of the main body case 21 and the height of the storage tank 16 are substantially the same. The height of the main body case 21 and the height of the storage tank 16 may be different. For example, the height of the storage tank 16 may be higher than the height of the main body case 21, and the storage tank 16 may protrude upward. Further, the height of the storage tank 16 may be lower than the height of the main body case 21, and the storage tank 16 may be recessed. Further, the height of the storage tank 16 may be lower than the height of the main body case 21, and the storage tank 16 may be mounted on the upper surface of the main body case 21. In such a case, the upper surface of the main body case 21 may have a stepped step between a portion where the storage tank 16 is mounted and another portion. Then, it is preferable that the heights of the upper surface of the storage tank 16 and the upper surface of the main body case 21 are substantially the same with the storage tank 16 mounted on the main body case 21.

The moving unit 11 includes a plurality of drive wheels 26, a plurality of electric motors 27 for individually driving the drive wheels 26, and a trailing wheel 28 that supports the main body 5 on the surface to be cleaned f together with the drive wheels 26. There is.

Each drive wheel 26 transmits a force for moving the main body 5 to the surface to be cleaned f. Each drive wheel 26 rotates about an axis extending in the width direction (left-right width direction) of the main body 5 as a rotation center. The plurality of drive wheels 26 include at least a pair of drive wheels 26. The axles of the pair of drive wheels 26 are arranged substantially on the same line. The autonomous vacuum cleaner 1 can go straight and turn by a pair of drive wheels 26. The drive wheel 26 is pressed against the surface to be cleaned f by a suspension device (so-called suspension). The autonomous vacuum cleaner 1 may have an endless track instead of the drive wheel 26.

Each electric motor 27 independently drives each drive wheel 26. The autonomous vacuum cleaner 1 moves straight (forward or backward) by rotating the left and right drive wheels 26 in the same direction, and turns (turns right or turns right) by rotating the left and right drive wheels 26 in different directions. Turn left). Further, the autonomous vacuum cleaner 1 adjusts the speed of forward movement or backward movement by moving the outputs of the left and right drive wheels 26 up and down, and adjusts the magnitude of the turning radius by differentiating the outputs of the left and right drive wheels 26. Can be done.

The driven wheel 28 is arranged at a substantially central portion and a front portion of the lower portion of the main body 5 in the width direction. The driven wheel 28 is a circular rotating body, for example, a caster. The driven wheel 28 changes its direction following the forward movement, backward movement, and turning of the autonomous vacuum cleaner 1 to stabilize the movement of the autonomous vacuum cleaner 1. The center of gravity of the autonomous vacuum cleaner 1 supported by the drive wheels 26 and the trailing wheels 28 is preferably arranged inside the triangle formed by the pair of drive wheels 26 and the trailing wheels 28. As a result, the autonomous vacuum cleaner 1 can be moved stably.

The cleaning unit 12 cleans dust directly below the main body 5 and on the surface to be cleaned f around the main body 5. The cleaning unit 12 includes a suction cleaning unit 31 that generates a negative pressure to suck dust on the surface to be cleaned f, and a wiping cleaning unit 32 that wipes or polishes the surface to be cleaned f below the main body 5. ..

The suction cleaning unit 31 includes a suction port 34 provided on the bottom surface of the main body 5, a rotary brush 35 arranged at the suction port 34, a brush electric motor 36 for rotationally driving the rotary brush 35, and a dust container provided on the main body 5. A 37 and an electric blower 38 housed in the main body 5 and fluidly connected to the dust container 37 are provided.

The air passage that reaches the suction side of the electric blower 38 from the suction port 34 through the dust container 37 is a suction air passage 39 that is fluidly connected to the suction side of the electric blower 38. The suction air passage 39 includes an upstream air passage 39u from the suction port 34 to the dust container 37, and a downstream air passage 39d from the dust container 37 to the electric blower 38.

Further, the air passage from the exhaust side of the electric blower 38 to the exhaust port of the main body 5 is an exhaust air passage 41 fluidly connected to the discharge side of the electric blower 38. The exhaust air from the electric blower 38 is exhausted to the outside of the main body 5 through the exhaust air passage 41.

The suction port 34 sucks dust together with air by the negative pressure generated by the electric blower 38. The suction port 34 is arranged on the front side in the forward direction F with respect to the wiping unit 32. The suction port 34 extends in the width direction of the main body 5. In other words, the opening width of the suction port 34 in the left-right direction is larger than the opening width of the suction port 34 in the front-rear direction. Since the bottom surface of the main body 5 faces and faces the surface to be cleaned f during autonomous movement, the suction port 34 collects dust on the surface to be cleaned f or dust scooped up from the surface to be cleaned f by the rotating brush 35. Can be easily inhaled.

The rotation center line of the rotation brush 35 is directed in the width direction of the autonomous vacuum cleaner 1. The rotary brush 35 comes into contact with the surface to be cleaned f when the autonomous vacuum cleaner 1 is placed on the surface to be cleaned f in a movable state. Therefore, the rotary brush 35 that is rotationally driven scrapes up the dust on the surface to be cleaned f. The scraped up dust is efficiently sucked into the suction port 34.

The brush electric motor 36 rotates the rotating brush 35 in the forward or reverse direction. The forward rotation direction of the rotary brush 35 is a rotation direction that assists the propulsive force of the autonomous vacuum cleaner 1 when moving forward. The reversing direction of the rotating brush 35 is a rotating direction that assists the propulsive force of the autonomous vacuum cleaner 1 when reversing.

The dust container 37 accumulates dust sucked from the suction port 34 by the suction negative pressure generated by the electric blower 38. The dust container 37 is an inertial separation such as a filter for filtering and collecting dust, and an inertial separation (a separation method for separating dust and air by the difference in inertial force between the straight air and the dust) such as centrifugal separation (cyclone separation) and straight separation (separation method for separating the dust and air by the difference in inertial force between the straight air and the dust). It is a separation device that accumulates dust. The dust container 37 is removable from the main body 5. The dust container 37 has a lid that can be opened and closed. The user can remove the dust container 37 from the main body 5, open the lid of the dust container 37 to easily dispose of the dust accumulated in the dust container 37, and clean or clean the dust container 37. it can.

The electric blower 38 consumes the electric power of the secondary battery 6 to drive the electric blower 38. The electric blower 38 sucks air from the dust container 37 to generate a suction negative pressure. The negative pressure generated in the dust container 37 acts on the suction port 34. The main body 5 has an exhaust port for letting the exhaust of the electric blower 38 flow out to the outside of the main body 5.

The wiping unit 32 is the bottom of the main body 5 and is arranged behind the suction port 34.

In the forward direction of the autonomous vacuum cleaner 1 (solid arrow F in FIG. 2), the suction port 34 and the wiping cleaning member 43 are arranged in the front-rear direction, and the suction port 34 is arranged in front of the wiping cleaning member 43. Therefore, when the autonomous vacuum cleaner 1 advances, the suction port 34 moves ahead of the wiping cleaning member 43. Therefore, the wiping cleaning unit 32 wipes and cleans the surface to be cleaned after the dust is removed by the suction cleaning unit 31.

The wiping cleaning unit 32 wipes or polishes, for example, the surface to be cleaned f below the main body 5. The wiping cleaning unit 32 includes a wiping cleaning member mounting portion 45 to which the wiping cleaning member 43 can be attached and detached, and a wiping cleaning member 43.

The wiping member mounting portion 45 uses a hook-and-loop fastener to attach a sheet-shaped wiping cleaning member 43, winds a sheet-shaped wiping cleaning member 43, or inserts a part of the wiping cleaning member 43 into an insertion port. It is a base to be fixed. The wiping member mounting portion 45 brings the wiping cleaning member 43 into contact with the surface to be cleaned f while the autonomous vacuum cleaner 1 is placed on the surface to be cleaned f. The cleaning member mounting portion 45 itself may also be detachable from the autonomous vacuum cleaner 1.

The wiping cleaning member 43 is a wiping cleaning sheet made of a fibrous material such as a woven cloth or a non-woven fabric. The wiping cleaning member 43 is a variety of hygroscopic cleaning tools such as a wiper sheet, a duster cloth, a rag, and a mop (a mass of fibers at the tip excluding the handle portion). The material of the wiping member 43 is natural fiber such as cotton, regenerated fiber such as cellulose, polyester fiber, polyamide fiber such as nylon 6, nylon 66 and nylon 46, and synthetic fiber such as polyolefin fiber such as polyethylene and polypropylene. is there. The wiping member 43 may be a sponge. Further, the wiping cleaning member 43 may integrally have a member made of a superabsorbent polymer (SAP, so-called absorbent polymer, highly absorbent resin, polymer absorber). The wiping cleaning member 43 integrally having a member made of a super absorbent polymer can retain a larger amount of electrolyzed water.

The wiping cleaning member 43 can be attached to and detached from the bottom surface of the wiping cleaning member mounting portion 45. When the autonomous vacuum cleaner 1 is placed on the surface to be cleaned f in a movable state, the wiping cleaning unit 32 comes into contact with the surface to be cleaned f. It is preferable that the wiping cleaning unit 32 is pressed against the surface to be cleaned f with a pressure such that the drive wheels 26 do not slip on the surface to be cleaned f. An elastic member such as foamed resin is provided between the wiping unit 32 and the bottom surface of the main body 5. This elastic member presses the wiping portion 32 against the surface to be cleaned f with a uniform pressure.

The wiping / cleaning member 43 is also an aspect of the supply unit 18 that supplies the electrolyzed water generated by the electrolyzed water generation unit 17 to the outside of the main body 5. The wiping cleaning member 43 wipes the surface to be cleaned f with water in a state of being moistened with the electrolyzed water supplied from the electrolyzed water generating unit 17.

Further, when the electrolyzed water generated by the electrolyzed water generating unit 17 is supplied to the surface to be cleaned f without passing through the cleaning member 43, the cleaning member 43 wipes off the electrolyzed water sprinkled on the surface to be cleaned f. You can also do it.

That is, the wiping cleaning member 43 can be used for so-called water wiping, in which the electrolyzed water is moistened and the electrolyzed water is applied to the surface to be cleaned f, and the electrolyzed water sprinkled on the surface f to be cleaned is wiped off. It can also be used for so-called dry wiping. In other words, the autonomous vacuum cleaner 1 sprinkles or applies electrolyzed water containing hypochlorous acid to the surface to be cleaned f as it moves, and sterilizes the surface to be cleaned f.

Whether the wiping with the wiping cleaning member 43 is a dry wiping or a water wiping is determined by the amount of electrolyzed water sprinkled from the electrolyzed water generating unit 17 onto the surface to be cleaned f and the amount of electrolyzed water supplied from the electrolyzed water generating unit 17 to the wiping cleaning member 43. It depends on the amount of electrolyzed water. For example, if the amount of electrolyzed water supplied to the floor surface is very small, the electrolyzed water evaporates before the wiping member 43 is moistened. In such a case, the dry wiping by the wiping cleaning member 43 continues. If the amount of electrolyzed water supplied to the floor surface is large, the electrolyzed water does not evaporate completely and moistens the wiping cleaning member 43. In such a case, the dry wiping by the wiping cleaning member 43 will eventually shift from the dry wiping to the water wiping.

The detection unit 13 detects an object to be detected that approaches the main body 5 as the main body 5 moves, or an object to be detected that comes into contact with the main body 5. The detection unit 13 includes a camera unit 51 provided in the main body 5 for taking an image of the surroundings of the autonomous vacuum cleaner 1, and an object other than the autonomous vacuum cleaner 1, that is, a subject 5 provided in the main body 5. A proximity detection unit 52 that detects that the object has been approached, and a contact detection unit 53 that is provided on the main body 5 and detects that the main body 5 has come into contact with an object other than the autonomous vacuum cleaner 1, that is, an object to be detected. , Including.

The camera unit 51 is provided in front of the main body 5 and photographs the front of the autonomous vacuum cleaner 1, that is, the traveling direction when moving forward.

The autonomous vacuum cleaner 1 may include, in addition to or in addition to the camera unit 51, a distance measuring device 55 that obtains depth information in the photographing range by a principle different from that of the stereo camera.

The proximity detection unit 52 is, for example, an infrared sensor or an ultrasonic sensor. The proximity detection unit 52 using an infrared sensor includes a light emitting element that emits infrared rays and a light receiving element that receives light and converts it into an electric signal. The proximity detection unit 52 emits infrared rays from the light emitting element, receives the infrared rays reflected by the object to be detected by the light receiving element and converts them into electric power, and when the converted electric power exceeds a certain level, the object to be detected is within a certain distance. The approach to the above is detected before the main body 5 comes into contact with the object to be detected. The proximity detection unit 52 that uses an ultrasonic sensor detects an object to be detected by using ultrasonic waves instead of infrared rays.

The contact detection unit 53 is a so-called bumper sensor. The contact detection unit 53 is interlocked with the bumper 22 that cushions the impact on the main body 5 when the moving main body 5 comes into contact with the object to be detected. When the bumper 22 comes into contact with the object to be detected, the bumper 22 is displaced so as to be pushed inward of the main body 5. The contact detection unit 53 detects the displacement of the bumper 22 and detects that the main body 5 has come into contact with the object to be detected. The contact detection unit 53 includes, for example, a microswitch that is turned on and off by the displacement of the bumper 22, an infrared sensor that measures the amount of displacement of the bumper 22 in a non-contact manner, and an ultrasonic sensor.

The secondary battery 6 stores the electric power consumed by each part of the autonomous vacuum cleaner 1 including the power supply circuits of the moving unit 11, the cleaning unit 12, the detecting unit 13, the control unit 15, and the electrolyzed water generating unit 17. .. The secondary battery 6 supplies electric power to each part of the autonomous vacuum cleaner 1 including the moving unit 11, the cleaning unit 12, the detecting unit 13, and the control unit 15. The secondary battery 6 is, for example, a lithium ion battery and has a control circuit for controlling charge / discharge. This control circuit outputs information regarding charging / discharging of the secondary battery 6 to the control unit 15.

The storage tank 16 is a container for storing water or salt water. The water stored in the storage tank 16 may be tap water. The storage tank 16 is preferably removable from the main body 5 in order to enhance the convenience of water supply. The storage tank 16 is provided with a lid that can be opened and closed. The lid of the storage tank 16 can be opened to easily supply water or salt water.

The electrolyzed water generation unit 17 electrolyzes water to generate electrolyzed water in which ozone is dissolved, or electrolyzes salt water to generate electrolyzed water in which hypochlorous acid (HClO, Hypochlorous Acid) is dissolved. To generate. In Japan, according to the Waterworks Law, tap water that is easily available at home contains chlorine. The Japanese Waterworks Law stipulates that the chlorine concentration in tap water should be 1/10 ppm (mass per million, milligram per liter) or more (Waterworks Law Enforcement Regulations based on Article 22 of the Waterworks Law (Ministry of Health, Labor and Welfare) Ordinance) Article 17, item 3). The electrolyzed water generation unit 17 can easily generate electrolyzed water containing hypochlorous acid by electrolyzing tap water in Japan. The electrolyzed water generation unit 17 includes an electrode 61 including a positive electrode and a negative electrode, and a power supply circuit that applies a voltage to the electrode 61 with electric power supplied from the secondary battery 6.

For the electrode 61 of the electrolyzed water generation unit 17, a material that is difficult to dissolve in water, such as titanium or platinum, is used. In order to promote electrolysis, the electrode 61 may be supported by a platinum group metal such as iridium, platinum, ruthenium, or an oxide thereof. Chemical species such as hydrogen peroxide, active oxygen, and OH radicals are generated in electrolyzed water. The electrode 61 is provided in the storage tank 16.

The electrolyzed water generating unit 17 may be a one-chamber type having no partition between the positive electrode and the negative electrode, or a multi-chamber type including a two-chamber type and a three-chamber type having a partition between the positive electrode and the negative electrode. It may be. The one-chamber type electrolyzed water generation unit 17 neutralizes the acidic ionized water generated on the positive electrode side and the alkaline ionized water generated on the negative electrode side to provide electrolyzed water containing an appropriate concentration of hypochlorous acid. Generate. On the other hand, the multi-chamber type electrolyzed water generation unit 17 generates acidic ionized water in a room containing a positive electrode and alkaline ionized water in a room containing a negative electrode.

In addition, compared to the multi-chamber type, in which the amount of acidic ionized water and alkaline ionized water used may become uneven, which may cause a burden of disposing of the remaining ionized water, the one-chamber type is a user. It may be convenient for you.

By the way, the inventors have diffused or sprayed electrolyzed water having a hypochlorous acid concentration of 5 ppm or more on the surface to be cleaned with a supply amount of 1/10 microliter per square centimeter or more to the surface to be cleaned. It was found that f can be sterilized. Therefore, the electrolyzed water generation unit 17 electrolyzes water having a chlorine concentration of 1/10 ppm or more, that is, water compatible with tap water under the Japanese Waterworks Law, and electrolyzed water having a hypochlorous acid concentration of 5 ppm or more. To generate.

The supply unit 18 supplies the electrolyzed water to the surface to be cleaned f in a supply amount of 1/10 microliter per square centimeter or more so that the electrolyzed water can be diffused or sprayed. The supply unit 18 supplies electrolyzed water to at least one of the wiping cleaning member 43 and the surface to be cleaned f. The supply unit 18 includes a pipe for guiding the electrolyzed water from the storage tank 16, a first supply mechanism unit 63 for supplying the electrolyzed water from the storage tank 16 to the wiping cleaning member 43, and a second supply unit 63 for supplying the electrolyzed water from the storage tank 16 to the surface to be cleaned f. It includes a supply mechanism unit 65. The supply unit 18 may have either the first supply mechanism unit 63 or the second supply mechanism unit 65.

The first supply mechanism unit 63 has a first supply port 71 that supplies electrolyzed water to the back surface of the wiping cleaning member 43, and is provided in the middle of the pipe to cut off the supply and supply of electrolyzed water to the first supply port 71. It is provided with a first on-off valve 72 to perform.

There may be a plurality of first supply ports 71. For example, the first supply port 71 is preferably arranged in a row in the width direction of the main body 5, that is, in the width direction of the wiping cleaning member 43. The first supply ports 71 arranged in this way can moisten a wide range of the wiping cleaning member 43 with electrolyzed water. Further, the first supply port 71 may be an elongated flat opening having a long side extending in the width direction of the main body 5.

The first on-off valve 72 is a so-called electromagnetic valve. By opening the first on-off valve 72, the first supply mechanism unit 63 supplies the electrolyzed water by the height difference between the water level of the electrolyzed water in the storage tank 16 and the first supply port 71, that is, the head difference. The first supply mechanism unit 63 may include a pump for pumping the electrolyzed water in the storage tank 16 instead of the first on-off valve 72. Further, the first supply mechanism unit 63 may be simply a flow path through which the electrolyzed water in the storage tank 16 flows out, for example, a thin tube or an orifice. In such a case, the inner diameter of the thin tube or the orifice diameter is appropriately and preferably set in order to obtain the required supply amount (supply amount per unit time) of the electrolyzed water.

The second supply mechanism unit 65 has a second supply port 73 for spraying the electrolyzed water on the surface to be cleaned f, and is provided in the middle of the pipe to supply and cut off the supply of the electrolyzed water to the second supply port 73. It includes a second on-off valve 74.

The second supply port 73 is, for example, a nozzle capable of spraying electrolyzed water. Electrolyzed water is supplied to the surface to be cleaned f sandwiched between the suction port 34 and the wiping cleaning member 43. In other words, the supply unit 18 supplies electrolyzed water from the second supply port 73 to the surface to be cleaned f sandwiched between the suction port 34 and the wiping cleaning member 43.

There may be a plurality of second supply ports 73. For example, it is preferable that the second supply port 73 is arranged in a row in the width direction of the main body 5, that is, in the width direction of the wiping cleaning member 43. The second supply ports 73 arranged in this way sprinkle electrolyzed water over a wider range as the main body 5 progresses. Further, the second supply port 73 may be an elongated flat nozzle having a long side extending in the width direction of the main body 5.

The second on-off valve 74 is a so-called solenoid valve. By opening the second on-off valve 74, the second supply mechanism unit 65 supplies the electrolyzed water by the height difference between the water level of the electrolyzed water in the storage tank 16 and the second supply port 73, that is, the head difference. The second supply mechanism unit 65 may include a pump for pumping the electrolyzed water in the storage tank 16 instead of the second on-off valve 74. Further, the second supply mechanism unit 65 may be simply a flow path through which the electrolyzed water in the storage tank 16 flows out, for example, a thin tube or an orifice. In such a case, the inner diameter of the thin tube or the orifice diameter is appropriately and preferably set in order to obtain the required supply amount (supply amount per unit time) of the electrolyzed water.

Further, the supply unit 18 includes a third supply mechanism unit 66 that supplies electrolyzed water from the storage tank 16 to the atmosphere around the main body 5. The third supply mechanism unit 66 includes an atomizing device 76 that atomizes the electrolyzed water and supplies it to the atmosphere around the main body 5, and a water guide path 77 that guides the electrolyzed water to the atomizing device 76.

The atomizer 76 is provided at the top of the storage tank 16. The atomizing device 76 diffuses or sprinkles the atomized electrolyzed water from the top of the storage tank 16 to the atmosphere around the main body 5.

The atomizing device 76 is a heating type that heats and atomizes the electrolyzed water generated by the electrolyzed water generation unit 17, and an ultrasonic wave that vibrates the electrolyzed water generated by the electrolyzed water generation unit 17 with ultrasonic waves to atomize it. The formula, the method of atomizing the electrolyzed water generated by the electrolyzed water generation unit 17 with a spray using the venturi effect, for example, a method of atomizing by mist blowing, atomizing the electrolyzed water generated by the electrolyzed water generation unit 17 using corona discharge. Various atomization methods are used, such as electrostatic atomization to cause electrolyzed water, and water crushing method to crush water molecules by diffusing electrolyzed water with a propeller rotated at high speed. In either method, the atomizer 76 atomizes the electrolyzed water so as to contain fine particles having a diameter of 100 micrometers or less, and more preferably atomizes the electrolyzed water so as to contain fine particles having a diameter of 10 micrometers or less.

The water conveyance path 77 is a rope or a rope that sucks up the electrolyzed water in the storage tank 16 by, for example, a capillary phenomenon.

The autonomous vacuum cleaner 1 is provided in the suction air passage 39, and includes a moisture absorbing portion 79 that absorbs electrolyzed water (moisture) sucked into the suction air passage 39 by suction negative pressure. When the electrolyzed water is sucked into the suction air passage 39, the moisture absorbing portion 79 absorbs the electrolyzed water before reaching the electric blower 38 to prevent the electrolyzed water from reaching the electric blower 38. The moisture absorbing portion 79 is, for example, a woven fabric or a non-woven fabric. The material of the moisture absorbing portion 79 is natural fiber such as cotton, regenerated fiber such as cellulose, polyester fiber, polyamide fiber such as nylon 6, nylon 66 and nylon 46, and synthetic fiber such as polyolefin fiber such as polyethylene and polypropylene. is there. The moisture absorbing portion 79 may be a sponge. Further, the moisture absorbing portion 79 may integrally have a member made of a superabsorbent polymer (SAP, so-called absorbent polymer, highly absorbent resin, polymer absorber). The moisture absorbing portion 79 integrally having a member made of a super absorbent polymer can retain a larger amount of electrolyzed water.

The moisture absorbing portion 79 may be provided in the upstream side air passage 39u of the suction air passage 39, or may be provided in the downstream side air passage 39d. The moisture absorbing portion 79 may be provided in the dust container 37. The moisture absorbing portion 79 may also serve as a filter for the dust container 37 that separates dust from the dust-containing air sucked into the suction air passage 39.

Next, the storage tank 16 will be described in detail. In the storage tank 16A of the first example (hereinafter, simply referred to as "storage tank 16A") and the storage tank 16B of the second example (hereinafter, simply referred to as "storage tank 16B"), the same reference numerals are given to the same configurations. It will be added and duplicate explanations will be omitted.

FIG. 4 is a plan view of a storage tank of a first example of the autonomous vacuum cleaner according to the embodiment of the present invention.

FIG. 5 is a side view of a storage tank of a first example of an autonomous vacuum cleaner according to an embodiment of the present invention.

As shown in FIGS. 4 and 5, the storage tank 16A of the first example according to the present embodiment has a D-shaped appearance in which a part of the disk-shaped main body 5 is cut out in a plan view, and the main body in a side view. It has substantially the same height as 5. The storage tank 16A is surrounded by an arc connected to the side surface of the main body 5 and strings connecting both ends of the arc. The string portion of the storage tank 16A faces a part of the outer surface of the main body 5.

The storage tank 16A contains a plurality of containers 81 that can be separated and connected. The plurality of containers 81 include a first container portion 82A for storing water before electrolysis, and a second container portion 83A for accommodating the electrode 61 of the electrolyzed water generating unit 17.

The first container portion 82A and the second container portion 83A of the storage tank 16A are separated in the horizontal direction and are adjacent to each other. The first container portion 82A and the second container portion 83A may be separated in the horizontal direction and connected in the horizontal direction, or may be separated in the vertical direction and connected in the vertical direction. .. In the storage tank 16A that can be separated and connected in the horizontal direction, the first container portion 82A and the second container portion 83A are separated in the horizontal direction and connected in the horizontal direction. The storage tank 16A that can be separated and connected in the vertical direction is separated and connected by sliding the first container portion 82A and the second container portion 83A in the vertical direction.

The height of the second container portion 83A is substantially the same as the height of the first container portion 82A. The volume of the second container portion 83A is smaller than the volume of the first container portion 82A. The second container portion 83A is a rectangular container including a part of the string portion of the storage tank 16A, and the first container portion 82A includes the arc portion of the storage tank 16A and the rest of the string portion, and a part of the string portion is included. It is a container with a shape in which the containing rectangle is cut off. The first container portion 82A is connected to the second container portion 83A so as to cover the left and right side surfaces and the back surface of the second container portion 83A.

Further, the storage tank 16A is removable from the main body 5. In other words, the first container portion 82A and the second container portion 83A can be attached to and detached from the main body 5 in an integrated state. The first container portion 82A and the second container portion 83A may be individually detachable. Either one of the first container portion 82A and the second container portion 83A may be attached to and detached from the main body 5, and either one may be integrated with the main body 5.

The removable first container portion 82A can be easily supplied with water by removing it from the main body 5. Further, it is possible to prevent the electric parts in the main body 5, for example, the electric blower 38, and the electronic parts, for example, the control unit 15 from being splashed with water during water supply and causing their failure.

The detachable second container portion 83A can easily clean the electrode 61 and the container itself by removing it from the main body 5. Further, at the time of cleaning, it is possible to prevent the electric parts in the main body 5, for example, the electric blower 38, and the electronic parts, for example, the control unit 15 from being splashed with water and causing their failure.

In the storage tank 16A that can be attached and detached in an integrated state, water supply to the first container portion 82A and cleaning of the second container portion 83A can be easily performed at the same time.

At the top of the first container portion 82A, a water supply port 85 for introducing water into the container and a lid 86 for opening and closing the water supply port 85 are provided. The user can easily supply water to the first container portion 82A by opening the lid 86. In addition, the user can easily prevent water from leaking from the first container portion 82A by closing the lid 86.

At the bottom of the second container portion 83A, an electrolyzed water supply port 87 connected to the supply portion 18 is provided. An air hole for removing air from the container is provided at the top of the second container portion 83A. The air hole may be opened to the outside of the second container portion 83A, or may be connected to the first container portion 82A. Inside the second container portion 83A, a water level meter 88 for detecting the amount of water stored in the second container portion 83A, that is, the water level (liquid level of electrolyzed water) is provided.

The water level gauge 88 may be either a contact type or a non-contact type. The contact type water level gauge 88 is, for example, a float type that measures the water level based on the vertical position of the float (float) provided in the second container portion 83A, and detects the capacitance between the pair of electrodes. A known method such as a capacitance method for measuring the water level can be adopted. The non-contact water level gauge 88 can employ, for example, a known method of measuring the water level using radio waves, ultrasonic waves, or light waves.

A joint 89 that fluidly connects both containers is provided at the bottom of the first container portion 82A and the second container portion 83A. The joint 89 opens a water passage by connecting the half body on the first container portion 82A side and the half body on the second container portion 83A side. The half body on the side of the first container portion 82A and the half body on the side of the second container portion 83A close the passage in the unconnected state to prevent water (electrolyzed water) in the container from leaking out. The joint 89 can be easily connected with the connection of the first container portion 82A and the second container portion 83A, and can be easily separated with the separation of the first container portion 82A and the second container portion 83A. preferable. For example, in the storage tank 16A that can be separated and connected in the horizontal direction, the joint 89 has a half body provided at the bottom of the side wall of the first container portion 82A and a half body provided at the bottom of the side wall of the second container portion 83A. ,have. In the storage tank 16A that can be separated and connected in the vertical direction, the joint 89 includes a half body provided on the bottom wall of either the first container portion 82A or the second container portion 83A, and the first container portion 82A and the second container portion 82A. It has a half body provided in a connecting pipe extending downward from either one of the container portions 83A to the lower side of either the first container portion 82A and the second container portion 83A.

At least, when the water level of the water stored in the first container portion 82A is higher than the water level of the water stored in the second container portion 83A or the electrolyzed water, the water in the first container portion 82A is the second container. It is supplied to the unit 83A. In other words, the storage tank 16A supplies the water stored in the first container portion 82A to the second container portion 83A by the head difference between the first container portion 82A and the second container portion 83A. That is, each time the electrolyzed water generated in the second container portion 83A is consumed, the water stored in the first container portion 82A is supplied to the second container portion 83A. Therefore, the water level of the first container portion 82A and the water level of the second container portion 83A are balanced.

The electrode 61 of the electrolyzed water generating unit 17 has a plate shape and extends in the vertical direction. In other words, the normal of the electrode 61 points in the horizontal direction. The electrode 61 includes at least one positive electrode and at least one negative electrode. The positive electrode and the negative electrode are arranged alternately in the direction of the normal line.

The positive electrode and the negative electrode of the electrode 61 of the electrolyzed water generation unit 17 can also be used for the water level gauge 88. The electrode 61 extending in the vertical direction includes a portion submerged in water (in the electrolyzed water) and a gas in the second container 83A as the water level (electrolyzed water level) of the second container 83A changes. The ratio with the part exposed to is changed. The change in this ratio changes the value of the current flowing between the positive electrode and the negative electrode of the electrode 61. Therefore, the electrolyzed water generation unit 17 estimates the amount of water stored in the storage tank 16 based on the change in the current value flowing between the positive electrode and the negative electrode of the electrode 61.

The supply unit 18, that is, the first supply mechanism unit 63, the second supply mechanism unit 65, and the third supply mechanism unit 66 are provided in the storage tank 16A, but may be provided in the main body 5. When the first supply mechanism unit 63 and the second supply mechanism unit 65 are provided in the storage tank 16A, the piping of the supply unit 18 is integrated with the storage tank 16A to integrate the first supply mechanism unit 63 and the second supply mechanism unit 63. Reach 65. When the first supply mechanism unit 63 and the second supply mechanism unit 65 are provided in the main body 5, the piping of the supply unit 18 is connected from the storage tank 16A through the main body 5 to the first supply mechanism unit 63 and the second supply mechanism. Reach part 65. When the third supply mechanism unit 66 is provided in the storage tank 16A, the water conveyance path 77 of the supply unit 18 is provided in the storage tank 16A and reaches the third supply mechanism unit 66. When the third supply mechanism unit 66 is provided in the main body 5, the water conveyance path 77 of the supply unit 18 reaches the third supply mechanism unit 66 from the storage tank 16A through the main body 5.

FIG. 6 is a plan view of a storage tank of a second example of the autonomous vacuum cleaner according to the embodiment of the present invention.

FIG. 7 is a side view of a storage tank of a second example of the autonomous vacuum cleaner according to the embodiment of the present invention.

As shown in FIGS. 6 and 7, the storage tank 16B of the second example according to the present embodiment has a first container portion 82B for storing water before electrolysis and an electrode 61 of the electrolyzed water generating portion 17. (2) The container portion 83B and the like are included.

The first container portion 82B and the second container portion 83B of the storage tank 16B are vertically separated and stacked. The first container portion 82B and the second container portion 83B may be separated in the horizontal direction and connected in the horizontal direction, or may be separated in the vertical direction and connected in the vertical direction. .. The storage tank 16B that can be separated and connected in the horizontal direction is separated and connected by sliding the first container portion 82B and the second container portion 83B in the horizontal direction. The storage tank 16B, which can be separated and connected in the vertical direction, is separated from the first container portion 82B and the second container portion 83B in the vertical direction, and is connected in the vertical direction.

In a plan view, the shape of the second container portion 83B is substantially the same as the shape of the first container portion 82B. The height of the second container portion 83B is lower than the height of the first container portion 82B. The volume of the second container portion 83B is smaller than the volume of the first container portion 82B. The first container portion 82B is connected to the second container portion 83B so as to cover the top surface of the second container portion 83B.

Further, the storage tank 16B is removable from the main body 5. In other words, the first container portion 82B and the second container portion 83B can be attached to and detached from the main body 5 in an integrated state. The first container portion 82B and the second container portion 83B may be individually detachable. Either one of the first container portion 82B and the second container portion 83B may be attached to and detached from the main body 5, and either one may be integrated with the main body 5.

The removable first container portion 82B can be easily supplied with water by removing it from the main body 5. Further, it is possible to prevent the electric parts in the main body 5, for example, the electric blower 38, and the electronic parts, for example, the control unit 15 from being splashed with water during water supply and causing their failure.

The detachable second container portion 83B can easily clean the electrode 61 and the container itself by removing it from the main body 5. Further, at the time of cleaning, it is possible to prevent the electric parts in the main body 5, for example, the electric blower 38, and the electronic parts, for example, the control unit 15 from being splashed with water and causing their failure.

In the storage tank 16B that can be attached and detached in an integrated state, water supply to the first container portion 82B and cleaning of the second container portion 83B can be easily performed at the same time.

At the top of the first container portion 82B, a water supply port 85 for introducing water into the container and a lid 86 for opening and closing the water supply port 85 are provided. The user can easily supply water to the first container portion 82B by opening the lid 86. In addition, the user can easily prevent water from leaking from the first container portion 82B by closing the lid 86.

At the bottom of the second container portion 83B, an electrolyzed water supply port 87 connected to the supply portion 18 is provided. An air hole for removing air from the container is provided at the top of the second container portion 83B. The air hole may be opened to the outside of the second container portion 83B, or may be connected to the first container portion 82B. Inside the second container portion 83B, a water level meter 88 for measuring the water level (water amount, electrolyzed water amount) in the second container portion 83B is provided.

A joint 89 that fluidly connects both containers is provided at the bottom of the first container portion 82B and the top of the second container portion 83B. The joint 89 opens a water passage by connecting the half body on the side of the first container portion 82B and the half body on the side of the second container portion 83B. The half body on the side of the first container portion 82B and the half body on the side of the second container portion 83B close the passage in the unconnected state to prevent water (electrolyzed water) in the container from leaking out. The joint 89 can be easily connected with the connection of the first container portion 82B and the second container portion 83B, and can be easily separated with the separation of the first container portion 82B and the second container portion 83B. preferable. For example, in the storage tank 16B that can be separated and connected in the vertical direction, the joint 89 has a half body provided on the bottom wall of the first container portion 82B and a half body provided on the ceiling wall of the second container portion 83B. Have. In the storage tank 16B that can be separated and connected in the horizontal direction, the joint 89 is the half body provided on either the bottom of the side wall of the first container portion 82B or the top of the bottom wall of the second container portion 83B, and the first It has a half body provided in a connecting pipe extending from any one of the container portion 82B and the second container portion 83B to the side of either the first container portion 82B and the second container portion 83B.

The storage tank 16B supplies the water stored in the first container portion 82B to the second container portion 83B due to the height difference between the first container portion 82B and the second container portion 83B, that is, the head difference. Each time the electrolyzed water generated in the second container portion 83B is consumed, the water stored in the first container portion 82B is supplied to the second container portion 83B. In the storage tank 16A of the first example, the water level of the first container portion 82A and the water level of the second container portion 83A continue to be balanced, while in the storage tank 16B of the second example, while water remains in the first container portion 82B. , The second container portion 83A is maintained at full water.

The electrode 61 of the electrolyzed water generating unit 17 has a plate shape and extends in the horizontal direction. In other words, the normal of the electrode 61 points in the vertical direction. The electrode 61 includes at least one positive electrode and at least one negative electrode. The positive electrode and the negative electrode are arranged alternately in the direction of the normal line.

The supply unit 18, that is, the first supply mechanism unit 63, the second supply mechanism unit 65, and the third supply mechanism unit 66 may be provided in the storage tank 16B or may be provided in the main body 5. When the first supply mechanism unit 63 and the second supply mechanism unit 65 are provided in the storage tank 16B, the piping of the supply unit 18 is integrated with the storage tank 16B to integrate the first supply mechanism unit 63 and the second supply mechanism unit 63. Reach 65. When the first supply mechanism unit 63 and the second supply mechanism unit 65 are provided in the main body 5, the piping of the supply unit 18 is connected from the storage tank 16B through the main body 5 to the first supply mechanism unit 63 and the second supply mechanism. Reach part 65. When the third supply mechanism unit 66 is provided in the storage tank 16B, the water conveyance path 77 of the supply unit 18 is provided in the storage tank 16B and reaches the third supply mechanism unit 66. When the third supply mechanism unit 66 is provided in the main body 5, the water conveyance path 77 of the supply unit 18 reaches the third supply mechanism unit 66 from the storage tank 16B through the main body 5.

FIG. 8 is a block diagram of an autonomous vacuum cleaner according to an embodiment of the present invention.

As shown in FIG. 8 in addition to FIGS. 2 to 3, the autonomous vacuum cleaner 1 according to the present embodiment includes an electric motor 27 of the moving unit 11, a brush electric motor 36 of the suction cleaning unit 31, and an electric blower 38. A communication unit 91 is provided in addition to a unit 13, a control unit 15, a secondary battery 6, an electrolyzed water generation unit 17, and a supply unit 18.

The communication unit 91 includes a transmission unit 91a that transmits an infrared signal to the station 8 and a reception unit 91b that receives an infrared signal transmitted by the station 8 or the remote controller. The transmission unit 91a includes, for example, an infrared light emitting element. The receiving unit 91b includes, for example, a phototransistor.

The camera unit 51 of the detection unit 13 is, for example, a digital camera. That is, the camera unit 51 includes an image sensor 51a (image sensor) that converts a captured image into an electric signal, and an optical system 51b that forms an image on the image sensor 51a to generate an image. The image sensor 51a is, for example, a CCD image sensor (Charge-Coupled Device image sensor) or a CMOS image sensor (Complementary metal-oxide-semiconductor image sensor). Therefore, the autonomous vacuum cleaner 1 can immediately handle the digital data of the image taken by the camera unit 51. That is, the image captured by the camera unit 51 can be compressed into a predetermined data format, converted into a binary image, or converted into grayscale by using, for example, an image processing circuit. The camera unit 51 captures, for example, an image in the visible light region. An image in the visible light region has better image quality than, for example, an image in the infrared region, and can easily provide visible information to a user without performing complicated image processing.

The camera unit 51 is a so-called stereo camera. The images to be captured by the camera unit 51 overlap in a photographing range including a position in front of the autonomous vacuum cleaner 1 extending the center line in the width direction. The camera unit 51 can obtain information on the depth (distance from the autonomous vacuum cleaner 1) in the shooting range. An image containing depth information is called a "distance image".

A lighting device such as an LED (Light Emitting Diode) or a light bulb may be attached to the camera unit 51. The lighting device illuminates a part or all of the photographing range of the camera unit 51. The lighting device enables the camera unit 51 to acquire an appropriate image even in a dark place such as behind an obstacle such as furniture or in a dark environment such as at night.

A large number of pixels are arranged on the light receiving surface of the image sensor 51a. Each pixel on the light receiving surface converts the received light into an electrical signal. By integrating the light information received by each pixel according to the position of each pixel, an image representing the scenery taken by the camera unit 51 can be obtained. A general image sensor 51a captures a color image. A color image is represented by a mixture of three colors, for example, red, green, and blue.

The distance measuring device 55 includes a light emitting unit 55a that irradiates light in a range for obtaining depth information, and a light receiving unit 55b that receives the reflected light of the light emitted from the light emitting unit 55a. The autonomous vacuum cleaner 1 can acquire distance information from the autonomous vacuum cleaner 1 to the object to be detected based on the time difference between the start of light emission of the light emitting unit 55a and the reception of the reflected light by the light receiving unit 55b. The light emitting unit 55a irradiates, for example, infrared rays or visible light.

The control unit 15 is, for example, a central processing unit (CPU), an auxiliary storage device (for example, Read Only Memory, ROM) for storing various arithmetic programs executed (processed) by the central processing unit, parameters, and a program. It is equipped with a main storage device (for example, Random access memory, RAM) in which the work area is dynamically allocated. The auxiliary storage device is preferably rewritable, for example, a non-volatile memory.

The control unit 15 is electrically connected to the electric motor 27 of the moving unit 11, the brush electric motor 36 and the electric blower 38 of the suction cleaning unit 31, the detection unit 13, the secondary battery 6, and the communication unit 91. The control unit 15 includes the electric motor 27 of the moving unit 11, the brush electric motor 36 and the electric blower 38 of the suction cleaning unit 31, and the detection units 13, 2 in response to a command received from the station 8 and the remote controller via the communication unit 91. The next battery 6 is controlled to perform autonomous operation and autonomous movement of the autonomous vacuum cleaner 1.

The control unit 15 includes an autonomous movement control unit 101 that controls the autonomous movement of the autonomous vacuum cleaner 1 and a detection control unit 102 that controls the operation of the detection unit 13. The autonomous movement control unit 101 and the detection control unit 102 are arithmetic programs.

The autonomous movement control unit 101 includes a map information storage unit 103 that stores the environment map information (Environment Map) of the area A to be cleaned, a movement control unit 105 that controls the operation of the electric motor 27 of the movement unit 11, and a suction cleaning unit 31. The brush electric motor 36 and the suction cleaning control unit 106 for controlling the operation of the electric blower 38 are provided.

The map information storage unit 103 is a set of data constructed in a storage area secured in the auxiliary storage device, and has an appropriate data structure. The map information storage unit 103 is read from the auxiliary storage device into the main storage device and used, and is overwritten on the auxiliary storage device after an appropriate update.

The environmental map information is information used for autonomous movement of the autonomous vacuum cleaner 1, and is information including the shape of a region in which the autonomous vacuum cleaner 1 can move, at least in a place to be cleaned. The environmental map information is constructed as, for example, an orderly array of rectangles having a side of 10 cm. The environmental map information may be prepared in advance when using the autonomous vacuum cleaner 1, or may be created at the same time as self-position estimation by Simultaneous Localization and Mapping (SLAM). .. The environmental map information may be created and updated in the process of movement accompanying the cleaning operation. When creating environmental map information by SLAM, it is preferable that the autonomous vacuum cleaner 1 is provided with various sensors such as an encoder in addition to the detection unit 13. The movement control unit 105 creates environmental map information based on the information acquired from these detection units 13 and various sensors.

The movement control unit 105 controls the movement unit 11 based on the environmental map information to autonomously move the autonomous vacuum cleaner 1. The movement control unit 105 controls the magnitude and direction of the current flowing through the electric motor 27 to rotate the electric motor 27 in the forward or reverse direction. The movement control unit 105 controls the drive of the drive wheels 26 by rotating the electric motor 27 in the forward direction or in the reverse direction.

The suction cleaning control unit 106 individually controls the brush electric motor 36 and the electric blower 38.

The detection control unit 102 controls the operation of the camera unit 51. The detection control unit 102 causes the camera unit 51 to take an image at predetermined time intervals. The detection control unit 102 stores the image captured by the camera unit 51 in the detection result storage unit 107. In the image taken by the camera unit 51, the detection result storage unit 107 is secured in the main storage device. The detection result storage unit 107 stores an image taken by the camera unit 51. The detection result storage unit 107 has a capacity capable of storing a plurality of images.

The detection result storage unit 107 may store the image information representing the image taken by the camera unit 51 without processing, or is processed so as to reduce the data size as long as the information necessary for the image analysis processing remains. Image information may be stored. The image information stored in the detection result storage unit 107 is, for example, an image obtained by converting an image captured by the camera unit 51 into grayscale (hereinafter, referred to as an “image” like the original image captured by the camera unit 51). .) May be. In the case of a grayscale image, the pixel value of the image matches the luminance value. When saving the image converted to grayscale, the control unit 15 can reduce the capacity of the memory area allocated to the detection result storage unit 107, that is, a small amount of resources, as compared with the case of storing the original image. is there. Further, when the grayscale-converted image is used for the subsequent analysis processing, the control unit 15 can reduce the load on the central processing unit as compared with the case of processing the original image. Image processing including grayscale of the image may be executed by the camera unit 51. By executing image processing on the camera unit 51, the load on the central processing unit is reduced.

Further, the detection control unit 102 controls turning on and off of the lighting device. The lighting device brightens the image to facilitate the analysis process and improve the accuracy.

Further, the detection control unit 102 stores in the detection result storage unit 107 the detection result of the proximity detection unit 52, that is, that the object to be detected approaches the main body 5 and the distance between the object to be detected and the main body 5 at that time. ..

Further, the detection control unit 102 stores in the detection result storage unit 107 the detection result of the contact detection unit 53, that is, that the object to be detected comes into contact with the main body 5.

The electrolyzed water generating unit 17 applies a voltage between the positive electrode and the negative electrode of the electrode 61 while the moving unit 11 is moving the main body 5, and is stored in the storage tank 16 (storage tank 16A, storage tank 16B). The existing water is electrolyzed by the electric power of the secondary battery 6 to generate electrolytic water. Here, the electrolyzed water generation unit 17 may generate electrolyzed water while the moving unit 11 is moving the main body 5, or the preset moving unit 11 moves the main body 5. The electrolyzed water may be generated in a predetermined period during the period. The predetermined period is not particularly limited and can be set as appropriate. During the predetermined period, for example, as will be described in detail below, the concentration of hypochlorous acid contained in the generated electrolyzed water and the amount of water stored in the storage tank 16 (storage tank 16A, storage tank 16B). Or, it may be determined according to the remaining amount of the secondary battery 6.

Further, the electrolyzed water generating unit 17 applies a voltage between the positive electrode and the negative electrode of the electrode 61 while the moving unit 11 does not move the main body 5, and stores the electrolyzed water in the storage tank 16 (storage tank 16A, storage tank 16B). The water used may be electrolyzed by the electric power of the secondary battery 6 to generate electrolyzed water. For example, when the main body 5 is stopped in the area A to be cleaned or when the main body 5 is connected to the station 8, a voltage is applied between the positive electrode and the negative electrode of the electrode 61 to electrolyze the water. Water may be produced.

By the way, in the storage tank 16A, when the water level of the second container portion 83A is lower than the water level of the first container portion 82A, the water of the first container portion 82A is immediately supplied to the second container portion 83A by the head difference. In the storage tank 16B, when the water level of the second container portion 83B is not full, the water of the first container portion 82A is immediately supplied to the second container portion 83B at a head difference. Therefore, when water in the storage tank 16 or electrolyzed water is insufficient and water is replenished in the first container portions 82A and 82B, the water before electrolysis generally flows into the second container portions 83A and 83B. The concentration of hypochlorite in the electrolyzed water in the second container portions 83A and 83B decreases.

Therefore, in order to obtain electrolyzed water containing a desired concentration of hypochlorous acid before starting the movement of the main body 5, the electrolyzed water generating unit 17 is the electrolyzed water before the moving unit 11 moves the main body 5. It is preferable to start the production of. For example, in a state where the second container portions 83A and 83B are filled with water before electrolysis, the electrolyzed water generation unit can secure a time for obtaining electrolyzed water containing a desired concentration, for example, 5 ppm or more of hypochlorite. 17 starts the generation of electrolyzed water before the moving unit 11 moves the main body 5. For example, a voltage of 7.5 volts is applied to the full amount of water in the second container portions 83A and 83B before electrolysis so that electrolyzed water containing 5 ppm of hypochlorous acid can be obtained. The water generation unit 17 starts generating electrolyzed water before the moving unit 11 moves the main body 5. The electrolyzed water generating unit 17 is the electrolyzed water before the moving unit 11 moves the main body 5 so that the time for obtaining the electrolyzed water can be secured based on the amount of water in the second container units 83A and 83B measured by the water level gauge 88. May start to be generated.

Further, in the electrolyzed water generation unit 17, at least the moving unit 11 starts to move the main body 5 so that the electrolyzed water containing the desired concentration of hypochlorous acid can be obtained at an early stage after the movement of the main body 5 is started. The voltage value applied between the positive electrode and the negative electrode of the electrode 61 is made larger than in other cases until a predetermined time elapses. The voltage value at this time is called a large voltage value. For example, the electrolyzed water generating unit 17 has a large voltage on the electrode 61 until the time elapses until the electrolyzed water containing 5 ppm of hypochlorous acid is obtained from the water before electrolysis in the second container portions 83A and 83B. A value, eg a voltage of 10 volts, is applied. The electrolyzed water generation unit 17 may apply a large voltage value to the electrode 61 until the time for obtaining electrolyzed water elapses based on the amount of water in the second container units 83A and 83B measured by the water level gauge 88. good.

Further, the electrolyzed water generation unit 17 applies a voltage value between the positive electrode and the negative electrode of the electrode 61 based on the remaining amount of water stored in the storage tank 16, specifically the second container units 83A and 83B. May be changed.

FIG. 9 is a diagram showing an example of the relationship between the amount of water in the storage tank and the voltage applied to the electrodes in the autonomous vacuum cleaner according to the embodiment of the present invention.

As shown in FIG. 9, when the amount of water stored in the storage tank 16 is more than a predetermined first threshold value, for example, 80% of the full amount of water, electrolyzed water containing a desired concentration of hypochlorous acid is used. The electrolyzed water generating unit 17 applies a voltage value between the positive electrode and the negative electrode of the electrode 61 at least until a predetermined time elapses after the moving unit 11 starts moving the main body 5 so as to obtain the electrolyzed water at an early stage. Make it larger than in other cases. For example, the electrolyzed water generating unit 17 may hold the electrode 61 until the time elapses until the electrolyzed water containing 5 ppm of hypochlorous acid is obtained from the water before electrolysis that is 80% of the full amount of the second container portions 83A and 83B. A large voltage value is applied to. The electrolyzed water generation unit 17 may apply a large voltage value to the electrode 61 until the time for obtaining electrolyzed water elapses based on the amount of water in the second container units 83A and 83B measured by the water level gauge 88. good.

In other words, in the electrolyzed water generation unit 17, at least until a predetermined time elapses after the moving unit 11 starts moving the main body 5, or the amount of water stored in the storage tank 16 is larger than the predetermined first threshold value. In this case, the voltage value applied between the positive electrode and the negative electrode of the electrode 61 is made larger than in other cases.

In a region where the amount of water stored in the storage tank 16 is larger than a predetermined first threshold value, the voltage applied to the electrode 61 may be constant as shown in FIG. 9, or the storage tank 16 may have a constant voltage. It may change according to the amount of stored water. When the voltage is changed according to the amount of water stored in the storage tank 16, the voltage applied to the electrode 61 increases as the amount of water stored in the storage tank 16 increases.

Further, when the amount of water stored in the storage tank 16 is less than a predetermined second threshold value, for example, 20% of the full amount of water, the electrolyzed water generation unit 17 is used to suppress power consumption of the secondary battery 6. Makes the voltage value applied between the positive electrode and the negative electrode of the electrode 61 smaller than in other cases. The voltage value at this time is called a small voltage value. For example, the electrolyzed water generation unit 17 applies a small voltage value, for example, a voltage of 5 volts, between the positive electrode and the negative electrode of the electrode 61. The electrolyzed water generation unit 17 has a small voltage value between the positive electrode and the negative electrode of the electrode 61 until the time for obtaining electrolyzed water elapses based on the amount of water in the second container units 83A and 83B measured by the water level gauge 88. The voltage of may be applied.

In the region where the amount of water stored in the storage tank 16 is less than a predetermined second threshold value, the voltage applied to the electrode 61 may be constant as shown in FIG. 9, or the storage tank 16 may have a constant voltage. It may change according to the amount of stored water. Even in a region where the amount of water stored in the storage tank 16 is equal to or greater than a predetermined second threshold value and equal to or lower than the first threshold value, the voltage applied to the electrode 61 may be constant as shown in FIG. , It may change according to the amount of water stored in the storage tank 16. When the voltage is changed according to the amount of water stored in the storage tank 16, the voltage applied to the electrode 61 increases as the amount of water stored in the storage tank 16 increases.

Further, the electrolyzed water generation unit 17 does not have to apply a voltage between the positive electrode and the negative electrode of the electrode 61 when the entire amount of water stored in the storage tank 16 has been electrolyzed. For example, a voltage of 7.5 volts is applied to the full amount of water in the second container portions 83A and 83B before electrolysis, and after a lapse of time to obtain electrolyzed water containing 5 ppm of hypochlorite, electrolysis is performed. The water generation unit 17 does not apply a voltage between the positive electrode and the negative electrode of the electrode 61.

Further, the electrolyzed water generation unit 17 does not apply a voltage between the positive electrode and the negative electrode of the electrode 61 when the remaining amount of electric power charged in the secondary battery 6 is less than the predetermined remaining amount. The predetermined remaining amount is set to a predetermined ratio to the discharge capacity of the secondary battery 6, for example, 20%. Further, the predetermined remaining amount is the remaining amount that can cover the calculated power by calculating the power required to return to the station 8 as the charging stand based on the environmental map information of the area A to be cleaned. It may be an estimated value or a safety factor expected from this estimated value.

The supply unit 18 supplies the electrolyzed water of the storage tank 16 to the surface to be cleaned f below the main body 5 or the wiping cleaning unit 32 to sterilize the area A to be cleaned. The supply unit 18 controls the second on-off valve 74 and the first on-off valve 72 of the wiping and cleaning unit 32 to supply electrolyzed water from the storage tank 16 (storage tank 16A, storage tank 16B) to the surface to be cleaned f or the wiping cleaning member 43. Control the supply of water.

The supply unit 18 starts supplying the electrolyzed water after the concentration of hypochlorous acid contained in the electrolyzed water reaches, for example, 5 ppm. The concentration of hypochlorous acid contained in the electrolyzed water may be estimated from the relationship between the amount of water that can be stored in the second container portions 83A and 83B and the voltage applied to the electrode 61 of the electrolyzed water generating portion 17. However, a sensor capable of measuring the concentration of hypochlorous acid may be used. For example, the supply unit 18 applies a voltage of 7.5 volts to the full amount of water before electrolysis in the second container units 83A and 83B to generate electrolyzed water containing 5 ppm of hypochlorous acid. After the required time has elapsed, the supply of electrolyzed water is started. Further, the supply unit 18 may start supplying the electrolyzed water after the time required to generate the electrolyzed water has elapsed based on the amount of water in the second container units 83A and 83B measured by the water level gauge 88. ..

As described above, the autonomous electrolyzer 1 according to the present embodiment stores the water in the storage tank 16 provided in the main body 5 and while the moving unit 11 moves the main body 5. It includes an electrolyzed water generation unit 17 that electrolyzes the generated water with the electric power of the secondary battery 6 to generate electrolyzed water, and a supply unit 18 that supplies the generated electrolyzed water to the outside of the main body 5. Therefore, the autonomous vacuum cleaner 1 can move around the area to be cleaned A for cleaning and sterilize the area A to be cleaned.

Further, the autonomous vacuum cleaner 1 according to the present embodiment includes an electrolyzed water generating unit 17 that starts generating electrolyzed water before the moving unit 11 moves the main body 5. Therefore, the autonomous vacuum cleaner 1 can exert a sterilizing function using electrolyzed water when starting to move.

Further, the autonomous vacuum cleaner 1 according to the present embodiment includes a supply unit 18 that starts supplying electrolyzed water after the concentration of hypochlorous acid contained in the electrolyzed water reaches a predetermined concentration, for example, 5 ppm. ing. Therefore, the autonomous vacuum cleaner 1 can surely sterilize the area A to be cleaned by supplying electrolyzed water in a predetermined amount or more.

Further, the autonomous vacuum cleaner 1 according to the present embodiment continues to apply a voltage between the positive electrode and the negative electrode of the electrode 61 while the moving unit 11 is moving the main body 5. Therefore, the autonomous vacuum cleaner 1 can continuously supply electrolyzed water containing a predetermined concentration, for example, 5 ppm of hypochlorous acid.

Further, in the autonomous vacuum cleaner 1 according to the present embodiment, between the positive electrode and the negative electrode of the electrode 61 of the electrolyzed water generating unit 17 until a predetermined time elapses after the moving unit 11 starts moving the main body 5. The applied voltage value is made larger than in other cases. Therefore, when the autonomous vacuum cleaner 1 starts moving the main body 5, even if the hypochlorous acid contained in the electrolyzed water does not reach a predetermined concentration, for example, 5 ppm, it is immediately electrolyzed. The concentration of hypochlorous acid contained in water can be increased.

Further, when the amount of water stored in the storage tank 16 is larger than a predetermined value (first threshold value), the autonomous vacuum cleaner 1 according to the present embodiment has a positive electrode 61 of the electrode 61 of the electrolyzed water generation unit 17. The voltage value applied between the negative electrode and the negative electrode is made larger than in other cases. Therefore, the autonomous vacuum cleaner 1 can quickly increase the concentration of hypochlorous acid contained in the electrolyzed water even when a large amount of water is stored in the storage tank 16.

Further, when the amount of water stored in the storage tank 16 is less than a predetermined value (second threshold value), the autonomous vacuum cleaner 1 according to the present embodiment has a positive electrode 61 of the electrode 61 of the electrolyzed water generation unit 17. The voltage value applied between the negative electrode and the negative electrode is made smaller than in other cases. Therefore, when the amount of water stored in the storage tank 16 is small, the autonomous vacuum cleaner 1 can sufficiently increase the concentration of hypochlorous acid contained in the electrolyzed water while suppressing the power consumption. ..

Further, in the autonomous vacuum cleaner 1 according to the present embodiment, when the entire amount of water stored in the storage tank 16 has been electrolyzed, between the positive electrode and the negative electrode of the electrode 61 of the electrolyzed water generation unit 17. No voltage is applied to. Therefore, the autonomous vacuum cleaner 1 prevents the electrolyzed water generation unit 17 from consuming more electric power of the secondary battery 6 than necessary when the water stored in the storage tank 16 is electrolyzed.

Further, the autonomous vacuum cleaner 1 according to the present embodiment estimates the amount of water stored in the storage tank 16 from the current value flowing between the positive electrode and the negative electrode of the electrode 61 of the electrolyzed water generating unit 17. Therefore, the autonomous vacuum cleaner 1 can control the generation of electrolyzed water according to the amount of water with the minimum configuration for detecting the amount of water stored in the storage tank 16.

Further, the autonomous vacuum cleaner 1 according to the present embodiment may include a water level gauge 88 that detects the amount of water stored in the storage tank 16. Therefore, the autonomous vacuum cleaner 1 can control the generation of electrolyzed water according to the amount of water in the storage tank 16.

Further, the autonomous vacuum cleaner 1 according to the present embodiment does not apply a voltage between the positive electrode and the negative electrode of the electrode 61 of the electrolyzed water generating unit 17 when the remaining amount of the secondary battery 6 is less than a predetermined value. .. Therefore, the autonomous vacuum cleaner 1 can avoid having difficulty returning to the station 8 due to the generation of electrolyzed water.

Therefore, according to the autonomous vacuum cleaner 1 according to the present embodiment, the area to be cleaned A can be moved around for cleaning and the area A to be cleaned can be sterilized.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.

1 ... Autonomous electric vacuum cleaner, 5 ... Main body, 6 ... Secondary battery, 8 ... Station, 9 ... Power cord, 11 ... Moving unit, 12 ... Cleaning unit, 13 ... Detection unit, 15 ... Control unit, 16, 16A , 16B ... Storage tank, 17 ... Electrolyzed water generator, 18 ... Supply unit, 21 ... Body case, 22 ... Bumper, 26 ... Drive wheel, 27 ... Electric motor, 28 ... Drive wheel, 31 ... Suction cleaning unit, 32 ... Wiping cleaning unit , 34 ... Suction port, 35 ... Rotating brush, 36 ... Brush electric motor, 37 ... Dust container, 38 ... Electric blower, 39 ... Suction air passage, 39u ... Upstream air passage, 39d ... Downstream air passage, 41 ... Exhaust Air passage, 43 ... wiping cleaning member, 45 ... wiping member mounting part, 51 ... camera unit, 51a ... imaging element, 51b ... optical system, 52 ... proximity detection unit, 53 ... contact detection unit, 55 ... distance measuring device, 55a ... Light emitting unit, 55b ... Light receiving unit, 61 ... Electrode, 63 ... First supply mechanism unit, 65 ... Second supply mechanism unit, 66 ... Third supply mechanism unit, 71 ... First supply port, 72 ... First on-off valve , 73 ... Second supply port, 74 ... Second on-off valve, 76 ... Atomizer, 76 ... Atomizer, 77 ... Water guide path, 79 ... Moisture absorption part, 81 ... Container, 82A, 82B ... First container part, 83A, 83B ... Second container, 85 ... Water supply port, 86 ... Lid, 87 ... Supply port, 88 ... Water level gauge, 89 ... Joint, 91 ... Communication unit, 91a ... Transmission unit, 91b ... Receiver unit, 101 ... Autonomous Movement control unit, 102 ... Detection control unit, 103 ... Map information storage unit, 105 ... Movement control unit, 106 ... Suction cleaning control unit, 107 ... Detection result storage unit.

Claims (10)

With the main body
The battery provided in the main body and
A moving part that moves the main body and
A storage tank provided in the main body for storing water,
While the moving unit is moving the main body, the electrolyzed water generating unit that electrolyzes the water stored in the storage tank to generate the electrolyzed water.
An autonomous vacuum cleaner including a supply unit that supplies the generated electrolyzed water to the outside of the main body. The autonomous water vacuum cleaner according to claim 1, wherein the electrolyzed water generating unit starts generating electrolyzed water before the moving unit moves the main body. The autonomous electricity according to claim 1 or 2, wherein the supply unit starts supplying the electrolyzed water after the concentration of hypochlorous acid contained in the electrolyzed water reaches 5 ppm (parts per million by mass). Vacuum cleaner. The autonomous electric cleaning according to any one of claims 1 to 3, wherein the electrolyzed water generating unit continues to apply a voltage between the positive electrode and the negative electrode while the moving unit moves the main body. Machine. The electrolyzed water generating unit is used at least until a predetermined time elapses after the moving unit starts moving the main body, or when the amount of water stored in the storage tank is larger than the first threshold value. The autonomous vacuum cleaner according to any one of claims 1 to 4, wherein the voltage value applied between the positive electrode and the negative electrode is made larger than in other cases. The electrolyzed water generating unit claims that when the amount of water stored in the storage tank is less than the second threshold value, the voltage value applied between the positive electrode and the negative electrode is smaller than in other cases. The autonomous vacuum cleaner according to any one of items 1 to 5. According to any one of claims 1 to 6, the electrolyzed water generating unit does not apply a voltage between the positive electrode and the negative electrode when the entire amount of the water stored in the storage tank has been electrolyzed. Described autonomous vacuum cleaner. The autonomous water vacuum cleaner according to any one of claims 1 to 7, wherein the electrolyzed water generating unit estimates the amount of water stored in the storage tank from the value of the current flowing between the positive electrode and the negative electrode. .. The autonomous vacuum cleaner according to any one of claims 1 to 7, further comprising a water level gauge provided in the storage tank and detecting the amount of water stored in the storage tank. The autonomous vacuum cleaner according to any one of claims 1 to 9, wherein the electrolyzed water generating unit does not apply a voltage between the positive electrode and the negative electrode when the remaining amount of the battery is less than a predetermined value.

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