JP2021000614A - Cleaning robot - Google Patents

Abstract

To fully remove dirt from an object comprising plural object surfaces with different orientations.SOLUTION: A cleaning robot for removing dirt from an object comprises: a brush which contacts the object and removes dirt from the object; an arm to which the brush is attached; a drive part for moving the arm; and a control part which controls the drive part so that the brush contacts the object and removes dirt from the object. The drive part comprises: a first mechanism which moves the arm in a prescribed first direction; a second mechanism which moves the arm in a second direction orthogonal to the first direction; and a third mechanism which rotates the arm around an axis parallel to the second direction. The brush comprises: a first brush face which has a same shape as at least a part of a peripheral surface of a cylinder with an axis parallel to the second direction as a central axis; a second brush face which is located on a bottom surface side of the cylinder with respect to the first brush face; and a third brush face which is located on an upper surface side of the cylinder with respect to the first brush face.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a cleaning robot that cleans an object.

Many toilets are installed at airports, railway stations, highway rest areas, exhibition halls, etc., and their cleaning work is done manually. In particular, there are many men's urinals (hereinafter referred to as urinals) for men to urinate, and cleaning work requires a great deal of labor. For this reason, techniques aimed at automating and mechanizing this work have been conventionally proposed. For example, Patent Document 1 discloses a cleaning device in which the inner wall surface of a urinal is configured to have a semicircular cross section, and a cylindrical brush is abutted and rotated to clean the entire inner wall surface of the urinal. ing.

Japanese Unexamined Patent Publication No. 6-287991

However, the cleaning device described in Patent Document 1 has a problem that it cannot be applied to a toilet bowl that has already been installed because the shape of the toilet bowl that can be cleaned is determined.

One aspect of the present disclosure is a cleaning robot that removes dirt from an object, and moves a brush that comes into contact with the object to remove dirt from the object, an arm to which the brush is attached, and the arm. The drive unit includes a drive unit for causing the brush to contact the object and a control unit for controlling the drive unit so that the brush abuts on the object and removes dirt from the object. The drive unit has a predetermined arm. A first mechanism that moves the arm in one direction, a second mechanism that moves the arm in a second direction orthogonal to the first direction, and a third mechanism that rotates the arm around an axis parallel to the second direction. The brush has a first brush surface having the same shape as at least a part of the peripheral surface of the cylinder having an axis parallel to the second direction as a central axis, and a brush surface more than the first brush surface. It includes a second brush surface arranged on the bottom surface side of the cylinder and a third brush surface arranged on the upper surface side of the cylinder with respect to the first brush surface.

According to the present disclosure, dirt on an object having a plurality of object surfaces having different orientations can be sufficiently removed.

It is a figure which showed the main part of the cleaning robot which concerns on 1st Embodiment of this disclosure. It is a figure which shows the R slider which slid upward in the Y direction. It is a figure which shows the R slider which slid downward in the Y direction. It is a figure which shows the vertical frame rotated in the −X direction. It is a figure which shows the vertical frame rotated in the + X direction. It is a figure which shows the arm which was slid forward by the R slider. It is a figure which shows the arm which was slid rearward by the R slider. It is a side view of a brush and an arm. It is a figure which shows the state which a brush is in contact with the inner surface of a toilet bowl. It is a cut surface view when the toilet bowl is viewed from the direction shown by arrows 110-110 of FIG. 9A. It is a cut surface view which shows the state which the brush is in contact with the front of the toilet bowl. It is a cut surface view which shows the state which the brush is in contact with the bottom cup of the toilet bowl. It is a cut surface view which shows the state which the brush was brought into contact with the upper surface edge of the toilet bowl. It is a perspective view which looked at the arm and the brush from diagonally above. It is a top view which shows the state which the brush is swinging in the −X direction. It is a top view which shows the state which the brush swings in the + X direction. It is a figure which shows an example of the arrangement of the nozzle which discharges a detergent and water. It is a figure which shows another embodiment of a brush and an arm. It is a block diagram of a cleaning robot. It is a flowchart which shows an example of the operation of cleaning by a cleaning robot. It is a figure which shows 6 processes which are executed sequentially in cleaning by a cleaning robot. It is a figure which shows the four processes which are executed sequentially following the six processes shown in FIG. It is a figure which showed the main part of the cleaning robot which concerns on 2nd Embodiment of this disclosure. It is a figure which shows the state which widened the space between the pair of left and right cleaning rollers. It is a figure which shows the state that the cleaning roller is tilted according to the shape of a toilet bowl. It is explanatory drawing of the operation of installation of a cleaning robot in front of the toilet bowl and cleaning of the outer surface of the toilet bowl by the cleaning robot.

(Background to this disclosure)
The present inventor is studying a cleaning robot that autonomously cleans toilet bowls installed in public toilets in public facilities such as train stations and airports. Specifically, we are studying a cleaning robot equipped with an arm that can move three axes with a brush that can discharge detergent and water attached to the tip. The cleaning robot cleans the toilet bowl by moving the brush with the inner surface of the toilet bowl as the target surface and the brush in contact with the target surface.

The above-mentioned Patent Document 1 discloses a cleaning device including a urinal having a semicircular cross section and a cylindrical rotating brush that abuts on the inner wall surface of the urinal. However, many of the existing urinals installed in public toilets do not have a semicircular cross section. Therefore, the cleaning device disclosed in Patent Document 1 may be able to clean only a part of the existing urinal.

In addition, the urinal has a first target surface facing a person, a second target surface extending in the horizontal direction provided with a drain port, and a third target surface facing a second target surface provided with a spout. However, the cleaning device of Patent Document 1 targets only the first target surface for cleaning. Therefore, in the cleaning device of Patent Document 1, even if the urinal has a cross section close to a semicircle, a part of the second target surface, the third target surface, and the like is not cleaned, so that it is not suitable for cleaning the inner surface of the toilet bowl. It is enough.

The present disclosure has been made to solve such a problem, and an object of the present invention is to provide a cleaning robot capable of sufficiently removing dirt from an existing toilet bowl having a plurality of target surfaces having different orientations. To do.

One aspect of the present disclosure is a cleaning robot that removes dirt from an object, and moves a brush that comes into contact with the object to remove dirt from the object, an arm to which the brush is attached, and the arm. The drive unit includes a drive unit for causing the brush to contact the object and a control unit for controlling the drive unit so that the brush abuts on the object and removes dirt from the object. The drive unit has a predetermined arm. A first mechanism that moves the arm in one direction, a second mechanism that moves the arm in a second direction orthogonal to the first direction, and a third mechanism that rotates the arm around an axis parallel to the second direction. The brush has a first brush surface having the same shape as at least a part of the peripheral surface of the cylinder having an axis parallel to the second direction as a central axis, and a brush surface more than the first brush surface. It includes a second brush surface arranged on the bottom surface side of the cylinder and a third brush surface arranged on the upper surface side of the cylinder with respect to the first brush surface.

According to this configuration, the first mechanism, the second mechanism, and the third mechanism can move in a predetermined first direction and a second direction orthogonal to the first direction, and around an axis parallel to the second direction. A brush is attached to the rotatable arm. Therefore, the brush can be moved in the directions of the three axes of the cylindrical coordinate system.

Here, the brush has a first brush surface having the same shape as at least a part of the peripheral surface of the cylinder centered on an axis parallel to the second direction, and a bottom surface side of the cylinder with respect to the first brush surface. It is provided with a second brush surface arranged on the surface of the cylinder and a third brush surface arranged on the upper surface side of the cylinder with respect to the first brush surface. Therefore, any surface of the brush can be appropriately brought into contact with an arbitrary position of the target surface only by the moving mechanism in the three-axis directions of the cylindrical coordinate system. As a result, according to this configuration, it is possible to sufficiently remove dirt from an object having a plurality of object surfaces having different orientations.

In the above aspect, the control unit removes dirt on the first target surface whose first brush surface faces the first direction of the object, and the second brush surface is the object. In, the dirt on the second target surface facing the second direction and located on the bottom surface side of the cylinder with respect to the first target surface is removed, and the third brush surface is the object. The drive unit may be controlled so as to remove dirt from a third target surface that faces the second direction and is located on the upper surface side of the cylinder with respect to the first target surface.

According to this configuration, for each of the three object surfaces having different orientations in the object, the brush surface facing each object surface, which is the closest to each object surface among the three brush surfaces of the brush. Can be moved so as to be in contact with each other to quickly remove dirt on each target surface.

In the above aspect, a brush driving unit that rotates the brush around an axis parallel to the second direction may be further provided.

According to this configuration, the brush can be rotated around an axis parallel to the second direction while keeping the brush in contact with the target surface. Therefore, the dirt on the target surface can be removed evenly, and the cleaning power can be improved as compared with the case where the brush is not rotated.

In the above aspect, a brush driving unit that alternately rotates the brush in the forward direction and reverse direction may be provided around an axis parallel to the second direction.

According to this configuration, dirt on the target surface is removed while alternately switching the rotation direction of the brush in contact with the target surface. Therefore, when the rotation direction of the brush is switched, the inclination of the bristles of the brush can be reversed to scrape off the dirt on the target surface. As a result, the cleaning power can be improved as compared with the case where the rotation direction of the brush is not switched.

In the above aspect, the second brush surface may have a curved surface shape that is convex toward the bottom surface of the cylinder.

According to this configuration, the dirt on the target surface can be sufficiently removed by bringing the second brush surface into contact with the target surface having the same curved surface shape as the second brush surface in the object.

In the above aspect, the third brush surface may have a planar shape parallel to the upper surface of the cylinder.

According to this configuration, the dirt on the target surface can be sufficiently removed by bringing the third brush surface into contact with the target surface having the same planar shape as the third brush surface in the object.

In the above embodiment, the trolley for moving the cleaning robot, the first cleaning roller for wiping the outer surface of the toilet bowl, the first support member for supporting the rotation axis of the first cleaning roller, and the trolley. A first outer surface arm that is provided and rotates about an axis parallel to the second direction, and a first outer surface arm that is attached to the tip of the first outer surface arm, and the longitudinal direction of the first cleaning roller is set to the second direction. A first connecting portion for urging the first support member may be further provided so as to be parallel.

According to this configuration, the first cleaning roller is in contact with the central portion of the front surface of the outer surface of the toilet bowl while being urged so that the longitudinal direction of the first cleaning roller is parallel to the second direction. , The cleaning robot can be moved by the trolley. In this state, if the cleaning robot is moved toward the toilet bowl by a dolly, the peripheral surface of the cleaning roller can move along the outer surface to the wall where the toilet bowl is installed so as to involve the outer surface of the toilet bowl. it can. As a result, dirt on the outer surface of the toilet bowl can be wiped off.

In the above aspect, the second cleaning roller for wiping the outer surface of the toilet bowl, the second support member for supporting the rotation axis of the second cleaning roller, and the first outer surface arm facing the first outer surface arm on the carriage. The second outer surface arm is provided so as to rotate about an axis parallel to the second direction, and the second outer surface arm is attached to the tip of the second outer surface arm, and the longitudinal direction of the second cleaning roller is the second. A second connecting portion for urging the second support member may be further provided so as to be parallel to the direction.

According to this configuration, the first outer surface arm and the second outer surface arm are arranged so as to face each other. Therefore, the peripheral surfaces of the first and second cleaning rollers can be moved along the outer surface to the wall on which the toilet bowl is installed so as to involve the outer surface of the toilet bowl. As a result, dirt on the outer surface of the toilet bowl can be wiped from two directions, and the distance between the first and second cleaning rollers can be limited to the width of the toilet bowl. Therefore, it is possible to suppress the displacement between the cleaning robot and the toilet bowl when the cleaning robot is installed in front of the toilet bowl. As a result, it is not necessary to have an excessive margin in the movable range of the brush for cleaning the inner surface of the toilet bowl, and the cleaning robot can be configured compactly.

Another aspect of the present disclosure is a cleaning robot that removes dirt on the outer surface of the toilet bowl, the carriage for moving the cleaning robot, the first cleaning roller for wiping the outer surface of the toilet bowl, and the first cleaning roller. A first support member that supports the rotation axis of the cleaning roller, a first outer surface arm provided on the trolley and rotating around an axis parallel to the second direction, and a tip of the first outer surface arm. A first connecting portion that urges the first support member so that the longitudinal direction of the first cleaning roller is perpendicular to the floor surface on which the trolley moves. ..

According to this configuration, the first cleaning roller is centered on the front surface of the outer surface of the toilet bowl in a state where the longitudinal direction of the first cleaning roller is urged so as to be perpendicular to the floor surface on which the dolly moves. The cleaning robot can be moved by the trolley so as to come into contact with the portion. In this state, if the cleaning robot is moved toward the toilet bowl by a dolly, the peripheral surface of the cleaning roller can move along the outer surface to the wall where the toilet bowl is installed so as to involve the outer surface of the toilet bowl. it can. As a result, dirt on the outer surface of the toilet bowl can be wiped off.

In the other aspect, the second cleaning roller for wiping the outer surface of the toilet bowl, the second support member for supporting the rotation axis of the second cleaning roller, and the first outer surface arm on the carriage. A second outer surface arm which is provided so as to face the second outer surface arm and rotates around an axis parallel to the second direction, and a second outer surface arm which is attached to the tip of the second outer surface arm and has a longitudinal direction of the second cleaning roller. A second connecting portion for urging the second support member may be further provided so that the trolley is perpendicular to the moving floor surface.

According to this configuration, the first outer surface arm and the second outer surface arm are arranged so as to face each other. Therefore, the peripheral surfaces of the first and second cleaning rollers can be moved along the outer surface to the wall on which the toilet bowl is installed by wrapping the outer surface of the toilet bowl from both sides. As a result, dirt on the outer surface of the toilet bowl can be wiped from two directions.

(First Embodiment)
Hereinafter, the cleaning robot 1 according to the first embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a diagram showing a main part of the cleaning robot 1 according to the first embodiment of the present disclosure. Hereinafter, the upper part of the cleaning robot 1 is referred to as the + Y direction, the lower part is referred to as the −Y direction, and the + Y direction and the −Y direction are collectively referred to as the Y direction (an example of the second direction). Further, the front of the cleaning robot 1 is indicated by the + R direction, the rear of the cleaning robot 1 is indicated by the −R direction, and the + R direction and the −R direction are collectively indicated by the R direction (an example of the first direction). Further, in the + R direction, the left side is indicated by the + X direction, the right side is indicated by the −X direction, and the + X direction and the −X direction are collectively indicated by the X direction (an example of the third direction). The X, Y, and R directions are orthogonal to each other.

The cleaning robot 1 is moved to a position facing the front of the toilet bowl 100 by a user such as a cleaning staff, and then cleans the toilet bowl 100 by polishing the inner surface of the toilet bowl 100 with a brush 10. The toilet bowl 100 is a men's toilet bowl used by men to urinate. The cleaning robot 1 is suitable for cleaning men's toilets, but it can also clean Western-style toilets or Japanese-style toilets capable of stool and urine. In the following, a case where the cleaning robot 1 cleans the men's toilet bowl will be described as an example.

The cleaning robot 1 includes an R slider 2, a pair of Y sliders 3, a rotary actuator 4, an arm 5, a moving carriage 7 (an example of a carriage), and a vertical frame 8.

The R slider 2, the pair of Y sliders 3, and the rotary actuator 4 are examples of the drive unit. The R slider 2 is an example of the first mechanism, and moves the arm 5 in the R direction. The pair of Y sliders 3 is an example of the second mechanism, and moves the arm 5 in the Y direction orthogonal to the R direction. The rotary actuator 4 is an example of the third mechanism, and rotates the arm 5 around an axis parallel to the Y direction (hereinafter, Y axis).

The moving carriage 7 is a member for moving the cleaning robot 1. The mobile carriage 7 includes a base frame 70 and casters 71.

The base frame 70 is a plate-shaped member that constitutes the bottom surface of the cleaning robot 1. The base frame 70 may be a frame body, and its shape is not particularly limited. The casters 71 are attached to the four corners of the back surface of the base frame 70 and are configured so that their orientations can be freely changed. Therefore, a user such as a cleaning staff can move the cleaning robot 1 directionally by pushing or pulling a part of the cleaning robot 1 such as the vertical frame 8 arranged on the base frame 70.

Further, the caster 71 is provided with a mechanism (hereinafter, a lock mechanism) for stopping (hereinafter, locking) its own rotation. When the caster 71 is locked, the lock mechanism outputs a signal indicating that the caster 71 is locked. Further, when the caster 71 is unlocked, the lock mechanism outputs a signal indicating that the caster 71 is unlocked. Therefore, the user can stop the cleaning robot 1 by locking each caster 71.

In the present embodiment, the number of casters 71 is four, which is an example. The number of casters 71 may be three or five or more. Further, only a part of the plurality of casters 71 may be configured so that the orientation can be freely changed.

The rotary actuator 4 is a mechanism for rotating the arm 5 around the Y axis with the Y axis as the central axis, and is configured such that the turntable 4a on the upper surface rotates around the Y axis.

The vertical frame 8 is erected on the rotary actuator 4. The vertical frame 8 includes a pair of vertical members 8a extending in the Y direction, a pair of rail members 8b extending in the Y direction, and a horizontal member 8c extending in the R direction connecting the vertical members 8a and the rail members 8b. The vertical frame 8 is composed of a pair of vertical members 8a, a pair of rail members 8b, and a horizontal member 8c, but this is an example, and the shape thereof is not particularly limited.

Each of the pair of Y sliders 3 is a member for sliding the arm 5 in the Y direction, and has a shape extending in the Y direction. The pair of Y sliders 3 are attached to each of the pair of vertical members 8a constituting the vertical frame 8.

The R slider 2 is a member for sliding the arm 5 in the R direction, and has a shape extending in the R direction. The end portion of the R slider 2 on the −R direction side (hereinafter, the base end portion) is slidably attached to the pair of Y sliders 3 in the Y direction. The end portion (hereinafter, the tip portion) of the R slider 2 on the + R direction side is slidably attached to the pair of rail members 8b of the vertical frame 8 in the Y direction. As a result, the Y slider 3 slides the arm 5 in the Y direction by sliding the R slider 2 in the Y direction.

The arm 5 has a shape extending in the R direction. A brush 10 is attached to the end of the arm 5 on the + R direction side (hereinafter, the tip). The end portion of the arm 5 on the −R direction side (hereinafter, the base end portion) is attached to the R slider 2. Further, the arm 5 has a vibration mechanism (not shown) for vibrating the brush 10.

The brush 10 is rotatably attached around the Y axis at the tip of the arm 5. Due to the vibration mechanism of the arm 5, the brush 10 is parallel to the axis parallel to the X direction (hereinafter, X axis) and the axis parallel to the R direction (hereinafter, R axis), and is orthogonal to the Y axis. It is configured to vibrate in a plane (hereafter, a horizontal plane).

The brush 10 has a flat brush surface at the upper portion, a hemispherical brush surface at the lower portion, and a brush surface having the same shape as at least a part of the peripheral surface of the cylinder in the central portion in the Y direction. The brush 10 comes into contact with the inner surface of the toilet bowl 100 (an example of an object) by moving the arm 5 in the R direction. The brush 10 removes dirt adhering to the inner surface by moving the entire area of the inner surface in a state of being in contact with the inner surface of the toilet bowl 100. The details of the behavior of the brush 10 will be described later with reference to FIG.

FIG. 2 is a diagram showing an R slider 2 slid upward (+ Y direction) in the Y direction. FIG. 3 is a diagram showing an R slider 2 slid downward (−Y direction) in the Y direction. As shown in FIGS. 2 and 3, the R slider 2 can be slid in the Y direction by a pair of Y sliders 3. As a result, the arm 5 is positioned at an arbitrary position in the Y direction.

FIG. 4 is a diagram showing a vertical frame 8 rotated in the −X direction. FIG. 5 is a diagram showing a vertical frame 8 rotated in the + X direction. As shown in FIGS. 4 and 5, the vertical frame 8 is attached to the turntable 4a on the upper surface of the rotary actuator 4. Therefore, the vertical frame 8 can be rotated around the Y-axis by rotating the turntable 4a around the Y-axis. Thereby, the sliding direction (R direction) of the arm 5 by the R slider 2 can be determined to be an arbitrary direction in the horizontal plane parallel to the X axis and the R axis and orthogonal to the Y axis.

FIG. 6 is a diagram showing an arm 5 slid forward (+ R direction) by the R slider 2. FIG. 7 is a diagram showing an arm 5 slid backward (in the −R direction) by the R slider 2. As shown in FIGS. 6 and 7, the base end portion of the arm 5 is slid in the R direction by the R slider 2. As a result, the arm 5 is positioned at an arbitrary position in the R direction.

From the above, it can be seen that the arm 5 is configured to be able to be positioned at an arbitrary position by a cylindrical coordinate type mechanism having the Y axis as the turning axis.

Next, the shape of the brush 10 and the cleaning method for each target surface of the toilet bowl 100 will be described. FIG. 8 is a side view of the brush 10 and the arm 5.

As shown in FIG. 8, the brush 10 includes a semi-cylindrical holding portion 10d and a plurality of brush bristles 10p. The holding portion 10d is rotatably attached around the Y axis at the tip end portion (end portion in the + R direction) of the arm 5. The base end of each of the plurality of brush bristles 10p is attached to the holding portion 10d. The first brush surface 10a (an example of the first brush surface), the second brush surface 10b (an example of the second brush surface), and the third brush surface 10c (an example of the third brush surface) are provided by the tips of the plurality of brush bristles 10p. An example of the brush surface) is configured.

The first brush surface 10a has the same shape as at least a part of the peripheral surface of the cylinder whose central axis is parallel to the Y axis. The second brush surface 10b is arranged on the bottom surface side (-Y direction) of the cylinder with respect to the first brush surface 10a, and has a shape similar to a hemispherical surface having an axis parallel to the Y axis as a central axis. There is. The third brush surface 10c is arranged on the upper surface side (−Y direction) of the cylinder with respect to the first brush surface 10a, and is formed in a planar shape parallel to the upper surface of the cylinder. The second brush surface 10b is not limited to the same shape as the hemispherical surface, and may have any shape as long as it has a curved surface shape that is convex toward the bottom surface of the cylinder.

FIG. 9A is a diagram showing a state in which the brush 10 is in contact with the inner surface of the toilet bowl 100. FIG. 9B is a cut view of the toilet bowl 100 as viewed from the direction indicated by arrows 110-110 of FIG. 9A. As shown in FIG. 9A, the toilet bowl 100 includes an outer surface 107 and an inner surface 106. As shown in FIG. 9B, the inner surface 106 includes a front surface 101, a bottom surface cup 102, an upper surface edge 103, a right side surface 104, and a left side surface 105 (not shown).

The front surface 101 is a surface facing the R direction on the inner surface 106 of the toilet bowl 100, and is an example of the first target surface. The right side surface 104 located on the −X direction side of the front surface 101 and the left side surface 105 located on the + X direction side of the front surface 101 are also surfaces facing the R direction on the inner surface 106 of the toilet bowl 100, and are the first target surfaces. This is an example.

The bottom cup 102 is a surface of the inner surface 106 of the toilet bowl 100 that faces the −Y direction and is located on the −Y direction side of the surface of the inner surface 106 of the toilet bowl 100 that faces the R direction (first target surface). It is an example of the second target surface.

The upper surface edge 103 is a surface of the inner surface 106 of the toilet bowl 100 that faces the + Y direction and is located on the + Y direction side of the front surface 101, the right side surface 104, and the left side surface 105, and is an example of the third target surface. Is.

Here, when the target surface faces a certain direction, it means that the target surface faces the certain direction, and the target surface may be orthogonal to the certain direction or with respect to the certain direction. The target surface may be inclined at, for example, about 0 to 45 degrees. Further, each of the plurality of surfaces 101 to 105 constituting the inner surface 106 may be a flat surface or a curved surface.

FIG. 10A is a cut view showing a state in which the brush 10 is in contact with the front surface 101 of the toilet bowl 100. FIG. 10B is a cut view showing a state in which the brush 10 is in contact with the bottom cup 102 of the toilet bowl 100. FIG. 10C is a cut view showing a state in which the brush 10 is in contact with the upper surface edge 103 of the toilet bowl 100. When removing the dirt on the front surface 101, the brush 10 is moved in the + R direction by the R slider 2, and the first brush surface 10a of the brush 10 is brought into contact with the front surface 101 as shown in FIG. 10A. When removing dirt from the bottom cup 102, the R slider 2 is moved in the −Y direction by a pair of Y sliders 3, and the second brush surface 10b is brought into contact with the bottom cup 102 as shown in FIG. 10B. When removing dirt from the upper surface edge 103, the R slider 2 is moved in the + Y direction by a pair of Y sliders 3, and the third brush surface 10c is brought into contact with the upper surface edge 103 as shown in FIG. 10C.

As a result, the brush 10 can be brought into contact with the plurality of surfaces 101 to 105 constituting the inner surface 106 of the toilet bowl 100. After that, by moving the brush 10 along the inner surface 106 of the toilet bowl 100, dirt on the inner surface 106 of the toilet bowl 100 can be removed and unpolished residue can be reduced.

In particular, when the inner surface 106 of the toilet bowl 100 has a curve, the rotary actuator 4 rotates the arm 5 with the Y axis as the central axis. As a result, the first brush surface 10a, the second brush surface 10b, or the third brush surface 10c are in contact with the plurality of surfaces 101 to 105 constituting the inner surface 106 of the toilet bowl 100, and the brushes are aligned with the curvature of the inner surface 106. 10 can be moved. As a result, the cleaning robot 1 can reduce the unpolished residue on the inner surface 106.

Next, the mechanism for vibrating the brush 10 will be described. FIG. 11 is a perspective view of the arm 5 and the brush 10 viewed from diagonally above. 12 and 13 are explanatory views of the operation of the vibration mechanism, FIG. 12 is a top view showing a state in which the brush 10 is swinging in the −X direction (right), and FIG. 13 is a top view showing the state in which the brush 10 is swinging in the −X direction (right). It is a top view which shows the state of swinging to the left).

As shown in FIG. 11, the holding portion 10d of the brush 10 is rotatably attached around the Y axis at the connecting portion 5a of the arm 5. Further, the arm 5 is provided with a crank 11 which is rotationally driven by a vibration motor 211 (FIG. 16) built in the arm 5. The crank 11 and the brush 10 are connected via a rod 12. Here, the connecting portion 12a between the rod 12 and the crank 11 and the connecting portion 12b between the rod 12 and the brush 10 are both configured to be rotatable around the Y axis. The vibration motor 211, the crank 11, and the rod 12 are examples of the brush drive unit.

In FIGS. 12 and 13, the line shown by AA corresponds to the back surface of the semi-cylindrical holding portion 10d (FIG. 11). In addition, in FIG. 12 and FIG. 13, in order to make it easy to understand the direction of the back surface, the line shown by AA is shown as a line longer than the back surface when viewed from the + Y direction.

As shown in FIG. 12, the connecting portion 12a between the rod 12 and the crank 11 is on the −R direction side of the drive shaft 11a of the crank 11, and the rod 12 is pulled in the −R direction. At this time, since the connecting portion 12b between the rod 12 and the brush 10 is in the −R direction with respect to the connecting portion 5a between the brush 10 and the arm 5, the brush 10 is in a state of swinging in the −X direction (right side). .. After that, it is assumed that the crank 11 rotates and the connecting portion 12a moves in the + R direction. In this case, the connecting portion 12b between the rod 12 and the brush 10 is pushed in the + R direction. As a result, the holding portion 10d of the brush 10 rotates in the direction of arrow YA (counterclockwise).

As shown in FIG. 13, the connecting portion 12a between the rod 12 and the crank 11 is in the + R direction with respect to the drive shaft 11a of the crank 11, and the rod 12 is pushed in the + R direction. At this time, since the connecting portion 12b between the rod 12 and the brush 10 is in the + R direction with respect to the connecting portion 5a between the brush 10 and the arm 5, the brush 10 is in a state of swinging in the + X direction (left side). After that, it is assumed that the crank 11 rotates and the connecting portion 12a moves in the −R direction. In this case, the connecting portion 12b between the rod 12 and the brush 10 is pulled in the −R direction. As a result, the brush 10 rotates in the direction of the arrow YB (clockwise).

As shown in FIGS. 12 and 13, when the crank 11 is rotationally driven, the brush 10 alternately repeats rotation in the arrow YA direction and rotation in the arrow YB direction. Hereinafter, the brush 10 alternately repeating the rotation in the arrow YA direction and the rotation in the arrow YB direction is referred to as "vibration". Due to this vibration, the polishing force inside the toilet bowl 100 by the brush 10 is increased, so that dirt adhering to the toilet bowl 100 can be removed more reliably. Further, a strong polishing force can be obtained even if the amplitude, which is the rotation angle width of the brush 10 when the brush 10 is vibrated, is reduced. Therefore, if the amplitude of the brush 10 during vibration is reduced, it is possible to suppress the scattering of the liquid adhering to the brush 10 and the toilet bowl 100. As the amplitude in this case, an appropriate value such as 5 degrees, 10 degrees, 30 degrees, 45 degrees, or 90 degrees can be adopted.

Next, the detergent and water discharge mechanism will be described. The cleaning robot 1 of the present embodiment has a function of discharging a detergent for cleaning the toilet bowl 100 and a function of rinsing the detergent after cleaning and discharging water. FIG. 14 is a diagram showing an example of arrangement of nozzles for discharging detergent and water. Specifically, as shown in FIG. 14, the cleaning robot 1 includes a detergent nozzle 31 that discharges detergent, and an upper water nozzle 32 and a lower water nozzle 33 that discharge water for rinsing the detergent.

The detergent nozzle 31 is arranged so that the tip end thereof extends diagonally upward toward the upper side (+ Y direction) of the brush 10, and the base end portion is connected to the detergent supply path 34. The detergent supply path 34 is connected to a detergent pump (not shown). Therefore, by driving the detergent pump, the detergent can be discharged from the tip of the detergent nozzle 31. As a result, the detergent can be applied to the front surface 101, the upper surface edge 103, the right side surface 104, and the left side surface 105 of the toilet bowl 100.

The detergent nozzle 31 cannot directly discharge the detergent to the bottom cup 102, but can discharge the detergent to the front surface 101, the upper surface edge 103, the right side surface 104, and the left side surface 105. As a result, the detergent can be poured downward (in the −Y direction) from the front surface 101, the upper surface edge 103, the right side surface 104, and the left side surface 105, and the detergent can be stored in the bottom surface cup 102. As a result, the detergent accumulated in the bottom cup 102 can be attached to the second brush surface 10b and used for cleaning the bottom cup 102.

Similar to the detergent nozzle 31, the upper water nozzle 32 is arranged so that the tip portion extends diagonally upward toward the upper side (+ Y direction) of the brush 10, and the base end portion is illustrated via the water supply path 35. It is connected to a solenoid valve that is not installed. The lower water nozzle 33 is arranged so that the tip end thereof faces downward (−Y direction), and the base end portion is connected to the solenoid valve (not shown) via the water supply path 36. The solenoid valve is connected to a water pump (not shown), and switches the outlet of water supplied from the water pump to the upper water nozzle 32 or the lower water nozzle 33.

Therefore, by driving the water pump, water can be discharged from the tip of the upper water nozzle 32 or the lower water nozzle 33. Therefore, if water is discharged from the tip of the upper water nozzle 32, the detergent adhering to the front surface 101, the upper surface edge 103, the right side surface 104, and the left side surface 105 of the toilet bowl 100 can be rinsed. Further, when rinsing the detergent, unlike the case where the detergent is discharged, the cleaning robot 1 does not bring the brush 10 into contact with the toilet bowl 100. Therefore, when rinsing the detergent, the detergent adhering to the bottom cup 102 can be rinsed by switching the solenoid valve and discharging water from the tip of the lower water nozzle 33.

In the present embodiment, the outlet of the water supplied from one water pump is switched to the upper water nozzle 32 or the lower water nozzle 33 by using the electromagnetic valve, but the upper water nozzle 32 and the lower water A water pump may be individually connected to each of the nozzles 33.

Further, the configuration of the nozzle for discharging the detergent and water shown in FIG. 14 is an example, and the configuration is not particularly limited. For example, the tip of one or more of the upper water nozzle 32 and the lower water nozzle 33 may be provided integrally with the brush 10. As a result, the water supplied from the tip of the nozzle may be shaken to the left or right along with the vibration of the brush 10.

Next, the control performed by the cleaning robot 1 will be described. FIG. 16 is a block diagram of the cleaning robot 1. As shown in FIG. 16, the cleaning robot 1 includes a vibration motor 211 (not shown in FIG. 11), a detergent pump 212 (not shown) in FIG. 14, a water pump 213, and a solenoid valve 214. Since these have already been described, the description thereof will be omitted.

In addition to these, the cleaning robot 1 includes an R slider motor 222, a Y slider motor 223, and a rotary actuator motor (hereinafter, rotary ACT motor) built in the R slider 2, the Y slider 3, and the rotary actuator 4 shown in FIG. 224 is provided. The R slider motor 222 is a motor that gives a driving force for the R slider 2 to move the arm 5 (FIG. 1) in the R direction. The Y slider motor 223 is a motor in which a pair of Y sliders 3 gives a driving force for moving the R slider 2 (FIG. 1) in the Y direction. The rotary ACT motor 224 is a motor that gives a rotational force for the rotary actuator 4 to rotate the R slider 2 (FIG. 1) around the Y axis.

The cleaning robot 1 further includes an R slider drive unit 302, a Y slider drive unit 303, a rotary actuator drive unit (hereinafter, rotary ACT drive unit) 304, a vibration motor drive unit 311, a detergent pump drive unit 312, and a water pump drive. A unit 313 and a solenoid valve drive unit 314 are provided.

The R slider drive unit 302, the Y slider drive unit 303, the rotary ACT drive unit 304, the vibration motor drive unit 311, the detergent pump drive unit 312, the water pump drive unit 313, and the electromagnetic valve drive unit 314 are drive control units, respectively. Based on the operation command, start (ON) command, and stop (OFF) command transmitted from 201, R slider motor 222, Y slider motor 223, rotary ACT motor 224, vibration motor 211, detergent pump 212, water pump 213. And the electromagnetic valve 214 is controlled.

The cleaning robot 1 further includes a control unit 200 and a battery 203.

The control unit 200 is composed of, for example, a microcomputer including a CPU, RAM, a non-volatile storage device, and the like, and controls the entire cleaning robot 1. Specifically, the control unit 200 functions as the memory 202 and the drive control unit 201.

The memory 202 is composed of a RAM and a non-volatile storage device, and stores various information necessary for controlling the entire cleaning robot 1. For example, the memory 202 stores the cleaning sequence information regarding the operation of removing the dirt on the toilet bowl (hereinafter, cleaning) in the cleaning robot 1. The cleaning sequence information includes trajectory information that defines a movement path of the arm 5 when the cleaning robot 1 performs cleaning. Further, the cleaning sequence information includes information on the timing and destination of discharging the detergent and water, information on the vibration of the brush 10, and the like.

When the CPU executes the control program stored in the non-volatile storage device, the control unit 200 functions as the drive control unit 201. The drive control unit 201 reads the cleaning sequence information from the memory 202, and transmits a control signal to each drive unit based on the read cleaning sequence information. Specifically, the drive control unit 201 transmits an operation command to the R slider drive unit 302, the Y slider drive unit 303, and the rotary ACT drive unit 304 based on the cleaning sequence information read from the memory 202. Further, based on the information related to the vibration of the brush 10 included in the cleaning sequence information, a start (ON) command or a stop (OFF) command is transmitted to the vibration motor drive unit 311.

Further, the drive control unit 201 has been assigned to the detergent pump drive unit 312, the water pump drive unit 313, and the solenoid valve drive unit 314 based on the information regarding the timing and discharge destination of the detergent and water included in the cleaning sequence information. A start (ON) signal, a stop (OFF) signal, and a switching signal are transmitted. Further, the drive control unit 201 monitors the remaining amount of the battery 203, and manages the charging of the battery 203 and the discharge from the battery 203.

The cleaning operation by the cleaning robot 1 configured as described above will be described. FIG. 17 is a flowchart showing an example of a cleaning operation by the cleaning robot 1. First, it is assumed that a user such as a cleaning staff performs a predetermined operation for turning on the power of the cleaning robot 1. In this case, the drive control unit 201 starts supplying electric power from the battery 203 to the drive units 211 to 214, 222 to 224, etc. (step S1). The control unit 200 is constantly supplied with electric power from the battery 203. The predetermined operation is performed, for example, by pressing the power button provided on the horizontal member 8c (FIG. 1) or the like.

Next, it is assumed that the user manually moves the cleaning robot 1 to a predetermined position in front of the toilet bowl 100 to be cleaned and locks the caster 71. In this case, the drive control unit 201 determines that the cleaning robot 1 is installed at the predetermined position where the cleaning operation can be performed, that is, at a position where the inner surface 106 of the toilet bowl 100 is within the moving range of the brush 10 (step S2). ..

For example, in step S2, when the drive control unit 201 receives a signal from the lock mechanism provided on the caster 71 indicating that the caster 71 has been locked, the drive control unit 201 determines that the caster 71 has been locked. However, the method by which the drive control unit 201 determines that the caster 71 is locked is not limited to this.

When the drive control unit 201 determines that the cleaning robot 1 is installed at the predetermined position, the drive control unit 201 corrects the deviation between the relative positions of the cleaning robot 1 and the toilet bowl 100 (step S3).

Specifically, as will be described later, the cleaning robot 1 moves the arm 5 based on the cleaning sequence information stored in the memory 202, and the brush 10 attached to the arm 5 cleans the inner surface 106 of the toilet bowl. I do. Therefore, if the relative positions of the cleaning robot 1 and the toilet bowl 100 are deviated from each other, the distance between the inner surface 106 of the toilet bowl and the brush 10 cannot be properly maintained. Therefore, in step S3, the drive control unit 201 grasps the deviation of the relative position and corrects the locus information included in the cleaning sequence information according to the grasped deviation.

As the correction method, for example, the method shown below may be adopted. A depth camera is provided in the cleaning robot 1, and the drive control unit 201 extracts the feature amount of the image of the toilet bowl from the image taken by the depth camera. The drive control unit 201 has a feature amount of the extracted image of the toilet bowl and a feature amount of the image of the toilet bowl extracted from the image taken by the depth camera when the cleaning robot 1 is present at the ideal relative position. Compare with. The drive control unit 201 calculates a deviation from the ideal relative position from the result of the comparison, and the position at which the movement of the arm 5 is started (hereinafter, the arm 5) indicated by the locus information by the calculated deviation. (Initial position of) is corrected.

Alternatively, the cleaning robot 1 may be provided with a distance measuring sensor so that the drive control unit 201 can grasp the relative position deviation based on the distance to the toilet bowl measured by the distance measuring sensor. Alternatively, a method may be adopted in which the user can perform an operation of directly giving a command to the R slider 2, the Y slider 3, and the rotary actuator 4, and the initial position of the arm 5 is manually adjusted by the operation. ..

Next, the drive control unit 201 cleans the toilet bowl 100 by moving the arm 5 according to the cleaning sequence information, vibrating the brush 10, and discharging detergent and water from a predetermined discharge destination (S4). ..

Next, the details of the cleaning contents performed by the cleaning robot 1 will be described. As shown below, the drive control unit 201 causes the cleaning robot 1 to perform cleaning according to the cleaning sequence information stored in the memory 202. This process corresponds to step S4 in FIG.

FIG. 18 is a diagram showing six processes P1 to P6 that are sequentially executed in cleaning the toilet bowl by the cleaning robot 1. Further, FIG. 19 is a diagram showing four processes P7 to P10 that are sequentially executed following the six processes P1 to P6 shown in FIG. In FIGS. 18 and 19, the solid line arrow indicates the path for moving the arm 5 while discharging the detergent or water, and the broken line arrow indicates the path for moving the arm 5 without discharging the detergent or water. Further, in the processes P2 to P7 in which the brush 10 is shown by diagonal lines in FIGS. 18 and 19, it is assumed that the brush 10 is brought into contact with the toilet bowl 100 and the brush 10 is moved while vibrating. ..

<Processing P1>
As shown in FIG. 18, when the drive control unit 201 starts cleaning the toilet bowl 100, the drive control unit 201 first executes the process P1. The treatment P1 is, for example, a treatment in which the detergent is applied in the order of the right side surface 104, the upper surface edge 103, and the left side surface 105. In the process P1, the drive control unit 201 discharges the detergent toward the toilet bowl 100 from a position separated by a predetermined distance in the −R direction (rearward) without bringing the brush 10 into contact with the toilet bowl 100.

Specifically, in the process P1, the drive control unit 201 first attaches the R slider drive unit 302, the Y slider drive unit 303, and the rotary ACT drive unit 304 to the corrected arm indicated by the corrected locus information in step S3. An operation command for moving the arm 5 to the initial position of 5 is transmitted. As shown in the upper left figure of FIG. 18, the initial position of the arm 5 is such that the position of the brush 10 attached to the arm 5 is in the −R direction from the position below (−Y direction) of the right side surface 104 of the toilet bowl 100. It is determined at the position of the arm 5 when the position is separated by the predetermined distance.

When the arm 5 reaches the initial position of the arm 5, the drive control unit 201 transmits a start signal to the detergent pump drive unit 312 to start (turn on) the detergent pump 212. As a result, the detergent is started to be discharged from the detergent nozzle 31.

Next, the drive control unit 201 transmits an operation command for moving the arm 5 in the + Y direction to the Y slider drive unit 303 while discharging the detergent from the detergent nozzle 31 to the right side surface 104. Then, the drive control unit 201 issues an operation command for moving the arm 5 in the + X direction to the R slider drive unit 302 and the rotary ACT drive unit 304 while discharging the detergent from the detergent nozzle 31 toward the upper surface edge 103. Send. As a result, the arm 5 is moved in the R direction by the R slider 2 and the rotary actuator 4, and the arm 5 is rotated around the Y axis to move the arm 5 substantially linearly in the + X direction.

Finally, the drive control unit 201 transmits an operation command for moving the arm 5 in the −Y direction to the Y slider drive unit 303 while discharging the detergent from the detergent nozzle 31 to the left side surface 105. Then, the drive control unit 201 transmits a stop signal to the detergent pump drive unit 312 when a predetermined time elapses after the start of discharging the detergent from the detergent nozzle 31 to the left side surface 105. As a result, the drive control unit 201 stops the detergent pump 212 and ends the process P1. The inner surface 106 of the toilet bowl 100 from which the detergent is discharged in this process P1 is a place where it is difficult to discharge the detergent while cleaning with the brush 10. Therefore, in the first process P1, only the detergent is discharged.

<Processing P2>
When the drive control unit 201 finishes the process P1, the drive control unit 201 executes the process P2. The process P2 is a process for cleaning the left side surface 105. In the process P2, the drive control unit 201 first sends a start command to the vibration motor drive unit 311 to start (turn on) the vibration motor 211 of the brush 10. As a result, the brush 10 starts to vibrate. Then, the drive control unit 201 moves the arm 5 to the R slider drive unit 302 to a position where the first brush surface 10a of the brush 10 comes into contact with the lower side of the left side surface 105 with reference to the corrected trajectory information. Send an operation command for. As a result, the arm 5 is moved in the R direction by the R slider 2, and the first brush surface 10a of the brush 10 comes into contact with the left side surface 105 at a position below.

Next, the drive control unit 201 transmits an operation command to the Y slider drive unit 303 while brushing the left side surface 105 coated with the detergent in the process P1 on the vibrating first brush surface 10a, and the brush 10 The arm 5 is moved in the + Y direction until the third brush surface 10c reaches the upper surface edge 103. After that, the drive control unit 201 ends the process P2 while vibrating the brush 10.

When the drive control unit 201 moves the arm 5 in the + Y direction in the process P2, the drive control unit 201 issues an operation command for alternately moving the arm 5 in the + R direction and the −R direction along the left side surface 105. , May be transmitted to the R slider drive unit 302. As a result, the first brush surface 10a may be moved in a zigzag manner. In this case, the cleaning area in the R direction can be increased on the left side surface 105, and the entire left side surface 105 can be cleaned by moving the arm 5 once in the + Y direction. However, the present invention is not limited to this, and the arm 5 may be moved a plurality of times in the + Y direction and the −Y direction to brush the entire left side surface 105.

<Processing P3>
When the drive control unit 201 finishes the process P2, the drive control unit 201 executes the process P3. The process P3 is a process of cleaning the upper surface edge 103 with the third brush surface 10c. In the process P3, the drive control unit 201 first transmits an operation command to the R slider drive unit 302 and the rotary ACT drive unit 304, and the arm until the third brush surface 10c of the brush 10 abuts on the left end of the upper surface edge 103. Move 5. The brush 10 is in a state of being vibrated from the process P2. Therefore, the drive control unit 201 transmits an operation command to the R slider drive unit 302 and the rotary ACT drive unit 304 while brushing the upper surface edge 103 with the vibrating third brush surface 10c, and the third brush surface of the brush 10 The arm 5 is moved in the −X direction until 10c reaches the right end of the upper surface edge 103. After that, the drive control unit 201 ends the process P3 while vibrating the brush 10.

<Processing P4>
When the drive control unit 201 finishes the process P3, the drive control unit 201 executes the process P4. The process P4 is a process of cleaning the right side surface 104 with the first brush surface 10a. In the process P4, the drive control unit 201 first transmits an operation command to the Y slider drive unit 303 to move the arm 5 until the first brush surface 10a comes into contact with a predetermined position above the right side surface 104. The brush 10 is in a state of being vibrated from the process P2. Therefore, the drive control unit 201 transmits an operation command to the Y slider drive unit 303 while brushing the right side surface 104 with the vibrating first brush surface 10a, and the first brush surface 10a reaches below the right side surface 104. The arm 5 is moved in the −Y direction until After that, the drive control unit 201 ends the process P4 while vibrating the brush 10. In the same manner as in the process P2, when the drive control unit 201 moves the first brush surface 10a alternately in the + R direction and the −R direction in the process P4 in a zigzag manner, the right side surface 104 is in the R direction. The cleaning area can be expanded, and the entire right surface 104 can be brushed by moving the arm 5 once in the −Y direction.

<Processing P5>
When the drive control unit 201 finishes the process P4, the drive control unit 201 executes the process P5. The process P5 is a process of cleaning the front surface 101 on the first brush surface 10a while discharging the detergent. In the process P5, the drive control unit 201 first transmits an operation command to the R slider drive unit 302 and the rotary ACT drive unit 304, and keeps the first brush surface 10a in contact with the inner surface 106, while keeping the first brush surface 10a in contact with the inner surface 106. The arm 5 is moved until the 10a moves to a predetermined position below the front surface 101. Then, the drive control unit 201 transmits a start signal to the detergent pump drive unit 312 to start (turn on) the detergent pump 212. As a result, the detergent is started to be discharged from the detergent nozzle 31.

Next, the drive control unit 201 transmits an operation command to the Y slider drive unit 303 while discharging the detergent from the detergent nozzle 31 to the front surface 101 and brushing the front surface 101 with the first brush surface 10a. The arm 5 is moved in the + Y direction until the first brush surface 10a reaches the upper end of the front surface 101. After that, the drive control unit 201 transmits a stop signal to the detergent pump drive unit 312 to stop the detergent pump 212 and end the process P5. In this embodiment, as described above, the detergent is discharged above the brush 10 (in the + Y direction). Therefore, in the process P5, when brushing the front surface 101 with the brush 10 while moving the brush 10 from the bottom to the top, the place where the detergent is applied can be brushed. Thereby, the dirt on the front surface 101 can be sufficiently removed.

<Processing P6>
When the process P5 is completed, the drive control unit 201 executes the process P6. The process P6 is a process of cleaning the front surface 101 on the first brush surface 10a without discharging the detergent. In the process P6, the drive control unit 201 transmits an operation command to the R slider drive unit 302 and the rotary ACT drive unit 304, and the first brush surface 10a is brought into contact with the front surface 101 while the first brush surface 10a is in contact with the front surface 101. The arm 5 is moved until it is moved to a position deviated by a predetermined distance in the + X direction from the position where the cleaning in the process P5 is completed. The predetermined distance is set to, for example, half the length of the first brush surface 10a in the X direction. Then, the drive control unit 201 transmits an operation command to the Y slider drive unit 303, and moves the arm 5 in the + Y direction until the first brush surface 10a reaches the lower end from the upper end of the front surface 101. As a result, the drive control unit 201 brushes the position deviated by the predetermined distance in the + X direction from the position cleaned by the process P5 on the front surface 101 on the first brush surface 10a. When the first brush surface 10a reaches the lower end of the front surface 101, the drive control unit 201 ends the process P6.

After that, each time the drive control unit 201 finishes the process P6, the drive control unit 201 transmits an operation command to the R slider drive unit 302 and the rotary ACT drive unit 304, and the first brush surface 10a is displaced in the + X direction by the predetermined distance. After moving the arm 5 until it moves to the position, the processing P5 and the processing P6 are repeatedly executed. As a result, the drive control unit 201 evenly cleans the entire front surface 101 by the first brush surface 10a.

In the processing P5 and the processing P6, when the arm 5 is moved in the Y direction, the drive control unit 201 alternately moves the arm 5 in the + X direction and the −X direction to move the first brush surface 10a to + X. It may be moved in a zigzag manner by alternately shaking in the direction and the -X direction. In this case, by repeating the treatment P5 and the treatment P6 once, the area to be washed on the front surface 101 can be increased, and the number of times the treatment P5 and the treatment P6 are repeated can be reduced.

<Processing P7>
The drive control unit 201 repeats the process P5 and the process P6, and when the cleaning of the entire front surface 101 is completed, the drive control unit 201 executes the process P7. The upper left view of FIG. 19 shows the bottom cup 102 seen from above (+ Y direction). The process P7 is a process for cleaning the bottom cup 102. In the process P7, the drive control unit 201 first transmits an operation command to the R slider drive unit 302, the Y slider drive unit 303, and the rotary ACT drive unit 304 with reference to the corrected trajectory information, and secondly The arm 5 is moved until the brush surface 10b comes into contact with the bottom cup 102 at a predetermined position near the boundary between the front surface 101 and the bottom cup 102. At this time, the drive control unit 201 transmits a stop signal to the detergent pump drive unit 312 while the vibration motor 211 is still activated to stop the detergent pump 212.

Next, the drive control unit 201 transmits an operation command to the R slider drive unit 302, the Y slider drive unit 303, and the rotary ACT drive unit 304, and as shown by the broken line arrow in the upper left of FIG. 19, the second brush The arm 5 is moved so that the surface 10b goes around the bottom cup 102 in a contour line. Then, the drive control unit 201 transmits an operation command to the Y slider drive unit 303 with reference to the corrected trajectory information, and the second brush surface 10b moves along the toilet wall surface in the −Y direction by a predetermined distance. The arm 5 is moved so as to do so. Then, in the same manner as described above, the drive control unit 201 moves the arm 5 so that the second brush surface 10b makes a contour line in the bottom surface cup 102.

After that, the drive control unit 201 repeats this process until the second brush surface 10b reaches the lowermost surface of the bottom surface cup 102. After that, the drive control unit 201 transmits an operation command to the R slider drive unit 302, the Y slider drive unit 303, and the rotary ACT drive unit 304 with reference to the corrected trajectory information, and the second brush surface 10b is on the bottom surface. The arm 5 is moved until it moves around the perforated plate of the cup 102. In this state, the drive control unit 201 causes the second brush surface 10b to brush the area around the perforated plate of the bottom cup 102 for a predetermined time. Then, the drive control unit 201 transmits a stop command to the vibration motor drive unit 311 to stop the vibration motor 211 and end the process P7.

<Processing P8>
When the drive control unit 201 finishes the process P7, the drive control unit 201 executes the process P8. The treatment P8 is, for example, a treatment of rinsing the detergent in the order of the right side surface 104, the upper surface edge 103, and the left side surface 105. It should be noted that the process of brushing the portion of the process up to the process P7 that is difficult to remove stains may be executed before the process P8.

In the process P8, the drive control unit 201 discharges water toward the toilet bowl 100 from a position separated by a predetermined distance in the −R direction (rearward) without bringing the brush 10 into contact with the toilet bowl 100, as in the process P1. Let me.

Specifically, in the process P8, the drive control unit 201 first transmits an operation command to the R slider drive unit 302, the Y slider drive unit 303, and the rotary ACT drive unit 304, and the initial correction of the arm 5 is performed. Move the arm 5 to the position. Then, the drive control unit 201 transmits a switching signal for opening the solenoid valve 214 so that water is discharged from the upper water nozzle 32 to the solenoid valve drive unit 314, and also sends a start signal to the water pump drive unit 313. To send. As a result, the solenoid valve 214 is opened so that water is discharged from the upper water nozzle 32, and in this state, the water pump 213 is started. As a result, water discharge is started.

Next, the drive control unit 201 moves the arm 5 in the + Y direction while discharging water to the right side surface 104 in the same manner as the process P1, and then discharges water toward the upper surface edge 103 while discharging the arm. Move 5 in the + X direction. Then, the drive control unit 201 moves the arm 5 in the −Y direction while discharging water to the left side surface 105. As a result, when the drive control unit 201 finishes rinsing the detergent applied to the inner surface 106, the process P8 ends. Since the drive control unit 201 rinses the detergent on the front surface of the bottom cup 102 in the process P9 following the process P8, the water pump 213 is not stopped.

<Processing P9>
When the drive control unit 201 finishes the process P8, the drive control unit 201 executes the process P9. Treatment P9 is a treatment for rinsing the detergent on the front surface of the bottom cup 102. Also in the process P9, the drive control unit 201 does not bring the brush 10 into contact with the toilet bowl 100 as in the process P8, and discharges water toward the toilet bowl 100 from a position separated in the + Y direction by using the lower water nozzle 33. To do.

In the process P9, the drive control unit 201 first transmits an operation command to the R slider drive unit 302, the Y slider drive unit 303, and the rotary ACT drive unit 304 with reference to the corrected locus information, and secondly The arm 5 is moved until the brush surface 10b moves to a predetermined position above the bottom cup 102. Then, the drive control unit 201 transmits a switching signal for opening the solenoid valve 214 so that water is discharged from the lower water nozzle 33 to the solenoid valve drive unit 314. As a result, water is discharged from the lower water nozzle 33, and water discharge is started downward (in the −Y direction).

Next, the drive control unit 201 transmits an operation command to the R slider drive unit 302, the Y slider drive unit 303, and the rotary ACT drive unit 304 with reference to the corrected trajectory information, and water is discharged to the bottom cup 102. The arm 5 is moved so that it is discharged along the front edge of the. As a result, when the drive control unit 201 finishes rinsing the front side of the bottom cup 102, it transmits a stop signal to the water pump drive unit 313 to stop the water pump 213. Then, the drive control unit 201 transmits an operation command to the R slider drive unit 302, the Y slider drive unit 303, and the rotary ACT drive unit 304 with reference to the corrected locus information, and the arm 5 is corrected. The arm 5 is moved to the initial position of the arm 5, and the process P9 is finished. The treatment P8 and the treatment P9 are configured to wash away the detergent in the portion that cannot be washed away in the next treatment P10 with water.

<Processing P10>
When the drive control unit 201 finishes the process P9, the drive control unit 201 executes the process P10. The process P10 is a process of rinsing the front surface 101. The process P10 is executed by the automatic cleaning function included in the toilet bowl 100. The toilet bowl 100 is provided with a motion sensor, and has a function of automatically flowing water when it detects that a person has left the toilet bowl 100. This function is used in the process P10. That is, when the user moves the cleaning robot 1 to the next toilet 100, the outside of the toilet, or the like after the end of the process P9, the motion sensor detects it and the water is automatically flushed. As a result, the detergent remaining on the front surface 101 is washed away.

Instead of executing the process P10 by the automatic cleaning function of the toilet bowl 100, the drive control unit 201 issues an operation command to the R slider drive unit 302, the Y slider drive unit 303, and the rotary ACT drive unit 304, following the process P8. May be transmitted to move the arm 5 within the front 101. As a result, the front surface 101 may be rinsed with the water discharged from the upper water nozzle 32.

As described above, the cleaning robot 1 of the present embodiment is provided with a mechanism for moving the arm 5 to which the brush 10 is attached on the cylindrical coordinate system, and the arm 5 can be moved three-dimensionally. .. Therefore, the brush 10 can be moved to an arbitrary position along the inner surface 106 of the toilet bowl 100.

Here, the brush 10 has a first brush surface 10a for cleaning the front surface 101, the right side surface 104 and the left side surface 105 of the toilet bowl 100, a second brush surface 10b for cleaning the bottom cup 102, and a second brush surface 10b for cleaning the upper surface edge 103. It has three brush surfaces 10c and. Therefore, an appropriate brush surface can be brought into contact with each surface constituting the inner surface 106 of the toilet bowl 100, and the entire inner surface 106 can be evenly cleaned. As a result, the cleaning robot 1 can sufficiently remove dirt on the inner surface 106 of the toilet bowl 100 having a plurality of target surfaces having different orientations.

The cleaning robot 1 of the present embodiment may be modified as follows.

(1) The second brush surface 10b of the brush 10 may be brought into contact with the inner surface of the Western-style toilet bowl for cleaning. Specifically, after moving the cleaning robot 1 so that the second brush surface 10b is located above the inner surface of the Western-style toilet bowl, the drive control unit 201 transmits a start signal to the detergent pump drive unit 312. The detergent pump 212 may be activated. Then, the drive control unit 201 may perform the same processing as the processing P7 and the processing P9 shown in FIG.

(2) In the examples shown in FIGS. 11 to 13, the brush 10 is configured to be vibrable around the Y axis, but this is an example, and the brush 10 may be configured to be rotatable around the Y axis. In this case, the configuration shown in FIG. 15 can be considered. FIG. 15 is a diagram showing another embodiment of the brush 10 and the arm 5. As shown in FIG. 15, the brush 20 includes a holding portion 20d and a plurality of brush bristles 20p.

The holding portion 20d is rotatably attached around the Y axis at the tip portion 15a (end portion in the + R direction) of the arm 15. The holding portion 20d is configured to be rotated by a motor (an example of a brush driving portion) similar to the vibration motor 211 built in the arm 15.

The base end of each of the plurality of brush bristles 20p is attached to the holding portion 20d. The brush surface 20a (an example of the first brush surface), the brush surface 20b (an example of the second brush surface), and the brush surface 20c (an example of the third brush surface) are formed by the tips of the plurality of brush bristles 20p. It is configured.

The brush surface 20a has a cylindrical shape with an axis parallel to the Y axis as the central axis, and is used in the same manner as the first brush surface 10a in the above embodiment. The brush surface 20b has a hemispherical shape centered on an axis parallel to the Y axis, and is used in the same manner as the second brush surface 10b in the above embodiment. The brush surface 20c has brush bristles on the upper surface and side surfaces, and has a cylindrical shape with an axis parallel to the Y axis as a central axis. The brush surface 20c is used in the same manner as the third brush surface 10c in the above embodiment. As shown in FIG. 15, the arm 15 may be further provided with a cover 16 that covers the brush surface 20a. In this case, it is possible to reduce the splashing of water during cleaning with the brush 20.

(3) In the first embodiment, the cleaning robot 1 is configured to move by the power of the user when moving on the ground, but is not limited to this, and is configured to move autonomously. May be good. In this case, if the cleaning robot 1 moves in front of the target toilet bowl 100 while estimating the self-position on the map data showing the position of the toilet bowl 100 by using a self-position estimation technique such as SLAM. Good.

(Second Embodiment)
In the first embodiment, the cleaning robot 1 capable of cleaning the inner surface 106 of the toilet bowl 100 has been described. In the present embodiment, a cleaning robot capable of cleaning the outer surface of the toilet bowl 100 will be described. FIG. 20 is a diagram showing a main part of the cleaning robot 51 according to the second embodiment of the present disclosure. The cleaning robot 51 according to the present embodiment is different from the cleaning robot 1 according to the first embodiment only in that it includes a pair of left and right cleaning rollers 52, a side arm 53, and a rotary actuator 54. The other components are designated by the same reference numerals as the components of the cleaning robot 1, and the description thereof will be omitted.

As shown in FIG. 20, in addition to the configuration of the cleaning robot 1, the cleaning robot 51 includes a pair of left and right cleaning rollers 52, a pair of left and right side arms 53, and a pair of left and right rotary actuators 54. The pair of left and right cleaning rollers 52 is an example of a first cleaning roller and a second cleaning roller. The pair of left and right side arms 53 is an example of a first outer surface arm and a second outer surface arm.

The cleaning roller 52 has a peripheral surface that comes into contact with the outer surface 107 of the toilet bowl 100 and wipes the outer surface 107, and its rotating shaft is supported by a support member 52b (an example of a first support member and a second support member). Has been done. The peripheral surface of the cleaning roller 52 is formed by wrapping a 100% cotton cloth, a microfiber cloth, or the like around the surface of a cylindrical elastic body. A motor 52a (an example of a first motor and a second motor) for rotating the cleaning roller 52 is attached to the support member 52b. Further, the cleaning roller 52 is provided with a detergent application nozzle (not shown), and is configured to apply detergent to the outer surface 107 of the toilet bowl 100 or the peripheral surface of the cleaning roller 52. As the detergent, a volatile detergent such as an alcohol detergent is used. Therefore, by bringing the peripheral surface of the cleaning roller 52 into contact with the outer surface 107 and rotating the cleaning roller 52, it is possible to wipe off the dirt on the outer surface 107 without leaving water droplets on the outer surface 107.

The side arm 53 is a lightweight arm, which is provided with a connecting portion 53a (an example of a first connecting portion and a second connecting portion) at the front end and a connecting portion 53b at the rear end. The connecting portion 53a is connected to the support member 52b and is configured to be rotatable around an axis (hereinafter, arm axis) in the direction in which the side arm 53 extends in the longitudinal direction of the support member 52b. Therefore, the longitudinal direction of the cleaning roller 52 supported by the support member 52b can also be rotated around the arm axis. Further, the connecting portion 53a is provided with a support member 52b by a torsion spring (not shown) so that the longitudinal direction of the cleaning roller 52 is parallel to the Y direction even if the longitudinal direction of the cleaning roller 52 rotates around the arm axis. Momentum. The connecting portion 53b is connected to the rotary actuator 54.

The upper surface of the rotary actuator 54 is configured to be rotatable around the Y axis, and the upper surface is connected to the connecting portion 53b at the rear end of the side arm 53. The rotary actuator 54 rotates the connecting portion 53b around the Y-axis by rotating the upper surface around the Y-axis. As a result, the rotary actuator 54 rotates the side arm 53 around the Y axis with the connecting portion 53b at the rear end of the side arm 53 as the rotation axis. As a result, the longitudinal direction of the cleaning roller 52 supported by the support member 52b connected to the connecting portion 53a at the tip of the side arm 53 is rotated around the Y axis. A pair of left and right rotary actuators 54 are arranged at both ends of the base frame 70 of the moving carriage 7 in the X direction. As a result, the pair of left and right side arms 53 connected to the upper surfaces of the pair of left and right rotary actuators 54 are arranged so as to face each other.

Next, the operation of the cleaning roller 52 will be described. FIG. 21 is a diagram showing a state in which the distance between the pair of left and right cleaning rollers 52 is widened. FIG. 22 is a diagram showing a state in which the cleaning roller 52 is tilted according to the shape of the toilet bowl 100. As shown in FIG. 21, when the rotary actuator 54 is driven and the side arm 53 is rotated, the distance between the left and right sides of the cleaning roller 52 can be widened. Further, the connecting portion 53a is connected to the support member 52b and urges the support member 52b so that the longitudinal direction of the cleaning roller 52 is parallel to the Y direction. Therefore, when the peripheral surface of the cleaning roller 52 is in contact with the outer surface of the toilet bowl 100 and the cleaning robot 51 is moved in the + R direction, the cleaning roller 52 is tilted according to the outer shape of the toilet bowl 100 as shown in FIG. be able to. In this way, the cleaning roller 52 is configured so that its peripheral surface is pressed against the outer surface 107 of the toilet bowl 100 so that the cleaning roller 52 tilts according to the shape of the toilet bowl 100.

Next, the operation of the cleaning robot 51 wiping the outer surface 107 of the toilet bowl 100 using the cleaning roller 52 will be described. This operation is performed in step S2 of FIG. As a result, the cleaning robot 51 is installed in front of the toilet bowl 100, and at the same time, the outer surface 107 of the toilet bowl 100 is wiped up. FIG. 23 is an explanatory diagram of the operation of installing the cleaning robot 51 in front of the toilet bowl 100 and cleaning the outer surface 107 of the toilet bowl 100 by the cleaning robot 51. In FIG. 23, (a) to (f) show the state of the cleaning robot 51 during the installation and the cleaning operation.

As shown in FIG. 23, the user first manually moves the cleaning robot 51 to a position facing the toilet bowl 100 (state a). Next, the user moves the cleaning robot 51 so that the pair of left and right cleaning rollers 52 abuts on the center of the front surface of the outer surface 107 of the toilet bowl 100 (state b).

Next, the user performs an operation for starting the operation of installing the cleaning robot 51 on the toilet bowl 100 (hereinafter, the operation of starting the installation), and then lightly pushes the cleaning robot 51 toward the toilet bowl 100. When the operation to start the installation of the drive control unit 201 is performed, the pair of left and right cleaning rollers 52 act as wheels and travel on the outer surface 107 toward the wall on which the toilet bowl 100 is installed, that is, the figure. The motor 52a is rotated so as to rotate in the direction of the arrow inside. The direction of the arrow is the direction in which the cleaning roller 52 rotates in the direction opposite to the moving direction of the cleaning robot 1 at the contact portion between the cleaning roller 52 and the outer surface 107. In accordance with this, the drive control unit 201 rotates the upper surface of the rotary actuator 54 so that the width of the pair of left and right cleaning rollers 52 gradually increases. As a result, the user simply pushes the cleaning robot 51 lightly toward the toilet bowl 100, and the peripheral surface of the cleaning roller 52 wipes the outer surface 107 of the toilet bowl 100 while involving the toilet bowl 100, so that the toilet bowl 100 is installed. Proceed toward the wall (state c).

Specifically, the drive control unit 201 controls the rotation of the upper surface of the rotary actuator 54, for example, as follows. For example, the memory 202 has a pair of left and right cleaning rollers 52 when the pair of left and right cleaning rollers 52 are brought into contact with the outer surface 107 in association with the distance between the outer surface 107 of the toilet bowl 100 to be cleaned and the moving carriage 7. Information about the distance between the rollers 52 is stored in advance. For example, when the distance between the pair of left and right rotary actuators 54 is the first distance, the information regarding the distance between the pair of left and right cleaning rollers 52 is the pair of left and right when the distance between the pair of left and right rotary actuators 54 is the first distance. It is determined by the rotation angle of the upper surface of the rotary actuator 54 of.

Further, the moving carriage 7 is provided with a depth sensor (depth sensor) (not shown) that detects the distance between the toilet bowl 100 and the outer surface 107. The drive control unit 201 periodically acquires the separation distance between the outer surface 107 of the toilet bowl 100 and the moving carriage 7 detected by the depth sensor, and the pair of left and right cleaning rollers 52 corresponding to the acquired separation distance from the memory 202. Get information about the interval of. Then, the drive control unit 201 rotates the upper surfaces of the pair of left and right rotary actuators 54 so as to have the rotation angle indicated by the acquired information. The control by the drive control unit 201 to rotate the upper surface of the rotary actuator 54 is not limited to this.

When the user continues to lightly press the cleaning robot 51, the drive control unit 201 refers to the information on the outer shape of the outer surface 107 of the toilet bowl 100 stored in the memory 202, and cleans a pair of left and right while rotating the motor 52a. The upper surface of the rotary actuator 54 is rotated until the distance between the rollers 52 in the X direction is widened to the width of the toilet bowl 100 (state d).

When the user continues to lightly press the cleaning robot 51, the pair of left and right cleaning rollers 52 reach the wall on which the toilet bowl 100 is installed, and the rotation speed of the motor 52a drops sharply, the drive control unit 201 rotates the motor 52a. To stop. As a result, the drive control unit 201 stops the rotation of the cleaning roller 52. The drive control unit 201 also stops the rotation of the upper surface of the rotary actuator 54 (state e).

When the rotation of the cleaning roller 52 is stopped, the user locks the caster 71. As a result, step S2 in FIG. 17 ends. Then, by performing the processes after step S3 in FIG. 17, the inner surface 106 of the toilet bowl 100 is cleaned (state f).

As described above, in the cleaning robot 51 of the present embodiment, the pair of left and right cleaning rollers 52 are urged by the connecting portion 53a so that the longitudinal direction of the cleaning rollers 52 is parallel to the Y direction, and the outer surface thereof. The cleaning robot 51 can be moved by the moving carriage 7 so as to come into contact with the central portion of the front surface of the 107. In this state, the cleaning robot 51 is moved by the moving trolley 7 toward the wall on which the toilet bowl 100 is installed. Therefore, the peripheral surface of the cleaning roller 52 can move along the outer surface 107 to the wall on which the toilet bowl 100 is installed so as to involve the outer surface 107.

As a result, the cleaning robot 51 can wipe off the dirt on the outer surface 107, and can limit the distance between the pair of left and right cleaning rollers 52 in the X direction to the width of the toilet bowl 100. Therefore, it is possible to suppress the deviation of the positions of the cleaning robot 51 and the toilet bowl 100 in the X direction when the cleaning robot 51 is installed. Further, since the left and right cleaning rollers 52 are applied to the wall on which the toilet bowl 100 is installed to complete the installation, the deviation of the position in the R direction and the deviation of the inclination of the Y axis can be suppressed.

As described above, according to the cleaning robot 51, not only the dirt on the outer surface 107 of the toilet bowl 100 can be removed, but also the alignment with the toilet bowl 100 can be performed accurately, so that the movable range of the brush 10 for cleaning the inner surface 106 is excessive. It is not necessary to have a margin, and the cleaning robot 51 can be configured compactly.

In this embodiment, when the cleaning robot 51 is installed in front of the toilet bowl 100, the operation of the cleaning robot 51 wiping the outer surface 107 of the toilet bowl 100 has been described. However, the present invention is not limited to this, and the cleaning robot 51 may perform an operation of wiping the outer surface 107 when the cleaning robot 51 is separated from the toilet bowl 100 after the cleaning of the inner surface 106 of the toilet bowl 100 is completed. In this case, before installing the cleaning robot 51 on the toilet bowl 100, a pair of left and right cleaning rollers 52 may be widened to the width of the toilet bowl 100 and used for positioning the cleaning robot 51.

Then, when the user moves the cleaning robot 51 away from the toilet bowl 100, the pair of left and right cleaning rollers 52 act as wheels and travel on the outer surface 107 toward the center of the front surface of the outer surface 107, that is, , The drive control unit 201 may rotate the motor 52a so as to rotate in the direction opposite to the arrow direction shown in the state (c) of FIG. 23. The direction opposite to the direction of the arrow is the direction in which the cleaning roller 52 rotates in the direction opposite to the moving direction of the cleaning robot 1 at the contact portion between the cleaning roller 52 and the outer surface 107. Further, in accordance with this, the drive control unit 201 may rotate the upper surface of the rotary actuator 54 so that the width of the pair of left and right cleaning rollers 52 is gradually narrowed.

In the present embodiment, it is assumed that the user cleans the upper part of the outer surface 107 of the toilet bowl 100. This is because cleaning the upper side of the outer surface 107 of the toilet bowl 100 is not a pain even if a person performs it, and it is more important to make the robot itself smaller and lighter than to automate this part.

The cleaning robot 51 of the second embodiment may be modified as follows.

(1) In the second embodiment, an example in which the drive control unit 201 controls the rotary actuator 54 has been described. However, instead of the rotary actuator 54, a turntable that rotates around the Y-axis and is urged in the direction from the outside to the inside of the cleaning robot 51 may be provided.

(2) The cleaning robot 51 shown in the second embodiment may not include the R slider 2, the pair of Y sliders 3, the rotary actuator 4, the arm 5, and the vertical frame 8. In this case, the connecting portion 53a is not shown so that the longitudinal direction of the cleaning roller 52 is perpendicular to the floor surface on which the moving carriage 7 moves even if the longitudinal direction of the cleaning roller 52 rotates around the arm axis. The support member 52b may be urged by the torsion spring of the above.

(3) In the second embodiment, the cleaning robot 51 includes a pair of left and right cleaning rollers 52, a side arm 53, and a rotary actuator 54, but only one of the left and right cleaning rollers 52, a side arm 53 and a rotary actuator 54 may be provided.

According to the present disclosure, it is useful for cleaning toilet bowls installed in public toilets and the like.

1: Cleaning robot 2: R slider (first mechanism)
3: Y slider (second mechanism)
4: Rotary actuator (third mechanism)
5: Arm 7: Moving trolley (trolley)
10: Brush 10a: First brush surface (first brush surface)
10b: Second brush surface (second brush surface)
10c: Third brush surface (third brush surface)
10d: Holding part (brush drive part)
11: Crank (brush drive unit)
12: Rod (brush drive unit)
15: Arm 20: Brush 20a: Brush surface (first brush surface)
20b: Brush surface (second brush surface)
20c: Brush surface (third brush surface)
51: Cleaning robot 52: Cleaning roller (first cleaning roller, second cleaning roller)
52a: Motor (first motor, second motor)
52b: Support member 53: Side arm (first outer surface arm and second outer surface arm)
53a: Connection part (first connection part and second connection part)
54: Rotary actuator (rear end of first outer arm and rear end of second outer arm)
100: Toilet bowl 101: Front (first target surface)
102: Bottom cup (second target surface)
103: Top edge (third target surface)
104: Right side (first target side)
105: Left side (first target surface)
106: Inner surface 107: Outer surface 200: Control unit 211: Vibration motor (brush drive unit)

Claims (10)

A cleaning robot that removes dirt from objects
A brush that comes into contact with the object and removes dirt from the object,
The arm to which the brush is attached and
A drive unit that moves the arm and
A control unit that controls the drive unit so that the brush abuts on the object and removes dirt from the object is provided.
The drive unit includes a first mechanism for moving the arm in a predetermined first direction, a second mechanism for moving the arm in a second direction orthogonal to the first direction, and an axis parallel to the second direction. It is equipped with a third mechanism that rotates the arm around it.
The brush has a first brush surface having the same shape as at least a part of the peripheral surface of the cylinder centered on an axis parallel to the second direction, and a bottom surface side of the cylinder with respect to the first brush surface. A cleaning robot comprising a second brush surface arranged on the surface of the cylinder and a third brush surface arranged on the upper surface side of the cylinder with respect to the first brush surface. The control unit
The first brush surface removes dirt from the first object surface facing the first direction in the object.
The second brush surface removes dirt from the second target surface of the object, which faces the second direction and is located on the bottom surface side of the cylinder with respect to the first target surface.
The third brush surface removes dirt from the third object surface of the object, which faces the second direction and is located on the upper surface side of the cylinder with respect to the first object surface.
The cleaning robot according to claim 1, which controls the drive unit. A brush drive unit for rotating the brush around an axis parallel to the second direction is further provided.
The cleaning robot according to claim 1 or 2. The cleaning robot according to claim 1 or 2, further comprising a brush driving unit that alternately rotates and reverses the brush around an axis parallel to the second direction. The cleaning robot according to any one of claims 1 to 4, wherein the second brush surface has a curved surface shape that is convex toward the bottom surface of the cylinder. The cleaning robot according to any one of claims 1 to 5, wherein the third brush surface has a planar shape parallel to the upper surface of the cylinder. The dolly that moves the cleaning robot and
The first cleaning roller for wiping the outer surface of the toilet bowl,
A first support member that supports the rotation shaft of the first cleaning roller, and
A first outer surface arm provided on the carriage and rotating around an axis parallel to the second direction,
A first connecting portion attached to the tip of the first outer surface arm and urging the first support member so that the longitudinal direction of the first cleaning roller is parallel to the second direction.
The cleaning robot according to any one of claims 1 to 6, further comprising. A second cleaning roller for wiping the outer surface of the toilet bowl,
A second support member that supports the rotating shaft of the second cleaning roller, and
A second outer surface arm provided on the carriage so as to face the first outer surface arm and rotating around an axis parallel to the second direction.
A second connecting portion attached to the tip of the second outer surface arm and urging the second support member so that the longitudinal direction of the second cleaning roller is parallel to the second direction.
The cleaning robot according to claim 7, further comprising. A cleaning robot that removes dirt from the outer surface of the toilet bowl.
The dolly that moves the cleaning robot and
The first cleaning roller for wiping the outer surface of the toilet bowl,
A first support member that supports the rotation shaft of the first cleaning roller, and
A first outer surface arm provided on the carriage and rotating around an axis parallel to the second direction,
A second support member attached to the tip of the first outer surface arm and urging the first support member so that the longitudinal direction of the first cleaning roller is perpendicular to the floor surface on which the carriage moves. One connection and
A cleaning robot equipped with. A second cleaning roller for wiping the outer surface of the toilet bowl,
A second support member that supports the rotating shaft of the second cleaning roller, and
A second outer surface arm provided on the carriage so as to face the first outer surface arm and rotating around an axis parallel to the second direction.
A second support member attached to the tip of the second outer surface arm and urging the second support member so that the longitudinal direction of the second cleaning roller is perpendicular to the floor surface on which the trolley moves. With the second connection
9. The cleaning robot according to claim 9.

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