JP2021186782A - Bathroom cleaning device - Google Patents

Abstract

To provide a bathroom cleaning device which can clean a bathroom efficiently and effectively.SOLUTION: A bathroom cleaning device 200 includes: a housing 1 which may be placed on a predetermined location on a floor surface FL of a bathroom R or a bottom surface S of a bathtub R; a pump 21 which increases a pressure of cleaning water (a liquid); a discharge nozzle 3 which is connected to the pump 21, provided in the housing 1, and discharges the water (the liquid); and a control device 7 which controls a position of the discharge nozzle 3. Further, a horizontal direction drive part 46 driven by the control device 7 revolves the discharge nozzle 3 around a first axis O1 relative to the housing 1.SELECTED DRAWING: Figure 1

Description

The present invention relates to a bathroom cleaning device that automatically cleans the inside of a bathroom.

Conventionally, for example, as shown in Patent Document 1, a device (robot) for cleaning a bathroom is known. This device cleans the inside of the bathroom by pressing a sponge member against the floor and wall surface of the bathtub or bathroom and self-propelling. Further, in this device, both the floor surface and the wall surface can be cleaned by changing the angle of the shaft to which the sponge member is attached.

Japanese Unexamined Patent Publication No. 2017-131355

However, the device described in Patent Document 1 cleans the bathroom by bringing the sponge member into contact with the floor surface or the wall surface. Therefore, for example, a sufficient cleaning effect cannot be obtained in a portion where it is difficult or impossible to contact the sponge member such as a corner. Further, since the device of Patent Document 1 performs cleaning while traveling by wheels, for example, it is not possible to go back and forth between the inside and outside of the bathtub, and it is difficult to clean the entire bathroom at once without the intervention of an operator during cleaning. ..

Therefore, the present invention provides a bathroom cleaning device capable of efficiently and effectively cleaning the inside of the bathroom.

The bathroom cleaning device according to one aspect of the present invention is connected to the pump, a housing that can be placed in a predetermined place on the floor surface of the bathroom or the bottom surface of the bathtub, a pump that pressurizes the cleaning liquid, and the above. A discharge nozzle provided in the housing to discharge the liquid and a control device for controlling the position of the discharge nozzle are provided.

Further, in the bathroom cleaning device, the discharge nozzle is swiveled around the first axis with respect to the housing, and the positions of the first drive unit driven by the control device and the tip opening of the discharge nozzle are located. The discharge nozzle may be operated so as to move in the direction of the first axis, and may further include a second drive unit driven by the control device.

Further, in the bathroom cleaning device, the second drive unit may rotate the discharge nozzle with respect to the housing about the second axis intersecting the first axis.

Further, in the bathroom cleaning device, the first drive unit rotates the nozzle around the first axis extending in the vertical direction, and the second drive unit rotates the nozzle around the second axis extending in the horizontal direction. It may be swiveled as.

Further, in the above-mentioned bathroom cleaning device, the position of the discharge nozzle when the tip opening of the discharge nozzle faces in the horizontal direction is set as a reference position, and the discharge nozzle when the tip opening faces upward from the reference position. When the tilt angle with respect to the horizontal direction is a positive angle and the tilt angle when the tip opening faces downward from the reference position is a negative angle, the control device discharges the liquid from the discharge nozzle. While driving the second drive unit, the tilt angle is reduced from the first angle to a second angle smaller than the first angle, and the first drive unit is driven to drive the discharge nozzle to the first angle. It may be swiveled around one axis.

Further, in the bathroom cleaning device, the control device drives the second drive unit to reduce the inclination angle from the first angle to the second angle, and drives the first drive unit to release the discharge. The nozzle may be swiveled while being inverted in the forward and reverse directions around the first axis.

Further, in the bathroom cleaning device, the control device drives the second drive unit to reduce the inclination angle from the first angle to the second angle by a predetermined angle, and each time the inclination angle decreases. The first drive unit may be driven to rotate the discharge nozzle while reversing it in the forward and reverse directions around the first axis.

The position of the discharge nozzle when the tip opening of the discharge nozzle faces the horizontal direction is set as the reference position, and the tilt angle of the discharge nozzle with respect to the horizontal direction when the tip opening faces upward from the reference position is positive. When the inclination angle when the tip opening faces downward from the reference position is set to a negative angle, the control device discharges the liquid from the discharge nozzle and the second drive unit. The first drive unit may be driven to swivel the discharge nozzle in one direction around the first axis while repeating the operation of increasing the tilt angle and the operation of decreasing the tilt angle. ..

Further, in the bathroom cleaning device, the control device drives the second drive unit to alternately change the inclination angle between the first angle and the second angle smaller than the first angle. The first drive unit may be driven to swivel the discharge nozzle in one direction around the first axis.

Further, in the bathroom cleaning device, the control device changes the inclination angle between the first angle and the second angle, and then discharges the liquid from the discharge nozzle to the second drive unit. The first drive unit is driven to change the inclination angle between a third angle smaller than the first angle and larger than the second angle and a fourth angle smaller than the second angle. The discharge nozzle may be swiveled around the first axis.

Further, in the above-mentioned bathroom cleaning device, the position of the discharge nozzle when the tip opening of the discharge nozzle faces in the horizontal direction is set as a reference position, and the discharge nozzle when the tip opening faces upward from the reference position. When the tilt angle with respect to the horizontal direction is a positive angle and the tilt angle when the tip opening faces downward from the reference position is a negative angle, the control device discharges the liquid from the discharge nozzle. While driving the second drive unit, the tilt angle is reduced by a predetermined angle from the first angle to the second angle smaller than the first angle, and each time the tilt angle is reduced, the first angle is reduced. After driving the drive unit to rotate the discharge nozzle while reversing it in the forward and reverse directions around the first axis, the second drive unit is driven to make the tilt angle smaller than the first angle. While alternately changing between a third angle larger than the second angle and a fourth angle smaller than the second angle, the first drive unit is driven to rotate the discharge nozzle around the first axis. It may be swiveled to one side.

Further, the bathroom cleaning device further includes a pressure control valve capable of adjusting the pressure of the liquid, and the control device controls the pressure control valve to change the pressure of the liquid discharged from the discharge nozzle. May be good.

Further, the bathroom cleaning device further includes a pressure control valve capable of adjusting the pressure of the liquid, and the control device controls the pressure control valve to control the pressure control valve to control the discharge nozzle between the first angle and the second angle. The second pressure, which is the pressure of the liquid discharged from the discharge nozzle between the third angle and the fourth angle, is regarded as a lower pressure than the first pressure, which is the pressure of the liquid discharged from. May be good.

Further, in the bathroom cleaning device, the pressure adjusting valve may have a pressure adjusting drive unit driven by the control device and a pressure adjusting valve main body operated by the pressure adjusting drive unit.

Further, the bathroom cleaning device further includes a stop valve capable of switching whether or not the liquid is supplied to the discharge nozzle, and the control device controls the stop valve to discharge the liquid from the discharge nozzle. May end the discharge of the liquid from the discharge nozzle.

Further, in the bathroom cleaning device, the stop valve may have a supply drive unit driven by the control device and a stop valve main body operated by the supply drive unit.

Further, in the bathroom cleaning device, the discharge nozzle may discharge water as the liquid, and the bathroom cleaning device may further include a cleaning agent nozzle attached to the discharge nozzle to discharge the cleaning agent. ..

Further, the bathroom cleaning device may further include wheels provided at the lower part of the housing to enable the housing to be moved.

Further, the bathroom cleaning device may further include a ventilation fan cover that covers the ventilation fan in the bathroom.

According to the above-mentioned bathroom cleaning device, it is possible to efficiently and effectively clean the inside of the bathroom.

It is an overall front view of the bathroom cleaning apparatus which concerns on embodiment of this invention. It is an overall side view of the said bathroom cleaning apparatus. It is a functional block diagram of the control device in the said bathroom cleaning device. It is a functional block diagram of the angle controller in the said control device. It is a flow chart which shows the cleaning procedure by the said bathroom cleaning apparatus. It is a figure which shows the image of the water discharge path by the said bathroom cleaning device. It is a figure which shows the change of the inclination angle of the discharge nozzle at the time of cleaning the upper part of a bathroom by the said bathroom cleaning device. It is a figure which shows the change of the inclination angle of the discharge nozzle at the time of cleaning the lower part of a bathroom by the said bathroom cleaning device. It is a figure which shows the water discharge path by the bathroom cleaning apparatus which concerns on the 1st modification of embodiment of this invention, (a) is the perspective view, (b) is the figure which looked at the ceiling surface from the bottom. It is an overall front view of the bathroom cleaning apparatus which concerns on the 2nd modification of embodiment of this invention. It is an overall front view of the bathroom cleaning apparatus which concerns on the 3rd modification of embodiment of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
(overall structure)
As shown in FIG. 1, the bathroom cleaning device 200 of the present embodiment has a housing 1 that can be placed in a predetermined place on the floor FL of the bathroom R or the bottom surface S of the bathtub B, and a high pressure supported by the housing 1. It includes a washing machine 2, a discharge nozzle 3, a support device 4, a stop valve 5, a pressure regulating valve 6, and a control device 7.
The housing 1 consists of four vertical columns 11 extending in the vertical direction parallel to each other, a top plate 12 provided at the upper part of the vertical columns 11, a bottom plate 13 provided at the lower part, and the top plate 12 and the bottom plate 13. It has an intermediate partition plate 14 provided between them. The housing 1 may be provided with a door 15 that covers the front side in the depth direction. Further, as shown in FIG. 2, a cover 16 may be provided on the side surface. Although not shown, a cover may be provided on the back side as well.
Further, a wheel 17 that movably supports the housing 1 is provided below each vertical pillar 11. The structure of the housing 1 is not limited to the case of the present embodiment, as long as it has a structure in which the high pressure washer 2, the discharge nozzle 3, the support device 4, and the control device 7, which will be described later, can be installed. good.

(High-pressure washing machine)
The high-pressure washer 2 has a pump 21, an intake pipe 22 that takes in water from the outside and introduces it into the pump 21, and a supply pipe 23 that draws out cleaning water (liquid) that has been boosted by the pump 21. There is. The pump 21 is, for example, a plunger pump, a diaphragm pump, or the like. The intake pipe 22 and the supply pipe 23 are, for example, resin hoses and the like. The high pressure washer 2 is mounted on the upper surface of the bottom plate 13 in the housing 1.

(Discharge nozzle)
The discharge nozzle 3 has a cylindrical shape and can discharge water from the tip opening 3a. Water boosted by the pump 21 is introduced into the discharge nozzle 3 through the supply pipe 23.

(Support device)
The support device 4 has an arm 41 that supports the discharge nozzle 3, a horizontal drive unit (first drive unit) 46 that operates the arm 41, and a vertical drive unit (second drive unit) 47. ..
The arm 41 extends horizontally above the top plate 12 and extends in a direction orthogonal to (or intersects with) the extending direction of the arm base 42 provided at the tip of the arm base 42 to provide a discharge nozzle 3. It has an arm tip portion 44 that supports it. The arm base 42 is provided with a guide ring 43 that rolls in contact with the upper surface of the top plate 12 at a position in the middle of the extending direction. Further, a supply pipe 23 extending from the pump 21 is connected to the arm tip portion 44. A flow path (not shown) is formed inside the arm tip portion 44, and the supply pipe 23 is connected to the arm tip portion 44 so that the inside of the supply pipe 23 communicates with the flow path of the arm tip portion 44. ing. The discharge nozzle 3 is connected to the tip of the arm tip portion 44, and the inside of the discharge nozzle 3 communicates with the flow path inside the arm tip portion 44.

The horizontal drive unit 46 is, for example, a servomotor, and is provided on the upper surface of the top plate 12. Further, the horizontal drive unit 46 is provided with a motor shaft (not shown) that rotates around the first axis O1 extending in the vertical direction. The base end of the arm base 42 is connected to this motor shaft. As a result, when the motor shaft rotates, the arm base 42 and the arm tip 44 rotate around the first axis O1, and the discharge nozzle 3 turns around the first axis O1 with respect to the housing 1. Further, when the arm base 42 rotates, the guide ring 43 comes into contact with the upper surface of the top plate 12 and rolls, and the arm base 42 rotates on a horizontal plane. As a result, in the present embodiment, the tip opening 3a of the discharge nozzle 3 can be swiveled by 330 degrees on a horizontal plane. Further, as shown in FIG. 3, the horizontal drive unit 46 is provided with a horizontal rotation angle sensor 46a that detects the rotation angle of the motor shaft.

The vertical drive unit 47 is, for example, a servomotor, and is provided on the arm base 42 on the tip side of the position where the guide wheel 43 is provided on the arm base 42. Further, the vertical drive unit 47 is provided with a motor shaft (not shown) that rotates around the second axis O2 extending in the horizontal direction orthogonal to the first axis O1. An arm tip 44 is connected to this motor shaft. As a result, when the motor shaft rotates, the arm tip 44 rotates around the second axis O2, and the discharge nozzle 3 turns around the second axis O2 with respect to the housing 1. As a result, the tip opening 3a of the discharge nozzle 3 can reciprocate up and down in the vertical direction. Further, as shown in FIG. 3, the vertical drive unit 47 is provided with a vertical rotation angle sensor 47a for detecting the rotation angle of the motor shaft.

(Stop valve)
The stop valve 5 is provided at the arm tip portion 44 in this embodiment. Specifically, the stop valve 5 has a supply drive unit 51 and a stop valve main body 52 operated by the supply drive unit 51. The supply drive unit 51 is, for example, a rotary actuator having a servomotor or the like. Further, the stop valve main body 52 is, for example, a rotary valve connected to the motor shaft of the supply drive unit 51, and by opening and closing the flow path in the arm tip portion 44, whether or not water is supplied to the discharge nozzle 3 is determined. It is switchable. Further, as shown in FIG. 3, the supply drive unit 51 is provided with a supply rotation angle sensor 51a that detects the rotation angle of the motor shaft.

(Pressure control valve)
The pressure control valve 6 is a pressure reducing valve provided in the discharge nozzle 3. Specifically, the pressure adjusting valve 6 has a pressure adjusting drive unit 61 and a pressure adjusting valve main body 62 operated by the pressure adjusting drive unit 61. The pressure adjusting drive unit 61 is, for example, a rotary actuator having a servomotor or the like. Further, the pressure adjusting valve main body 62 is, for example, a rotary valve connected to the motor shaft of the pressure adjusting drive unit 61, and by adjusting the opening area of the introduction port (not shown) into which water is introduced into the discharge nozzle 3. The pressure of water discharged from the discharge nozzle 3 is increased or decreased. Further, as shown in FIG. 3, the pressure adjusting drive unit 61 is provided with a pressure adjusting rotation angle sensor 61a for detecting the rotation angle of the motor shaft.

(Control device)
Next, the control device 7 will be described in detail.
As shown in FIG. 3, the control device 7 controls the position of the discharge nozzle 3 and stops by driving the horizontal drive unit 46, the vertical drive unit 47, the supply drive unit 51, and the pressure adjustment drive unit 61. It controls the operation of the valve 5 and the pressure regulating valve 6. That is, multi-axis (4 axes) control is performed by the control device 7. The control device 7 includes an angle controller 71, a horizontal amplifier 72, a vertical amplifier 73, a supply amplifier 74, and a pressure regulating amplifier 75. The control device 7 and the drive units 46, 47, 51, 61 are electrically connected by wiring (not shown).

(Angle controller)
The angle controller 71 includes a CPU, RAM, ROM, and the like, and executes various controls. The CPU is a so-called central processing unit, and various programs are executed to realize various functions. The RAM is used as a work area for the CPU. The ROM stores a program executed by the CPU. As shown in FIG. 4, the angle controller 71 has a horizontal processing unit 81, a vertical processing unit 91, a supply processing unit 101, and a pressure adjusting processing unit 111.

(Horizontal processing unit)
The horizontal direction processing unit 81 includes a horizontal angle input unit 82, a horizontal target angle storage unit 83, a horizontal command angle calculation unit 84, and a horizontal angle command output unit 85.

A signal including information on the rotation angle of the motor shaft of the horizontal drive unit 46 detected by the horizontal rotation angle sensor 46a is input to the horizontal angle input unit 82.
The horizontal target angle storage unit 83 stores the target rotation angle in the motor shaft determined in advance based on the cleaning procedure described later. This target rotation angle is a rotation angle determined from the direction of the tip opening 3a of the discharge nozzle 3 based on the cleaning procedure described later. The horizontal target angle storage unit 83 stores the target rotation angle for each elapsed time from the start of cleaning.
The horizontal command angle calculation unit 84 calculates the difference between the actual rotation angle of the motor shaft based on the signal input to the horizontal angle input unit 82 and the target rotation angle stored in the horizontal target angle storage unit 83.
The horizontal angle command output unit 85 receives a signal including information on the difference in rotation angle from the horizontal command angle calculation unit 84, and outputs a control signal based on this signal.

(Vertical processing unit)
The vertical direction processing unit 91 includes a vertical angle input unit 92, a vertical target angle storage unit 93, a vertical command angle calculation unit 94, and a vertical angle command output unit 95.
A signal including information on the rotation angle of the motor shaft of the vertical drive unit 47 detected by the vertical rotation angle sensor 47a is input to the vertical angle input unit 92.
The vertical target angle storage unit 93 stores a target rotation angle in a predetermined motor shaft based on a cleaning procedure described later. This target rotation angle is a rotation angle determined from the direction of the tip opening 3a of the discharge nozzle 3 based on the cleaning procedure described later. The vertical target angle storage unit 93 stores the target rotation angle for each elapsed time from the start of cleaning.
The vertical command angle calculation unit 94 calculates the difference between the actual rotation angle of the motor shaft based on the signal input to the vertical angle input unit 92 and the target rotation angle stored in the vertical target angle storage unit 93.
The vertical angle command output unit 95 receives a signal including information on the difference in rotation angle from the vertical command angle calculation unit 94, and outputs a control signal based on this signal.

(Supply processing unit)
The supply processing unit 101 includes a supply angle input unit 102, a supply target angle storage unit 103, a supply command angle calculation unit 104, and a supply angle command output unit 105.
A signal including information on the rotation angle of the motor shaft of the supply drive unit 51 detected by the supply rotation angle sensor 51a is input to the supply angle input unit 102.
The supply target angle storage unit 103 stores a target rotation angle in a predetermined motor shaft based on a cleaning procedure described later. This target rotation angle is a rotation angle corresponding to the opening / closing operation of the stop valve 5 based on the cleaning procedure described later.
The supply command angle calculation unit 104 calculates the difference between the actual rotation angle of the motor shaft based on the signal input to the supply angle input unit 102 and the target rotation angle stored in the supply target angle storage unit 103. When the stop valve 5 is maintained in the open state or the closed state, the above difference becomes 0, and when switching from the open state to the closed state or switching from the closed state to the open state, the above difference is the stop valve main body. It becomes a predetermined value based on the specification of 52.
The supply angle command output unit 105 inputs a signal including information on the difference in rotation angle calculated by the supply command angle calculation unit 104, and outputs a control signal based on this signal.

(Pressure adjustment processing unit)
The pressure adjustment processing unit 111 includes a pressure adjustment angle input unit 112, a pressure adjustment target angle storage unit 113, a pressure adjustment command angle calculation unit 114, and a pressure adjustment angle command output unit 115.
A signal including information on the rotation angle of the motor shaft of the pressure adjustment drive unit 61 detected by the pressure adjustment rotation angle sensor 61a is input to the pressure adjustment angle input unit 112.
The pressure adjustment target angle storage unit 113 stores a target rotation angle in a predetermined motor shaft based on a cleaning procedure described later. This target rotation angle is a rotation angle corresponding to the opening degree of the pressure adjusting valve 6 based on the cleaning procedure described later.
The pressure adjustment command angle calculation unit 114 determines the difference between the actual rotation angle of the motor shaft based on the signal input to the pressure adjustment angle input unit 112 and the target rotation angle stored in the pressure adjustment target angle storage unit 113. calculate. That is, the rotation angle of the motor shaft for changing the actual opening degree of the pressure adjusting valve 6 to the target opening degree is calculated.
The pressure adjustment angle command output unit 115 receives a signal including information on the difference in rotation angle from the pressure adjustment command angle calculation unit 114, and outputs a control signal based on this signal.

(Horizontal amplifier)
Returning to FIG. 3, the horizontal amplifier 72 is a servo amplifier that receives a control signal output from the horizontal angle command output unit 85 of the angle controller 71 and drives the horizontal drive unit 46 based on this control signal. .. The horizontal amplifier 72 performs feedback control to the horizontal drive unit 46 together with the horizontal processing unit 81. Further, the horizontal amplifier 72 is provided with a synchronization signal output unit 72a. The synchronization signal output unit 72a outputs a synchronization signal when the horizontal amplifier 72 receives the control signal from the horizontal angle command output unit 85.

(Vertical amplifier)
The vertical direction amplifier 73 is a servo amplifier that receives a control signal output from the vertical angle command output unit 95 of the angle controller 71 and drives the vertical direction drive unit 47 based on this control signal. The vertical amplifier 73, together with the vertical processing unit 91, performs feedback control to the vertical drive unit 47. Further, the vertical direction amplifier 73 is provided with a first synchronization signal input unit 73a. When the synchronization signal from the synchronization signal output unit 72a is input to the first synchronization signal input unit 73a, it synchronizes with the drive of the horizontal direction drive unit 46 and is in the vertical direction based on the control signal from the vertical angle command output unit 95. The drive unit 47 is driven.

(Supply amplifier)
The supply amplifier 74 is a servo amplifier that receives a control signal output from the supply angle command output unit 105 in the supply processing unit 101 and drives the supply drive unit 51 based on this control signal. The supply amplifier 74 performs feedback control to the supply drive unit 51 together with the supply processing unit 101. Further, the supply amplifier 74 is provided with a second synchronization signal input unit 74a. When the synchronization signal from the synchronization signal output unit 72a is input to the second synchronization signal input unit 74a, it is supplied in synchronization with the drive of the horizontal drive unit 46 based on the control signal from the supply angle command output unit 105. The drive unit 51 is driven. When the stop valve 5 keeps the open state or the closed state, the supply amplifier 74 does not drive the supply drive unit 51.

(Amplifier for pressure regulation)
The pressure control amplifier 75 is a servo amplifier that receives a control signal output from the pressure control angle command output unit 115 in the pressure control processing unit 111 and drives the pressure control drive unit 61 based on this control signal. The pressure adjusting amplifier 75 performs feedback control to the pressure adjusting drive unit 61 together with the pressure adjusting processing unit 111. Further, the pressure adjusting amplifier 75 is provided with a third synchronization signal input unit 75a. When the synchronization signal from the synchronization signal output unit 72a is input to the third synchronization signal input unit 75a, it is synchronized with the drive of the horizontal drive unit 46 and adjusted based on the control signal from the pressure adjustment angle command output unit 115. The compression drive unit 61 is driven. When the opening degree of the pressure adjusting valve 6 is maintained, the pressure adjusting amplifier 75 does not drive the pressure adjusting drive unit 61.

Next, a procedure for cleaning the bathroom R by the control device 7 will be described with reference to FIGS. 5 to 7. In the present embodiment, the control device 7 starts the operation when a switch (not shown) is turned on by the operator or an operation start command is input to the control device 7, and the upper part of the bathroom R is washed with high voltage. After that, the lower part of the bathroom R is washed with a low pressure.
First, cleaning of the upper part of the bathroom R will be described. Specifically, step S1 for arranging the discharge nozzle 3 at the initial position is executed so that the tip opening 3a (see FIG. 1) of the discharge nozzle 3 faces a predetermined direction by the control device 7. In step S1, a control signal is output from the horizontal processing unit 81 to the horizontal amplifier 72 so that the discharge nozzle 3 is arranged at the initial position in the horizontal direction by the horizontal drive unit 46. Further, a control signal is output from the vertical processing unit 91 to the vertical amplifier 73 so that the discharge nozzle 3 is arranged at the initial position in the vertical direction by the vertical drive unit 47. In the present embodiment, the initial position in the horizontal direction may be any position in the circumferential direction of the motor shaft of the horizontal drive unit 46.

Here, in the discharge nozzle 3 when the position of the discharge nozzle 3 when the tip opening 3a of the discharge nozzle 3 faces in the horizontal direction is set as a reference position and the tip opening 3a of the discharge nozzle 3 faces upward from this reference position. The tilt angle α (see FIG. 2) is a positive angle, and the tilt angle α when facing downward is a negative angle. The initial position in the vertical direction in the present embodiment is the position of the discharge nozzle 3 when the _{inclination angle α is, for example, +50 degrees (first angle α 1).} However, the inclination angle α corresponding to the initial position in the vertical direction is appropriately set according to the installation height of the discharge nozzle 3, the length dimension of the discharge nozzle 3, the height of the bathroom R, and the like. It is not limited to the case of the form.

Further, in step S1, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to close the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so that the opening degree of the pressure adjusting valve 6 is the first opening degree. The first opening degree is an opening degree for increasing the pressure of water discharged from the discharge nozzle 3 to a high pressure (first pressure).

After executing step S1, step S2 is executed after a predetermined time has elapsed. This predetermined time is set to, for example, 20 seconds in this embodiment. In step S2, the inclination angle alpha in the discharge nozzle 3 from the first angle alpha _1, with stepwise change to a second angle alpha ₂ smaller than the first angle alpha _1, the inclination angle alpha of the discharge nozzle 3 changes Each time, the discharge nozzle 3 is swiveled in the opposite direction on the horizontal plane around the first axis O1 to discharge water from the discharge nozzle 3 (see path K1 in FIG. 6). Therefore, water is discharged while changing the direction in which the tip opening 3a of the discharge nozzle 3 faces in the horizontal direction and the vertical direction. That is, step S2 includes the following steps S21 to S23, and these steps S21 to S23 are repeatedly and continuously executed. In this embodiment, the second angle α ₂ is, for example, −45 degrees. Before executing step S2, a cleaning detergent may be sprayed in the bathroom R in advance by an operator.

First, in step S21, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the discharge nozzle 3 is swiveled around the first axis O1 by a predetermined angle by the horizontal drive unit 46. In the present embodiment, a control signal is output from the horizontal processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees in one direction around the first axis O1. At this time, the tip opening 3a of the discharge nozzle 3 is rotated at a constant speed of, for example, 20 degrees / sec. Further, in step S21, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to open the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the first opening degree (maintaining the water pressure at a high pressure).

After executing step S21, step S22 is executed. In step S22, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so that the discharge nozzle 3 is swiveled around the second axis O2 by a predetermined angle by the vertical drive unit 47. In the present embodiment, the control signal is output from the vertical processing unit 91 so that the tip opening 3a of the discharge nozzle 3 is further tilted by, for example, −5 degrees (5 degrees downward) around the second axis O2. Further, in step S22, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so that the opening degree of the pressure adjusting valve 6 is maintained at the first opening degree (maintaining the water pressure at a high pressure).

Then, after executing step S22, step S23 is executed. In step S23, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the discharge nozzle 3 is swiveled around the first axis O1 by a predetermined angle by the horizontal drive unit 46. In the present embodiment, a control signal is output from the horizontal processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of, for example, 20 degrees / second on the other side around the first axis O1. That is, in step S23, the discharge nozzle 3 is swiveled in the direction opposite to that of step S21 around the first axis O1. Further, in step S23, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the first opening degree (maintaining the water pressure at a high pressure).

In this way, in step S2, as shown in the range A1 of FIG. 7, water is discharged while the inclination angle α of the discharge nozzle 3 is gradually reduced _{from the first angle α 1} to the second angle α _2.

After executing step S2, step S3 is executed. In step S3, the tilt angle α of the discharge nozzle 3 is changed _{from the second angle α 2} to the third angle α ₃ which is smaller than the first angle α _{1 and} larger than the second angle α ₂ (see FIG. 7). That is, in step S3, the tip opening 3a of the discharge nozzle 3 is set so that _{the tilt angle α of the discharge nozzle 3 becomes the third angle α 3} by the vertical drive unit 47 from the vertical processing unit 91 toward the vertical amplifier 73. The control signal is output so as to go upward. In this embodiment, the third angle α ₃ is, for example, +47.5 degrees. Further, in step S3, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the first opening degree (maintaining the water pressure at a high pressure).

After executing step S3, step S4 is executed. In step S4, the inclination angle alpha in the discharge nozzle 3 from the third angle alpha _3, with stepwise changed to the fourth angle alpha ₄ is smaller than the second angle alpha _2, and the third angle alpha _3, the discharge nozzle 3 Every time the inclination angle α changes, the discharge nozzle 3 is swiveled in the opposite direction on the horizontal plane around the first axis O1 to discharge water from the discharge nozzle 3 (see path K2 in FIG. 6). That is, step S4 includes the following steps S41 to S43, and these steps S41 to S43 are repeatedly and continuously executed. In this embodiment, the fourth angle α ₄ is, for example, −47.5 degrees.

First, in step S41, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the discharge nozzle 3 is swiveled around the first axis O1 by a predetermined angle by the horizontal drive unit 46. In the present embodiment, a control signal is output from the horizontal processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of, for example, 20 degrees / second on one side around the first axis O1. Further, in step S41, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the first opening degree (maintaining the water pressure at a high pressure).

After executing step S41, step S42 is executed. In step S42, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so that the discharge nozzle 3 is swiveled around the second axis O2 by a predetermined angle by the vertical drive unit 47. In the present embodiment, the control signal is output from the vertical processing unit 91 so that the tip opening 3a of the discharge nozzle 3 is tilted by, for example, −5 degrees (downward 5 degrees) around the second axis O2. Further, in step S42, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the first opening degree (maintaining the water pressure at a high pressure).

Then, after executing step S42, step S43 is executed. In step S43, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the discharge nozzle 3 is swiveled around the first axis O1 by a predetermined angle by the horizontal drive unit 46. In the present embodiment, a control signal is output from the horizontal processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of, for example, 20 degrees / second on the other side around the first axis O1. That is, in step S43, the discharge nozzle 3 is swiveled in the direction opposite to that of step S41 around the first axis O1. Further, in step S43, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the first opening degree (maintaining the water pressure at a high pressure).

In this way, in step S4, as shown in the range A2 of FIG. 7, water is discharged while gradually reducing the inclination angle α of the discharge nozzle 3 _{from the third angle α 3} to the fourth angle α _4.

After executing step S4, step S5 is executed. In step S5, the tilt angle α of the discharge nozzle 3 is changed _{from the fourth angle α 4} to the fifth angle α ₅ which is smaller than the third angle α _{3 and} larger than the fourth angle α ₄ (see FIG. 7). That is, in step S5, the tip opening 3a of the discharge nozzle 3 is set so that _{the tilt angle α of the discharge nozzle 3 becomes the fifth angle α 5} by the vertical drive unit 47 from the vertical processing unit 91 toward the vertical amplifier 73. The control signal is output so as to go upward. In this embodiment, the fifth angle α ₅ is, for example, +40 degrees. Further, in step S5, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the first opening degree (maintaining the water pressure at a high pressure).

After executing step S5, step S6 is executed. In step S6, a fifth angle alpha ₅ an inclination angle alpha in the discharge nozzle 3, the tip of the discharge nozzle 3 is varied alternately between a fourth angle alpha ₄ and the fifth angle alpha smaller sixth angle than ₅ While moving the opening 3a up and down, the discharge nozzle 3 is swiveled around the first axis O1 to discharge water from the discharge nozzle 3 (see path K3 in FIG. 6). That is, step S6 includes the following steps S61 and S62, and these steps S61 and S62 are executed once in succession. In this embodiment, the sixth angle is, for example, −50 degrees.

First, in step S61, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the horizontal drive unit 46 swivels the tip opening 3a of the discharge nozzle 3 around the first axis O1 by a predetermined angle. Will be done. In the present embodiment, a control signal is output from the horizontal processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of, for example, 1 degree / sec on one side around the first axis O1. Further, in step S61, the discharge nozzle 3 is moved by the vertical drive unit 47 from the vertical processing unit 91 toward the vertical amplifier 73 between _{the fifth angle α 5} and the sixth angle α _{6 around the second axis O2.} A control signal is output that turns the bob so that it reciprocates alternately. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, the opening degree of the pressure adjusting valve 6 is changed from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 to a second opening smaller than the first opening (the water pressure is reduced to a low pressure (second smaller than the above first pressure). A control signal is output to change to pressure).

After executing step S61, step S62 is executed. In step S62, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the horizontal drive unit 46 swivels the tip opening 3a of the discharge nozzle 3 around the first axis O1 by a predetermined angle. To. In the present embodiment, a control signal is output from the horizontal processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of, for example, 1 degree / sec on the other side around the first axis O1. That is, in step S62, the discharge nozzle 3 is swiveled in the direction opposite to that of step S61 around the first axis O1. Further, in step S62, as in step S61, the emission nozzle 3 is moved by the vertical drive unit 47 from the vertical processing unit 91 toward the vertical amplifier 73 around the second axis O2 at the fifth angle α ₅ and the sixth angle α. A control signal for turning to and from _{6 alternately is output.} Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the second opening degree (maintaining the water pressure at a low pressure).

_{In this way, in step S6, the fifth angle α 5 as} shown in the range A3 of FIG. 7 while moving the tip opening 3a of the discharge nozzle 3 by 330 degrees on the horizontal plane to one side around the first axis O1 on the outward route. _{After water is discharged while moving the discharge nozzle 3 up and down between the sixth angle α 6} and the sixth angle α 6, the tip opening 3a of the discharge nozzle 3 is moved to the other side around the first axis O1 on the return path by 330 degrees on the horizontal plane. Water is discharged while moving the discharge nozzle 3 up and down between the fifth angle α ₅ and the sixth angle α _6.

After executing step S6, the process proceeds to the step of cleaning the lower part of the bathroom R. The cleaning of the lower part of the bathroom R is performed by the same route as the cleaning of the upper part of the bathroom R shown in FIG. 6 described above, but the cleaning of the lower part of the bathroom R is performed by low pressure cleaning. First, step S7 is executed. In step S7, the tilt angle α of the discharge nozzle 3 is changed _{from the sixth angle α 6} to the seventh angle α ₇ which is smaller than the fifth angle α _{5 and} larger than the sixth angle α ₆ (see FIG. 8). That is, in step S7, the tip opening 3a of the discharge nozzle 3 is set so that _{the tilt angle α of the discharge nozzle 3 becomes the seventh angle α 7} by the vertical drive unit 47 from the vertical processing unit 91 toward the vertical amplifier 73. The control signal is output so as to go upward. In this embodiment, the seventh angle α ₇ is, for example, 0 degrees. Further, in step S7, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the second opening degree (maintaining the water pressure at a low pressure).

After executing step S7, step S8 is executed. In step S8, the inclination angle alpha in the discharge nozzle 3 from the seventh angle alpha _7, with varied stepwise until the eighth angle alpha ₈ smaller than the sixth angle alpha ₆ and the seventh angle alpha _7, the discharge nozzle 3 Every time the inclination angle α changes, the discharge nozzle 3 is swiveled in the opposite direction on the horizontal plane around the first axis O1 to discharge water from the discharge nozzle 3. That is, step S8 includes the following steps S81 to S83, and these steps S81 to S83 are repeatedly and continuously executed. In this embodiment, the eighth angle α ₈ is, for example, −55 degrees.

First, in step S81, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the horizontal drive unit 46 swivels the tip opening 3a of the discharge nozzle 3 around the first axis O1 by a predetermined angle. Will be done. In the present embodiment, a control signal is output from the horizontal processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of, for example, 20 degrees / second on one side around the first axis O1. Further, in step S81, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to open the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the second opening degree (maintaining the water pressure at a low pressure).

After executing step S81, step S82 is executed. In step S82, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so that the discharge nozzle 3 is swiveled around the second axis O2 by a predetermined angle by the vertical drive unit 47. In the present embodiment, the control signal is output from the vertical processing unit 91 so that the tip opening 3a of the discharge nozzle 3 is further tilted by, for example, −5 degrees around the second axis O2. Further, in step S82, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the second opening degree (maintaining the water pressure at a low pressure).

Then, after executing step S82, step S83 is executed. In step S83, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the discharge nozzle 3 is swiveled around the first axis O1 by a predetermined angle by the horizontal drive unit 46. In the present embodiment, a control signal is output from the horizontal processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of, for example, 20 degrees / second on the other side around the first axis O1. That is, in step S83, the discharge nozzle 3 is swiveled in the direction opposite to that of step S81 around the first axis O1. Further, in step S83, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the second opening degree (maintaining the water pressure at a low pressure).

As shown this way in a range A4 in step S8 8, the seventh angle alpha ₇ to eighth angle alpha _8, water discharge is performed while stepwise reducing the inclination angle alpha of the discharge nozzle 3.

After executing step S8, step S9 is executed. In step S9, the tilt angle α of the discharge nozzle 3 is changed _{from the eighth angle α 8} to the ninth angle α ₉ which is smaller than the seventh angle α _{7 and} larger than the eighth angle α ₈ (see FIG. 8). That is, in step S9, the tip opening 3a of the discharge nozzle 3 is set so that _{the tilt angle α of the discharge nozzle 3 becomes the ninth angle α 9} by the vertical drive unit 47 from the vertical processing unit 91 toward the vertical amplifier 73. The control signal is output so as to go upward. In this embodiment, the ninth angle α ₉ is, for example, +2.5 degrees. Further, in step S9, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the second opening degree (maintaining the water pressure at a low pressure).

After executing step S9, step S10 is executed. In step S10, the inclination angle alpha of the ninth angle alpha ₉ in the discharge nozzle 3, together with a stepwise change to tenth angle alpha ₁₀ smaller than the eighth angle alpha ₈ and ninth angle alpha _9, the discharge nozzle 3 Every time the inclination angle α changes, the discharge nozzle 3 is swiveled in the opposite direction on the horizontal plane around the first axis O1 to discharge water from the discharge nozzle 3. That is, step S10 includes the following steps S101 to S103, and these steps S101 to S103 are repeatedly and continuously executed. In this embodiment, the tenth angle is, for example, −57.5 degrees.

First, in step S101, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the discharge nozzle 3 is swiveled around the first axis O1 by a predetermined angle by the horizontal drive unit 46. In the present embodiment, a control signal is output from the horizontal processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of, for example, 20 degrees / second on one side around the first axis O1. Further, in step S101, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the second opening degree (maintaining the water pressure at a low pressure).

After executing step S101, step S102 is executed. In step S102, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so that the discharge nozzle 3 is swiveled around the second axis O2 by a predetermined angle by the vertical drive unit 47. In the present embodiment, a control signal is output from the vertical processing unit 91 so that the tip opening 3a of the discharge nozzle 3 is tilted by, for example, −5 degrees around the second axis O2. Further, in step S102, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the second opening degree (maintaining the water pressure at a low pressure).

Then, after executing step S102, step S103 is executed. In step S103, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the discharge nozzle 3 is swiveled around the first axis O1 by a predetermined angle by the horizontal drive unit 46. In the present embodiment, a control signal is output from the horizontal processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of, for example, 20 degrees / second on the other side around the first axis O1. That is, in step S103, the discharge nozzle 3 is swiveled in the direction opposite to that of step S101 around the first axis O1. Further, in step S103, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so as to maintain the vertical position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the second opening degree (maintaining the water pressure at a low pressure).

In this way, in step S10, as shown in the range A5 of FIG. 8, _{water is discharged from the ninth angle α 9} to the tenth angle α ₁₀ while gradually reducing the inclination angle α of the discharge nozzle 3.

After executing step S10, step S11 is executed. In step S11, the tilt angle α of the discharge nozzle 3 is changed _{from the tenth angle α 10} to the eleventh angle α ₁₁ smaller than the ninth angle α _{9 and} larger than the tenth angle α ₁₀ (see FIG. 8). That is, in step S11, the tip opening 3a of the discharge nozzle 3 is set so that _{the tilt angle α of the discharge nozzle 3 becomes the eleventh angle α 11} by the vertical drive unit 47 from the vertical processing unit 91 toward the vertical amplifier 73. The control signal is output so that In this embodiment, the eleventh angle α ₁₁ is, for example, −30 degrees. Further, in step S11, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so as to maintain the horizontal position of the tip opening 3a of the discharge nozzle 3. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the second opening degree (maintaining the water pressure at a low pressure).

After executing step S11, step S12 is executed. In step S12, the eleventh angle alpha ₁₁ the inclination angle alpha in the discharge nozzle 3, while changing alternately between the twelfth angle alpha ₁₂ smaller than the tenth angle alpha ₁₀ and eleventh angle alpha ₁₁ , The discharge nozzle 3 is swiveled around the first axis O1 to discharge water from the discharge nozzle 3 (see path K3 in FIG. 6). That is, step S12 includes the following steps S121 and S122, and these steps S121 and S122 are executed once in succession. In this embodiment, the twelfth angle is, for example, −80 degrees.

First, in step S121, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the discharge nozzle 3 is swiveled around the first axis O1 by a predetermined angle by the horizontal drive unit 46. In the present embodiment, a control signal is output from the horizontal processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of, for example, 1 degree / sec on one side around the first axis O1. Further, in step S121, the discharge nozzle 3 is rotated by the vertical drive unit 47 from the vertical processing unit 91 toward the vertical amplifier 73 with the eleventh angle α ₁₁ and the twelfth angle α ₁₂ around the second axis O2. A control signal is output so as to alternately reciprocate between the two. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the second opening degree (maintaining the water pressure at a low pressure).

After executing step S121, step S122 is executed. In step S122, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the horizontal drive unit 46 swivels the tip opening 3a of the discharge nozzle 3 around the first axis O1 by a predetermined angle. To. In the present embodiment, a control signal is output from the horizontal processing unit 81 so that the tip opening 3a of the discharge nozzle 3 rotates 330 degrees at a constant speed of, for example, 1 degree / sec on the other side around the first axis O1. That is, in step S122, the discharge nozzle 3 is swiveled in the direction opposite to that of step S121 around the first axis O1. Further, in step S122, similarly to step S121, the discharge nozzle 3 is moved by the vertical drive unit 47 from the vertical processing unit 91 toward the vertical amplifier 73 around the second axis O2 at the eleventh angle α ₁₁ and the twelfth. A control signal is output so as to alternately reciprocate with the angle α _12. Further, a control signal is output from the supply processing unit 101 toward the supply amplifier 74 so as to maintain the open state of the stop valve 5. Further, a control signal is output from the pressure adjusting processing unit 111 toward the pressure adjusting amplifier 75 so as to maintain the opening degree of the pressure adjusting valve 6 at the second opening degree (maintaining the water pressure at a low pressure).

In this way, in step S12, the eleventh angle α is shown in the range A6 of FIG. 8 while moving the tip opening 3a of the discharge nozzle 3 by 330 degrees on the horizontal plane to one side around the first axis O1 on the outward route. _{After water is discharged while moving the discharge nozzle 3 up and down between 11} and the twelfth angle α ₁₂ , the tip opening 3a of the discharge nozzle 3 is 330 degrees on the horizontal plane to the other side around the first axis O1 on the return route. Water is discharged while moving the discharge nozzle 3 up and down between the eleventh angle α ₁₁ and the twelfth angle α _12.

After executing step S12, finally step S13 is executed. In step S13, the discharge nozzle 3 is arranged at the end position so that the tip opening 3a of the discharge nozzle 3 faces a predetermined direction. In step S13, a control signal is output from the horizontal processing unit 81 toward the horizontal amplifier 72 so that the horizontal drive unit 46 arranges the tip opening 3a of the discharge nozzle 3 at the end position in the horizontal direction. Further, a control signal is output from the vertical processing unit 91 toward the vertical amplifier 73 so that the vertical drive unit 47 arranges the tip opening 3a of the discharge nozzle 3 at the end position in the vertical direction. The end position may match the above initial position or may be different from the initial position.

According to the bathroom cleaning device 200 of the present embodiment described above, the bathroom cleaning device 200 discharges water while being placed on the floor FL of the bathroom R or the bottom surface S of the bathtub B, thereby discharging the inner surface of the bathroom R. (Including the floor FL) and the inner and outer surfaces (including the bottom surface S) of the bathtub B can be cleaned. That is, the entire bathroom R can be washed at once from a predetermined position in the bathroom R. Further, by cleaning by discharging water, it is possible to scrape out dirt such as corners and gaps, and it is possible to efficiently and effectively clean the inside of the bathroom R.

Further, the horizontal drive unit 46 and the vertical drive unit 47 can swivel the discharge nozzle 3 on the horizontal plane and in the vertical direction to discharge water into the bathroom R. Therefore, not only the floor FL and the wall surface but also the ceiling which is hard to reach can be cleaned in every corner of the bathroom R.

Further, by washing the upper part of the bathroom R with high-pressure water so as to scrape off the dirt, and then washing the lower part of the bathroom R with the low-pressure water, the dirt can be effectively removed. Further, while the inclination angle α of the discharge nozzle 3 is gradually reduced, each time the inclination angle α changes, the discharge nozzle 3 is swiveled in the opposite direction on the horizontal plane to perform cleaning, and then the tip opening 3a of the discharge nozzle 3 is performed. Wash while moving up and down in the vertical direction. Therefore, it is possible to clean the inside of the bathroom R by combining two types of water discharge patterns, and it is possible to remove dirt more effectively.

Further, in the middle of cleaning from the upper part to the lower part of the bathroom R, the inclination angle α of the discharge nozzle 3 is increased from the lower part to the upper part, and then the cleaning is performed from the upper part to the lower part again. Therefore, the inner surface of the bathroom R that has been washed once is washed again. That is, it is possible to wash while overlapping a part of the inner surface of the bathroom R. Therefore, the entire inner surface of the bathroom R can be completely cleaned. In particular, in the present embodiment, the cleaning effect can be enhanced because the lower region of the bathroom R, which is considered to have a large amount of dirt adhered, is washed repeatedly while overlapping.

Further, since the control device 7 controls the driving of the horizontal drive unit 46, the vertical drive unit 47, the supply drive unit 51, and the pressure adjustment drive unit 61, the bathroom R can be cleaned fully automatically. Therefore, even if the person is physically handicapped or the elderly, the bathroom R can be easily and safely cleaned.

Further, since the housing 1 is provided with the wheels 17, the bathroom cleaning device 200 can be moved and placed at a desired position in the bathroom R. Therefore, it can be used for bathrooms R of various sizes and shapes, and the degree of freedom of use is increased.

Here, the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the gist of the present invention.
For example, the horizontal drive unit 46 and the vertical drive unit 47 do not necessarily have to be servomotors, and other drive units such as a linear actuator may be adopted. Further, instead of the structure in which the tip opening 3a of the discharge nozzle 3 is moved up and down in the vertical direction by the vertical drive unit 47, a linear drive type actuator driven by the control device 7 is used to drive the horizontal drive unit 46 in the vertical direction. Depending on the structure, the position of the tip opening 3a of the discharge nozzle 3 may be moved up and down in the vertical direction which is the direction of the first axis O1.

Further, the stop valve 5 and the pressure regulating valve 6 are not limited to those operated by the rotary actuator. That is, for the supply drive unit 51 and the pressure adjustment drive unit 61, for example, a drive unit of another type such as a linear actuator may be adopted.

Further, the first axis O1 which is the rotation center axis of the motor shaft of the horizontal drive unit 46 does not necessarily have to extend in the vertical direction. Further, the second axis O2, which is the rotation center axis of the motor shaft of the vertical drive unit 47, does not necessarily have to extend in the horizontal direction, and the second axis O2 may intersect with the first axis O1.

Further, the cleaning procedure performed by the control device 7 is not limited to the above case. For example, the upper part of the bathroom R may be washed with a low pressure, and the lower part of the bathroom R may be washed with a high pressure, or the high pressure washing and the low pressure washing may be alternately performed. May be executed. In some cases, only high pressure cleaning or only low pressure cleaning may be performed.

Further, the water discharge route at the time of cleaning is not limited to the case of FIG. For example, the upper part of the bathroom R may be washed as shown in the path K3 of FIG. 6, and the bathroom R may be washed as shown in the path K1, or may be washed in the order of the path K1 → the path K3 → the path K2.

Further, unlike the paths K1 and K2 shown in FIG. 6, the cleaning does not necessarily have to be performed from the upper part to the lower part of the bathroom R, that is, it does not have to be operated in the direction of reducing the inclination angle α of the discharge nozzle 3. For example, the inclination angle α of the discharge nozzle 3 may be decreased and then increased. Further, it is not necessary to rotate the discharge nozzle 3 while reversing it around the first axis O1 as in the paths K1 and K2, and it may continue to rotate in the same direction.

Further, unlike the path K1 and the path K2 shown in FIG. 6, the inclination angle α of the discharge nozzle 3 does not necessarily have to be changed stepwise, that is, by a predetermined angle, and for example, the inclination angle α may be continuously changed. good. In this case, it is possible to perform cleaning while spirally operating the discharge nozzle 3 around the first axis O1.

Further, it is not always necessary to regularly and alternately change the inclination angle α of the discharge nozzle 3 by the same angle as in the path K3 shown in FIG. 6, and the operation of simply increasing and decreasing the inclination angle α at an arbitrary angle The discharge nozzle 3 may be operated so as to repeat the above steps.

Further, the turning speed of the discharge nozzle 3 does not necessarily have to be constant.

Further, as shown in FIG. 9A, washing may be performed along the path K4 by discharging water in a conical shape from the discharge nozzle 3. That is, the tip opening 3a of the discharge nozzle 3 is directed in the vertical direction, that is, toward the ceiling surface T (or the floor surface FL may be used), and water is discharged while swirling on a horizontal plane. By controlling the discharge nozzle 3 in this way, the ceiling surface T (or floor surface FL) and the wall surface H can be cleaned at once. By cleaning in this way, it is possible to clean the corner region CS, which is the connection position between the ceiling surface T (or floor surface FL) and the wall surface H, as shown in FIG. 9 (b). Similarly, it is also possible to discharge water to the wall surface H in a conical shape along the path K4.

Further, the stop valve 5 and the pressure adjusting valve 6 may be manually operated by an operator, not by the control device 7.

Further, the cleaning liquid may be discharged from the discharge nozzle 3 instead of water. Further, as shown in FIG. 10, a cleaning agent nozzle 120 that discharges the cleaning agent before starting water discharge by the discharge nozzle 3 may be attached to the discharge nozzle 3. In this case, the control device 7 may automatically control the start / end of the discharge of the cleaning agent from the cleaning agent nozzle 120.

Further, as shown in FIG. 11, the discharge nozzle 3 may be rotatable around the third axis O3 that intersects (orthogonally) the first axis O1 and the second axis O2. In this case, for example, a third drive unit (not shown) that swivels the discharge nozzle 3 around the third axis O3 can be provided on the arm 41, and the third drive unit can be driven and controlled by the control device 7. This makes it possible to facilitate cleaning of the inner surface of the bathtub B on the side closer to the bathroom cleaning device 200. In this case, the length of the arm 41 may be set to, for example, 0.5 m or more and 1.5 m or less.

Further, as shown in FIG. 11, a ventilation fan cover C may be provided to cover the ventilation fan F provided in the bathroom R at the time of cleaning.

Further, the control device 7 and the high pressure washer 2 do not necessarily have to be provided in the housing 1, and for example, the control device 7 and the high pressure washer 2 may be installed outside the bathroom R. Then, the control device 7 may perform drive control of each drive unit 46, 47, 51, 61 by a wireless signal.

Further, a tank for storing water (liquid) introduced into the high pressure washer 2 may be provided in the housing 1.

Further, the control device 7 may use a sensor to sense obstacles (lights, ventilation fans, etc.) in the bathroom R in advance, and control the discharge nozzle 3 so as to avoid them.

Further, the control device 7 uses a sensor to sense the dirt in the bathroom R in advance, and cleans the bathroom R while changing the pressure of the water discharged from the discharge nozzle 3 and the discharge position of the water according to the degree of the dirt. You may. Specifically, for example, a sensor (imaging device, etc.) capable of detecting the stain by discharging the luminescent liquid from a nozzle (not shown) to the entire inner surface of the bathroom R and adsorbing the luminescent liquid on stains such as scale and soap residue. The location of dirt may be identified and the identified location may be intensively cleaned.

While the discharge nozzle 3 turns around the first axis O1 so as to wash completely straight in the horizontal direction (so that the position in the vertical direction is constant) as in the paths K1 and K2 shown in FIG. Control may be performed to finely adjust the inclination angle α of the discharge nozzle 3.

According to the bathroom cleaning device of the present invention, it is possible to efficiently and effectively clean the inside of the bathroom.

1 Housing 2 High pressure washer 3 Discharge nozzle 3a Tip opening 4 Support device 5 Stop valve 6 Pressure control valve 7 Control device 21 Pump 46 Horizontal drive unit 47 Vertical drive unit 51 Supply drive unit 61 Pressure control drive unit 120 Cleaning Nozzle for agent 200 Bathroom cleaning device FL Floor surface O1 First axis O2 Second axis O3 Third axis R Bathroom S Bottom C Ventilation fan cover

Claims (19)

A housing that can be placed in place on the floor of the bathroom or the bottom of the bathtub,
A pump that boosts the cleaning liquid and
A discharge nozzle connected to the pump and provided in the housing to discharge the liquid,
A control device that controls the position of the discharge nozzle, and
A bathroom cleaning device equipped with. The discharge nozzle is swiveled around the first axis with respect to the housing, and the first drive unit driven by the control device and the first drive unit.
A second drive unit driven by the control device while operating the discharge nozzle so that the position of the tip opening of the discharge nozzle moves in the direction of the first axis.
The bathroom cleaning device according to claim 1. The bathroom cleaning device according to claim 2, wherein the second drive unit swivels the discharge nozzle with respect to the housing around a second axis intersecting the first axis. The first drive unit swivels the discharge nozzle about the first axis extending in the vertical direction.
The bathroom cleaning device according to claim 3, wherein the second drive unit turns the discharge nozzle around the second axis extending in the horizontal direction. The position of the discharge nozzle when the tip opening of the discharge nozzle faces the horizontal direction is set as a reference position, and the tilt angle of the discharge nozzle with respect to the horizontal direction when the tip opening faces upward from the reference position is positive. When the inclination angle when the tip opening faces downward from the reference position is a negative angle,
The control device drives the second drive unit while discharging the liquid from the discharge nozzle to reduce the inclination angle from the first angle to a second angle smaller than the first angle, and the first. (1) The bathroom cleaning device according to claim 4, wherein the drive unit is driven to rotate the discharge nozzle around the first axis. The control device drives the second drive unit to reduce the inclination angle from the first angle to the second angle, and drives the first drive unit to move the discharge nozzle around the first axis. The bathroom cleaning device according to claim 5, wherein the bathroom cleaning device is turned while being inverted in the forward direction and the reverse direction. The control device drives the second drive unit to reduce the inclination angle from the first angle to the second angle by a predetermined angle, and drives the first drive unit each time the inclination angle decreases. The bathroom cleaning device according to claim 6, wherein the discharge nozzle is swiveled while being inverted in the forward direction and the reverse direction around the first axis. The position of the discharge nozzle when the tip opening of the discharge nozzle faces the horizontal direction is set as a reference position, and the tilt angle of the discharge nozzle with respect to the horizontal direction when the tip opening faces upward from the reference position is positive. When the inclination angle when the tip opening faces downward from the reference position is a negative angle,
The control device drives the second drive unit while discharging the liquid from the discharge nozzle to increase the tilt angle and decrease the tilt angle while repeating the first drive unit. The bathroom cleaning device according to claim 4, wherein the discharge nozzle is swiveled in one direction around the first axis. The control device drives the first drive unit while driving the second drive unit to alternately change the inclination angle between the first angle and the second angle smaller than the first angle. The bathroom cleaning device according to claim 8, wherein the discharge nozzle is swiveled in one direction around the first axis. The control device changes the tilt angle between the first angle and the second angle, and then drives the second drive unit while discharging the liquid from the discharge nozzle to adjust the tilt angle. The discharge nozzle is driven by driving the first drive unit while changing between a third angle smaller than the first angle and larger than the second angle and a fourth angle smaller than the second angle. The bathroom cleaning device according to any one of claims 5, 6, 7, and 9, which is swiveled around the first axis. The position of the discharge nozzle when the tip opening of the discharge nozzle faces the horizontal direction is set as a reference position, and the tilt angle of the discharge nozzle with respect to the horizontal direction when the tip opening faces upward from the reference position is positive. When the inclination angle when the tip opening faces downward from the reference position is a negative angle,
The control device discharges the liquid from the discharge nozzle while discharging the liquid.
The second drive unit is driven to reduce the inclination angle from the first angle to a second angle smaller than the first angle by a predetermined angle, and each time the inclination angle decreases, the first drive unit is reduced. After driving and turning the discharge nozzle while reversing it in the forward and reverse directions around the first axis,
By driving the second drive unit, the inclination angle is alternately changed between a third angle smaller than the first angle and larger than the second angle and a fourth angle smaller than the second angle. The bathroom cleaning device according to claim 4, wherein the first driving unit is driven so that the discharge nozzle is swiveled in one direction around the first axis. Further provided with a pressure regulating valve capable of adjusting the pressure of the liquid,
The bathroom cleaning device according to any one of claims 1 to 11, wherein the control device controls the pressure regulating valve to change the pressure of the liquid discharged from the discharge nozzle. Further provided with a pressure regulating valve capable of adjusting the pressure of the liquid,
The control device controls the pressure regulating valve to control the third angle and the second angle rather than the first pressure, which is the pressure of the liquid discharged from the discharge nozzle between the first angle and the second angle. The bathroom cleaning device according to claim 11, wherein the second pressure, which is the pressure of the liquid discharged from the discharge nozzle between the four angles, is the lower pressure. The pressure control valve is
The pressure adjustment drive unit driven by the control device,
The pressure adjustment valve body operated by the pressure adjustment drive unit,
The bathroom cleaning device according to claim 12 or 13. Further provided with a stop valve capable of switching whether or not the liquid is supplied to the discharge nozzle is provided.
The control device according to any one of claims 1 to 14, wherein the control device controls the stop valve to start the discharge of the liquid from the discharge nozzle and end the discharge of the liquid from the discharge nozzle. Bathroom cleaning device. The stop valve is
The supply drive unit driven by the control device and
The stop valve body operated by the supply drive unit and
The bathroom cleaning device according to claim 15. The discharge nozzle discharges water as the liquid and
The bathroom cleaning device according to any one of claims 1 to 16, further comprising a cleaning agent nozzle attached to the discharge nozzle to discharge the cleaning agent. The bathroom cleaning device according to any one of claims 1 to 17, further comprising a wheel provided at a lower portion of the housing to make the housing movable. The bathroom cleaning device according to any one of claims 1 to 18, further comprising a ventilation fan cover for covering the ventilation fan in the bathroom.

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